cnc-router.ini

# Generated by PNCconf at Thu Jul 11 17:23:41 2019
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = cnc-router
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 = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 66.666666667
MAX_LINEAR_VELOCITY = 66.666666667
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz

[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
SUBROUTINE_PATH = /home/cnc/linuxcnc/configs/cnc-router/subroutines/

[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 = cnc-router.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]
# Z axis touch plate subroutine
MDI_COMMAND = O <z_touch> CALL

[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH

[TRAJ]
COORDINATES =  XYYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 6.67
MAX_LINEAR_VELOCITY = 66.67

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1

#******************************************
[AXIS_X]
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 300.0
MIN_LIMIT = -0.01
MAX_LIMIT = 850.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 300.0
# A small backlash adjustment. In millimeters.
BACKLASH = 0.05
# 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 = 72.92
#STEPGEN_MAXACCEL = 375.00
STEPGEN_MAXVEL = 134
STEPGEN_MAXACCEL = 600
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 5000
DIRHOLD    = 5000
STEPLEN    = 2500
STEPSPACE  = 2500
STEP_SCALE = 1347.368
MIN_LIMIT = -0.01
MAX_LIMIT = 850.0
HOME_OFFSET = -2.000000
HOME_SEARCH_VEL = -20.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -1
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 500.0
MIN_LIMIT = -0.01
MAX_LIMIT = 885.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 500.0
# 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 = 83.33
STEPGEN_MAXACCEL = 625
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 5000
DIRHOLD    = 6000
STEPLEN    = 2500
STEPSPACE  = 2500
STEP_SCALE = 640
MIN_LIMIT = -0.01
MAX_LIMIT = 885.0
HOME_OFFSET = -2.000000
HOME_SEARCH_VEL = -20.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -2

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 66.6666666667
MAX_ACCELERATION = 500.0
# 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 = 83.33
STEPGEN_MAXACCEL = 625
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 5000
DIRHOLD    = 6000
STEPLEN    = 2500
STEPSPACE  = 2500
STEP_SCALE = 640
MIN_LIMIT = -0.01
MAX_LIMIT = 885.0
# Adjusted HOME_OFFSET to make x and y axis square.
HOME_OFFSET = -3.550000
HOME_SEARCH_VEL = -20.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -2
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 16.0
MAX_ACCELERATION = 400.0
MIN_LIMIT = -150.0
MAX_LIMIT = 0.01

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 16.0
MAX_ACCELERATION = 400.0
# 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 = 25
STEPGEN_MAXACCEL = 625
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 5000
DIRHOLD    = 6000
STEPLEN    = 2500
STEPSPACE  = 2500
STEP_SCALE = 1280
MIN_LIMIT = -150.0
MAX_LIMIT = 0.01
HOME_OFFSET = 2.000000
HOME_SEARCH_VEL = 20.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -0
#******************************************

[SPINDLE_9]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 24000
OUTPUT_SCALE = 24000
OUTPUT_MIN_LIMIT = 1000
OUTPUT_MAX_LIMIT = 24000