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  1.  
  2.  
  3.  
  4. [PRUCONF]
  5. DRIVER=hal_pru_generic
  6. CONFIG=prucode=/home/linuxcnc/linuxcnc/rtlib/xenomai/pru_generic.bin pru=1 num_stepgens=4 num_pwmgens=3
  7.  
  8. [EMC]
  9.  
  10. # Name of machine, for use with display, etc.
  11. MACHINE = BeBoPr
  12.  
  13. # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
  14. #DEBUG = 0x00000003
  15. #DEBUG = 0x00000007
  16. DEBUG = 0
  17.  
  18.  
  19.  
  20.  
  21. [DISPLAY]
  22.  
  23. # Name of display program, e.g., tkemc
  24. #DISPLAY = tkemc
  25. #DISPLAY = gscreen
  26. DISPLAY = axis
  27.  
  28. # Touchy currently won't work without some hardware buttons/jog-wheel
  29. #DISPLAY = touchy
  30.  
  31. # Cycle time, in seconds, that display will sleep between polls
  32. CYCLE_TIME = 0.0500
  33.  
  34. # Path to help file
  35. HELP_FILE = tklinucnc.txt
  36.  
  37. # Initial display setting for position, RELATIVE or MACHINE
  38. POSITION_OFFSET = RELATIVE
  39.  
  40. # Initial display setting for position, COMMANDED or ACTUAL
  41. POSITION_FEEDBACK = ACTUAL
  42.  
  43. # Highest value that will be allowed for feed override, 1.0 = 100%
  44. MAX_FEED_OVERRIDE = 1.5
  45.  
  46. # Prefix to be used
  47. PROGRAM_PREFIX = ~/linuxcnc/nc_files/
  48.  
  49. # Introductory graphic
  50. INTRO_GRAPHIC = linuxcnc.gif
  51. INTRO_TIME = 5
  52.  
  53. # Increments for the JOG section
  54. INCREMENTS = 3 1 0.1 0.01
  55.  
  56.  
  57. PYVCP = BeBoPr.panel.xml
  58.  
  59. DEFAULT_LINEAR_VELOCITY = 12
  60. MIN_VELOCITY = .5
  61. MAX_LINEAR_VELOCITY = 24
  62. MIN_LINEAR_VELOCITY = .5
  63. DEFAULT_ANGULAR_VELOCITY = 12
  64. MIN_ANGULAR_VELOCITY = .5
  65. MAX_ANGULAR_VELOCITY = 24
  66.  
  67. [FILTER]
  68. PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
  69. PROGRAM_EXTENSION = .py Python Script
  70. png = image-to-gcode
  71. gif = image-to-gcode
  72. jpg = image-to-gcode
  73. py = python
  74.  
  75.  
  76. [TASK]
  77.  
  78. # Name of task controller program, e.g., milltask
  79. TASK = milltask
  80.  
  81. # Cycle time, in seconds, that task controller will sleep between polls
  82. CYCLE_TIME = 0.010
  83.  
  84.  
  85.  
  86.  
  87. [RS274NGC]
  88.  
  89. # File containing interpreter variables
  90. PARAMETER_FILE = pru-stepper.var
  91.  
  92.  
  93.  
  94.  
  95. [EMCMOT]
  96.  
  97. EMCMOT = motmod
  98.  
  99. # Timeout for comm to emcmot, in seconds
  100. COMM_TIMEOUT = 1.0
  101.  
  102. # Interval between tries to emcmot, in seconds
  103. COMM_WAIT = 0.010
  104.  
  105. # Servo task period, in nanoseconds
  106. SERVO_PERIOD = 1000000
  107.  
  108.  
  109.  
  110.  
  111. [HAL]
  112.  
  113. # The run script first uses halcmd to execute any HALFILE
  114. # files, and then to execute any individual HALCMD commands.
  115.  
  116. # list of hal config files to run through halcmd
  117. # files are executed in the order in which they appear
  118.  
  119. HALFILE = BeBoPr-Bridge.hal
  120.  
  121. # list of halcmd commands to execute
  122. # commands are executed in the order in which they appear
  123. #HALCMD = save neta
  124.  
  125. POSTGUI_HALFILE = BeBoPr.postgui.hal
  126.  
  127.  
  128. [TRAJ]
  129.  
  130. AXES = 5
  131. COORDINATES = X Y Z A B
  132. MAX_ANGULAR_VELOCITY = 24.00
  133. DEFAULT_ANGULAR_VELOCITY = 12.00
  134. LINEAR_UNITS = inch
  135. ANGULAR_UNITS = degree
  136. CYCLE_TIME = 0.010
  137. DEFAULT_VELOCITY = 12.00
  138. MAX_LINEAR_VELOCITY = 24.00
  139.  
  140.  
  141.  
  142.  
  143.  
  144. [AXIS_0]
  145.  
  146. #
  147. # Step timing is 40 us steplen + 40 us stepspace
  148. # That gives 80 us step period = 12.5 KHz step freq
  149. #
  150. # Bah, even software stepping can handle that, hm2 doesnt buy you much with
  151. # such slow steppers.
  152. #
  153. # Scale is 200 steps/rev * 10 revs/inch = 2000 steps/inch
  154. #
  155. # This gives a maxvel of 12.5/1 = 12.5 ips
  156. #
  157.  
  158.  
  159. TYPE = LINEAR
  160. MAX_VELOCITY = 12.0
  161. MAX_ACCELERATION = 12.0
  162. # Set Stepgen max 20% higher than the axis
  163. STEPGEN_MAX_VEL = 15
  164. STEPGEN_MAX_ACC = 15
  165.  
  166. BACKLASH = 0.000
  167.  
  168. # scale is 200 steps/rev * 10 revs/inch
  169. SCALE = 1600
  170.  
  171. MIN_LIMIT = -1.0
  172. MAX_LIMIT = 220.0
  173.  
  174. FERROR = 1.0
  175. MIN_FERROR = 0.25
  176.  
  177. HOME = 0.000
  178. HOME_OFFSET = 0.00
  179. #HOME_SEARCH_VEL = 0.10
  180. #HOME_LATCH_VEL = -0.01
  181. #HOME_USE_INDEX = YES
  182. #HOME_IGNORE_LIMITS = YES
  183.  
  184. # these are in nanoseconds
  185. DIRSETUP = 200
  186. DIRHOLD = 200
  187. STEPLEN = 1000
  188. STEPSPACE = 1000
  189.  
  190.  
  191.  
  192.  
  193. [AXIS_1]
  194.  
  195. TYPE = LINEAR
  196. MAX_VELOCITY = 12.0
  197. MAX_ACCELERATION = 12.0
  198. # Set Stepgen max 20% higher than the axis
  199. STEPGEN_MAX_VEL = 15
  200. STEPGEN_MAX_ACC = 15
  201.  
  202. BACKLASH = 0.000
  203.  
  204. SCALE = 1600
  205.  
  206. MIN_LIMIT = -1.0
  207. MAX_LIMIT = 250.0
  208.  
  209. FERROR = 1.0
  210. MIN_FERROR = 0.25
  211.  
  212. HOME = 0.000
  213. HOME_OFFSET = 0.00
  214. #HOME_SEARCH_VEL = 0.10
  215. #HOME_LATCH_VEL = -0.01
  216. #HOME_USE_INDEX = YES
  217. #HOME_IGNORE_LIMITS = YES
  218.  
  219. # these are in nanoseconds
  220. DIRSETUP = 200
  221. DIRHOLD = 200
  222. STEPLEN = 1000
  223. STEPSPACE = 1000
  224.  
  225.  
  226.  
  227.  
  228. [AXIS_2]
  229.  
  230. TYPE = LINEAR
  231. MAX_VELOCITY = 12.0
  232. MAX_ACCELERATION = 12.0
  233. # Set Stepgen max 20% higher than the axis
  234. STEPGEN_MAX_VEL = 15
  235. STEPGEN_MAX_ACC = 15
  236.  
  237. BACKLASH = 0.000
  238.  
  239. SCALE = 2000
  240.  
  241. MIN_LIMIT = -10.0
  242. MAX_LIMIT = 200.0
  243.  
  244. FERROR = 1.0
  245. MIN_FERROR = 0.25
  246.  
  247. HOME = 0.000
  248. HOME_OFFSET = 0.00
  249. #HOME_SEARCH_VEL = 0.10
  250. #HOME_LATCH_VEL = -0.01
  251. #HOME_USE_INDEX = YES
  252. #HOME_IGNORE_LIMITS = YES
  253.  
  254. # these are in nanoseconds
  255. DIRSETUP = 200
  256. DIRHOLD = 200
  257. STEPLEN = 1000
  258. STEPSPACE = 1000
  259.  
  260. [AXIS_3]
  261.  
  262.  
  263. [AXIS_4]
  264.  
  265. TYPE = ANGULAR
  266. MAX_VELOCITY = 31.8993189453
  267. MAX_ACCELERATION = 3000.0
  268. # Set Stepgen max 20% higher than the axis
  269. STEPGEN_MAX_VEL = 15
  270. STEPGEN_MAX_ACC = 1500
  271.  
  272. BACKLASH = 0.000
  273.  
  274. SCALE = -744.53
  275. #SCALE = -732.32
  276.  
  277. MIN_LIMIT = -9999.0
  278. MAX_LIMIT = 999999999.0
  279.  
  280. FERROR = 1.0
  281. MIN_FERROR = .25
  282.  
  283. HOME = 0.0
  284. HOME_OFFSET = 0.0
  285. #HOME_SEARCH_VEL = 0.10
  286. #HOME_LATCH_VEL = -0.01
  287. #HOME_USE_INDEX = YES
  288. #HOME_IGNORE_LIMITS = YES
  289.  
  290. # these are in nanoseconds
  291. DIRSETUP = 200
  292. DIRHOLD = 200
  293. STEPLEN = 1000
  294. STEPSPACE = 1000
  295.  
  296.  
  297.  
  298. [EMCIO]
  299.  
  300. # Name of IO controller program, e.g., io
  301. EMCIO = io
  302.  
  303. # cycle time, in seconds
  304. CYCLE_TIME = 0.100
  305.  
  306. # tool table file
  307. TOOL_TABLE = tool.tbl
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