249 lines
7.5 KiB
INI
249 lines
7.5 KiB
INI
# mazak_rf.ini EMC controller parameters for Roland Friestad's Mazak mill.
|
|
# General note: Comments can either be preceded with a # or ; - either is
|
|
# acceptable, although # is in keeping with most linux config files.
|
|
# General section -------------------------------------------------------------
|
|
|
|
[EMC]
|
|
# Version of this INI file
|
|
VERSION = 1.1
|
|
# Name of machine, for use with display, etc.
|
|
MACHINE = LinuxCNC-MAZAK-RF
|
|
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
|
|
# DEBUG = 0x00000003
|
|
# DEBUG = 0x00000007
|
|
DEBUG = 0
|
|
# enable adaptive feed input, we use it for feedhold button and to
|
|
# prevent motion during spindle accel, gear changes, etc
|
|
RS274NGC_STARTUP_CODE = M52 P1
|
|
# Sections for display options ------------------------------------------------
|
|
|
|
[DISPLAY]
|
|
# Name of display program, e.g., xlinuxcnc
|
|
DISPLAY = axis
|
|
# DISPLAY = tklinuxcnc
|
|
# DISPLAY = mini
|
|
# 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/
|
|
# side panel with some extra controls
|
|
PYVCP=panel.xml
|
|
# Introductory graphic
|
|
INTRO_GRAPHIC = linuxcnc.gif
|
|
INTRO_TIME = 1
|
|
#EDITOR = geany
|
|
INCREMENTS = 0.010 0.001 0.0001
|
|
# Task controller section -----------------------------------------------------
|
|
|
|
[FILTER]
|
|
#No Content
|
|
|
|
[RS274NGC]
|
|
# File containing interpreter variables
|
|
PARAMETER_FILE = demo_mazak.var
|
|
# Motion control section ------------------------------------------------------
|
|
|
|
[EMCMOT]
|
|
EMCMOT = motmod
|
|
# Timeout for comm to emcmot, in seconds
|
|
COMM_TIMEOUT = 1.0
|
|
# Base task period, in nanoseconds - this is the fastest thread in the machine
|
|
BASE_PERIOD = 100000
|
|
# Servo task period, in nanoseconds - will be rounded to an integer multiple
|
|
# of BASE_PERIOD
|
|
SERVO_PERIOD = 500000
|
|
# 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 = demo_mazak.hal
|
|
HALFILE = tester.hal
|
|
# list of halcmd commands to execute
|
|
# commands are executed in the order in which they appear
|
|
#HALCMD = save neta
|
|
# Single file that is executed after the GUI has started.
|
|
# used for "control panel" stuff, since the panel widgets
|
|
# don't exist until the GUI starts
|
|
POSTGUI_HALFILE = panel.hal
|
|
# Spindle Controller Section --------------------------------------------------
|
|
|
|
[HALUI]
|
|
#No Content
|
|
|
|
[TRAJ]
|
|
# COORDINATES = X Y Z A B C
|
|
COORDINATES = X Y Z
|
|
HOME = 0 0 0
|
|
LINEAR_UNITS = inch
|
|
ANGULAR_UNITS = degree
|
|
DEFAULT_LINEAR_VELOCITY = 1.0
|
|
MAX_LINEAR_VELOCITY = 5.0
|
|
DEFAULT_LINEAR_ACCELERATION = 20.0
|
|
MAX_LINEAR_ACCELERATION = 20.0
|
|
# Axes sections ---------------------------------------------------------------
|
|
# First axis
|
|
|
|
[EMCIO]
|
|
# change tools in the upper left corner of the table
|
|
# to avoid hitting the vice or workpiece with the tool
|
|
TOOL_CHANGE_POSITION = -13.75 7.5 -0.022
|
|
# tool table file
|
|
TOOL_TABLE = demo_mazak.tbl
|
|
# tool turret info
|
|
TOOL_TURRET_MAX = 24
|
|
TOOL_TURRET_WRAP = 1
|
|
# wait times in seconds for spindle brake, release
|
|
SPINDLE_OFF_WAIT = 1.0
|
|
SPINDLE_ON_WAIT = 1.5
|
|
|
|
[KINS]
|
|
KINEMATICS = trivkins
|
|
JOINTS = 3
|
|
|
|
[AXIS_X]
|
|
MIN_LIMIT = -14.0
|
|
MAX_LIMIT = 14.0
|
|
MAX_VELOCITY = 5.0
|
|
MAX_ACCELERATION = 20.0
|
|
|
|
[JOINT_0]
|
|
TYPE = LINEAR
|
|
HOME = 0.000
|
|
MAX_VELOCITY = 5.0
|
|
MAX_ACCELERATION = 20.0
|
|
# Yes really, this .0024 backlash is right, workshop 2007
|
|
BACKLASH = 0.0024
|
|
# 2000 cycles/rev * 4 counts/cycle * 1.6 gear ratio *
|
|
# 1.0 cm pitch * 2.54 cm/in = 32512 (tweaked later)
|
|
INPUT_SCALE = 33865
|
|
OUTPUT_SCALE = 1.000
|
|
OUTPUT_OFFSET = -0.032
|
|
MAX_OUTPUT = 10.0
|
|
MIN_LIMIT = -14.0
|
|
MAX_LIMIT = 14.0
|
|
FERROR = 0.050
|
|
MIN_FERROR = 0.010
|
|
HOME_OFFSET = 14.3
|
|
HOME_SEARCH_VEL = 2.5
|
|
HOME_LATCH_VEL = -0.25
|
|
HOME_USE_INDEX = YES
|
|
HOME_IGNORE_LIMITS = NO
|
|
HOME_SEQUENCE = 1
|
|
# PID tuning params
|
|
DEADBAND = 0.000035
|
|
PGAIN = 4000.0
|
|
IGAIN = 6400.0
|
|
DGAIN = 15.0
|
|
FF0 = 0.000
|
|
FF1 = 0.000
|
|
FF2 = 0.0
|
|
BIAS = 0.000
|
|
# Second axis
|
|
|
|
[AXIS_Y]
|
|
MIN_LIMIT = -7.7
|
|
MAX_LIMIT = 7.7
|
|
MAX_VELOCITY = 5.0
|
|
MAX_ACCELERATION = 20.0
|
|
|
|
[JOINT_1]
|
|
TYPE = LINEAR
|
|
HOME = 0.000
|
|
MAX_VELOCITY = 5.0
|
|
MAX_ACCELERATION = 20.0
|
|
BACKLASH = 0.000
|
|
# 2000 cycles/rev * 4 counts/cycle * 1.6 gear ratio *
|
|
# 1.0 cm pitch * 2.54 cm/in = 32512 (tweaked later)
|
|
INPUT_SCALE = 33865
|
|
OUTPUT_SCALE = 1.000
|
|
OUTPUT_OFFSET = 0.006
|
|
MAX_OUTPUT = 10.0
|
|
MIN_LIMIT = -7.7
|
|
MAX_LIMIT = 7.7
|
|
FERROR = 0.050
|
|
MIN_FERROR = 0.010
|
|
HOME_OFFSET = 7.37
|
|
HOME_SEARCH_VEL = 2.5
|
|
HOME_LATCH_VEL = -0.25
|
|
HOME_USE_INDEX = YES
|
|
HOME_IGNORE_LIMITS = NO
|
|
HOME_SEQUENCE = 1
|
|
# PID tuning params
|
|
DEADBAND = 0.000035
|
|
PGAIN = 4000.0
|
|
IGAIN = 6400.0
|
|
DGAIN = 15.0
|
|
FF0 = 0.000
|
|
FF1 = 0.000
|
|
FF2 = 0.0
|
|
BIAS = 0.000
|
|
# Third axis
|
|
|
|
[AXIS_Z]
|
|
MIN_LIMIT = -7.75
|
|
MAX_LIMIT = 0.025
|
|
MAX_VELOCITY = 3.0
|
|
MAX_ACCELERATION = 20.0
|
|
|
|
[JOINT_2]
|
|
TYPE = LINEAR
|
|
HOME = 0.0
|
|
MAX_VELOCITY = 3.0
|
|
MAX_ACCELERATION = 20.0
|
|
BACKLASH = 0.000
|
|
# 2000 cycles/rev * 4 counts/cycle * 2.0 gear ratio *
|
|
# 1.0 cm pitch * 2.54 cm/in = 40640
|
|
# 2007 workshop: we found that the scale was 20% low
|
|
# and has apparently been that way for a couple years
|
|
# dunno whether the gear ratio is actually 2.5, or the
|
|
# screw is actually 8mm instead of 10mm, or something
|
|
# else, but the number below gives correct results
|
|
INPUT_SCALE = 50800
|
|
OUTPUT_SCALE = 1.000
|
|
OUTPUT_OFFSET = -0.014
|
|
MAX_OUTPUT = 10.0
|
|
MIN_LIMIT = -7.75
|
|
MAX_LIMIT = 0.025
|
|
FERROR = 0.050
|
|
MIN_FERROR = 0.010
|
|
HOME_OFFSET = -0.2
|
|
HOME_SEARCH_VEL = 1.0
|
|
HOME_LATCH_VEL = -0.25
|
|
HOME_USE_INDEX = YES
|
|
HOME_IGNORE_LIMITS = NO
|
|
HOME_SEQUENCE = 0
|
|
# PID tuning params
|
|
DEADBAND = 0.00003
|
|
PGAIN = 4000.0
|
|
IGAIN = 6400.0
|
|
DGAIN = 15.0
|
|
FF0 = 0.000
|
|
FF1 = 0.000
|
|
FF2 = 0.0
|
|
BIAS = 0.000
|
|
# section for main IO controller parameters -----------------------------------
|
|
|
|
[SPINDLE]
|
|
ORIENT_POSITION = -75.0
|
|
LOW_GEAR_RATIO = 4.133
|
|
HIGH_GEAR_RATIO = 1.100
|
|
# Trajectory planner section --------------------------------------------------
|