Rotary axis feedrate.

# EMC controller parameters for generic controller. Make these what you need
# for your system.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# Settings with a + at the front of the comment are likely needed to get
# changed by the user.
# Settings with a - at the front are highly unneeded to be changed
###############################################################################
# General section
###############################################################################
[EMC]
MACHINE =               laserCNC
DEBUG = 0
NML_FILE =		emc.nml

###############################################################################
###############################################################################
[FILTER]
#PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
#PROGRAM_EXTENSION = .py Python Script
#png = image-to-gcode
#gif = image-to-gcode
#jpg = image-to-gcode
#py = python

###############################################################################
###############################################################################

###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 
MAX_FEED_OVERRIDE = 2.5
#MIN_SPINDLE_OVERRIDE = 0.5
#MAX_SPINDLE_OVERRIDE = 1.2

DEFAULT_ANGULAR_VELOCITY = 3600
MAX_ANGULAR_VELOCITY = 3600

INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/slavko/linuxcnc/laser_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

#OPEN_FILE = /home/slavko/linuxcnc/laser_files/00_rotscaner.ngc
OPEN_FILE = /home/slavko/linuxcnc/laser_files/test1.ngc

###############################################################################
# Task controller section
###############################################################################
[TASK]

# Name of task controller program, e.g., milltask
TASK =                  milltask
CYCLE_TIME =            0.010

###############################################################################
# Part program interpreter section
###############################################################################
[RS274NGC]
#- File containing interpreter variables
PARAMETER_FILE =        linuxcnc.var

###############################################################################
# Motion control section
###############################################################################
[EMCMOT]
EMCMOT =              motmod
COMM_TIMEOUT =          1.0
COMM_WAIT =             0.010
BASE_PERIOD =           35000
SERVO_PERIOD =          1000000

###############################################################################
# Hardware Abstraction Layer section
###############################################################################

[HALUI]

[HAL]
HALFILE =           laserCNC.hal
HALUI=halui
#POSTGUI_HALFILE = caacam.hal
###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES =                  4
COORDINATES =           X Y Z A
HOME =                  0 0 0 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      18
MAX_VELOCITY =          25
DEFAULT_ACCELERATION =  2000
MAX_ACCELERATION =      4000
#NO_FORCE_HOMING = 1

###############################################################################
# Axes sections
###############################################################################

#+ First axis
[AXIS_0]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  25
# NOTE:  the step generator module applies its own limits to
# acceleration and velocity.  We have discovered that it needs
# to have a little "headroom" over the accel by the trajectory
# planner, otherwise it can fall slightly behind during accel
# and later overshoot as it catches up.  In the long term we
# hope to come up with a clean fix for this problem.  In the
# meantime, please set STEPGEN_MAXACCEL below to a few percent
# higher than the regular acceleration limit MAX_ACCELERATION
MAX_ACCELERATION =              200
STEPGEN_MAXACCEL =              400
BACKLASH = 0.1700000
SCALE =                   -133.333333333333333333333
MIN_LIMIT =                     0
MAX_LIMIT =                     257
FERROR = 26
MIN_FERROR = 0.26
HOME_OFFSET =                    0
HOME_SEARCH_VEL =                -18
HOME_LATCH_VEL =                 3
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             YES
HOME_SEQUENCE=1

#+ Second axis
[AXIS_1]
TYPE =                          LINEAR
HOME =                          290
MAX_VELOCITY =                  25
MAX_ACCELERATION =              200
STEPGEN_MAXACCEL =              400
BACKLASH = 0.2000
SCALE =                   133.333333333333333333333
MIN_LIMIT =                     0
MAX_LIMIT =                     290
FERROR = 26
MIN_FERROR = 0.26
HOME_OFFSET =                    290
HOME_SEARCH_VEL =                18
HOME_LATCH_VEL =                 -3
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             YES
HOME_SEQUENCE=1
#VOLATILE_HOME=1

#+ Third axis
[AXIS_2]
TYPE =                          LINEAR
HOME =                          0
MAX_VELOCITY =                  18
MAX_ACCELERATION =              200
STEPGEN_MAXACCEL =              800
BACKLASH = 0.1500
SCALE =                   133.33333333333333333333333
MIN_LIMIT =                     -90
MAX_LIMIT =                     0
FERROR = 26
MIN_FERROR = 0.26
HOME_OFFSET =                    0
HOME_SEARCH_VEL =                18
HOME_LATCH_VEL =                 -3
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             YES
HOME_SEQUENCE=0

#+ Fourth axis
[AXIS_3]
TYPE =                          ANGULAR
WRAPPED_ROTARY = 		1
HOME =                          0
MAX_VELOCITY =                  3600
MAX_ACCELERATION =              6000
STEPGEN_MAXACCEL =              8000
BACKLASH = 0
SCALE =                   8.888888888888888
MIN_LIMIT =                     -99999999999999999999
MAX_LIMIT =                     9999999999999999999999999999
FERROR = 50
MIN_FERROR = 0.100
HOME_OFFSET =                    0
HOME_SEARCH_VEL =                0
HOME_LATCH_VEL =                 0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE=0


###############################################################################
# section for main IO controller parameters 
###############################################################################
[EMCIO]
EMCIO = 		io
CYCLE_TIME =            0.100
TOOL_TABLE =            tool.tbl