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# EMC controller parameters for UPC with threading and pendant
# 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: 1.6 $
# Name of machine, for use with display, etc.
MACHINE = LinuxCNC-UPC-Thread-Pendant
# Name of NML file to use, default is emc.nml
#NML_FILE = emc.nml
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0x00000001
# 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 = doc/help.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
#spindle speed VCP
PYVCP = spindle.xml
# Task controller section -----------------------------------------------------
[TASK]
# Name of task controller program, e.g., bridgeporttask
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 = univpwm.var
# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT = motmod
# Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY = 111
# 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 = 1000000
# Servo task period, in nanoseconds - will be rounded to an integer multiple
# of BASE_PERIOD
SERVO_PERIOD = 1000000
# Trajectory Planner task period, in nanoseconds - will be rounded to an
# integer multiple of SERVO_PERIOD
TRAJ_PERIOD = 10000000
# 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 = univpwm_load.hal
HALFILE = univpwm_servo.hal
HALFILE = univpwm_io.hal
HALFILE = univpwm_motion.hal
HALFILE = pendant.hal
POSTGUI_HALFILE = spindle.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 = 3
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.15
MAX_VELOCITY = 1.20
DEFAULT_ACCELERATION = 5.0
MAX_ACCELERATION = 5.0
PROBE_INDEX = 0
PROBE_POLARITY = 1
# Axes sections ---------------------------------------------------------------
# Important note about OUTPUT_SCALE and PWM_OUTPUT_SCALE
# For this configuration, OUTPUT_SCALE is not used, because
# EMC always overwrites it on shutdown. So PWM_OUTPUT_SCALE
# was added to hold the scaling. Someday the OUTPUT_SCALE
# issue may be fixed, and PWM_OUTPUT_SCALE will go away.
# Scaling: The PWM_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, PWM_OUTPUT_SCALE
# should be 3.47
# First axis
[AXIS_0]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 5.0
PID_MAX_VEL = 1.2
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = -128000
OUTPUT_SCALE = -1
MIN_LIMIT = -12.0
MAX_LIMIT = 0.1
FERROR = 0.1
MIN_FERROR = 1.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.5
HOME_LATCH_VEL = 0.1
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
DEADBAND = 2e-05
P = 1000
I = 2.5
D = 1
BIAS = 0
FF0 = 0
FF1 = 0.42
FF2 = 0.0125
# Second axis
[AXIS_1]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 3.0
PID_MAX_VEL = 1.2
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = -128000
OUTPUT_SCALE = -1
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.002
MIN_FERROR = 1.005
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
DEADBAND = 7e-06
P = 3000
I = 2.5
D = 40
BIAS = 0
FF0 = 0
FF1 = 0.6
FF2 = 0.001
# Third axis
[AXIS_2]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.0
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 3.0
PID_MAX_VEL = 1.2
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 128000
OUTPUT_SCALE = 1
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.002
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 = 0.000075
P = 1500
I = 10
D = 1.5
BIAS = 0
FF0 = 0
FF1 = 0.3
FF2 = 0.007
# 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 = univpwm.tbl
# section for external NML server parameters ----------------------------------
[EMCSERVER]
# Uncomment the following line if you need to run a remote GUI.
# EMCSERVER = emcsvr
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