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  1. ####Put here by RP
  2. NML_FILE = emc.nml
  3. ###
  4. # EMC controller parameters for generic controller. Make these what you need
  5. # for your system.
  6.  
  7. # General note: Comments can either be preceded with a # or ; - either is
  8. # acceptable, although # is in keeping with most linux config files.
  9.  
  10. # Settings with a + at the front of the comment are likely needed to get
  11. # changed by the user.
  12. # Settings with a - at the front are highly unneeded to be changed
  13. ###############################################################################
  14. # General section
  15. ###############################################################################
  16. [EMC]
  17.  
  18. #- Version of this INI file
  19. VERSION = $Revision$
  20.  
  21. #+ Name of machine, for use with display, etc.
  22. ######MACHINE = Maho-MC400
  23. MACHINE = LinuxCNC-HAL-STG
  24.  
  25. #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
  26. DEBUG = 0
  27. # DEBUG = 0x00000007
  28. # DEBUG = 0x7FFFFFFF
  29.  
  30. ###############################################################################
  31. # Sections for display options
  32. ###############################################################################
  33. [DISPLAY]
  34.  
  35. #+ Name of display program, e.g., xemc
  36. # DISPLAY = axis
  37. # DISPLAY = usrmot
  38. # DISPLAY = mini
  39. DISPLAY = tkemc
  40. # Cycle time, in seconds, that display will sleep between polls
  41. CYCLE_TIME = 0.200
  42.  
  43. #- Path to help file
  44. HELP_FILE = tklinucnc.txt
  45.  
  46. #- Initial display setting for position, RELATIVE or MACHINE
  47. POSITION_OFFSET = RELATIVE
  48.  
  49. #- Initial display setting for position, COMMANDED or ACTUAL
  50. POSITION_FEEDBACK = ACTUAL
  51.  
  52. #+ Highest value that will be allowed for feed override, 1.0 = 100%
  53. MAX_FEED_OVERRIDE = 1.2
  54.  
  55. #- Prefix to be used
  56. PROGRAM_PREFIX = /home/mc500/linuxcnc/nc_files
  57.  
  58. #- Introductory graphic
  59. INTRO_GRAPHIC = linuxcnc.gif
  60. INTRO_TIME = 5
  61.  
  62.  
  63. ###############################################################################
  64. # Task controller section
  65. ###############################################################################
  66. [TASK]
  67.  
  68. # Name of task controller program, e.g., milltask
  69. TASK = milltask
  70.  
  71. #- Cycle time, in seconds, that task controller will sleep between polls
  72. ###CYCLE_TIME = 0.010
  73. CYCLE_TIME = 0.001
  74.  
  75. ###############################################################################
  76. # Part program interpreter section
  77. ###############################################################################
  78. [RS274NGC]
  79.  
  80. #- File containing interpreter variables
  81. PARAMETER_FILE = stg.var
  82.  
  83. ###############################################################################
  84. # Motion control section
  85. ###############################################################################
  86. [EMCMOT]
  87.  
  88. #- Name of the motion controller to use (only one exists for nontrivkins)
  89. EMCMOT = motmod
  90.  
  91. #- Timeout for comm to emcmot, in seconds
  92. COMM_TIMEOUT = 1.0
  93.  
  94. #- Interval between tries to emcmot, in seconds
  95. COMM_WAIT = 0.010
  96.  
  97. #- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
  98. SERVO_PERIOD = 1000000
  99.  
  100. ###############################################################################
  101. # Hardware Abstraction Layer section
  102. ###############################################################################
  103. [HAL]
  104.  
  105. # The run script first uses halcmd to execute any HALFILE
  106. # files, and then to execute any individual HALCMD commands.
  107. #
  108.  
  109. # list of hal config files to run through halcmd
  110. #+ files are executed in the order in which they appear
  111. HALFILE = core_servo.hal
  112. HALFILE = stg_motion.hal
  113. HALFILE = stg_io.hal
  114.  
  115. #- list of halcmd commands to execute
  116. # commands are executed in the order in which they appear
  117. #HALCMD = save neta
  118.  
  119. ###############################################################################
  120. # Trajectory planner section
  121. ###############################################################################
  122. [TRAJ]
  123. #+ machine specific settings
  124. AXES = 4
  125. ###AXES = 3
  126. # COORDINATES = X Y Z R P W
  127. COORDINATES = X Y Z A
  128. ###COORDINATES = X Y Z
  129. HOME = 0 0 0 0
  130. ###HOME = 0 0 0
  131. LINEAR_UNITS = 0.03937007874016
  132. ###LINEAR_UNITS = mm
  133. ANGULAR_UNITS = 1.0
  134. ###ANGULAR_UNITS = degree
  135. CYCLE_TIME = 1.0
  136. ###CYCLE_TIME = 0.010
  137. DEFAULT_VELOCITY = 4
  138. ###DEFAULT_VELOCITY = 0.424
  139. MAX_VELOCITY = 4
  140. ###MAX_VELOCITY = 30.48
  141. DEFAULT_ACCELERATION = 300.0
  142. MAX_ACCELERATION = 500.0
  143.  
  144. ###############################################################################
  145. # Axes sections
  146. ###############################################################################
  147.  
  148. #+ First axis
  149. # each setting is commented for axis_0
  150. [AXIS_0]
  151.  
  152. # type of axis, LINEAR vs. ROTARY
  153. TYPE = LINEAR
  154. # home position
  155. HOME = 0.000
  156. # maximum velocity
  157. MAX_VELOCITY = 2
  158. ###MAX_VELOCITY = 30.48
  159. # maximum acceleration
  160. MAX_ACCELERATION = 500.0
  161. # machanical backlash measured
  162. BACKLASH = 0.000
  163. # time to update the axis
  164. # number of encoder ticks / unit
  165. INPUT_SCALE = 50800
  166. ###INPUT_SCALE = 200
  167. # dac gain for output
  168. OUTPUT_SCALE = 1.000
  169. # dac bias for output
  170. OUTPUT_OFFSET = 0.000
  171. # minimum travel limit (from position 0)
  172. MIN_LIMIT = -1000.0
  173. # maximum travel limit (from position 0)
  174. MAX_LIMIT = 1000.0
  175. # following error at max speed
  176. FERROR = 1.270
  177. # following error when halted
  178. MIN_FERROR = 0.254
  179. # read HAL_Introduction.pdf for an insight about Homing
  180. HOME_OFFSET = 0.0
  181. HOME_SEARCH_VEL = 0.0
  182. HOME_LATCH_VEL = 0.0
  183. HOME_USE_INDEX = NO
  184. HOME_IGNORE_LIMITS = NO
  185. # PID tuning params
  186. MAX_OUTPUT = 1.0
  187. DEADBAND = 0.000381
  188. P = 2000.000
  189. ###P = 100.0
  190. I = 2000.000
  191. ###I = 0.000
  192. D = 5.000
  193. ###D = 0.000
  194. FF0 = 30.000
  195. ###FF0 = 0.000
  196. FF1 = 3.000
  197. ###FF1 = 0.000
  198. FF2 = 0.0
  199. BIAS = 0.000
  200.  
  201. #+ Second axis
  202. [AXIS_1]
  203.  
  204. TYPE = LINEAR
  205. HOME = 0.000
  206. MAX_VELOCITY = 1.5
  207. ###MAX_VELOCITY = 30.48
  208. MAX_ACCELERATION = 500.0
  209. BACKLASH = 0.000
  210. INPUT_SCALE = 50800
  211. ###INPUT_SCALE = 200
  212. OUTPUT_SCALE = 1.000
  213. OUTPUT_OFFSET = 0.000
  214. MIN_LIMIT = -1000.0
  215. MAX_LIMIT = 1000.0
  216. FERROR = .2
  217. ###FERROR = 1.270
  218. MIN_FERROR = 0.254
  219. HOME_OFFSET = 0.0
  220. HOME_SEARCH_VEL = 0.0
  221. HOME_LATCH_VEL = 0.0
  222. HOME_USE_INDEX = NO
  223. HOME_IGNORE_LIMITS = NO
  224. # PID tuning params
  225. MAX_OUTPUT = 1.0
  226. DEADBAND = 0.000381
  227. P = 1300
  228. ###P = 100.0
  229. I = 900
  230. #I = 0.000
  231. D = 10
  232. ###D = 0.000
  233. FF0 = 0.000
  234. FF1 = 3
  235. ###FF1 = 0.000
  236. FF2 = 0.0
  237. BIAS = 0.000
  238.  
  239. #+ Third axis
  240. [AXIS_2]
  241.  
  242. TYPE = LINEAR
  243. HOME = 0.0
  244. MAX_VELOCITY = 1
  245. ###MAX_VELOCITY = 30.48
  246. MAX_ACCELERATION = 500.0
  247. BACKLASH = 0.000
  248. INPUT_SCALE = 50800
  249. ###INPUT_SCALE = 200
  250. OUTPUT_SCALE = 1.000
  251. OUTPUT_OFFSET = 0.000
  252. MIN_LIMIT = -1000.0
  253. MAX_LIMIT = 1000.0
  254. FERROR = .1
  255. ###FERROR = 1.270
  256. MIN_FERROR = 0.254
  257. HOME_OFFSET = 0.0
  258. HOME_SEARCH_VEL = 0.0
  259. HOME_LATCH_VEL = 0.0
  260. HOME_USE_INDEX = NO
  261. HOME_IGNORE_LIMITS = NO
  262. # PID tuning params
  263. MAX_OUTPUT = 1.0
  264. DEADBAND = 0.000381
  265. P = 150
  266. ###P = 100.0
  267. I = 200
  268. ###I = 0.000
  269. D = .5
  270. ###D = 0.000
  271. FF0 = 0.000
  272. FF1 = .5
  273. ###FF1 = 0.000
  274. FF2 = 0.0
  275. BIAS = 0.000
  276.  
  277. #+ Fourth axis
  278. [AXIS_3]
  279.  
  280. TYPE = LINEAR
  281. HOME = 0.0
  282. MAX_VELOCITY = 5
  283. ###MAX_VELOCITY = 30.48
  284. MAX_ACCELERATION = 500.0
  285. BACKLASH = 0.000
  286. INPUT_SCALE = 1000
  287. ###INPUT_SCALE = 200
  288. OUTPUT_SCALE = 1.000
  289. OUTPUT_OFFSET = 0.000
  290. MIN_LIMIT = -1000.0
  291. MAX_LIMIT = 1000.0
  292. FERROR = 1.270
  293. MIN_FERROR = 0.254
  294. HOME_OFFSET = 0.0
  295. HOME_SEARCH_VEL = 0.0
  296. HOME_LATCH_VEL = 0.0
  297. HOME_USE_INDEX = NO
  298. HOME_IGNORE_LIMITS = NO
  299. # PID tuning params
  300. MAX_OUTPUT = 1.0
  301. DEADBAND = 0.000381
  302. P = 150
  303. ###P = 100.0
  304. I = 200
  305. ###I = 0.000
  306. D = .5
  307. ###D = 0.000
  308. FF0 = 0.000
  309. FF1 = .5
  310. ###FF1 = 0.000
  311. FF2 = 0.0
  312. BIAS = 0.000
  313.  
  314. ###############################################################################
  315. # section for main IO controller parameters
  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 = stg.tbl
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