# Generated by PNCconf at Sat Feb 24 07:57:58 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = my_LinuxCNC_machine-rod
DEBUG = 0
VERSION = 1.0

[DISPLAY]
DISPLAY = axis
#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/plasma/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 120
MAX_LINEAR_VELOCITY = 350
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667

EDITOR = gedit
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

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

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

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_eth
# BOARD0=7i76e

[HAL]
HALUI = halui
HALFILE = my_LinuxCNC_machine-rod.hal
#HALFILE = custom.hal
#POSTGUI_HALFILE = postgui_call_list.hal
#SHUTDOWN = shutdown.hal

[HALUI]

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


[TRAJ]
COORDINATES =  X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 300
MAX_LINEAR_VELOCITY = 300

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

#********************

# Joint 0 - Y
[JOINT_0]
#********************
TYPE = LINEAR
HOME = 0.0
FERROR = 20.0
MIN_FERROR = 1.0
MAX_VELOCITY = 300
MAX_ACCELERATION = 1500

# 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 = 700
STEPGEN_MAXACCEL = 2000
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 = 0.0
# these are in nanoseconds
DIRSETUP   = 500
DIRHOLD    = 500
STEPLEN    = 1500
STEPSPACE  = 1500
STEP_SCALE = 261.130715645

MIN_LIMIT = -0.01
MAX_LIMIT = 1260.1

HOME_OFFSET = 43
HOME_SEARCH_VEL = -100 
HOME_LATCH_VEL = 10
HOME_FINAL_VEL = 50
HOME_USE_INDEX = NO
HOME_SEQUENCE = -1


# Joint 1 - Y1
[JOINT_1]
#********************
TYPE = LINEAR
HOME = 0.0
FERROR = 20.0
MIN_FERROR = 1.0
MAX_VELOCITY = 300
MAX_ACCELERATION = 1500

# 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 = 700
STEPGEN_MAXACCEL = 2000
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 = 0.0
# these are in nanoseconds
DIRSETUP   = 500
DIRHOLD    = 500
STEPLEN    = 1500
STEPSPACE  = 1500
STEP_SCALE = 261.130715645

MIN_LIMIT = -0.01
MAX_LIMIT = 1260.1

HOME_OFFSET = 45
HOME_SEARCH_VEL = -100 
HOME_LATCH_VEL = 10
HOME_FINAL_VEL = 50
HOME_USE_INDEX = NO
HOME_SEQUENCE = -1

# Axis Y
#********************
[AXIS_Y]
MAX_VELOCITY = 360
MAX_ACCELERATION = 1500
MIN_LIMIT = -0.01
MAX_LIMIT = 1260.1

#********************

# Joint 2
[JOINT_2]
#********************
TYPE = LINEAR
HOME = 0.0
FERROR = 20.0
MIN_FERROR = 1.0
MAX_VELOCITY = 360
MAX_ACCELERATION = 1500

# 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 = 700
STEPGEN_MAXACCEL = 2000
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 = 0.0
# these are in nanoseconds
DIRSETUP   = 500
DIRHOLD    = 500
STEPLEN    = 2500
STEPSPACE  = 2500

STEP_SCALE      = -159.154925543

MIN_LIMIT = -0.01
MAX_LIMIT = 1221.1

HOME_OFFSET = 45.0
HOME_SEARCH_VEL = -100 
HOME_LATCH_VEL = 25
HOME_FINAL_VEL = 100
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1



# Axis X
#********************
[AXIS_X]
MAX_VELOCITY = 360
MAX_ACCELERATION = 1500
MIN_LIMIT = -0.01
MAX_LIMIT = 1221.1

#********************

# Joint 3
[JOINT_3]
#********************
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0

MAX_VELOCITY = 220
MAX_ACCELERATION = 4000
# 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 = 5000
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 = 0.0
# these are in nanoseconds
DIRSETUP   = 500
DIRHOLD    = 500
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 1000
MIN_LIMIT = -84
MAX_LIMIT = 0.001

HOME_OFFSET = 0.5 
HOME_SEARCH_VEL = 10 
HOME_LATCH_VEL = 5
HOME_FINAL_VEL = 10
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1

# Axis Z
#********************
[AXIS_Z]
#OFFSET_AV_RATIO  =   0.5
# The next 2 settings are double the real speed. Slowing down these settings reduces overshoot.
# As external offsets are never used with z axis moves on plasma,this give max speeds and acceleration becasue OFFSET_AV_RATIO will halve them
# maximum achieveable velocity is 110 mm/sec
# maximum achievable acelleration is say 1500 mm/sec/sec
MAX_VELOCITY = 110
MAX_ACCELERATION = 700

MIN_LIMIT = -84
MAX_LIMIT = 0.001


#********************
# Spindle 
#********************
[SPINDLE_9]
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 = 2000.0