[PRUCONF] DRIVER=hal_pru_generic CONFIG=pru=1 num_stepgens=6 num_pwmgens=7 PRUBIN=xenomai/pru_generic.bin [EMC] # Name of machine, for use with display, etc. MACHINE = Lego 5 Axis CNC # 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 = tkemc #DISPLAY = gscreen DISPLAY = axis #GEOMETRY = -A -C X Y Z PYVCP = spindle.xml # Touchy currently won't work without some hardware buttons/jog-wheel #DISPLAY = touchy # 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 # Introductory graphic INTRO_GRAPHIC = machinekit.gif INTRO_TIME = 5 # Increments for the JOG section INCREMENTS = 10 1 0.1 0.01 0.001 #PYVCP = 3D.Temps.panel.xml [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 [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 = rs274ngc.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 = 1000000 [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 = CRAMPS.hal HALFILE = axis_manualtoolchange.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta #POSTGUI_HALFILE = 3D.postgui.hal POSTGUI_HALFILE = spindle_to_pyvcp.hal [TRAJ] AXES = 6 COORDINATES = X Y Z A C MAX_ANGULAR_VELOCITY = 10.00 DEFAULT_ANGULAR_VELOCITY = 4.50 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 16.66666667 MAX_LINEAR_VELOCITY = 100 [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 = 100.0 MAX_ACCELERATION = 1000.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 120.0 STEPGEN_MAX_ACC = 1200.0 BACKLASH = 0.000 # scale is 200 steps/rev * 5 revs/inch SCALE = 214.44128 #SCALE = 53.61032 MIN_LIMIT = -31.5 #MAX_LIMIT = 200 MAX_LIMIT = 55 FERROR = 1.0 MIN_FERROR = 0.25 HOME = 0 HOME_OFFSET = 53.644 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_SEQUENCE = 2 # 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 = 20 HOME_LATCH_VEL = 1.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 1000 [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 100.0 MAX_ACCELERATION = 1000.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 120.0 STEPGEN_MAX_ACC = 1200.0 BACKLASH = 0.000 SCALE = 214.44128 #SCALE = 53.61032 MIN_LIMIT = -40 MAX_LIMIT = 50 FERROR = 1.0 MIN_FERROR = 0.25 HOME = 0 HOME_OFFSET = 48.4 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_SEQUENCE = 1 # 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 = 20.0 HOME_LATCH_VEL = 1.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 1000 [AXIS_2] TYPE = LINEAR MAX_VELOCITY = 100.0 MAX_ACCELERATION = 2000.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 120.0 STEPGEN_MAX_ACC = 2400.0 BACKLASH = 0.000 SCALE = 214.44128 #SCALE = 53.61032 MIN_LIMIT = -20.0 MAX_LIMIT = 90 FERROR = 1.0 MIN_FERROR = 0.25 HOME = 88.668 HOME_OFFSET = 88.668 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 = 20.0 HOME_LATCH_VEL = 1.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 1000 [AXIS_3] TYPE = ANGULAR MAX_VELOCITY = 8.33333333333333 MAX_ACCELERATION = 500.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 10 STEPGEN_MAX_ACC = 600 BACKLASH = 0.000 #SCALE = -2778.217931 SCALE = -694.55448275 MIN_LIMIT = -100.0 MAX_LIMIT = 100.0 FERROR = 1.0 MIN_FERROR = .25 HOME = 0 HOME_OFFSET = -84.5 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_SEQUENCE = 4 # 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 = -8.33333333333333 HOME_LATCH_VEL = -1.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 1000 [AXIS_5] TYPE = ANGULAR MAX_VELOCITY = 130 MAX_ACCELERATION = 3000.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 156 STEPGEN_MAX_ACC = 3600 BACKLASH = 0.000 #WRAPPED_ROTARY=1 SCALE = 108.62919828 #SCALE = 17.777777778 #SCALE = 4.4444444444 MIN_LIMIT = -360000000000.0 MAX_LIMIT = 360000000000.0 FERROR = 1.0 MIN_FERROR = .25 HOME = 0.000 HOME_OFFSET = 0 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_SEQUENCE = 3 # 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 = 50.0 HOME_LATCH_VEL = 1.0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 1000 STEPSPACE = 1000 [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 TOOL_CHANGE_POSITION = 0 40 90