boss.ini
1 # EMC controller parameters for generic controller. Make these what you need 2 # for your system. 3 # General note: Comments can either be preceded with a # or ; - either is 4 # acceptable, although # is in keeping with most linux config files. 5 # General section ------------------------------------------------------------- 6 7 [EMC] 8 # Version of this INI file 9 VERSION = 1.1 10 # Name of machine, for use with display, etc. 11 MACHINE = LinuxCNC-BP-BOSS6 12 # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others 13 #DEBUG = 0x00000003 14 #DEBUG = 0x00000007 15 DEBUG = 0 16 # Sections for display options ------------------------------------------------ 17 18 [DISPLAY] 19 # Name of display program, e.g., tklinuxcnc 20 DISPLAY = tklinuxcnc 21 #DISPLAY = axis 22 # Cycle time, in seconds, that display will sleep between polls 23 CYCLE_TIME = 0.0500 24 # Path to help file 25 HELP_FILE = tklinuxcnc.txt 26 # Initial display setting for position, RELATIVE or MACHINE 27 POSITION_OFFSET = RELATIVE 28 # Initial display setting for position, COMMANDED or ACTUAL 29 POSITION_FEEDBACK = ACTUAL 30 # Highest value that will be allowed for feed override, 1.0 = 100% 31 MAX_FEED_OVERRIDE = 1.5 32 # Prefix to be used 33 PROGRAM_PREFIX = ../../nc_files/ 34 # Introductory graphic 35 INTRO_GRAPHIC = linuxcnc.gif 36 INTRO_TIME = 5 37 # Task controller section ----------------------------------------------------- 38 39 [FILTER] 40 #No Content 41 42 [RS274NGC] 43 # File containing interpreter variables 44 PARAMETER_FILE = boss.var 45 # Enable adaptive feed input, we use it to limit rapid/feed when 46 # limits are being overriden. 47 RS274NGC_STARTUP_CODE = M52 P1 48 # Motion control section ------------------------------------------------------ 49 50 [EMCMOT] 51 EMCMOT = motmod 52 # Timeout for comm to emcmot, in seconds 53 COMM_TIMEOUT = 1.0 54 # Servo task period, in nanoseconds 55 SERVO_PERIOD = 200000 56 # Hardware Abstraction Layer section -------------------------------------------------- 57 58 [TASK] 59 # Name of task controller program, e.g., milltask 60 TASK = milltask 61 # Cycle time, in seconds, that task controller will sleep between polls 62 CYCLE_TIME = 0.010 63 # Part program interpreter section -------------------------------------------- 64 65 [HAL] 66 # HALUI to interact with NML. 67 # Run before any other HALFILE. 68 HALUI = halui 69 # The run script first uses halcmd to execute any HALFILE 70 # files, and then to execute any individual HALCMD commands. 71 # list of hal config files to run through halcmd 72 # files are executed in the order in which they appear 73 HALFILE = boss.hal 74 # list of halcmd commands to execute 75 # commands are executed in the order in which they appear 76 #HALCMD = save neta 77 # Trajectory planner section -------------------------------------------------- 78 79 [HALUI] 80 #No Content 81 82 [TRAJ] 83 COORDINATES = X Y Z A 84 HOME = 0 0 0 0 85 LINEAR_UNITS = inch 86 ANGULAR_UNITS = degree 87 # 2000 rpm, 2:1 reduction, 5 tpi = 200 ipm = 3.33333333333333 ips. 88 MAX_LINEAR_VELOCITY = 2.5 89 DEFAULT_LINEAR_VELOCITY = 0.1 90 # 3000 lbs continuous force. Use 1% = 30 lbs for accel. With 600 lbs load 91 # that's 0.05g * 9.8 mpss * 39.37 i/m = 19.29 ipss. Motor peak torque 92 # is 3x continuous. 93 MAX_LINEAR_ACCELERATION = 15.0 94 DEFAULT_LINEAR_ACCELERATION = 15.0 95 # Axes sections --------------------------------------------------------------- 96 # First axis 97 98 [EMCIO] 99 # Name of IO controller program, e.g., io 100 EMCIO = io 101 # cycle time, in seconds 102 CYCLE_TIME = 0.100 103 # tool table file 104 TOOL_TABLE = boss.tbl 105 TOOL_CHANGE_POSITION -18.0 -12.0 0.0 106 107 [KINS] 108 KINEMATICS = trivkins 109 JOINTS = 4 110 111 [AXIS_X] 112 MIN_LIMIT = 0.0 113 MAX_LIMIT = 18.0 114 MAX_VELOCITY = 2.0 115 MAX_ACCELERATION = 10.0 116 117 [JOINT_0] 118 TYPE = LINEAR 119 HOME = 0.0 120 MAX_VELOCITY = 2.0 121 MAX_ACCELERATION = 10.0 122 BACKLASH = 0.0 123 INPUT_SCALE = 100000 124 OUTPUT_SCALE = 3.0 125 OUTPUT_OFFSET = 0.0 126 MIN_LIMIT = 0.0 127 MAX_LIMIT = 18.0 128 FERROR = 0.005 129 MIN_FERROR = 0.001 130 HOME_OFFSET = 0.05 131 HOME_SEARCH_VEL = -0.5 132 HOME_LATCH_VEL = 0.01 133 HOME_USE_INDEX = YES 134 HOME_IGNORE_LIMITS = YES 135 HOME_SEQUENCE = 1 136 # PID tuning params 137 MAX_OUTPUT = 3.333333 138 DEADBAND = 0.000015 139 P = 60.0 140 I = 1250.0 141 D = 0.0 142 MAX_ERROR_I = 0.0 143 FF0 = 0.0 144 FF1 = 1.0 145 FF2 = 0.0 146 BIAS = 0.0 147 # Second axis 148 149 [AXIS_Y] 150 MIN_LIMIT = 0.0 151 MAX_LIMIT = 12.0 152 MAX_VELOCITY = 2.0 153 MAX_ACCELERATION = 10.0 154 155 [JOINT_1] 156 TYPE = LINEAR 157 HOME = 0.0 158 MAX_VELOCITY = 2.0 159 MAX_ACCELERATION = 10.0 160 BACKLASH = 0.0 161 INPUT_SCALE = 100000 162 OUTPUT_SCALE = 3.0 163 OUTPUT_OFFSET = 0.0 164 MIN_LIMIT = 0.0 165 MAX_LIMIT = 12.0 166 FERROR = 0.005 167 MIN_FERROR = 0.001 168 HOME_OFFSET = 0.0 169 HOME_SEARCH_VEL = -0.4 170 HOME_LATCH_VEL = 0.01 171 HOME_USE_INDEX = YES 172 HOME_IGNORE_LIMITS = YES 173 HOME_SEQUENCE = 1 174 # PID tuning params 175 MAX_OUTPUT = 3.333333 176 DEADBAND = 0.000015 177 P = 60.0 178 I = 1250.0 179 D = 0.0 180 MAX_ERROR_I = 0.0 181 FF0 = 0.0 182 FF1 = 1.0 183 FF2 = 0.0 184 BIAS = 0.0 185 # Third axis 186 187 [AXIS_Z] 188 MIN_LIMIT = -4.75 189 MAX_LIMIT = 0.0 190 MAX_VELOCITY = 2.0 191 MAX_ACCELERATION = 10.0 192 193 [JOINT_2] 194 TYPE = LINEAR 195 HOME = 0.0 196 MAX_VELOCITY = 2.0 197 MAX_ACCELERATION = 10.0 198 BACKLASH = 0.0 199 INPUT_SCALE = -100000 200 OUTPUT_SCALE = -3.0 201 OUTPUT_OFFSET = 0.0 202 MIN_LIMIT = -4.75 203 MAX_LIMIT = 0.0 204 FERROR = 0.005 205 MIN_FERROR = 0.001 206 HOME_OFFSET = -0.225 207 HOME_SEARCH_VEL = 0.1 208 HOME_LATCH_VEL = -0.01 209 HOME_USE_INDEX = NO 210 HOME_IGNORE_LIMITS = NO 211 HOME_SEQUENCE = 0 212 # PID tuning params 213 MAX_OUTPUT = 3.333333 214 DEADBAND = 0.000015 215 P = 60.0 216 I = 1250.0 217 D = 0.0 218 MAX_ERROR_I = 0.0 219 FF0 = 0.0 220 FF1 = 1.0 221 FF2 = 0.0 222 BIAS = 0.0 223 # Fourth axis 224 225 [AXIS_A] 226 MIN_LIMIT = 0.0 227 MAX_LIMIT = 0.0 228 MAX_VELOCITY = 2.0 229 MAX_ACCELERATION = 10.0 230 231 [JOINT_3] 232 TYPE = ANGULAR 233 HOME = 0.0 234 MAX_VELOCITY = 2.0 235 MAX_ACCELERATION = 10.0 236 BACKLASH = 0.0 237 INPUT_SCALE = 100000 238 OUTPUT_SCALE = 3.0 239 OUTPUT_OFFSET = 0.0 240 MIN_LIMIT = 0.0 241 MAX_LIMIT = 0.0 242 FERROR = 0.005 243 MIN_FERROR = 0.001 244 HOME_OFFSET = 0.0 245 HOME_SEARCH_VEL = 0.0 246 HOME_LATCH_VEL = -0.01 247 HOME_USE_INDEX = YES 248 HOME_IGNORE_LIMITS = YES 249 HOME_SEQUENCE = -1 250 # PID tuning params 251 MAX_OUTPUT = 3.333333 252 DEADBAND = 0.000015 253 P = 60.0 254 I = 1250.0 255 D = 0.0 256 MAX_ERROR_I = 0.0 257 FF0 = 0.0 258 FF1 = 1.0 259 FF2 = 0.0 260 BIAS = 0.0 261 # section for main IO controller parameters -----------------------------------