245 lines
8.0 KiB
INI
245 lines
8.0 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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# Settings with a + at the front of the comment are likely needed to get
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# changed by the user.
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# Settings with a - at the front are highly unneeded to be changed
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###############################################################################
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# General section
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###############################################################################
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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-HAL-STG
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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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###############################################################################
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# Sections for display options
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###############################################################################
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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 = 0.200
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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 = 5
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###############################################################################
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# Task controller section
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###############################################################################
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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 = stg.var
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###############################################################################
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# Motion control section
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###############################################################################
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[EMCMOT]
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#- Name of the motion controller to use (only one exists for nontrivkins)
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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 nanosecs - will be rounded to an int multiple of BASE_PERIOD
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SERVO_PERIOD = 1000000
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###############################################################################
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# Hardware Abstraction Layer section
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###############################################################################
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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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###############################################################################
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# Part program interpreter section
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###############################################################################
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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 = core_servo.hal
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HALFILE = stg_motion.hal
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HALFILE = stg_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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###############################################################################
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# Trajectory planner section
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###############################################################################
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[HALUI]
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#No Content
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[TRAJ]
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#+ machine specific settings
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# COORDINATES = X Y Z R P W
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COORDINATES = X Y Z
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HOME = 0 0 0
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LINEAR_UNITS = mm
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 0.424
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MAX_LINEAR_VELOCITY = 30.48
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DEFAULT_LINEAR_ACCELERATION = 300.0
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MAX_LINEAR_ACCELERATION = 500.0
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###############################################################################
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# Axes sections
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###############################################################################
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#+ First axis
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# each setting is commented for axis_0
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[EMCIO]
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#- tool table file
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TOOL_TABLE = stg.tbl
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[KINS]
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KINEMATICS = trivkins
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JOINTS = 3
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[AXIS_X]
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 500.0
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[JOINT_0]
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# type of axis, LINEAR vs. ROTARY
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TYPE = LINEAR
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# home position
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HOME = 0.000
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# maximum velocity
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MAX_VELOCITY = 30.48
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# maximum acceleration
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MAX_ACCELERATION = 500.0
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# mechanical backlash measured
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BACKLASH = 0.000
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# time to update the axis
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# number of encoder ticks / unit
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INPUT_SCALE = 200
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# dac gain for output
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OUTPUT_SCALE = 1.000
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# dac bias for output
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OUTPUT_OFFSET = 0.000
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# minimum travel limit (from position 0)
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MIN_LIMIT = -1000.0
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# maximum travel limit (from position 0)
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MAX_LIMIT = 1000.0
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# following error at max speed
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FERROR = 1.270
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# following error when halted
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MIN_FERROR = 0.254
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# read HAL_Introduction.pdf for an insight about Homing
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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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# PID tuning params
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MAX_OUTPUT = 1.0
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DEADBAND = 0.000381
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P = 100.0
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I = 0.000
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D = 0.000
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FF0 = 0.000
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FF1 = 0.000
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FF2 = 0.0
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BIAS = 0.000
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#+ Second axis
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[AXIS_Y]
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 500.0
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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 = 30.48
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MAX_ACCELERATION = 500.0
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BACKLASH = 0.000
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INPUT_SCALE = 200
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OUTPUT_SCALE = 1.000
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OUTPUT_OFFSET = 0.000
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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FERROR = 1.270
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MIN_FERROR = 0.254
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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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# PID tuning params
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MAX_OUTPUT = 1.0
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DEADBAND = 0.000381
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P = 100.0
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I = 0.000
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D = 0.000
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FF0 = 0.000
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FF1 = 0.000
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FF2 = 0.0
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BIAS = 0.000
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#+ Third axis
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[AXIS_Z]
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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MAX_VELOCITY = 30.48
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MAX_ACCELERATION = 500.0
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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 = 30.48
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MAX_ACCELERATION = 500.0
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BACKLASH = 0.000
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INPUT_SCALE = 200
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OUTPUT_SCALE = 1.000
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OUTPUT_OFFSET = 0.000
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MIN_LIMIT = -1000.0
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MAX_LIMIT = 1000.0
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FERROR = 1.270
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MIN_FERROR = 0.254
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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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# PID tuning params
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MAX_OUTPUT = 1.0
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DEADBAND = 0.000381
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P = 100.0
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I = 0.000
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D = 0.000
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FF0 = 0.000
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FF1 = 0.000
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FF2 = 0.0
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BIAS = 0.000
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###############################################################################
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# section for main IO controller parameters
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###############################################################################
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