# This config file was created 2020-03-16 11:43:02.477932 by the update_ini script
# The original config files may be found in the /home/mauro/linuxcnc/configs/fresa-pwm-3-assi/fresa-pwm.old directory

# Generato da PNCconf a Sat Sep  2 18:07:12 2017
# Se questo file viene modificato, questo sarà
# sovrascritto quando si userà ancora PNCconf

[EMC]
# The version string for this INI file.
VERSION = 1.1

MACHINE = fresa-pwm
DEBUG = 0

[DISPLAY]

DISPLAY = axis
#EMBED_TAB_NAME = Webcam
#EMBED_TAB_COMMAND = python3 /home/mauro/linuxcnc/cam_viewer.py
#EMBED_TAB_LOCATION = ntb_preview


#DISPLAY = gmoccapy
#PREFERENCE_FILE_PATH = gmoccapy_preferences
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PYVCP = pyvcp-panel.xml
EMBED_TAB_NAME = Webcam
EMBED_TAB_COMMAND = gladevcp -x {XID} -u /home/mauro/linuxcnc/cam_gvcp.py /home/mauro/linuxcnc/cam_panel.glade
EMBED_TAB_LOCATION = ntb_preview
#EMBED_TAB_NAME = Camera
#EMBED_TAB_COMMAND = python camview.py
#EMBED_TAB_COMMAND = python emb_cam.py
#PROGRAM_PREFIX = /home/mauro/linuxcnc/nc_files
PROGRAM_PREFIX = /home/mauro/linuxcnc/Gcode
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 20.000000
MAX_LINEAR_VELOCITY = 50
MIN_LINEAR_VELOCITY = 0
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = xed
GEOMETRY = xyz

[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

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 100000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALUI = halui
HALFILE = fresa-pwm.hal
#HALFILE = custom.hal
HALFILE = pyvcp_options.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
HALFILE = xhc-hb04.tcl

[HALUI]
# these are examples, edit as required:
# a halui hal pin is created for each MDI_COMMAND below
# halui.mdi-command-00, halui.mdi-command-01,... etc
MDI_COMMAND=G0 X0 Y0 Z0
MDI_COMMAND=G10 L20 P1 X[#5420/2]
MDI_COMMAND=G10 L20 P1 Y[#5421/2]
#03 M110: clears notifications
MDI_COMMAND=(debug, example: mdi-03)
MDI_COMMAND=M3 S1000
MDI_COMMAND=M5
MDI_COMMAND=o100 call
#07 M101: example print to stdout
MDI_COMMAND=o101 call
MDI_COMMAND=(debug, example: mdi-08)
MDI_COMMAND=(debug, example: mdi-09)
MDI_COMMAND=g53 g0 z0
MDI_COMMAND=(debug, example: mdi-11)
#12
MDI_COMMAND= G10 L20 P0 X0
#13
MDI_COMMAND= G10 L20 P0 Y0
#14
MDI_COMMAND= G10 L20 P0 Z0
#15
MDI_COMMAND= G10 L20 P0 A0
#*** End   #INCLUDE file: layout2.inc

[TRAJ]

COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 8.50
MAX_LINEAR_VELOCITY = 50.00
DEFAULT_ACCELERATION = 100.0
MAX_LINEAR_ACCELERATION = 120

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

#********************
# Axis X
#********************


[KINS]
KINEMATICS = trivkins coordinates=XYZ
#This is a best-guess at the number of joints, it should be checked
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -0.01
MAX_LIMIT = 500.0
MAX_VELOCITY = 130.0
MAX_ACCELERATION = 100.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 130.0
MAX_ACCELERATION =100.0
P = 60
I = 0
D = 0.04
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = 12010
OUTPUT_SCALE = 1
MIN_LIMIT = -0.01
MAX_LIMIT = 500.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -10
HOME_LATCH_VEL = -1.0
#HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = yes
HOME_SEQUENCE = 1
VOLATILE_HOME = 0

#********************
# Axis Y
#********************
[AXIS_Y]
MIN_LIMIT = -380
MAX_LIMIT = 0.01
MAX_VELOCITY = 130.0
MAX_ACCELERATION = 100.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 1.0
MIN_FERROR = 0.2
MAX_VELOCITY = 130.0
MAX_ACCELERATION = 100.0
P = 36
I = 0
D = 0.028
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = -8647.2
OUTPUT_SCALE = -1
MIN_LIMIT = -380
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 1.0
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = yes
HOME_SEQUENCE = 2
VOLATILE_HOME = 0

#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -140
MAX_LIMIT = 0.01
MAX_VELOCITY = 130
MAX_ACCELERATION = 100.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 0.5
MAX_VELOCITY = 130
MAX_ACCELERATION = 100.0
P = 40
I = 0
D = 0.04
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = 10807
OUTPUT_SCALE = 1
MIN_LIMIT = -140
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 1.0
#HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = yes
HOME_SEQUENCE = 0
VOLATILE_HOME = 0



#********************
# Spindle 
#********************
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_eth
# BOARD0=7i80db16

[SPINDLE_9]
P = 2
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
FERROR = 1.0
MIN_FERROR = 1.254
MAX_OUTPUT = 2500
ENCODER_SCALE = 4096
OUTPUT_SCALE = 42.8
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 2500

[XHC_HB04_BUTTONS]
# use button names according to layout file LIB:xhc-hb04-layout{n}.cfg
# note: "start-pause" is connected for standard behavior
#        controlling halui.pause/halui.resume/halui.run
# these are examples, edit as required:

goto-zero   = halui.mdi-command-00
# synthesized per-axis buttons for goto-zero button:
goto-zero-x = ""
goto-zero-y = ""
goto-zero-z = ""
goto-zero-a = ""

start-pause = std_start_pause
rewind      = halui.program.step
# probe-input for simulating a probe:
#probe-z     = motion.probe-input
macro-3     = halui.mdi-command-03
probe-z     = halui.mdi-command-06
#half        = halui.spindle.stop
# synthesized per-axis buttons for half button:
half-x      = halui.mdi-command-01
half-y      = halui.mdi-command-02
half-z      = ""
half-a      = ""

zero        = ""
# synthesized per-axis buttons for zero button:
zero-x      = halui.mdi-command-12
zero-y      = halui.mdi-command-13
zero-z      = halui.mdi-command-14
zero-a      = halui.mdi-command-15

safe-z      = halui.mdi-command-10
# in this sim, home-all only works first time, hold down till finished:
home        = halui.home-all
#macro-1     = halui.mdi-command-01
#macro-2     = halui.mdi-command-02
spindle     =  halui.mdi-command-04
#spindle     = halui.spindle.start
step        = xhc-hb04.stepsize-up
#mode        = halui.mdi-command-05
#macro-6     = halui.mdi-command-06
macro-7     = halui.mdi-command-07
stop        = halui.program.stop
reset       = halui.estop.activate

[XHC_HB04_CONFIG] 

# specify layout = n for LIB:xhc-hb04-layout{n}.cfg files
layout = 2
# coords: specify upto 4 letters from set {x y z a b c u v w}
# coords: switch labels are xyza but any unique 4 letters
# from the set {xyxabcuvw) can be used (if the coord exists)
coords = x y z
# lowpass settings:
# coef: slows rate of change of output,  range: 0 < coef < 1
coefs = 1 1 1 1
# scale plus or minus, rotaries may require larger scale factor:
scales = 1 -1 1 
# jogmode normal(default) or vnormal or plus-minus
jogmode = normal
# sequence 1: 0.001,0.010,0.100 (mm-based machine)
# sequence 2: 0.001,0.005,0.010,0.020 (inch-based machine)
# sequence 3: 0.001,0.010,0.100
# sequence 4: 0.001,0.005,0.010,0.020,0.050,0.100
# sequence 5: 0.001,0.010,0.050,0.100,1.000
sequence = 3
# require_pendant = no: create xhc-hb04 hal pins when pendant not connecte
# at startup
require_pendant = yes
# inch_or_mm = in | mm
inch_or_mm = mm
# mpg_accels: provision for reduced acceleration for manual mode jogging
mpg_accels =60 60 60

[APPLICATIONS] 
#APP = xhc-hb04-accels
APP = monitor-xhc-hb04