rendered paste body[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i20
CONFIG="firmware=hm2/5i20/SV12.BIT num_encoders=6 num_pwmgens=6 num_stepgens=0"
[EMC]
# Name of machine, for use with display, etc.
MACHINE = Colchester
# 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 = 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 = tkemc.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 = /home/lathe/emc2/nc_files
# Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0
OPEN_FILE = ""
PYVCP = panel.xml
LATHE = 1
[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 = colchester.var
RS274NGC_STARTUP_CODE = G21 G90 G7
[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 = load.hal
HALFILE = motion.hal
HALFILE = io.hal
HALFILE = mpg.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
POSTGUI_HALFILE = postgui.hal
HALUI = halui
[TRAJ]
AXES = 4
COORDINATES = X Z A
HOME = 0 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 10.0
MAX_VELOCITY = 200
DEFAULT_ACCELERATION = 350.0
MAX_ACCELERATION = 350.0
MAX_LINEAR_VELOCITY = 75.00
[AXIS_0]
TYPE = LINEAR
MAX_VELOCITY = 83
MAX_ACCELERATION = 350.0
BACKLASH = 0.275
INPUT_SCALE = 1.00
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
FERROR = 0.5
MIN_FERROR = 0.1
MIN_LIMIT = 0
MAX_LIMIT = 234
HOME = 230
HOME_OFFSET = 230
HOME_SEARCH_VEL = 30.000000
#HOME_SEARCH_VEL = 0.000000
HOME_LATCH_VEL = -10.000
HOME_USE_INDEX = YES
HOME_SEQUENCE = 1
MAX_OUTPUT = 1.0
# PID tuning params
DEADBAND = 0.0013
P = 1000
#I = 50000
I = 5000
D = 10
FF0 = 0.000
FF1 = 0.91
FF2 = 0.023
BIAS = 0.000
[AXIS_2]
TYPE = LINEAR
HOME = 608
HOME_SEQUENCE = 1
HOME_OFFSET = 608
HOME_SEARCH_VEL = 0.000000
HOME_LATCH_VEL = -10.000
HOME_USE_INDEX = YES
HOME_SEQUENCE = 1
MAX_VELOCITY = 83
MAX_ACCELERATION = 350.0
BACKLASH = 0.040
INPUT_SCALE = 1.0
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MIN_LIMIT = 0
MAX_LIMIT = 1100.0
FERROR = 0.5
MIN_FERROR = 0.2
MAX_OUTPUT = 1.0
# PID tuning params
DEADBAND = 0.01
P = 250.0
#I = 5000.000
I = 500.000
D = 3.000
FF0 = 0.000
FF1 = 0.79
FF2 = 0.019
BIAS = 0.000
[AXIS_3]
TYPE = LINEAR
HOME = 0.000
HOME_SEQUENCE = 0
MAX_VELOCITY = 47.5
MAX_ACCELERATION = 300.0
BACKLASH = 0.000
INPUT_SCALE = 1.0
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MIN_LIMIT = -14.0
MAX_LIMIT = 0.0
FERROR = 0.020
MIN_FERROR = 0.001
MIN_LIMIT = -4.0
MAX_LIMIT = 1300.0
MAX_OUTPUT = 1.0
# 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