# 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 ------------------------------------------------------------- [EMC] # Version of this INI file VERSION = $Revision$ # Name of machine, for use with display, etc. MACHINE = LinuxCNC-BP-BOSS6 # 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 = axis # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.0500 # 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 = ../../nc_files/ # Introductory graphic INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 # Task controller section ----------------------------------------------------- [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 # Part program interpreter section -------------------------------------------- [RS274NGC] # File containing interpreter variables PARAMETER_FILE = boss.var # Enable adaptive feed input, we use it to limit rapid/feed when # limits are being overriden. RS274NGC_STARTUP_CODE = M52 P1 # 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 # Servo task period, in nanoseconds SERVO_PERIOD = 200000 # Hardware Abstraction Layer section -------------------------------------------------- [HAL] # HALUI to interact with NML. # Run before any other HALFILE. HALUI = halui # 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 = boss.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta # Trajectory planner section -------------------------------------------------- [TRAJ] AXES = 4 COORDINATES = X Y Z A HOME = 0 0 0 0 LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 # 2000 rpm, 2:1 reduction, 5 tpi = 200 ipm = 3.33333333333333 ips. MAX_VELOCITY = 2.5 DEFAULT_VELOCITY = 0.1 # 3000 lbs continuous force. Use 1% = 30 lbs for accel. With 600 lbs load # that's 0.05g * 9.8 mpss * 39.37 i/m = 19.29 ipss. Motor peak torque # is 3x continuous. MAX_ACCELERATION = 15.0 DEFAULT_ACCELERATION = 15.0 # Axes sections --------------------------------------------------------------- # First axis [AXIS_0] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 2.0 MAX_ACCELERATION = 10.0 BACKLASH = 0.0 INPUT_SCALE = 100000 OUTPUT_SCALE = 3.0 OUTPUT_OFFSET = 0.0 MIN_LIMIT = 0.0 MAX_LIMIT = 18.0 FERROR = 0.005 MIN_FERROR = 0.001 HOME_OFFSET = 0.05 HOME_SEARCH_VEL = -0.5 HOME_LATCH_VEL = 0.01 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 # PID tuning params MAX_OUTPUT = 3.333333 DEADBAND = 0.000015 P = 60.0 I = 1250.0 D = 0.0 MAX_ERROR_I = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 # Second axis [AXIS_1] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 2.0 MAX_ACCELERATION = 10.0 BACKLASH = 0.0 INPUT_SCALE = 100000 OUTPUT_SCALE = 3.0 OUTPUT_OFFSET = 0.0 MIN_LIMIT = 0.0 MAX_LIMIT = 12.0 FERROR = 0.005 MIN_FERROR = 0.001 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = -0.4 HOME_LATCH_VEL = 0.01 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 # PID tuning params MAX_OUTPUT = 3.333333 DEADBAND = 0.000015 P = 60.0 I = 1250.0 D = 0.0 MAX_ERROR_I = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 # Third axis [AXIS_2] TYPE = LINEAR HOME = 0.0 MAX_VELOCITY = 2.0 MAX_ACCELERATION = 10.0 BACKLASH = 0.0 INPUT_SCALE = -100000 OUTPUT_SCALE = -3.0 OUTPUT_OFFSET = 0.0 MIN_LIMIT = -4.75 MAX_LIMIT = 0.0 FERROR = 0.005 MIN_FERROR = 0.001 HOME_OFFSET = -0.225 HOME_SEARCH_VEL = 0.1 HOME_LATCH_VEL = -0.01 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 # PID tuning params MAX_OUTPUT = 3.333333 DEADBAND = 0.000015 P = 60.0 I = 1250.0 D = 0.0 MAX_ERROR_I = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 # Fourth axis [AXIS_3] TYPE = ANGULAR HOME = 0.0 MAX_VELOCITY = 2.0 MAX_ACCELERATION = 10.0 BACKLASH = 0.0 INPUT_SCALE = 100000 OUTPUT_SCALE = 3.0 OUTPUT_OFFSET = 0.0 MIN_LIMIT = 0.0 MAX_LIMIT = 0.0 FERROR = 0.005 MIN_FERROR = 0.001 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = -0.01 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = -1 # PID tuning params MAX_OUTPUT = 3.333333 DEADBAND = 0.000015 P = 60.0 I = 1250.0 D = 0.0 MAX_ERROR_I = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 # 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 = boss.tbl TOOL_CHANGE_POSITION -18.0 -12.0 0.0