# Erstellt von PNCconf am Fri Mar 19 12:39:35 2021 # Using LinuxCNC version: 2.8 # Änderungen an dieser Datei werden beim nächsten # overwritten when you run PNCconf again [EMC] MACHINE = crawler_01 DEBUG = 0 VERSION = 1.1 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 4.000000 MAX_SPINDLE_OVERRIDE = 1.000000 MIN_SPINDLE_OVERRIDE = 0.500000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/crawler/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 6.000000 # MAX_LINEAR_VELOCITY = 200.0 = 12 m/min MAX_LINEAR_VELOCITY = 200.000000 MIN_LINEAR_VELOCITY = 0.500000 DEFAULT_ANGULAR_VELOCITY = 12.000000 MAX_ANGULAR_VELOCITY = 180.000000 MIN_ANGULAR_VELOCITY = 1.666667 EDITOR = gedit GEOMETRY = xyzab PYVCP = iodisplay.xml [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 [HMOT] # **** This is for info only **** CARD0=hm2_5i25.0 [HAL] HALUI = halui HALFILE = crawler_01.hal #COREXY HALFILE = corexy_by_hal.hal #AB Achse HALFILE = achse_ab.hal HALFILE = custom.hal # HALFILE = iodisplay.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal [HALUI] [KINS] JOINTS = 5 #COREXY KINEMATICS=trivkins coordinates=xyzab kinstype=both [TRAJ] COORDINATES = XYZAB LINEAR_UNITS = mm ANGULAR_UNITS = degree # 2021-07-07 -------------------------------------------------------------------------------------------- # DEFAULT_LINEAR_VELOCITY = 1.25 # MAX_LINEAR_VELOCITY = 12.50 DEFAULT_LINEAR_VELOCITY = 50 MAX_LINEAR_VELOCITY = 400 NO_FORCE_HOMING = 1 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #****************************************** [AXIS_X] # 2021-06-28 # MAX_VELOCITY = 8.33333333333 MAX_VELOCITY = 100.0 MAX_ACCELERATION = 200.0 # 2021-07-09 versuch "programm ueberschreitet den grenzwert der achse" zu fixen # MIN_LIMIT = 3.0 # MAX_LIMIT = 40.0 MIN_LIMIT = -10000.0 MAX_LIMIT = 10000.0 [JOINT_0] TYPE = LINEAR HOME = 3.0 FERROR = 10.0 MIN_FERROR = 1.0 # 2021-06-28 # MAX_VELOCITY = 8.33333333333 MAX_VELOCITY = 100.0 MAX_ACCELERATION = 200.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. # 2021-07-08 ------------------------------------------------------------------------------------- # STEPGEN_MAXVEL = 10.42 STEPGEN_MAXVEL = 125 STEPGEN_MAXACCEL = 250.00 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 = 10000 STEPLEN = 2500 STEPSPACE = 2500 # STEP_SCALE = 3200.0 # 2021-06-28 gesetzt auf: -------------------------------------------------------------------------------- STEP_SCALE = 320.0 # 2021-07-09 versuch "programm ueberschreitet den grenzwert der achse" zu fixen # MIN_LIMIT = -0.01 # MAX_LIMIT = 40.0 MIN_LIMIT = -10000. MAX_LIMIT = 10000.0 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = -1.000000 HOME_LATCH_VEL = -0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_SEQUENCE = 1 HOME_IGNORE_LIMITS = YES #****************************************** #****************************************** [AXIS_Y] # 2021-06-28 aenderung bewirkt nichts: # MAX_VELOCITY = 11.6666666667 MAX_VELOCITY = 100.0 MAX_ACCELERATION = 200.0 # 2021-07-09 versuch "programm ueberschreitet den grenzwert der achse" zu fixen # MIN_LIMIT = 3.0 # MAX_LIMIT = 30.0 MIN_LIMIT = -10000.0 MAX_LIMIT = 10000.0 # = Softlimit fuer die Achse [JOINT_1] TYPE = LINEAR HOME = 3.0 FERROR = 10.0 MIN_FERROR = 1.0 # 2021-07-08 -------------------------------------------------------------------------------------------- # MAX_VELOCITY = 11.6666666667 MAX_VELOCITY = 100 MAX_ACCELERATION = 200.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. # 2021-07-08 ------------------------------------------------------------------------------------------- # STEPGEN_MAXVEL = 14.58 STEPGEN_MAXVEL = 125.0 STEPGEN_MAXACCEL = 250.00 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 = 10000 STEPLEN = 2500 STEPSPACE = 2500 # STEP_SCALE = 3200.0 # 2021-06-28 gesetzt auf: ----------------------------------------------------------------------------- STEP_SCALE = 320.0 # 2021-07-09 versuch "programm ueberschreitet den grenzwert der achse" zu fixen # MIN_LIMIT = -0.01 # MAX_LIMIT = 50.0 MIN_LIMIT = -10000.0 MAX_LIMIT = 10000.0 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = -1.000000 HOME_LATCH_VEL = -0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_SEQUENCE = 2 # HOME_IGNORE_LIMITS = YES # HOME_OFFSET = 3 #****************************************** #****************************************** [AXIS_Z] MAX_VELOCITY = 12.5 MAX_ACCELERATION = 200.0 # 2021-07-09 versuch "programm ueberschreitet den grenzwert der achse" zu fixen # MIN_LIMIT = -40.0 # MAX_LIMIT = 0.01 MIN_LIMIT = -400.0 MAX_LIMIT = 400.0 [JOINT_2] TYPE = LINEAR HOME = -1.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 12.5 MAX_ACCELERATION = 200.0 # 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 = 15.62 STEPGEN_MAXACCEL = 250.00 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 = 10000 STEPLEN = 2500 STEPSPACE = 2500 STEP_SCALE = 3200.0 # 2021-07-09 versuch "programm ueberschreitet den grenzwert der achse" zu fixen # MIN_LIMIT = -40.0 # MAX_LIMIT = 0.01 MIN_LIMIT = -400.0 MAX_LIMIT = 400.0 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = 1.000000 HOME_LATCH_VEL = 0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_SEQUENCE = 0 HOME_IGNORE_LIMITS = YES #****************************************** [AXIS_A] MAX_VELOCITY = 8.33333333333 MAX_ACCELERATION = 200.0 MIN_LIMIT = -0.01 MAX_LIMIT = 40.0 [JOINT_3] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 # 2021-07-07 ----------------------------------------------------------------------------------- # MAX_VELOCITY = 8.33333333333 # MAX_ACCELERATION = 200.0 # # 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 = 10.42 # STEPGEN_MAXACCEL = 250.00 MAX_VELOCITY = 200 MAX_ACCELERATION = 200.0 # 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 = 240 STEPGEN_MAXACCEL = 250.00 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 # 2021-07-07 ----------------------------------------------------------------------------------- # DIRSETUP = 2500 # DIRHOLD = 2500 # STEPLEN = 2500 # STEPSPACE = 2500 DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 1000 STEPSPACE = 1000 # STEP_SCALE = 3200.0 # 2021-06-28 gesetzt auf: ----------------------------------------------------------------------------------- STEP_SCALE = 3975.155 MIN_LIMIT = -0.01 MAX_LIMIT = 40.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = -1.000000 HOME_LATCH_VEL = -0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_SEQUENCE = 3 #****************************************** #****************************************** [AXIS_B] # 2021-06-28 erhoehung bewirkt joint 4 following error: MAX_VELOCITY = 11.6666666667 MAX_ACCELERATION = 200.0 MIN_LIMIT = -0.01 MAX_LIMIT = 50.0 [JOINT_4] TYPE = LINEAR HOME = 0.0 FERROR = 10.0 MIN_FERROR = 1.0 # 2021-07-07 ----------------------------------------------------------------------------------- # MAX_VELOCITY = 11.6666666667 # MAX_ACCELERATION = 200.0 # # 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 = 14.58 # STEPGEN_MAXACCEL = 250.00 MAX_VELOCITY = 200 MAX_ACCELERATION = 200.0 # 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 = 240 STEPGEN_MAXACCEL = 250.00 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 # 2021-07-07 ----------------------------------------------------------------------------------- # these are in nanoseconds # DIRSETUP = 2500 # DIRHOLD = 2500 # STEPLEN = 2500 # STEPSPACE = 2500 DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 1000 STEPSPACE = 1000 # STEP_SCALE = 3200.0 # 2021-06-28 gesetzt auf: ----------------------------------------------------------------------------------- STEP_SCALE = 627.45 MIN_LIMIT = -0.01 MAX_LIMIT = 50.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = -1.000000 HOME_LATCH_VEL = -0.500000 HOME_FINAL_VEL = 0.000000 HOME_USE_INDEX = NO HOME_SEQUENCE = 4 HOME_IGNORE_LIMITS = YES #****************************************** #****************************************** #AB HIER KOMPLETT COREXY [INPUTS] # DO NOT change the input text INPUT_0 = Home INPUT_JOINT_0 = 0 INPUT_1 = Home INPUT_JOINT_1 = 1 INPUT_2 = Home INPUT_JOINT_2 = 2 INPUT_3 = Select INPUT_JOINT_3 = False INPUT_4 = Select INPUT_JOINT_4 = False INPUT_5 = Select INPUT_JOINT_5 = False INPUT_6 = Select INPUT_JOINT_6 = False INPUT_7 = Select INPUT_JOINT_7 = False INPUT_8 = Select INPUT_JOINT_8 = False INPUT_9 = Select INPUT_JOINT_9 = False INPUT_10 = Select INPUT_JOINT_10 = False [OUTPUTS] # DO NOT change the output text OUTPUT_0 = Digital Out 0 OUTPUT_1 = Select OUTPUT_2 = Select OUTPUT_3 = Select OUTPUT_4 = Select [OPTIONS] MANUAL_TOOL_CHANGE = False HALUI = False PYVCP = False GLADEVCP = False LADDER = False