# Создано PNCconf в Sun Dec  1 17:31:07 2024
# Используя LinuxCNC версии:  Master (2.9)
# Все изменения в этом файле будут перезаписаны
# Будет перезаписано при повторном запуске PNCconf

[EMC]
MACHINE = 73
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
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/alex/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
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
EMBED_TAB_NAME=PSNG
# Uncomment next if DISPLAY = gmoccapy
#EMBED_TAB_LOCATION = ntb_user_tabs
EMBED_TAB_COMMAND=gladevcp -c probe -x {XID} -u psng/python/probe_screen.py -H psng/psng.hal psng/probe_screen.glade

[PROBE_SCREEN]
# Offset from [AXIS_Z]MAX_LIMIT for performing moves during various probe
# screen movements. This must be a negative number.
Z_SAFE_TRAVEL_OFFSET = -0.1

[TOOLSENSOR]
# Absolute coordinates of the toolsetter pad
X = 10
Y = 10
# Absolute Z start search coordinates
Z = 60
# Maximum search distance and direction (sign)
MAXPROBE = -60
# Speed of movements during working in Probe Screen
RAPID_SPEED = 600
# Diameter of toolsetter pad 
TS_DIAMETER = 10
# The speed of the reverse rotation of the spindle when measuring the tool diameter
REV_ROTATION_SPEED = 2000

[CHANGE_POSITION]
# Absolute coordinates of the tool change point
X = 10
Y = 10
Z = 60
[FILTER]
PROGRAM_EXTENSION = .png,.tap,.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
# ---- PSNG start ---- #
RETAIN_G43 = 0
INI_VARS = 1
HAL_PIN_VARS = 1
SUBROUTINE_PATH = macros:psng/macros
REMAP=M6   modalgroup=6  prolog=change_prolog   ngc=psng_manual_change  epilog=change_epilog
# ---- PSNG end ---- #


[PYTHON]
PATH_PREPEND = ./python
TOPLEVEL = python/toplevel.py

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

[HMOT]
# **** This is for info only ****
CARD0=hm2_5i25.0

[HAL]
HALUI = halui
HALFILE =  73.hal
HALFILE = custom.hal
HALFILE = xhc-whb04b-6.hal
POSTGUI_HALFILE = custom_postgui.hal
HAFILE = halui
SHUTDOWN = shutdown.hal

[HALUI]
MDI_COMMAND=(debug,macro0) 
MDI_COMMAND=(debug,macro1)
MDI_COMMAND=(debug,macro2)
MDI_COMMAND=(debug,macro3)
MDI_COMMAND=(debug,macro4)
MDI_COMMAND=(debug,macro5)
MDI_COMMAND=(debug,macro6)
MDI_COMMAND=(debug,macro7)
MDI_COMMAND=(debug,macro8)
MDI_COMMAND=(debug,macro9)
MDI_COMMAND=(debug,macro10)
MDI_COMMAND=(debug,macro11)
MDI_COMMAND=(debug,macro12)
MDI_COMMAND=(debug,macro13)
MDI_COMMAND=(debug,macro14)
MDI_COMMAND=(debug,macro15)
MDI_COMMAND=(debug,macro16)


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

[TRAJ]
COORDINATES =  XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.83
MAX_LINEAR_VELOCITY = 8.33

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 15
MAX_ACCELERATION = 50
MIN_LIMIT = -20
MAX_LIMIT = 280.0

[JOINT_0]
TYPE = LINEAR
HOME = 0
FERROR = 15
MIN_FERROR = 5
BACKLASH = 0.10
MAX_VELOCITY = 15
MAX_ACCELERATION = 50
# 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 = 20
STEPGEN_MAXACCEL = 200
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.
BIAS = 0
DEADBAND = 0.00
MAX_OUTPUT = 0
ENCODER_SCALE = -200
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 1400
MIN_LIMIT = -20.0
MAX_LIMIT = 280.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -6
HOME_LATCH_VEL = -1
HOME_FINAL_VEL = 1
HOME_USE_INDEX = YES
HOME_INDEX_NO_ENCODER_RESET = NO
HOME_SEQUENCE = 3
HOME = 0.0
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 10
MAX_ACCELERATION = 50
MIN_LIMIT = -150.0
MAX_LIMIT = 50.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 15
MIN_FERROR = 5
BACKLASH = 0.015
MAX_VELOCITY = 10
MAX_ACCELERATION = 50
# 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 = 25
STEPGEN_MAXACCEL = 100
P = 1000
I = 0
D = 0.0
FF0 = 0
FF1 = 1
FF2 = 0.0
BIAS = 0
DEADBAND = 0.00
MAX_OUTPUT = 0
ENCODER_SCALE = -200
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -2500
MIN_LIMIT = -150.0
MAX_LIMIT = 50.0
HOME_OFFSET = 0
HOME_SEARCH_VEL = 6
HOME_LATCH_VEL = -1
HOME_FINAL_VEL = 1
HOME_USE_INDEX = YES
HOME_INDEX_NO_ENCODER_RESET = NO
HOME = 0.0                 # Скидання екрана в нуль
HOME_SEQUENCE = 2
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 10
MAX_ACCELERATION = 30
MIN_LIMIT = -200.0
MAX_LIMIT = 60

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 50
MIN_FERROR = 10
BACKLASH = 0.02
MAX_VELOCITY = 10
MAX_ACCELERATION = 30
# 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 = 20
STEPGEN_MAXACCEL = 200
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00
BIAS = 0
DEADBAND = 0.00
MAX_OUTPUT = 0
ENCODER_SCALE = 200
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 2000
MIN_LIMIT = -200.0
MAX_LIMIT = 60
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 6
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 1
HOME_USE_INDEX = YES
HOME_SEQUENCE = 1
HOME_INDEX_NO_ENCODER_RESET = NO
HOME = 0.0                 # Скидання екрана в нуль
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 24000
OUTPUT_SCALE = 24000
OUTPUT_MIN_LIMIT = -24000
OUTPUT_MAX_LIMIT = 24000