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  1.  
  2. [HOSTMOT2]
  3. DRIVER=hm2_pci
  4. BOARD=5i25
  5. CONFIG="sserial_port_0=00000000"
  6. #CONFIG="sserial_mode0=10000000"
  7. #CONFIG="sserial_mode0=20000000"
  8.  
  9.  
  10.  
  11. [EMC]
  12.  
  13. # Name of machine, for use with display, etc.
  14. MACHINE = 7i76
  15.  
  16. # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
  17. #DEBUG = 0x00000003
  18. #DEBUG = 0x00000007
  19. DEBUG = 0
  20.  
  21.  
  22.  
  23.  
  24. [DISPLAY]
  25.  
  26. # Name of display program, e.g., tkemc
  27. DISPLAY = axis
  28.  
  29. # Cycle time, in seconds, that display will sleep between polls
  30. CYCLE_TIME = 0.0500
  31.  
  32. # Path to help file
  33. HELP_FILE = tkemc.txt
  34.  
  35. # Initial display setting for position, RELATIVE or MACHINE
  36. POSITION_OFFSET = RELATIVE
  37.  
  38. # Initial display setting for position, COMMANDED or ACTUAL
  39. POSITION_FEEDBACK = ACTUAL
  40.  
  41. # Highest value that will be allowed for feed override, 1.0 = 100%
  42. MAX_FEED_OVERRIDE = 1.5
  43.  
  44. # Prefix to be used
  45. PROGRAM_PREFIX = ../../nc_files/
  46.  
  47. # Introductory graphic
  48. INTRO_GRAPHIC = emc2.gif
  49. INTRO_TIME = 5
  50.  
  51.  
  52. [FILTER]
  53. PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
  54. PROGRAM_EXTENSION = .py Python Script
  55. png = image-to-gcode
  56. gif = image-to-gcode
  57. jpg = image-to-gcode
  58. py = python
  59.  
  60.  
  61. [TASK]
  62.  
  63. # Name of task controller program, e.g., milltask
  64. TASK = milltask
  65.  
  66. # Cycle time, in seconds, that task controller will sleep between polls
  67. CYCLE_TIME = 0.010
  68.  
  69.  
  70.  
  71.  
  72. [RS274NGC]
  73.  
  74. # File containing interpreter variables
  75. PARAMETER_FILE = 7i76.var
  76.  
  77.  
  78.  
  79.  
  80. [EMCMOT]
  81.  
  82. EMCMOT = motmod
  83.  
  84. # Timeout for comm to emcmot, in seconds
  85. COMM_TIMEOUT = 1.0
  86.  
  87. # Interval between tries to emcmot, in seconds
  88. COMM_WAIT = 0.010
  89.  
  90. # Servo task period, in nanoseconds
  91. SERVO_PERIOD = 1000000
  92.  
  93.  
  94.  
  95.  
  96. [HAL]
  97.  
  98. # The run script first uses halcmd to execute any HALFILE
  99. # files, and then to execute any individual HALCMD commands.
  100.  
  101. # list of hal config files to run through halcmd
  102. # files are executed in the order in which they appear
  103.  
  104. HALFILE = 7i76.hal
  105.  
  106. # list of halcmd commands to execute
  107. # commands are executed in the order in which they appear
  108. #HALCMD = save neta
  109.  
  110.  
  111.  
  112.  
  113. [TRAJ]
  114.  
  115. AXES = 3
  116. COORDINATES = X Y Z
  117. #HOME = 0 0 0
  118. LINEAR_UNITS = inch
  119. ANGULAR_UNITS = degree
  120. CYCLE_TIME = 0.010
  121. NO_FORCE_HOMING = 1
  122.  
  123.  
  124. [AXIS_0]
  125.  
  126. #
  127. # Step timing is 40 us steplen + 40 us stepspace
  128. # That gives 80 us step period = 12.5 KHz step freq
  129. #
  130. # Bah, even software stepping can handle that, hm2 doesnt buy you much with
  131. # such slow steppers.
  132. #
  133. # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
  134. #
  135. # This gives a maxvel of 12.5/1 = 12.5 ips
  136. #
  137.  
  138.  
  139. TYPE = LINEAR
  140. MAX_VELOCITY = 10
  141. MAX_ACCELERATION = 20
  142. # Set Stepgen 20% higher than the axis settings
  143. STEPGEN_MAX_VEL = 12
  144. STEPGEN_MAX_ACC = 24
  145.  
  146. BACKLASH = 0.000
  147.  
  148. # scale is 200 steps/rev * 5 revs/inch
  149. SCALE = 1000
  150.  
  151. MIN_LIMIT = -10.0
  152. MAX_LIMIT = 10.0
  153.  
  154. FERROR = 0.050
  155. MIN_FERROR = 0.005
  156.  
  157. #HOME = 0.000
  158. #HOME_OFFSET = 0.10
  159. #HOME_SEARCH_VEL = 0.10
  160. #HOME_LATCH_VEL = -0.01
  161. #HOME_USE_INDEX = YES
  162. #HOME_IGNORE_LIMITS = YES
  163.  
  164. # these are in nanoseconds
  165. DIRSETUP = 200
  166. DIRHOLD = 200
  167. STEPLEN = 2000
  168. STEPSPACE = 2000
  169.  
  170.  
  171.  
  172.  
  173. [AXIS_1]
  174.  
  175. TYPE = LINEAR
  176. MAX_VELOCITY = 10
  177. MAX_ACCELERATION = 20
  178. # Set Stepgen 20% higher than the axis settings
  179. STEPGEN_MAX_VEL = 12
  180. STEPGEN_MAX_ACC = 24
  181.  
  182. BACKLASH = 0.000
  183.  
  184. SCALE = 1000
  185.  
  186. MIN_LIMIT = -10.0
  187. MAX_LIMIT = 10.0
  188.  
  189. FERROR = 0.050
  190. MIN_FERROR = 0.005
  191.  
  192. #HOME = 0.000
  193. #HOME_OFFSET = 0.10
  194. #HOME_SEARCH_VEL = 0.10
  195. #HOME_LATCH_VEL = -0.01
  196. #HOME_USE_INDEX = YES
  197. #HOME_IGNORE_LIMITS = YES
  198.  
  199. # these are in nanoseconds
  200. DIRSETUP = 200
  201. DIRHOLD = 200
  202. STEPLEN = 2000
  203. STEPSPACE = 2000
  204.  
  205.  
  206.  
  207.  
  208. [AXIS_2]
  209.  
  210. TYPE = LINEAR
  211. MAX_VELOCITY = 10
  212. MAX_ACCELERATION = 20
  213. # Set Stepgen 20% higher than the axis settings
  214. STEPGEN_MAX_VEL = 12
  215. STEPGEN_MAX_ACC = 24
  216.  
  217. BACKLASH = 0.000
  218.  
  219. SCALE = 1000
  220.  
  221. MIN_LIMIT = -10.0
  222. MAX_LIMIT = 10.0
  223.  
  224. FERROR = 0.050
  225. MIN_FERROR = 0.005
  226.  
  227. #HOME = 0.000
  228. #HOME_OFFSET = 0.10
  229. #HOME_SEARCH_VEL = 0.10
  230. #HOME_LATCH_VEL = -0.01
  231. #HOME_USE_INDEX = YES
  232. #HOME_IGNORE_LIMITS = YES
  233.  
  234. # these are in nanoseconds
  235. DIRSETUP = 200
  236. DIRHOLD = 200
  237. STEPLEN = 2000
  238. STEPSPACE = 2000
  239.  
  240.  
  241.  
  242.  
  243. [EMCIO]
  244.  
  245. # Name of IO controller program, e.g., io
  246. EMCIO = io
  247.  
  248. # cycle time, in seconds
  249. CYCLE_TIME = 0.100
  250.  
  251. # tool table file
  252. TOOL_TABLE = tool.tbl
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