#RMC Rev26 - 4th axis disabled and probe & tool setter - adjusted Y axis to 9.25 travels
#RMC Rev25 - RAPIDS
#RMC STEPSCALE inverted for motor rotation X/Y/Z
[EMC]
MACHINE = Mill Probe Basic Test NO 4TH
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = probe_basic
#OPEN_FILE = ~/linuxcnc/nc_files/pb_examples/blank.ngc
CONFIRM_EXIT = False
CONFIG_FILE = custom_config.yml
FULLSCREEN = true
MAXIMIZE = false
POSITION = 0x0

LOG_FILE = sim.log
LOG_LEVEL = DEBUG
PREFERENCE_FILE = sim.pref
PROGRAM_PREFIX = ~/linuxcnc/nc_files

POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.500000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000

DEFAULT_SPINDLE_SPEED = 500
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
INCREMENTS = JOG .01in .005in .001in .0001in
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 2.0000000
MIN_LINEAR_VELOCITY = 0.016670
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 100.000000
MIN_ANGULAR_VELOCITY = 1.666667
DEFAULT_JOG_ANGULAR_VELOCITY = 10
MAX_JOG_ANGULAR_VELOCITY = 50
EDITOR = gedit
#RMC Rev26 - 4th axis disabled and probe & tool setter
#GEOMETRY = xyza
GEOMETRY = xyza

[FILTER]
PROGRAM_EXTENSION = .nc,.txt,.tap Other NC files
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
    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
#RMC QtPyVCP specific
RS274NGC_STARTUP_CODE = F10 S500 G20 G17 G40 G49 G54 G64 P0.001 G80 G90 G91.1 G92.1 G94 G97 G98
FEATURES = 30
SUBROUTINE_PATH = subroutines

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

[HMOT]
CARD0=hm2_7i76e.0

[HAL]
HALUI = halui
HALFILE = PBVtest02.hal
HALFILE = vc-p4s.hal
POSTGUI_HALFILE = PBVtest02_postgui.hal
POSTGUI_HALFILE = vc-postgui.hal
#POSTGUI_HALFILE = hallib/time.hal
#SHUTDOWN = shutdown.hal
#HALFILE = custom.hal
TWOPASS = on

[HALUI]
#RMC added for Vista P4-S pendant
MDI_COMMAND=...
MDI_COMMAND=...
MDI_COMMAND=...
MDI_COMMAND=...
MDI_COMMAND=...
MDI_COMMAND=G10 L20 P1 X0
MDI_COMMAND=G10 L20 P1 Y0
MDI_COMMAND=G10 L20 P1 Z0
MDI_COMMAND=G0 X0
MDI_COMMAND=G0 Y0
MDI_COMMAND=G0 G53 Z0

#RMC
[APPLICATIONS]
#APP = halshow my.halshow

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ
#RMC Rev26 - 4th axis disabled and probe & tool setter
#JOINTS = 4
#KINEMATICS = trivkins coordinates=XYZA

[TRAJ]
COORDINATES =  XYZ
#RMC Rev26 - 4th axis disabled and probe & tool setter
#COORDINATES =  XYZA
#MAX_ANGULAR_VELOCITY = 100
#DEFAULT_ANGULAR_VELOCITY = 16.67
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 4.0
NO_FORCE_HOMING = 1


[EMCIO]
#RMC changed to iov2
EMCIO = iov2
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1

#******************************************
[AXIS_X]
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 60.0
MIN_LIMIT = 0
MAX_LIMIT = 16.125

[JOINT_0]
TYPE = LINEAR
HOME = 8
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 60.0
# 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 = 8
STEPGEN_MAXACCEL = 150.00
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    = 2500
STEPSPACE  = 2500
STEP_SCALE = 19818
MIN_LIMIT = 0
MAX_LIMIT = 16.125
HOME_OFFSET = 16.125
HOME_SEARCH_VEL = 2.0
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 3
VOLITILE_HOME = 1
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 60.0
MIN_LIMIT = 0
MAX_LIMIT = 9.251

[JOINT_1]
TYPE = LINEAR
HOME = 8.75
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 4.0
MAX_ACCELERATION = 60.0
# 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 = 8
STEPGEN_MAXACCEL = 150.00
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    = 2500
STEPSPACE  = 2500
STEP_SCALE = 19822
MIN_LIMIT = 0
MAX_LIMIT = 9.251
HOME_OFFSET = 9.25
HOME_SEARCH_VEL = 1.5
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
VOLITILE_HOME = 1
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 3.0
MAX_ACCELERATION = 55.0
MIN_LIMIT = -14.0
MAX_LIMIT = 0.001

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 3.0
MAX_ACCELERATION = 55.0
# 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 = 8
STEPGEN_MAXACCEL = 150
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    = 2500
STEPSPACE  = 2500
STEP_SCALE = 19813
MIN_LIMIT = -14
MAX_LIMIT = 0.001
HOME_OFFSET = .025
HOME_SEARCH_VEL = 1.00000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = -0.25
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
VOLITILE_HOME = 1
#******************************************

#RMC Rev26 - 4th axis disabled and probe & tool setter
#******************************************
#[AXIS_A]
#MAX_VELOCITY = 100
#MAX_ACCELERATION = 1200.0
#MIN_LIMIT = -1e99
#MAX_LIMIT = 1e99

#[JOINT_3]
#TYPE = ANGULAR
#HOME = 0.0
#FERROR = 0.5
#MIN_FERROR = 0.05
#MAX_VELOCITY = 100
#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 = 225
#STEPGEN_MAXACCEL = 1500.00
#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    = 2500
#STEPSPACE  = 2500
#STEP_SCALE = 340.0
#MIN_LIMIT = -1e99
#MAX_LIMIT = 1e99
#HOME_OFFSET = 0.000000
#HOME_SEARCH_VEL = 20.000000
#HOME_LATCH_VEL = -0.500000
#HOME_FINAL_VEL = 0.000000
#HOME_USE_INDEX = NO
#VOLITILE_HOME = 1

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

[SPINDLE_0]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 8000.0
ENCODER_SCALE = 4096.0
OUTPUT_SCALE = 8000
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 8000

[TUNE]
P = 1000
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 200