############################################################################### # GENERAL SECTION ############################################################################### [EMC] VERSION = $Revision-$ MACHINE = HURCO-KMB1 DEBUG = 0 ############################################################################### # Sections for display options ############################################################################### [DISPLAY] DISPLAY = axis # DISPLAY = gmocapy POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 1.2 MIN_SPINDLE_OVERRIDE = 0.5 MAX_SPINDLE_OVERRIDE = 1.0 DEFAULT_SPINDLE_SPEED = 150 PROGRAM_PREFIX = /home/robert/linuxcnc/nc_files INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 CYCLE_TIME = 0.05 HELP_FILE = tklinucnc.txt DEFAULT_LINEAR_VELOCITY = .15 MIN_VELOCITY = .05 MAX_LINEAR_VELOCITY = 1.0 MIN_LINEAR_VELOCITY = .01 DEFAULT_ANGULAR_VELOCITY = .25 MIN_ANGULAR_VELOCITY = .01 MAX_ANGULAR_VELOCITY = 1.0 #INCREMENTS = .5 in, #OPEN_FILE = EDITOR = gedit TOOL_EDITOR = tooledit #PYVCP = /filename.xml #LATHE = 1 #GEOMETRY = XYZABCUVW #ARCDIVISION = 64 #MDI_HISTORY_FILE = HELP_FILE = tklinucnc.txt ############################################################################### # Part program interpreter section ############################################################################### [RS274NGC] PARAMETER_FILE = kmb1-axis.var ############################################################################### # MOTION CONTROL SECTION ############################################################################### [EMCMOT] EMCMOT = motmod period1= 100000 SERVO_PERIOD = 1000000 COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 ############################################################################### # TASK CONTROLLER SECTION ############################################################################### [TASK] TASK = milltask CYCLE_TIME = 0.010 ############################################################################### # HARDWARE ABSTRACTION LAYER - LOAD'S IN THE ORDER BELOW ############################################################################### [HAL] HALFILE = hurco-main.hal HALFILE = hurco-motion.hal #HALFILE = l #HALCMD = save neta #POSTGUI_HALFILE = HALUI = halui [HALUI] MDI_COMMAND = G53 G0 X0 Y0 Z0 ############################################################################### # Trajectory planner section ############################################################################### [TRAJ] COORDINATES = X Y Z AXES = 3 JOINTS = 3 HOME = 0 0 0 LINEAR_UNITS = inch ANGULAR_UNITS = degree DEFAULT_VELOCITY = 0.0167 #DEFAULT_VELOCITY = 0.20 DEFAULT_ACCELERATION = 2.0 MAX_VELOCITY = 5.0 MAX_ACCELERATION = 20.0 POSITION_FILE = position.txt ############################################################################### # AXIS PARAMETERS ############################################################################### [AXIS_0] TYPE = LINEAR UNITS = INCH HOME = 0.0 MAX_VELOCITY = 1.0 MAX_ACCELERATION = 20.0 BACKLASH = 0.000 #COMP_FILE = file.extension #COMP_FILE_TYPE = 0 or 1 MIN_LIMIT = 0.0 MAX_LIMIT = 20.0 MIN_FERROR = 0.010 FERROR = 1.0 # AXIS_0 HOMING SECTION HOME = 0.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_FINAL_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO # AXIS_0 SERVO SECTION DEADBAND = 0.010 #DEADBAND = 0.00025 BIAS = 0.000 P = 20 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 OUTPUT_SCALE = -1 OUTPUT_OFFSET = 0 MAX_OUTPUT = 10 INPUT_SCALE = 20000 ENCODER_SCALE = -20000 [AXIS_1] TYPE = LINEAR UNITS = INCH HOME = 0.0 MAX_VELOCITY = 1.0 MAX_ACCELERATION = 20.0 BACKLASH = 0.000 #COMP_FILE = file.extension #COMP_FILE_TYPE = 0 or 1 MIN_LIMIT = 0.0 MAX_LIMIT = 9.0 MIN_FERROR = 0.010 FERROR = 1.0 # AXIS_1 HOMING SECTION HOME = 0.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_FINAL_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO # AXIS_1 SERVO SECTION DEADBAND = 0.010 #DEADBAND = 0.00025 BIAS = 0.000 P = 10 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 OUTPUT_SCALE = -1 OUTPUT_OFFSET = 0 MAX_OUTPUT = 10 INPUT_SCALE = 20000 ENCODER_SCALE = -20000 [AXIS_2] TYPE = LINEAR UNITS = INCH HOME = 0.0 MAX_VELOCITY = 1.0 MAX_ACCELERATION = 20.0 BACKLASH = 0.000 #COMP_FILE = file.extension #COMP_FILE_TYPE = 0 or 1 MIN_LIMIT = 0.0 MAX_LIMIT = -6.0 MIN_FERROR = 0.010 FERROR = 1.0 # AXIS_2 HOMING SECTION HOME = 0.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_FINAL_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO # AXIS_2 SERVO SECTION DEADBAND = 0.010 #DEADBAND = 0.00025 BIAS = 0.000 P = 10 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 OUTPUT_SCALE = 1 OUTPUT_OFFSET = 0 MAX_OUTPUT = 10 INPUT_SCALE = 20000 ENCODER_SCALE = 20000 # ENCODERS ON THE MACHINE NOW # ENCODER SCALE FIGURED AS # 1 ENCODER REVOLUTION EQUALS 0.200" MOVEMENT # 1000PPR ENCODER X 4 QUADRATURE # X 5 TPI FOR BALLSCREW # 1000 PPR (PULSES PER REVOLUTION) # X 4 QUADRATURE ENCODER # 4000 COUNTS PER REVOLUTION # X 5 TPI BALLSCREW # 20,000 COUNTS PER INCH # ORIGINAL ENCODERS ON THE MACHINE # ENCODER SCALE FIGURED AS # 1 ENCODER REVOLUTION EQUALS 0.200" MOVEMENT # 200PPR ENCODER X 4 QUADRATURE # X 5 TPI FOR BALLSCREW # 200 PPR (PULSES PER REVOLUTION) # X 4 QUADRATURE ENCODER # 800 COUNTS PER REVOLUTION # X 5 TPI BALLSCREW # 4,000 COUNTS PER INCH ############################################################################### # IO CONTROLLER PARAMETERS ############################################################################### [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = kmb1-axis.tbl