[EMC]

VERSION = 1.1

MACHINE = Bohrwerk
DEBUG = 0


[DISPLAY]






# required NativeCAM item :
NCAM_DIR = ncam

# required NativeCAM item :
PROGRAM_PREFIX = ncam/scripts/

# required NativeCAM item :
EMBED_TAB_NAME = right_side_panel

# required NativeCAM item :
EMBED_TAB_LOCATION = box_right

# required NativeCAM item :
EMBED_TAB_COMMAND = gladevcp -x {XID} -U --catalog=mill /usr/share/linuxcnc/aux_gladevcp/NativeCAM/ncam.ui



DISPLAY = gmoccapy
CYCLE_TIME =  100
PREFERENCE_FILE_PATH = /home/wws/linuxcnc/configs/Bohrwerk/Bohrwerk.pref
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 3
MAX_RAPID_OVERRIDE = 2
MAX_SPINDLE_OVERRIDE = 3
MIN_SPINDLE_OVERRIDE = 0.1
DEFAULT_SPINDLE_SPEED = 800
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.05 mm, 0.001 mm
GRIDS = 1mm 10mm 20mm 50mm
DEFAULT_LINEAR_VELOCITY = 17
MAX_LINEAR_VELOCITY = 18
MIN_LINEAR_VELOCITY = 0.0
DEFAULT_ANGULAR_VELOCITY = 15
MAX_ANGULAR_VELOCITY = 20
MIN_ANGULAR_VELOCITY = 1
EDITOR = gedit
GEOMETRY = XYZA


[FILTER]

PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[RS274NGC]


RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64 P0.01 Q0.001  G80 G90 G94 G97 M5 M9
PARAMETER_FILE = linuxcnc.var
# required NativeCAM item :
SUBROUTINE_PATH = ncam/my-stuff:ncam/lib/mill:ncam/lib/utilities

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


[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_POSITION = 0 0 350
TOOL_CHANGE_QUILL_UP = 0





[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYZA


[HAL]
HALUI = halui
HALFILE = Bohrwerk.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
HALFILE = LIB:xhc-hb04.tcl
HALFILE = monitor_xhc-hb04.tcl
SHUTDOWN = shutdown.hal 

[HALUI]







[TRAJ]


AXES =            4
COORDINATES =  X Y Z A
JOINTS = 4
HOME        = 0 0 0 0
MAX_ANGULAR_VELOCITY = 25
DEFAULT_ANGULAR_VELOCITY = 20
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 16
MAX_LINEAR_VELOCITY = 18
NO_FORCE_HOMING = 1
POSITION_FILE =    /home/wws/linuxcnc/configs/Bohrwerk/position.txt






[JOINT_0]



TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 18
MAX_ACCELERATION = 30
BACKLASH = 0.2
# 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 = 25
STEPGEN_MAXACCEL = 60
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 2500
STEPLEN    = 1000
STEPSPACE  = 2500
STEP_SCALE = -288
MIN_LIMIT = -1500
MAX_LIMIT = 1500
HOME_OFFSET = 0.0
HOME_SEQUENCE = 0



[AXIS_X]
MAX_VELOCITY = 18
MAX_ACCELERATION = 30
MIN_LIMIT = -1500
MAX_LIMIT = 1500



[JOINT_1]




TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 18
MAX_ACCELERATION = 30
BACKLASH = 0.18
# 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 = 25
STEPGEN_MAXACCEL = 60
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 2500
STEPLEN    = 1000
STEPSPACE  = 2500
STEP_SCALE = 288
MIN_LIMIT = -1500
MAX_LIMIT = 1500
HOME_OFFSET = 0.0
HOME_SEQUENCE = 1


[AXIS_Y]
MAX_VELOCITY = 18
MAX_ACCELERATION = 30
MIN_LIMIT = -1500
MAX_LIMIT = 1500





[JOINT_2]





TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 18
MAX_ACCELERATION = 30
BACKLASH = 0.08
# 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 = 25
STEPGEN_MAXACCEL = 60
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 2500
STEPLEN    = 1000
STEPSPACE  = 2500
STEP_SCALE = 288
MIN_LIMIT = -1500
MAX_LIMIT = 1500
HOME_OFFSET = 0.0
HOME_SEQUENCE = 2


[AXIS_Z]
MAX_VELOCITY = 18
MAX_ACCELERATION = 30
MIN_LIMIT = -1000
MAX_LIMIT = 1000


[JOINT_3]

TYPE = ANGULAR
WRAPPED_ROTARY = 1
HOME = 0.0
FERROR = 10
MIN_FERROR = 1
MAX_VELOCITY = 30
MAX_ACCELERATION = 80
# 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 = 40
STEPGEN_MAXACCEL = 160
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 2500
STEPLEN    = 1000
STEPSPACE  = 2500
STEP_SCALE = -200
MIN_LIMIT = -9999999.0
MAX_LIMIT = 9999999.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 3


[AXIS_A]
MAX_VELOCITY = 30
MAX_ACCELERATION = 80
MIN_LIMIT = -9999999.0
MAX_LIMIT = 9999999.0







#********************
# Spindle 
#********************
[SPINDLE_9]
MAX_VELOCITY = 200
MAX_ACCELERATION = 20000
# 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 = 20000
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 20000
ENCODER_SCALE = 8.0
DIRSETUP   = 1500
DIRHOLD    = 1500
STEPLEN    = 1500
STEPSPACE  = 1500
STEP_SCALE = 1500













[XHC_HB04_CONFIG]

layout = 2
coords = x y z a
coefs = 1 1 1 1
scales = 1 1 1 5
jogmode = normal
sequence = 1
require_pendant = no
inch_or_mm = mm
mpg_accels = 30 30 30 20


[APPLICATIONS]
APP = xhc-hb04-accels
APP = monitor-xhc-hb04
DELAY = 5 



[XHC_HB04_BUTTONS]

#goto-zero   = halui.mdi-command-00
start-pause = std_start_pause 
rewind      = halui.program.step
#probe-z     = motion.probe-input
#macro-3     = halui.mdi-command-03
half        = ""
zero        = halui.spindle.stop
#safe-z      = halui.mdi-command-04
home        = halui.home-all
#macro-1     = halui.mdi-command-01
#macro-2     = halui.mdi-command-02
spindle     = halui.spindle.start
step        = xhc-hb04.stepsize-up
mode        = ""
#macro-6     = halui.mdi-command-06
#macro-7     = halui.mdi-command-07
stop        = halui.program.stop
reset       = halui.estop.activate




[MACROS]
MACRO = i_am_lost
MACRO = jog_around
MACRO = go_to_position X-pos Y-pos Z-pos
MACRO = go_home
MACRO = change


#[PYTHON]
#PATH_PREPEND = ./python
#PATH_APPEND= /home/wws/linuxcnc/nc_files/remap_lib/python-stdglue
#TOPLEVEL = python/toplevel.py
#LOG_LEVEL = 0

[HOSTMOT2]
# DRIVER0=hm2_pci
# BOARD0=5i25