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Dec 22nd, 2011
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  1. #********************
  2. # Axis Y (Y1)
  3. #********************
  4. [AXIS_1]
  5. NAME = Y1
  6. TYPE = LINEAR
  7.  
  8. #HOME = -0.0785
  9. HOME = 0.0130
  10. HOME_SEQUENCE = 0
  11. HOME_OFFSET = 0.0
  12. HOME_SEARCH_VEL = 0
  13. HOME_LATCH_VEL = 0
  14. HOME_FINAL_VEL = 1
  15. HOME_USE_INDEX = NO
  16. HOME_IGNORE_LIMITS = YES
  17. VOLATILE_HOME = 1
  18. #FERROR = 0.05
  19. FERROR = 4
  20. #MIN_FERROR = 0.01
  21. #MIN_FERROR = 0.5
  22. MIN_FERROR = 4
  23. #Mesa 7i43 Stepgen Maxes
  24. MMAX_VELOCITY = 50
  25. MMAX_ACCELERATION = 450
  26. #MMAX_ACCELERATION = 36
  27. #EMC MOTMOD Maxes
  28. MAX_VELOCITY = 41.6666666667
  29. MAX_ACCELERATION = 125
  30.  
  31. #Encoder/PID
  32. P=20
  33. I=0.000
  34. D=0
  35. FF0=0.0
  36. FF1=1
  37. FF2=0.007
  38. BIAS=0.0
  39. DEADBAND=0.0
  40. MAX_OUTPUT=0
  41.  
  42. # these are in nanoseconds
  43. DIRSETUP = 200
  44. DIRHOLD = 200
  45. STEPLEN = 200
  46. STEPSPACE = 500
  47. #500 encoder ppr (2000 quad)
  48. #SCALE = -1273.239544735163
  49. #INPUT_SCALE = -1273.239544735163
  50. #1000 encoder ppr (4000 quad)
  51. #SCALE = 2546.479089470325
  52. # 10:1 in Granite Drive
  53. SCALE = 25464.79
  54. INPUT_SCALE = 2546.479
  55. MIN_LIMIT = -0.2
  56. MAX_LIMIT = 53.0
  57. HOME_OFFSET = 0.0
  58.  
  59.  
  60. #********************
  61. # Axis A (Y2)
  62. #********************
  63. [AXIS_3]
  64. NAME = Y2
  65. #[AXIS_7]
  66. TYPE = LINEAR
  67.  
  68. HOME = 0.0
  69. HOME_SEQUENCE = 0
  70. HOME_OFFSET = 0
  71. HOME_SEARCH_VEL = 0
  72. HOME_LATCH_VEL = 0
  73. HOME_FINAL_VEL = 0
  74. HOME_USE_INDEX = NO
  75. HOME_IGNORE_LIMITS = YES
  76. VOLATILE_HOME = 1
  77.  
  78. #FERROR = 0.05
  79. FERROR = 4
  80. #MIN_FERROR = 0.01
  81. #MIN_FERROR = 0.5
  82. MIN_FERROR = 4
  83. #Mesa 7i43 Stepgen Maxes
  84. MMAX_VELOCITY = 50
  85. MMAX_ACCELERATION = 450
  86. #MMAX_ACCELERATION = 36
  87. #EMC MOTMOD Maxes
  88. MAX_VELOCITY = 41.6666666667
  89. MAX_ACCELERATION = 125
  90.  
  91. #Encoder/PID
  92. P=20
  93. I=0.000
  94. D=0
  95. FF0=0.0
  96. FF1=1
  97. FF2=0.007
  98. BIAS=0.0
  99. DEADBAND=0.0
  100. MAX_OUTPUT=0
  101.  
  102. # these are in nanoseconds
  103. DIRSETUP = 200
  104. DIRHOLD = 200
  105. STEPLEN = 200
  106. STEPSPACE = 500
  107. #500 encoder ppr (2000 quad)
  108. #SCALE = 1273.239544735163
  109. #INPUT_SCALE = 1273.239544735163
  110. #1000 encoder ppr (4000 quad)
  111. #SCALE = -2546.479089470325
  112. # 10:1 in Granite Drive
  113. SCALE = -25464.79
  114. INPUT_SCALE = -2546.479
  115. MIN_LIMIT = -0.2
  116. MAX_LIMIT = 53.0
  117. HOME_OFFSET = 0.0
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