#Produktivsystem #Delta Servo auf allen Achsen #Neue Endschalter [EMC] MACHINE = Maschinensteuerung_4_Achs DEBUG = 0 VERSION = 1.1 [DISPLAY] DISPLAY = axis GLADEVCP = -H gvcp_call_list.hal gvcp-panel.ui POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 MAX_SPINDLE_OVERRIDE = 3.000000 MIN_SPINDLE_OVERRIDE = 0.250000 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files PYVCP = pyvcp-panel.xml INCREMENTS = 10mm 5mm 1mm .5mm .1mm .05mm POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 6.000000 MAX_LINEAR_VELOCITY = 333.333333 MIN_LINEAR_VELOCITY = 0.500000 DEFAULT_ANGULAR_VELOCITY = 12.000000 MAX_ANGULAR_VELOCITY = 180.000000 MIN_ANGULAR_VELOCITY = 1.666667 EDITOR = code GEOMETRY = xyz #Mindestgeschwindigkeit der Spindel beim einschalten. DEFAULT_SPINDLE_SPEED = 6000 [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] PARAMETER_FILE = linuxcnc.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 SERVO_PERIOD = 1000000 [HOSTMOT2] # **** This is for info only **** # DRIVER0=hm2_eth # BOARD0=7i76e [HAL] HALUI = halui HALFILE = Maschinensteuerung_4_Achs.hal HALFILE = custom.hal HALFILE = xhc-whb04b-6.hal POSTGUI_HALFILE = postgui_call_list.hal SHUTDOWN = shutdown.hal HALFILE = Einschaltsequenz.hal [HALUI] [KINS] JOINTS = 4 KINEMATICS = trivkins coordinates=XYZA [TRAJ] COORDINATES = XYZA MAX_ANGULAR_VELOCITY = 360.00 DEFAULT_ANGULAR_VELOCITY = 36.00 LINEAR_UNITS = mm ANGULAR_UNITS = degree DEFAULT_LINEAR_VELOCITY = 16.67 MAX_LINEAR_VELOCITY = 200 #0 = Referenzieren erforderlich 1= Referenzieren wird ignoriert. !!!!!!Gefahr!!!!!! NO_FORCE_HOMING = 0 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl #****************************************** [AXIS_X] MAX_VELOCITY = 166.666666667 MAX_ACCELERATION = 700 MIN_LIMIT = -0.0 MAX_LIMIT = 730 [JOINT_0] TYPE = LINEAR HOME = 728 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 166.666666667 #Maximale Verfahrgeschwindigkeit.Einheit in mm/s 166.666666667mm/s = 10m/m MAX_ACCELERATION = 500 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 208.33 STEPGEN_MAXACCEL = 937.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 150 STEPSPACE = 150 STEP_SCALE = 15000 MIN_LIMIT = -0.0 MAX_LIMIT = 730.0 HOME_OFFSET = 730.000000 HOME_SEARCH_VEL = 15.000000 HOME_LATCH_VEL = -5.00000 HOME_FINAL_VEL = 5.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 #****************************************** #****************************************** [AXIS_Y] MAX_VELOCITY = 166.666666667 MAX_ACCELERATION = 700 MIN_LIMIT = 0.00 MAX_LIMIT = 430 #440 [JOINT_1] TYPE = LINEAR HOME = 2.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 166.666666667 MAX_ACCELERATION = 500 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 208.33 STEPGEN_MAXACCEL = 937.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 150 STEPSPACE = 150 STEP_SCALE = 15000 MIN_LIMIT = 0.00 MAX_LIMIT = 430.0 #440 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = -15.000000 HOME_LATCH_VEL = 5.00000 HOME_FINAL_VEL = 5.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 1 #****************************************** #****************************************** [AXIS_Z] MAX_VELOCITY = 166.666666667 MAX_ACCELERATION = 700 MIN_LIMIT = -160.0 MAX_LIMIT = 0.00 [JOINT_2] TYPE = LINEAR HOME = -2.0 FERROR = 10.0 MIN_FERROR = 1.0 MAX_VELOCITY = 166.666666667 MAX_ACCELERATION = 500 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 208.33 STEPGEN_MAXACCEL = 937.50 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 150 STEPSPACE = 150 STEP_SCALE = 15000 MIN_LIMIT = -160.0 MAX_LIMIT = 0.00 HOME_OFFSET = 0.000000 HOME_SEARCH_VEL = 15.000000 HOME_LATCH_VEL = -5.00000 HOME_FINAL_VEL = 5.000000 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES HOME_SEQUENCE = 0 #****************************************** #****************************************** [AXIS_A] MAX_VELOCITY = 360.0 MAX_ACCELERATION = 1200.0 MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 [JOINT_3] TYPE = LINEAR HOME = 0.0 FERROR = 0.5 MIN_FERROR = 0.05 MAX_VELOCITY = 360.0 MAX_ACCELERATION = 1200.0 # The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION # If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger. STEPGEN_MAXVEL = 100.00 STEPGEN_MAXACCEL = 1500.00 P = 1000.0 I = 0.0 D = 0.0 FF0 = 0.0 FF1 = 1.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 0.0 # these are in nanoseconds DIRSETUP = 1000 DIRHOLD = 1000 STEPLEN = 1000 STEPSPACE = 1000 STEP_SCALE = 1228.8 MIN_LIMIT = -9999.0 MAX_LIMIT = 9999.0 HOME_OFFSET = 0.0 HOME_SEQUENCE = -1 #****************************************** [SPINDLE_9] P = 0.0 I = 0.0 D = 0.0 FF0 = 1.0 FF1 = 0.0 FF2 = 0.0 BIAS = 0.0 DEADBAND = 0.0 MAX_OUTPUT = 10000.0 OUTPUT_SCALE = 10000 OUTPUT_MIN_LIMIT = -10000 OUTPUT_MAX_LIMIT = 10000