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Xylotex-axis.ini

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Dec 17th, 2018
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  1. [PRUCONF]
  2. DRIVER=hal_pru_generic
  3. CONFIG=pru=1 num_stepgens=4
  4. PRUBIN=xenomai/pru_generic.bin
  5.  
  6. [EMC]
  7.  
  8. # Name of machine, for use with display, etc.
  9. MACHINE = RedmonCNC
  10.  
  11. # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
  12. #DEBUG = 0x00000003
  13. #DEBUG = 0x00000007
  14. DEBUG = 0
  15.  
  16.  
  17.  
  18.  
  19. [DISPLAY]
  20. #uncomment the line below if the shuttleexpress is installed
  21. #(JP)GLADEVCP = shuttlexpress.glade
  22. #leave the follwoing two alone
  23.  
  24. #EMBED_TAB_NAME = GladeVCP demo
  25. #EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -u shuttlexpress.py -x {XID} shuttlexpress.glade
  26.  
  27. # Name of display program, e.g., tkemc
  28. DISPLAY = axis
  29. #DISPLAY = jtgremlin
  30. #DISPLAY = mkwrapper
  31. #DISPLAY = tklinuxcnc
  32.  
  33. #EDITOR = mousepad
  34.  
  35. # Touchy currently will not work without some hardware buttons/jog-wheel
  36. #DISPLAY = touchy
  37.  
  38. # Cycle time, in seconds, that display will sleep between polls
  39. CYCLE_TIME = 0.200
  40.  
  41. # Path to help file
  42. HELP_FILE = tklinucnc.txt
  43.  
  44. # Initial display setting for position, RELATIVE or MACHINE
  45. POSITION_OFFSET = RELATIVE
  46.  
  47. # Initial display setting for position, COMMANDED or ACTUAL
  48. POSITION_FEEDBACK = ACTUAL
  49.  
  50. # Highest value that will be allowed for feed override, 1.0 = 100%
  51. MAX_FEED_OVERRIDE = 1.0
  52.  
  53. # Prefix to be used
  54. PROGRAM_PREFIX = ~/machinekit/nc_files/
  55.  
  56. # Introductory graphic
  57. INTRO_GRAPHIC =
  58. INTRO_TIME = 0
  59.  
  60. # Increments for the JOG section
  61. INCREMENTS = 10 1 0.1 0.01
  62.  
  63.  
  64. [FILTER]
  65.  
  66. PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
  67. PROGRAM_EXTENSION = .py Python Script
  68.  
  69. png = image-to-gcode
  70. gif = image-to-gcode
  71. jpg = image-to-gcode
  72. py = python
  73.  
  74.  
  75. [TASK]
  76.  
  77. # Name of task controller program, e.g., milltask
  78. TASK = milltask
  79.  
  80. # Cycle time, in seconds, that task controller will sleep between polls
  81. CYCLE_TIME = 0.010
  82.  
  83.  
  84.  
  85.  
  86. [RS274NGC]
  87.  
  88. # File containing interpreter variables
  89. PARAMETER_FILE = pru-stepper.var
  90. RS274NGC_STARTUP_CODE = G00 G17 G20 G40 G49 G64 P0.1 Q0.1 G80 G90
  91.  
  92. [EMCMOT]
  93.  
  94. EMCMOT = motmod
  95.  
  96. # Timeout for comm to emcmot, in seconds
  97. COMM_TIMEOUT = 1.0
  98.  
  99. # Interval between tries to emcmot, in seconds
  100. COMM_WAIT = 0.010
  101.  
  102. # Servo task period, in nanoseconds
  103. SERVO_PERIOD = 1000000
  104.  
  105.  
  106. [HAL]
  107.  
  108. # The run script first uses halcmd to execute any HALFILE
  109. # files, and then to execute any individual HALCMD commands.
  110.  
  111. # list of hal config files to run through halcmd
  112. # files are executed in the order in which they appear
  113.  
  114. HALFILE = Xylotex.hal
  115. #(JP) uncomment the line below if the shuttlexpress jig wheel is used
  116. #HALFILE = ../../../shuttlexpress.hal
  117.  
  118. # list of halcmd commands to execute
  119. # commands are executed in the order in which they appear
  120. #HALCMD = save neta
  121. HALUI = halui
  122. POSTGUI_HALFILE = Xylotex.postgui.hal
  123.  
  124.  
  125. [TRAJ]
  126.  
  127. AXES = 4
  128. COORDINATES = X Y Z A
  129. MAX_ANGULAR_VELOCITY = 45.00
  130. DEFAULT_ANGULAR_VELOCITY = 4.50
  131. LINEAR_UNITS = inch
  132. ANGULAR_UNITS = degree
  133. CYCLE_TIME = 0.010
  134. DEFAULT_VELOCITY = 2.0
  135. MAX_LINEAR_VELOCITY = 2.0
  136. NO_FORCE_HOMING = 1
  137.  
  138. ################################################################
  139. [AXIS_0]
  140.  
  141. #
  142. # Step timing is 40 us steplen + 40 us stepspace
  143. # That gives 80 us step period = 12.5 KHz step freq
  144. #
  145. # Bah, even software stepping can handle that, hm2 doesnt buy you much with
  146. # such slow steppers.
  147. #
  148. # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
  149. #
  150. # This gives a maxvel of 12.5/1 = 12.5 ips
  151. #
  152. TYPE = LINEAR
  153. MAX_VELOCITY = 1.0
  154. MAX_ACCELERATION = 5.0
  155. # Set Stepgen max 20% higher than the axis
  156. STEPGEN_MAX_VEL = 1.2
  157. STEPGEN_MAX_ACC = 8.75
  158.  
  159. BACKLASH = 0.000
  160. # scale is 200 steps/rev * 8 mirostep * 10 tpi
  161. SCALE = 5080
  162.  
  163. MIN_LIMIT = -0.0
  164. MAX_LIMIT = 12.0
  165.  
  166. FERROR = .1
  167. MIN_FERROR = 0.05
  168.  
  169. HOME = 0.000
  170. HOME_OFFSET = 0.00
  171. HOME_SEARCH_VEL = -.1
  172. HOME_LATCH_VEL = 0.2
  173. #HOME_USE_INDEX = YES
  174. #HOME_IGNORE_LIMITS = YES
  175. #HOME_IS_SHARED = 1
  176. #HOME_SEQUENCE = 2
  177.  
  178. # these are in nanoseconds
  179. DIRSETUP = 20000
  180. DIRHOLD = 20000
  181. STEPLEN = 10000
  182. STEPSPACE = 10000
  183.  
  184. # Set to one for active low step pulses
  185. STEP_INVERT = 1
  186.  
  187. # PID tuning params
  188. DEADBAND = 0
  189. P = 50
  190. I = 0
  191. D = 0
  192. FF0 = 0
  193. FF1 = 1
  194. FF2 = 0
  195. BIAS = 0
  196. MAX_OUTPUT = 0
  197.  
  198.  
  199. ################################################################
  200. [AXIS_1]
  201.  
  202. #
  203. # Step timing is 40 us steplen + 40 us stepspace
  204. # That gives 80 us step period = 12.5 KHz step freq
  205. #
  206. # Bah, even software stepping can handle that, hm2 doesnt buy you much with
  207. # such slow steppers.
  208. #
  209. # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
  210. #
  211. # This gives a maxvel of 12.5/1 = 12.5 ips
  212. #
  213. TYPE = LINEAR
  214. MAX_VELOCITY = 1.0
  215. MAX_ACCELERATION = 5.0
  216. # Set Stepgen max 20% higher than the axis
  217. STEPGEN_MAX_VEL = 1.2
  218. STEPGEN_MAX_ACC = 8.75
  219.  
  220. BACKLASH = 0.000
  221. # scale is 200 steps/rev * 8 mirostep * 10 tpi
  222. SCALE = 8128
  223.  
  224. MIN_LIMIT = -0.0
  225. MAX_LIMIT = 30.0
  226.  
  227. FERROR = .1
  228. MIN_FERROR = 0.05
  229.  
  230. HOME = 0.000
  231. HOME_OFFSET = 0.00
  232. HOME_SEARCH_VEL = -.1
  233. HOME_LATCH_VEL = 0.2
  234. #HOME_USE_INDEX = YES
  235. #HOME_IGNORE_LIMITS = YES
  236. #HOME_IS_SHARED = 1
  237. #HOME_SEQUENCE = 2
  238.  
  239. # these are in nanoseconds
  240. DIRSETUP = 20000
  241. DIRHOLD = 20000
  242. STEPLEN = 10000
  243. STEPSPACE = 10000
  244.  
  245. # Set to one for active low step pulses
  246. STEP_INVERT = 1
  247.  
  248. # PID tuning params
  249. DEADBAND = 0
  250. P = 50
  251. I = 0
  252. D = 0
  253. FF0 = 0
  254. FF1 = 1
  255. FF2 = 0
  256. BIAS = 0
  257. MAX_OUTPUT = 0
  258.  
  259.  
  260. ################################################################
  261. [AXIS_2]
  262.  
  263. #
  264. # Step timing is 40 us steplen + 40 us stepspace
  265. # That gives 80 us step period = 12.5 KHz step freq
  266. #
  267. # Bah, even software stepping can handle that, hm2 doesnt buy you much with
  268. # such slow steppers.
  269. #
  270. # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
  271. #
  272. # This gives a maxvel of 12.5/1 = 12.5 ips
  273. #
  274. TYPE = LINEAR
  275. MAX_VELOCITY = 1.0
  276. MAX_ACCELERATION = 5.0
  277. # Set Stepgen max 20% higher than the axis
  278. STEPGEN_MAX_VEL = 1.2
  279. STEPGEN_MAX_ACC = 8.75
  280.  
  281. BACKLASH = 0.000
  282. # scale is 200 steps/rev * 8 mirostep * 10 tpi
  283. SCALE = 5080
  284.  
  285. MIN_LIMIT = -5.0
  286. MAX_LIMIT = 5.0
  287.  
  288. FERROR = .1
  289. MIN_FERROR = 0.05
  290.  
  291. HOME = 0.000
  292. HOME_OFFSET = 0.00
  293. HOME_SEARCH_VEL = -.1
  294. HOME_LATCH_VEL = 0.2
  295. #HOME_USE_INDEX = YES
  296. #HOME_IGNORE_LIMITS = YES
  297. #HOME_IS_SHARED = 1
  298. #HOME_SEQUENCE = 2
  299.  
  300. # these are in nanoseconds
  301. DIRSETUP = 20000
  302. DIRHOLD = 20000
  303. STEPLEN = 10000
  304. STEPSPACE = 10000
  305.  
  306. # Set to one for active low step pulses
  307. STEP_INVERT = 1
  308.  
  309. # PID tuning params
  310. DEADBAND = 0
  311. P = 50
  312. I = 0
  313. D = 0
  314. FF0 = 0
  315. FF1 = 1
  316. FF2 = 0
  317. BIAS = 0
  318. MAX_OUTPUT = 0
  319.  
  320. ################################################################
  321. [AXIS_3]
  322.  
  323. #
  324. # Step timing is 40 us steplen + 40 us stepspace
  325. # That gives 80 us step period = 12.5 KHz step freq
  326. #
  327. # Bah, even software stepping can handle that, hm2 doesnt buy you much with
  328. # such slow steppers.
  329. #
  330. # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
  331. #
  332. # This gives a maxvel of 12.5/1 = 12.5 ips
  333. #
  334. TYPE = ANGULAR
  335. MAX_VELOCITY = 1.0
  336. MAX_ACCELERATION = 15.0
  337. # Set Stepgen max 20% higher than the axis
  338. STEPGEN_MAX_VEL = 1.2
  339. STEPGEN_MAX_ACC = 18.75
  340.  
  341. BACKLASH = 0.000
  342. # scale is 200 steps/rev * 8 mirostep * 10 tpi
  343. SCALE = 32000
  344.  
  345. MIN_LIMIT = -0.0
  346. MAX_LIMIT = 15.0
  347.  
  348. FERROR = .1
  349. MIN_FERROR = 0.05
  350.  
  351. HOME = 0.000
  352. HOME_OFFSET = 0.00
  353. HOME_SEARCH_VEL = -.1
  354. HOME_LATCH_VEL = 0.2
  355. #HOME_USE_INDEX = YES
  356. #HOME_IGNORE_LIMITS = YES
  357. #HOME_IS_SHARED = 1
  358. #HOME_SEQUENCE = 2
  359.  
  360. # these are in nanoseconds
  361. DIRSETUP = 1000
  362. DIRHOLD = 20000
  363. STEPLEN = 500
  364. STEPSPACE = 4000
  365.  
  366. # Set to one for active low step pulses
  367. STEP_INVERT = 0
  368.  
  369. # PID tuning params
  370. DEADBAND = 0
  371. P = 50
  372. I = 0
  373. D = 0
  374. FF0 = 0
  375. FF1 = 1
  376. FF2 = 0
  377. BIAS = 0
  378. MAX_OUTPUT = 0
  379.  
  380.  
  381.  
  382.  
  383. ############################
  384.  
  385. [EMCIO]
  386.  
  387. # Name of IO controller program, e.g., io
  388. EMCIO = io
  389.  
  390. # cycle time, in seconds
  391. CYCLE_TIME = 0.100
  392.  
  393. # tool table file
  394. TOOL_TABLE = tool.tbl
  395.  
  396. HALUI = halui
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