# This file was created with the 7i96 Configuration Tool on Feb 22 2022 18:30:01
# Changes to most things are ok and will be read by the Configuration Tool

[7i96]
VERSION = 1.3.4
STEP_GENS = 4
PWMS = 1

[EMC]
VERSION = 1.1
MACHINE = spintest
DEBUG = 0x7FFFFFFF

[HOSTMOT2]
DRIVER = hm2_eth
IPADDRESS = "192.168.1.121"
BOARD = 7i96
STEPGENS = 1
ENCODERS = 1
PWMS = 1

[DISPLAY]
DISPLAY = axis
PROGRAM_PREFIX = /home/kirk/linuxcnc/nc_files
POSITION_OFFSET = MACHINE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 0.5
CYCLE_TIME = 0.1
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0
OPEN_FILE = ""

[KINS]
KINEMATICS = trivkins coordinates=X
JOINTS = 1

[EMCIO]
EMCIO = iov2
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[RS274NGC]
PARAMETER_FILE = spintest.var
SUBROUTINE_PATH = /home/kirk/linuxcnc/subroutines

[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[TRAJ]
COORDINATES = X
LINEAR_UNITS = metric
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 300
NO_FORCE_HOMING = False

[HAL]
HALFILE = spintest.hal
HALFILE = io.hal
HALUI = halui

[HALUI]

[AXIS_X]
MIN_LIMIT = 0
MAX_LIMIT = 220
MAX_VELOCITY = 300
MAX_ACCELERATION = 20

[JOINT_0]
AXIS = X
MIN_LIMIT = 0
MAX_LIMIT = 220
MAX_VELOCITY = 300
MAX_ACCELERATION = 20
TYPE = LINEAR
SCALE = 1600
STEPGEN_MAX_VEL = 360.00
STEPGEN_MAX_ACC = 24.00
FERROR = 0.0051
MIN_FERROR = 0.0025
DIRSETUP = 5000
DIRHOLD = 5000
STEPLEN = 5000
STEPSPACE = 5000
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127

[SPINDLE]
OUTPUT_TYPE = 1
SCALE = 1600
PWM_FREQUENCY = 5000
MAX_RPM = 2800
MIN_RPM = 70
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00013
BIAS = 0
MAX_ERROR = 0.0127

# Everything below this line is only used to
# setup the Configuration Tool when loading the ini.

[INPUT_PB]
# DO NOT change the inputs text
INPUT_PB_0 = Select
INPUT_INVERT_0 = False
INPUT_PB_1 = Select
INPUT_INVERT_1 = False
INPUT_PB_2 = Select
INPUT_INVERT_2 = False
INPUT_PB_3 = Select
INPUT_INVERT_3 = False
INPUT_PB_4 = Select
INPUT_INVERT_4 = False
INPUT_PB_5 = Select
INPUT_INVERT_5 = False
INPUT_PB_6 = Select
INPUT_INVERT_6 = False
INPUT_PB_7 = Select
INPUT_INVERT_7 = False
INPUT_PB_8 = Select
INPUT_INVERT_8 = False
INPUT_PB_9 = Select
INPUT_INVERT_9 = False
INPUT_PB_10 = Select
INPUT_INVERT_10 = False

[OUTPUT_PB]
# DO NOT change the outputs text
OUTPUT_PB_0 = Spindle On
OUTPUT_PB_1 = Select
OUTPUT_PB_2 = Select
OUTPUT_PB_3 = Select
OUTPUT_PB_4 = Select
OUTPUT_PB_5 = Select

[OPTIONS]
# DO NOT change the options text
INTRO_GRAPHIC = emc2.gif
INTRO_GRAPHIC_TIME = 0
MANUAL_TOOL_CHANGE = False
CUSTOM_HAL = False
POST_GUI_HAL = False
SHUTDOWN_HAL = False
HALUI = False
PYVCP = False
GLADEVCP = False
LADDER = False
BACKUP = True