FANDOM


# FOR NOVAKON PULSAR STEPPER


[EMC]

MACHINE = 1100-3

DEBUG = 0



[DISPLAY]

DISPLAY = tormach_mill_ui.py

POSITION_OFFSET = RELATIVE

POSITION_FEEDBACK = ACTUAL

MAX_FEED_OVERRIDE = 1.5

INTRO_GRAPHIC = tormach_mill_splash.gif

INTRO_TIME = 2

PROGRAM_PREFIX = ~/gcode/subroutines

INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in

DEFAULT_LINEAR_VELOCITY = 1.83

DEFAULT_ANGULAR_VELOCITY = 0.6

GEOMETRY = XYZ


[REDIS]

# IMPORTANT: redis-server has a bad side effect where if *any* arguments are provided

#            it clears the default save parameters and then *never* saves changes.

#            The default save parameters must be restored by including them as args.

#    appendServerSaveParams(60*60,1);  /* save after 1 hour and 1 change */

#    appendServerSaveParams(300,100);  /* save after 5 minutes and 100 changes */

#    appendServerSaveParams(60,10000); /* save after 1 minute and 10000 changes */

SERVER_ARGS = --dir ~/mill_data --dbfilename dump.rdb --save 3600 1 --save 300 100 --save 60 10000


[TASK]

TASK = milltask

CYCLE_TIME = 0.010


[RS274NGC]

PARAMETER_FILE = ~/mill_data/emc.var

RS274NGC_STARTUP_CODE = G8 G17 G20 G90

# set bit 2 to fetch ini file values in g-code, #<_ini[section]name>

FEATURES = 12

SUBROUTINE_PATH = ~/tmc/configs/tormach_mill/nc_subs:~/tmc/subroutines:~/gcode/subroutines

SINGLE_BLOCK_LOCAL_SUB = YES

SINGLE_BLOCK_EXTERNAL_SUB = NO


USER_M_PATH = nc_subs

DEBUG = 0



# REMAPPING

# for tool change commands

REMAP=M6 modalgroup=6 prolog=zbotatc_M6_prolog ngc=m400

REMAP=M7 modalgroup=8 argspec=p py=smart_cool_M7

REMAP=M8 modalgroup=8 argspec=p py=smart_cool_M8

REMAP=M9 modalgroup=8 py=smart_cool_M9 


# for various GUI functions

REMAP=M600 modalgroup=10 argspec=PQ ngc=m600


REMAP=g30 modalgroup=1   argspec=xyza py=g300

REMAP=m998 modalgroup=5 argspec=xyza py=m998

REMAP=g50 modalgroup=1                py=g500

REMAP=g84 modalgroup=1 argspec=rpxyza prolog=cycle_prolog epilog=cycle_epilog py=g840


[PYTHON]


TOPLEVEL= python/toplevel.py

PATH_PREPEND= python

LOG_LEVEL=0


[EMCMOT]

EMCMOT = motmod

COMM_TIMEOUT = 1.0

COMM_WAIT = 0.010

SERVO_PERIOD = 1000000


[HOSTMOT2]

# **** This is for info only ****

# DRIVER0=hm2_pci

# BOARD0=5i25

# BITFILE0 used by scripts - CHANGED to the NOVAKON.bit file for flashing the novakon BOB

BITFILE0=mesa/novakon.bit


[HAL]

HALUI = halui

HALFILE = novakon.hal    # default is - tormach_mill_5i25.hal

POSTGUI_SHUTTLEXPRESS_HALFILE = millshuttlexpress.hal

POSTGUI_HALFILE = postgui_tormach_mill.hal



[TRAJ]

AXES = 4

COORDINATES = X Y Z A

LINEAR_UNITS = inch

ANGULAR_UNITS = degree

DEFAULT_VELOCITY = 1.5

MAX_VELOCITY = 3.0

NO_FORCE_HOMING = 1

POSITION_FILE = ~/mill_data/position.txt

DEFAULT_TOLERANCE = 0.002

DEFAULT_NAIVECAM_TOLERANCE = 0.0


[EMCIO]

EMCIO = io

CYCLE_TIME = 0.100

TOOL_TABLE = ~/mill_data/tool.tbl




[SPINDLE]

LO_RANGE_MIN = 0

LO_RANGE_MAX = 4500

HI_RANGE_MIN = 0

HI_RANGE_MAX = 4500

MIN_MCB_FREQUENCY = 100.0     #500

MAX_MCB_FREQUENCY = 10900


# I added following lines for Novakon servo spindle

DIRSETUP = 1000

DIRHOLD = 1000

STEPLEN = 1000

STEPSPACE  = 1000

STEP_SCALE  = 166.66

MAX_VELOCITY  = 450

MAX_ACCELERATION = 500


# PID tuning params - I added this section

DEADBAND = 0

P = 500

I = 0

D = 0

FF0 = 0

FF1 = 1

FF2 = 0.00011

BIAS = 0

MAX_OUTPUT = 0

MAX_ERROR = 0.0005


# spindle acceleration to control motion.spindle-at-apeed

#

# seconds between spindle start command, contactor closure, and start of acceleration

STARTUP_DELAY = 0.5


# MCB input 5450 Hz -> VFD 60 Hz

# For 1100 S2/S3 VFD reads 140 Hz at max pulse stream from HAL of 10,000 pulses/sec

# At 1.5 sec/100 Hz that works out to 2.1 sec to reach 140 Hz - full speed

# Max speed 5140 RPM in high belt -> 2447.6 RPM/s^2

# Max speed 2000 RPM in low  belt ->  952.4 RPM/s^2

# So 2.1 seconds should be enough but in practice 4.5 seconds to 5140 RPM was observed

# For the hispeed spindle, 8.4 seconds total from VFD off to 24000 RPM was observed

SECONDS_TO_MAX_RPM = .5


[AXIS_0]

TYPE = LINEAR

HOME = 0.000


# 110 in/min

MAX_VELOCITY = 1.833

MAX_ACCELERATION = 5.0


# 20 % higher max-vel and 50% higher maxaccel for backlash comp

STEPGEN_MAX_VEL = 2.2

STEPGEN_MAXACCEL = 8.0


BACKLASH = 0.001


# jog shuttle ring speed

MAX_JOG_VELOCITY_UPS = 1.8333

MIN_JOG_VELOCITY_UPS = 0.008333


# nanoseconds

DIRSETUP =   8000

DIRHOLD =    8000

STEPLEN =    5000

STEPSPACE  = 5000


# PID tuning params

DEADBAND = 0

P = 50

I = 0

D = 0

FF0 = 0

FF1 = 1

FF2 = 0.00011

BIAS = 0

MAX_OUTPUT = 0

MAX_ERROR = 0.0005


SCALE = -10160.0

FERROR = 5.0

MIN_FERROR = 2.500

MIN_LIMIT = -0.01

MAX_LIMIT = 14.10000

HOME_OFFSET = -0.050

HOME_SEARCH_VEL = -1

HOME_LATCH_VEL = 0.050

HOME_IGNORE_LIMITS = YES

HOME_SEQUENCE = 2

HOME_IS_SHARED = 1



[AXIS_1]

TYPE = LINEAR

HOME = 0.000


# 110 in/min  - Note these values are Inches per Second - so x60 for IPM

MAX_VELOCITY = 1.833

MAX_ACCELERATION = 5.0


# 20 % higher

STEPGEN_MAX_VEL = 2.2

STEPGEN_MAXACCEL = 8.0


BACKLASH = 0.0005


# jog shuttle ring speed

MAX_JOG_VELOCITY_UPS = 1.8333

MIN_JOG_VELOCITY_UPS = 0.008333


# nanoseconds

DIRSETUP =   8000

DIRHOLD =    8000

STEPLEN =    5000

STEPSPACE  = 5000



# PID tuning params

DEADBAND = 0

P = 50

I = 0

D = 0

FF0 = 0

FF1 = 1

FF2 = 0.00011

BIAS = 0

MAX_OUTPUT = 0

MAX_ERROR = 0.0005


SCALE = -10160.0

FERROR = 5.0

MIN_FERROR = 2.500

MIN_LIMIT = -0.01

MAX_LIMIT = 9.25

HOME_OFFSET = -0.05

HOME_SEARCH_VEL = -1

HOME_LATCH_VEL = 0.050

HOME_IGNORE_LIMITS = YES

HOME_SEQUENCE = 1

HOME_IS_SHARED = 1


[AXIS_2]

TYPE = LINEAR

HOME = 0.000


# 90 in/min

MAX_VELOCITY = 1.500

MAX_ACCELERATION = 8.0


# 50 % higher

STEPGEN_MAX_VEL = 2.0

STEPGEN_MAXACCEL = 12.0


BACKLASH = 0.0005


# jog shuttle ring speed

MAX_JOG_VELOCITY_UPS = 1.5

MIN_JOG_VELOCITY_UPS = 0.008333


# nanoseconds

DIRSETUP =   8000

DIRHOLD =    8000

STEPLEN =    5000

STEPSPACE  = 5000



# PID tuning params

DEADBAND = 0

P = 50

I = 0

D = 0

FF0 = 0

FF1 = 1

FF2 = 0.00011

BIAS = 0

MAX_OUTPUT = 0

MAX_ERROR = 0.0005


SCALE = 10160.0

FERROR = 5.0

MIN_FERROR = 2.500

MIN_LIMIT = -10.20

MAX_LIMIT = 0.000001

HOME_OFFSET = 0.01

HOME_SEARCH_VEL = 0.750

HOME_LATCH_VEL = -0.050

HOME_IGNORE_LIMITS = YES

HOME_SEQUENCE = 0

HOME_IS_SHARED = 1


[AXIS_3]

TYPE = ANGULAR

HOME = 0.0


MAX_VELOCITY = 22.0

MAX_ACCELERATION = 69.0


# 20 % higher

STEPGEN_MAX_VEL = 26.4

STEPGEN_MAXACCEL = 82.8


# jog shuttle ring speed

MAX_JOG_VELOCITY_UPS = 22.0

MIN_JOG_VELOCITY_UPS = 0.15


# nanoseconds

DIRSETUP = 10000

DIRHOLD = 10000

STEPLEN = 8000

STEPSPACE  = 5000


# PID tuning params

DEADBAND = 0

P = 500

I = 0

D = 0

FF0 = 0

FF1 = 1

FF2 = 0.00011

BIAS = 0

MAX_OUTPUT = 0

MAX_ERROR = 0.0005


SCALE = 500.0

FERROR = 15.0

MIN_FERROR = 15.0

MIN_LIMIT = -99999.000

MAX_LIMIT = 99999.000000


# these set to 0.0 disables 4th axis homing

HOME_OFFSET = 0.000

HOME_SEARCH_VEL = 0.000

HOME_LATCH_VEL = 0.000


# these value are used when 4th axis homing is enabled

HOME_OFFSET_HOMING_KIT = 0.000

HOME_SEARCH_VEL_HOMING_KIT = 5.000

HOME_LATCH_VEL_HOMING_KIT = 0.500


HOME_IGNORE_LIMITS = YES

HOME_SEQUENCE = 1

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