[PRUCONF] DRIVER=hal_pru_generic CONFIG=pru=0 num_stepgens=3 PRUBIN=xenomai/pru_generic.bin [EMC] # Name of machine, for use with display, etc. MACHINE = Bipod # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0x00000003 DEBUG = 0x00000007 #DEBUG = 0 [DISPLAY] # Name of display program, e.g., tkemc DISPLAY = axis # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.200 # Path to help file HELP_FILE = tklinucnc.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 = 1.5 # Prefix to be used PROGRAM_PREFIX = /home/machinekit/machinekit/nc_files # Increments for the JOG section INCREMENTS = 10 1 0.1 0.01 [TASK] # Name of task controller program, e.g., milltask TASK = milltask # Cycle time, in seconds, that task controller will sleep between polls CYCLE_TIME = 0.010 [RS274NGC] # File containing interpreter variables PARAMETER_FILE = pru-stepper.var [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 # Servo task period, in nanoseconds SERVO_PERIOD = 500000 [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 = bipod.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta [TRAJ] AXES = 3 COORDINATES = X Y Z LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 100.00 MAX_LINEAR_VELOCITY = 400.00 MAX_ACCELERATION = 800 # lots of joint following errors until I added this: DEFAULT_ACCELERATION = 200 [AXIS_0] TYPE = LINEAR MAX_VELOCITY = 400 MAX_ACCELERATION = 800 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 600.0 STEPGEN_MAX_ACC = 1200.0 BACKLASH = 0.000 SCALE = -25.46 MIN_LIMIT = 150.0 MAX_LIMIT = 2600.0 FERROR = 1.0 MIN_FERROR = 0.25 HOME = 1514 HOME_OFFSET = 1514 HOME_SEARCH_VEL = -50.0 HOME_LATCH_VEL = -10.0 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 # these are in nanoseconds DIRSETUP = 2000 DIRHOLD = 2000 STEPLEN = 10000 STEPSPACE = 10000 [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 100.0 MAX_ACCELERATION = 400.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 300.0 STEPGEN_MAX_ACC = 1200.0 BACKLASH = 0.000 # decreasing scale increases length per step SCALE = -25.46 MIN_LIMIT = 150.0 MAX_LIMIT = 2600.0 FERROR = 1.0 MIN_FERROR = 0.25 HOME = 1377 HOME_OFFSET = 1377 HOME_SEARCH_VEL = -50.0 HOME_LATCH_VEL = -10.0 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 # these are in nanoseconds DIRSETUP = 2000 DIRHOLD = 2000 STEPLEN = 10000 STEPSPACE = 10000 [AXIS_2] TYPE = LINEAR MAX_VELOCITY = 100.0 MAX_ACCELERATION = 200.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 200.0 STEPGEN_MAX_ACC = 400.0 MIN_LIMIT = 0 MAX_LIMIT = 8.9 FERROR = 1.0 MIN_FERROR = 0.5 HOME = 0 HOME_OFFSET = 0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_SEQUENCE = 0 [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