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[code]# Generated by PNCconf at Sat Apr 27 14:56:11 2024
# Using LinuxCNC version:  2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = 7i96s+7i84d
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = gmoccapy
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/linoteck/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyzab
#ABATELA
EMBED_TAB_NAME=Alarmes
EMBED_TAB_COMMAND = gladevcp -x {XID} -H ui-alarmes.hal alarmes.ui
EMBED_TAB_LOCATION = ntb_user_tabs

[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
RS274NGC_STARTUP_CODE = G21 G40 G90 G94 G97 G64 P0.025
REMAP= M6 modalgroup=6 ngc=sub_progs/troca_ferramenta
USER_M_PATH = /home/linoteck/linuxcnc/nc_files/m_codigos/

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i96s.0

[HAL]
HALUI = halui
HALFILE = 7i96s+7i84d.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
HALFILE = classicladder.hal

[HALUI]

[HALUI]
# add halui MDI commands here (max 64) 


[KINS]
JOINTS = 5
KINEMATICS = trivkins coordinates=XYZAB

[TRAJ]
COORDINATES =  XYZAB
MAX_ANGULAR_VELOCITY = 360.00
DEFAULT_ANGULAR_VELOCITY = 36.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 16.00
MAX_LINEAR_VELOCITY = 160.00

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 160.0
MAX_ACCELERATION = 10000.0
MIN_LIMIT = -0.01
MAX_LIMIT = 1250.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 160.0
MAX_ACCELERATION = 10000.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 200
STEPGEN_MAXACCEL = 12500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 10000
STEPSPACE  = 10000
STEP_SCALE = 250
MIN_LIMIT = -0.01
MAX_LIMIT = 1250.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -33.316667
HOME_LATCH_VEL = -33.316667
HOME_FINAL_VEL = 0.000000
#HOME_USE_INDEX = NO
#HOME_SEQUENCE = 1
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 160.0
MAX_ACCELERATION = 10000.0
MIN_LIMIT = -0.01
#MAX_LIMIT = 1293.0
MAX_LIMIT = 1164.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 160.0
MAX_ACCELERATION = 10000.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 200
STEPGEN_MAXACCEL = 12500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 9000
STEPSPACE  = 10000
STEP_SCALE = 250
MIN_LIMIT = -0.01
MAX_LIMIT = 1293.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -33.316667
HOME_LATCH_VEL = -33.316667
HOME_FINAL_VEL = 0.000000
#HOME_USE_INDEX = NO
#HOME_SEQUENCE = 1
#******************************************

#******************************************
[AXIS_Z]
#MAX_VELOCITY = 25.0
MAX_VELOCITY = 50.0
#MAX_ACCELERATION = 750.0
MAX_ACCELERATION = 1000.0
#MIN_LIMIT = -100.0
#MAX_LIMIT = 0.01
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 50
MIN_FERROR = 50
#MAX_VELOCITY = 25.0
MAX_VELOCITY = 125.0
#MAX_ACCELERATION = 750.0
MAX_ACCELERATION = 1750.0
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
ENCODER_SCALE = 415
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
HOME_OFFSET = 0.0
#HOME_SEQUENCE = 0
#******************************************
[AXIS_A]
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1200.0
MIN_LIMIT = -500.0
MAX_LIMIT = 500.0

[JOINT_3]
#TYPE = ANGULAR
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1200.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 450
STEPGEN_MAXACCEL = 1500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 222
MIN_LIMIT = -500.0
MAX_LIMIT = 500.0
HOME_OFFSET = 0.0
#HOME_SEQUENCE = 1
#******************************************
[AXIS_B]
MAX_VELOCITY = 160.0
MAX_ACCELERATION = 10000.0
MIN_LIMIT = -45000.0
MAX_LIMIT = 45000.0

[JOINT_4]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 160.0
MAX_ACCELERATION = 10000.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 200
STEPGEN_MAXACCEL = 12500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 10000
STEPSPACE  = 10000
STEP_SCALE = 142
MIN_LIMIT = -45000.0
MAX_LIMIT = 45000.0
HOME_OFFSET = -92.000000
HOME_SEARCH_VEL = -33.316667
HOME_LATCH_VEL = -33.316667
HOME_FINAL_VEL = 0.000000
#HOME_USE_INDEX = NO
#HOME_SEQUENCE = 1
[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000