[PRUCONF] DRIVER=hal_pru_generic CONFIG=pru=0 num_stepgens=5 num_pwmgens=6 PRUBIN=xenomai/pru_generic.bin [EMC] # Name of machine, for use with display, etc. MACHINE = MendelMax-CRAMPS # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others #DEBUG = 0x00000003 #DEBUG = 0x00000007 DEBUG = 0x7ffffff [DISPLAY] # Name of display program, e.g., tkemc #DISPLAY = tkemc #DISPLAY = gscreen DISPLAY = mkwrapper -d #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 = 0.200 # 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 = 1.5 # 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 PYVCP = 3D.Temps.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 # 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 default 1000000 SERVO_PERIOD = 400000 [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 = CRAMPS.hal # list of halcmd commands to execute # commands are executed in the order in which they appear #HALCMD = save neta POSTGUI_HALFILE = 3D.postgui.hal [TRAJ] AXES = 5 COORDINATES = X Y Z A B MAX_ANGULAR_VELOCITY = 220.00 DEFAULT_ANGULAR_VELOCITY = 100.00 LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 MAX_LINEAR_VELOCITY = 200.00 DEFAULT_VELOCITY = 50.00 [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 = 40.0 MAX_ACCELERATION = 20.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 45.0 STEPGEN_MAX_ACC = 22.0 BACKLASH = 0.000 # scale is 1600 steps/rev * (1/8) revs/mm = 200 # scale is 800 steps/rev * (1/8) revs/mm = 100 SCALE = 200 MIN_LIMIT = -200.0 MAX_LIMIT = 200.0 #FERROR = 20.0 #MIN_FERROR = 5.00 FERROR = 1 MIN_FERROR = 0.25 HOME = 0.000 HOME_OFFSET = 0.00 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_SEQUENCE = 0 # Set to zero if you don't have physical home/limit switches # Set to the desired homing and latch velocity if you have switches # See: https://github.com/machinekit/machinekit-docs HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 # these are in nanoseconds DIRSETUP = 2000 DIRHOLD = 2000 STEPLEN = 10000 STEPSPACE = 10000 [AXIS_1] TYPE = LINEAR MAX_VELOCITY = 40.0 MAX_ACCELERATION = 200.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 45.0 STEPGEN_MAX_ACC = 220.0 BACKLASH = 0.000 # module3 # 15teeth # DK=51MM # 400 STEPS = PI*D = 3.14*51MM= 160.14MM # 1600 steps = PI*D = 3.141593*45 = 141.3716694115MM # SCALE = 1600/141.37166941*4 = 45.27074 # SCALE = 400/160.14*4 (GEARBOX) = 19.9825152991 #22.707403749 SCALE = 45.2707395001 #SCALE = 19.9825152991 #5657 MIN_LIMIT = -2828.0 MAX_LIMIT = 2828.0 FERROR = 1 MIN_FERROR = 0.25 HOME = 0.000 HOME_OFFSET = 0.00 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_SEQUENCE = 0 # Set to zero if you don't have physical home/limit switches # Set to the desired homing and latch velocity if you have switches # See: https://github.com/machinekit/machinekit-docs HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 # these are in nanoseconds DIRSETUP = 2000 DIRHOLD = 2000 STEPLEN = 10000 STEPSPACE = 10000 [AXIS_2] TYPE = LINEAR MAX_VELOCITY = 40.0 MAX_ACCELERATION = 200.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 45.0 STEPGEN_MAX_ACC = 220.0 BACKLASH = 0.000 # scale is 1600 steps/rev * (1/8) revs/mm = 200 # scale is 800 steps/rev * (1/8) revs/mm = 100 SCALE = -100 MIN_LIMIT = -200.0 MAX_LIMIT = 200.0 FERROR = 1 MIN_FERROR = 0.25 HOME = 0.000 HOME_OFFSET = 0.00 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_SEQUENCE = 0 # Set to zero if you don't have physical home/limit switches # Set to the desired homing and latch velocity if you have switches # See: https://github.com/machinekit/machinekit-docs HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 # these are in nanoseconds DIRSETUP = 2000 DIRHOLD = 2000 STEPLEN = 10000 STEPSPACE = 10000 [AXIS_3] TYPE = ANGULAR MAX_VELOCITY = 200.0 MAX_ACCELERATION = 110.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 220.0 STEPGEN_MAX_ACC = 100.0 BACKLASH = 0.000 #SCALE = -744.530002058 # 8 = gear ratio # 1600 (pulses/rev) / (360 deg/8ratio) = 35.5 SCALE = 35.555555556 #SCALE = -732.32 MIN_LIMIT = -9999.0 MAX_LIMIT = 999999999.0 FERROR = 1 MIN_FERROR = 0.25 HOME = 0.000 HOME_OFFSET = 0.00 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_SEQUENCE = 0 # Set to zero if you don't have physical home/limit switches # Set to the desired homing and latch velocity if you have switches # See: https://github.com/machinekit/machinekit-docs HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 # these are in nanoseconds #DIRSETUP = 1000 #DIRHOLD = 1000 #STEPLEN = 2000 #STEPSPACE = 2000 DIRSETUP = 2000 DIRHOLD = 2000 STEPLEN = 10000 STEPSPACE = 10000 [AXIS_4] TYPE = ANGULAR MAX_VELOCITY = 200.0 MAX_ACCELERATION = 110.0 # Set Stepgen max 20% higher than the axis STEPGEN_MAX_VEL = 220.0 STEPGEN_MAX_ACC = 100.0 BACKLASH = 0.000 #SCALE = -744.530002058 # 8 = gear ratio # 1600 (pulses/rev) / (360 deg/(395/40)) = 43.888888889 SCALE = 43.888888889 #SCALE = -732.32 MIN_LIMIT = -9999.0 MAX_LIMIT = 999999999.0 FERROR = 1 MIN_FERROR = 0.25 HOME = 0.000 HOME_OFFSET = 0.00 HOME_IGNORE_LIMITS = YES HOME_USE_INDEX = NO HOME_SEQUENCE = 0 # Set to zero if you don't have physical home/limit switches # Set to the desired homing and latch velocity if you have switches # See: https://github.com/machinekit/machinekit-docs HOME_SEARCH_VEL = 0.0 HOME_LATCH_VEL = 0.0 # these are in nanoseconds #DIRSETUP = 1000 #DIRHOLD = 1000 #STEPLEN = 2000 #STEPSPACE = 2000 DIRSETUP = 2000 DIRHOLD = 2000 STEPLEN = 10000 STEPSPACE = 10000 [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