#RMC Rev5.1.7 - Washdown & flood valves, spindle blast, probe error signal #RMC Rev5.1.6 - Probe error signal and debounce #RMC Rev5.1.5 - Laser PDB sensor, clean up INI, on-abort delay, spin interlocks #RMC Rev5.1.4 - Analog override lincurve #RMC Rev5.1.3 - Analog override limits #RMC Rev5.1.2 - New control panel w/analog overrides #RMC Rev5.1.1 - UPDATED PB: modified subroutines for new parameters; new custom_config.yaml #RMC Rev5.1.0 - INDEX MODE - spindle orient values fixed with new spin collar; new slot sensors on carousel #RMC Rev5.0.2 - REVERT TO CAROUSL COUNTS - added carousel debounce, changed stepgen speed and accel #RMC Rev5.0.1 - FIRST ATC EDITS - change ATC stepgen to velocity mode #RMC Rev5.0 - BASED ON 41.1.5 - WORKING COPY #RMC Rev41.1.6 - change ATC/carousel to 'index' mode, add align-dc and decel-time back in, spindle lincurve (no PID) #RMC Rev41.1.6 - change ATC/carousel to 'index' mode, add align-dc and decel-time back in #RMC Rev41.1.3 - homing and toolchange position #RMC Rev41.1.2 - edit orient offset, increase axis and ATC speed #RMC Rev41.1.1 - on_abort in RS274 section #RMC Rev41.1 - Add spindle lock interlock, PDB M29 code, angular jog scale, switch SRO/FRO inputs on MPG #RMC Rev41 - Added 4th axis back #RMC Rev40 - ATC4 ALL NEW [EMC] MACHINE = PBATC REV5.1.7 #DEBUG = 0x7FFFFF DEBUG = 0x10 VERSION = 1.1 [DISPLAY] DISPLAY = probe_basic OPEN_FILE = ~/linuxcnc/nc_files/pb_examples/blank.ngc CONFIRM_EXIT = False CONFIG_FILE = custom_config.yml FULLSCREEN = true MAXIMIZE = false POSITION = 0x0 LOG_FILE = sim.log LOG_LEVEL = DEBUG PREFERENCE_FILE = sim.pref PROGRAM_PREFIX = ~/linuxcnc/nc_files POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 1.500000 MIN_FEED_OVERRIDE = 0.000000 MAX_SPINDLE_OVERRIDE = 1.100000 MIN_SPINDLE_OVERRIDE = 0.500000 DEFAULT_SPINDLE_SPEED = 500 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 1 INCREMENTS = JOG .01in .001in .0001in POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 0.250000 MAX_LINEAR_VELOCITY = 1.666 MIN_LINEAR_VELOCITY = 0.010 DEFAULT_ANGULAR_VELOCITY = 12.000000 MAX_ANGULAR_VELOCITY = 150.000000 MIN_ANGULAR_VELOCITY = 1.000 DEFAULT_JOG_ANGULAR_VELOCITY = 10 MAX_JOG_ANGULAR_VELOCITY = 50 GEOMETRY = xyza USER_TABS_PATH = user_tabs/ [ATC] POCKETS = 18 STEP_TIME = 150 # TESTING - HEAD UP/DOWN SPEED & LOCATION #ZHIGH = -0.001 #ZMED = -0.5 #ZLOW = -0.75 #ZFAST = 20 #ZSLOW = 10 # PRODUCTION - HEAD UP/DOWN SPEED & LOCATION ZHIGH = -0.001 ZMED = -2.8 ZLOW = -3.152 ZFAST = 180 ZSLOW = 30 # CAROUSEL STEPGEN SETTINGS ATC_DIRHOLD = 10000 ATC_DIRSETUP = 10000 ATC_STEPLEN = 10000 ATC_STEPSPACE = 10000 ATC_STEP_TYPE = 0 ATC_CONTROL_TYPE = 1 ATC_MAX_ACCEL = 100000 ATC_MAX_VEL = 25000 # CAROUSEL.COMP SETTINGS ATC_POS_SCALE = 1 ATC_SCALE = 62 ATC_WIDTH = 5 ATC_HOME_OFFSET = 0 # CAROUSEL PARAMETERS (FOR 90DEG/SEC) ATC_FWD_DC = 8000 ATC_HOLD_DC = 0 ATC_REV_DC = -8000 ATC_REV_PULSE = 0 ATC_ALIGN_DC = 1500 ATC_DECEL_TIME = 0.1 ATC_DEBOUNCE = 3 #TOOLCHANGE TABLE POSITION TOOLCHANGE_X = 8.5 TOOLCHANGE_Y = 8.0 #TOOLCHANGE_A = 0 [PYTHON] PATH_PREPEND = python TOPLEVEL = /home/mill/linuxcnc/configs/MILL_REV5.1.7/python/toplevel.py PATH_APPEND = /home/mill/linuxcnc/configs/MILL_REV5.1.7/python/ LOG_LEVEL = 1000 [FILTER] PROGRAM_EXTENSION = .nc,.txt,.tap Other NC files PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] INI_VARS=1 ORIENT_OFFSET=-116.0 PROGRAM_PREFIX = ~/linuxcnc/nc_files PARAMETER_FILE = linuxcnc.var OWORD_NARGS = 1 NO_DOWNCASE_OWORD = 1 SUBROUTINE_PATH = /home/mill/linuxcnc/configs/MILL_REV5.1.7/subroutines/ USER_M_PATH = /home/mill/linuxcnc/configs/MILL_REV5.1.7/m_codes/ REMAP=M6 modalgroup=6 prolog=change_prolog ngc=toolchange epilog=change_epilog REMAP=M10 modalgroup=6 argspec=p ngc=m10 REMAP=M11 modalgroup=6 argspec=p ngc=m11 REMAP=M12 modalgroup=6 argspec=p ngc=m12 REMAP=M13 modalgroup=6 ngc=m13 REMAP=M21 modalgroup=6 ngc=m21 REMAP=M22 modalgroup=6 ngc=m22 REMAP=M23 modalgroup=6 ngc=m23 REMAP=M24 modalgroup=6 ngc=m24 REMAP=M25 modalgroup=6 ngc=m25 REMAP=M26 modalgroup=6 ngc=m26 REMAP=M27 modalgroup=6 ngc=m27 REMAP=M28 modalgroup=6 ngc=m28 REMAP=M29 modalgroup=6 ngc=m29 REMAP=M31 modalgroup=6 ngc=m31 REMAP=M32 modalgroup=6 ngc=m32 REMAP=M33 modalgroup=6 ngc=m33 REMAP=M34 modalgroup=6 ngc=m34 REMAP=M35 modalgroup=6 ngc=m35 REMAP=M36 modalgroup=6 ngc=m37 REMAP=M37 modalgroup=6 ngc=m37 ON_ABORT_COMMAND= o call RS274NGC_STARTUP_CODE = F10 S0 G17 G20 G40 G49 G54 G64 P0.001 G80 G90 G91.1 G92.1 G94 G97 G98 ;F10 SET FEED TO 10IPM ;S0 SET SPINDLE TO 0RPM ;G17 SET PLANE TO XY ;G20 SET UNITS TO INCHES ;G40 CANCEL CUTER COMP ;G49 CANCEL TOOL LENGTH ;G54 SET WCS TO G54 ;G64 P0.001 SET PATH BLENDING WITH 0.001" TOLERANCE ;G80 CANCEL CANNED CYCLES ;G90 SET ABSOLUTE DISTANCE MODE ;G91.1 SET ARC DISTANCE MODE TO INCREMENTAL ;G92.1 CANCEL G92 OFFSETS & CLEARS PARAMETERS 5211-5219 ;G94 SET IPM MODE ;G97 SET SPINDLE TO RPM MODE ;G98 SET CANCED CYCLE INITIAL PLANE MODE [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 SERVO_PERIOD = 1000000 [HMOT] CARD0=hm2_7i76e.0 [HAL] HALUI = halui HALFILE = hallib/01_MAIN.hal HALFILE = hallib/02_atc.hal HALFILE = hallib/03_io.hal HALFILE = hallib/04_spindle.hal HALFILE = hallib/05_ladder.hal HALFILE = hallib/06_mpg.hal POSTGUI_HALFILE = hallib/07_postgui.hal #SHUTDOWN = shutdown.hal TWOPASS = on [HALUI] MDI_COMMAND = M13 MDI_COMMAND = G53 G0 Z0 X8 Y8.75 MDI_COMMAND = G53 G0 Z0 X8 Y1 #RMC [APPLICATIONS] #APP = halshow my.halshow [KINS] JOINTS = 4 KINEMATICS = trivkins coordinates=XYZA [TRAJ] COORDINATES = XYZA MAX_ANGULAR_VELOCITY = 400 DEFAULT_ANGULAR_VELOCITY = 20 LINEAR_UNITS = inch ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 0.10 MAX_LINEAR_VELOCITY = 5.0 #NO_FORCE_HOMING = 0 NO_FORCE_HOMING = 1 SPINDLES = 1 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl TOOL_CHANGE_QUILL_UP = 1 RANDOM_TOOLCHANGER = 0 #****************************************** [AXIS_X] MAX_VELOCITY = 5.0 MAX_ACCELERATION = 45.0 MIN_LIMIT = 0 MAX_LIMIT = 16.125 [JOINT_0] TYPE = LINEAR HOME = 8 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 5.0 MAX_ACCELERATION = 45.0 STEPGEN_MAXVEL = 8 STEPGEN_MAXACCEL = 150.00 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 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 2500 STEPSPACE = 2500 STEP_SCALE = 19818 MIN_LIMIT = 0 MAX_LIMIT = 16.125 HOME_OFFSET = 0 HOME_SEARCH_VEL = -2.0 HOME_LATCH_VEL = 0.016667 HOME_FINAL_VEL = -3.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 3 VOLATILE_HOME = 1 #****************************************** [AXIS_Y] MAX_VELOCITY = 5.0 MAX_ACCELERATION = 45.0 MIN_LIMIT = 0 MAX_LIMIT = 9.251 [JOINT_1] TYPE = LINEAR HOME = 8.75 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 5.0 MAX_ACCELERATION = 45.0 STEPGEN_MAXVEL = 8 STEPGEN_MAXACCEL = 150.00 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 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 2500 STEPSPACE = 2500 STEP_SCALE = 19822 MIN_LIMIT = 0 MAX_LIMIT = 9.251 HOME_OFFSET = 9.25 HOME_SEARCH_VEL = 1.5 HOME_LATCH_VEL = -0.016667 HOME_FINAL_VEL = 3.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 2 VOLATILE_HOME = 1 #****************************************** [AXIS_Z] MAX_VELOCITY = 3.5 MAX_ACCELERATION = 20.0 MIN_LIMIT = -14.0 MAX_LIMIT = 0.0001 [JOINT_2] TYPE = LINEAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 3.5 MAX_ACCELERATION = 20.0 STEPGEN_MAXVEL = 6 STEPGEN_MAXACCEL = 60 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 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 2500 STEPSPACE = 2500 STEP_SCALE = 19813 MIN_LIMIT = -14 MAX_LIMIT = 0.0001 HOME_OFFSET = .05 HOME_SEARCH_VEL = 1.00000 HOME_LATCH_VEL = -0.016667 HOME_FINAL_VEL = -0.25 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 VOLATILE_HOME = 1 #****************************************** [AXIS_A] MAX_VELOCITY = 175 MAX_ACCELERATION = 6000.0 MIN_LIMIT = -1e99 MAX_LIMIT = 1e99 [JOINT_3] TYPE = ANGULAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 175 MAX_ACCELERATION = 6000.0 STEPGEN_MAXVEL = 400 STEPGEN_MAXACCEL = 7000.00 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 DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 500 STEPSPACE = 500 STEP_SCALE = 1133.3 MIN_LIMIT = -1e99 MAX_LIMIT = 1e99 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_FINAL_VEL = 0 HOME_USE_INDEX = NO VOLATILE_HOME = 1 [SPINDLE_0] P = 0 I = 0 D = 0 FF0 = 1 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 0.0 MAX_OUTPUT = 8000.0 ENCODER_SCALE = 4096.0 OUTPUT_SCALE = 8000 OUTPUT_MIN_LIMIT = 0 OUTPUT_MAX_LIMIT = 8000 [SPINDLE_ORIENT] P = 2000 I = 0 D = 160 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 0.004 MAX_OUTPUT = 250.0