[HOSTMOT2] DRIVER=hm2_pci BOARD=5i25 CONFIG="num_encoders=3 sserial_port_0=000xxx" [EMC] # Name of machine, for use with display, etc. MACHINE = 6R13F # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0x00000003 #DEBUG = 0x00000007 DEBUG = 0x0 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 MAX_SPINDLE_OVERRIDE = 1.000000 MIN_SPINDLE_OVERRIDE = 0.500000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/dan/linuxcnc/nc_files INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 0.250000 MAX_LINEAR_VELOCITY = 10.000000 MIN_LINEAR_VELOCITY = 0.010000 DEFAULT_ANGULAR_VELOCITY = 0.250000 MAX_ANGULAR_VELOCITY = 1.000000 MIN_ANGULAR_VELOCITY = 0.010000 EDITOR = gedit GEOMETRY = xyz [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 [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-servo7i77.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 = 13.0 MAX_VELOCITY = 14.0 DEFAULT_ACCELERATION = 26.0 MAX_ACCELERATION = 27.0 [AXIS_0] TYPE = LINEAR MAX_VELOCITY = 10.0 MAX_ACCELERATION = 14.0 ENCODER_SCALE = 2000.0 BACKLASH = 0.000 FERROR = 0.510 MIN_FERROR = 0.502 INPUT_SCALE = 400 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 10 MIN_LIMIT = -200 MAX_LIMIT = 200 HOME = 0.000 HOME_OFFSET = -2.9 HOME_SEARCH_VEL = -0.50 HOME_LATCH_VEL = 0.10 # the X axis servo's encoder does not have an index channel, so we have to home without index HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES # PID tuning params DEADBAND = 0.000015 P = 8.0 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 0.200 FF2 = 0.0 BIAS = 0.000 [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 10.0 MAX_ACCELERATION = 14.0 ENCODER_SCALE = 2000.0 BACKLASH = 0.000 FERROR = 0.510 MIN_FERROR = 0.502 INPUT_SCALE = 400 OUTPUT_SCALE = 1.000 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 10 MIN_LIMIT = -200 MAX_LIMIT = 200 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 = NO HOME_IGNORE_LIMITS = YES # PID tuning params DEADBAND = 0.000015 P = 4.0 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 0.200 FF2 = 0.0 BIAS = 0.000 [AXIS_2] TYPE = LINEAR MAX_VELOCITY = 10.0 MAX_ACCELERATION = 14.0 ENCODER_SCALE = 2000.0 BACKLASH = 0.000 FERROR = 0.510 MIN_FERROR = 0.502 INPUT_SCALE = 400 OUTPUT_SCALE = -1.000 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 10 MIN_LIMIT = -200 MAX_LIMIT = 200 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 = NO HOME_IGNORE_LIMITS = YES # PID tuning params DEADBAND = 0.000015 P = 4.0 I = 0.000 D = 0.000 FF0 = 0.000 FF1 = 0.200 FF2 = 0.0 BIAS = 0.000 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl TOOLCHANGE_QUILL_UP = 1