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  1.  
  2. [HOSTMOT2]
  3. DRIVER=hm2_pci
  4. BOARD=5i20
  5. CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=6 num_pwmgens=8 num_stepgens=0"
  6.  
  7.  
  8.  
  9.  
  10. [EMC]
  11.  
  12. # Name of machine, for use with display, etc.
  13. MACHINE = HM2-Servo
  14.  
  15. # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
  16. #DEBUG = 0x00000003
  17. #DEBUG = 0x00000007
  18. DEBUG = 0
  19.  
  20.  
  21.  
  22.  
  23. [DISPLAY]
  24.  
  25. # Name of display program, e.g., tkemc
  26. DISPLAY = axis
  27. #DISPLAY = touchy
  28.  
  29.  
  30. # Cycle time, in seconds, that display will sleep between polls
  31. CYCLE_TIME = 0.0500
  32.  
  33. # Path to help file
  34. HELP_FILE = tkemc.txt
  35.  
  36. # Initial display setting for position, RELATIVE or MACHINE
  37. POSITION_OFFSET = RELATIVE
  38.  
  39. # Initial display setting for position, COMMANDED or ACTUAL
  40. POSITION_FEEDBACK = ACTUAL
  41.  
  42. # Highest value that will be allowed for feed override, 1.0 = 100%
  43. MAX_FEED_OVERRIDE = 1.5
  44.  
  45. # Prefix to be used
  46. PROGRAM_PREFIX = /home/cnc/emc2/nc_files
  47.  
  48. # Introductory graphic
  49. INTRO_GRAPHIC = emc2.gif
  50. INTRO_TIME = 5
  51.  
  52.  
  53.  
  54.  
  55. [TASK]
  56.  
  57. # Name of task controller program, e.g., milltask
  58. TASK = milltask
  59.  
  60. # Cycle time, in seconds, that task controller will sleep between polls
  61. CYCLE_TIME = 0.010
  62.  
  63.  
  64.  
  65.  
  66. [RS274NGC]
  67.  
  68. # File containing interpreter variables
  69. PARAMETER_FILE = hm2-servo.var
  70.  
  71.  
  72.  
  73.  
  74. [EMCMOT]
  75.  
  76. EMCMOT = motmod
  77.  
  78. # Timeout for comm to emcmot, in seconds
  79. COMM_TIMEOUT = 1.0
  80.  
  81. # Interval between tries to emcmot, in seconds
  82. COMM_WAIT = 0.010
  83.  
  84. # Servo task period, in nanoseconds
  85. SERVO_PERIOD = 1000000
  86.  
  87.  
  88.  
  89.  
  90. [HAL]
  91.  
  92. # The run script first uses halcmd to execute any HALFILE
  93. # files, and then to execute any individual HALCMD commands.
  94.  
  95. # list of hal config files to run through halcmd
  96. # files are executed in the order in which they appear
  97.  
  98. HALFILE = hm2-servo.hal
  99.  
  100. # list of halcmd commands to execute
  101. # commands are executed in the order in which they appear
  102. #HALCMD = save neta
  103.  
  104.  
  105.  
  106.  
  107. [TRAJ]
  108.  
  109. AXES = 5
  110. COORDINATES = X Y Z A B
  111. HOME = 0 0 0 0 0
  112. LINEAR_UNITS = mm
  113. ANGULAR_UNITS = degree
  114. CYCLE_TIME = 0.010
  115. DEFAULT_VELOCITY = 50.0
  116. MAX_VELOCITY = 350.0
  117. DEFAULT_ACCELERATION = 1000.0
  118. MAX_ACCELERATION = 1000.0
  119.  
  120.  
  121.  
  122.  
  123. [AXIS_0]
  124.  
  125. TYPE = LINEAR
  126. MAX_VELOCITY = 280
  127. MAX_ACCELERATION = 600
  128. BACKLASH = 0.0014
  129. FERROR = 0.50
  130. MIN_FERROR = 0.4
  131.  
  132. INPUT_SCALE = 4000
  133.  
  134. OUTPUT_SCALE = -1
  135. OUTPUT_OFFSET = 0.0
  136. MAX_OUTPUT = 10
  137.  
  138. MIN_LIMIT = -278.0
  139. MAX_LIMIT = 278.0
  140. HOME = 0.000
  141. #HOME_OFFSET = 230
  142. HOME_OFFSET = 0.0
  143. HOME_SEARCH_VEL = 20
  144. HOME_LATCH_VEL = -0.20
  145. # the X axis servos encoder does not have an index channel, so we have to home without index
  146. HOME_USE_INDEX = YES
  147. HOME_IGNORE_LIMITS = YES
  148.  
  149. # PID tuning params
  150. DEADBAND = 0.000015
  151. P = 0.22
  152. I = 5
  153. D = 0.0001
  154. FF0 = -0.0038
  155. FF1 = 0.0016
  156. FF2 = 6e-06
  157. BIAS = 0
  158.  
  159.  
  160.  
  161.  
  162. [AXIS_1]
  163.  
  164. TYPE = LINEAR
  165. MAX_VELOCITY = 250
  166. MAX_ACCELERATION = 600
  167. BACKLASH = 0.0025
  168. FERROR = 0.50
  169. MIN_FERROR = 0.4
  170.  
  171. INPUT_SCALE = -4000
  172.  
  173. OUTPUT_SCALE = 1
  174. OUTPUT_OFFSET = 0.0
  175. MAX_OUTPUT = 10
  176.  
  177. MIN_LIMIT = -205
  178. MAX_LIMIT = 205
  179. HOME = 0.000
  180. #HOME_OFFSET = 157
  181. HOME_OFFSET = 0.0
  182. HOME_SEARCH_VEL = 10
  183. HOME_LATCH_VEL = -0.10
  184. # the Y axis servos encoder has an index channel, so we use it to improve the home accuracy
  185. HOME_USE_INDEX = YES
  186. HOME_IGNORE_LIMITS = YES
  187.  
  188. # PID tuning params
  189. DEADBAND = 0.000015
  190. P = 0.22
  191. I = 4.5
  192. D = 0.0001
  193. FF0 = -0.0045
  194. FF1 = 0.0016
  195. FF2 = 9e-06
  196. BIAS = 0
  197.  
  198.  
  199.  
  200.  
  201. [AXIS_2]
  202.  
  203. TYPE = LINEAR
  204. MAX_VELOCITY = 220
  205. MAX_ACCELERATION = 450
  206. BACKLASH = 0.000
  207. FERROR = 0.30
  208. MIN_FERROR = 0.2
  209.  
  210. INPUT_SCALE = 4998
  211.  
  212. OUTPUT_SCALE = -1
  213. OUTPUT_OFFSET = 0.0
  214. MAX_OUTPUT = 10
  215.  
  216. MIN_LIMIT = -450
  217. MAX_LIMIT = 5
  218. HOME = 0.0
  219. HOME_OFFSET = 0.0
  220. HOME_SEARCH_VEL = 14.50
  221. HOME_LATCH_VEL = -0.040
  222. # the Z axis servos encoder does not have an index channel, so we have to home without index
  223. HOME_USE_INDEX = YES
  224. HOME_IGNORE_LIMITS = YES
  225.  
  226. # PID tuning params
  227. DEADBAND = 0.000015
  228. P = 0.6
  229. I = 5
  230. D = 0.0011
  231. FF0 = -0.0047
  232. FF1 = 0.0031
  233. FF2 = 1e-05
  234. BIAS = 0
  235.  
  236.  
  237.  
  238. [AXIS_3]
  239.  
  240. TYPE = ANGULAR
  241. WRAPPED_ROTARY = 1
  242. MAX_VELOCITY = 1000
  243. MAX_ACCELERATION = 30
  244. BACKLASH = 0.000
  245. FERROR = 0.30
  246. MIN_FERROR = 0.2
  247.  
  248. INPUT_SCALE = -1210
  249.  
  250. OUTPUT_SCALE = 1
  251. OUTPUT_OFFSET = 0.0
  252. MAX_OUTPUT = 10
  253.  
  254. MIN_LIMIT = -390000
  255. MAX_LIMIT = 390000
  256. HOME = 0.0
  257. HOME_OFFSET = -2.9
  258. HOME_SEARCH_VEL = -0.50
  259. HOME_LATCH_VEL = 0.10
  260. # the Z axis servos encoder does not have an index channel, so we have to home without index
  261. HOME_USE_INDEX = NO
  262. HOME_IGNORE_LIMITS = YES
  263.  
  264. # PID tuning params
  265. DEADBAND = 0.000015
  266. P = 0.18
  267. I = 0.04
  268. D = 0
  269. FF0 = 0.0001
  270. FF1 = 0
  271. FF2 = 0
  272. BIAS = 0
  273.  
  274.  
  275.  
  276. [AXIS_4]
  277.  
  278. TYPE = ANGULAR
  279. WRAPPED_ROTARY = 1
  280. MAX_VELOCITY = 1000
  281. MAX_ACCELERATION = 30
  282. BACKLASH = 0.000
  283. FERROR = 0.30
  284. MIN_FERROR = 0.2
  285.  
  286. INPUT_SCALE = -1210
  287.  
  288. OUTPUT_SCALE = -1
  289. OUTPUT_OFFSET = 0.0
  290. MAX_OUTPUT = 10
  291.  
  292. MIN_LIMIT = -390000
  293. MAX_LIMIT = 390000
  294. HOME = 0.0
  295. HOME_OFFSET = -2.9
  296. HOME_SEARCH_VEL = -0.50
  297. HOME_LATCH_VEL = 0.10
  298. # the Z axis servos encoder does not have an index channel, so we have to home without index
  299. HOME_USE_INDEX = NO
  300. HOME_IGNORE_LIMITS = YES
  301.  
  302. # PID tuning params
  303. DEADBAND = 0.000015
  304. P = 0.18
  305. I = 0.04
  306. D = 0
  307. FF0 = 0.0001
  308. FF1 = 0
  309. FF2 = 0
  310. BIAS = 0
  311.  
  312.  
  313.  
  314.  
  315.  
  316.  
  317. [EMCIO]
  318.  
  319. # Name of IO controller program, e.g., io
  320. EMCIO = io
  321.  
  322. # cycle time, in seconds
  323. CYCLE_TIME = 0.100
  324.  
  325. # tool table file
  326. TOOL_TABLE = tool.tbl
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