7i96 Configuration Tool

# This file was created with the 7i96 Wizard on Dec 23 2018 15:02:21 # Changes to most things are ok and will be read by the wizard [EMC] VERSION = 1.1 MACHINE = schugart_LinuxCNC DEBUG = 0x00000000 [HOSTMOT2] DRIVER = hm2_eth IPADDRESS = "10.10.10.10" BOARD = 7i96 STEPGENS = 3 ENCODERS = 1 SSERIAL_PORT = 1 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.0 CYCLE_TIME = 0.1 INTRO_GRAPHIC = emc2.gif INTRO_TIME = 0 OPEN_FILE = "" [KINS] KINEMATICS = trivkins JOINTS = 3 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = schugart_LinuxCNC.tbl [RS274NGC] PARAMETER_FILE = schugart_LinuxCNC.var [EMCMOT] EMCMOT = motmod SERVO_PERIOD = 1000000 [TASK] TASK = milltask CYCLE_TIME = 0.010 [TRAJ] COORDINATES = XYZ LINEAR_UNITS = metric ANGULAR_UNITS = degree MAX_LINEAR_VELOCITY = 50.00 [HAL] HALFILE = schugart_LinuxCNC.hal HALFILE = io.hal HALFILE = custom.hal HALFILE = postgui.hal [HALUI] [AXIS_X] MIN_LIMIT = -0.01 MAX_LIMIT = 345.0 MAX_VELOCITY = 50.0 MAX_ACCELERATION = 750.0 [AXIS_Y] MIN_LIMIT = -0.01 MAX_LIMIT = 250.0 MAX_VELOCITY = 50.0 MAX_ACCELERATION = 750.0 [AXIS_Z] MIN_LIMIT = -10.01 MAX_LIMIT = 35.0 MAX_VELOCITY = 15.0 MAX_ACCELERATION = 500.0 [JOINT_0] AXIS = X MIN_LIMIT = -0.01 MAX_LIMIT = 345.0 MAX_VELOCITY = 50.0 MAX_ACCELERATION = 750.0 TYPE = LINEAR SCALE = 1 STEPGEN_MAX_VEL = 60.0 STEPGEN_MAX_ACC = 900.0 FERROR = 0.0002 MIN_FERROR = 0.0001 DIRSETUP = 20000 DIRHOLD = 20000 STEPLEN = 4000 STEPSPACE = 1000 DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00013 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0127 HOME = 0.0 HOME_OFFSET = 0.0 HOME_USE_INDEX = False HOME_IGNORE_LIMITS = False [JOINT_1] AXIS = Y MIN_LIMIT = -0.01 MAX_LIMIT = 250.0 MAX_VELOCITY = 50.0 MAX_ACCELERATION = 750.0 TYPE = LINEAR SCALE = 1 STEPGEN_MAX_VEL = 60.0 STEPGEN_MAX_ACC = 900.0 FERROR = 0.0002 MIN_FERROR = 0.0001 DIRSETUP = 20000 DIRHOLD = 20000 STEPLEN = 4000 STEPSPACE = 1000 DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00013 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0127 HOME = 0.0 HOME_OFFSET = 0.0 HOME_USE_INDEX = False HOME_IGNORE_LIMITS = False [JOINT_2] AXIS = Z MIN_LIMIT = -10.01 MAX_LIMIT = 35.0 MAX_VELOCITY = 15.0 MAX_ACCELERATION = 500.0 TYPE = LINEAR SCALE = 1 STEPGEN_MAX_VEL = 18.0 STEPGEN_MAX_ACC = 600.0 FERROR = 0.0002 MIN_FERROR = 0.0001 DIRSETUP = 20000 DIRHOLD = 20000 STEPLEN = 4000 STEPSPACE = 1000 DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00013 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0127 HOME = 0.0 HOME_OFFSET = 0.0 HOME_USE_INDEX = False HOME_IGNORE_LIMITS = False [INPUTS] # DO NOT change the input text INPUT_0 = None INPUT_JOINT_0 = False INPUT_1 = None INPUT_JOINT_1 = False INPUT_2 = None INPUT_JOINT_2 = False INPUT_3 = None INPUT_JOINT_3 = False INPUT_4 = None INPUT_JOINT_4 = False INPUT_5 = None INPUT_JOINT_5 = False INPUT_6 = None INPUT_JOINT_6 = False INPUT_7 = None INPUT_JOINT_7 = False INPUT_8 = None INPUT_JOINT_8 = False INPUT_9 = None INPUT_JOINT_9 = False INPUT_10 = None INPUT_JOINT_10 = False [OUTPUTS] # DO NOT change the output text OUTPUT_0 = None OUTPUT_1 = None OUTPUT_2 = None OUTPUT_3 = None OUTPUT_4 = None [OPTIONS] MANUAL_TOOL_CHANGE = False HALUI = False PYVCP = False GLADEVCP = False LADDER = False

# This file was created with the 7i96 Wizard on Dec 23 2018 15:02:21 # If you make changes to this file your screwed # kinematics loadrt [KINS]KINEMATICS # motion controller loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS # standard components loadrt pid num_chan=3 # hostmot2 driver loadrt hostmot2 loadrt [HOSTMOT2](DRIVER) board_ip=[HOSTMOT2](IPADDRESS) config="num_encoders=[HOSTMOT2](ENCODERS)num_stepgens=[HOSTMOT2](STEPGENS)"sserial_port_0=[HOSTMOT2](SSERIAL_PORT) setp hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 25000000 # THREADS addf hm2_[HOSTMOT2](BOARD).0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.0.do-pid-calcs servo-thread addf pid.1.do-pid-calcs servo-thread addf pid.2.do-pid-calcs servo-thread addf hm2_[HOSTMOT2](BOARD).0.write servo-thread # Joint 0 # axis enable chain newsig emcmot.0.enable bit sets emcmot.0.enable FALSE net emcmot.0.enable <= joint.0.amp-enable-out net emcmot.0.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable pid.0.enable # position command and feedback net emcmot.0.pos-cmd joint.0.motor-pos-cmd => pid.0.command net motor.0.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb joint.0.motor-pos-fb pid.0.feedback net motor.0.command pid.0.output hm2_[HOSTMOT2](BOARD).0.stepgen.00.velocity-cmd setp pid.0.error-previous-target true setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale [JOINT_0]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.control-type 1 setp pid.0.Pgain [JOINT_0]P setp pid.0.Igain [JOINT_0]I setp pid.0.Dgain [JOINT_0]D setp pid.0.bias [JOINT_0]BIAS setp pid.0.FF0 [JOINT_0]FF0 setp pid.0.FF1 [JOINT_0]FF1 setp pid.0.FF2 [JOINT_0]FF2 setp pid.0.deadband [JOINT_0]DEADBAND setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT setp pid.0.maxerror [JOINT_0]MAX_ERROR # Joint 1 # axis enable chain newsig emcmot.1.enable bit sets emcmot.1.enable FALSE net emcmot.1.enable <= joint.1.amp-enable-out net emcmot.1.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.01.enable pid.1.enable # position command and feedback net emcmot.1.pos-cmd joint.1.motor-pos-cmd => pid.1.command net motor.1.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-fb joint.1.motor-pos-fb pid.1.feedback net motor.1.command pid.1.output hm2_[HOSTMOT2](BOARD).0.stepgen.01.velocity-cmd setp pid.1.error-previous-target true setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.position-scale [JOINT_1]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.01.control-type 1 setp pid.1.Pgain [JOINT_1]P setp pid.1.Igain [JOINT_1]I setp pid.1.Dgain [JOINT_1]D setp pid.1.bias [JOINT_1]BIAS setp pid.1.FF0 [JOINT_1]FF0 setp pid.1.FF1 [JOINT_1]FF1 setp pid.1.FF2 [JOINT_1]FF2 setp pid.1.deadband [JOINT_1]DEADBAND setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT setp pid.1.maxerror [JOINT_1]MAX_ERROR # Joint 2 # axis enable chain newsig emcmot.2.enable bit sets emcmot.2.enable FALSE net emcmot.2.enable <= joint.2.amp-enable-out net emcmot.2.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.02.enable pid.2.enable # position command and feedback net emcmot.2.pos-cmd joint.2.motor-pos-cmd => pid.2.command net motor.2.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-fb joint.2.motor-pos-fb pid.2.feedback net motor.2.command pid.2.output hm2_[HOSTMOT2](BOARD).0.stepgen.02.velocity-cmd setp pid.2.error-previous-target true setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirsetup [JOINT_2]DIRSETUP setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.dirhold [JOINT_2]DIRHOLD setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.steplen [JOINT_2]STEPLEN setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.stepspace [JOINT_2]STEPSPACE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.position-scale [JOINT_2]SCALE setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAX_VEL setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAX_ACC setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.step_type 0 setp hm2_[HOSTMOT2](BOARD).0.stepgen.02.control-type 1 setp pid.2.Pgain [JOINT_2]P setp pid.2.Igain [JOINT_2]I setp pid.2.Dgain [JOINT_2]D setp pid.2.bias [JOINT_2]BIAS setp pid.2.FF0 [JOINT_2]FF0 setp pid.2.FF1 [JOINT_2]FF1 setp pid.2.FF2 [JOINT_2]FF2 setp pid.2.deadband [JOINT_2]DEADBAND setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT setp pid.2.maxerror [JOINT_2]MAX_ERROR # Standard I/O Block - EStop, Etc # create a signal for the estop loopback net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in