[EMC] VERSION = $Revision: 0.1 $ MACHINE = 16K20 NML_FILE = emc.nml DEBUG = 0 [DISPLAY] DISPLAY = axis GEOMETRY = XYZS CYCLE_TIME = 0.200 POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL PYVCP = custompanel.xml MAX_FEED_OVERRIDE = 1.5 PROGRAM_PREFIX = /home/deimos/emc2/nc_files EDITOR = xterm -e vi LATHE = 1 [FILTER] PROGRAM_EXTENSION = .py Python Script PROGRAM_EXTENSION = .NGC rs274ngc files py = python [TASK] #########16 10 2012 CYCLE_TIME = 0.001 TASK = milltask CYCLE_TIME = 0.01 [RS274NGC] PARAMETER_FILE = emc.var [EMCMOT] EMCMOT = motmod SHMEM_KEY = 111 COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 SERVO_PERIOD = 1000000 TRAJ_PERIOD = 5000000 [HAL] #HALUI = halui HALFILE = 16K20.hal POSTGUI_HALFILE = custom-postgui.hal [HALUI] ###### add halui MDI commands here (max 64) MDI_COMMAND = M6 T1 MDI_COMMAND = M6 T2 MDI_COMMAND = M6 T3 MDI_COMMAND = M6 T4 MDI_COMMAND = M6 T5 G43 MDI_COMMAND = M6 T6 [TRAJ] AXES = 3 COORDINATES = X Z S HOME = 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 1.0 MAX_VELOCITY = 5 DEFAULT_ACCELERATION = 5 MAX_ACCELERATION = 7. #************** # Axis X #************** [AXIS_0] TYPE = LINEAR UNITS = 1.0 MAX_VELOCITY = 10 MAX_ACCELERATION = 5 BACKLASH = 0.06 CYCLE_TIME = 0.001000 INPUT_SCALE = -800 OUTPUT_SCALE = 1 MIN_LIMIT = -100.0 MAX_LIMIT = 140.5 FERROR = 3 MIN_FERROR = 0.3 HOME = -25.0 HOME_FINAL_VEL = 5 HOME_OFFSET = 20 HOME_SEARCH_VEL = -8 HOME_LATCH_VEL = 1 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 ################ 16 10 2012 P = 1 I = 0.0005 D = 0.05 BIAS = 0 FF0 = 0 FF1 = 0 FF2 = 0 DEADBAND= 0.1 #************** # Axis Z #************** [AXIS_2] TYPE = LINEAR UNITS = 1.0 #HOME = 20.0 MAX_VELOCITY = 10 MAX_ACCELERATION = 5 BACKLASH = 0.06 CYCLE_TIME = 0.001000 INPUT_SCALE = -400 OUTPUT_SCALE = 1.000 MIN_LIMIT = -100.0 MAX_LIMIT = 240.5 FERROR = 3 MIN_FERROR = 0.3 HOME_OFFSET = 20 HOME_SEARCH_VEL = -8 HOME_LATCH_VEL = 1 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 ################13 09 2012 P = 0.1 I = 0.00005 D = 0.001 BIAS = 0.000 FF0 = 0.000 FF1 = 0.000 FF2 = 0 DEADBAND= 0.1 ########### S [AXIS_3] TYPE = angular UNITS = 1.0 #HOME = 0.0 MAX_VELOCITY = 10 MAX_ACCELERATION = 5 BACKLASH = 0.001 CYCLE_TIME = 0.001000 INPUT_SCALE = 819.2 OUTPUT_SCALE = 2.000 MIN_LIMIT = -100.0 MAX_LIMIT = 400.5 FERROR = 10.0 MIN_FERROR = 1 P = 0.12 I = 5e-05 D = 0.01 BIAS = 0 FF0 = 0 FF1 = 0 FF2 = 0 DEADBAND= 0.001 HIGH_GEAR_RATIO = 1 LOW_GEAR_RATIO = 1 #************ # Spindle #*********** [SPINDLE_9] TYPE = ANGULAR UNITS = 1.0 MAX_VELOCITY = 10 MAX_ACCELERATION = 1 OUTPUT_SCALE = 100 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 0.15 INPUT_SCALE = 100.0 ENCODER_SCALE = -8192.0 #### 18 10 2012 P = 0.1 I = 0.0 D = 0.000 FF0 = 0.0 FF1 = 0.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 1.15 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = emc.tbl TOOL_CHANGE_POSITION = 0 0 0