172 lines
3.2 KiB
INI
172 lines
3.2 KiB
INI
[EMC]
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VERSION = 1.1
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MACHINE = LinuxCNC-HAL-SERVO-SIM
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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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[DISPLAY]
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DISPLAY = tklinuxcnc
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CYCLE_TIME = 0.100
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HELP_FILE = tklinuxcnc.txt
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POSITION_OFFSET = RELATIVE
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POSITION_FEEDBACK = ACTUAL
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MAX_FEED_OVERRIDE = 1.2
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PROGRAM_PREFIX = ../../nc_files/
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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[RS274NGC]
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PARAMETER_FILE = sim.var
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[EMCMOT]
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EMCMOT = motmod
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COMM_TIMEOUT = 1.0
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BASE_PERIOD = 50000
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SERVO_PERIOD = 1000000
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.010
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[HAL]
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HALFILE = servo_sim.hal
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[TRAJ]
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COORDINATES = X Y Z
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 0.167
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MAX_LINEAR_VELOCITY = 1.5
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DEFAULT_LINEAR_ACCELERATION = 20.0
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MAX_LINEAR_ACCELERATION = 20.0
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[EMCIO]
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TOOL_TABLE = sim.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 = -10.0
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MAX_LIMIT = 10.0
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MAX_VELOCITY = 1.67
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MAX_ACCELERATION = 20.0
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[AXIS_Y]
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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MAX_VELOCITY = 1.67
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MAX_ACCELERATION = 20.0
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[AXIS_Z]
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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MAX_VELOCITY = 1.67
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MAX_ACCELERATION = 20.0
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# our simulated "joints" consist of motors with 100 PPR
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# (400 count per rev) encoders, coupled to 5 TPI screws
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# thru a 3:1 belt reduction.
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# So the scaling is 400 CPR * 3 * 5 = 6000 counts/inch
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# Since we are using software encoder counters with a
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# base period of 50uS (20KHz) the maximum count rate is
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# 10KHz, which works out to 1.667 inches per second.
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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 = 1.67
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MAX_ACCELERATION = 20.0
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COMP_FILE = screwcompX.dat
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COMP_FILE_TYPE = 0
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MOTOR_PPR = 100
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DRIVE_RATIO = 15
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INPUT_SCALE = 6000
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OUTPUT_SCALE = 1.000
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# extra limit related info for simulation
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# the HARD_LIMIT variables determine when the simulated
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# hardware limit switches trip and release
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MIN_HARD_LIMIT_RELEASE = -10.5
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MIN_HARD_LIMIT = -10.2
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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MAX_HARD_LIMIT = 10.2
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MAX_HARD_LIMIT_RELEASE = 10.5
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# the HOME_SW variables determine when the simulated
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# home switch trips and releases
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HOME_SW_MIN = 9.5
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HOME_SW_MAX = 9.8
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HOME_OFFSET = 10.0
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HOME_SEARCH_VEL = 1.0
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HOME_LATCH_VEL = 0.5
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# PID tuning params
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DEADBAND = 0.0001
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PGAIN = 1500.0
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IGAIN = 8000.0
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DGAIN = 4.0
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FF0 = 0.000
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FF1 = 1.000
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FF2 = 0.000
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BIAS = 0.000
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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 = 1.67
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MAX_ACCELERATION = 20.0
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MOTOR_PPR = 100
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DRIVE_RATIO = 15
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INPUT_SCALE = 6000
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OUTPUT_SCALE = 1.000
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MIN_HARD_LIMIT_RELEASE = -10.5
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MIN_HARD_LIMIT = -10.2
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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MAX_HARD_LIMIT = 10.2
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MAX_HARD_LIMIT_RELEASE = 10.5
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HOME_SW_MIN = 9.5
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HOME_SW_MAX = 9.8
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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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# PID tuning params
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DEADBAND = 0.0001
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PGAIN = 1500.0
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IGAIN = 8000.0
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DGAIN = 4.0
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FF0 = 0.000
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FF1 = 1.000
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FF2 = 0.000
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BIAS = 0.000
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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 = 1.67
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MAX_ACCELERATION = 20.0
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MOTOR_PPR = 100
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DRIVE_RATIO = 15
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INPUT_SCALE = 6000
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OUTPUT_SCALE = 1.000
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MIN_HARD_LIMIT_RELEASE = -2.5
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MIN_HARD_LIMIT = -2.2
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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MAX_HARD_LIMIT = 4.2
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MAX_HARD_LIMIT_RELEASE = 4.5
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HOME_SW_MIN = 0.0
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HOME_SW_MAX = 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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# PID tuning params
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DEADBAND = 0.0001
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PGAIN = 1500.0
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IGAIN = 8000.0
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DGAIN = 4.0
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FF0 = 0.000
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FF1 = 1.000
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FF2 = 0.000
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BIAS = 0.000
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