# Generated by PNCconf at Sun Nov  7 21:28:52 2021
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

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

[QTPLASMAC]
# set the operating mode (default is 0)
MODE = 1
# set the estop type (0=indicator, 1=hidden, 2=button)
ESTOP_TYPE = 0
# laser touchoff
LASER_TOUCHOFF = X47.755 Y-31.26
# camera touchoff
#CAMERA_TOUCHOFF = X0.0 Y0.0 
# powermax communications
#PM_PORT = /dev/ttyUSB0
# user buttons
BUTTON_1_NAME = ADD\SHEET
BUTTON_1_CODE = G0 Z100 X10 Y990 F2000
BUTTON_2_NAME = TORCH\PULSE
BUTTON_2_CODE = torch-pulse 0.5
BUTTON_3_NAME = CHANGE\CONSUMABLE
BUTTON_3_CODE = G0 Z80 \ X600 Y1 F2000
BUTTON_4_NAME = GO TO\ZERO
BUTTON_4_CODE = G0 Z80 \ G0 X0 Y0
BUTTON_5_NAME = WATER\BED
BUTTON_5_CODE = pulse-halpin hm2_7i96.0.ssr.00.out-04 210
BUTTON_6_NAME = FRAMING
BUTTON_6_CODE = framing
BUTTON_7_NAME = ZERO ON\GREEN
BUTTON_7_CODE = G0 X-66.080 Y28.472 F1000 \ G90 \ G10 L20 P1
BUTTON_8_NAME = ZERO ON\RED
BUTTON_8_CODE = G0 X-48.211 Y27.729 F1000 \ G90 \ G10 L20 P1
BUTTON_9_NAME = GREEN\LASER
BUTTON_9_CODE = toggle-halpin hm2_7i96.0.ssr.00.out-01
BUTTON_10_NAME = RED\LASER
BUTTON_10_CODE = toggle-halpin hm2_7i96.0.ssr.00.out-02
BUTTON_11_NAME = LIGHTS
BUTTON_11_CODE = toggle-halpin hm2_7i96.0.ssr.00.out-05
BUTTON_12_NAME = BOX\LIGHTS
BUTTON_12_CODE = toggle-halpin hm2_7i96.0.ssr.00.out-03
BUTTON_13_NAME = 
BUTTON_13_CODE = 
BUTTON_14_NAME = 
BUTTON_14_CODE = 
BUTTON_15_NAME = 
BUTTON_15_CODE = 
BUTTON_16_NAME = 
BUTTON_16_CODE = 
BUTTON_17_NAME = SINGLE\CUT
BUTTON_17_CODE = single-cut
BUTTON_18_NAME = NORMAL\CUT
BUTTON_18_CODE = cut-type
BUTTON_19_NAME = OHMIC\TEST
BUTTON_19_CODE = ohmic-test
BUTTON_20_NAME = PROBE\TEST
BUTTON_20_CODE = probe-test 10

[DISPLAY]
DISPLAY = qtvcp qtplasmac
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 50mm 10mm 5mm 1mm .1mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 55.000000
MAX_LINEAR_VELOCITY = 60.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
GEOMETRY = xyz
CYCLE_TIME = .100

[FILTER]
PROGRAM_EXTENSION = .ngc,.nc,.tap GCode File (*.ngc, *.nc, *.tap)
ngc = ./qtplasmac/qtplasmac_gcode.py
nc  = ./qtplasmac/qtplasmac_gcode.py
tap = ./qtplasmac/qtplasmac_gcode.py

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
RS274NGC_STARTUP_CODE = o<metric_startup> call
SUBROUTINE_PATH = ./:./qtplasmac:../../nc_files/subroutines
USER_M_PATH = ./:./qtplasmac


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

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i96.0

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

[HALUI]

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

[TRAJ]
SPINDLES = 3
COORDINATES =  XYYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 55.00
MAX_LINEAR_VELOCITY = 60.00

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

#******************************************
[AXIS_X]
# MAX_VEL & MAX_ACC need to be twice the corresponding joint value
MAX_VELOCITY = 120.0
MAX_ACCELERATION = 1200.0
OFFSET_AV_RATIO = 0.5
MIN_LIMIT = -8
MAX_LIMIT = 1195.01

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 550.0
# 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 = 70
STEPGEN_MAXACCEL = 940
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 10000
STEPSPACE  = 10000
STEP_SCALE = -160.0
MIN_LIMIT = -8
MAX_LIMIT = 1195.01
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = -25
HOME_LATCH_VEL = -10
HOME_FINAL_VEL = 15
HOME_IGNOR_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************

#******************************************
[AXIS_Y]
# MAX_VEL & MAX_ACC need to be twice the corresponding joint value
MAX_VELOCITY = 120
MAX_ACCELERATION = 1300.0
OFFSET_AV_RATIO = 0.5
MIN_LIMIT = -10
MAX_LIMIT = 1080.01

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 550.0
# 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 = 70
STEPGEN_MAXACCEL = 940
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 10000
STEPSPACE  = 10000
STEP_SCALE = -160
MIN_LIMIT = -10
MAX_LIMIT = 1080.01
HOME_OFFSET = -1
HOME_SEARCH_VEL = -25
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 15
HOME_IGNOR_LIMITS = YES
HOME_SEQUENCE = -1

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 550.0
# 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 = 70
STEPGEN_MAXACCEL = 940
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 10000
STEPSPACE  = 10000
STEP_SCALE = -160
MIN_LIMIT = -10
MAX_LIMIT = 1080.01
HOME_OFFSET = -1
HOME_SEARCH_VEL = -25
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 15
HOME_IGNOR_LIMITS = YES
HOME_SEQUENCE = -1
#******************************************

#******************************************
[AXIS_Z]
# MAX_VEL & MAX_ACC need to be twice the corresponding joint value
MAX_VELOCITY = 80
MAX_ACCELERATION = 1000.0
OFFSET_AV_RATIO = 0.5
MIN_LIMIT = -155
MAX_LIMIT = 20
#MAX_VELOCITY = 84
#MAX_ACCELERATION = 1300.0
#OFFSET_AV_RATIO = 0.5
#MIN_LIMIT = -90
#MAX_LIMIT = 20

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 500.0
# 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 = 50
STEPGEN_MAXACCEL = 600
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 10000
STEPSPACE  = 10000
STEP_SCALE = -160.0
MIN_LIMIT = -155
MAX_LIMIT = 20
HOME_OFFSET = 1
HOME_SEARCH_VEL = 25
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 20
HOME_IGNOR_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************