1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
|
# 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-PPMC
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
# DEBUG = 0x00000007
# DEBUG = 0x7FFFFFFF
# Sections for display options ------------------------------------------------
[DISPLAY]
# Name of display program, e.g., xemc
DISPLAY = axis
# DISPLAY = usrmot
# DISPLAY = tkemc
# 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/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 2
# Enable popup balloon help
BALLOON_HELP = 1
# 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 = ppmc.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
# 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 = ppmc_load.hal
HALFILE = ppmc_servo.hal
HALFILE = ppmc_motion.hal
HALFILE = ppmc_io.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 R P W
COORDINATES = X Y Z A
HOME = 0 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.15
MAX_VELOCITY = 1.20
DEFAULT_ACCELERATION = 1.5
MAX_ACCELERATION = 1.5
# Axes sections ---------------------------------------------------------------
# Scaling: The OUTPUT_SCALE should be the speed
# in UNITS/second (inches/sec or mm/sec) that would be
# reached if the PWM duty cycle was 100%. It depends on
# the power supply voltage, motor RPM/Volt factor, and
# gearing/screw pitch. For example:
#
# Power supply voltage 50V
# Motor RPM/V 1000RPM/24V
# Gearing: 2 motor revs per 1 screw rev
# Screw pitch: 0.2" per turn
#
# Max motor speed = 50V * 1000RPM/24V = 2083 RPM
# Max screw speed = 2083RPM * 1(screw)/2(motor) = 1041RPM
# Max table speed = 1041RPM * 0.2"/turn = 208 in/min
# Max table speed = 208 in/min / 60 seconds = 3.47 inches/sec
#
# Since max speed is reached at 100% duty cycle, OUTPUT_SCALE
# should be 3.47
# First axis
[AXIS_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 1.25
PID_MAX_VEL = 1.2
BACKLASH = 0.000
INPUT_SCALE = -128000.0
OUTPUT_SCALE = -1.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.001
MIN_FERROR = 0.005
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 1e-06
P = 800.0
I = 25.0
D = 20.0
BIAS = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
# Second axis
[AXIS_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 1.25
PID_MAX_VEL = 1.2
BACKLASH = 0.000
INPUT_SCALE = -128000.0
OUTPUT_SCALE = -1.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.001
MIN_FERROR = 0.005
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 1e-06
P = 800.0
I = 25.0
D = 10.0
BIAS = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
# Third axis
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 1.25
PID_MAX_VEL = 1.2
BACKLASH = 0.000
INPUT_SCALE = 128000.0
OUTPUT_SCALE = 1.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.001
MIN_FERROR = 0.005
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 8e-05
P = 800.0
I = 25.0
D = 10.0
BIAS = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
# Fourth axis
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 65
MAX_ACCELERATION = 20.0
PID_MAX_VEL = 66.0
BACKLASH = 0.000
INPUT_SCALE = 1111.111
OUTPUT_SCALE = 5.0
MIN_LIMIT = -3600.0
MAX_LIMIT = 3600.0
FERROR = 1.010
MIN_FERROR = 1.001
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 0.046
P = 150.0
I = 100.0
D = 0.1
BIAS = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 1.0
# 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 = ppmc.tbl
# section for external NML server parameters ----------------------------------
[EMCSERVER]
# Uncomment the following line if you need to run a remote GUI.
# EMCSERVER = emcsvr
|
