# stepper as spindle or a-axis # 20-jun-2016 tilpasset fra linuxcnc versionen [PRUCONF] DRIVER=hal_pru_generic CONFIG=pru=0 num_stepgens=6 num_pwmgens=8 PRUBIN=xenomai/pru_generic.bin [EMC] # Name of machine, for use with display, etc. MACHINE = Spindle_or_A # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0x00000003 #DEBUG = 0x00000007 DEBUG = 0 ############################################################################### # Sections for display options ############################################################################### [DISPLAY] # Name of display program, e.g., tkemc #DISPLAY = tkemc #DISPLAY = gscreen DISPLAY = axis # Touchy currently won't work without some hardware buttons/jog-wheel #DISPLAY = touchy EDITOR=gedit # Initial display setting for position, RELATIVE or MACHINE POSITION_OFFSET = RELATIVE # Initial display setting for position, COMMANDED or ACTUAL POSITION_FEEDBACK = ACTUAL ARCDIVISION = 64 GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in # Highest value that will be allowed for feed override, 1.0 = 100% MAX_FEED_OVERRIDE = 1.5 MIN_SPINDLE_OVERRIDE = 0.5 MAX_SPINDLE_OVERRIDE = 1.2 DEFAULT_LINEAR_VELOCITY = 0.80 MIN_LINEAR_VELOCITY = 0 MAX_LINEAR_VELOCITY = 8.00 DEFAULT_ANGULAR_VELOCITY = 36.00 MIN_ANGULAR_VELOCITY = 0 MAX_ANGULAR_VELOCITY = 360.00 # Introductory graphic INTRO_GRAPHIC = machinekit.gif INTRO_TIME = 5 # Prefix to be used PROGRAM_PREFIX = /home/machinekit/machinekit/nc_files # Increments for the JOG section INCREMENTS = 10 1 0.1 0.01 [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python # Path to help file HELP_FILE = tklinucnc.txt GEOMETRY = XYZABC ############################################################################### # Task controller section ############################################################################### [TASK] # Name of task controller program, e.g., milltask TASK = milltask # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.200 ############################################################################### # Part program interpreter section ############################################################################### [RS274NGC] # File containing interpreter variables PARAMETER_FILE = pru-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 nanosecs - this is the fastest thread in the machine #?BASE_PERIOD = 50000 # Servo task period, in nanoseconds SERVO_PERIOD = 1000000 ############################################################################### # 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 = Spindle-or-A.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta POSTGUI_HALFILE = postgui.hal ############################################################################### # Trajectory planner section ############################################################################### [TRAJ] AXES = 6 # COORDINATES = X Y Z C COORDINATES = X Y Z A B C HOME = 0 0 0 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 36 MAX_VELOCITY = 8 MAX_ANGULAR_VELOCITY = 45.00 DEFAULT_ANGULAR_VELOCITY = 4.50 DEFAULT_VELOCITY = 20.00 MAX_LINEAR_VELOCITY = 200.00 ############################################################################### # 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 = tool.tbl ############################################################################### # Axes sections ############################################################################### #+ (X) First axis [AXIS_0] # # Step timing is 40 us steplen + 40 us stepspace # That gives 80 us step period = 12.5 KHz step freq # # Bah, even software stepping can handle that, hm2 doesnt buy you much with # such slow steppers. # # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch # # This gives a maxvel of 12.5/1 = 12.5 ips # TYPE = LINEAR MAX_VELOCITY = 200.0 MAX_ACCELERATION = 3000.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 240.0 STEPGEN_MAX_ACC = 3600.0 BACKLASH = 0.000 # scale is 200 steps/rev * 5 revs/inch SCALE = -160 MIN_LIMIT = -1.0 MAX_LIMIT = 220.0 FERROR = 1.0 MIN_FERROR = 0.25 HOME = 0.000 HOME_OFFSET = 0.00 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_SEQUENCE = 0 # Set to zero if you don't have physical home/limit switches # Set to the desired homing and latch velocity if you have switches # See: https://github.com/machinekit/machinekit-docs HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 1000 #+ (Y) second axis [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 200.0 MAX_ACCELERATION = 3000.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 240.0 STEPGEN_MAX_ACC = 3600.0 BACKLASH = 0.000 SCALE = 160.0 MIN_LIMIT = -1.0 MAX_LIMIT = 250.0 FERROR = 1.0 MIN_FERROR = 0.25 HOME = 0.000 HOME_OFFSET = 0.00 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_SEQUENCE = 0 # Set to zero if you don't have physical home/limit switches # Set to the desired homing and latch velocity if you have switches # See: https://github.com/machinekit/machinekit-docs HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 1000 #+ (Z) third axis [AXIS_2] # # Step timing is 40 us steplen + 40 us stepspace # That gives 80 us step period = 12.5 KHz step freq # # Bah, even software stepping can handle that, hm2 doesnt buy you much with # such slow steppers. # # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch # # This gives a maxvel of 12.5/1 = 12.5 ips # TYPE = LINEAR MAX_VELOCITY = 200.0 MAX_ACCELERATION = 3000.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 240.0 STEPGEN_MAX_ACC = 3600.0 BACKLASH = 0.000 # scale is 200 steps/rev * 5 revs/inch SCALE = -160 MIN_LIMIT = -1.0 MAX_LIMIT = 220.0 FERROR = 1.0 MIN_FERROR = 0.25 HOME = 0.000 HOME_OFFSET = 0.00 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_SEQUENCE = 0 # Set to zero if you don't have physical home/limit switches # Set to the desired homing and latch velocity if you have switches # See: https://github.com/machinekit/machinekit-docs HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 1000 #+ (A) fourth axis [AXIS_3] TYPE = ANGULAR HOME = 0.0 MAX_VELOCITY = 360.0 MAX_ACCELERATION = 1200.0 #nj STEPGEN_MAXVEL = .4 STEPGEN_MAX_VEL = 1500 STEPGEN_MAX_ACC = 1500.0 SCALE = 8.88888888889 FERROR = 1 MIN_FERROR = .25 MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 HOME_OFFSET = 0.0 HOME_SEQUENCE = 0 #nj BACKLASH = 0.000 INPUT_SCALE = 1 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO # Set to zero if you don't have physical home/limit switches # Set to the desired homing and latch velocity if you have switches # See: https://github.com/machinekit/machinekit-docs HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 1000 #nj vædier for nedenstånde ??? Hvad er et godt udgangspunkt #nj nedenstÃ¥ende virker pÃ¥ linuxcnc PGAIN = 50 IGAIN = 0 DGAIN = 0 #+ (B) sixth axis [AXIS_4] HOME_SEQUENCE = 0 #+ (C) sixth axis [AXIS_5] TYPE = ANGULAR HOME = 0.0 MAX_VELOCITY = 360.0 MAX_ACCELERATION = 1200.0 #nj STEPGEN_MAXVEL = .4 STEPGEN_MAX_VEL = 1500 STEPGEN_MAX_ACC = 1500.0 SCALE = 8.88888888889 FERROR = 1 MIN_FERROR = .25 MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 HOME_OFFSET = 0.0 #nj BACKLASH = 0.000 INPUT_SCALE = 1 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 # Set to zero if you don't have physical home/limit switches # Set to the desired homing and latch velocity if you have switches # See: https://github.com/machinekit/machinekit-docs HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 1000