RE: Need TkEmc Help
Thanks for all your help. I am using the BDI revision 2 CD. When in TkEmc,
if I push the reset button, the scale in the taskbar will change from G21 to
G20, and the axis will move in the inch or English scale. If I program a
move in MDI with the G20 code it will move in inches. Every time I reopen
the TkEmc icon I have to push the reset button, because the controller is in
G21. Where can I change this to correct this problem?
I just noticed that on the Y and Z axis, that the readout is going in the
wrong direction. I mean that when I push the positive button, the readout
counts in the negative direction and visa versa. I have fooled with the
settings but haven't been able to correct this problem. Below is a copy of
my .ini file. Any help will be greatly appreciated. This is a Pentium III
733 computer, using stepper motors. Any tune-up tips on the below .ini file
are welcomed. While I am asking questions what is the ;SHMEM_BASE_ADDRESS =
0x1F00000
SHMEM_BASE_ADDRESS = 0x3F00000
used for?
George
; EMC controller parameters for generic controller. Make these what you
need
; for your system.
; General
section -------------------------------------------------------------
[EMC]
; Version of this INI file
VERSION = $Revision: 1.2 $
; Name of machine, for use with display, etc.
MACHINE = Generic
; Name of NML file to use, default is emc.nml
NML_FILE = emc.nml
; Debug level, 0 means no messages. See emc/src/emcnml/emcglb.h for others
;DEBUG = 0x00000003
;DEBUG = 0x00000007
DEBUG = 0x7FFFFFFF
; Start up defaults for EMC
RS274NGC_STARTUP_CODE=G20
; Sections for display
options ------------------------------------------------
[DISPLAY]
; Platform for GUI, e.g., realtime, nonrealtime
PLAT = realtime
; Name of display program, e.g., xemc
; DISPLAY = xemc
DISPLAY = tkemc
; DISPLAY = yemc
; DISPLAY = keystick
; DISPLAY = emcpanel
; Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.200
; Path to help file
HELP_FILE = doc/help.txt
; Initial display setting for position, RELATIVE or ABSOLUTE
POSITION_OFFSET = RELATIVE
; Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL
; Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 1.2
; Prefix to be used
PROGRAM_PREFIX = programs/
; Introductory graphic
INTRO_GRAPHIC = emc.gif
INTRO_TIME = 7
; Task controller
section -----------------------------------------------------
[TASK]
; Platform for task controller, e.g., realtime, nonrealtime
PLAT = nonrealtime
; Name of task controller program, e.g., bridgeporttask
TASK = bridgeporttask
;TASK = minimilltask
; Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.200
; Part program interpreter
section --------------------------------------------
[RS274NGC]
; File containing interpreter variables
PARAMETER_FILE = emc.var
; Motion control
section ------------------------------------------------------
[EMCMOT]
; Platform for motion, e.g., realtime, nonrealtime
PLAT = realtime
; PLAT = nonrealtime
; Name of motion control program
; EMCMOT = steppermod.o
EMCMOT = freqmod.o
; EMCMOT = stgmod.o
; EMCMOT = stg8mod.o
; EMCMOT = emcmotsim
; Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY = 100
; Base address for physical shared memory, e.g., for real-time motion.
; Note that if you change this, you may need to change OS parameters, e.g.,
; /etc/lilo.conf
;SHMEM_BASE_ADDRESS = 0x1F00000
SHMEM_BASE_ADDRESS = 0x3F00000
; Base address of Servo To Go board
STG_BASE_ADDRESS = 0x200
; STG_BASE_ADDRESS = 0x300
; Address for parallel port used for steppers
PARPORT_IO_ADDRESS = 0x378
; Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0
; Interval between tries to emcmot, in seconds
COMM_WAIT = 0.010
; Base task period, in seconds
PERIOD = 0.000167
; Trajectory planner
section --------------------------------------------------
[TRAJ]
AXES = 3
; COORDINATES = X Y Z R P W
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = 0.03937007874016
ANGULAR_UNITS = 1.0
CYCLE_TIME = 0.01
DEFAULT_VELOCITY = 0.00167
MAX_VELOCITY = .5
DEFAULT_ACCELERATION = 2.7
MAX_ACCELERATION = 2.7
PROBE_INDEX = 0
PROBE_POLARITY = 1
; Axes
sections ---------------------------------------------------------------
; First axis
[AXIS_0]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
MAX_VELOCITY = .345
P = 100.000
I = 0.000
D = 0.030
FF0 = 0.000
FF1 = 0.077
FF2 = 0.000
BACKLASH = 0.010
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.005
CYCLE_TIME = 0.001
INPUT_SCALE = 8000 0
OUTPUT_SCALE = 8000.0000 0.0000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MIN_OUTPUT = -10
MAX_OUTPUT = 10
FERROR = 1.000
MIN_FERROR = 0.010
HOMING_VEL = 0.1
HOME_OFFSET = 0.1
ENABLE_POLARITY = 1
MIN_LIMIT_SWITCH_POLARITY = 0
MAX_LIMIT_SWITCH_POLARITY = 0
HOME_SWITCH_POLARITY = 1
HOMING_POLARITY = 1
JOGGING_POLARITY = 1
FAULT_POLARITY = 1
; Parameters for Inland Motor BMHS-0701 X 20
TORQUE_UNITS = OZ_IN
ARMATURE_RESISTANCE = 1.10
ARMATURE_INDUCTANCE = 0.0120
BACK_EMF_CONSTANT = 0.0254
ROTOR_INERTIA = 0.0104
DAMPING_FRICTION_COEFFICIENT = 0.083
SHAFT_OFFSET = 0
REVS_PER_UNIT = 10
; Parameters for generic amplifier
AMPLIFIER_GAIN = 1
MAX_OUTPUT_CURRENT = 10
LOAD_RESISTANCE = 1
; parameters for generic encoder
COUNTS_PER_REV = 4096
; Second axis
[AXIS_1]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
MAX_VELOCITY = .37
P = 100.000
I = 0.000
D = 0.030
FF0 = 0.000
FF1 = 0.077
FF2 = 0.000
BACKLASH = 0.010
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.005
CYCLE_TIME = 0.001000
INPUT_SCALE = 8000 0
OUTPUT_SCALE = 8000 0.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MIN_OUTPUT = -10
MAX_OUTPUT = 10
FERROR = 1.000
MIN_FERROR = 0.010
HOMING_VEL = 0.1
HOME_OFFSET = -0.2
ENABLE_POLARITY = 1
MIN_LIMIT_SWITCH_POLARITY = 0
MAX_LIMIT_SWITCH_POLARITY = 0
HOME_SWITCH_POLARITY = 1
HOMING_POLARITY = 1
JOGGING_POLARITY = 0
FAULT_POLARITY = 1
; Parameters for Inland Motor BMHS-0701 X 20
TORQUE_UNITS = OZ_IN
ARMATURE_RESISTANCE = 1.10
ARMATURE_INDUCTANCE = 0.0120
BACK_EMF_CONSTANT = 0.0254
ROTOR_INERTIA = 0.0104
DAMPING_FRICTION_COEFFICIENT = 0.083
SHAFT_OFFSET = 0
REVS_PER_UNIT = 10
; Parameters for generic amplifier
AMPLIFIER_GAIN = 1
MAX_OUTPUT_CURRENT = 10
LOAD_RESISTANCE = 1
; parameters for generic encoder
COUNTS_PER_REV = 4096
; Third axis
[AXIS_2]
TYPE = LINEAR
UNITS = 0.03937007874016
HOME = 0.000
MAX_VELOCITY = .3
P = 100.000
I = 0.000
D = 0.030
FF0 = 0.000
FF1 = 0.077
FF2 = 0.000
BACKLASH = 0.005
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.005
CYCLE_TIME = 0.001000
INPUT_SCALE = 8000 0
OUTPUT_SCALE = 8000 0.000
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MIN_OUTPUT = -10
MAX_OUTPUT = 10
FERROR = 1.000
MIN_FERROR = 0.010
HOMING_VEL = 0.1
HOME_OFFSET = 0.0
ENABLE_POLARITY = 0
MIN_LIMIT_SWITCH_POLARITY = 0
MAX_LIMIT_SWITCH_POLARITY = 0
HOME_SWITCH_POLARITY = 1
HOMING_POLARITY = 1
JOGGING_POLARITY = 0
FAULT_POLARITY = 1
; Parameters for Inland Motor BMHS-0701 X 20
TORQUE_UNITS = OZ_IN
ARMATURE_RESISTANCE = 1.10
ARMATURE_INDUCTANCE = 0.0120
BACK_EMF_CONSTANT = 0.0254
ROTOR_INERTIA = 0.0104
DAMPING_FRICTION_COEFFICIENT = 0.083
SHAFT_OFFSET = 0
REVS_PER_UNIT = 10
; Parameters for generic amplifier
AMPLIFIER_GAIN = 1
MAX_OUTPUT_CURRENT = 10
LOAD_RESISTANCE = 1
; parameters for generic encoder
COUNTS_PER_REV = 4096
; section for main IO controller
parameters -----------------------------------
[EMCIO]
; Platform for IO controller, e.g., realtime, nonrealtime
PLAT = nonrealtime
; Name of IO controller program, e.g., bridgeportio
; EMCIO = bridgeportio
EMCIO = minimillio
; EMCIO = simio
; cycle time, in seconds
CYCLE_TIME = 0.100
; tool table file
TOOL_TABLE = emc.tbl
; address for parallel port used for auxiliary IO
PARPORT_IO_ADDRESS = 0x278
; wait times in seconds for spindle brake, release
SPINDLE_OFF_WAIT = 1.0
SPINDLE_ON_WAIT = 1.5
; external digital inputs, outputs are always 0 for 0V, 1 for 5/24V
; digital in bits
ESTOP_SENSE_INDEX = 1
LUBE_SENSE_INDEX = 2
; digital in polarity, 0 is inverted, 1 is normal
; controller compares with polarity, equal means on, not equal means off
ESTOP_SENSE_POLARITY = 0
LUBE_SENSE_POLARITY = 1
; digital out bits
SPINDLE_FORWARD_INDEX = 1
SPINDLE_REVERSE_INDEX = 0
MIST_COOLANT_INDEX = 6
FLOOD_COOLANT_INDEX = 7
SPINDLE_DECREASE_INDEX = 8
SPINDLE_INCREASE_INDEX = 9
ESTOP_WRITE_INDEX = 10
SPINDLE_BRAKE_INDEX = 11
; analog out bits
SPINDLE_ON_INDEX = 3
; digital out polarity, 0 is inverted, 1 is normal
; controller writes the polarity to turn on, opposite of polarity to turn
off
SPINDLE_FORWARD_POLARITY = 0
SPINDLE_REVERSE_POLARITY = 0
MIST_COOLANT_POLARITY = 0
FLOOD_COOLANT_POLARITY = 0
SPINDLE_DECREASE_POLARITY = 1
SPINDLE_INCREASE_POLARITY = 1
ESTOP_WRITE_POLARITY = 1
SPINDLE_BRAKE_POLARITY = 0
SPINDLE_ENABLE_POLARITY = 1
; section for external NML server
parameters ----------------------------------
[EMCSERVER]
; Name of NML server, e.g., emcsvr; if not found then none will run
; EMCSERVER = emcsvr
; section for emc stripchart parameters ----------------------------------
[EMCSTRIP]
; Name of strip chart display program e.g. emcstripchart; if not found then
none will run
; EMCSTRIP = emcstripchart
; OPTIONS for emcstripchart ussually -f something.conf; This file says which
; variables to plot, colors etc. -u changes the update rate.
OPTIONS = -f emcstrip.conf.ferror
> -----Original Message-----
> From: emc-at-nist.gov [emc-at-nist.gov]On Behalf Of Ray
> Sent: Wednesday, August 08, 2001 4:16 AM
> To: Multiple recipients of list
> Subject: Re: Need TkEmc Help
>
>
>
> On Wed, 08 Aug 2001, George wrote:
> > I am trying to run programs in TkEmc, but it seems to be stuck
> in the metric
> > scale. I am using frequency mod, and have the linear units set to
> > .03937007874016 in the .ini file. When jogging the controller
> in manual, it
> > iis in the English measurement, but when trying to run MDI, or
> a program, it
> > is in metric. I can run the Generic controller icon, and
> everything is in
> > English measurements. Does anyone know what I have set wrong.
> > I'm almost there
> > George
>
> Good job! Welcome to the EMC. Is this BDI-2.04?
>
> Try the reset under the file menu and see if it changes the g21 to g20 in
> the g-code listing on the tkemc window. If not, try an mdi mode and g20
> command. Let us know what happens.
>
> Ray
>
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