# ini file for Universal Stepper Controller with encoders # General section ------------------------------------------------------------- [EMC] # Version of this INI file VERSION = 1.1 # Name of machine, for use with display, etc. MACHINE = UNIVSTEP_Encoder # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others DEBUG = 0 # DEBUG = 0x00000007 # DEBUG = 0x7FFFFFFF # Sections for display options ------------------------------------------------ [DISPLAY] # Name of display program, e.g., axis DISPLAY = axis # DISPLAY = tklinuxcnc # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.100 # Path to help file HELP_FILE = tklinuxcnc.txt # Initial display setting for position, RELATIVE or MACHINE POSITION_OFFSET = RELATIVE # Initial display setting for position, COMMANDED or ACTUAL POSITION_FEEDBACK = ACTUAL # Highest value that will be allowed for feed override, 1.0 = 100% MAX_FEED_OVERRIDE = 1.2 # Prefix to be used PROGRAM_PREFIX = ../../nc_files/ # Introductory graphic INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 2 # Enable popup balloon help BALLOON_HELP = 1 # Task controller section ----------------------------------------------------- [FILTER] #No Content [RS274NGC] # File containing interpreter variables PARAMETER_FILE = univstep.var # Motion control section ------------------------------------------------------ [EMCMOT] EMCMOT = motmod # Timeout for comm to emcmot, in seconds COMM_TIMEOUT = 1.0 # Servo task period, in nanoseconds SERVO_PERIOD = 1000000 # Hardware Abstraction Layer section -------------------------------------------------- [TASK] # Name of task controller program, e.g., milltask TASK = milltask # Cycle time, in seconds, that task controller will sleep between polls CYCLE_TIME = 0.010 # Part program interpreter section -------------------------------------------- [HAL] # The run script first uses halcmd to execute any HALFILE # files, and then to execute any individual HALCMD commands. # # list of hal config files to run through halcmd # files are executed in the order in which they appear HALFILE = univstep_load.hal HALFILE = univstep_servo.hal HALFILE = univstep_motion.hal HALFILE = univstep_io.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta # Trajectory planner section -------------------------------------------------- [HALUI] #No Content [TRAJ] # COORDINATES = X Y Z R P W COORDINATES = X Y Z A HOME = 0 0 0 0 LINEAR_UNITS = inch ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 0.0167 MAX_LINEAR_VELOCITY = 1.20 DEFAULT_LINEAR_ACCELERATION = 15.0 MAX_LINEAR_ACCELERATION = 20.0 # Axes sections --------------------------------------------------------------- # First axis [EMCIO] # tool table file TOOL_TABLE = univstep.tbl [KINS] KINEMATICS = trivkins JOINTS = 4 [AXIS_X] MIN_LIMIT = -10.0 MAX_LIMIT = 30.0 MAX_VELOCITY = 1.20 MAX_ACCELERATION = 20.0 [JOINT_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 1.20 MAX_ACCELERATION = 20.0 PID_MAX_VEL = 1.25 BACKLASH = 0.000 # INPUT_SCALE sets the resolution of the encoder in user units # for instance a 500 line encoder directly connected to a 5 TPI leadscrew # would give 500 * 4 (for quadrature) * 5 = 10000 INPUT_SCALE = 10000 # OUTPUT_SCALE sets the resolution of the step generator # for a Gecko320 with no pulse multiplier, it should be the same magnitude # as INPUT_SCALE, but the arithmetic sign might need to be opposite # if it runs away. # if you have an encoder on a stepper motor, then this should be calculated # by number of (micro)steps/rev X the leadscrew pitch, and may not match the # INPUT_SCALE. OUTPUT_SCALE = 10000.0 MIN_LIMIT = -10.0 MAX_LIMIT = 30.0 FERROR = 0.0100 MIN_FERROR = 0.1 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.000126 P = 150 I = 100 D = 0.1 BIAS = 0.0 FF0 = 0 FF1 = 1 FF2 = 0.0 # Second axis [AXIS_Y] MIN_LIMIT = -10.0 MAX_LIMIT = 30.0 MAX_VELOCITY = 1.20 MAX_ACCELERATION = 20.0 [JOINT_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 1.20 MAX_ACCELERATION = 20.0 PID_MAX_VEL = 1.25 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 4000.0 MIN_LIMIT = -10.0 MAX_LIMIT = 30.0 FERROR = 0.010 MIN_FERROR = 0.001 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.000126 P = 150 I = 100 D = 0.1 BIAS = 0.0 FF0 = 0 FF1 = 1 FF2 = 0.0 # Third axis [AXIS_Z] MIN_LIMIT = -10.0 MAX_LIMIT = 30.0 MAX_VELOCITY = 1.20 MAX_ACCELERATION = 20.0 [JOINT_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 1.20 MAX_ACCELERATION = 20.0 PID_MAX_VEL = 1.25 BACKLASH = 0.000 INPUT_SCALE = 4000 OUTPUT_SCALE = 4000.0 MIN_LIMIT = -10.0 MAX_LIMIT = 30.0 FERROR = 0.010 MIN_FERROR = 0.001 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.000126 P = 150 I = 100 D = 0.1 BIAS = 0.0 FF0 = 0 FF1 = 1 FF2 = 0.0 # Fourth axis [AXIS_A] MIN_LIMIT = -3600.0 MAX_LIMIT = 3600.0 MAX_VELOCITY = 65 MAX_ACCELERATION = 20.0 [JOINT_3] TYPE = ANGULAR HOME = 0.0 MAX_VELOCITY = 65 MAX_ACCELERATION = 20.0 PID_MAX_VEL = 66 BACKLASH = 0.000 INPUT_SCALE = 11.11111111 OUTPUT_SCALE = 11.1111111 MIN_LIMIT = -3600.0 MAX_LIMIT = 3600.0 FERROR = 0.1 MIN_FERROR = 0.2 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.046 P = 150 I = 100 D = 0.1 BIAS = 0.0 FF0 = 0 FF1 = 1 FF2 = 0.0 # section for main IO controller parameters -----------------------------------