# This file was created with the 7i95 Configuration Tool on Apr 22 2022 16:26:03 # Changes to most things are ok and will be read by the Configuration Tool [7i95] VERSION = v1.1.0 [EMC] VERSION = 1.1 MACHINE = x-achse 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 = "" PYVCP = x-achse.xml INCREMENTS = 1mm, 2mm, 5mm [KINS] KINEMATICS = trivkins coordinates=X JOINTS = 1 [EMCIO] EMCIO = iov2 CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl [RS274NGC] PARAMETER_FILE = x-achse.var [EMCMOT] EMCMOT = motmod SERVO_PERIOD = 1000000 [TASK] TASK = milltask CYCLE_TIME = 0.010 [TRAJ] COORDINATES = X LINEAR_UNITS = mm ANGULAR_UNITS = degree MAX_LINEAR_VELOCITY = 18 [HAL] HALFILE = x-achse.hal HALFILE = io.hal HALFILE = custom.hal POSTGUI_HALFILE = postgui.hal HALUI = halui [HALUI] [AXIS_X] MIN_LIMIT = 0.00 MAX_LIMIT = 1200.00 MAX_VELOCITY = 25.00 MAX_ACCELERATION = 750.00 [JOINT_0] AXIS = X MIN_LIMIT = 0.00 MAX_LIMIT = 1200.00 MAX_VELOCITY = 25.00 MAX_ACCELERATION = 750.00 TYPE = LINEAR SCALE = 6.666667 DRIVE = Custom STEPGEN_MAX_VEL = 30.0 STEPGEN_MAX_ACC = 900.0 FERROR = 0.0051 MIN_FERROR = 0.0025 DIRSETUP = 10000 DIRHOLD = 10000 STEPLEN = 1000 STEPSPACE = 1000 DEADBAND = 0.0 P = 1000.00 I = 0 D = 0 FF0 = 0 FF1 = 1 FF2 = 0.00013 BIAS = 0.0 MAX_OUTPUT = 0.00 MAX_ERROR = 0.0127 HOME = 0.001 HOME_OFFSET = -10 HOME_SEARCH_VEL = -25 HOME_LATCH_VEL = -1 HOME_FINAL_VEL = 25 # 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 = Select INPUT_INVERT_0 = False INPUT_PB_1 = Select INPUT_INVERT_1 = False INPUT_PB_2 = Select INPUT_INVERT_2 = False INPUT_PB_3 = Select 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 = Select INPUT_INVERT_8 = False INPUT_PB_9 = Select INPUT_INVERT_9 = False INPUT_PB_10 = Select INPUT_INVERT_10 = False INPUT_PB_11 = Select INPUT_INVERT_11 = False INPUT_PB_12 = Select INPUT_INVERT_12 = False 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 = True POST_GUI_HAL = True SHUTDOWN_HAL = False HALUI = True PYVCP = True GLADEVCP = False LADDER = False BACKUP = False