[EMC] # Highly modified bits from everywhere. # The version string for this INI file. VERSION = 1.1 # Name of machine, for use with display, etc. MACHINE = HTC2050 DEBUG = 0 [DISPLAY] DISPLAY = axis EDITOR = gedit POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL ARCDIVISION = 64 GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in MAX_FEED_OVERRIDE = 1.5 MIN_SPINDLE_OVERRIDE = 0.5 MAX_SPINDLE_OVERRIDE = 1.2 DEFAULT_LINEAR_VELOCITY = 10.0 MIN_LINEAR_VELOCITY = 0 MAX_LINEAR_VELOCITY = 100.00 CYCLE_TIME = 0.100 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/john/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm PYVCP = custompanel.xml LATHE = 1 TKPKG = Ngcgui 1.0 EMBED_TAB_NAME = Pyngcgui NGCGUI_FONT = Helvetica -12 normal # specify filenames only, files must be in [RS274NGC]SUBROUTINE_PATH NGCGUI_PREAMBLE = NGCGUI_SUBFILE = start.ngc NGCGUI_SUBFILE = face.ngc NGCGUI_SUBFILE = rgh.ngc NGCGUI_SUBFILE = taper.ngc NGCGUI_SUBFILE = fin.ngc NGCGUI_SUBFILE = spott.ngc NGCGUI_SUBFILE = drill.ngc NGCGUI_SUBFILE = tap.ngc NGCGUI_SUBFILE = grv.ngc NGCGUI_SUBFILE = threading.ngc NGCGUI_SUBFILE = acme.ngc NGCGUI_SUBFILE = part.ngc NGCGUI_SUBFILE = end.ngc # specify "" for a custom tab page NGCGUI_SUBFILE = "" #NGCGUI_SUBFILE = "" use when image frame is specified if # opening other files is required # images will be put in a top level window NGCGUI_OPTIONS = #NGCGUI_OPTIONS = opt1 opt2 ... # opt items: nonew -- disallow making a new custom tab noremove -- disallow removing any tab page # noauto -- no auto send (makeFile, then manually send) # noiframe -- no internal image, image on separate top level [KINS] JOINTS = 3 KINEMATICS = trivkins coordinates=XZC [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image PROGRAM_EXTENSION = .py Python Script PROGRAM_EXTENSION = .nc,.tap G-Code File png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python [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 [RS274NGC] # File containing interpreter variables PARAMETER_FILE = linuxcnc.var SUBROUTINE_PATH = /home/john/linuxcnc/mysubs USER_M_PATH = /home/john/linuxcnc/nc_files/Mcodefunctions RS274NGC_STARTUP_CODE = G18 G21 G61 G7 [EMCMOT] EMCMOT = motmod # Timeout for comm to emcmot, in seconds COMM_TIMEOUT = 1.0 # BASE_PERIOD = 100000 # Servo task period, in nanoseconds SERVO_PERIOD = 290000 [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 HALUI = halui HALFILE = shenyang.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta [HALUI] # add halui MDI commands here (max 64) MDI_COMMAND = M03 S250 MDI_COMMAND = M05 MDI_COMMAND = M04 S250 MDI_COMMAND = M08 MDI_COMMAND = M09 MDI_COMMAND = M110 MDI_COMMAND = M111 MDI_COMMAND = M120 MDI_COMMAND = M121 MDI_COMMAND = T1 M6 G43 MDI_COMMAND = T2 M6 G43 MDI_COMMAND = T3 M6 G43 MDI_COMMAND = T4 M6 G43 MDI_COMMAND = T5 M6 G43 MDI_COMMAND = T6 M6 G43 MDI_COMMAND = T7 M6 G43 MDI_COMMAND = T8 M6 G43 [TRAJ] # COORDINATES = X Y Z R P W COORDINATES = X Z C HOME = 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 50.0 MAX_LINEAR_VELOCITY = 150.0 DEFAULT_LINEAR_ACCELERATION = 150.0 MAX_LINEAR_ACCELERATION = 280.0 [EMCIO] # Name of IO controller program, e.g., io EMCIO = io # cycle time, in seconds CYCLE_TIME = 0.100 # tool table file TOOL_TABLE = tool.tbl TOOL_CHANGE_WITH_SPINDLE_ON = 1 #*** AXIS_X ******************************* [AXIS_X] MIN_LIMIT = -165.0 MAX_LIMIT = 0.0 MAX_VELOCITY = 55.0 MAX_ACCELERATION = 160.0 [JOINT_0] TYPE = LINEAR MAX_VELOCITY = 55.0 MAX_ACCELERATION = 160.0 BACKLASH = 0.000 FERROR = 8.000 MIN_FERROR = 6.000 INPUT_SCALE = -1365.333 OUTPUT_SCALE = -1.000 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 30 MIN_LIMIT = -165.0 MAX_LIMIT = 3.0 HOME = 0.000 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 10.0 HOME_LATCH_VEL = 2.0 # the X axis servo's encoder has an index channel, so we home with index HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 # PID tuning params DEADBAND = 0.002 P = 185 I = 1.1 D = 42 FF0 = 0 FF1 = 0 FF2 = 0.007 BIAS = 1 #****************************************** #*** AXIS_Z ******************************* [AXIS_Z] MIN_LIMIT = -510.0 MAX_LIMIT = 0.001 MAX_VELOCITY = 100.0 MAX_ACCELERATION = 185.0 [JOINT_1] TYPE = LINEAR MAX_VELOCITY = 100.0 MAX_ACCELERATION = 185.0 BACKLASH = 0.000 FERROR = 8.000 MIN_FERROR = 6.000 INPUT_SCALE = 2048 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 30 MIN_LIMIT = -510.0 MAX_LIMIT = 0.001 HOME = 0.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 15.0 HOME_LATCH_VEL = 2.0 # the Z axis servo's encoder has an index channel, so we home with index HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 # PID tuning params DEADBAND = 0.002 P = 145 I = 1.1 D = 32 FF0 = 0 FF1 = 1.1 FF2 = 0.2 BIAS = 0 #****************************************** [AXIS_C] MIN_LIMIT = 0.0 MAX_LIMIT = 360.0 MAX_VELOCITY = 100.0 MAX_ACCELERATION = 185.0 [JOINT_2] TYPE = ANGULAR WRAPPED_ROTARY = 1 MAX_VELOCITY = 100.0 MAX_ACCELERATION = 185.0 STEPGEN_MAXACCEL = 200.0 STEPGEN_MAXVEL = 130.0 BACKLASH = 0.000 FERROR = 0.5 MIN_FERROR = 6.000 INPUT_SCALE = 2048 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 0.0 MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 HOME = 0.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 # PID tuning params DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0 BIAS = 0 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 2500 #****************************************** #****************************************** [HOSTMOT2] DRIVER=hm2_pci BOARD=5i22 CONFIG="firmware=hm2/5i22-1.5/5i22_1.5_7i47.bit num_encoders=4 num_pwmgens=2 num_stepgens=2 sserial_port_0=0000000x"