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Test_konfig_6axes.ini
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[PRUCONF]
DRIVER=hal_pru_generic
CONFIG=pru=1 num_stepgens=7 num_pwmgens=1
PRUBIN=rt-preempt/pru_generic.bin
[EMC]
# Name of machine, for use with display, etc.
MACHINE = KONFIG-TEST_6Achsen
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x00000003
#DEBUG = 0x00000007
#DEBUG = 0xffffffff
DEBUG = 0
[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
# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.100
[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE = 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
HALFILE = base_bbb_2018.hal
HALFILE = axis_xy.hal
HALFILE = axis_z.hal
HALFILE = axis_a.hal
HALFILE = axis_b.hal
HALFILE = axis_c.hal
HALFILE = spindle_stepgen.hal
HALFILE = relay_floodV2.hal
HALFILE = relay_mistV2.hal
HALFILE = limit_probe.hal
HALFILE = buzzer.hal
HALFILE = pinconfig_bbb_standard_Unimat_EstopV2.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta
#POSTGUI_HALFILE = BeBoPr.postgui.hal
#HALUI = halui
[TRAJ]
ARC_BLEND_ENABLE = 1
ARC_BLEND_FALLBACK_ENABLE = 0
ARC_BLEND_OPTIMIZATION_DEPTH = 50
ARC_BLEND_GAP_CYCLES = 4
ARC_BLEND_RAMP_FREQ = 20
AXES = 6
COORDINATES = X Y Z A B C
MAX_ANGULAR_VELOCITY = 45.00
DEFAULT_ANGULAR_VELOCITY = 4.50
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 2.00
MAX_LINEAR_VELOCITY = 50.00
MAX_ACCELERATION = 20.00
[AXIS_0] #Laengsschlitten
#
# 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 = 5.0
MAX_ACCELERATION = 20.0
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 6.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = 1600
MIN_LIMIT = -145.0
MAX_LIMIT = 145.0
FERROR = 0.75
MIN_FERROR = 0.5
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
#HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
[AXIS_1] #Querschlitten
TYPE = LINEAR
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 20.0
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 6.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = -3200.0
MIN_LIMIT = -52.0
MAX_LIMIT = 52.0
FERROR = 0.5
MIN_FERROR = 0.5
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
#HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
[AXIS_2] #Laengsschlitten
TYPE = LINEAR
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 20.0
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 6.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = 1600.00
MIN_LIMIT = -145.0
MAX_LIMIT = 145.0
FERROR = 0.5
MIN_FERROR = 0.5
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
[AXIS_3] #Querschlitten
TYPE = LINEAR
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 20.0
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 6.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = -3200.0
MIN_LIMIT = -52.0
MAX_LIMIT = 52.0
FERROR = 0.5
MIN_FERROR = 0.5
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
#HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
[AXIS_4] #Laengsschlitten
TYPE = LINEAR
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 20.0
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 6.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = 1600
MIN_LIMIT = -145.0
MAX_LIMIT = 145.0
FERROR = 0.75
MIN_FERROR = 0.5
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
#HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
[AXIS_5] #Querschlitten
TYPE = LINEAR
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 20.0
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL = 6.0
STEPGEN_MAX_ACC = 22.0
STEPGEN_MIN_VEL = 0.001
BACKLASH = 0.000
SCALE = -3200.0
MIN_LIMIT = -52.0
MAX_LIMIT = 52.0
FERROR = 0.5
MIN_FERROR = 0.5
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
#HOME_SEQUENCE = 0
# these are in nanoseconds
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 1000
STEPSPACE = 1000
[SPINDLE]
SCALE = 0.18
STEPGEN_MAX_VEL = 3200
STEPGEN_MAX_ACC = 1000
STEPGEN_MIN_VEL = 0.001
STEPLEN = 15000
STEPSPACE = 1
[EMCIO]
# Name of IO controller program, e.g., io
EMCIO = io
# cycle time, in seconds
CYCLE_TIME = 0.100
# tool table file
TOOL_TABLE = milling_stepper.tbl
[DISPLAY]
# Name of display program is specified by run.py
EDITOR = leafpad
# Touchy currently won't work without some hardware buttons/jog-wheel
#DISPLAY = touchy
# 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 = 10.0
# Prefix to be used
PROGRAM_PREFIX = ~/nc_files/
OPEN_FILE = /home/machinekit/nc_files/examples/Uni-Fraes-4/exerc3-BuildingBrick_Uni-fraes4-1.ngc
# Increments for the JOG section
INCREMENTS = 10 1 0.1 0.01
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 7