# Generated by PNCconf at Thu Oct 31 02:28:19 2024
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = DM45
DEBUG = 0
VERSION = 1.1

[DISPLAY]
#DISPLAY = qtvcp qtdragon_hd -m
DISPLAY = qtvcp qtdragon
PREFERENCE_FILE_PATH = WORKINGFOLDER/qtdragon.pref
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_0_OVERRIDE = 1.000000
MIN_SPINDLE_0_OVERRIDE = 0.500000
DEFAULT_SPINDLE_0_SPEED = 500
MIN_SPINDLE_0_SPEED = 100
MAX_SPINDLE_0_SPEED = 1970
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/mill/linuxcnc/nc_files
INCREMENTS = 20mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 60.000000
MAX_LINEAR_VELOCITY = 110.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz
CYCLE_TIME = 100

[MDI_COMMAND_LIST]
MDI_COMMAND = G0 Z0;X0 Y0
MDI_COMMAND = G53 G0 Z0;G53 G0 X0 Y0

[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

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

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

[HAL]
HALUI = halui
HALFILE = DM45.hal
HALFILE = custom.hal
POSTGUI_HALFILE = qtvcp_postgui.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

[TRAJ]
COORDINATES =  XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 11.67
MAX_LINEAR_VELOCITY = 110.67

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 110.66666666666667
MAX_ACCELERATION = 1200.0
MIN_LIMIT = -0.01
#MAX_LIMIT = 420.0
MAX_LIMIT = 545.0

[JOINT_0]
ENCODER_SCALE = 200
TYPE = LINEAR
HOME = 0.0
#5.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 116.66666666666667
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 = 233.33
STEPGEN_MAXACCEL = 2400
P = 50
I = 0.2
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.005
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 320
#-320.0
BACKLASH = 0.000
#BACKLASH = 0.005
MIN_LIMIT = -0.01
MAX_LIMIT = 545
HOME_OFFSET = -10.000000
HOME_SEARCH_VEL = -60.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 30.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 110.66666666666667
MAX_ACCELERATION = 1200.0
MIN_LIMIT = -0.01
MAX_LIMIT = 249.0

[JOINT_1]
ENCODER_SCALE = 200
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 116.66666666666667
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 = 233.33
STEPGEN_MAXACCEL = 2400
P = 10
I = 0.2
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.005
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -320
#320.0
BACKLASH = 0.000
#BACKLASH = 0.025
MIN_LIMIT = -0.01
MAX_LIMIT = 249.0
HOME_OFFSET = -5.000000
HOME_SEARCH_VEL = -60.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 30.000000
#HOME_SEARCH_VEL = -1.000000
#HOME_LATCH_VEL = -0.500000
#HOME_FINAL_VEL = 0.00000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 66.66666666666667
MAX_ACCELERATION = 800.0
MIN_LIMIT = -410.0
MAX_LIMIT = 0.01

[JOINT_2]
ENCODER_SCALE = 200
TYPE = LINEAR
HOME = 0.0
#-10
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 66.66666666666667
MAX_ACCELERATION = 800.0
# 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 = 133.33
#83
STEPGEN_MAXACCEL = 1600 
#3000
P = 30
I = 0.1
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.01
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 5000
#10000
DIRHOLD    = 5000
#10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -320
BACKLASH = 0.000
#BACKLASH = 0.035
MIN_LIMIT = -410
MAX_LIMIT = 0.01
HOME_OFFSET = 5.000000
HOME_SEARCH_VEL = 60.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 30.0000
#-0.500000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000
#********************
[PROBE]
#USE_PROBE = versaprobe
USE_PROBE = basicprobe