# LinuxCNC controller parameters for ECN-FoFdation SABRE # Primary FoFdation Open-CN SMC # Developped by Kelvin Hamilton, Gilles Carabin # General note: Comments are preceded with a # or # General section ------------------------------------------------------------- [EMC] # Version of this INI file VERSION = $Revision$ # Name of machine, for use with display, etc. MACHINE = EMC-MOTENC # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0x00000003 #DEBUG = 0x00000007 DEBUG = 0 # Sections for display options ------------------------------------------------ [DISPLAY] # Name of display program, e.g., tkemc #DISPLAY = tkemc DISPLAY = axis # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.0500 # Path to help file HELP_FILE = tkemc.txt # Initial display setting for position, RELATIVE or MACHINE POSITION_OFFSET = RELATIVE # Initial display setting for position, COMMANDED or ACTUAL POSITION_FEEDBACK = ACTUAL # Highest value that will be allowed for feed override, 1.0 = 100% MAX_FEED_OVERRIDE = 1.2 MIN_SPINDLE_OVERRIDE = 0.5 MAX_SPINDLE_OVERRIDE = 1.2 # Prefix to be used PROGRAM_PREFIX = /home/ecn/linuxcnc-dev/nc_files # Introductory graphic INTRO_GRAPHIC = linuxcnc4.gif INTRO_TIME = 4 # GLADE embedded------------------------- GLADEVCP= -u FoF-ui5test.py FoF-ui5test.ui # Task controller section ----------------------------------------------------- [TASK] # Name of task controller program, e.g., milltask TASK = milltask # Cycle time, in seconds, that task controller will sleep between polls CYCLE_TIME = 0.010 # Part program interpreter section -------------------------------------------- [RS274NGC] # File containing interpreter variables PARAMETER_FILE = motenc.var # Motion control section ------------------------------------------------------ [EMCMOT] EMCMOT = motmod # Timeout for comm to emcmot, in seconds COMM_TIMEOUT = 1.0 # Interval between tries to emcmot, in seconds COMM_WAIT = 0.010 # Servo task period, in nanoseconds SERVO_PERIOD = 1100000 # kelvin added for testing and asservissement, in nanoseconds TEST_PERIOD = 80000 # Hardware Abstraction Layer section ------------------------------------------------- [HAL] # The run script first uses halcmd to execute any HALFILE # files, and then to execute any individual HALCMD commands. # list of hal config files to run through halcmd # files are executed in the order in which they appear HALFILE = core_servo.hal #HALFILE = motenc_spindle.hal HALFILE = motenc_motion.hal HALFILE = motenc_io.hal HALUI = halui # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta # Glade HALfile # Single file that is executed after the GUI has started. # POSTGUI_HALFILE = test_postgui.hal POSTGUI_HALFILE = FoF-ui5.hal # Trajectory planner section -------------------------------------------------- [TRAJ] AXES = 3 # COORDINATES = X Y Z R P W COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 1.0 MAX_VELOCITY = 50.0 DEFAULT_ACCELERATION = 1000.0 MAX_ACCELERATION = 3000.0 # Axes sections --------------------------------------------------------------- # First axis velocities in mm/s [AXIS_0] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 333.334 MAX_ACCELERATION = 1000.0 # à changer au 1000 BACKLASH = 0.0018 INPUT_SCALE = -1000 ################ Ajout Vincent #INPUT_SUM_SCALE = -200 ################ OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.0015 MIN_LIMIT = -0.1 MAX_LIMIT = 500.0 FERROR = 25.000 MIN_FERROR = 2.5 HOME_OFFSET = 0 # Valeur de la CN 16.200 HOME_SEARCH_VEL = 50.0 HOME_LATCH_VEL = -5 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO MAX_OUTPUT = 10.00 # PID tuning params DEADBAND = 0.000015 P = 4.00 I = 40.000 D = 0.000 FF0 = 0.000 FF1 = 0.02 FF2 = 0.0 BIAS = 0.000 # Second axis [AXIS_1] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 333.334 MAX_ACCELERATION = 1000.0 BACKLASH = 0.0044 INPUT_SCALE = -1000 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.00156 MIN_LIMIT = -0.1 MAX_LIMIT = 500.000 FERROR = 25.000 MIN_FERROR = 2.5 HOME_OFFSET = 0 # Valeur de la CN 10.320 HOME_SEARCH_VEL = 50.0 HOME_LATCH_VEL = -5 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO MAX_OUTPUT = 10.0 # PID tuning params DEADBAND = 0.000015 P = 4.0 I = 40.000 D = 0.000 FF0 = 0.000 FF1 = 0.02 FF2 = 0.0 BIAS = 0.000 # Third axis [AXIS_2] TYPE = LINEAR HOME = 0.000 MAX_VELOCITY = 300.0 MAX_ACCELERATION = 1000.0 BACKLASH = 0.000 INPUT_SCALE = -1000 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = -0.0025 MIN_LIMIT = -550.0 MAX_LIMIT = 0.10 FERROR = 20.000 MIN_FERROR = 2.0 HOME_OFFSET = 0 # Valeur de la CN -16.210 HOME_SEARCH_VEL = -7.5 HOME_LATCH_VEL = 1.5 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO MAX_OUTPUT = 10.0 # PID tuning params DEADBAND = 0.000015 P = 4.0 I = 40.000 D = 0.000 FF0 = 0.000 FF1 = 0.02 FF2 = 0.0 BIAS = 0.000 # Spindle Controller Section -------------------------------------------------- [SPINDLE] TYPE = ANGULAR ORIENT_POSITION = -75.0 ORIENT_VELOCITY = 50.0 MAX_VELOCITY = 166.6666 SPEED_GAIN = 0.001 INPUT_SCALE = 5.555555 OUTPUT_SCALE = 0.1000 OUTPUT_OFFSET = 0 FERROR = 2500000.000 # PID tuning params DEADBAND = 0.000015 P = 1.0 I = 2.000 D = 0.000 FF0 = 0.000 FF1 = 0.000 FF2 = 0.0 BIAS = 0.000 # section for main IO controller parameters ----------------------------------- [EMCIO] # Name of IO controller program, e.g., io EMCIO = io # cycle time, in seconds CYCLE_TIME = 0.100 #Déplacement Z0 avant changement outil TOOL_CHANGE_POSITION = 0 20 0 TOOL_CHANGE_QUILL_UP = 1 # tool turret info TOOL_TURRET_MAX = 1 (12) TOOL_TURRET_WRAP = 1 # tool table file TOOL_TABLE = motenc.tbl