Kod: Zaznacz cały

FERROR                  = 20.000000
MIN_FERROR              = 20.000000 

Kod: Zaznacz cały

BASE_PERIOD = 50000
SERVO_PERIOD = 500000

Kod: Zaznacz cały

HOME                    = 0 0 90 

Kod: Zaznacz cały

###########################################################


[EMC]
MACHINE =    Robot Scara Politechnika Opole
#VERSION =               $Revision$
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit 
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
#ARCDIVISION = 64
#GRIDS = 10mm 20mm 50mm 100mm

MAX_FEED_OVERRIDE = 2.0

PYVCP = scara.xml

DEFAULT_LINEAR_VELOCITY = 10
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 20
DEFAULT_ANGULAR_VELOCITY = 10
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 20
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/robot/linuxcnc/nc_files
INCREMENTS = 100mm 20mm 5mm 1mm 

[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 = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 50000
SERVO_PERIOD = 500000

[HAL]
HALFILE = ustawienia-scara.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[TRAJ]
AXES = 2
COORDINATES = X Y
HOME  = 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = deg

CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 10
MAX_VELOCITY = 160
MAX_LINEAR_VELOCITY = 200
DEFAUL_ACCELERATION = 11
MAX_ACCELERATION = 15

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_0]

TYPE = LINEAR
HOME = 63.2563
MAX_VELOCITY = 20			
# max predkość
MAX_ACCELERATION = 10		
STEPGEN_MAXACCEL = 12			
# powinno być około 120% maxa_ACCEL
SCALE = 17.77777777			
#SCALE = 8.88888888 dla 1/8 krok
FERROR = 10
MIN_FERROR = 10
MIN_LIMIT = -60.0
MAX_LIMIT = 150.0

HOME_OFFSET = -60.850000
HOME_SEARCH_VEL = -2.500000		
#Bazowanie w jednostkach maszyny, znak "-" to odwrotny kierunek bazowania
HOME_LATCH_VEL = 1.500000
HOME_SEQUENCE = 0 			
#BAZOWANIE OSI JAKO PIERWSZA NUMER 0
HOME_IGNORE_LIMITS = YES

[AXIS_1]

TYPE = LINEAR
HOME = -126.5126				
# Wartosc pozycji w ktorej ma ustawic sie os po wykonaniu bazowania
MAX_VELOCITY = 20
MAX_ACCELERATION = 10
STEPGEN_MAXACCEL = 12
SCALE = 17.77777777			
#SCALE = 8.88888888 dla 1/8 krok
FERROR = 10
MIN_FERROR = 10
MIN_LIMIT = -130.0
MAX_LIMIT = 130.0
HOME_OFFSET = -129.000000
# POZYCJA KRANCOBKI BAZUJACEJ WZGLEDEM PUNKTU 0.000mm
HOME_SEARCH_VEL = -2.500000		
#Bazowanie osi predkosc w jednostkach znak "-" to odwrotny kierunek
HOME_LATCH_VEL = 1.500000		
# Predkosc ponownego najazdu na krancowke 
HOME_SEQUENCE = 0 			
# BAZOWANIE OSI JAKO DRUGA NUMER 1, TRZECIA OS NUMER 2
HOME_IGNORE_LIMITS = YES

#[AXIS_2]
#TYPE = LINEAR
#HOME = 0.0
#MAX_VELOCITY = 3
#MAX_ACCELERATION = 33.0
#STEPGEN_MAXACCEL = 25.0
#SCALE = 2.0
#FERROR = 10
#MIN_FERROR = 10
#MIN_LIMIT = -150.0
#MAX_LIMIT = 100
#HOME_OFFSET = 0.0