This config file was created 2016-01-05 22:47:04.237362 by the update_ini script
The original config files may be found in the /home/k1/linuxcnc/configs/kr1-test directory

# Generated by PNCconf at Tue Jan  5 00:51:22 2016
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
# The version string for this INI file.
VERSION = 1.0

MACHINE = kr1-test
DEBUG = 0

[DISPLAY]
#DISPLAY = #linuxcncrsh #axis 
DISPLAY = axis
#DISPLAY = halui
#DISPLAY = 
OPEN_FILE = /home/k1/scaratest4.ngc
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_GRAPHIC = no
INTRO_TIME = 0
PROGRAM_PREFIX = /home/k1
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
PYVCP=panel.xml
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 1000
MAX_LINEAR_VELOCITY = 2200.000000
MIN_LINEAR_VELOCITY = 0
DEFAULT_ANGULAR_VELOCITY = 1600
MAX_ANGULAR_VELOCITY = 7200
MIN_ANGULAR_VELOCITY = 0
EDITOR = gedit
GEOMETRY = xyzc

[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]
FEATURES = 28
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 50000
SERVO_PERIOD = 1000000
TRAJ_PERIOD = 10000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALUI = halui
HALFILE = kr1-test.hal
HALFILE = custom.hal
//POSTGUI_HALFILE = custom_postgui.hal
POSTGUI_HALFILE = postgui-one.hal
SHUTDOWN = shutdown.hal

[HALUI]
MDI_COMMAND = M110
MDI_COMMAND = M111
MDI_COMMAND = M112
MDI_COMMAND = M113
MDI_COMMAND = M114
MDI_COMMAND = M115
MDI_COMMAND = M116


[TRAJ]
AXES = 4
COORDINATES = X Y Z C
MAX_ANGULAR_VELOCITY = 14400.00
DEFAULT_ANGULAR_VELOCITY = 36.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 500
MAX_LINEAR_VELOCITY = 16200
NO_FORCE_HOMING = 1

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

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

[KINS]
KINEMATICS =  trivkins
#This is a best-guess at the number of joints, it should be checked
JOINTS = 4
AUTO_TELEOP = 20


[AXIS_X]
HOME = 0.0
MIN_LIMIT = -200.0
MAX_LIMIT = 1030.0
MAX_VELOCITY = 5400.0
MAX_ACCELERATION = 10800.0

[JOINT_0]

TYPE = ANGULAR
HOME = 0.0
FERROR = 10.5
MIN_FERROR = 10.05
MAX_VELOCITY = 720.0
MAX_ACCELERATION = 1500.0
BACKLASH = -0.0
# 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 = 970.00
STEPGEN_MAXACCEL = 1950.00
P = 20.0
I = 2.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 500.0
# these are in nanoseconds
DIRSETUP   = 500
DIRHOLD    = 500
STEPLEN    = 500
STEPSPACE  = 500
STEP_SCALE = 111.111111112
MIN_LIMIT = -120.0
MAX_LIMIT = 120.0
HOME_OFFSET = -11.0
HOME_SEARCH_VEL = 12.000000
HOME_LATCH_VEL = -2.500000
HOME_FINAL_VEL = 5.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1

#********************
# Axis Y
#********************
[AXIS_Y]
HOME = 0.0
MIN_LIMIT = -1030.0
MAX_LIMIT = 1030.0
MAX_VELOCITY = 5400.0
MAX_ACCELERATION = 10800.0

[JOINT_1]

TYPE = ANGULAR
HOME = 0.0
FERROR = 10.5
MIN_FERROR = 10.05
MAX_VELOCITY = 720.0
MAX_ACCELERATION = 1500.0
BACKLASH = -0.0
# 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 = 2500.00
STEPGEN_MAXACCEL = 4500.00
P = 20.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 500.0
# these are in nanoseconds
DIRSETUP   = 500
DIRHOLD    = 500
STEPLEN    = 500
STEPSPACE  = 500
STEP_SCALE = 230.0000000
MIN_LIMIT = -360.0
MAX_LIMIT = 360.0
HOME_OFFSET = -14.9
HOME_SEARCH_VEL = -12.000000
HOME_LATCH_VEL = 2.500000
HOME_FINAL_VEL = 5.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 2

#********************
# Axis Z
#********************
[AXIS_Z]
HOME = 0.0
MIN_LIMIT = -5.0
MAX_LIMIT = 1010.0
MAX_VELOCITY = 2800.0
MAX_ACCELERATION = 3400.0

[JOINT_2]

TYPE = LINEAR
HOME = 0.0
FERROR = 10.5
MIN_FERROR = 10.05
MAX_VELOCITY = 2000.0
MAX_ACCELERATION = 2000.0
# 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 = 550.00
STEPGEN_MAXACCEL = 9000.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 550.0
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 1000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 66.666666665
MIN_LIMIT = -5.0
MAX_LIMIT = 1010.0
HOME_OFFSET = -15.0
HOME_SEARCH_VEL = -12.000000
HOME_LATCH_VEL = 2.500000
HOME_FINAL_VEL = -5.000000
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0


#********************
# Axis C
#********************
[AXIS_C]
HOME = 0.0
MIN_LIMIT = -360.0
MAX_LIMIT = 360.0
MAX_VELOCITY = 5000.0
MAX_ACCELERATION = 10000.0


[JOINT_3]

TYPE = ANGULAR
HOME = 0.0
FERROR = 20.5
MIN_FERROR = 20.05
MAX_VELOCITY = 720.0
MAX_ACCELERATION = 10000.0
BACKLASH = -0.0
# 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 = 1050.00
STEPGEN_MAXACCEL = 25000.00
P = 20.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 750.0
# these are in nanoseconds
DIRSETUP   = 500
DIRHOLD    = 500
STEPLEN    = 500
STEPSPACE  = 500
STEP_SCALE = 435.5556
#STEP_SCALE = 969.697
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = -15.0
HOME_SEARCH_VEL = 12.000000
HOME_LATCH_VEL = -2.500000
HOME_FINAL_VEL = 5.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 3


[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25