# EMC controller parameters for a simulated IMAGObot robot # General note: Comments can either be preceded with a # or ; - either is # acceptable, although # is in keeping with most linux config files. # Settings with a + at the front of the comment are likely needed to get # changed by the user. # Settings with a - at the front are highly unneeded to be changed ############################################################################### # General section ############################################################################### # General section ------------------------------------------------------------- [EMC] #- Version of this INI file VERSION = 1.1 #+ Name of machine, for use with display, etc. MACHINE = EMC2-IMAGObot #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0 #DEBUG = 0x00000007 DEBUG = 0x7FFFFFFF ############################################################################### # Sections for display options ############################################################################### [DISPLAY] # Name of display program, e.g., xemc DISPLAY = axis # DISPLAY = usrmot # DISPLAY = mini # DISPLAY = tkemc # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.200 # Path to help file HELP_FILE = tkemc.txt # Initial display setting for position, RELATIVE or MACHINE POSITION_OFFSET = MACHINE # 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 = 4.0 MAX_SPINDLE_OVERRIDE = 1.000000 MIN_SPINDLE_OVERRIDE = 0.500000 #+ Prefix to be used PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files/ # Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 1 #PYVCP = IMAGObot.xml # Editor to be used with Axis EDITOR = gedit INCREMENTS = 90 45 10 1 .1 .01 .001 DEFAULT_ANGULAR_VELOCITY = 2 MIN_ANGULAR_VELOCITY = 0.1 MAX_ANGULAR_VELOCITY = 10 ############################################################################### # Task controller section ############################################################################### [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 ############################################################################### # Part program interpreter section ############################################################################### [RS274NGC] # File containing interpreter variables PARAMETER_FILE = IMAGObot.var ############################################################################### # Motion control section ############################################################################### [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 # Trajectory Planner task period, in nanoseconds - will be rounded to an # integer multiple of SERVO_PERIOD TRAJ_PERIOD = 10000000 BASE_PERIOD = 50000 ############################################################################### # Hardware Abstraction Layer section ############################################################################### [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 # Lod Kinematic module and DH settings #HALFILE = HAL/IMAGObot_kinematic.hal # Lod Simulation module #HALFILE = HAL/IMAGObot_sim_5.hal # Load Stepper module HALFILE = HAL/IMAGObot_step_5.hal HALFILE = HAL/IMAGObot_pinout.hal POSTGUI_HALFILE = HAL/IMAGObot_postgui.hal #- list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta #load halui to enable HALUI = halui ############################################################################### # Trajectory planner section ############################################################################### [KINS] JOINTS = 5 KINEMATICS = trivkins [TRAJ] NO_FORCE_HOMING = 1 # Machine specific settings AXES = 5 COORDINATES = X Y Z A B HOME = 0 0 0 0 0 LINEAR_UNITS = mm ANGULAR_UNITS = deg CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 2.0 MAX_VELOCITY = 10.0 DEFAULT_ACCELERATION = 5 MAX_ACCELERATION = 10.0 ############################################################################### # Axes sections ############################################################################### # First axis, Joint0 [AXIS_0] TYPE = ANGULAR HOME = 0.0 BACKLASH = 0.00 MIN_LIMIT = -250.0 MAX_LIMIT = 10.0 MAX_VELOCITY = 200 MAX_ACCELERATION = 20 FERROR = 10.000 MIN_FERROR = 1.000 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 4.0 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 STEPGEN_MAXVEL = 220 STEPGEN_MAXACCEL = 30 DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 379.2592 ENCODER_SCALE = -11.1111 # PID control parameters P = 5.86 I = 9.61 D = 0 FF0 = 0 FF1 = 0 FF2 = 0 BIAS = 0 DEADBAND = 0.01 MAX_OUTPUT = 0 # Second axis, Joint1 [AXIS_1] TYPE = ANGULAR HOME = 0.0 BACKLASH = 0.000 MIN_LIMIT = -150.0 MAX_LIMIT = 30.0 MAX_VELOCITY = 200 MAX_ACCELERATION = 10 FERROR = 10.000 MIN_FERROR = 1.000 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 4.0 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 1 STEPGEN_MAXVEL = 220 STEPGEN_MAXACCEL = 15 DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = -203.1746 ENCODER_SCALE = -11.1111 # PID control parameters P = 5.83 I = 9.86 D = 0 FF0 = 0 FF1 = 1 FF2 = 0 BIAS = 0 DEADBAND = 0.05 MAX_OUTPUT = 0 # Third axis, Joint2 [AXIS_2] TYPE = ANGULAR HOME = 0.0 BACKLASH = 0.000 MIN_LIMIT = -135.0 MAX_LIMIT = 90.0 MAX_VELOCITY = 200 MAX_ACCELERATION = 20 FERROR = 10.000 MIN_FERROR = 3.000 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 0 STEPGEN_MAXVEL = 124.3421 STEPGEN_MAXACCEL = 30 DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = -804.2328 ENCODER_SCALE = 11.1111 # PID control parameters P = 1 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0 BIAS = 0 DEADBAND = 0.01 MAX_OUTPUT = 0 # Fourth axis, Joint3 [AXIS_3] TYPE = ANGULAR HOME = 0.0 BACKLASH = 0.000 MIN_LIMIT = -204.0 MAX_LIMIT = 204.0 MAX_VELOCITY = 200 MAX_ACCELERATION = 20 FERROR = 10.000 MIN_FERROR = 3.000 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 4.0 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 3 STEPGEN_MAXVEL = 250 STEPGEN_MAXACCEL = 25 DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 35.5556 ENCODER_SCALE = 11.1111 # PID control parameters P = 3 I = 2 D = 0.1 FF0 = 0 FF1 = 0.1 FF2 = 0 BIAS = 0 DEADBAND = 0.1 MAX_OUTPUT = 0 # Fifth axis, Joint4 [AXIS_4] TYPE = ANGULAR HOME = 0.0 BACKLASH = 0.000 MIN_LIMIT = -150.0 MAX_LIMIT = 50.0 MAX_VELOCITY = 10 MAX_ACCELERATION = 5 FERROR = 10.000 MIN_FERROR = 1.000 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 4.0 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO HOME_SEQUENCE = 4 STEPGEN_MAXVEL = 12 STEPGEN_MAXACCEL = 6 DIRSETUP = 5000 DIRHOLD = 5000 STEPLEN = 5000 STEPSPACE = 5000 STEP_SCALE = 83.555 ENCODER_SCALE = 11.1111 # PID control parameters P = 4.28 I = 6.24 D = 0 FF0 = 0 FF1 = 1 FF2 = 0 BIAS = 0 DEADBAND = 0.01 MAX_OUTPUT = 0 [SPINDLE_0] 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 = 5000.0 OUTPUT_SCALE = 5000 OUTPUT_MIN_LIMIT = 0 OUTPUT_MAX_LIMIT = 5000 ############################################################################### # section for main IO controller parameters ############################################################################### [EMCIO] #- Name of IO controller program, e.g., io EMCIO = io #- cycle time, in seconds CYCLE_TIME = 0.100 #- tool table file TOOL_TABLE = IMAGObot.tbl