[HOSTMOT2] DRIVER=hm2_7i90 BOARD=7i90 CONFIG="" [EMC] # Name of machine, for use with display, etc. MACHINE = HM2-Servo # 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 = 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 [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 = hm2-servo.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 = hm2-servo.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta [TRAJ] AXES = 3 # COORDINATES = X Y Z R P W COORDINATES = X Y Z HOME = 0 0 0 0 LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 3.0 MAX_VELOCITY = 4.0 DEFAULT_ACCELERATION = 6.0 MAX_ACCELERATION = 7.0 [AXIS_0] TYPE = LINEAR MAX_VELOCITY = 1.0 MAX_ACCELERATION = 4.0 BACKLASH = 0.000 FERROR = 0.010 MIN_FERROR = 0.002 INPUT_SCALE = 81920 OUTPUT_SCALE = -1.000 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 1.0 MIN_LIMIT = -3.0 MAX_LIMIT = 10.0 HOME = 0.000 HOME_OFFSET = -2.9 HOME_SEARCH_VEL = -0.50 HOME_LATCH_VEL = 0.10 # the X axis servo's encoder does not have an index channel, so we have to home without index HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES # PID tuning params DEADBAND = 0.000015 P = 100.0 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 1.000 FF2 = 0.0 BIAS = 0.000 [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 1.0 MAX_ACCELERATION = 4.0 BACKLASH = 0.000 FERROR = 0.010 MIN_FERROR = 0.002 INPUT_SCALE = -81920 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 1.0 MIN_LIMIT = -3.0 MAX_LIMIT = 10.0 HOME = 0.000 HOME_OFFSET = -2.9 HOME_SEARCH_VEL = -0.50 HOME_LATCH_VEL = 0.10 # the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES # PID tuning params DEADBAND = 0.000015 P = 100.0 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 1.000 FF2 = 0.0 BIAS = 0.000 [AXIS_2] TYPE = LINEAR MAX_VELOCITY = 1.0 MAX_ACCELERATION = 4.0 BACKLASH = 0.000 FERROR = 0.010 MIN_FERROR = 0.002 INPUT_SCALE = 81920 OUTPUT_SCALE = -1.000 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 1.0 MIN_LIMIT = -3.0 MAX_LIMIT = 3.0 HOME = 0.0 HOME_OFFSET = -2.9 HOME_SEARCH_VEL = -0.50 HOME_LATCH_VEL = 0.10 # the Z axis servo's encoder does not have an index channel, so we have to home without index HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES # PID tuning params DEADBAND = 0.000015 P = 100.0 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 1.000 FF2 = 0.0 BIAS = 0.000 [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