6x6 Stewart (Parallel Kinematic Machine Tool)

egmak@debian:~$ sudo su [sudo] password for egmak: root@debian:/home/egmak# halrun halcmd: loadrt genhexkins halcmd: show param Parameters: Owner Type Dir Value Name halcmd:

# Generated by PNCconf at Sun May 1 15:21:22 2016 # If you make changes to this file, they will be # overwritten when you run PNCconf again [EMC] MACHINE = my_LinuxCNC_machine_deneme DEBUG = 0 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 MAX_SPINDLE_OVERRIDE = 1.000000 MIN_SPINDLE_OVERRIDE = 0.500000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/egmach/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 0.250000 MAX_LINEAR_VELOCITY = 1.000000 MIN_LINEAR_VELOCITY = 0.010000 DEFAULT_ANGULAR_VELOCITY = 0.250000 MAX_ANGULAR_VELOCITY = 1.000000 MIN_ANGULAR_VELOCITY = 0.010000 EDITOR = gedit GEOMETRY = xyz [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 = my_LinuxCNC_machine_deneme.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] [TRAJ] AXES = 3 COORDINATES = X Y Z LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 2.50 MAX_LINEAR_VELOCITY = 25.00 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #******************** # Axis X #******************** [AXIS_0] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 25.0 MAX_ACCELERATION = 750.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 31.25 STEPGEN_MAXACCEL = 937.50 P = 50.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 10000 STEPSPACE = 10000 STEP_SCALE = 400000.0 MIN_LIMIT = -0.01 MAX_LIMIT = 2000000.0 HOME_OFFSET = 0.0 #******************** # Axis Y #******************** [AXIS_1] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 25.0 MAX_ACCELERATION = 750.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 31.25 STEPGEN_MAXACCEL = 937.50 P = 50.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 2000 DIRHOLD = 2000 STEPLEN = 2000 STEPSPACE = 2000 STEP_SCALE = 400000.0 MIN_LIMIT = -0.01 MAX_LIMIT = 2000000.0 HOME_OFFSET = 0.0 #******************** # Axis Z #******************** [AXIS_2] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 25.0 MAX_ACCELERATION = 750.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 31.25 STEPGEN_MAXACCEL = 937.50 P = 50.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 2000 DIRHOLD = 2000 STEPLEN = 2000 STEPSPACE = 2000 STEP_SCALE = 400000.0 MIN_LIMIT = -1000000.0 MAX_LIMIT = 0.01 HOME_OFFSET = 0.0 #******************** # Spindle #******************** [SPINDLE_9] P = 0 I = 0 D = 0 FF0 = 1 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 0 MAX_OUTPUT = 2000

which genhexkins