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