hardware.ini

[PRUCONF]
DRIVER=hal_pru_generic
PRUBIN=rt-preempt/pru_generic.bin

[TASK]
# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.001

# First axis
[AXIS_0]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  5.0
MAX_ACCELERATION =              20.0
STEPGEN_MAX_VEL =               6.0
STEPGEN_MAX_ACC =               22.0
STEPGEN_MIN_VEL =               0.001
BACKLASH =                      0.000
SCALE =                         400
MIN_LIMIT =                     -145.0
MAX_LIMIT =                     145.0
FERROR =                        0.500
MIN_FERROR =                    0.500
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0.0
HOME_LATCH_VEL =                0.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO

# these are in nanoseconds
DIRSETUP   =                    200
DIRHOLD    =                    200
STEPLEN    =                    1000
STEPSPACE  =                    1000