2 servos 1 stepper

# load realtime modules
# kinematics
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hal_parport cfg="1030"
loadrt encoder num_chan=2
loadrt pid num_chan=2
loadrt pwmgen output_type=1,1
loadrt ddt count=4
loadrt constant count=1

# define the order of execution for RT code
addf parport.0.read            base-thread
addf encoder.update-counters   base-thread
addf pwmgen.make-pulses        base-thread
addf parport.0.write           base-thread

addf encoder.capture-position  servo-thread
addf motion-command-handler    servo-thread
addf motion-controller         servo-thread
addf pid.0.do-pid-calcs        servo-thread
addf pid.1.do-pid-calcs        servo-thread
addf constant.0                servo-thread
addf pwmgen.update             servo-thread
addf ddt.0                     servo-thread
addf ddt.1                     servo-thread
addf ddt.2                     servo-thread
addf ddt.3                     servo-thread

# hook stuff together

setp encoder.0.position-scale [AXIS_0]INPUT_SCALE
setp encoder.1.position-scale [AXIS_1]INPUT_SCALE

net enc0A encoder.0.phase-A <= parport.0.pin-10-in
net enc0B encoder.0.phase-B <= parport.0.pin-11-in
net enc1A encoder.1.phase-A <= parport.0.pin-12-in
net enc1B encoder.1.phase-B <= parport.0.pin-13-in

net Xpos-fb <= encoder.0.position
net Ypos-fb <= encoder.1.position


net Xpos-fb => pid.0.feedback
net Ypos-fb => pid.1.feedback
net Xpos-fb => axis.0.motor-pos-fb
net Ypos-fb => axis.1.motor-pos-fb

net Xvel-cmd <= pid.0.output
net Yvel-cmd <= pid.1.output

net Xvel-cmd => pwmgen.0.value
net Yvel-cmd => pwmgen.1.value

net Xpwm pwmgen.0.pwm
net Ypwm pwmgen.1.pwm

net Xdir <= pwmgen.0.dir
net Ydir <= pwmgen.1.dir

net Xdir => parport.0.pin-06-out
net Xdir => parport.0.pin-07-out
setp parport.0.pin-07-out-invert TRUE
net Xpwm => parport.0.pin-05-out

net Ydir => parport.0.pin-03-out
net Ydir => parport.0.pin-04-out
setp parport.0.pin-04-out-invert TRUE
net Ypwm => parport.0.pin-02-out

setp pid.0.maxoutput 1.0
setp pid.1.maxoutput 1.0

# the values below come from the ini
setp pid.0.Pgain [AXIS_0]P
setp pid.0.Igain [AXIS_0]I
setp pid.0.Dgain [AXIS_0]D
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
# deadband should be just over 1 count
setp pid.0.deadband [AXIS_0]DEADBAND

setp pid.1.Pgain [AXIS_1]P
setp pid.1.Igain [AXIS_1]I
setp pid.1.Dgain [AXIS_1]D
setp pid.1.bias [AXIS_1]BIAS
setp pid.1.FF0 [AXIS_1]FF0
setp pid.1.FF1 [AXIS_1]FF1
setp pid.1.FF2 [AXIS_1]FF2
# deadband should be just over 1 count
setp pid.1.deadband [AXIS_1]DEADBAND

net Xpos-cmd <= axis.0.motor-pos-cmd
net Ypos-cmd <= axis.1.motor-pos-cmd
net Xpos-cmd => pid.0.command
net Ypos-cmd => pid.1.command
net Xenable <= axis.0.amp-enable-out
net Yenable <= axis.1.amp-enable-out
net Xenable => pid.0.enable
net Xenable => pwmgen.0.enable
net Yenable => pid.1.enable
net Yenable => pwmgen.1.enable

net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

net Xpos-cmd => ddt.0.in
net Xvel <= ddt.0.out
net Xvel => ddt.1.in
net Xacc <= ddt.1.out
net Ypos-cmd => ddt.2.in
net Yvel <= ddt.2.out
net Yvel => ddt.3.in
net Yacc <= ddt.3.out

net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

# 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]

#- Version of this INI file
VERSION =               $Revision$

#+ Name of machine, for use with display, etc.
MACHINE =               LinuxCNC-ETCH-SERVO

#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
# DEBUG =               0x00000007
# DEBUG =               0x7FFFFFFF

###############################################################################
# Sections for display options 
###############################################################################
[DISPLAY]

#+ Name of display program, e.g., xemc
DISPLAY =              axis
# DISPLAY =              usrmot
# DISPLAY =              mini
# DISPLAY = 		tkemc
# 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 MACHINE
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 =     10

#- Prefix to be used
PROGRAM_PREFIX = /home/arthur/linuxcnc/nc_files

#- Introductory graphic
INTRO_GRAPHIC =         linuxcnc.gif
INTRO_TIME =            5

# Editor to be used with Axis
EDITOR = gedit


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

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

#- Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.010

###############################################################################
# Part program interpreter section 
###############################################################################
[RS274NGC]

#- File containing interpreter variables
PARAMETER_FILE =        etch.var

###############################################################################
# Motion control section 
###############################################################################
[EMCMOT]

#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT =              motmod

#- 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 nanosecs - this is the fastest thread in the machine
BASE_PERIOD =                20000
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD =               1000000

###############################################################################
# Hardware Abstraction Layer section
###############################################################################
[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#

# list of hal config files to run through halcmd
#+ files are executed in the order in which they appear
HALFILE =                    etch.hal

#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =                    save neta

###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES =                  3
# COORDINATES =         X Y Z A B C
COORDINATES =           X Y z
HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      1
MAX_VELOCITY =          30
DEFAULT_ACCELERATION =  15.0
MAX_ACCELERATION =      20.0

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

#+ First axis
[AXIS_0]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  10
MAX_ACCELERATION =              5
BACKLASH = 0.000
INPUT_SCALE =                   500
OUTPUT_SCALE = 500.000
MIN_LIMIT =                     0.0
MAX_LIMIT =                     6
FERROR = 0.2
MIN_FERROR = 0.10
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
P =                              10
I =                              100
D =                                0
BIAS =                             0.0
FF0 =                              0
FF1 =                              1000
FF2 =				0
DEADBAND=.002

#+ Second axis
[AXIS_1]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  10
MAX_ACCELERATION =              5
BACKLASH = 0.000
INPUT_SCALE =                   500
OUTPUT_SCALE = 500.000
MIN_LIMIT =                     0
MAX_LIMIT =                     20
FERROR = 0.200
MIN_FERROR = 0.100
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
P =                              10
I =                              200
D =                                0.1
BIAS =                             0.0
FF0 =                              4
FF1 =                              1
FF2 =				0.0
DEADBAND=.002

#+ Third axis
[AXIS_0]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  100
MAX_ACCELERATION =              200
BACKLASH = 0.000
INPUT_SCALE =                   200
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     0.0
MAX_LIMIT =                     6.5
FERROR = 0.2
MIN_FERROR = 0.10
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
P =                              150
I =                              100
D =                                0.1
BIAS =                             0.0
FF0 =                              0
FF1 =                              1
FF2 =				0.0
DEADBAND=.002
###############################################################################
# section for main IO controller parameters 
###############################################################################
[EMCIO]

#- Name of IO controller program, e.g., io
EMCIO = 		io

#- cycle time, in seconds
CYCLE_TIME =            0.100

#- tool table file
TOOL_TABLE =            etch.tbl

# Generated by stepconf at Wed Mar 15 02:19:04 2000
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hal_parport cfg="1030 out  "
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
net spindle-cmd <= motion.spindle-speed-out

net ystep => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
net ydir => parport.0.pin-09-out




setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 21000
setp stepgen.0.dirsetup 21000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable

setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 21000
setp stepgen.1.dirsetup 21000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable

setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 21000
setp stepgen.2.dirsetup 21000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

# Generated by stepconf at Wed Mar 15 02:19:04 2000
# If you make changes to this file, they will be
# overwritten when you run stepconf again

[EMC]
MACHINE = my-mill
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/arthur/linuxcnc/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in

[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

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000

[HAL]
HALFILE = my-mill.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 1.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 8000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.01
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0

[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 0.9
MAX_ACCELERATION = 0.9
STEPGEN_MAXACCEL = 1.125
SCALE = 1248.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.01
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 8000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -4.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0