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millimcmillface.ini
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millimcmillface.ini
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# This file was created with the 7i96 Wizard on Mai 12 2020 09:04:04
# Changes to most things are ok and will be read by the wizard
# =================================================================
# File edited by bouni to work with a combination of 7i96 + 7i85S
# =================================================================
[EMC]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_emc_section
# Version must be 1.1 or higher
VERSION = 1.1
# Name of the machine
MACHINE = millimcmillface
# Debug settigs (see https://github.com/LinuxCNC/linuxcnc/blob/master/src/emc/nml_intf/debugflags.h)
DEBUG = 0x00000000
[HOSTMOT2]
# Driver name for loadrt in HAL
DRIVER = hm2_eth
# Standard IP of the 7i96, can be changed by jumper + mesaflash
IPADDRESS = "192.168.1.121"
# Board anme for use in HAL file
BOARD = 7i96
# Number of stepgens
# Stepgen 0 -> 7i96 STEP0
# Stepgen 1 -> 7i96 STEP1
# Stepgen 2 -> 7i96 STEP2
# Stepgen 3 -> 7i96 STEP3
# Stepgen 4 -> 7i96 STEP4
# Stepgen 5 -> 7i85S DIFF OUT 0,1
# Stepgen 6 -> 7i85S DIFF OUT 2,3
# Stepgen 7 -> 7i85S DIFF OUT 4,5
# Stepgen 8 -> 7i85S DIFF OUT 6,7
STEPGENS = 3
# Number of encoders
# Encoder 0 -> 7i96 ENCODER
# Encoder 1 -> 7i96 ENCODER Alias
# Encoder 2 -> 7i85S ENC 0
# Encoder 3 -> 7i85S ENC 1
# Encoder 4 -> 7i85S ENC 2
# Encoder 5 -> 7i85S ENC 3
ENCODERS = 5
# Number of SmartSerials
# SmartSerial 0 -> 7i96 SERIAL
# SmartSerial 1 -> 7i85S SERIAL
SSERIAL_PORT = 2
[DISPLAY]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_display_section
# Userinterface to use
DISPLAY = axis
# Coordinatesystem used in DRO on startup
POSITION_OFFSET = RELATIVE
# Coordinate value to show on the DRO
POSITION_FEEDBACK = COMMANDED
# Maximum feed override, 1.2 = 120%
MAX_FEED_OVERRIDE = 2.0
# Cycle time in seconds that display will sleep between polls.
CYCLE_TIME = 0.1
# The default velocity for linear jogs, in machine units per second.
# 20 mm/sec = 1200mm/min
DEFAULT_LINEAR_VELOCITY = 30
# The approximate lowest value the jog slider.
MIN_VELOCITY = 0.01
# The max velocity for linear jogs, in machine units per second.
# 20 mm/sec = 1200mm/min
MAX_LINEAR_VELOCITY = 30
# Graphic to show on startup
INTRO_GRAPHIC = emc2.gif
# The maximum time to show the splash screen, in seconds.
INTRO_TIME = 0
# File to load on startup
OPEN_FILE = ""
# Default location to look for nc files
PROGRAM_PREFIX = /home/miller/Schreibtisch/ngc-share
[KINS]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_kins_section
# The type of kinematics and the coordinates, usually no need to change this
KINEMATICS = trivkins coordinates=XYZ
# The number of joints for the coordinates, 3 for XYZ, can be 4 if you have a dual motor Y for example
JOINTS = 3
[EMCIO]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_emc_section
# Name of the io controller
EMCIO = io
# The cycle time of the io controller, do not change
CYCLE_TIME = 0.100
# filename of the file where the toolinfo is stored
TOOL_TABLE = tool.tbl
[RS274NGC]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#gcode:ini-features
# name of the file where the interpreter stores its parameters
PARAMETER_FILE = millimcmillface.var
# Startup G-Codes
#RS274NGC_STARTUP_CODE = G64
[EMCMOT]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_emcmot_section
# name of the motion controller
EMCMOT = motmod
# This is the "Servo" task period in nanoseconds.
SERVO_PERIOD = 1000000
[TASK]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_task_section
# name of the task executable, no need to change
TASK = milltask
# Cycle time of the task executable, no need to change
CYCLE_TIME = 0.010
[TRAJ]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_traj_section
# Parameters for the trajectory planner in motion
# Names of the controlled axis
COORDINATES = XYZ
# Specifies the machine units for linear axes
LINEAR_UNITS = metric
# Specifies the machine units for rotational axes
ANGULAR_UNITS = degree
# The maximum velocity for any axis or coordinated move, in machine units per second
# 50.0 = 3000 mm/min
MAX_LINEAR_VELOCITY = 50.0
[HAL]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_hal_section
# adds the HAL user interface pins
HALUI = halui
# The following HALFILE entries specify the hal files to execute on startup in the order they appear.
HALFILE = millimcmillface.hal
HALFILE = io.hal
HALFILE = custom.hal
# HALFILE = handwheel.hal
# HAL file to execute after the GUI has created its HAL pins
POSTGUI_HALFILE = postgui.hal
[HALUI]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_halui_section
# MDI command can be executed by using halui.mdi-command-00, increment for each specified MDI_COMMAND line
# ==============================================================================
# Parameters for the X axis
# ==============================================================================
[AXIS_X]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_axis__lt_letter_gt_section
MIN_LIMIT = -5
MAX_LIMIT = 410
MAX_VELOCITY = 200
MAX_ACCELERATION = 200
[JOINT_0]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_joint__lt_num_gt_section
AXIS = X
MIN_LIMIT = -6
MAX_LIMIT = 410.1
MAX_VELOCITY = 200
MAX_ACCELERATION = 200
TYPE = LINEAR
FERROR = 0.0051
MIN_FERROR = 0.0025
# Stepgen configuration
STEPGEN_MAX_VEL = 500.0
#STEPGEN_MAX_VEL = 240.0
STEPGEN_MAX_ACC = 5000.0
#STEPGEN_MAX_ACC = 2400.0
SCALE = 204.8
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 2000
# PID configuration
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
# Homing configuration
# http://linuxcnc.org/docs/devel/html/config/ini-homing.html
# Value X should have after homing sequence is done
HOME = 0
# Search for home switch in negative direction with a speed of 10mm per second
HOME_SEARCH_VEL = -10
# Retract from the pressed switch in positive direction with 1mm per second
HOME_LATCH_VEL = 1
# Move additional 10mm away from the home switch where X is homed to the value of HOME
HOME_OFFSET = -10
# The speed with the HOME_OFFSET move is done (unsigned! mm/s)
HOME_FINAL_VEL = 8
HOME_SEQUENCE = 1
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = True
# ==============================================================================
# Parameters for the Y axis
# ==============================================================================
[AXIS_Y]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_axis__lt_letter_gt_section
MIN_LIMIT = -700
MAX_LIMIT = 5
MAX_VELOCITY = 200
MAX_ACCELERATION = 200
[JOINT_1]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_joint__lt_num_gt_section
AXIS = Y
MIN_LIMIT = -700.1
MAX_LIMIT = 6
MAX_VELOCITY = 200
MAX_ACCELERATION = 200
TYPE = LINEAR
FERROR = 0.0051
MIN_FERROR = 0.0025
# Stepgen configuration
STEPGEN_MAX_VEL = 500.0
# STEPGEN_MAX_VEL = 240.0
STEPGEN_MAX_ACC = 5000.0
# STEPGEN_MAX_ACC = 2400.0
# Yaskawa SIGMA II 13bit Encoder = 2048 Pulses
# https://www.edata.omron.com.au/eData/Servos/SIEPS80000005C.pdf
# Page 486 Section 8.6.3 Position Reference
# Maximum reference frequency: 500 kpps (For open-collector output: 200 kpps)
# with Pn202 / Pn203 set to their default (4/1) we need to give 8192 pulses for one motor rotation
# We have a transmission of 12.25:1
# We set the Servopack parameters to 490 (Pn202) / 1 (Pn203)
# The SCALE in LinuxCNC is set to 204.8, this gives us 1mm = 1 full rotation on the gear output.
# We have a timing belt that gives us a 2:1 reduction, so we multiply 204.8 * 2 = 409.6
# Additionally we have a spindle with a 5mm pitch, wich requires us to devide the 409.6 / 5 = 81.92
SCALE = 204.8
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 2000
# PID configuration
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
# Homing configuration
# http://linuxcnc.org/docs/devel/html/config/ini-homing.html
# Value X should have after homing sequence is done
HOME = 0
# Search for home switch in negative direction with a speed of 10mm per second
HOME_SEARCH_VEL = 10
# Retract from the pressed switch in positive direction with 1mm per second
HOME_LATCH_VEL = -1
# Move additional 10mm away from the home switch where X is homed to the value of HOME
HOME_OFFSET = 10
# The speed with the HOME_OFFSET move is done (unsigned! mm/s)
HOME_FINAL_VEL = 8
HOME_SEQUENCE = 1
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = True
# ==============================================================================
# Parameters for the Z axis
# ==============================================================================
[AXIS_Z]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_axis__lt_letter_gt_section
MIN_LIMIT = -170.0
MAX_LIMIT = 5.0
MAX_VELOCITY = 200
MAX_ACCELERATION = 200
[JOINT_2]
# http://linuxcnc.org/docs/devel/html/config/ini-config.html#_joint__lt_num_gt_section
AXIS = Z
MIN_LIMIT = -170.1
MAX_LIMIT = 5.1
MAX_VELOCITY = 200
MAX_ACCELERATION = 200
TYPE = LINEAR
FERROR = 0.0051
MIN_FERROR = 0.0025
# Stepgen configuration
STEPGEN_MAX_VEL = 500.0
# STEPGEN_MAX_VEL = 240.0
STEPGEN_MAX_ACC = 5000.0
# STEPGEN_MAX_ACC = 2400.0
# Yaskawa SIGMA II 13bit Encoder = 2048 Pulses
# https://www.edata.omron.com.au/eData/Servos/SIEPS80000005C.pdf
# Page 486 Section 8.6.3 Position Reference
# Maximum reference frequency: 500 kpps (For open-collector output: 200 kpps)
# with Pn202 / Pn203 set to their default (4/1) we need to give 8192 pulses for one motor rotation
# We have a transmission of 12.25:1
# We set the Servopack parameters to 490 (Pn202) / 1 (Pn203)
# The SCALE in LinuxCNC is set to 204.8, this gives us 1mm = 1 full rotation on the gear output.
# Our Spindle has a pitch of 5mm, so we need to devide the SCALE by 5, 204.8 / 5 = 40.96
SCALE = 409.6
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 2000
# PID configuration
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
# Homing configuration
# http://linuxcnc.org/docs/devel/html/config/ini-homing.html
HOME = 0
# Search for home switch in positive direction with a speed of 10mm per second
HOME_SEARCH_VEL = 10
# Retract from the pressed switch in negative direction with 1mm per second
HOME_LATCH_VEL = -1
# Move additional 5mm away from the home switch where X is homed to the value of HOME
HOME_OFFSET = 5
# The speed with the HOME_OFFSET move is done (unsigned! mm/s)
HOME_FINAL_VEL = 8
HOME_SEQUENCE = 0
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = True
# ==============================================================================
# Parameters for the Spindle
# ==============================================================================
[SPINDLE]
SPINDLE_TYPE = openLoop
DEADBAND = 0
P = 50
I = 200
D = .2
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 50
SCALE = 6000
MINLIM = 0
MAXLIM = 6000
#[OPTIONS]
#MANUAL_TOOL_CHANGE = False
#HALUI = False
#PYVCP = False
#GLADEVCP = False
#LADDER = False