rendered paste body[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i23
CONFIG="firmware=hm2/5i23/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
[EMC]
# Name of machine, for use with display, etc.
MACHINE = HM2-Servo
# 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
#DISPLAY = mini
# 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/cnc/emc2/nc_files
# Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
[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 = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 3.0
MAX_VELOCITY = 4.0
DEFAULT_ACCELERATION = 6.0
MAX_ACCELERATION = 7.0
NO_FORCE_HOMING = 1
[AXIS_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 10
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
INPUT_SCALE = 1000
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MIN_LIMIT = -50.0
MAX_LIMIT = 50.0
FERROR = 10.02
MIN_FERROR = .005
HOME_OFFSET = 0.10
HOME_SEARCH_VEL = 0.10
HOME_LATCH_VEL = -0.01
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
MAX_OUTPUT = 1000.0
# PID tuning params
DEADBAND = 0.000015
P = 10000
I = 10000
D = 10000
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
[AXIS_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 10
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
INPUT_SCALE = 1000
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MIN_LIMIT = -50.0
MAX_LIMIT = 50.0
FERROR = 10.020
MIN_FERROR = .005
HOME_OFFSET = 0.10
HOME_SEARCH_VEL = 0.10
HOME_LATCH_VEL = -0.01
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
MAX_OUTPUT = 1000.0
# PID tuning params
DEADBAND = 0.000015
P = 10000
I = 10000
D = 10000
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1
MAX_ACCELERATION = 4.0
BACKLASH = 0.000
INPUT_SCALE = 1000
OUTPUT_SCALE = 1.000
OUTPUT_OFFSET = 0.0
MIN_LIMIT = -6.0
MAX_LIMIT = 0.0
FERROR = 500000.020
MIN_FERROR = 500000.001
HOME_OFFSET = 0.10
HOME_SEARCH_VEL = 0.10
HOME_LATCH_VEL = -0.01
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
MAX_OUTPUT = 1.0
# PID tuning params
DEADBAND = 0.05
P = 1000
I = 100
D = 100
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
[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