# This file was created with the 7i95 Configuration Tool on Apr 28 2022 13:03:04 # Changes to most things are ok and will be read by the Configuration Tool [7i95] VERSION = v1.1.0 [EMC] VERSION = 1.1 MACHINE = 7i95 DEBUG = 0x00000000 [HOSTMOT2] DRIVER = hm2_eth IPADDRESS = "192.168.1.121" BOARD = 7i95 [DISPLAY] DISPLAY = axis EDITOR = geany POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 1.2 CYCLE_TIME = 0.1 INTRO_GRAPHIC = emc2.gif INTRO_TIME = 0 OPEN_FILE = "" INCREMENTS = 1.00 mm, 100 mm, 101mm [KINS] KINEMATICS = trivkins coordinates=XYZA JOINTS = 4 [EMCIO] EMCIO = iov2 CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl [RS274NGC] PARAMETER_FILE = 7i95.var [EMCMOT] EMCMOT = motmod SERVO_PERIOD = 1000000 [TASK] TASK = milltask CYCLE_TIME = 0.010 [TRAJ] COORDINATES = XYZA LINEAR_UNITS = mm ANGULAR_UNITS = degree MAX_LINEAR_VELOCITY = 25 [HAL] HALFILE = 7i95.hal HALFILE = io.hal [HALUI] [AXIS_X] MIN_LIMIT = -1.000 MAX_LIMIT = 770.00 MAX_VELOCITY = 25.000 MAX_ACCELERATION = 120 [AXIS_Y] MIN_LIMIT = -1e99 MAX_LIMIT = 1e99 MAX_VELOCITY = 1.45 MAX_ACCELERATION = 14.5 [AXIS_Z] MIN_LIMIT = -1 MAX_LIMIT = 296 MAX_VELOCITY = 10 MAX_ACCELERATION = 100 [AXIS_A] MIN_LIMIT = -1e99 MAX_LIMIT = 1e99 MAX_VELOCITY = 30 MAX_ACCELERATION = 100 [JOINT_0] AXIS = X MIN_LIMIT = -1.000 MAX_LIMIT = 770.00 MAX_VELOCITY = 25.000 MAX_ACCELERATION = 120 TYPE = LINEAR SCALE = 213.4418 DRIVE = Custom STEPGEN_MAX_VEL = 30.0 STEPGEN_MAX_ACC = 144.0 FERROR = 0.0051 MIN_FERROR = 0.0025 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 2500 STEPSPACE = 2500 DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00013 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0005 HOME = 0.00 HOME_OFFSET = -10.00 HOME_SEARCH_VEL = -25.00 HOME_LATCH_VEL = -2 HOME_FINAL_VEL = 25.00 HOME_SEQUENCE = 0 [JOINT_1] AXIS = Y MIN_LIMIT = -1e99 MAX_LIMIT = 1e99 MAX_VELOCITY = 1.45 MAX_ACCELERATION = 14.5 TYPE = LINEAR SCALE = 1600 DRIVE = Custom STEPGEN_MAX_VEL = 1.74 STEPGEN_MAX_ACC = 17.4 FERROR = 0.0051 MIN_FERROR = 0.0025 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 2500 STEPSPACE = 2500 DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00013 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0005 HOME = 0 HOME_SEARCH_VEL = -1.45 HOME_LATCH_VEL = -0.2 HOME_FINAL_VEL = 1.45 HOME_SEQUENCE = 0 [JOINT_2] AXIS = Z MIN_LIMIT = -1 MAX_LIMIT = 296 MAX_VELOCITY = 10 MAX_ACCELERATION = 100 TYPE = LINEAR SCALE = 3200 DRIVE = Custom STEPGEN_MAX_VEL = 12.0 STEPGEN_MAX_ACC = 120.0 FERROR = 0.0051 MIN_FERROR = 0.0025 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 2500 STEPSPACE = 2500 DEADBAND = 0 P = 1000 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00013 BIAS = 0 MAX_OUTPUT = 0 MAX_ERROR = 0.0005 HOME = 0 HOME_OFFSET = -10 HOME_SEARCH_VEL = -10 HOME_LATCH_VEL = -0.5 HOME_FINAL_VEL = 10 HOME_SEQUENCE = 0 [JOINT_3] AXIS = A MIN_LIMIT = -1e99 MAX_LIMIT = 1e99 MAX_VELOCITY = 30 MAX_ACCELERATION = 100 TYPE = ANGULAR SCALE = 42.222222 DRIVE = Custom STEPGEN_MAX_VEL = 36.0 STEPGEN_MAX_ACC = 120.0 FERROR = 0.0051 MIN_FERROR = 0.0025 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 2500 STEPSPACE = 2500 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 HOME_SEQUENCE = 0 # Everything below this line is only used to # setup the Configuration Tool when loading the ini. [INPUT_PB] # DO NOT change the inputs text INPUT_PB_0 = Joint 1 Home INPUT_INVERT_0 = False INPUT_PB_1 = Select INPUT_INVERT_1 = False INPUT_PB_2 = Select INPUT_INVERT_2 = False INPUT_PB_3 = Joint 2 Home INPUT_INVERT_3 = False INPUT_PB_4 = Select INPUT_INVERT_4 = False INPUT_PB_5 = Select INPUT_INVERT_5 = False INPUT_PB_6 = Select INPUT_INVERT_6 = False INPUT_PB_7 = Joint 0 Home INPUT_INVERT_7 = False INPUT_PB_8 = Joint 2 Plus INPUT_INVERT_8 = True INPUT_PB_9 = Joint 2 Minus INPUT_INVERT_9 = True INPUT_PB_10 = Select INPUT_INVERT_10 = False INPUT_PB_11 = Select INPUT_INVERT_11 = False INPUT_PB_12 = Joint 0 Plus INPUT_INVERT_12 = True INPUT_PB_13 = Joint 0 Minus INPUT_INVERT_13 = True INPUT_PB_14 = Select INPUT_INVERT_14 = False INPUT_PB_15 = Select INPUT_INVERT_15 = False INPUT_PB_16 = Select INPUT_INVERT_16 = False INPUT_PB_17 = Select INPUT_INVERT_17 = False INPUT_PB_18 = Select INPUT_INVERT_18 = False INPUT_PB_19 = Select INPUT_INVERT_19 = False INPUT_PB_20 = Select INPUT_INVERT_20 = False INPUT_PB_21 = Select INPUT_INVERT_21 = False INPUT_PB_22 = Select INPUT_INVERT_22 = False INPUT_PB_23 = Select INPUT_INVERT_23 = False [OUTPUT_PB] # DO NOT change the outputs text OUTPUT_PB_0 = Select OUTPUT_PB_1 = Select OUTPUT_PB_2 = Select OUTPUT_PB_3 = Select OUTPUT_PB_4 = Select OUTPUT_PB_5 = Select [OPTIONS] # DO NOT change the options text INTRO_GRAPHIC = emc2.gif INTRO_GRAPHIC_TIME = 0 MANUAL_TOOL_CHANGE = False CUSTOM_HAL = False POST_GUI_HAL = False SHUTDOWN_HAL = False HALUI = False PYVCP = False GLADEVCP = False LADDER = False BACKUP = False