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zhivko
Jan 25th, 2016
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  1. [PRUCONF]
  2. DRIVER=hal_pru_generic
  3. CONFIG=pru=0 num_stepgens=4 num_pwmgens=6
  4. PRUBIN=xenomai/pru_generic.bin
  5.  
  6.  
  7. [EMC]
  8.  
  9. # Name of machine, for use with display, etc.
  10. MACHINE = MendelMax-CRAMPS
  11.  
  12. # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
  13. #DEBUG = 0x00000003
  14. #DEBUG = 0x00000007
  15. DEBUG = 0x7ffffff
  16.  
  17.  
  18.  
  19. [DISPLAY]
  20.  
  21. # Name of display program, e.g., tkemc
  22. #DISPLAY = tkemc
  23. #DISPLAY = gscreen
  24. DISPLAY = mkwrapper -d
  25. #DISPLAY = axis
  26.  
  27. # Touchy currently won't work without some hardware buttons/jog-wheel
  28. #DISPLAY = touchy
  29.  
  30. # Cycle time, in seconds, that display will sleep between polls
  31. CYCLE_TIME = 0.200
  32.  
  33. # Path to help file
  34. HELP_FILE = tklinucnc.txt
  35.  
  36. # Initial display setting for position, RELATIVE or MACHINE
  37. POSITION_OFFSET = RELATIVE
  38.  
  39. # Initial display setting for position, COMMANDED or ACTUAL
  40. POSITION_FEEDBACK = ACTUAL
  41.  
  42. # Highest value that will be allowed for feed override, 1.0 = 100%
  43. MAX_FEED_OVERRIDE = 1.5
  44.  
  45. # Prefix to be used
  46. PROGRAM_PREFIX = /home/machinekit/machinekit/nc_files
  47.  
  48. # Introductory graphic
  49. #INTRO_GRAPHIC = machinekit.gif
  50. #INTRO_TIME = 5
  51.  
  52. # Increments for the JOG section
  53. INCREMENTS = 10 1 0.1 0.01
  54.  
  55.  
  56. PYVCP = 3D.Temps.panel.xml
  57.  
  58. [FILTER]
  59. PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
  60. PROGRAM_EXTENSION = .py Python Script
  61. png = image-to-gcode
  62. gif = image-to-gcode
  63. jpg = image-to-gcode
  64. py = python
  65.  
  66.  
  67. [TASK]
  68.  
  69. # Name of task controller program, e.g., milltask
  70. TASK = milltask
  71.  
  72. # Cycle time, in seconds, that task controller will sleep between polls
  73. CYCLE_TIME = 0.010
  74.  
  75.  
  76.  
  77.  
  78. [RS274NGC]
  79.  
  80. # File containing interpreter variables
  81. PARAMETER_FILE = pru-stepper.var
  82.  
  83.  
  84.  
  85.  
  86. [EMCMOT]
  87.  
  88. EMCMOT = motmod
  89.  
  90. # Timeout for comm to emcmot, in seconds
  91. COMM_TIMEOUT = 1.0
  92.  
  93. # Interval between tries to emcmot, in seconds
  94. COMM_WAIT = 0.010
  95.  
  96. # Servo task period, in nanoseconds default 1000000
  97. SERVO_PERIOD = 700000
  98.  
  99.  
  100.  
  101.  
  102. [HAL]
  103.  
  104. # The run script first uses halcmd to execute any HALFILE
  105. # files, and then to execute any individual HALCMD commands.
  106.  
  107. # list of hal config files to run through halcmd
  108. # files are executed in the order in which they appear
  109.  
  110. HALFILE = CRAMPS.hal
  111.  
  112. # list of halcmd commands to execute
  113. # commands are executed in the order in which they appear
  114. #HALCMD = save neta
  115.  
  116. POSTGUI_HALFILE = 3D.postgui.hal
  117.  
  118.  
  119. [TRAJ]
  120.  
  121. AXES = 4
  122. COORDINATES = X Y Z A
  123. MAX_ANGULAR_VELOCITY = 400.00
  124. DEFAULT_ANGULAR_VELOCITY = 100.00
  125. LINEAR_UNITS = mm
  126. ANGULAR_UNITS = degree
  127. CYCLE_TIME = 0.010
  128. DEFAULT_VELOCITY = 300.00
  129. MAX_LINEAR_VELOCITY = 500.00
  130.  
  131.  
  132.  
  133.  
  134.  
  135. [AXIS_0]
  136.  
  137. #
  138. # Step timing is 40 us steplen + 40 us stepspace
  139. # That gives 80 us step period = 12.5 KHz step freq
  140. #
  141. # Bah, even software stepping can handle that, hm2 doesnt buy you much with
  142. # such slow steppers.
  143. #
  144. # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
  145. #
  146. # This gives a maxvel of 12.5/1 = 12.5 ips
  147. #
  148.  
  149.  
  150. TYPE = LINEAR
  151. MAX_VELOCITY = 200.0
  152. MAX_ACCELERATION = 3000.0
  153. # Set Stepgen max 20% higher than the axis
  154. STEPGEN_MAX_VEL = 240.0
  155. STEPGEN_MAX_ACC = 3600.0
  156.  
  157. BACKLASH = 0.000
  158.  
  159. # scale is 200 steps/rev * 5 revs/inch
  160. SCALE = -160
  161.  
  162. MIN_LIMIT = -1.0
  163. MAX_LIMIT = 220.0
  164.  
  165. FERROR = 1.0
  166. MIN_FERROR = 0.25
  167.  
  168. HOME = 0.000
  169. HOME_OFFSET = 0.00
  170. HOME_IGNORE_LIMITS = YES
  171. HOME_USE_INDEX = NO
  172. HOME_SEQUENCE = 0
  173.  
  174. # Set to zero if you don't have physical home/limit switches
  175. # Set to the desired homing and latch velocity if you have switches
  176. # See: https://github.com/machinekit/machinekit-docs
  177. HOME_SEARCH_VEL = 0.0
  178. HOME_LATCH_VEL = 0.0
  179.  
  180. # these are in nanoseconds
  181. DIRSETUP = 200
  182. DIRHOLD = 200
  183. STEPLEN = 1000
  184. STEPSPACE = 1000
  185.  
  186.  
  187.  
  188.  
  189. [AXIS_1]
  190.  
  191. TYPE = LINEAR
  192. MAX_VELOCITY = 200.0
  193. MAX_ACCELERATION = 3000.0
  194. # Set Stepgen max 20% higher than the axis
  195. STEPGEN_MAX_VEL = 240.0
  196. STEPGEN_MAX_ACC = 3600.0
  197.  
  198. BACKLASH = 0.000
  199.  
  200. SCALE = 160.0
  201.  
  202. MIN_LIMIT = -1.0
  203. MAX_LIMIT = 250.0
  204.  
  205. FERROR = 1.0
  206. MIN_FERROR = 0.25
  207.  
  208. HOME = 0.000
  209. HOME_OFFSET = 0.00
  210. HOME_IGNORE_LIMITS = YES
  211. HOME_USE_INDEX = NO
  212. HOME_SEQUENCE = 0
  213.  
  214. # Set to zero if you don't have physical home/limit switches
  215. # Set to the desired homing and latch velocity if you have switches
  216. # See: https://github.com/machinekit/machinekit-docs
  217. HOME_SEARCH_VEL = 0.0
  218. HOME_LATCH_VEL = 0.0
  219.  
  220. # these are in nanoseconds
  221. DIRSETUP = 200
  222. DIRHOLD = 200
  223. STEPLEN = 1000
  224. STEPSPACE = 1000
  225.  
  226.  
  227.  
  228.  
  229. [AXIS_2]
  230.  
  231. TYPE = LINEAR
  232. MAX_VELOCITY = 5.0
  233. MAX_ACCELERATION = 100.0
  234. # Set Stepgen max 20% higher than the axis
  235. STEPGEN_MAX_VEL = 6.0
  236. STEPGEN_MAX_ACC = 125.0
  237.  
  238. BACKLASH = 0.000
  239.  
  240. #SCALE = 1511.81102362
  241. SCALE = 3023.6
  242.  
  243. MIN_LIMIT = -10.0
  244. MAX_LIMIT = 200.0
  245.  
  246. FERROR = 1.0
  247. MIN_FERROR = 0.25
  248.  
  249. HOME = 0.000
  250. HOME_OFFSET = 0.00
  251. HOME_IGNORE_LIMITS = YES
  252. HOME_USE_INDEX = NO
  253. HOME_SEQUENCE = 0
  254.  
  255. # Set to zero if you don't have physical home/limit switches
  256. # Set to the desired homing and latch velocity if you have switches
  257. # See: https://github.com/machinekit/machinekit-docs
  258. HOME_SEARCH_VEL = 0.0
  259. HOME_LATCH_VEL = 0.0
  260.  
  261. # these are in nanoseconds
  262. DIRSETUP = 200
  263. DIRHOLD = 200
  264. STEPLEN = 1000
  265. STEPSPACE = 1000
  266.  
  267.  
  268. [AXIS_3]
  269.  
  270. TYPE = ANGULAR
  271. MAX_VELOCITY = 400.0
  272. MAX_ACCELERATION = 300.0
  273. # Set Stepgen max 20% higher than the axis
  274. STEPGEN_MAX_VEL = 410.0
  275. STEPGEN_MAX_ACC = 310.0
  276.  
  277. BACKLASH = 0.000
  278.  
  279. #SCALE = -744.530002058
  280. # 8 = gear ratio
  281. # 800 (pulses/rev) / (360 deg/8ratio) = 17.77778
  282. SCALE = 17.7778
  283. #SCALE = -732.32
  284.  
  285. MIN_LIMIT = -9999.0
  286. MAX_LIMIT = 999999999.0
  287.  
  288. #FERROR = 1.0
  289. #MIN_FERROR = 0.25
  290. FERROR = 10.0
  291. MIN_FERROR = 2.5
  292.  
  293. HOME = 0.000
  294. HOME_OFFSET = 0.00
  295. HOME_IGNORE_LIMITS = YES
  296. HOME_USE_INDEX = NO
  297. HOME_SEQUENCE = 0
  298.  
  299. # Set to zero if you don't have physical home/limit switches
  300. # Set to the desired homing and latch velocity if you have switches
  301. # See: https://github.com/machinekit/machinekit-docs
  302. HOME_SEARCH_VEL = 0.0
  303. HOME_LATCH_VEL = 0.0
  304.  
  305. # these are in nanoseconds
  306. #DIRSETUP = 1000
  307. #DIRHOLD = 1000
  308. #STEPLEN = 2000
  309. #STEPSPACE = 2000
  310. DIRSETUP = 30000
  311. DIRHOLD = 30000
  312. STEPLEN = 60000
  313. STEPSPACE = 60000
  314.  
  315.  
  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 = tool.tbl
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