# Generated by PNCconf at Thu Jul 26 23:34:56 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

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

[DISPLAY]
DISPLAY = axis
EMBED_TAB_NAME = GladeVCP
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/hays/linuxcnc/nc_files
PYVCP = THC_vcp.xml
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 5.000000
MIN_LINEAR_VELOCITY = 0.016670
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
SERVO_PERIOD = 1000000

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_eth
# BOARD0=7i96

[HAL]
HALUI = halui
HALFILE = Hays_Plasma.hal
PYVCP = thc_vcp.xml
HALFILE = thc.hal
POSTGUI_HALFILE = thc_vcp.hal
SHUTDOWN = shutdown.hal

[HALUI]
MDI_COMMAND = G10 L20 P0 X0 ( Set X to zero )
MDI_COMMAND = G10 L20 P0 Y0 ( Set Y to zero )
MDI_COMMAND = G10 L20 P0 Z0 ( Set Z to zero )

[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XXYZ kinstype=BOTH

[TRAJ]
COORDINATES =  XXYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 1.00
NO_FORCE_HOMING = 1

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 300.0
MIN_LIMIT = -0.001
MAX_LIMIT = 56.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
# 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 = 1.25
STEPGEN_MAXACCEL = 37.50
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   = 8000
DIRHOLD    = 10000
STEPLEN    = 2500
STEPSPACE  = 2500
STEP_SCALE = 265.9686
MIN_LIMIT = -0.001
MAX_LIMIT = 56.0
HOME_OFFSET = 0.5
HOME_SEARCH_VEL = 20
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 1
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -1

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 300.0
# 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 = 1.25
STEPGEN_MAXACCEL = 37.50
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   = 8000
DIRHOLD    = 10000
STEPLEN    = 2500
STEPSPACE  = 2500
STEP_SCALE = 265.9686
MIN_LIMIT = -0.001
MAX_LIMIT = 56.0
HOME_OFFSET = 0.5
HOME_SEARCH_VEL = 20
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 1
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -1

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

#******************************************
[AXIS_Y]
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 300.0
MIN_LIMIT = -0.001
MAX_LIMIT = 116.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
# 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 = 1.25
STEPGEN_MAXACCEL = 37.50
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   = 8000
DIRHOLD    = 10000
STEPLEN    = 2500
STEPSPACE  = 2500
STEP_SCALE = 265.9686
MIN_LIMIT = -0.001
MAX_LIMIT = 116.0
HOME_OFFSET = 0.5
HOME_SEARCH_VEL = 20
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 1
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

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

#******************************************
[AXIS_Z]
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
MIN_LIMIT = -0.001
MAX_LIMIT = 8.0

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10
MIN_FERROR = 500
MAX_VELOCITY = 20
MAX_ACCELERATION = 100
# 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 = 1.25
STEPGEN_MAXACCEL = 37.50

# these are in nanoseconds
DIRSETUP   = 8000
DIRHOLD    = 10000
STEPLEN    = 2500
STEPSPACE  = 2500
STEP_SCALE = 5079.9998
MIN_LIMIT = -0.001
MAX_LIMIT = 8.0
HOME_OFFSET = 0.40
HOME_SEQUENCE = 1

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


###############################################################################
# section for main IO controller parameters 
###############################################################################
[PLASMA]

#- Ignition fault timeout, the allowed time from TorchON untill ArcOK, in seconds
IGNITION_TIMEOUT = 3

#- ArcOK timeout, a filter, for a signal to be valid it needs to exceed the specified time period, in seconds
ARC_OK_FILTER_TIME = 0.2

#- Ignition Retries before abort, the number of attempts to re-probe and start the torch before estop
MAX_FAILED_IGNITIONS = 3

#- Extinguish Timeout, a grace period after loosing ArcOK before shutting off the torch and re-probing, in seconds
EXTINGUISH_TIMEOUT = 0.3