270 lines
7.6 KiB
INI
270 lines
7.6 KiB
INI
# EMC controller parameters for generic controller. Make these what you need
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# for your system.
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# General note: Comments can either be preceded with a # or ; - either is
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# acceptable, although # is in keeping with most linux config files.
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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 = LinuxCNC-BP-BOSS6
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# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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#DEBUG = 0x00000003
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#DEBUG = 0x00000007
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DEBUG = 0
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# Sections for display options ------------------------------------------------
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[DISPLAY]
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# Name of display program, e.g., tklinuxcnc
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DISPLAY = tklinuxcnc
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#DISPLAY = axis
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# Cycle time, in seconds, that display will sleep between polls
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CYCLE_TIME = 0.0500
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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 = 1.5
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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 = 5
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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 = boss.var
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# Enable adaptive feed input, we use it to limit rapid/feed when
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# limits are being overridden.
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RS274NGC_STARTUP_CODE = M52 P1
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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 = 200000
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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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# HALUI to interact with NML.
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# Run before any other HALFILE.
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HALUI = halui
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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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# 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 = pid_test.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 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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# 2000 rpm, 2:1 reduction, 5 tpi = 200 ipm = 3.33333333333333 ips.
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MAX_LINEAR_VELOCITY = 2.5
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DEFAULT_LINEAR_VELOCITY = 0.1
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# 3000 lbs continuous force. Use 1% = 30 lbs for accel. With 600 lbs load
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# that's 0.05g * 9.8 mpss * 39.37 i/m = 19.29 ipss. Motor peak torque
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# is 3x continuous.
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MAX_LINEAR_ACCELERATION = 3.0
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DEFAULT_LINEAR_ACCELERATION = 3.0
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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 = boss.tbl
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TOOL_CHANGE_POSITION = -18.0 -12.0 0.0
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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 = 0.0
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MAX_LIMIT = 18.0
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MAX_VELOCITY = 2.0
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MAX_ACCELERATION = 2.0
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 2.0
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MAX_ACCELERATION = 2.0
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BACKLASH = 0.0
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INPUT_SCALE = 100000
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OUTPUT_SCALE = 3.0
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OUTPUT_OFFSET = 0.0
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MIN_LIMIT = 0.0
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MAX_LIMIT = 18.0
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FERROR = 0.005
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MIN_FERROR = 0.001
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HOME_OFFSET = 0.05
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HOME_SEARCH_VEL = -0.5
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HOME_LATCH_VEL = 0.01
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HOME_USE_INDEX = YES
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HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 1
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# PID tuning params
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MAX_OUTPUT = 3.333333
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DEADBAND = 0.000015
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P = 100.0
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I = 0.0
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D = 0.0
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MAX_ERROR_I = 0.0
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FF0 = 0.0
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FF1 = 0.0
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FF2 = 0.0
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BIAS = 0.0
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TUNE_EFFORT = 0.5
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TUNE_CYCLES = 50
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TUNE_TYPE = 1
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# Second axis
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[AXIS_Y]
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MIN_LIMIT = 0.0
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MAX_LIMIT = 12.0
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MAX_VELOCITY = 2.0
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MAX_ACCELERATION = 2.0
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[JOINT_1]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 2.0
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MAX_ACCELERATION = 2.0
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BACKLASH = 0.0
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INPUT_SCALE = 100000
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OUTPUT_SCALE = 3.0
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OUTPUT_OFFSET = 0.0
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MIN_LIMIT = 0.0
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MAX_LIMIT = 12.0
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FERROR = 0.005
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MIN_FERROR = 0.001
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = -0.4
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HOME_LATCH_VEL = 0.01
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HOME_USE_INDEX = YES
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HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 1
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# PID tuning params
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MAX_OUTPUT = 3.333333
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DEADBAND = 0.000015
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P = 100.0
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I = 0.0
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D = 0.0
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MAX_ERROR_I = 0.0
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FF0 = 0.0
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FF1 = 0.0
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FF2 = 0.0
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BIAS = 0.0
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TUNE_EFFORT = 0.5
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TUNE_CYCLES = 50
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TUNE_TYPE = 1
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# Third axis
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[AXIS_Z]
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MIN_LIMIT = -4.75
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MAX_LIMIT = 0.0
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MAX_VELOCITY = 2.0
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MAX_ACCELERATION = 2.0
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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 = 2.0
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MAX_ACCELERATION = 2.0
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BACKLASH = 0.0
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INPUT_SCALE = -100000
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OUTPUT_SCALE = -3.0
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OUTPUT_OFFSET = 0.0
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MIN_LIMIT = -4.75
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MAX_LIMIT = 0.0
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FERROR = 0.005
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MIN_FERROR = 0.001
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HOME_OFFSET = -0.225
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HOME_SEARCH_VEL = 0.1
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HOME_LATCH_VEL = -0.01
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 0
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# PID tuning params
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MAX_OUTPUT = 3.333333
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DEADBAND = 0.000015
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P = 100.0
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I = 0.0
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D = 0.0
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MAX_ERROR_I = 0.0
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FF0 = 0.0
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FF1 = 0.0
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FF2 = 0.0
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BIAS = 0.0
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TUNE_EFFORT = 0.5
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TUNE_CYCLES = 50
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TUNE_TYPE = 1
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# Fourth axis
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[AXIS_A]
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MIN_LIMIT = 0.0
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MAX_LIMIT = 0.0
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MAX_VELOCITY = 2.0
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MAX_ACCELERATION = 2.0
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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 = 2.0
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MAX_ACCELERATION = 2.0
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BACKLASH = 0.0
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INPUT_SCALE = 100000
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OUTPUT_SCALE = 3.0
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OUTPUT_OFFSET = 0.0
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MIN_LIMIT = 0.0
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MAX_LIMIT = 0.0
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FERROR = 0.005
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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 = -0.01
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HOME_USE_INDEX = YES
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HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = -1
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# PID tuning params
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MAX_OUTPUT = 3.333333
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DEADBAND = 0.000015
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P = 100.0
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I = 0.0
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D = 0.0
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MAX_ERROR_I = 0.0
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FF0 = 0.0
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FF1 = 0.0
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FF2 = 0.0
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BIAS = 0.0
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TUNE_EFFORT = 0.5
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TUNE_CYCLES = 50
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TUNE_TYPE = 1
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# section for main IO controller parameters -----------------------------------
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