[HOSTMOT2] DRIVER=hm2_pci BOARD=5i25 CONFIG="num_encoders=6 sserial_port_0=000xxx" [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 = 0x0 [DISPLAY] # Name of display program, e.g., tkemc DISPLAY = axis LATHE = 1 # 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 = ../../nc_files/ # Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 5 PYVCP = pyvcp-panel.xml GLADEVCP= in-out-pins.glade [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 RS274NGC_STARTUP_CODE = G18 [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 = 500000 [HAL] #вкл пины halui HALUI = halui # 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-servo7i77.hal #HALFILE = CNC_machine.hal #HALFILE = custom.hal POSTGUI_HALFILE = postgui_call_list.hal #SHUTDOWN = shutdown.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta [TRAJ] AXES = 6 # COORDINATES = X Y Z R P W # COORDINATES = X Y Z COORDINATES = X Z # HOME = 0 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 20.0 MAX_VELOCITY = 150.0 DEFAULT_ACCELERATION = 350.0 MAX_ACCELERATION = 400.0 NO_FORCE_HOMING = 1 [AXIS_0] TYPE = LINEAR MAX_VELOCITY = 100.0 MAX_ACCELERATION = 170.0 BACKLASH = 0.000 FERROR = 0.2 MIN_FERROR = 2.5 INPUT_SCALE = -1000 OUTPUT_SCALE = 1.00 OUTPUT_OFFSET = -0.03 MAX_OUTPUT = 10.0 MIN_LIMIT = -168.5 MAX_LIMIT = 0.0 HOME = 0.000 HOME_OFFSET = -78.0 HOME_SEARCH_VEL = 8.0 HOME_LATCH_VEL = -10.0 #MIN_LIMIT = -0.0 #MAX_LIMIT = 168.5 #HOME = 0.000 #HOME_OFFSET = 78.0 #HOME_SEARCH_VEL = -15.0 #HOME_LATCH_VEL = 50.0 # the X axis servo's encoder does not have an index channel, so we have to home without index HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES # PID tuning params DEADBAND = 0.00 P = 0.8 I = 0.00 D = 0.00 FF0 = 0 FF1 = 0.021 FF2 = 0.001 BIAS = 0 [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 1.0 MAX_ACCELERATION = 4.0 BACKLASH = 0.000 FERROR = 10.010 MIN_FERROR = 10.002 INPUT_SCALE = 2500 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 1 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 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0 BIAS = 0 [AXIS_2] TYPE = LINEAR MAX_VELOCITY = 150.0 MAX_ACCELERATION = 100.0 BACKLASH = 0.000 FERROR = 0.50 MIN_FERROR = 0.5 INPUT_SCALE = 1000 OUTPUT_SCALE = -10.00 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 10.00 MIN_LIMIT = -0.5 MAX_LIMIT = 232.0 #MIN_LIMIT = -0.5 #MAX_LIMIT = 278.0 HOME = 0.0 HOME_OFFSET = 100.0 HOME_SEARCH_VEL = -15.0 #HOME_SEARCH_VEL = 4.0 HOME_LATCH_VEL = 50.0 # the Z axis servo's encoder does not have an index channel, so we have to home without index HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES # PID tuning params DEADBAND = 0.0 P = 2.3 I = 0.0 D = 0 FF0 = 0.00 FF1 = 0.031 FF2 = 0.0007 BIAS = 0 [AXIS_3] TYPE = LINEAR MAX_VELOCITY = 1.0 MAX_ACCELERATION = 4.0 BACKLASH = 0.000 FERROR = 10.010 MIN_FERROR = 10.002 INPUT_SCALE = 2500 OUTPUT_SCALE = -5.000 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 5 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 = YES HOME_IGNORE_LIMITS = YES # PID tuning params DEADBAND = 0.000015 P = 100 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0 BIAS = 0 #******************** # Spindle #******************** [SPINDLE_9] ENCODER_SCALE = 2500.0 OUTPUT_SCALE = 10.0 OUTPUT_MIN_LIMIT = -10.0 OUTPUT_MAX_LIMIT = 10.0 [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 TOOL_CHANGE_WITH_SPINDLE_ON = 1 RANDOM_TOOLCHANGER = 1