[Home]History of IniFile

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Revision 6 . . (edit) January 7, 2011 8:48 pm by Jmelson [correct formatting]
Revision 5 . . October 6, 2007 10:17 pm by 75-130-8-59.static.stls.mo.charter.com [update for EMC2]
Revision 4 . . January 9, 2006 9:19 pm by h-69-3-230-106.chcgilgm.covad.net [comment about OUTPUT_SCALE]
  

Difference (from prior major revision) (minor diff, author diff)

Changed: 4c4
TASK = bridgeporttask

TASK = milltask


Changed: 9,22c9,43
EMCMOT = univpwmmod

this is the real-time kernel module that handles all motion control and digital I/O between EMC and
the UPC board.

Unless you are using a PCI plug-in parallel port card, you should probably
have this :

IO_BASE_ADDRESS = 0x378

Which specifies the standard parallel port address for communication with the
UPC board.

Period should be commented out like this :

; PERIOD = 0.000016

The ";" prevents this setting from taking effect. The PERIOD interrupt
is used for some software step generation programs, but has no use here.
EMCMOT = motmod

this is the real-time kernel module that handles all motion control.
# Base task period, in nanoseconds - this is the fastest thread in the machine
BASE_PERIOD = 1000000
Unless you have need for a faster running thread for other purposes, running the base
period the same as the servo period reduces CPU overhead.

# Servo task period, in nanoseconds - will be rounded to an integer multiple
# of BASE_PERIOD
SERVO_PERIOD = 1000000
The above is in ns units, and is equivalent to 1000 servo updates a second.

In the [HAL] section, you need to specify

The standard hal files for PWM are :

HALFILE = univpwm_load.hal

HALFILE = univpwm_servo.hal

HALFILE = univpwm_motion.hal

HALFILE = univpwm_io.hal


The traj section sets parameters for all axes and the trajectory planner.

[TRAJ]

AXES = 4

# COORDINATES = X Y Z R P W

COORDINATES = X Y Z A

HOME = 0 0 0 0

LINEAR_UNITS = mm

ANGULAR_UNITS = degree

CYCLE_TIME = 0.010

DEFAULT_VELOCITY = 5.0

MAX_VELOCITY = 28.0

DEFAULT_ACCELERATION = 40.0

MAX_ACCELERATION = 60.0

The velocity units are in user units/second, so the above MAX_VELOCITY is 28 mm/second, the DEFAULT_ACCELERATION
is in user units/second -squared, or 40 mm/sec/sec.


Removed: 28,29d48
UNITS = the size of a "user unit". If you want user units to be inches, make this
0.0393700787 (one mm expressed in inches); for mm use 1.0

Changed: 33c52,54
P = 1000 to start with, this is the main servo gain

MAX_ACCELERATION = user_units per SECOND squared (not minute)


P = 100 to start with, this is the main servo gain


Changed: 35c56
I = 5.0 an integral term to improve accuracy over a period of time

I = 1.0 an integral term to improve accuracy over a period of time


Changed: 37c58
D = 50.0 a differential term that damps the system response

D = 1.0 a differential term that damps the system response


Changed: 43c64
FF2 = 0.25 an acceleration feedforward, helps reduce foll. error when accelerating

FF2 = 0.025 an acceleration feedforward, helps reduce foll. error when accelerating


Changed: 45c66
BACKLASH = 0.0 you really don't want to use this, anyway

BACKLASH = 0.0 compensates for machine backlash


Changed: 49,51c70
CYCLE_TIME = 0.001 this is the servo update cycle, in seconds, set to 1 KHz here


INPUT_SCALE = the number of encoder counts per user_unit. If the position display moves the wrong way when you manually move the motor, make the sign negative. (Follow with a 0)

INPUT_SCALE = the number of encoder counts per user_unit. If the position display moves the wrong way when you manually move the motor, make the sign negative.


Changed: 53c72
OUTPUT_SCALE = 1.0 0.0 This is an output gain setting, the sign reverses the motor direction. Leave the first parameter at either +1.0 or -1.0, otherwise it divides the possible output range by the value you enter!

OUTPUT_SCALE = 1.0 This is an output gain setting, the sign reverses the motor direction. Leave the parameter at either +1.0 or -1.0, otherwise it divides the possible output range by the value you enter!


Removed: 59,62d77
MIN_OUTPUT = -100.0 Needed to get full range on the PWM duty cycle.


MAX_OUTPUT = 100.0 Needed to get full range on the PWM duty cycle.



Changed: 70,73c85
HOME_OFFSET =0.0 the location of the system's home position from where the homne switch actually clicked.


SETUP_TIME = 50000 this parameter on the first axis [AXIS_0] sets the PWM frequency in Hz.
So, 50000 is 50 KHz, the correct frequency for the Pico System PWM servo amplifier. If using other PWM servo drives, get the correct PWM frequency from the manufacturer.

HOME_OFFSET =0.0 the location of the system's home position from where the home switch actually clicked.


Changed: 76,86c88
EMCIO = ppmcbridgeportio


ESTOP_SENSE_INDEX = 14

ESTOP_SENSE_POLARITY = 0


ESTOP_WRITE_INDEX = 7

ESTOP_WRITE_POLARITY = 0


You need to make sure none of the other xxx_WRITE_INDEX values are set to 7, as they must not
interfere with the ESTOP function.

EMCIO = io


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