# Milling hardware
# Chinese Mill 26 x 7 x 3.5, bench top mill
# X Y axis are on 1" 5tpi ball screws [converted]
# Z = worm.
#
#
# Gearing is as follows:
# Stepper Motor gear = 32 tooth
# Worm/Ball screw gear = 48 tooth
#
#
# Z at worm = 1 turn = 0.1". Therefore when the motor turns 540 degrees = 0.1".
# X and Y at shaft = 1 turn = 0.2". Therefore when the motor turns 540 degrees = 0.2".
#
# System is standard 200step steppers, running Gecko G201, microstepping (10).
# 2000 pulses = 1 rev
#
# Scaling Calculations:
#
# for X and Y:
#
# 1 inch = 5 turns of the screw
# 1 turn of the screw = 48/32 turns of the motor
# 1 turn of the motor = 2000 steps
#
# so scale is 1 inch = 5 * (48/32) * 2000 = 15000 steps
#
# for Z
#
# 1 inch = 10 turns of the worm
# 1 turn of the worm = 48/32 turns of the motor
# 1 turn of the motor = 2000 steps
#
# so scale is 1 inch = 10 * (48/32) * 2000 = 30000 steps
#
# lines with "#-!!!!!!!!!!!!! ALPHA" are edited by me.
[EMC]
VERSION = $Revision: 1.4.2.4 $
#+ Name of machine, for use with display, etc.
MACHINE = EMC-HAL-STEP-IN
#- Name of NML file to use, default is emc.nml
NML_FILE = emc.nml
DEBUG = 0
###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
#-!!!!!!!!!!!!! ALPHA
# DISPLAY = tkemc
DISPLAY = axis
CYCLE_TIME = 0.200
#- Path to help file
HELP_FILE = help/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 = 1.2
#- Prefix to be used
PROGRAM_PREFIX = /usr/share/emc/ncfiles
#- Introductory graphic
INTRO_GRAPHIC = emc2.gif
#-!!!!!!!!!!!!! ALPHA
#INTRO_TIME = 5
INTRO_TIME = 0
###############################################################################
# Task controller section
###############################################################################
[TASK]
#- Name of task controller program, e.g., bridgeporttask
TASK = milltask
# TASK = minimilltask
#- Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.002
###############################################################################
# Part program interpreter section
###############################################################################
[RS274NGC]
#- File containing interpreter variables
PARAMETER_FILE = stepper.var
###############################################################################
# Motion control section
###############################################################################
[EMCMOT]
#- Name of the motion controller to use (only one exists for nontrivkins)
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 nanosecs - this is the fastest thread in the machine
#-!!!!!!!!!!!!! ALPHA
#BASE_PERIOD = 50000
BASE_PERIOD = 30000
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD = 1000000
#- Trajectory Planner task period, in nanosecs - 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 = core_stepper.hal
#HALFILE = xylotex_pinout.hal
HALFILE = standard_pinout.hal
#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES = 3
# COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = 0.03937007874016
ANGULAR_UNITS = 1.0
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.0167
#MAX_VELOCITY = 1.2
MAX_VELOCITY = 0.9
DEFAULT_ACCELERATION = 15.0
#MAX_ACCELERATION = 20.0
MAX_ACCELERATION = 35.0
PROBE_INDEX = 0
PROBE_POLARITY = 1
###############################################################################
# Axes sections
###############################################################################
#+ First axis
[AXIS_0]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
#MAX_VELOCITY = 1.2
MAX_VELOCITY = 0.5
# NOTE: the step generator module applies its own limits to
# acceleration and velocity. We have discovered that it needs
# to have a little "headroom" over the accel by the trajectory
# planner, otherwise it can fall slightly behind during accel
# and later overshoot as it catches up. In the long term we
# hope to come up with a clean fix for this problem. In the
# meantime, please set STEPGEN_MAXACCEL below to a few percent
# higher than the regular acceleration limit MAX_ACCELERATION
MAX_ACCELERATION = 20.0
STEPGEN_MAXVEL = 1.4
STEPGEN_MAXACCEL = 21.0
BACKLASH = 0.00225
CYCLE_TIME = 0.001000
#INPUT_SCALE = 4000 0
INPUT_SCALE = 15000 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
#+ Second axis
[AXIS_1]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
#MAX_VELOCITY = 1.2
MAX_VELOCITY = 0.5
MAX_ACCELERATION = 20.0
STEPGEN_MAXVEL = 1.4
STEPGEN_MAXACCEL = 21.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
#INPUT_SCALE = 4000 0
INPUT_SCALE = 15000 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
#+ Third axis
[AXIS_2]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.0
#MAX_VELOCITY = 1.2
MAX_VELOCITY = 0.5
MAX_ACCELERATION = 20.0
STEPGEN_MAXVEL = 1.4
STEPGEN_MAXACCEL = 21.0
BACKLASH = 0.000
CYCLE_TIME = 0.001000
INPUT_SCALE = 30000 0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
###############################################################################
# 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 = stepper.tbl
###############################################################################
# section for external NML server parameters
###############################################################################
[EMCSERVER]
# Uncomment the following line if you need to run a remote GUI.
# EMCSERVER = emcsvr