/* config.h - compile time configuration Part of Grbl Copyright (c) 2011-2013 Sungeun K. Jeon Copyright (c) 2009-2011 Simen Svale Skogsrud Grbl is free software: you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation, either version 3 of the License, or (at your option) any later version. Grbl is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with Grbl. If not, see . */ // This file contains compile-time configurations for Grbl's internal system. For the most part, // users will not need to directly modify these, but they are here for specific needs, i.e. // performance tuning or adjusting to non-typical machines. // IMPORTANT: Any changes here requires a full re-compiling of the source code to propagate them. #ifndef config_h #define config_h // Default settings. Used when resetting EEPROM. Change to desired name in defaults.h #define DEFAULTS_ZEN_TOOLWORKS_7x7 // Serial baud rate #define BAUD_RATE 115200 // Default pin mappings. Grbl officially supports the Arduino Uno only. Other processor types // may exist from user-supplied templates or directly user-defined in pin_map.h #define PIN_MAP_ARDUINO_UNO // Define runtime command special characters. These characters are 'picked-off' directly from the // serial read data stream and are not passed to the grbl line execution parser. Select characters // that do not and must not exist in the streamed g-code program. ASCII control characters may be // used, if they are available per user setup. Also, extended ASCII codes (>127), which are never in // g-code programs, maybe selected for interface programs. // NOTE: If changed, manually update help message in report.c. #define CMD_STATUS_REPORT '?' #define CMD_FEED_HOLD '!' #define CMD_CYCLE_START '~' #define CMD_RESET 0x18 // ctrl-x // The "Stepper Driver Interrupt" employs an inverse time algorithm to manage the Bresenham line // stepping algorithm. The value ISR_TICKS_PER_SECOND is the frequency(Hz) at which the inverse time // algorithm ticks at. Recommended step frequencies are limited by the inverse time frequency by // approximately 0.75-0.9 * ISR_TICK_PER_SECOND. Meaning for 30kHz, the max step frequency is roughly // 22.5-27kHz, but 30kHz is still possible, just not optimal. An Arduino can safely complete a single // interrupt of the current stepper driver algorithm theoretically up to a frequency of 35-40kHz, but // CPU overhead increases exponentially as this frequency goes up. So there will be little left for // other processes like arcs. #define ISR_TICKS_PER_SECOND 30000L // Integer (Hz) // The temporal resolution of the acceleration management subsystem. Higher number give smoother // acceleration but may impact performance. If you run at very high feedrates (>15kHz or so) and // very high accelerations, this will reduce the error between how the planner plans the velocity // profiles and how the stepper program actually performs them. The correct value for this parameter // is machine dependent, so it's advised to set this only as high as needed. Approximate successful // values can widely range from 50 to 200 or more. Cannot be greater than ISR_TICKS_PER_SECOND/2. // NOTE: Ramp count variable type in stepper module may need to be updated if changed. #define ACCELERATION_TICKS_PER_SECOND 120L // NOTE: Make sure this value is less than 256, when adjusting both dependent parameters. #define ISR_TICKS_PER_ACCELERATION_TICK (ISR_TICKS_PER_SECOND/ACCELERATION_TICKS_PER_SECOND) // The inverse time algorithm can use either floating point or long integers for its counters (usually // very small values ~10^-6), but with integers, the counter values must be scaled to be greater than // one. This multiplier value scales the floating point counter values for use in a long integer, which // are significantly faster to compute with a slightly higher precision ceiling than floats. Long // integers are finite so select the multiplier value high enough to avoid any numerical round-off // issues and still have enough range to account for all motion types. However, in most all imaginable // CNC applications, the following multiplier value will work more than well enough. If you do have // happened to weird stepper motion issues, try modifying this value by adding or subtracting a // zero and report it to the Grbl administrators. #define INV_TIME_MULTIPLIER 10000000.0 // Minimum stepper rate for the "Stepper Driver Interrupt". Sets the absolute minimum stepper rate // in the stepper program and never runs slower than this value. If the INVE_TIME_MULTIPLIER value // changes, it will affect how this value works. So, if a zero is add/subtracted from the // INV_TIME_MULTIPLIER value, do the same to this value if you want to same response. // NOTE: Compute by (desired_step_rate/60) * INV_TIME_MULTIPLIER/ISR_TICKS_PER_SECOND. (mm/min) #define MINIMUM_STEP_RATE 1000L // Integer (mult*mm/isr_tic) // Minimum stepper rate. Only used by homing at this point. May be removed in later releases. #define MINIMUM_STEPS_PER_MINUTE 800 // (steps/min) - Integer value only // Minimum planner junction speed. Sets the default minimum junction speed the planner plans to at // every buffer block junction, except for starting from rest and end of the buffer, which are always // zero. This value controls how fast the machine moves through junctions with no regard for acceleration // limits or angle between neighboring block line move directions. This is useful for machines that can't // tolerate the tool dwelling for a split second, i.e. 3d printers or laser cutters. If used, this value // should not be much greater than zero or to the minimum value necessary for the machine to work. #define MINIMUM_JUNCTION_SPEED 0.0 // (mm/min) // Time delay increments performed during a dwell. The default value is set at 50ms, which provides // a maximum time delay of roughly 55 minutes, more than enough for most any application. Increasing // this delay will increase the maximum dwell time linearly, but also reduces the responsiveness of // run-time command executions, like status reports, since these are performed between each dwell // time step. Also, keep in mind that the Arduino delay timer is not very accurate for long delays. #define DWELL_TIME_STEP 50 // Integer (1-255) (milliseconds) // If homing is enabled, homing init lock sets Grbl into an alarm state upon power up. This forces // the user to perform the homing cycle (or override the locks) before doing anything else. This is // mainly a safety feature to remind the user to home, since position is unknown to Grbl. #define HOMING_INIT_LOCK // Comment to disable // The homing cycle seek and feed rates will adjust so all axes independently move at the homing // seek and feed rates regardless of how many axes are in motion simultaneously. If disabled, rates // are point-to-point rates, as done in normal operation. For example in an XY diagonal motion, the // diagonal motion moves at the intended rate, but the individual axes move at 70% speed. This option // just moves them all at 100% speed. #define HOMING_RATE_ADJUST // Comment to disable // Define the homing cycle search patterns with bitmasks. The homing cycle first performs a search // to engage the limit switches. HOMING_SEARCH_CYCLE_x are executed in order starting with suffix 0 // and searches the enabled axes in the bitmask. This allows for users with non-standard cartesian // machines, such as a lathe (x then z), to configure the homing cycle behavior to their needs. // Search cycle 0 is required, but cycles 1 and 2 are both optional and may be commented to disable. // After the search cycle, homing then performs a series of locating about the limit switches to hone // in on machine zero, followed by a pull-off maneuver. HOMING_LOCATE_CYCLE governs these final moves, // and this mask must contain all axes in the search. // NOTE: Later versions may have this installed in settings. #define HOMING_SEARCH_CYCLE_0 (1< 255) #error Parameters ACCELERATION_TICKS / ISR_TICKS must be < 256 to prevent integer overflow. #endif // --------------------------------------------------------------------------------------- #endif