# Generated by PNCconf at Sun Jan 1 01:31:34 2006 # If you make changes to this file, they will be # overwritten when you run PNCconf again [EMC] MACHINE = Ydual+A 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/debiancnc/linuxcnc/nc_files PYVCP = pyvcp-panel.xml INCREMENTS = 90deg 100mm 50mm 25mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm .005mm POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 60.000000 MAX_LINEAR_VELOCITY = 60.000000 MIN_LINEAR_VELOCITY = 0.500000 DEFAULT_ANGULAR_VELOCITY = 40.000000 MAX_ANGULAR_VELOCITY = 90.000000 MIN_ANGULAR_VELOCITY = 0.01 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 SUBROUTINE_PATH = /home/debiancnc/linuxcnc/configs/CNC/ROUTINES [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 [HOSTMOT2] # **** This is for info only **** # DRIVER0=hm2_pci # BOARD0=5i25 [HAL] HALUI = halui HALFILE = Ydual+A.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] MDI_COMMAND = O CALL #[KINS] #JOINTS = 5 #KINEMATICS = trivkins coordinates=XYYZA kinstype=BOTH [TRAJ] COORDINATES = XYYZA MAX_ANGULAR_VELOCITY = 90.00 DEFAULT_ANGULAR_VELOCITY = 40.00 LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 60.00 MAX_LINEAR_VELOCITY = 60.00 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #****************************************** # AXIS X #****************************************** [KINS] KINEMATICS = trivkins coordinates=XYYZA kinstype=BOTH #This is a best-guess at the number of joints, it should be checked JOINTS = 5 [AXIS_X] MAX_VELOCITY = 60.0 MAX_ACCELERATION = 180.0 MIN_LIMIT = -0.01 MAX_LIMIT = 500.0 [JOINT_0] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 60.0 MAX_ACCELERATION = 180.0 # 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 = 75.00 STEPGEN_MAXACCEL = 225.00 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 1000 STEPSPACE = 5000 STEP_SCALE = 320.0 MIN_LIMIT = -0.01 MAX_LIMIT = 500.0 HOME_OFFSET = -10.000000 HOME_SEARCH_VEL = -10.000000 HOME_LATCH_VEL = -0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 #****************************************** #AXIS Y #****************************************** [AXIS_Y] MAX_VELOCITY = 60.0 MAX_ACCELERATION = 750.0 MIN_LIMIT = -0.01 MAX_LIMIT = 590.0 [JOINT_1] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 60.0 MAX_ACCELERATION = 750.0 # 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 = 75.00 STEPGEN_MAXACCEL = 937.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 1000 STEPSPACE = 5000 STEP_SCALE = -320.0 MIN_LIMIT = -0.01 MAX_LIMIT = 590.0 HOME_OFFSET = -10.000000 HOME_SEARCH_VEL = -10.000000 HOME_LATCH_VEL = -0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = -1 [JOINT_2] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 60.0 MAX_ACCELERATION = 750.0 # 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 = 75.00 STEPGEN_MAXACCEL = 937.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 1000 STEPSPACE = 5000 STEP_SCALE = -320.0 MIN_LIMIT = -0.01 MAX_LIMIT = 590.0 HOME_OFFSET = -10.000000 HOME_SEARCH_VEL = -10.000000 HOME_LATCH_VEL = -0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = -1 #****************************************** # AXIS Z #****************************************** [AXIS_Z] MAX_VELOCITY = 25.0 MAX_ACCELERATION = 750.0 MIN_LIMIT = -160.0 MAX_LIMIT = 0.01 [JOINT_3] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 25.0 MAX_ACCELERATION = 750.0 # 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 = 31.25 STEPGEN_MAXACCEL = 937.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 1000 STEPSPACE = 5000 STEP_SCALE = -400.0 MIN_LIMIT = -160.0 MAX_LIMIT = 0.01 HOME_OFFSET = 10.000000 HOME_SEARCH_VEL = 5.000000 HOME_LATCH_VEL = 0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 #****************************************** # AXIS A #****************************************** [AXIS_A] TYPE = ANGULAR WRAPPED_ROTARY = 1 ANGULAR_UNITS = degree DEFAULT_ANGULAR_VELOCITY = 40.000000 MAX_ANGULAR_VELOCITY = 90.000000 MIN_ANGULAR_VELOCITY = 0.01 #MAX_VELOCITY = 36.0 #MAX_ACCELERATION = 12.0 MIN_LIMIT = 0.0 MAX_LIMIT = 359.999 [JOINT_4] TYPE = ANGULAR WRAPPED_ROTARY = 1 ANGULAR_UNITS = degree HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 36.0 MAX_ACCELERATION = 12.0 # 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 = 45.00 STEPGEN_MAXACCEL = 15.00 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 1000.0 MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 HOME_OFFSET = 0.000000 HOME_SEQUENCE = 2 #****************************************** [SPINDLE_9] P = 0 I = 0 D = 0 FF0 = 1 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 0 MAX_OUTPUT = 2000