Kod: Zaznacz cały
# Jeśli zmodyfikujesz ten plik zmainy zostaną
# nadpisane gdy uruchomisz ponownie Stepconf
[EMC]
MACHINE = DeltaR
DEBUG = 0
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/syntetyczny/emc2/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
[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]
PARAMETER_FILE = emc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000
[HAL]
HALFILE = DeltaR.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
###############################################################################
[TRAJ]
AXES = 3
COORDINATES = X Y Z
HOME = 0 0 90
LINEAR_UNITS = mm
ANGULAR_UNITS = deg
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 5.0
MAX_LINEAR_VELOCITY = 80.0
DEFAULT_ACCELERATION = 50.0
MAX_ACCELERATION = 100.0
###############################################################################
# Axes sections
###############################################################################
#+ First axis
[AXIS_0]
TYPE = ANGULAR
HOME = 0.000
MAX_VELOCITY = 80.0
MAX_ACCELERATION = 100.0
STEPGEN_MAXACCEL = 120.0
SCALE = 8.889
FERROR = 20.0
MIN_FERROR = 5
HOME_OFFSET = 0.000
MIN_LIMIT = -360.0
MAX_LIMIT = 360.0
HOME_SEQUENCE = 0
#+ Second axis
[AXIS_1]
TYPE = ANGULAR
HOME = 0.000
MAX_VELOCITY = 80.0
MAX_ACCELERATION = 100.0
STEPGEN_MAXACCEL = 120.0
SCALE = 8.889
FERROR = 20.0
MIN_FERROR = 5
HOME_OFFSET = 0.000
MIN_LIMIT = -360.0
MAX_LIMIT = 360.0
HOME_SEQUENCE = 0
#+ Third axis
[AXIS_2]
TYPE = ANGULAR
HOME = 0.000
MAX_VELOCITY = 80.0
MAX_ACCELERATION = 100.0
STEPGEN_MAXACCEL = 120.0
SCALE = 8.889
FERROR = 20.0
MIN_FERROR = 5
HOME_OFFSET = 0.000
MIN_LIMIT = -360.0
MAX_LIMIT = 360.0
HOME_SEQUENCE = 0
Kod: Zaznacz cały
# Wygenerowane przez Stepconf o Sun Oct 28 10:48:47 2012
# Jeśli zmodyfikujesz ten plik zmainy zostaną
# nadpisane gdy uruchomisz ponownie Stepconf
loadrt deltakins
#e
setp deltakins.e 86.6
#f
setp deltakins.f 485
#re
setp deltakins.re 640
#rf
setp deltakins.rf 422
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
#cos nowego:
#loadrt ddt count=12
#loadrt probe_parport
loadrt hal_parport cfg="0x378 out "
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0,0
# wartość bezwględna???
#loadrt abs count = 1
loadrt pwmgen output_type=0
addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread
###cos od serva
#addf abs.0 servo-thread
net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value
net spindle-enable <= motion.spindle-on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 100.0
setp pwmgen.0.scale 1166.66666667
setp pwmgen.0.offset 0.114285714286
setp pwmgen.0.dither-pwm true
net spindle-cw <= motion.spindle-forward
net estop-out => parport.0.pin-01-out
net xstep => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
net xdir => parport.0.pin-03-out
net ystep => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
net ydir => parport.0.pin-05-out
net zstep => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
net zdir => parport.0.pin-07-out
net astep => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
net adir => parport.0.pin-09-out
net spindle-cw => parport.0.pin-14-out
net spindle-pwm => parport.0.pin-16-out
net xenable => parport.0.pin-17-out
setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable
setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable
setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
# tratatata delta w krata
#vismach GUI stuff
#loadusr -W hexagui
#loadusr -W halui -ini puma.ini
#net j0 axis.0.joint-pos-fb hexagui.joint.0
#net j1 axis.1.joint-pos-fb hexagui.joint.1
#net j2 axis.2.joint-pos-fb hexagui.joint.2
#net x-fb halui.axis.0.pos-feedback hexagui.axis.0
#net y-fb halui.axis.1.pos-feedback hexagui.axis.1
#net z-fb halui.axis.2.pos-feedback hexagui.axis.2
#loadrt scale count=6