# Generated by PNCconf at Fri Aug 2 00:04:48 2019 # If you make changes to this file, they will be # overwritten when you run PNCconf again # Edited to add encoders and closed loop feedback 8-13-19 [EMC] MACHINE = TC225 DEBUG = 0 VERSION = 1.1 [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/tc225/linuxcnc/nc_files INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 0.250000 MAX_LINEAR_VELOCITY = 20.000000 MIN_LINEAR_VELOCITY = 0.016667 DEFAULT_ANGULAR_VELOCITY = 12.000000 MAX_ANGULAR_VELOCITY = 180.000000 MIN_ANGULAR_VELOCITY = 1.666667 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 SERVO_PERIOD = 1000000 [HOSTMOT2] # **** This is for info only **** # DRIVER0=hm2_eth # BOARD0=7i76e [HAL] HALUI = halui HALFILE = TC225.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] [KINS] JOINTS = 3 KINEMATICS = trivkins coordinates=XYZ [TRAJ] COORDINATES = XYZ LINEAR_UNITS = inch ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 2.00 MAX_LINEAR_VELOCITY = 20.00 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #****************************************** [AXIS_X] MAX_VELOCITY = 3.33333333333 MAX_ACCELERATION = 30.0 MIN_LIMIT = -15.0 MAX_LIMIT = 0.0 [JOINT_0] TYPE = LINEAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 3.33333333333 MAX_ACCELERATION = 30.0 # 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 = 1.9685 STEPGEN_MAXACCEL = 37.5 P = 9 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0 BIAS = 0 DEADBAND = 1e-05 MAX_OUTPUT = 0 ENCODER_SCALE = -50800.1 # these are in nanoseconds DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = -50800.1 MIN_LIMIT = -15.0 MAX_LIMIT = 0.0 HOME_OFFSET = -1.5 HOME_SEARCH_VEL = 0.75 HOME_LATCH_VEL = 0.016667 HOME_FINAL_VEL = 1.0 HOME_USE_INDEX = NO HOME_SEQUENCE = 1 #****************************************** #****************************************** [AXIS_Y] MAX_VELOCITY = 20.0 MAX_ACCELERATION = 50.0 MIN_LIMIT = -10.0 MAX_LIMIT = 0.0 [JOINT_1] TYPE = LINEAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 20.0 MAX_ACCELERATION = 50.0 # 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 = 1.9685 STEPGEN_MAXACCEL = 62.5 P = 10 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 1e-05 MAX_OUTPUT = 0 ENCODER_SCALE = 50800.1 # these are in nanoseconds DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 50800.1 MIN_LIMIT = -10.0 MAX_LIMIT = 0.0 HOME_OFFSET = -1.5 HOME_SEARCH_VEL = 0.075 HOME_LATCH_VEL = 0.016667 HOME_FINAL_VEL = 1.0 HOME_USE_INDEX = NO HOME_SEQUENCE = 2 #****************************************** #****************************************** [AXIS_Z] MAX_VELOCITY = 1.0 MAX_ACCELERATION = 30.0 MIN_LIMIT = -7.75 MAX_LIMIT = 7.75 [JOINT_2] TYPE = LINEAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 1.0 MAX_ACCELERATION = 30.0 # 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 = 1.25 STEPGEN_MAXACCEL = 37.5 P = 10 I = 0 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 1e-05 MAX_OUTPUT = 0 ENCODER_SCALE = -50800.1 # these are in nanoseconds DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = -50800.1 MIN_LIMIT = -7.75 MAX_LIMIT = 7.75 HOME_OFFSET = 1.0 HOME_SEARCH_VEL = 0.050000 HOME_LATCH_VEL = 0.016667 HOME_FINAL_VEL = 1.0 HOME_USE_INDEX = NO HOME_SEQUENCE = 0 #****************************************** [SPINDLE_9] P = 0 I = 0 D = 0 FF0 = 1 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 0 MAX_OUTPUT = 2000