# EMC controller parameters for a simulated machine. # General note: Comments can either be preceded with a # or ; - either is # acceptable, although # is in keeping with most linux config files. # General section ------------------------------------------------------------- [EMC] VERSION = 1.1 MACHINE = Wabeco_F1210 DEBUG = 0 # Sections for display options ------------------------------------------------ [DISPLAY] DISPLAY = gmoccapy EDITOR = kate GEOMETRY = xyz # We do explicit give an preference file here, because otherwise # the sim may not work on other computers. That is also the reason # we use the prefix para, so it will not be ignored from git PREFERENCE_FILE_PATH = sim_wabeco_gmoccapy.para #Extra Panel für alle relevanten Schnittdaten EMBED_TAB_NAME = cutting EMBED_TAB_LOCATION = box_custom_2 EMBED_TAB_COMMAND = gladevcp -x {XID} -u python/cutting.py -H cutting.hal cutting.glade #Extra Panel für die Simulation, um den Tollsensor auslösen zu können EMBED_TAB_NAME = tool sensor EMBED_TAB_LOCATION = box_right EMBED_TAB_COMMAND = gladevcp -x {XID} -H _simu/tool_sensor.hal _simu/tool_sensor.glade #Extra Panel zum Service der Maschine EMBED_TAB_NAME = Service EMBED_TAB_LOCATION = ntb_user_tabs EMBED_TAB_COMMAND = gladevcp -x {XID} -u python/service.py -H service.hal service.glade #Extra Panel für ein großes DRO EMBED_TAB_NAME = DRO EMBED_TAB_LOCATION = ntb_user_tabs EMBED_TAB_COMMAND = gladevcp -x {XID} dro.glade #Extra Panel zur Überprüfung der 7i73 RemoteControl EMBED_TAB_NAME = 7i73 - Check EMBED_TAB_LOCATION = ntb_user_tabs EMBED_TAB_COMMAND = gladevcp -x {XID} -H 7i73_check.hal 7i73_check.glade #Extra Panel zur Nutzung der Touch-Probe EMBED_TAB_NAME=Probe Screen EMBED_TAB_LOCATION = ntb_preview EMBED_TAB_COMMAND = gladevcp -x {XID} -u python/probe_screen.py -H probe_icons/probeTouch.hal probe_icons/probe_screen.glade -d #Extra Panel mit Hilfe zur Touch-Probe EMBED_TAB_NAME=Probe Help EMBED_TAB_LOCATION = ntb_user_tabs EMBED_TAB_COMMAND = gladevcp -x {XID} probe_help/probeHelp.glade # Introductory graphic INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 2 # Prefix to be used PROGRAM_PREFIX = /home/cncuser/linuxcnc #Display Values POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL # Highest value that will be allowed for feed override, 1.0 = 100% MAX_FEED_OVERRIDE = 2 MAX_SPINDLE_OVERRIDE = 1.4 MIN_SPINDLE_OVERRIDE = 0.4 # Auswählbare Jog Increments PYVCP = pyvcp-panel.xml INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm # Geschwindigkeit in mm/s DEFAULT_LINEAR_VELOCITY = 10.000000 MAX_LINEAR_VELOCITY = 50.000000 MIN_LINEAR_VELOCITY = 0.500000 DEFAULT_ANGULAR_VELOCITY = 12.000000 MAX_ANGULAR_VELOCITY = 180.000000 MIN_ANGULAR_VELOCITY = 1.666667 # for details see nc_files/subroutines/maco_instructions.txt [MACROS] MACRO = pos_z_zero MACRO = center_pos MACRO = on_abort [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 controller section ----------------------------------------------------- [TASK] TASK = milltask CYCLE_TIME = 0.01 # Part program interpreter section -------------------------------------------- [RS274NGC] PARAMETER_FILE = linuxcnc.var SUBROUTINE_PATH = macros # Aktivierung von optionalen (experimentellen) Features (Summe) # 1 - When set, you can turn on G43 after loading the first tool, and then not worry about it through # the program. When you finally unload the last tool, G43 mode is canceled. This is experimental # as it changes the operation of legal ngc program, but it could be argued that those programs are buggy or likely to be not what the author intended. # 2 - A called subroutine can determine the number of actual positional parameters passed by inspecting the # parameter. # 4 - the interpreter will fetch read-only values from the ini file through this special variable syntax # 8 - the interpreter will fetch read-only values from HAL file through this special variable syntax # 16 - enables reading of mixed-case HAL items in structured comments like (debug, #<_hal[MixedCaseItem]). Really a kludge which should go away. FEATURES=12 #std = 12 #Startup Code RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9 # G17 - Plan Select XY (default # G21 - to use millimeters for length units # G40 - turn cutter compensation off # G43H0 - enables tool length compensation of tool 0 from the Toolchanger # G54 - select coordinate system 1 # G64P0.005 - blending with tolerance # G80 - cancel canned cycle modal motion # G90 - absolute distance mode In absolute distance mode # G94 - Feed Rate Mode is Units per Minute Mode # G97 - Spindle Control Mode selects RPM mode # M5 - Spindle Control stop the spindle # M9 - Coolant Control all off # is the sub, with is called when a error during tool change happens ON_ABORT_COMMAND=O call # parameters exposed by change_prolog/evaluated by change_epilog: # # # # # # # # REMAP=M6 modalgroup=6 prolog=change_prolog ngc=change epilog=change_epilog # the Python plugins serves interpreter and task [PYTHON] # The path to start a search for user modules PATH_PREPEND = python # The start point for all. TOPLEVEL = python/toplevel.py # Debug Level LOG_LEVEL = 8 # Motion control section ------------------------------------------------------ [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 BASE_PERIOD = 100000 SERVO_PERIOD = 1000000 TRAJ_PERIOD = 1000000 [HOSTMOT2] # **** This is for info only **** # DRIVER0=hm2_pci # BOARD0=5i25 # Hardware Abstraction Layer section -------------------------------------------------- [HAL] HALUI = halui # +++++ HAL Files für die Simulation ++++++++++++ HALFILE = _simu/sim_core.hal HALFILE = _simu/sim_spindle.hal HALFILE = _simu/sim_home.hal # ++++ Experimental +++++++++++++++++++++++++++++ #HALFILE = # Files that are executed after the GUI has started. POSTGUI_HALFILE = _simu/custom_postgui_simu.hal #SHUTDOWN = shutdown.hal [HALUI] MDI_COMMAND = o call # Trajectory planner section -------------------------------------------------- [TRAJ] AXES = 3 COORDINATES = X Y Z LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 2.50 #globales Maximum gültig für alle Achsen MAX_LINEAR_VELOCITY = 50.00 MAX_LINEAR_ACCELERATION = 280 #für Setuparbeiten das Homing mit [1]unterdrücken NO_FORCE_HOMING = 0 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl MILL_DATA = cuttingData.ini [KINS] KINEMATICS = trivkins coordinates=xyz JOINTS = 3 #********************************************************************************************* # Axis X #********************************************************************************************* [AXIS_X] # Geschwindigkeit in mm/s #25 mm/s entspricht 1500mm/min entspricht 1200U/min am Steppermotor MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200 # Maximaler Weg MIN_LIMIT = -0.1 MAX_LIMIT = 500 [JOINT_0] TYPE = LINEAR # Erlaubte Abweichung von der Sollposition in Abhängigleit von der Geschwindigkeit # findet eine Interpolation von den beiden Werten statt FERROR = 3.0 MIN_FERROR = 0.2 BACKLASH = 0.00 # PID Reger Abstimmungen P = 35 I = 0 D = 0 FF0 = 0 FF1 = 1.0015 FF2 = 0.0005 BIAS = 0 DEADBAND = 0.0015 MAX_OUTPUT = 0 # Abstimmung der Stepper Signale (damit sollten max 1000U/min möglich sein) # - Stepper Hardware 1600 Step pro Umdrehung # (in nanoseconds) DIRSETUP = 12000 DIRHOLD = 12000 STEPLEN = 15000 STEPSPACE = 15000 # 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 = 200 STEPGEN_MAXACCEL = 400 # Umrechnug Step in mm Vorschub # 1600 Step/rev, Untersetzung 2:1 , 5mm/rev STEP_SCALE = 640 # 1000cnt/mm inverse ENCODER_SCALE = -1000 # Geschwindigkeit in mm/s #25 mm/s entspricht 1500mm/min entspricht 1200U/min am Steppermotor MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200 # Maximaler Weg MIN_LIMIT = -0.1 MAX_LIMIT = 500 # Homeposition #HOME_USE_INDEX = YES HOME_SEARCH_VEL = +50 HOME_LATCH_VEL = 10 HOME_FINAL_VEL = 80 HOME = 200 HOME_OFFSET = 2 HOME_SEQUENCE = 0 #Simu Spezial SCALE = 320.0 #********************************************************************************************* # Axis Y #********************************************************************************************* [AXIS_Y] # Geschwindigkeit in mm/s #25 mm/s entspricht 1500mm/min entspricht 1200U/min am Steppermotor MAX_VELOCITY = 200 MAX_ACCELERATION = 200 # Maximaler Weg MIN_LIMIT = -0.1 MAX_LIMIT = 150.0 [JOINT_1] TYPE = LINEAR # Erlaubte Abweichung von der Sollposition in Abhängigleit von der Geschwindigkeit # findet eine Interpolation von den beiden Werten statt FERROR = 2.0 MIN_FERROR = 0.2 BACKLASH = 0.00 # PID Reger Abstimmungen P = 21 I = 0 D = -0.09 FF0 = 0 FF1 = 1.0012 FF2 = 0.0005 BIAS = 0 DEADBAND = 0.0015 MAX_OUTPUT = 0 # Abstimmung der Stepper Signale (damit sollten max 1000U/min möglich sein) # - Stepper Hardware 1600 Step pro Umdrehung # (in nanoseconds) DIRSETUP = 12000 DIRHOLD = 12000 STEPLEN = 15000 STEPSPACE = 15000 # 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 = 200 STEPGEN_MAXACCEL = 400 # Umrechnug Step in mm Vorschub # 1600 Step/rev, Untersetzung 2:1 , 5mm/rev STEP_SCALE = 640 # 1000cnt/mm inverse ENCODER_SCALE = -1000 # Geschwindigkeit in mm/s #25 mm/s entspricht 1500mm/min entspricht 1200U/min am Steppermotor MAX_VELOCITY = 200 MAX_ACCELERATION = 200 # Maximaler Weg MIN_LIMIT = -0.1 MAX_LIMIT = 150.0 # Homeposition #HOME_USE_INDEX = YES HOME_SEARCH_VEL = +50 HOME_LATCH_VEL = 10 HOME_FINAL_VEL = 80 HOME = 80 HOME_OFFSET = 2 HOME_SEQUENCE = 0 #Simu Spezial SCALE = 320.0 #*********************************************************** # Axis Z #*********************************************************** [AXIS_Z] # Geschwindigkeit in mm/s #25 mm/s entspricht 1500mm/min entspricht 1200U/min am Steppermotor MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200 # Maximaler Weg MIN_LIMIT = 0 MAX_LIMIT = 280 [JOINT_2] TYPE = LINEAR # Erlaubte Abweichung von der Sollposition in Abhängigleit von der Geschwindigkeit # findet eine Interpolation von den beiden Werten statt FERROR = 2.0 MIN_FERROR = 0.1 BACKLASH = 0.00 # PID Reger Abstimmungen P = 14 I = 0 D = -0 FF0 = 0 FF1 = 0.5003 FF2 = 0.00025 BIAS = 0 DEADBAND = 0.002 MAX_OUTPUT = 0 # Abstimmung der Stepper Signale (damit sollten max 1000U/min möglich sein) # - Stepper Hardware 1600 Step pro Umdrehung # (in nanoseconds) DIRSETUP = 12000 DIRHOLD = 12000 STEPLEN = 12000 STEPSPACE = 12000 # 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 = 200 STEPGEN_MAXACCEL = 400 # Umrechnug Step in mm Vorschub # 800 Step/rev, Untersetzung 2:1 , 2,5mm/rev STEP_SCALE = -640 # 1000cnt/mm ENCODER_SCALE = 1000 # Geschwindigkeit in mm/s #25 mm/s entspricht 1500mm/min entspricht 1200U/min am Steppermotor MAX_VELOCITY = 200.0 MAX_ACCELERATION = 200 # Maximaler Weg MIN_LIMIT = 0 MAX_LIMIT = 280 # Homeposition #HOME_USE_INDEX = YES HOME_SEARCH_VEL = +50 HOME_LATCH_VEL = 10 HOME_FINAL_VEL = 80 HOME = 200 HOME_OFFSET = 2 HOME_SEQUENCE = 0 #Simu Spezial SCALE = 320.0 #*********************************************************** # Spindle #*********************************************************** [SPINDLE_9] ENCODER_SCALE = -0.016666666666667 OUTPUT_SCALE = 8000 BESCHLEUNIGUNG = 1000 MAX_FEHLER = 350 #Trimmung der AD-Wandler Kurve TRIM_GAIN = 1.04 TRIM_OFFSET = -300 #*********************************************************** # Einstellparameter für den automatischen Toolchanger #*********************************************************** [TOOLSENSOR] #The position of the tool sensor and the start position of the probing movement, all values are absolute coordinates, #except MAXPROBE, what must be given in relative movement. X = 10 Y = 124 Z = 270 MAXPROBE = -250 #Bis zu dieser Nummer wird das Werkzeug in x/y um den halben Durchmesser vor dem Antasten verschoben MAX_NUM_DIA_OFFSET = 1000 # Control probe rapid speed RAPID_SPEED = 600 [CHANGE_POSITION] #The position to move the machine before giving the change tool command. X = 10 Y = 124 Z = 270 #*********************************************************** # Einstellparameter für den automatischen Abgleich # "Null"höhe und Werkstückhöhe #*********************************************************** [MEASURE_POSITION] X = 10 Y = 50 Z = 40 [CENTER_POSITION] X = 220 Y = 75 Z = 245