# Generated by PNCconf at Fri Mar  3 16:12:30 2023
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = lcnc
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/shawn/linuxcnc/nc_files
INCREMENTS = 47in 44.5in 40in 30in 20in 10in 1in .5in .1in .05in .01in .005in .001in .0005in .0001in
POSITION_FEEDBACK = ACTUAL
# Jog Speed - Also sets Jog Speed in LCNC Axis Manual Control Screen only if lower than MAX_LINEAR_VELOCITY. Otherwise MAX_LINEAR_VELOCITY sets this value. #
DEFAULT_LINEAR_VELOCITY = 2.00000
# Sets the Jog Speed/Max Velocity in LCNC Axis Manual Control Screen #
MAX_LINEAR_VELOCITY = 2.00000
MIN_LINEAR_VELOCITY = 0.016670
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz
CYCLE_TIME = 100

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .ngc,.NGC,.nc,.NC,.txt,.tap Gcode file
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

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 2000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i76e.0

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

[HALUI]

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

[TRAJ]
COORDINATES =  XYYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.33
MAX_LINEAR_VELOCITY = 3.33

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1

#******************************************
[AXIS_X]
MAX_VELOCITY = 3.3333333333333335
MAX_ACCELERATION = 90.0
MIN_LIMIT = -0.001
MAX_LIMIT = 44.500

[JOINT_0]
TYPE = LINEAR
HOME = 0.2
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 3.3333333333333335
MAX_ACCELERATION = 90
# 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 = 4.17
STEPGEN_MAXACCEL = 112.5
P = 500.0
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   = 8000
DIRHOLD    = 5000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 10159.9997
MIN_LIMIT = -0.001
MAX_LIMIT = 44.500
HOME_OFFSET = -0.100000
HOME_SEARCH_VEL = -0.833333
HOME_LATCH_VEL = 0.033333
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 3.3333333333333335
MAX_ACCELERATION = 90.0
MIN_LIMIT = -0.001
MAX_LIMIT = 46.500

[JOINT_1]
TYPE = LINEAR
HOME = 0.4
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 3.3333333333333335
MAX_ACCELERATION = 90
# 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 = 4.17
STEPGEN_MAXACCEL = 112.5
P = 500.0
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   = 8000
DIRHOLD    = 5000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -10255.4628
MIN_LIMIT = -0.001
MAX_LIMIT = 46.500
HOME_OFFSET = 0.100000
HOME_SEARCH_VEL = -0.933333
HOME_LATCH_VEL = 0.033333
HOME_FINAL_VEL = 0.100000
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = NO
HOME_SEQUENCE = -2

[JOINT_2]
TYPE = LINEAR
HOME = 0.4
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 3.3333333333333335
MAX_ACCELERATION = 90
# 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 = 4.17
STEPGEN_MAXACCEL = 112.5
P = 500.0
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   = 8000
DIRHOLD    = 5000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -10255.4628
MIN_LIMIT = -0.001
MAX_LIMIT = 46.500
HOME_OFFSET = 0.100000
HOME_SEARCH_VEL = -0.933333
HOME_LATCH_VEL = 0.033333
HOME_FINAL_VEL = 0.100000
HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = NO
HOME_SEQUENCE = -2
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 0.5
MAX_ACCELERATION = 50.0
MIN_LIMIT = -4.001
MAX_LIMIT = 0.001

[JOINT_3]
TYPE = LINEAR
HOME = -0.2
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 0.5
MAX_ACCELERATION = 50.0
# 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 = 0.62
STEPGEN_MAXACCEL = 62.50
P = 500.0
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   = 8000
DIRHOLD    = 5000
STEPLEN    = 2500
STEPSPACE  = 2500
STEP_SCALE = 10159.9997
MIN_LIMIT = -4.001
MAX_LIMIT = 0.001
HOME_OFFSET = -0.100000
HOME_SEARCH_VEL = 0.500000
HOME_LATCH_VEL = -0.033333
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#******************************************