-
Notifications
You must be signed in to change notification settings - Fork 3
/
Copy pathUni-fraes-h3v2.ini
263 lines (212 loc) · 7.66 KB
/
Uni-fraes-h3v2.ini
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
# EMC controller parameters for generic controller. Make these what you need
# for your system.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------
[PRUCONF]
DRIVER=hal_pru_generic
CONFIG=pru=1 num_stepgens=6 num_pwmgens=1
PRUBIN=rt-preempt/pru_generic.bin
[EMC]
# Version of this INI file
VERSION = 1.0
# Name of machine, for use with display, etc.
MACHINE = UNI-FRAES-H3
# Name of NML file to use, default is emc.nml
# NML_FILE = emc.nml
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
# DEBUG = 0x00000003
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
DEBUG = 0
# Task controller section -----------------------------------------------------
[TASK]
# Name of task controller program, e.g., bridgeporttask
TASK = milltask
# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.010
# Part program interpreter section --------------------------------------------
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = stepper.var
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010
# Base task period, in seconds - this is the fastest thread in the machine
BASE_PERIOD = 50000
# Servo task period, in seconds - will be rounded to an integer multiple
# of BASE_PERIOD
SERVO_PERIOD = 1000000
# Trajectory Planner task period, in seconds - will be rounded to an
# integer multiple of SERVO_PERIOD
TRAJ_PERIOD = 10000000
# Hardware Abstraction Layer section --------------------------------------------------
[HAL]
# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#
# list of hal config files to run through halcmd
# files are executed in the order in which they appear
HALFILE = base_bbb_2018.hal
HALFILE = axis_xy.hal
HALFILE = axis_z.hal
HALFILE = relay_spindleV2.hal
HALFILE = relay_floodV2.hal
HALFILE = limit_probe.hal
HALFILE = buzzer.hal
HALFILE = pinconfig_bbb_standard_UnimatV2.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
# Section Filter
[FILTER]
PROGRAM_EXTENSION = .py Python Script
py = python
# Trajectory planner section --------------------------------------------------
[TRAJ]
ARC_BLEND_ENABLE = 1
ARC_BLEND_FALLBACK_ENABLE = 0
ARC_BLEND_OPTIMIZATION_DEPTH = 50
ARC_BLEND_GAP_CYCLES = 4
ARC_BLEND_RAMP_FREQ = 20
AXES = 3
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 2
MAX_VELOCITY = 50
DEFAULT_ACCELERATION = 20.0
MAX_ACCELERATION = 20.0
# Axes sections ---------------------------------------------------------------
# First axis
[AXIS_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 20.0
STEPGEN_MAX_VEL = 6.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = 1600
MIN_LIMIT = -145.0
MAX_LIMIT = 145.0
FERROR = 0.500
MIN_FERROR = 0.500
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
# Second axis
[AXIS_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 5
MAX_ACCELERATION = 20.0
STEPGEN_MAX_VEL = 6.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = 3200
MIN_LIMIT = -50.0
MAX_LIMIT = 50.0
FERROR = 0.500
MIN_FERROR = 0.500
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
# Third axis
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 20.0
STEPGEN_MAX_VEL = 6.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = -3200
MIN_LIMIT = -50.0
MAX_LIMIT = 50.0
FERROR = 0.500
MIN_FERROR = 0.500
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
# Four axis
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 20.0
STEPGEN_MAX_VEL = 52.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = -17.77777777777777777777777777777777777778
MIN_LIMIT = -10000
MAX_LIMIT = 10000
FERROR = 50.000
MIN_FERROR = 10.000
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
# section for main IO controller parameters -----------------------------------
[EMCIO]
# Name of IO controller program, e.g., io
EMCIO = io
# cycle time, in seconds
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = milling_stepper.tbl
# Sections for display options ------------------------------------------------
[DISPLAY]
# Name of display program is specified by run.py
EDITOR = leafpad
# Path to help file
HELP_FILE = doc/help.txt
# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE
# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 2.0
# Prefix to be used
PROGRAM_PREFIX = ~/nc_files
OPEN_FILE = ""
# Introductory graphic
INTRO_GRAPHIC = images/Uni-Fraes-h3.gif
INTRO_TIME = 7