cnc-club.ru

Код: Выделить всё

loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt to_pcisd
loadrt pid names=pid.x


addf to_pcisd.1.update		          servo-thread
addf motion-command-handler                servo-thread
addf motion-controller                     servo-thread
addf pid.x.do-pid-calcs 		servo-thread       

net estop-ext iocontrol.0.emc-enable-in    <=  iocontrol.0.user-enable-out

setp   pid.x.Pgain     [AXIS_0]P
setp   pid.x.Igain     [AXIS_0]I
setp   pid.x.Dgain     [AXIS_0]D
setp   pid.x.bias      [AXIS_0]BIAS
setp   pid.x.FF0       [AXIS_0]FF0
setp   pid.x.FF1       [AXIS_0]FF1
setp   pid.x.FF2       [AXIS_0]FF2
setp   pid.x.deadband  [AXIS_0]DEADBAND
setp   pid.x.maxoutput [AXIS_0]MAX_OUTPUT

net x-enable       => pid.x.enable
net x-output   	   => pid.x.output
net x-pos-cmd      => pid.x.command
net x-pos-fb       => pid.x.feedback

net x-pos-fb  => axis.0.motor-pos-fb
net x-pos-fb  <= to_pcisd.1.step_dir.count0
setp to_pcisd.1.step_dir.escale0 640

net x-enable     axis.0.amp-enable-out
net x-enable => to_pcisd.1.enable_drive
net x-pos-cmd    axis.0.motor-pos-cmd
net x-output => to_pcisd.1.step_dir.outstep0
setp to_pcisd.1.step_dir.invert_dir0 0
setp to_pcisd.1.step_dir.Limp0 0

Код: Выделить всё

DRIVER=to_pci


[EMC]

# Name of machine, for use with display, etc.
MACHINE =               TEST_SD

# 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

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.0500

# Path to help file
HELP_FILE =             tklinucnc.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/vladimir/linuxcnc/nc_files

# Introductory graphic
INTRO_GRAPHIC =         linuxcnc.gif
INTRO_TIME =            5
PYVCP = Panel.xml


[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

[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]

HALFILE = my_sd.hal
POSTGUI_HALFILE = custom_postgui.hal

[TRAJ]

AXES =                  1
COORDINATES =           X 
HOME =                  0 0 0 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      1.0
MAX_VELOCITY =          300.0
DEFAULT_ACCELERATION =  600.0

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 9000.05
MIN_FERROR = 9000.05
MAX_VELOCITY = 300
MAX_ACCELERATION = 600.0
P = 20
I = 0
D = 0
FF0 = 0
FF1 = 0.06
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE = 100
OUTPUT_SCALE = 1
MIN_LIMIT = -250.0
MAX_LIMIT = 250.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 3.00000
HOME_LATCH_VEL = -0.1
HOME_FINAL_VEL = 0.01000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
HOME_IGNORE_LIMITS = yes
SD_FB_SCALE = 1000
SD_Len_impuls = 3

[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