Benutzer:Reox/CNC/FlauschiConfig

.ini File

# Generated by stepconf at Thu Aug 25 22:59:49 2011
# If you make changes to this file, they will be
# overwritten when you run stepconf again

[EMC]
MACHINE = my-mill
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 3
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/cnc/emc2/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
PYVCP = custompanel.xml
GEOMETRY =  X A Y Z 


[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .cam Camexpert Loopinator
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
cam = /home/cnc/Software/camloopinator/camloopinator
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = emc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 19000
SERVO_PERIOD = 1000000

[HAL]
HALUI = halui
HALFILE = my-mill.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[HALUI]
# add halui MDI commands here (max 64) 

[TRAJ]
AXES = 4
COORDINATES = X Y Z -A
MAX_ANGULAR_VELOCITY = 90.00
DEFAULT_ANGULAR_VELOCITY = 9.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.005
DEFAULT_VELOCITY = 50
MAX_LINEAR_VELOCITY = 130.00
NO_FORCE_HOMING = 1

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

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 700.0
STEPGEN_MAXACCEL = 875.0
SCALE = 133.333
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.001
MAX_LIMIT = 1400.0
HOME_OFFSET = 0.100000
HOME_SEARCH_VEL = -10
HOME_LATCH_VEL = 1
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2

[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 120.0
MAX_ACCELERATION = 1000.0
STEPGEN_MAXACCEL = 1250.0
SCALE = 133.333
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.001
MAX_LIMIT = 700.0
HOME_OFFSET = 0.100000
HOME_SEARCH_VEL = -10
HOME_LATCH_VEL = 1
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 130.0
MAX_ACCELERATION = 400.0
STEPGEN_MAXACCEL = 500.0
SCALE = 133.333
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -200.0
MAX_LIMIT = 200.0
HOME_OFFSET = -0.100000
HOME_SEARCH_VEL = 5
HOME_LATCH_VEL = -1
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 60.0
STEPGEN_MAXACCEL = 75.0
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0

.hal File

# Generated by stepconf at Thu Aug 25 23:24:20 2011
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="0x378 out  "
setp parport.0.reset-time 3000
loadrt stepgen step_type=0,0,0,0
loadrt charge_pump
net estop-out charge-pump.enable iocontrol.0.user-enable-out
net charge-pump <= charge-pump.out

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf charge-pump base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= motion.spindle-speed-out
net spindle-on <= motion.spindle-on
net coolant-mist <= iocontrol.0.coolant-mist

net probe-in => motion.probe-input

net spindle-on => parport.0.pin-01-out
setp parport.0.pin-02-out-invert 1
net xdir => parport.0.pin-02-out
net xstep => parport.0.pin-03-out
setp parport.0.pin-03-out-reset 1
net ydir => parport.0.pin-04-out
net ystep => parport.0.pin-05-out
setp parport.0.pin-05-out-reset 1
setp parport.0.pin-06-out-invert 1
net zdir => parport.0.pin-06-out
net zstep => parport.0.pin-07-out
setp parport.0.pin-07-out-reset 1
setp parport.0.pin-08-out-invert 1
net adir => parport.0.pin-08-out
net astep => parport.0.pin-09-out
setp parport.0.pin-09-out-reset 1
net coolant-mist => parport.0.pin-14-out
net charge-pump => parport.0.pin-16-out


net max-home-z <= parport.0.pin-10-in-not
net estop-ext <= parport.0.pin-11-in
net min-home-y <= parport.0.pin-12-in-not
net min-home-x <= parport.0.pin-13-in-not
net probe-in <= parport.0.pin-15-in-not


setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 18000
setp stepgen.0.dirsetup 18000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable
net min-home-x => axis.0.home-sw-in
net min-home-x => axis.0.neg-lim-sw-in

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 18000
setp stepgen.1.dirsetup 18000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable
net min-home-y => axis.1.home-sw-in
net min-home-y => axis.1.neg-lim-sw-in

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 18000
setp stepgen.2.dirsetup 18000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable
net max-home-z => axis.2.home-sw-in
net max-home-z => axis.2.pos-lim-sw-in

setp stepgen.3.position-scale [AXIS_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 18000
setp stepgen.3.dirsetup 18000
setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
net astep <= stepgen.3.step
net adir <= stepgen.3.dir
net aenable axis.3.amp-enable-out => stepgen.3.enable

net estop-out <= iocontrol.0.user-enable-out
net estop-ext => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

#loadusr -W hal_input Action