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PocketNC.ini.bak
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PocketNC.ini.bak
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[PRUCONF]
DRIVER=hal_pru_generic
CONFIG=prucode=/home/machinekit/machinekit-dev/rtlib/xenomai/pru_generic.bin pru=1 num_stepgens=5 num_pwmgens=4
[EMC]
# Name of machine, for use with display, etc.
MACHINE = PocketNC
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
DEBUG = 0
[DISPLAY]
# Name of display program, e.g., tkemc
#DISPLAY = tkemc
#DISPLAY = gscreen
DISPLAY = axis
# Touchy currently won't work without some hardware buttons/jog-wheel
#DISPLAY = touchy
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.1000
# Path to help file
HELP_FILE = tklinucnc.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 = 3
# Prefix to be used
PROGRAM_PREFIX = ~/linuxcnc/nc_files/
# Introductory graphic
#INTRO_GRAPHIC = linuxcnc.gif
#INTRO_TIME = 3
# Increments for the JOG section
INCREMENTS = 10 1 0.1 0.01
#PYVCP = BeBoPr.panel.xml
[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]
# Name of task controller program, e.g., milltask
#TASK = milltask
TASK = /home/linuxcnc/linuxcnc/bin/milltask
# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.010
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = pru-stepper.var
[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
[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
HALUI = halui
HALFILE = PocketNC.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
POSTGUI_HALFILE = PocketNC.postgui.hal
[TRAJ]
AXES = 5
COORDINATES = X Y Z A B
MAX_ANGULAR_VELOCITY = 90
DEFAULT_ANGULAR_VELOCITY = 40
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.5
MAX_LINEAR_VELOCITY = 2.00
[AXIS_0]
#
# Step timing is 40 us steplen + 40 us stepspace
# That gives 80 us step period = 12.5 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
# such slow steppers.
#
# Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE = LINEAR
MAX_VELOCITY = 1.5
MAX_ACCELERATION = 4.5
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 1.8
STEPGEN_MAX_ACC = 5.4
BACKLASH = 0.000
# scale is 200 steps/rev * 5 revs/inch
#SCALE = -4166.666666666666666667
SCALE = -8333.333333333333333333
MIN_LIMIT = -2.125
MAX_LIMIT = 2.125
FERROR = 1.0
MIN_FERROR = 0.25
HOME = 0.000
HOME_OFFSET = 2.13
HOME_SEARCH_VEL = 0.5
HOME_LATCH_VEL = -0.5
HOME_IS_SHARED = 1
#HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
[AXIS_1]
TYPE = LINEAR
MAX_VELOCITY = 1.5
MAX_ACCELERATION = 4.5
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 1.8
STEPGEN_MAX_ACC = 5.4
BACKLASH = 0.000
SCALE = -8333.333333333333333333
#SCALE = -4166.666666666666666667
MIN_LIMIT = -2.25
MAX_LIMIT = 2.25
FERROR = 1.0
MIN_FERROR = 2.75
HOME = 0
HOME_OFFSET = 2.75
HOME_SEARCH_VEL = 1.10
HOME_LATCH_VEL = -0.5
HOME_IS_SHARED = 1
#HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
[AXIS_2]
TYPE = LINEAR
MAX_VELOCITY = 2
MAX_ACCELERATION = 6
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 2.4
STEPGEN_MAX_ACC = 7.2
BACKLASH = 0.000
SCALE = 8000
MIN_LIMIT = -1.87007874
MAX_LIMIT = 1.87007874
FERROR = 1.0
MIN_FERROR = 0.25
HOME = 1.35
HOME_OFFSET = 1.5
HOME_SEARCH_VEL = 1.10
HOME_LATCH_VEL = -0.5
HOME_IS_SHARED = 1
#HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
[AXIS_3]
TYPE = ANGULAR
MAX_VELOCITY = 80
MAX_ACCELERATION = 200
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 96
STEPGEN_MAX_ACC = 240
BACKLASH = 0.000
#SCALE = 8.889
#SCALE = 360
SCALE = 35.556
MIN_LIMIT = -185
MAX_LIMIT = 185
FERROR = 5.0
MIN_FERROR = .5
HOME = 0.0
HOME_OFFSET = 185.43
HOME_SEARCH_VEL = 25
HOME_LATCH_VEL = -1
HOME_IS_SHARED = 1
#HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
[AXIS_4]
TYPE = ANGULAR
MAX_VELOCITY = 80
MAX_ACCELERATION = 200
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 96
STEPGEN_MAX_ACC = 240
BACKLASH = 0.000
SCALE = 8.889
#SCALE = 360
#SCALE = -732.32
#WRAPPED_ROTARY = 1
MIN_LIMIT = -9999.0
MAX_LIMIT = 999999999.0
FERROR = 5.0
MIN_FERROR = .5
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
#HOME_USE_INDEX = YES
#HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
[EMCIO]
# Name of IO controller program, e.g., io
EMCIO = io
# cycle time, in seconds
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = tool.tbl