# This config file was created 2021-11-16 16:13:18.942599 by the update_ini script
# The original config files may be found in the /home/cnc/linuxcnc/configs/7i97/HURCOnew.old.old directory

# Generated by PNCconf at Fri Jul 10 15:30:47 2020
#SERVO_PERIOD = 999572
#BASE_PERIOD  = 36265
#SERVO_PERIOD = 1000000
#BASE_PERIOD  = 40000
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again
# MAX_LINEAR_VELOCITY = 200.000000	
[EMC]
# The version string for this INI file.
VERSION = 1.1

MACHINE = HURCO
DEBUG = 0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.500000
MAX_SPINDLE_OVERRIDE = 1.500000
MIN_SPINDLE_OVERRIDE = 0.000000z
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 4
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
#PYVCP = HURCOBMC30.xml
INCREMENTS = 5mm 1mm .1mm .01mm .0001mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 20.000000
MAX_LINEAR_VELOCITY = 200.0			
MIN_LINEAR_VELOCITY = 0.0000000
DEFAULT_ANGULAR_VELOCITY = 1.6
MAX_ANGULAR_VELOCITY = 150.000000
MIN_ANGULAR_VELOCITY = 0.0
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


[PYTHON]
PATH_PREPEND = python
TOPLEVEL = /home/cnc/linuxcnc/nc_files/remap_lib/python-stdglue/python/
PATH_APPEND = /home/cnc/linuxcnc/nc_files/remap_lib/python-stdglue/



[RS274NGC]

PARAMETER_FILE = linuxcnc.var
#SUBROUTINE_PATH = /home/cnc/linuxcnc/nc_files/remap_lib/python-stdglue/python/
#USER_M_PATH = /home/cnc/linuxcnc/nc_files/hurcoMCODE
#REMAP= M6 modalgroup=6 ngc=sub_progs/Werkzeugwechsel_Main

SUBROUTINE_PATH = ./
#REMAP=M6   modalgroup=6 ngc=toolchange
REMAP=M6   modalgroup=6  prolog=change_prolog ngc=toolchange epilog=change_epilog

# parameters exposed by setspeed_prolog/evaluated by setspeed_epilog:
#<speed>

#REMAP= S prolog=setspeed_prolog ngc=setspeed epilog=setspeed_epilog


[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
#BASE_PERIOD  = 36265

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALUI = halui
HALFILE = HURCOnew.hal
#HALFILE = toolchange_index.hal 
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]
MDI_COMMAND = M61Q1
MDI_COMMAND = M61Q2
MDI_COMMAND = M61Q3
MDI_COMMAND = M61Q4
MDI_COMMAND = M61Q5
MDI_COMMAND = M61Q6
MDI_COMMAND = M61Q7
MDI_COMMAND = M61Q8
MDI_COMMAND = M61Q9
MDI_COMMAND = M61Q10
MDI_COMMAND = M61Q11
MDI_COMMAND = M61Q12
MDI_COMMAND = M61Q13 
MDI_COMMAND = M61Q14
MDI_COMMAND = M61Q15
MDI_COMMAND = M61Q16
MDI_COMMAND = M61Q17
MDI_COMMAND = M61Q18
MDI_COMMAND = M61Q19
MDI_COMMAND = M61Q20
MDI_COMMAND = M61Q21
MDI_COMMAND = M61Q22
MDI_COMMAND = M61Q23
MDI_COMMAND = M61Q24
MDI_COMMAND = M5
MDI_COMMAND = M3
MDI_COMMAND = M4
MDI_COMMAND = M120
MDI_COMMAND = M5

[TRAJ]

COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
NO_FORCE_HOMING = 1

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

TOOL_CHANGE_POSITION = 0.0 511.0 1.27	
TOOL_CHANGE_QUILL_UP = 1


#********************
# Axis X
#********************


[KINS]
KINEMATICS = trivkins coordinates=XYZ
#This is a best-guess at the number of joints, it should be checked
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -10
MAX_LIMIT = 800 
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 2000.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10
MIN_FERROR = 5.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 1500.0
P = 15
I = 0.014
D = 0.084
FF0 = 0
FF1 = 0
FF2 = 0

BIAS = 0.075
############-0.0105 vorher Bias
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE =2000
OUTPUT_SCALE = -10
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -10
MAX_LIMIT = 800
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -10.0
HOME_LATCH_VEL = 5.0
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = YES
HOME_SEQUENCE = 1

#********************
# Axis Y
#********************
[AXIS_Y]
MIN_LIMIT = -10
MAX_LIMIT = 512
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 2000.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 5.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 2000.0
P = 15
I = 0.014
D = 0.084
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0.009
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE = -2000
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -10
MAX_LIMIT = 512
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -10.0
HOME_LATCH_VEL = 5
HOME_FINAL_VEL = 0.0
HOME_USE_INDEX = YES
HOME_SEQUENCE = 2

#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -650.00
MAX_LIMIT = 35.00
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 2000.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 5.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 2000.0
P = 15
I = 0.014
D = 0.084
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = -0.001
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE = -2000
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -650.00
MAX_LIMIT = 35.00
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10.0
HOME_LATCH_VEL = -5.0
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = YES
HOME_SEQUENCE = 0

#********************
# Spindle 
#********************
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i97.0

[SPINDLE_0]
P = 1
I = 0
D = 0
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 6000
ENCODER_SCALE = 4096
OUTPUT_SCALE = 6000
OUTPUT_MIN_LIMIT = -6000
OUTPUT_MAX_LIMIT = 6000