# Generated by PNCconf at Sun Apr 4 16:14:48 2021 # Using LinuxCNC version: 2.8 # If you make changes to this file, they will be # overwritten when you run PNCconf again [EMC] MACHINE = Brother 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/timfaber/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 6.000000 MAX_LINEAR_VELOCITY = 333.334 MIN_LINEAR_VELOCITY = 0.500000 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 [PYTHON] # where to find Python code # code specific for this configuration PATH_PREPEND=./python # generic support code PATH_APPEND=/home/timfaber/linuxcnc/nc_files/remap_lib/python-stdglue # import the following Python module TOPLEVEL=python/toplevel.py [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] FEATURES=30 PARAMETER_FILE = linuxcnc.var SUBROUTINE_PATH = ./subroutines REMAP=M6 modalgroup=6 prolog=change_prolog ngc=toolchange epilog=change_epilog # Offset such that 0 degree is the tool change position ORIENT_OFFSET = 0 [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 EMCMOT_MAX_DIO = 32 [HMOT] CARD0=hm2_7i97.0 [HAL] HALUI = halui HALFILE = Brother.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] [KINS] JOINTS = 4 KINEMATICS = trivkins coordinates=XYZA [TRAJ] COORDINATES = XYZA MAX_ANGULAR_VELOCITY = 360.00 DEFAULT_ANGULAR_VELOCITY = 36.00 LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 2.50 MAX_LINEAR_VELOCITY = 25.00 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #****************************************** [AXIS_X] MAX_VELOCITY = 333.334 MAX_ACCELERATION = 3000.0 MIN_LIMIT = -0.01 MAX_LIMIT = 318.0 [JOINT_0] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 10.0 MAX_VELOCITY = 333.334 MAX_ACCELERATION = 3000.0 P = 100 I = 0.002 D = 0.6 FF0 = 0 FF1 = 0.975 FF2 = 0.0006 BIAS = 0 DEADBAND = 0.001 MAX_OUTPUT = 0 ENCODER_SCALE = -819.2 OUTPUT_SCALE = 400 MIN_LIMIT = -0.01 MAX_LIMIT = 318.0 HOME_OFFSET = 0 HOME_SEARCH_VEL = -80.000000 HOME_LATCH_VEL = 2 HOME_FINAL_VEL = -80 HOME_USE_INDEX = YES HOME_SEQUENCE = 1 HOME_IGNORE_LIMITS = YES #****************************************** #****************************************** [AXIS_Y] MAX_VELOCITY = 333.334 MAX_ACCELERATION = 3000.00 MIN_LIMIT = -0.01 MAX_LIMIT = 245.0 [JOINT_1] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 10.0 MAX_VELOCITY = 333.334 MAX_ACCELERATION = 3000.0 P = 150 I = 0.0002 D = 1 FF0 = 0 FF1 = 0.965 FF2 = 0.0015 BIAS = 0 DEADBAND = 0.002 MAX_OUTPUT = 0 ENCODER_SCALE = 819.241 OUTPUT_SCALE = -400 MIN_LIMIT = -0.01 MAX_LIMIT = 250.0 HOME_OFFSET = 0 HOME_SEARCH_VEL = -80.0 HOME_LATCH_VEL = 2 HOME_FINAL_VEL = -80 HOME_USE_INDEX = YES HOME_SEQUENCE = 1 HOME_IGNORE_LIMITS = YES #****************************************** #****************************************** [AXIS_Z] MAX_VELOCITY = 166.667 MAX_ACCELERATION = 2000.0 MIN_LIMIT = -160.0 MAX_LIMIT = 0.01 [JOINT_2] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 10.0 MAX_VELOCITY = 333.334 MAX_ACCELERATION = 2000.0 P = 300 I = 0.005 D = 0.005 FF0 = 0 FF1 = 1.3 FF2 = 0.005 BIAS = 0.1 DEADBAND = 0.003 MAX_OUTPUT = 0 ENCODER_SCALE = 819.2 OUTPUT_SCALE = -400 MIN_LIMIT = -160 MAX_LIMIT = 0.1 MAX_LIMIT_ATC = 250 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 80 HOME_LATCH_VEL = -2 HOME_FINAL_VEL = 80 HOME_USE_INDEX = YES HOME_SEQUENCE = 0 HOME_IGNORE_LIMITS = YES #****************************************** #****************************************** [AXIS_A] MAX_VELOCITY = 360.0 MAX_ACCELERATION = 1200.0 MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 [JOINT_3] TYPE = ANGULAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 360.0 MAX_ACCELERATION = 1200.0 P = 50.0 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 ENCODER_SCALE = 100.0 OUTPUT_SCALE = 10.0 MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 HOME_OFFSET = 0.0 #****************************************** [SPINDLE_0] P = 1 I = 0 D = 0 FF0 = 1 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 0.0001 MAX_OUTPUT = 6000 ENCODER_SCALE = 4096 OUTPUT_SCALE = -6000 [SPINDLE_ORIENT] P = 3500.0 I = 10 D = 10 FF0 = 0.0 FF1 = 6000.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0001 MAX_OUTPUT = 500.0