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- # Generated by stepconf 1.1 at Sun Mar 29 12:34:18 2015
- # If you make changes to this file, they will be
- # overwritten when you run stepconf again
- [EMC]
- MACHINE = Gantry_Test02
- DEBUG = 0
- [DISPLAY]
- DISPLAY = axis
- EDITOR = kate
- POSITION_OFFSET = RELATIVE
- POSITION_FEEDBACK = ACTUAL
- ARCDIVISION = 64
- GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
- MAX_FEED_OVERRIDE = 1.2
- MIN_SPINDLE_OVERRIDE = 0.5
- MAX_SPINDLE_OVERRIDE = 1.2
- DEFAULT_LINEAR_VELOCITY = 20.0
- MIN_LINEAR_VELOCITY = 0
- MAX_LINEAR_VELOCITY = 30.00
- DEFAULT_ANGULAR_VELOCITY = 36.00
- MIN_ANGULAR_VELOCITY = 0
- MAX_ANGULAR_VELOCITY = 360.00
- INTRO_GRAPHIC = linuxcnc.gif
- INTRO_TIME = 5
- PROGRAM_PREFIX = /home/napuser/linuxcnc/nc_files
- INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
- [FILTER]
- PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
- PROGRAM_EXTENSION = .py Python Script
- png = image-to-gcode
- gif = image-to-gcode
- jpg = image-to-gcode
- py = python
- [TASK]
- TASK = milltask
- CYCLE_TIME = 0.010
- [RS274NGC]
- PARAMETER_FILE = linuxcnc.var
- [EMCMOT]
- EMCMOT = motmod
- COMM_TIMEOUT = 1.0
- COMM_WAIT = 0.010
- BASE_PERIOD = 55555
- SERVO_PERIOD = 1000000
- [HAL]
- HALFILE = Gantry_Test02.hal
- HALFILE = custom.hal
- POSTGUI_HALFILE = custom_postgui.hal
- [TRAJ]
- AXES = 4
- JOINTS = 4
- COORDINATES = X Y Z A
- LINEAR_UNITS = mm
- ANGULAR_UNITS = degree
- CYCLE_TIME = 0.010
- DEFAULT_VELOCITY = 36.00
- MAX_VELOCITY = 25.00
- [EMCIO]
- EMCIO = io
- CYCLE_TIME = 0.100
- TOOL_TABLE = tool.tbl
- [AXIS_0]
- TYPE = LINEAR
- HOME = 0.0
- MAX_VELOCITY = 25.0
- MAX_ACCELERATION = 750.0
- STEPGEN_MAXACCEL = 937.5
- SCALE = 2.9
- STEP_SCALE = 2.9
- FERROR = 1
- MIN_FERROR = .25
- MIN_LIMIT = -1.000
- MAX_LIMIT = 2100.0
- HOME_OFFSET = 0.0
- [AXIS_1]
- TYPE = LINEAR
- HOME = 0.0
- MAX_VELOCITY = 25.0
- MAX_ACCELERATION = 750.0
- STEPGEN_MAXACCEL = 937.5
- SCALE = 80.0
- FERROR = 1
- MIN_FERROR = .25
- MIN_LIMIT = -0.001
- MAX_LIMIT = 200.0
- HOME_OFFSET = 0.0
- [AXIS_2]
- TYPE = LINEAR
- HOME = 0.0
- MAX_VELOCITY = 25.0
- MAX_ACCELERATION = 750.0
- STEPGEN_MAXACCEL = 937.5
- SCALE = 80.0
- FERROR = 1
- MIN_FERROR = .25
- MIN_LIMIT = -1.0
- MAX_LIMIT = 300.00
- HOME_OFFSET = 0.0
- [AXIS_3]
- TYPE = LINEAR
- HOME = 0.0
- MAX_VELOCITY = 25.0
- MAX_ACCELERATION = 750.0
- STEPGEN_MAXACCEL = 937.5
- SCALE = 2.9
- STEP_SCALE = 2.9
- FERROR = 1
- MIN_FERROR = .25
- MIN_LIMIT = -1.000
- MAX_LIMIT = 2100.0
- HOME_OFFSET = 0.0
- # Generated by stepconf 1.1 at Sun Mar 29 12:34:18 2015
- # If you make changes to this file, they will be
- # overwritten when you run stepconf again
- loadrt gantrykins
- # Settings for gantrykins
- setp gantrykins.joint-0 0
- setp gantrykins.joint-1 1
- setp gantrykins.joint-2 2
- setp gantrykins.joint-3 0
- loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
- loadrt probe_parport
- loadrt hal_parport cfg="0x378 out"
- setp parport.0.reset-time 500
- loadrt stepgen step_type=0,0,0,0
- addf parport.0.read base-thread
- addf stepgen.make-pulses base-thread
- addf parport.0.write base-thread
- addf parport.0.reset base-thread
- addf stepgen.capture-position servo-thread
- addf motion-command-handler servo-thread
- addf motion-controller servo-thread
- addf stepgen.update-freq servo-thread
- net spindle-cmd <= motion.spindle-speed-out
- net spindle-at-speed => motion.spindle-at-speed
- net spindle-on <= motion.spindle-on
- net xdir => parport.0.pin-01-out
- net spindle-on => parport.0.pin-02-out
- net zstep => parport.0.pin-03-out
- setp parport.0.pin-03-out-reset 1
- net xenable => parport.0.pin-04-out
- net xenable => parport.0.pin-05-out
- net zdir => parport.0.pin-06-out
- net ydir => parport.0.pin-07-out
- net adir => parport.0.pin-08-out
- net astep => parport.0.pin-09-out
- setp parport.0.pin-09-out-reset 1
- net ystep => parport.0.pin-14-out
- setp parport.0.pin-14-out-reset 1
- net xstep => parport.0.pin-16-out
- setp parport.0.pin-16-out-reset 1
- net xenable => parport.0.pin-17-out
- setp stepgen.0.position-scale [AXIS_0]SCALE
- setp stepgen.0.steplen 1
- setp stepgen.0.stepspace 0
- setp stepgen.0.dirhold 19000
- setp stepgen.0.dirsetup 16000
- setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
- net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
- net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
- net xstep <= stepgen.0.step
- net xdir <= stepgen.0.dir
- net xenable axis.0.amp-enable-out => stepgen.0.enable
- setp stepgen.1.position-scale [AXIS_1]SCALE
- setp stepgen.1.steplen 1
- setp stepgen.1.stepspace 0
- setp stepgen.1.dirhold 19000
- setp stepgen.1.dirsetup 16000
- setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
- net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
- net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
- net ystep <= stepgen.1.step
- net ydir <= stepgen.1.dir
- net yenable axis.1.amp-enable-out => stepgen.1.enable
- setp stepgen.2.position-scale [AXIS_2]SCALE
- setp stepgen.2.steplen 1
- setp stepgen.2.stepspace 0
- setp stepgen.2.dirhold 19000
- setp stepgen.2.dirsetup 16000
- setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
- net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
- net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
- net zstep <= stepgen.2.step
- net zdir <= stepgen.2.dir
- net zenable axis.2.amp-enable-out => stepgen.2.enable
- setp stepgen.3.position-scale [AXIS_3]SCALE
- setp stepgen.3.steplen 1
- setp stepgen.3.stepspace 0
- setp stepgen.3.dirhold 19000
- setp stepgen.3.dirsetup 16000
- setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
- net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
- net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
- net astep <= stepgen.3.step
- net adir <= stepgen.3.dir
- net aenable axis.3.amp-enable-out => stepgen.3.enable
- net estop-out <= iocontrol.0.user-enable-out
- net estop-out => iocontrol.0.emc-enable-in
- loadusr -W hal_manualtoolchange
- net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
- net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
- net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
- net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
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