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]
EDITOR=gedit
MAX_LINEAR_VELOCITY = 24.0
DEFAULT_LINEAR_VELOCITY = 5
# Name of display program, e.g., tkemc
DISPLAY = axis
#DISPLAY = mini
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0200
# 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 = 3
# 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 = 100000
[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
#HALFILE = joypad_v3.hal
[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 = 16.0
MAX_VELOCITY = 166.0
DEFAULT_ACCELERATION = 300.0
MAX_ACCELERATION = 300.0
NO_FORCE_HOMING = 1
POSITION_FILE=mill.pos
[AXIS_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 100
MAX_ACCELERATION = 100
BACKLASH = .0
INPUT_SCALE = 200
OUTPUT_SCALE = -1
OUTPUT_OFFSET = 0.0
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
FERROR = 5000
MIN_FERROR = 5000
HOME_OFFSET = 0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
MAX_OUTPUT = 1
# PID tuning params
DEADBAND = 0
P = 4
I = 0
D = 0.015
FF0 = 0
FF1 = 0.01
FF2 = 0
BIAS = 0
[AXIS_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 100
MAX_ACCELERATION = 300
BACKLASH = .0
INPUT_SCALE = -200
OUTPUT_SCALE = -1
OUTPUT_OFFSET = 0.0
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
FERROR = 5000
MIN_FERROR = 2000
HOME_OFFSET = 0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
MAX_OUTPUT = .5
# PID tuning params
DEADBAND = 0
P = 4
I = 0
D = 0.02
FF0 = 0
FF1 = 0.015
FF2 = 0
BIAS = 0
[AXIS_2]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 10
MAX_ACCELERATION = 20
BACKLASH = .0
INPUT_SCALE = -1000
OUTPUT_SCALE = -1
OUTPUT_OFFSET = 0.0
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
FERROR = .7
MIN_FERROR = .5
HOME_OFFSET = 0
HOME_SEARCH_VEL = 20
HOME_LATCH_VEL = 0
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
MAX_OUTPUT = 1
# PID tuning params
DEADBAND = 0.003
P = 1
I = 10
D = 0.005
FF0 = 0
FF1 = 0
FF2 = 0.01
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