Code:
# Generated by PNCconf at Mon Sep 14 12:03:23 2015
# Edited by Aaron Laubhan
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hostmot2
loadrt hm2_pci config=" num_encoders=6 num_pwmgens=0 num_stepgens=0 sserial_port_0=200xxx"
setp hm2_5i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s
loadrt abs names=abs.spindle
loadrt lowpass names=lowpass.spindle
loadrt scale names=scale.spindle
loadrt classicladder_rt numPhysInputs=15 numPhysOutputs=15 numS32in=10 numS32out=10 numFloatIn=10 numFloatOut=10 numBits=50 numWords=50
loadrt toggle2nist count=2
addf hm2_5i25.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.a.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf classicladder.0.refresh servo-thread
addf scale.spindle servo-thread
addf abs.spindle servo-thread
addf lowpass.spindle servo-thread
addf hm2_5i25.0.write servo-thread
addf toggle2nist.0 servo-thread
addf toggle2nist.1 servo-thread
#*******************
# AXIS X
#*******************
setp pid.x.Pgain [AXIS_0]P
setp pid.x.Igain [AXIS_0]I
setp pid.x.Dgain [AXIS_0]D
setp pid.x.bias [AXIS_0]BIAS
setp pid.x.FF0 [AXIS_0]FF0
setp pid.x.FF1 [AXIS_0]FF1
setp pid.x.FF2 [AXIS_0]FF2
setp pid.x.deadband [AXIS_0]DEADBAND
setp pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.x.error-previous-target true
setp pid.x.maxerror .0005
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-vel-cmd => pid.x.command-deriv
net x-pos-fb => pid.x.feedback
net x-output => pid.x.output
# ---Amplifier Signals---
net x-reset => hm2_5i25.0.7i77.0.0.output-00
net x-enable => hm2_5i25.0.7i77.0.0.output-04
net x-fault-indicator <= hm2_5i25.0.7i77.0.0.input-24
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout0-scalemax [AXIS_0]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout0-minlim [AXIS_0]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout0-maxlim [AXIS_0]OUTPUT_MAX_LIMIT
net x-output => hm2_5i25.0.7i77.0.1.analogout0
net x-pos-cmd axis.0.motor-pos-cmd
net x-enable axis.0.amp-enable-out
# enable _all_ sserial pwmgens
net x-enable hm2_5i25.0.7i77.0.1.analogena
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.00.counter-mode 0
setp hm2_5i25.0.encoder.00.filter 1
setp hm2_5i25.0.encoder.00.index-invert 0
setp hm2_5i25.0.encoder.00.index-mask 0
setp hm2_5i25.0.encoder.00.index-mask-invert 0
setp hm2_5i25.0.encoder.00.scale [AXIS_0]ENCODER_SCALE
net x-pos-fb <= hm2_5i25.0.encoder.00.position
net x-vel-fb <= hm2_5i25.0.encoder.00.velocity
net x-pos-fb => axis.0.motor-pos-fb
net x-index-enable axis.0.index-enable <=> hm2_5i25.0.encoder.00.index-enable
net x-pos-rawcounts <= hm2_5i25.0.encoder.00.rawcounts
# ---setup home / limit switch signals---
net x-home-sw => axis.0.home-sw-in
net min-x => axis.0.neg-lim-sw-in
net x-pos-limit => axis.0.pos-lim-sw-in
#*******************
# AXIS Y
#*******************
setp pid.y.Pgain [AXIS_1]P
setp pid.y.Igain [AXIS_1]I
setp pid.y.Dgain [AXIS_1]D
setp pid.y.bias [AXIS_1]BIAS
setp pid.y.FF0 [AXIS_1]FF0
setp pid.y.FF1 [AXIS_1]FF1
setp pid.y.FF2 [AXIS_1]FF2
setp pid.y.deadband [AXIS_1]DEADBAND
setp pid.y.maxoutput [AXIS_1]MAX_OUTPUT
setp pid.y.error-previous-target true
setp pid.y.maxerror .0005
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-vel-cmd => pid.y.command-deriv
net y-pos-fb => pid.y.feedback
net y-output => pid.y.output
# ---Amplifier Signals---
net y-reset => hm2_5i25.0.7i77.0.0.output-01
net y-enable => hm2_5i25.0.7i77.0.0.output-05
net y-fault-indicator <= hm2_5i25.0.7i77.0.0.input-25
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout1-scalemax [AXIS_1]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout1-minlim [AXIS_1]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout1-maxlim [AXIS_1]OUTPUT_MAX_LIMIT
net y-output => hm2_5i25.0.7i77.0.1.analogout1
net y-pos-cmd axis.1.motor-pos-cmd
net y-enable axis.1.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.01.counter-mode 0
setp hm2_5i25.0.encoder.01.filter 1
setp hm2_5i25.0.encoder.01.index-invert 0
setp hm2_5i25.0.encoder.01.index-mask 0
setp hm2_5i25.0.encoder.01.index-mask-invert 0
setp hm2_5i25.0.encoder.01.scale [AXIS_1]ENCODER_SCALE
net y-pos-fb <= hm2_5i25.0.encoder.01.position
net y-vel-fb <= hm2_5i25.0.encoder.01.velocity
net y-pos-fb => axis.1.motor-pos-fb
net y-index-enable axis.1.index-enable <=> hm2_5i25.0.encoder.01.index-enable
net y-pos-rawcounts <= hm2_5i25.0.encoder.01.rawcounts
# ---setup home / limit switch signals---
net max-home-y => axis.1.home-sw-in
net min-y => axis.1.neg-lim-sw-in
net max-home-y => axis.1.pos-lim-sw-in
#*******************
# AXIS Z
#*******************
setp pid.z.Pgain [AXIS_2]P
setp pid.z.Igain [AXIS_2]I
setp pid.z.Dgain [AXIS_2]D
setp pid.z.bias [AXIS_2]BIAS
setp pid.z.FF0 [AXIS_2]FF0
setp pid.z.FF1 [AXIS_2]FF1
setp pid.z.FF2 [AXIS_2]FF2
setp pid.z.deadband [AXIS_2]DEADBAND
setp pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp pid.z.error-previous-target true
setp pid.z.maxerror .0005
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-vel-cmd => pid.z.command-deriv
net z-pos-fb => pid.z.feedback
net z-output => pid.z.output
# ---Amplifier Signals---
net z-reset => hm2_5i25.0.7i77.0.0.output-02
net z-enable => hm2_5i25.0.7i77.0.0.output-06
net z-fault-indicator <= hm2_5i25.0.7i77.0.0.input-26
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout2-minlim [AXIS_2]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout2-maxlim [AXIS_2]OUTPUT_MAX_LIMIT
net z-output => hm2_5i25.0.7i77.0.1.analogout2
net z-pos-cmd axis.2.motor-pos-cmd
net z-enable axis.2.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.02.counter-mode 0
setp hm2_5i25.0.encoder.02.filter 1
setp hm2_5i25.0.encoder.02.index-invert 0
setp hm2_5i25.0.encoder.02.index-mask 0
setp hm2_5i25.0.encoder.02.index-mask-invert 0
setp hm2_5i25.0.encoder.02.scale [AXIS_2]ENCODER_SCALE
net z-pos-fb <= hm2_5i25.0.encoder.02.position
net z-vel-fb <= hm2_5i25.0.encoder.02.velocity
net z-pos-fb => axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable <=> hm2_5i25.0.encoder.02.index-enable
net z-pos-rawcounts <= hm2_5i25.0.encoder.02.rawcounts
# ---setup home / limit switch signals---
net max-home-z => axis.2.home-sw-in
net min-z => axis.2.neg-lim-sw-in
net max-home-z => axis.2.pos-lim-sw-in
#*******************
# AXIS A
#*******************
setp pid.a.Pgain [AXIS_3]P
setp pid.a.Igain [AXIS_3]I
setp pid.a.Dgain [AXIS_3]D
setp pid.a.bias [AXIS_3]BIAS
setp pid.a.FF0 [AXIS_3]FF0
setp pid.a.FF1 [AXIS_3]FF1
setp pid.a.FF2 [AXIS_3]FF2
setp pid.a.deadband [AXIS_3]DEADBAND
setp pid.a.maxoutput [AXIS_3]MAX_OUTPUT
setp pid.a.error-previous-target true
setp pid.a.maxerror .0005
net a-index-enable <=> pid.a.index-enable
net a-enable => pid.a.enable
net a-pos-cmd => pid.a.command
net a-vel-cmd => pid.a.command-deriv
net a-pos-fb => pid.a.feedback
net a-output => pid.a.output
# ---A-AXIS Install Loop---
net a-axis-installed <= hm2_5i25.0.7i77.0.0.input-29
# ---Amplifier Signals---
net a-reset => hm2_5i25.0.7i77.0.0.output-03
net a-enable => hm2_5i25.0.7i77.0.0.output-07
net a-fault-indicator <= hm2_5i25.0.7i77.0.0.input-27
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout3-scalemax [AXIS_3]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout3-minlim [AXIS_3]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout3-maxlim [AXIS_3]OUTPUT_MAX_LIMIT
net a-output => hm2_5i25.0.7i77.0.1.analogout3
net a-pos-cmd axis.3.motor-pos-cmd
net a-enable axis.3.amp-enable-out
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.04.counter-mode 0
setp hm2_5i25.0.encoder.04.filter 1
setp hm2_5i25.0.encoder.04.index-invert 0
setp hm2_5i25.0.encoder.04.index-mask 0
setp hm2_5i25.0.encoder.04.index-mask-invert 0
setp hm2_5i25.0.encoder.04.scale [AXIS_3]ENCODER_SCALE
net a-pos-fb <= hm2_5i25.0.encoder.04.position
net a-vel-fb <= hm2_5i25.0.encoder.04.velocity
net a-pos-fb => axis.3.motor-pos-fb
net a-index-enable axis.3.index-enable <=> hm2_5i25.0.encoder.04.index-enable
net a-pos-rawcounts <= hm2_5i25.0.encoder.04.rawcounts
# ---setup home / limit switch signals---
net max-home-a => axis.3.home-sw-in
net a-neg-limit => axis.3.neg-lim-sw-in
net max-home-a => axis.3.pos-lim-sw-in
#*******************
# SPINDLE S
#*******************
setp pid.s.Pgain [SPINDLE_9]P
setp pid.s.Igain [SPINDLE_9]I
setp pid.s.Dgain [SPINDLE_9]D
setp pid.s.bias [SPINDLE_9]BIAS
setp pid.s.FF0 [SPINDLE_9]FF0
setp pid.s.FF1 [SPINDLE_9]FF1
setp pid.s.FF2 [SPINDLE_9]FF2
setp pid.s.deadband [SPINDLE_9]DEADBAND
setp pid.s.maxoutput [SPINDLE_9]MAX_OUTPUT
setp pid.s.error-previous-target true
setp pid.s.maxerror .0005
setp pid.s.index-enable true
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---VFD Signals---
# net spindle_current <= hm2_5i25.0.7i77.0.0.analogin0
net spindle-fault-indicator <= hm2_5i25.0.7i77.0.0.input-28
net spindle-enable => hm2_5i25.0.7i77.0.0.output-08
net spindle-reset => hm2_5i25.0.7i77.0.0.output-09
# net <CONNECTED-NOT-SET-VFD-IN1> => hm2_5i25.0.7i77.0.0.output-10
# net <CONNECTED-NOT-SET-VFD-IN3> => hm2_5i25.0.7i77.0.0.output-12
# ---PWM Generator signals/setup---
setp hm2_5i25.0.7i77.0.1.analogout5-scalemax [SPINDLE_9]OUTPUT_SCALE
setp hm2_5i25.0.7i77.0.1.analogout5-minlim [SPINDLE_9]OUTPUT_MIN_LIMIT
setp hm2_5i25.0.7i77.0.1.analogout5-maxlim [SPINDLE_9]OUTPUT_MAX_LIMIT
net spindle-vel-cmd-rpm-abs => hm2_5i25.0.7i77.0.1.analogout5
net spindle-enable <= motion.spindle-on
# ---Encoder feedback signals/setup---
setp hm2_5i25.0.encoder.05.counter-mode 0
setp hm2_5i25.0.encoder.05.filter 1
setp hm2_5i25.0.encoder.05.index-invert 0
setp hm2_5i25.0.encoder.05.index-mask 0
setp hm2_5i25.0.encoder.05.index-mask-invert 0
setp hm2_5i25.0.encoder.05.scale [SPINDLE_9]ENCODER_SCALE
net spindle-revs <= hm2_5i25.0.encoder.05.position
net spindle-vel-fb-rps <= hm2_5i25.0.encoder.05.velocity
net spindle-index-enable <=> hm2_5i25.0.encoder.05.index-enable
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= motion.spindle-speed-out-rps
net spindle-vel-cmd-rps-abs <= motion.spindle-speed-out-rps-abs
net spindle-vel-cmd-rpm <= motion.spindle-speed-out
net spindle-vel-cmd-rpm-abs <= motion.spindle-speed-out-abs
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net spindle-revs => motion.spindle-revs
net spindle-at-speed => motion.spindle-at-speed
net spindle-vel-fb-rps => motion.spindle-speed-in
net spindle-index-enable <=> motion.spindle-index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
# Use ACTUAL spindle velocity from spindle encoder
# spindle-velocity bounces around so we filter it with lowpass
# spindle-velocity is signed so we use absolute component to remove sign
# ACTUAL velocity is in RPS not RPM so we scale it.
setp scale.spindle.gain 60
setp lowpass.spindle.gain 1.000000
net spindle-vel-fb-rps => scale.spindle.in
net spindle-fb-rpm scale.spindle.out => abs.spindle.in
net spindle-fb-rpm-abs abs.spindle.out => lowpass.spindle.in
net spindle-fb-rpm-abs-filtered lowpass.spindle.out
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net joint-select-a halui.joint.0.select
net x-is-homed halui.joint.0.is-homed
net jog-x-pos halui.jog.0.plus
net jog-x-neg halui.jog.0.minus
net jog-x-analog halui.jog.0.analog
net joint-select-b halui.joint.1.select
net y-is-homed halui.joint.1.is-homed
net jog-y-pos halui.jog.1.plus
net jog-y-neg halui.jog.1.minus
net jog-y-analog halui.jog.1.analog
net joint-select-c halui.joint.2.select
net z-is-homed halui.joint.2.is-homed
net jog-z-pos halui.jog.2.plus
net jog-z-neg halui.jog.2.minus
net jog-z-analog halui.jog.2.analog
net joint-select-d halui.joint.3.select
net a-is-homed halui.joint.3.is-homed
net jog-a-pos halui.jog.3.plus
net jog-a-neg halui.jog.3.minus
net jog-a-analog halui.jog.3.analog
net jog-selected-pos halui.jog.selected.plus
net jog-selected-neg halui.jog.selected.minus
net spindle-manual-cw halui.spindle.forward
net spindle-manual-ccw halui.spindle.reverse
net spindle-manual-stop halui.spindle.stop
net jog-speed halui.jog-speed
net MDI-mode halui.mode.is-mdi
#******************************
# connect Control Panel signals
#******************************
net sso <= hm2_5i25.0.7i77.0.0.analogin1
# Poteniometer- 0-24V; 50-150%
net fro-raw halui.feed-override.scale <= hm2_5i25.0.7i77.0.0.analogin2
setp halui.feed-override.counts 200
# Potentiometer- 0-24V; 0-200%
net on-button toggle2nist.0.in <= hm2_5i25.0.7i77.0.0.input-04-not
net on-button-is-on toggle2nist.0.is-on <= halui.machine.is-on
net on-button-on halui.machine.on <= toggle2nist.0.on
# On = +24V, Off = +0V
# 06 Signal Source- Toggle Button on the physical machine panel, shared with Off,
net off-button toggle2nist.1.in <= hm2_5i25.0.7i77.0.0.input-05
# net off-button-is-on toggle2nist.1.is-on <= halui.machine.is-on
# net off-button-on halui.machine.off <=toggle2nist.1.on
# On = +0V, Off = +24V
net estop-ext <= hm2_5i25.0.7i77.0.0.input-06
net pv1 <= hm2_5i25.0.7i77.0.0.input-07-not
# "Platter Up/Down" toggle button opens PV1, Button Out = +24v, Button In = +0v
net atc-index <= hm2_5i25.0.7i77.0.0.input-08-not
# "Index Platter" momentary button, rotate ATC 1 tool, Button Out = +24v, Button In = +0v
net open-drawbar <= hm2_5i25.0.7i77.0.0.input-09-not
# "Drawbar Clamp/Unclamp" toggle button, Button Out = +24v, Button In = +0v
net cycle-start halui.program.run <= hm2_5i25.0.7i77.0.0.input-12
# "Cycle Start" Momentary button, Button Out = +0v, Button In = +24v
net abort halui.abort <= hm2_5i25.0.7i77.0.0.input-13-not
# "Cycle Stop" momentary button, Button Out = +24v, Button In = +0v
#**************************************
# connect Electronic Door Lock signals
#**************************************
net door-locked-indicator <= hm2_5i25.0.7i77.0.0.input-14
# Door Locked = +24V, Door Unlocked = +0v, PYVCP, LOCKED = GREEN, UNLOCKED = RED <DOOR HAS TO BE CLOSED TO WORK>
net door-closed-indicator hm2_5i25.0.7i77.0.0.input-15
# Door Closed = +24V, Door Open = +0V, PYVCP, DOOR CLOSED = GREEN, OPEN = RED
net door-locked => hm2_5i25.0.7i77.0.0.output-11
# TRUE = DOOR LOCKED
# --- ENDSTOPS ---
net x-min-home <= hm2_5i25.0.7i77.0.0.input-16-not
net x-max <= hm2_5i25.0.7i77.0.0.input-17-not
net y-min-home <= hm2_5i25.0.7i77.0.0.input-18-not
net y-max <= hm2_5i25.0.7i77.0.0.input-19-not
net z-max-home <= hm2_5i25.0.7i77.0.0.input-20-not
net z-min <= hm2_5i25.0.7i77.0.0.input-21-not
#**************************************
# connect ATC signals
#**************************************
net act1-a <= hm2_5i25.0.7i84.0.2.input-03
# Endstop 1 - Pneumatic Actuator 1 (CARRIAGE HOME/UP, PV1 = FALSE)
net act1-b <= hm2_5i25.0.7i84.0.2.input-04
# Endstop 2 - Pneumatic Actuator 1 (CARRIAGE DOWN; PV1 = TRUE)
net act2-a <= hm2_5i25.0.7i84.0.2.input-05
# Endstop 1 - Pneumatic Actuator 2 (CARRIAGE HOME/IN, PV2 = FALSE)
net act2-b <= hm2_5i25.0.7i84.0.2.input-06
# Endstop 2 - Pneumatic Actuator 2 (CARRIAGE OUT = UNDER SPINDLE, PV2 = TRUE)
net act3-a <= hm2_5i25.0.7i84.0.2.input-07
# Endstop 1 - Pneumatic Actuator 3 (TOOL HOLDER HOME/DOWN; PV3 = FALSE)
net act3-b <= hm2_5i25.0.7i84.0.2.input-08
# Endstop 2 - Pneumatic Actuator 3 (TOOL HOLDER UP = LOAD TOOL; PV3 = TRUE)
net PDB-hall-sensor <= hm2_5i25.0.7i84.0.2.input-09
# Hall Effect Sensor 1 - +24V = POWER DRAWBAR OPEN
net spindle-hall-sensor <= hm2_5i25.0.7i84.0.2.input-10
# Hall Effect Sensor 2 - +24v = Spindle is in position for tool change
#net low-air <= hm2_5i25.0.7i84.0.2.input-11
# LOW AIR PRESSURE SENSOR - LOW AIR = +24v
net atc_motor => hm2_5i25.0.7i84.0.2.output-00
# Active rotates ATC CW
net pv1 => hm2_5i25.0.7i84.0.2.output-01
# TRUE = ATC DOWN
net pv2 => hm2_5i25.0.7i84.0.2.output-02
# TRUE = ATC UNDER SPINDLE
net pv3 => hm2_5i25.0.7i84.0.2.output-03
# TRUE = TOOL HOLDER UP
net open-drawbar => hm2_5i25.0.7i84.0.2.output-04
# TRUE = POWER DRAWBAR OPEN
#**************************************
# connect Extra signals
#**************************************
net light => hm2_5i25.0.7i84.0.2.output-05
net flood-coolant => hm2_5i25.0.7i84.0.2.output-06
net coolant-flood <= iocontrol.0.coolant-flood
net zbrake => hm2_5i25.0.7i84.0.2.output-07
# TRUE = zbrake off
# net probe-in <= hm2_5i25.0.7177.0.0.input-30
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in
# ---toolchange signals for custom tool changer---
net tool-number <= iocontrol.0.tool-prep-number
net tool-change-request <= iocontrol.0.tool-change
net tool-change-confirmed => iocontrol.0.tool-changed
net tool-prepare-request <= iocontrol.0.tool-prepare
net tool-prepare-confirmed => iocontrol.0.tool-prepared
# Load Classicladder without GUI (can reload LADDER GUI in AXIS GUI
loadusr classicladder --nogui custom.clp
Code:
# Generated by PNCconf at Mon Sep 14 12:03:23 2015
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
[EMC]
MACHINE = BenchmanXTr_4axis
DEBUG = 0
[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.500000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/aaron/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = 10in 5in 2in 1in .5in .1in .05in .01in .005in .001in .0005in .0001in
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.41666675
MAX_LINEAR_VELOCITY = 3.333334
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 6.0000012
MAX_ANGULAR_VELOCITY = 12.0000024
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyza
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25
[HAL]
HALUI = halui
HALFILE = BenchmanXTr_4axis.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
[HALUI]
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 360.00
DEFAULT_ANGULAR_VELOCITY = 36.00
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.17
MAX_LINEAR_VELOCITY = 1.67
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0
FERROR = 12
MIN_FERROR = -12
MAX_VELOCITY = 3.333334
MAX_ACCELERATION = 4
P = 25
I = 0
D = 0.04
FF0 = 0
FF1 = 0.42
FF2 = 2e-05
BIAS = 0
DEADBAND = 0.000015
MAX_OUTPUT = 0.09215
ENCODER_SCALE = 50000
OUTPUT_SCALE = 0.097
OUTPUT_MIN_LIMIT = -0.097
OUTPUT_MAX_LIMIT = 0.097
MIN_LIMIT = -0.0
MAX_LIMIT = 12.0
HOME_OFFSET = 6.0
HOME_SEARCH_VEL = 3
HOME_LATCH_VEL = 1
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 12
MIN_FERROR = -12
MAX_VELOCITY = 3.333334
MAX_ACCELERATION = 10
P = 30
I = 0
D = 0.04
FF0 = 0
FF1 = 0.042
FF2 = 2e-05
BIAS = 0
DEADBAND = 0.000015
MAX_OUTPUT = 0.09215
ENCODER_SCALE = 50000
OUTPUT_SCALE = 0.097
OUTPUT_MIN_LIMIT = -0.097
OUTPUT_MAX_LIMIT = 0.097
MIN_LIMIT = -0.001
MAX_LIMIT = 7.5
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.2
FERROR = 12
MIN_FERROR = -12
MAX_VELOCITY = 3.333334
MAX_ACCELERATION = 10
P = 35
I = 0
D = 0.04
FF0 = 0
FF1 = 0.042
FF2 = 2e-05
BIAS = 0
DEADBAND = 1e-05
MAX_OUTPUT = 0.09215
ENCODER_SCALE = 50000
OUTPUT_SCALE = 0.097
OUTPUT_MIN_LIMIT = -0.097
OUTPUT_MAX_LIMIT = 0.097
MIN_LIMIT = -9.5
MAX_LIMIT = 0.201
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 360
MIN_FERROR = -360
MAX_VELOCITY = 60
MAX_ACCELERATION = 240
P = 22
I = 0
D = 0
FF0 = 0
FF1 = 0.001
FF2 = 0.0003
BIAS = 0
DEADBAND = 0.000015
MAX_OUTPUT = 0.09215
ENCODER_SCALE = 2000
OUTPUT_SCALE = 0.097
OUTPUT_MIN_LIMIT = -0.097
OUTPUT_MAX_LIMIT = 0.097
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -2.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
#********************
# Spindle
#********************
[SPINDLE_9]
P = 200
I = 0.0
D = 0.0
FF0 = 0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.000015
MAX_OUTPUT = 4900
ENCODER_SCALE = 8000.0
OUTPUT_SCALE = 5000
OUTPUT_MIN_LIMIT = -5000
OUTPUT_MAX_LIMIT = 5000
