ini_config.lyx

CNC 的开放码,EMC2 V2.2.8版

\series bold 
=\SpecialChar ~
2.0
\series default 
 In machines with nontrivial kinematics, the acceleration used for 
\begin_inset Quotes eld
\end_inset 

teleop
\begin_inset Quotes erd
\end_inset 

 (Cartesian space) jogs, in machine units per second per second.
 
\layout Description


\color black
MAX_VELOCITY
\begin_inset LatexCommand \index{MAX VELOCITY}

\end_inset 

\SpecialChar ~

\series bold 
=\SpecialChar ~
5.0
\series default 
 The maximum velocity for any axis or coordinated move, in machine units
 per second.
 The value shown equals 300 units per minute.
\layout Description


\color black
MAX_ACCELERATION
\begin_inset LatexCommand \index{MAX ACCELERATION}

\end_inset 

\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~

\series bold 
20.0
\series default 
 The maximum acceleration for any axis or coordinated axis move, in machine
 units per second per second.
\layout Description

POSITION_FILE\SpecialChar ~
=\SpecialChar ~
position.txt If set to a non-empty value, the joint positions
 are stored between runs in this file.
 This allows the machine to start with the same coordinates it had on shutdown.
\begin_inset Foot
collapsed false

\layout Standard

This assumes there was no movement of the machine while powered off.
 It helps on smaller machines without home switches.
\end_inset 

 If unset, joint positions are not stored and will begin at 0 each time
 EMC is started.
\layout Subsection

[AXIS_<num>] Section
\color black
 
\begin_inset LatexCommand \label{sub:[AXIS]-Section}

\end_inset 


\begin_inset LatexCommand \index{ini [AXIS] Section}

\end_inset 


\layout Standard


\color black
The [AXIS_0], [AXIS_1], etc.
 sections contains general parameters for the individual components in the
 axis control module.
 The axis section names begin numbering at 0, and run through the number
 of axes specified in the [TRAJ] AXES entry minus 1.
\layout Description


\color black
TYPE\SpecialChar ~
=\SpecialChar ~
LINEAR The type of axes, either LINEAR or ANGULAR.
\layout Description

UNITS
\begin_inset LatexCommand \index{UNITS}

\end_inset 

\SpecialChar ~
=\SpecialChar ~
inch If specified, this setting overrides the related [TRAJ] UNITS setting.
 (e.g., [TRAJ]LINEAR_UNITS if the TYPE of this axis is LINEAR, [TRAJ]ANGULAR_UNITS
 if the TYPE of this axis is ANGULAR)
\layout Description

MAX_VELOCITY\SpecialChar ~
=\SpecialChar ~
1.2 Maximum velocity for this axis in machine units per second.
\layout Description

MAX_ACCELERATION\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~

\series bold 
20.0
\series default 
 Maximum acceleration for this axis in machine units per second squared.
\layout Description

BACKLASH\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~

\series bold 
0.000
\series default 
 Backlash in machine units.
 Backlash compensation value can be used to make up for small deficiencies
 in the hardware used to drive an axis.
\layout Description

COMP_FILE\SpecialChar ~
=\SpecialChar ~
file.extension A file holding a compensation structure for the
 specific axis.
 The values inside are triplets of nominal, forward and reverse positions
 which correspond to the nominal position (where it should be), forward
 (where the axis is while travelling forward) and reverse (where the axis
 is while travelling back).
 One set of triplets per line.
 Currently the limit inside EMC2 is for 256 triplets / axis.
 If COMP_FILE is specified, BACKLASH is ignored.
 COMP_FILE values are in machine units.
\layout Description

COMP_FILE_TYPE\SpecialChar ~
=\SpecialChar ~
1 Specifying a non-zero value changes the expected format
 of the COMP_FILE.
 For COMP_FILE_TYPE of zero, the values are triplets for nominal, forward
 & reverse.
 Otherwise, the values in the COMP_FILE are nominal, forward_trim and reverse_tr
im.
 These correspond to the nominal, nominal-forward and nominal-reverse defined
 above.
\layout Description


\color black
MIN_LIMIT
\begin_inset LatexCommand \index{MIN LIMIT}

\end_inset 

\SpecialChar ~
=\SpecialChar ~

\series bold 
-1000 
\series default 
The minimum limit (soft limit) for axis motion, in machine units.
 When this limit is exceeded, the controller aborts axis motion.
 
\layout Description


\color black
MAX_LIMIT
\begin_inset LatexCommand \index{MAX LIMIT}

\end_inset 

\SpecialChar ~

\series bold 
=\SpecialChar ~
1000
\series default 
 The maximum limit (soft limit) for axis motion, in machine units.
 When this limit is exceeded, the controller aborts axis motion.
 
\layout Description

MIN_FERROR
\begin_inset LatexCommand \index{MIN FERROR}

\end_inset 

\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~

\series bold 
0.010
\series default 
 This is the value in machine units by which the axis is permitted to deviate
 from commanded position at very low speeds.
 If MIN_FERROR is smaller than FERROR, the two produce a ramp of error trip
 points.
 You could think of this as a graph where one dimension is speed and the
 other is permitted following error.
 As speed increases the amount of following error also increases toward
 the FERROR value.
 
\layout Description


\color black
FERROR
\begin_inset LatexCommand \index{FERROR}

\end_inset 

\SpecialChar ~

\series bold 
=\SpecialChar ~
1.0 
\series default 
FERROR is the maximum allowable following error, in machine units.
 If the difference between commanded and sensed position exceeds this amount,
 the controller disables servo calculations, sets all the outputs to 0.0,
 and disables the amplifiers.
 If MIN_FERROR is present in the .ini file, velocity-proportional following
 errors are used.
 Here, the maximum allowable following error is proportional to the speed,
 with FERROR applying to the rapid rate set by [TRAJ]MAX_VELOCITY, and proportio
nally smaller following errors for slower speeds.
 The maximum allowable following error will always be greater than MIN_FERROR.
 This prevents small following errors for stationary axes from inadvertently
 aborting motion.
 Small following errors will always be present due to vibration, etc.
 The following polarity values determine how inputs are interpreted and
 how outputs are applied.
 They can usually be set via trial-and-error since there are only two possibilit
ies.
 The EMC2 Servo Axis Calibration utility program (in the AXIS interface
 menu Machine/Calibration and in TkEMC it is under Setting/Calibration)
 can be used to set these and more interactively and verify their results
 so that the proper values can be put in the INI file with a minimum of
 trouble.
 
\layout Subsubsection

Homing-related items
\begin_inset LatexCommand \label{sub:Homing-related-items}

\end_inset 


\layout Standard

The next few parameters are Homing related, for a better explanation read
 Section 
\begin_inset LatexCommand \ref{sec:Homing}

\end_inset 


\layout Description

HOME_OFFSET\SpecialChar ~

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=\SpecialChar ~
0.0
\series default 
 The axis position of the home switch or index pulse, in machine units.
\layout Description

HOME_SEARCH_VEL
\begin_inset LatexCommand \index{HOME SEARCH VEL}

\end_inset 

\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~

\series bold 
0.0
\series default 
 Initial homing velocity in machine units per second.
 A value of zero means assume that the current location is the home position
 for the machine.
 If your machine has no home switches you will want to leave this value
 alone.
\layout Description

HOME_LATCH_VEL\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~

\series bold 
0.0
\series default 
 Final homing velocity in machine units per second.
\layout Description

HOME_USE_INDEX\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~

\series bold 
NO
\series default 
 If the encoder used for this axis has an index pulse, and the motion card
 has provision for this signal you may set it to yes.
 When it is yes, it will affect the kind of home pattern used.
\layout Description

HOME_IGNORE_LIMITS\SpecialChar ~

\series bold 
=\SpecialChar ~
NO
\series default 
 Some machines use a limit switch as a home switch.
 This variable should be set to yes if you machine does this.
\layout Subsubsection

Servo-related items
\begin_inset LatexCommand \label{sub:Servo-related-items}

\end_inset 


\layout Standard

The following items are for servo-based systems and servo-like systems.
 This description assumes that the units of output from the PID component
 are volts.
\layout Description


\color black
P\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~

\series bold 
50
\series default 
 
\series bold 
\noun on 
\color default
(hal)
\series default 
\noun default 
 
\color black
The proportional gain for the axis servo.
 This value multiplies the error between commanded and actual position in
 machine units, resulting in a contribution to the computed voltage for
 the motor amplifier.
 The units on the P gain are volts per machine unit, e.g., 
\begin_inset Formula $\frac{volt}{mm}$
\end_inset 

 if machine units are millimeters.
\layout Description


\color black
I\SpecialChar ~

\series bold 
=\SpecialChar ~
0
\series default 
 
\series bold 
\noun on 
\color default
(hal)
\series default 
\noun default 
 
\color black
The integral gain for the axis servo.
 The value multiplies the cumulative error between commanded and actual
 position in machine units, resulting in a contribution to the computed
 voltage for the motor amplifier.
 The units on the I gain are volts per machine unit per second, e.g., 
\begin_inset Formula $\frac{volt}{mm\, s}$
\end_inset 

 if machine units are millimeters.
\layout Description


\color black
D\SpecialChar ~

\series bold 
=\SpecialChar ~
0
\series default 
 
\series bold 
\noun on 
\color default
(hal)
\series default 
\noun default 
 
\color black
The derivative gain for the axis servo.
 The value multiplies the difference between the current and previous errors,
 resulting in a contribution to the computed voltage for the motor amplifier.
 The units on the D gain are volts per machine unit per second, e.g., 
\begin_inset Formula $\frac{volt}{mm/s}$
\end_inset 

 if machine units are millimeters.
\layout Description


\color black
FF0\SpecialChar ~

\series bold 
=\SpecialChar ~
0
\series default 
 
\series bold 
\noun on 
\color default
(hal)
\series default 
\noun default 
 
\color black
The 0th order feed forward gain.
 This number is multiplied by the commanded position, resulting in a contributio
n to the computed voltage for the motor amplifier.
 The units on the FF0 gain are volts per machine unit, e.g., 
\begin_inset Formula $\frac{volt}{mm}$
\end_inset 

 if machine units are millimeters.
\layout Description


\color black
FF1\SpecialChar ~

\series bold 
=\SpecialChar ~
0
\series default 
 
\series bold 
\noun on 
\color default
(hal)
\series default 
\noun default 
 
\color black
The 1st order feed forward gain.
 This number is multiplied by the change in commanded position per second,
 resulting in a contribution to the computed voltage for the motor amplifier.
 The units on the FF1 gain are volts per machine unit per second, e.g., 
\begin_inset Formula $\frac{volt}{mm\, s}$
\end_inset 

 if machine units are millimeters.
\layout Description


\color black
FF2\SpecialChar ~

\series bold 
=\SpecialChar ~
0
\series default 
 
\series bold 
\noun on 
\color default
(hal)
\series default 
\noun default 
 
\color black
The 2nd order feed forward gain.
 This number is multiplied by the change in commanded position per second
 per second, resulting in a contribution to the computed voltage for the
 motor amplifier.
 The units on the FF2 gain are volts per machine unit per second per second,
 e.g., 
\begin_inset Formula $\frac{volt}{mm\, s^{2}}$
\end_inset 

 if machine units are millimeters.
\layout Description

OUTPUT_SCALE\SpecialChar ~

\series bold 
=
\series default 
\SpecialChar ~

\series bold 
1.000
\layout Description

OUTPUT_OFFSET\SpecialChar ~
=\SpecialChar ~

\series bold 
0.000
\series default 
\color black
 
\series bold 
\noun on 
\color default
(hal)
\series default 
\noun default 
 
\color black
These two values are the scale and offset factors for the axis output to
 the motor amplifiers.
 The second value (offset) is subtracted from the computed output (in volts),
 and divided by the first value (scale factor), before being written to
 the D/A converters.
 The units on the scale value are in true volts per DAC output volts.
 The units on the offset value are in volts.
 These can be used to linearize a DAC.
 
\newline 
Specifically, when writing outputs, the EMC first converts the desired output