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# mazak_rf.ini EMC controller parameters for Roland Friestad's Mazak mill.
# 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-MAZAK-RF
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
# DEBUG = 0x00000003
# DEBUG = 0x00000007
DEBUG = 0
# enable adaptive feed input, we use it for feedhold button and to
# prevent motion during spindle accel, gear changes, etc
RS274NGC_STARTUP_CODE = M52 P1
# Sections for display options ------------------------------------------------
[DISPLAY]
# Name of display program, e.g., xemc
DISPLAY = axis
# DISPLAY = tkemc
# DISPLAY = mini
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100
# 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 = 1.2
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# side panel with some extra controls
PYVCP=panel.xml
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
EDITOR = gedit
INCREMENTS = 0.010 0.001 0.0001
# 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 = demo_mazak.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 nanoseconds - this is the fastest thread in the machine
BASE_PERIOD = 100000
# Servo task period, in nanoseconds - will be rounded to an integer multiple
# of BASE_PERIOD
SERVO_PERIOD = 500000
# 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 = demo_mazak.hal
HALFILE = tester.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
# Single file that is executed after the GUI has started.
# used for "control panel" stuff, since the panel widgets
# don't exist until the GUI starts
POSTGUI_HALFILE = panel.hal
# Spindle Controller Section --------------------------------------------------
[SPINDLE]
ORIENT_POSITION = -75.0
LOW_GEAR_RATIO = 4.133
HIGH_GEAR_RATIO = 1.100
# Trajectory planner section --------------------------------------------------
[TRAJ]
AXES = 3
# COORDINATES = X Y Z A B C
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.0
MAX_VELOCITY = 5.0
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
# Yes really, this .0024 backlash is right, workshop 2007
BACKLASH = 0.0024
# 2000 cycles/rev * 4 counts/cycle * 1.6 gear ratio *
# 1.0 cm pitch * 2.54 cm/in = 32512 (tweaked later)
INPUT_SCALE = 33865
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = -0.032
MAX_OUTPUT = 10.0
MIN_LIMIT = -14.0
MAX_LIMIT = 14.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 14.3
HOME_SEARCH_VEL = 2.5
HOME_LATCH_VEL = -0.25
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000035
PGAIN = 4000.0
IGAIN = 6400.0
DGAIN = 15.0
FF0 = 0.000
FF1 = 0.000
FF2 = 0.0
BIAS = 0.000
# Second axis
[AXIS_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
# 2000 cycles/rev * 4 counts/cycle * 1.6 gear ratio *
# 1.0 cm pitch * 2.54 cm/in = 32512 (tweaked later)
INPUT_SCALE = 33865
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.006
MAX_OUTPUT = 10.0
MIN_LIMIT = -7.7
MAX_LIMIT = 7.7
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 7.37
HOME_SEARCH_VEL = 2.5
HOME_LATCH_VEL = -0.25
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
# PID tuning params
DEADBAND = 0.000035
PGAIN = 4000.0
IGAIN = 6400.0
DGAIN = 15.0
FF0 = 0.000
FF1 = 0.000
FF2 = 0.0
BIAS = 0.000
# Third axis
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 3.0
MAX_ACCELERATION = 20.0
BACKLASH = 0.000
# 2000 cycles/rev * 4 counts/cycle * 2.0 gear ratio *
# 1.0 cm pitch * 2.54 cm/in = 40640
# 2007 workshop: we found that the scale was 20% low
# and has apparently been that way for a couple years
# dunno whether the gear ratio is actually 2.5, or the
# screw is actually 8mm instead of 10mm, or something
# else, but the number below gives correct results
INPUT_SCALE = 50800
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = -0.014
MAX_OUTPUT = 10.0
MIN_LIMIT = -7.75
MAX_LIMIT = 0.025
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = -0.2
HOME_SEARCH_VEL = 1.0
HOME_LATCH_VEL = -0.25
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
# PID tuning params
DEADBAND = 0.00003
PGAIN = 4000.0
IGAIN = 6400.0
DGAIN = 15.0
FF0 = 0.000
FF1 = 0.000
FF2 = 0.0
BIAS = 0.000
# section for main IO controller parameters -----------------------------------
[EMCIO]
# change tools in the upper left corner of the table
# to avoid hitting the vise or workpiece with the tool
TOOL_CHANGE_POSITION = -13.75 7.5 -0.022
# Name of IO controller program, e.g., io
EMCIO = io
# cycle time, in seconds
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = demo_mazak.tbl
# tool turret info
TOOL_TURRET_MAX = 24
TOOL_TURRET_WRAP = 1
# wait times in seconds for spindle brake, release
SPINDLE_OFF_WAIT = 1.0
SPINDLE_ON_WAIT = 1.5
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