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mn_cnc.ini
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#mn_ccnc.ini
# derived from Xylotex.ini from the rev 4.19 machinekit distro
# mn_cnc is a Biringham CNC mill at Maker Nexus. This file differs
#from the Xylotex file because we are using a different cape, a different
#BoB, and a different mill.
#
[PRUCONF]
DRIVER=hal_pru_generic
PRUBIN=rt-preempt/pru_generic.bin
# mn_cnc needs 2 PWM channels, (charge pump and VFD speed), but not from the
# PRU. We use the HW PWM instead.
CONFIG=pru=1 halname=hpg num_stepgens=4
###############################################################################
# General section
###############################################################################
[EMC]
# Name of machine, for use with display, etc.
MACHINE = MN Birmingham mill
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
#DEBUG = 0x00000003
#DEBUG = 0x00000007
###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
# Name of display program, e.g., tkemc
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.0500
# Path to help file
HELP_FILE = tklinucnc.txt
# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = MACHINE
# 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 = 1.0
MAX_SPINDLE_OVERRIDE = 1.0
MIN_SPINDLE_OVERRIDE = 0.25
# Prefix to be used
PROGRAM_PREFIX = /home/machinekit/machinekit/nc_files
# Introductory graphic
INTRO_GRAPHIC = machinekit.gif
INTRO_TIME = 5
# Increments for the JOG section
INCREMENTS = 10 1 0.1 0.01 0.005 0.001
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
###############################################################################
# Task controller section
###############################################################################
[TASK]
# Name of task controller program, e.g., milltask
TASK = milltask
# 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 = pru-stepper.var
RS274NGC_STARTUP_CODE = G00 G17 G21 G40 G49 G64 P0.1 Q0.1 G80 G90
###############################################################################
# Motion control section
###############################################################################
[EMCMOT]
EMCMOT = motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
# Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010
# Servo task period, in nanoseconds
SERVO_PERIOD = 1000000
###############################################################################
# Hardware Abstraction Layer section
###############################################################################
[HAL]
# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
HALFILE = mn_cnc.hal
###############################################################################
# Hardware Abstraction Layer User Interface section
###############################################################################
[HALUI]
MDI_COMMAND = G0 X0 Y0 Z0
MDI_COMMAND = G38.2 Z-2 f16
MDI_COMMAND = G92 Z0.25
MDI_COMMAND = G0 Z0.75
MDI_COMMAND = G92 x2 y-.5
###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
AXES = 4
COORDINATES = X Y Z A
# HOME is ignored if kinematics = trivial
HOME = 1 1 0 2
MAX_ANGULAR_VELOCITY = 45.00
DEFAULT_ANGULAR_VELOCITY = 4.50
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.0
DEFAULT_ACCELERATION = 15.0
MAX_LINEAR_VELOCITY = 1.6
NO_FORCE_HOMING = 1
# POSITION_FILE = position.txt
#PROBE_INDEX = 0
#PROBE_POLARITY = 1
###############################################################################
# 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 = mill.tbl
#- Tool Change Position specifies the location to move to for a tool change
#TOOL_CHANGE_POSITION = 0 0 2
###############################################################################
# Axes sections
###############################################################################
[AXIS_0]
# Table X Axis
#
# Step timing is 25 us steplen + 25 us stepspace
# That gives 50 us step period = 20 KHz step freq
#
# Scale is 200 steps/rev * 5 revs/inch * 2 microsteps = 2000 steps/inch
# But actual travel was 5mm for "1 unit" whe scale waws 2000, so we
#set it to 4000 for the mn_cnc.
#
# This gives a maxvel of 20000/2000 = 10 ips
#
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 15.0
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 1.6
STEPGEN_MAX_ACC = 18.75
BACKLASH = 0.001
# scale = 1 step / 1.8 deg * 360 * 5 rev/inch = 1000 rev/inch
SCALE = 10000
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
FERROR = .1
MIN_FERROR = 0.05
HOME = 0.000
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED = 1
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 25000
DIRHOLD = 25000
STEPLEN = 25000
STEPSPACE = 25000
# Set to one for active low step pulses
STEP_INVERT = 0
# PID tuning params
DEADBAND = 0
P = 50
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
################################################################
[AXIS_1]
# Table Y-axis
#
# Step timing is 25 us steplen + 25 us stepspace
# That gives 50 us step period = 12.5 KHz step freq
#
# Scale is 200 steps/rev * 5 revs/inch * 2 microsteps = 2000 steps/inch
#
# This gives a maxvel of 20000/2000 = 10 ips
#
TYPE = LINEAR
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 15.0
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 1.6
STEPGEN_MAX_ACC = 18.75
BACKLASH = 0.001
# scale is 200 steps/rev * 2 microstep * 5 tpi = 2000 steps/inch
# time 2 for an unknown reason on the mn_cnc
SCALE = 10000
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
FERROR = .1
MIN_FERROR = 0.05
HOME = 0.000
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED = 1
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 25000
DIRHOLD = 25000
STEPLEN = 25000
STEPSPACE = 25000
# Set to one for active low step pulses
STEP_INVERT = 0
# PID tuning params
DEADBAND = 0
P = 50
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
################################################################
[AXIS_2]
# Knee
#
# Step timing is 25 us steplen + 25 us stepspace
# That gives 50 us step period = 20 KHz step freq
#
# SCALE is 200 steps/rev * 2 microstep * 4:1 gearing * 5 tpi = 8000 steps/inch
# This gives a maxvel of 20000/8000 = 2.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 0.2
MAX_ACCELERATION = 15.0
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 0.24
STEPGEN_MAX_ACC = 18.75
BACKLASH = 0.000
# BACKLASH .003 - correctable?
# SCALE is 200 steps/rev * 2 microstep * 4:1 gearing * 5 turns/inch = 8000 steps/inch
# times 2 for an unknown reason on the mn_cnc
# use negative sign to reverse the direction.
SCALE = -40000
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
FERROR = .1
MIN_FERROR = 0.05
HOME = 0.000
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED = 1
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 25000
DIRHOLD = 25000
STEPLEN = 25000
STEPSPACE = 25000
# Set to one for active low step pulses
STEP_INVERT = 0
# PID tuning params
DEADBAND = 0
P = 50
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
################################################################
[AXIS_3]
# Spindle
#
# Step timing is 25 us steplen + 25 us stepspace
# That gives 50 us step period = 20 KHz step freq
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 0.5
MAX_ACCELERATION = 15.0
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 0.51
STEPGEN_MAX_ACC = 18.75
# basically no measurable backlash on spindle
BACKLASH = 0.000
# SCALE is 200 steps/rev * 2 microstep * 5 revs/inch = 2000 steps/inch
#times 2 on the mn_cnc for an unknown reason
SCALE = 10000
MIN_LIMIT = -9999.0
MAX_LIMIT = 999999999.0
FERROR = .1
MIN_FERROR = 0.05
HOME = 0.000
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
#HOME_IS_SHARED = 1
#HOME_SEQUENCE = 2
# these are in nanoseconds
DIRSETUP = 25000
DIRHOLD = 25000
STEPLEN = 25000
STEPSPACE = 25000
# Set to one for active low step pulses
STEP_INVERT = 0
# PID tuning params
DEADBAND = 0
P = 50
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0