# A2 Gantry PYVCP .ini Configuration Date: 021212 # See: #http://www.linuxcnc.org//docview/html/config_ini_config.html [EMC] MACHINE = a2gantry DEBUG = 0 # *** Enable Adaptive Feedrate for THC # Used to pause execution of gcode for setup, # pierce delay and manual verification of pierce height # Set spindle speed to 1 # Set up to use metric mm RS274NGC_STARTUP_CODE = M52 P1 G20 S1 [DISPLAY] DISPLAY = axis POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL MAX_FEED_OVERRIDE = 2.000000 MAX_SPINDLE_OVERRIDE = 1.000000 MIN_SPINDLE_OVERRIDE = 0.500000 INTRO_GRAPHIC = emc2.gif INTRO_TIME = 0.01 PROGRAM_PREFIX = /home/a2ms/linuxcnc/nc_files PYVCP = custom_pyvcp.xml INCREMENTS = .1 .05 .01 .005 .001 .0005 .0001 POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL DEFAULT_LINEAR_VELOCITY = 1.0 MAX_LINEAR_VELOCITY = 72 MIN_LINEAR_VELOCITY = 0.010000 EDITOR = gedit GEOMETRY = xyz [FILTER] PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image PROGRAM_EXTENSION = .py Python Script png = image-to-gcode gif = image-to-gcode jpg = image-to-gcode py = python [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] #- File containing interpreter variables # PARAMETER_FILE = emc.var # *** PARAMETER_FILE = plasma.var [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 SERVO_PERIOD = 1000000 [HAL] HALUI = halui HALFILE = a2gantry-pyvcp.hal HALFILE = custom.hal HALFILE = A2THC.hal POSTGUI_HALFILE = custom_postgui_pyvcp.hal [HALUI] MDI_COMMAND = G53 G0 X0 Y0 Z0 [TRAJ] AXES = 3 COORDINATES = X Y Z HOME = 0 0 0 LINEAR_UNITS = inch ANGULAR_UNITS = degree CYCLE_TIME = 0.010 #These affect jogging acceleration and not MDI acceleration (see EMC2 Doc Basic Configuration) DEFAULT_VELOCITY = 1.00 DEFAULT_ACCELERATION = 85 #These affect MDI and joint acceleration and not jogging in World mode acceleration MAX_VELOCITY = 41.6666666667 MAX_ACCELERATION = 150 [EMCIO] EMCIO = io CYCLE_TIME = 0.100 #- *** Tool table file, torches and consumables #TOOL_TABLE = tool.tbl TOOL_TABLE = torches.tbl #******************** # Axis X #******************** [AXIS_0] NAME = X TYPE = LINEAR HOME = 0.0 HOME_SEQUENCE = 0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_FINAL_VEL = 0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = NO HOME_OFFSET = 0 VOLATILE_HOME = 1 FERROR = 0.5 MIN_FERROR = 4 #Mesa 7i43 Stepgen Maxes MMAX_VELOCITY = 39 MMAX_ACCELERATION = 450 #EMC MOTMOD Maxes MAX_VELOCITY = 20.8 MAX_ACCELERATION = 125 #Encoder/PID P=15 I=0.000 D=0 FF0=0.0 FF1=1 FF2=0.00105 BIAS=0.0 DEADBAND=0.0001 MAX_OUTPUT=0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 200 STEPSPACE = 200 # 10:1 in Granite Drive SCALE = -63661.975 INPUT_SCALE = 6366.1975 # MIN_LIMIT = -0.01 MAX_LIMIT = 49.0 HOME_OFFSET = 0.0 #******************** # Axis Y (Y1) (left side Y joint) #******************** [AXIS_1] NAME = Y1 TYPE = LINEAR HOME = 0.00 HOME_SEQUENCE = 0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_FINAL_VEL = 1 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES VOLATILE_HOME = 1 # FERROR = 4 MIN_FERROR = 4 #Mesa 7i43 Stepgen Maxes MMAX_VELOCITY = 39 MMAX_ACCELERATION = 450 #EMC MOTMOD Maxes MAX_VELOCITY = 20.8 MAX_ACCELERATION = 125 #Encoder/PID P=15 I=0.000 D=0 FF0=0.0 FF1=1 FF2=0.00105 BIAS=0.0 DEADBAND=0.0001 MAX_OUTPUT=0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 200 STEPSPACE = 200 # 10:1 in Granite Drive # Pay attention to sign in relation to Y2 joint (so they move in the same direction) SCALE = -63661.975 INPUT_SCALE = -6366.1975 # MIN_LIMIT = -0.02 MAX_LIMIT = 53.0 HOME_OFFSET = 0.0 #******************** # Axis Z #******************** [AXIS_2] NAME = Z TYPE = LINEAR # FERROR = 0.5 # *** This is done so Z axis can be operated with a HAL closed loop (plasma THC) # ????? Do we still need to do this? MIN_FERROR = 91.00 #Mesa 7i43 Stepgen Maxes MMAX_VELOCITY = 10 MMAX_ACCELERATION = 150 #EMC MOTMOD Maxes MAX_VELOCITY = 8.3333333 MAX_ACCELERATION = 80 #Encoder/PID P=3.0 I=0.0 D=0.0 FF0=0.0 FF1=1.0 FF2=0.0 BIAS=0.0 DEADBAND=0.0 MAX_OUTPUT=0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 3500 STEPSPACE = 500 SCALE = -20000 INPUT_SCALE = 20000 # MIN_LIMIT = -9.25 MAX_LIMIT = 0.01 # HOME_SEQUENCE = 0 HOME_IGNORE_LIMITS = YES HOME_SEARCH_VEL = 1 HOME_LATCH_VEL = -1 HOME_FINAL_VEL = 1 HOME_USE_INDEX = YES HOME_OFFSET = 0.1 HOME = 0 VOLATILE_HOME = 1 #******************** # Axis Y2 (right side Y joint) #******************** [AXIS_3] NAME = Y2 TYPE = LINEAR # HOME = 0.0 HOME_SEQUENCE = 0 HOME_OFFSET = 0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_FINAL_VEL = 0 HOME_USE_INDEX = NO HOME_IGNORE_LIMITS = YES VOLATILE_HOME = 1 # #Amount to move Y2 (right side Y joint) after homing in order to remove racking: ANTI_RACK_POSITION_OFFSET = 0.345 # FERROR = 4 MIN_FERROR = 4 #Mesa 7i43 Stepgen Maxes MMAX_VELOCITY = 39 MMAX_ACCELERATION = 450 #EMC MOTMOD Maxes MAX_VELOCITY = 20.8 MAX_ACCELERATION = 125 #Encoder/PID P=15 I=0.000 D=0 FF0=0.0 FF1=1 FF2=0.00105 BIAS=0.0 DEADBAND=0.0001 MAX_OUTPUT=0 # these are in nanoseconds DIRSETUP = 200 DIRHOLD = 200 STEPLEN = 200 STEPSPACE = 200 # 10:1 in Granite Drive SCALE = 63661.975 INPUT_SCALE = 6366.1975 # MIN_LIMIT = -0.02 MAX_LIMIT = 53.0 HOME_OFFSET = 0.0 #******************** # Spindle #******************** [SPINDLE_9] MAX_VELOCITY = 1.67 MAX_ACCELERATION = 2.0 OUTPUT_SCALE = 1.0 OUTPUT_OFFSET = 0.0 MAX_OUTPUT = 10.0 SCALE = 1000.0 #******************** # Charge Pump #******************** [CHARGEPUMP_0] OUTPUT_SCALE = 100 VALUE = 50 [PLASMA] # Position of travel before material height is probed SAFE_Z_IN_MACHINE_COORDS = -0.1 # Velocity limits when in various THC states VEL_LIMIT_RUN = 8.33 VEL_LIMIT_SAFEZ = 8.33 VEL_LIMIT_TRAVEL_HEIGHT = 8.33 VEL_LIMIT_PROBE_DOWN = .833 VEL_LIMIT_CLEAR_SWITCH = .833 VEL_LIMIT_PIERCE_HEIGHT = .833 VEL_LIMIT_THC_ACTIVE = .1 VEL_LIMIT_HOLD = .2 # Max Acceleration for All THC Modes ACC_LIMIT = 80 # min velocity - below this speed, the axis is considered to be in position (not moving). Used to determine when it is ok to change states. VEL_HYST = 0.03 #- *** Ignition fault timeout, the allowed time from TorchON until ArcOK, in seconds IGNITION_TIMEOUT = 3 #- *** ArcOK timeout, a filter, for a signal to be valid it needs to exceed the specified time period, in seconds ARC_OK_FILTER_TIME = 0.2 #- *** Ignition Retries before abort, the number of attempts to re-probe and start the torch before estop MAX_FAILED_IGNITIONS = 5 #- *** Extinguish Timeout, a grace period after loosing ArcOK before shutting off the torch and re-probing, in seconds EXTINGUISH_TIMEOUT = 0.2