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  1. [HOSTMOT2]
  2. DRIVER=hm2_7i43
  3. BOARD=7i43
  4. CONFIG="firmware=hm2/7i43/SVST4_4S.BIT num_encoders=4 num_pwmgens=4 num_stepgens=0"
  5.  
  6.  
  7.  
  8.  
  9. [EMC]
  10.  
  11. # Name of machine, for use with display, etc.
  12. MACHINE = Jarvis
  13.  
  14. # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
  15. #DEBUG = 0x00000003
  16. #DEBUG = 0x00000007
  17. DEBUG = 0
  18.  
  19.  
  20.  
  21.  
  22. [DISPLAY]
  23.  
  24. # Name of display program, e.g., tkemc
  25. DISPLAY = axis
  26.  
  27. # Cycle time, in seconds, that display will sleep between polls
  28. CYCLE_TIME = 0.0500
  29.  
  30. # Path to help file
  31. HELP_FILE = tklinucnc.txt
  32.  
  33. # Initial display setting for position, RELATIVE or MACHINE
  34. POSITION_OFFSET = RELATIVE
  35.  
  36. # Initial display setting for position, COMMANDED or ACTUAL
  37. POSITION_FEEDBACK = ACTUAL
  38.  
  39. # Highest value that will be allowed for feed override, 1.0 = 100%
  40. MAX_FEED_OVERRIDE = 1.5
  41.  
  42. # Prefix to be used
  43. PROGRAM_PREFIX = /home/igor/linuxcnc/nc_files
  44.  
  45. # Introductory graphic
  46. INTRO_GRAPHIC = /home/igor/Downloads/stark.gif
  47. INTRO_TIME = 5
  48.  
  49.  
  50. [FILTER]
  51. PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
  52. PROGRAM_EXTENSION = .py Python Script
  53. png = image-to-gcode
  54. gif = image-to-gcode
  55. jpg = image-to-gcode
  56. py = python
  57.  
  58.  
  59. [TASK]
  60.  
  61. # Name of task controller program, e.g., milltask
  62. TASK = milltask
  63.  
  64. # Cycle time, in seconds, that task controller will sleep between polls
  65. CYCLE_TIME = 0.010
  66.  
  67.  
  68.  
  69.  
  70. [RS274NGC]
  71.  
  72. # File containing interpreter variables
  73. PARAMETER_FILE = hm2-servo.var
  74.  
  75.  
  76.  
  77.  
  78. [EMCMOT]
  79.  
  80. EMCMOT = motmod
  81.  
  82. # Timeout for comm to emcmot, in seconds
  83. COMM_TIMEOUT = 1.0
  84.  
  85. # Interval between tries to emcmot, in seconds
  86. COMM_WAIT = 0.010
  87.  
  88. # Servo task period, in nanoseconds
  89. SERVO_PERIOD = 1000000
  90.  
  91.  
  92.  
  93.  
  94. [HAL]
  95.  
  96. # The run script first uses halcmd to execute any HALFILE
  97. # files, and then to execute any individual HALCMD commands.
  98.  
  99. # list of hal config files to run through halcmd
  100. # files are executed in the order in which they appear
  101.  
  102. HALFILE = myhm2.hal
  103.  
  104. # list of halcmd commands to execute
  105. # commands are executed in the order in which they appear
  106. #HALCMD = save neta
  107.  
  108.  
  109.  
  110.  
  111. [TRAJ]
  112.  
  113. AXES = 4
  114. # COORDINATES = X Y Z R P W
  115. COORDINATES = X Y Z A
  116. HOME = 0 0 0 0
  117. LINEAR_UNITS = mm
  118. ANGULAR_UNITS = degree
  119. CYCLE_TIME = 0.010
  120. DEFAULT_VELOCITY = 3.0
  121. MAX_VELOCITY = 4.0
  122. DEFAULT_ACCELERATION = 6.0
  123. MAX_ACCELERATION = 7.0
  124.  
  125.  
  126.  
  127.  
  128. [AXIS_0]
  129. #this axis is the big one over the z motor
  130.  
  131. TYPE = ANGULAR
  132. HOME = 0.000
  133. MAX_VELOCITY = 30.0
  134. MAX_ACCELERATION = 200.0
  135. BACKLASH = 0.000
  136. INPUT_SCALE = 1000
  137. OUTPUT_SCALE = 1
  138. MIN_LIMIT = -360.0
  139. MAX_LIMIT = 360.0
  140. FERROR = 2.000
  141. MIN_FERROR = 0.200
  142. HOME_OFFSET = 0.0
  143. HOME_SEARCH_VEL = 0.0
  144. HOME_LATCH_VEL = 0.0
  145. HOME_USE_INDEX = NO
  146. HOME_IGNORE_LIMITS = NO
  147. HOME_SEQUENCE = 0
  148.  
  149. # PID tuning params
  150. DEADBAND = 0.000015
  151. P = 30.0
  152. I = 0.000
  153. D = 0.000
  154. FF0 = 0.000
  155. FF1 = 1.000
  156. FF2 = 0.0
  157. BIAS = 0.000
  158.  
  159.  
  160.  
  161.  
  162. [AXIS_1]
  163. #this axis is the one controlling the last joint
  164. TYPE = ANGULAR
  165. HOME = 0.000
  166. MAX_VELOCITY = 30.0
  167. MAX_ACCELERATION = 200.0
  168. BACKLASH = 0.000
  169. INPUT_SCALE = 1000
  170. OUTPUT_SCALE = 1
  171. MIN_LIMIT = -360.0
  172. MAX_LIMIT = 360.0
  173. FERROR = 2.000
  174. MIN_FERROR = 0.200
  175. HOME_OFFSET = 0.0
  176. HOME_SEARCH_VEL = 0.0
  177. HOME_LATCH_VEL = 0.0
  178. HOME_USE_INDEX = NO
  179. HOME_IGNORE_LIMITS = NO
  180. HOME_SEQUENCE = 0
  181.  
  182. # PID tuning params
  183. DEADBAND = 0.000015
  184. P = 40.0
  185. I = 0.000
  186. D = 0.000
  187. FF0 = 0.000
  188. FF1 = 1.000
  189. FF2 = 0.0
  190. BIAS = 0.000
  191.  
  192.  
  193.  
  194.  
  195. #+ Third axis
  196. [AXIS_2]
  197. TYPE = LINEAR
  198. HOME = 25.000
  199. MAX_VELOCITY = 30.0
  200. MAX_ACCELERATION = 200.0
  201. BACKLASH = 0.000
  202. #INPUT_SCALE = -580
  203. INPUT_SCALE = 570
  204. #OUTPUT_SCALE = 10.000
  205. OUTPUT_SCALE = 1.000
  206. MIN_LIMIT = -2.0
  207. MAX_LIMIT = 300.0
  208. FERROR = 2.000
  209. MIN_FERROR = 0.200
  210. HOME_OFFSET = 25.0
  211. HOME_SEARCH_VEL = 0.0
  212. HOME_LATCH_VEL = 0.0
  213. HOME_USE_INDEX = NO
  214. HOME_IGNORE_LIMITS = NO
  215. HOME_SEQUENCE = 0
  216.  
  217. # PID tuning params
  218. DEADBAND = 0.000015
  219. P = 30.0
  220. I = 0.000
  221. D = 0.000
  222. FF0 = 0.000
  223. FF1 = 1.000
  224. FF2 = 0.0
  225. BIAS = 0.000
  226.  
  227. #+ Fourth axis
  228. [AXIS_5]
  229. TYPE = ANGULAR
  230. HOME = 0.000
  231. MAX_VELOCITY = 30.0
  232. MAX_ACCELERATION = 200.0
  233. BACKLASH = 0.000
  234. INPUT_SCALE = 4000
  235. OUTPUT_SCALE = 1.000
  236. MIN_LIMIT = -180.0
  237. MAX_LIMIT = 180.0
  238. FERROR = 2.000
  239. MIN_FERROR = 0.200
  240. HOME_OFFSET = 0.0
  241. HOME_SEARCH_VEL = 0.0
  242. HOME_LATCH_VEL = 0.0
  243. HOME_USE_INDEX = NO
  244. HOME_IGNORE_LIMITS = NO
  245. HOME_SEQUENCE = 0
  246.  
  247. # PID tuning params
  248. DEADBAND = 0.000015
  249. P = 100.0
  250. I = 0.000
  251. D = 0.000
  252. FF0 = 0.000
  253. FF1 = 1.000
  254. FF2 = 0.0
  255. BIAS = 0.000
  256.  
  257.  
  258.  
  259.  
  260. [EMCIO]
  261.  
  262. # Name of IO controller program, e.g., io
  263. EMCIO = io
  264.  
  265. # cycle time, in seconds
  266. CYCLE_TIME = 0.100
  267.  
  268. # tool table file
  269. TOOL_TABLE = tool.tbl
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