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- [HOSTMOT2]
- DRIVER=hm2_pci
- BOARD=5i23
- CONFIG="firmware=hm2/5i23/5i23_svtp6_2.bit num_encoders=3 num_pwmgens=2 num_stepgens=0"
- [EMC]
- # Name of machine, for use with display, etc.
- MACHINE = HM2-Servo
- # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
- #DEBUG = 0x00000003
- #DEBUG = 0x00000007
- DEBUG = 0
- [DISPLAY]
- # Name of display program, e.g., tkemc
- DISPLAY = axis
- # Cycle time, in seconds, that display will sleep between polls
- CYCLE_TIME = 0.0500
- # Path to help file
- HELP_FILE = tklinucnc.txt
- # Initial display setting for position, RELATIVE or MACHINE
- POSITION_OFFSET = RELATIVE
- # Initial display setting for position, COMMANDED or ACTUAL
- POSITION_FEEDBACK = ACTUAL
- # Highest value that will be allowed for feed override, 1.0 = 100%
- MAX_FEED_OVERRIDE = 1.5
- # Prefix to be used
- PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
- # Introductory graphic
- INTRO_GRAPHIC = linuxcnc.gif
- INTRO_TIME = 5
- [FILTER]
- PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
- PROGRAM_EXTENSION = .py Python Script
- png = image-to-gcode
- gif = image-to-gcode
- jpg = image-to-gcode
- py = python
- [TASK]
- # Name of task controller program, e.g., milltask
- TASK = milltask
- # Cycle time, in seconds, that task controller will sleep between polls
- CYCLE_TIME = 0.010
- [RS274NGC]
- # File containing interpreter variables
- PARAMETER_FILE = hm2-servo.var
- [EMCMOT]
- EMCMOT = motmod
- # Timeout for comm to emcmot, in seconds
- COMM_TIMEOUT = 1.0
- # Interval between tries to emcmot, in seconds
- COMM_WAIT = 0.010
- # Servo task period, in nanoseconds
- SERVO_PERIOD = 1000000
- [HAL]
- # The run script first uses halcmd to execute any HALFILE
- # files, and then to execute any individual HALCMD commands.
- # list of hal config files to run through halcmd
- # files are executed in the order in which they appear
- HALFILE = hm2-servo.hal
- # list of halcmd commands to execute
- # commands are executed in the order in which they appear
- #HALCMD = save neta
- [TRAJ]
- AXES = 3
- # COORDINATES = X Y Z R P W
- COORDINATES = X Y Z
- HOME = 0 0 0 0
- LINEAR_UNITS = inch
- ANGULAR_UNITS = degree
- CYCLE_TIME = 0.010
- DEFAULT_VELOCITY = 3.0
- MAX_VELOCITY = 4.0
- DEFAULT_ACCELERATION = 6.0
- MAX_ACCELERATION = 7.0
- NO_FORCE_HOMING = 1
- [AXIS_0]
- TYPE = LINEAR
- MAX_VELOCITY = 1.0
- MAX_ACCELERATION = 4.0
- BACKLASH = 0.0013
- FERROR = 1000.010
- MIN_FERROR = 0.002
- INPUT_SCALE = 27575
- OUTPUT_SCALE = -1.000
- OUTPUT_OFFSET = 0.0
- MAX_OUTPUT = 1.0
- MIN_LIMIT = -3.0
- MAX_LIMIT = 10.0
- HOME = 0.000
- HOME_OFFSET = -2.9
- HOME_SEARCH_VEL = -0.50
- HOME_LATCH_VEL = 0.10
- # the X axis servo's encoder does not have an index channel, so we have to home without index
- HOME_USE_INDEX = NO
- HOME_IGNORE_LIMITS = YES
- # PID tuning params
- DEADBAND = 0.000015
- P = 100.0
- I = 0.000
- D = 0.000
- FF0 = 0.000
- FF1 = 1.000
- FF2 = 0.0
- BIAS = 0.000
- [AXIS_1]
- TYPE = LINEAR
- MAX_VELOCITY = 1.0
- MAX_ACCELERATION = 4.0
- BACKLASH = 0.000
- FERROR = 0.010
- MIN_FERROR = 0.002
- INPUT_SCALE = -81920
- OUTPUT_SCALE = 1.000
- OUTPUT_OFFSET = 0.0
- MAX_OUTPUT = 1.0
- MIN_LIMIT = -3.0
- MAX_LIMIT = 10.0
- HOME = 0.000
- HOME_OFFSET = -2.9
- HOME_SEARCH_VEL = -0.50
- HOME_LATCH_VEL = 0.10
- # the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
- HOME_USE_INDEX = YES
- HOME_IGNORE_LIMITS = YES
- # PID tuning params
- DEADBAND = 0.000015
- P = 100.0
- I = 0.000
- D = 0.000
- FF0 = 0.000
- FF1 = 1.000
- FF2 = 0.0
- BIAS = 0.000
- [AXIS_2]
- TYPE = LINEAR
- MAX_VELOCITY = 1.0
- MAX_ACCELERATION = 4.0
- BACKLASH = 0.000
- FERROR = 0.010
- MIN_FERROR = 0.002
- INPUT_SCALE = 81920
- OUTPUT_SCALE = -1.000
- OUTPUT_OFFSET = 0.0
- MAX_OUTPUT = 1.0
- MIN_LIMIT = -3.0
- MAX_LIMIT = 3.0
- HOME = 0.0
- HOME_OFFSET = -2.9
- HOME_SEARCH_VEL = -0.50
- HOME_LATCH_VEL = 0.10
- # the Z axis servo's encoder does not have an index channel, so we have to home without index
- HOME_USE_INDEX = NO
- HOME_IGNORE_LIMITS = YES
- # PID tuning params
- DEADBAND = 0.000015
- P = 100.0
- I = 0.000
- D = 0.000
- FF0 = 0.000
- FF1 = 1.000
- FF2 = 0.0
- BIAS = 0.000
- [EMCIO]
- # Name of IO controller program, e.g., io
- EMCIO = io
- # cycle time, in seconds
- CYCLE_TIME = 0.100
- # tool table file
- TOOL_TABLE = tool.tbl
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