# EMC controller parameters for UPC with threading. # General note: Comments can either be preceded with a # or ; - either is # acceptable, although # is in keeping with most linux config files. # General section ------------------------------------------------------------- [EMC] # Version of this INI file VERSION = $Revision: 1.6 $ # Name of machine, for use with display, etc. MACHINE = EMC2-UPC-Thread # Name of NML file to use, default is emc.nml # no longer needed NML_FILE = emc.nml # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others DEBUG = 0x00000001 # DEBUG = 0x00000007 # DEBUG = 0x7FFFFFFF # Sections for display options ------------------------------------------------ [DISPLAY] # Name of display program, e.g., xemc DISPLAY = axis # DISPLAY = usrmot # DISPLAY = tkemc # Cycle time, in seconds, that display will sleep between polls CYCLE_TIME = 0.100 # Path to help file HELP_FILE = doc/help.txt # Initial display setting for position, RELATIVE or MACHINE POSITION_OFFSET = RELATIVE # 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 = 1.2 # Prefix to be used PROGRAM_PREFIX = ../../nc_files/ # Introductory graphic INTRO_GRAPHIC = emc2.gif INTRO_TIME = 2 # Enable popup balloon help BALLOON_HELP = 1 # Task controller section ----------------------------------------------------- [TASK] # Name of task controller program, e.g., bridgeporttask TASK = milltask # TASK = minimilltask # 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 = univpwm.var # Motion control section ------------------------------------------------------ [EMCMOT] EMCMOT = motmod # Key for real OS shared memory, e.g., for simulated motion SHMEM_KEY = 111 # Timeout for comm to emcmot, in seconds COMM_TIMEOUT = 1.0 # Interval between tries to emcmot, in seconds COMM_WAIT = 0.010 # Base task period, in nanoseconds - this is the fastest thread in the machine BASE_PERIOD = 50000 # Servo task period, in nanoseconds - will be rounded to an integer multiple # of BASE_PERIOD SERVO_PERIOD = 1000000 # Trajectory Planner task period, in nanoseconds - will be rounded to an # integer multiple of SERVO_PERIOD TRAJ_PERIOD = 10000000 # 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 HALFILE = univpwm_load.hal # HALFILE = univpwm_save.hal HALFILE = univpwm_servo.hal HALFILE = univpwm_motion.hal HALFILE = univpwm_io.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta # Trajectory planner section -------------------------------------------------- [TRAJ] AXES = 3 # COORDINATES = X Y Z R P W COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = 0.03937007874016 ANGULAR_UNITS = 1.0 CYCLE_TIME = 0.010 DEFAULT_VELOCITY = 0.15 MAX_VELOCITY = 1.20 DEFAULT_ACCELERATION = 5.0 MAX_ACCELERATION = 5.0 PROBE_INDEX = 0 PROBE_POLARITY = 1 # Axes sections --------------------------------------------------------------- # Important note about OUTPUT_SCALE and PWM_OUTPUT_SCALE # For this configuration, OUTPUT_SCALE is not used, because # EMC always overwrites it on shutdown. So PWM_OUTPUT_SCALE # was added to hold the scaling. Someday the OUTPUT_SCALE # issue may be fixed, and PWM_OUTPUT_SCALE will go away. # Scaling: The PWM_OUTPUT_SCALE should be the speed # in UNITS/second (inches/sec or mm/sec) that would be # reached if the PWM duty cycle was 100%. It depends on # the power supply voltage, motor RPM/Volt factor, and # gearing/screw pitch. For example: # # Power supply voltage 50V # Motor RPM/V 1000RPM/24V # Gearing: 2 motor revs per 1 screw rev # Screw pitch: 0.2" per turn # # Max motor speed = 50V * 1000RPM/24V = 2083 RPM # Max screw speed = 2083RPM * 1(screw)/2(motor) = 1041RPM # Max table speed = 1041RPM * 0.2"/turn = 208 in/min # Max table speed = 208 in/min / 60 seconds = 3.47 inches/sec # # Since max speed is reached at 100% duty cycle, PWM_OUTPUT_SCALE # should be 3.47 # First axis [AXIS_0] TYPE = LINEAR UNITS = 0.03937007874016 HOME = 0.000 MAX_VELOCITY = 1.20 MAX_ACCELERATION = 5.0 PID_MAX_VEL = 1.2 BACKLASH = 0.000 CYCLE_TIME = 0.001000 INPUT_SCALE = -128000 OUTPUT_SCALE = 1.000 PWM_OUTPUT_SCALE = -1 MIN_LIMIT = -12.0 MAX_LIMIT = 0.1 FERROR = 0.1 MIN_FERROR = 1.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.5 HOME_LATCH_VEL = 0.1 HOME_USE_INDEX = YES HOME_IGNORE_LIMITS = NO DEADBAND = 1e-06 P = 2000 I = 10 D = 5 BIAS = 0 FF0 = 0 FF1 = 0.35 FF2 = 0.03 # Second axis [AXIS_1] TYPE = LINEAR UNITS = 0.03937007874016 HOME = 0.000 MAX_VELOCITY = 1.20 MAX_ACCELERATION = 5.0 PID_MAX_VEL = 1.2 BACKLASH = 0.000 CYCLE_TIME = 0.001000 INPUT_SCALE = -128000 OUTPUT_SCALE = 1.000 PWM_OUTPUT_SCALE = -1 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 FERROR = 0.002 MIN_FERROR = 1.005 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 7e-06 P = 1600 I = 30 D = 10 BIAS = 0 FF0 = 0 FF1 = 0.6 FF2 = 0.08 # Third axis [AXIS_2] TYPE = LINEAR UNITS = 0.03937007874016 HOME = 0.0 MAX_VELOCITY = 1.20 MAX_ACCELERATION = 5.0 PID_MAX_VEL = 1.2 BACKLASH = 0.000 CYCLE_TIME = 0.001000 INPUT_SCALE = 128000 OUTPUT_SCALE = 1.000 PWM_OUTPUT_SCALE = 1 MIN_LIMIT = -10.0 MAX_LIMIT = 10.0 FERROR = 0.002 MIN_FERROR = 0.005 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO DEADBAND = 0.000015 P = 1600 I = 15 D = 4 BIAS = 0 FF0 = 0 FF1 = 0.25 FF2 = 0.025 # 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 = univpwm.tbl # section for external NML server parameters ---------------------------------- [EMCSERVER] # Uncomment the following line if you need to run a remote GUI. # EMCSERVER = emcsvr