# Generated by PNCconf at Tue Dec  5 15:40:03 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 = 7-14_Lathe
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = gmoccapy
EMBED_TAB_NAME=Cycles
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u ./subroutines/lathehandler.py -x {XID} ./subroutines/lathemacro.ui
FULLSCREEN=True
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 = 1
PROGRAM_PREFIX = /home/rog/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
LATHE = 1
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

[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

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
RS274NGC_STARTUP_CODE = G21 G40 G90 G94 G97 G64 P0.025
PROGRAM_PREFIX = ~/linuxcnc/nc_files
SUBROUTINE_PATH = /home/rog/linuxcnc/configs/7-14_Lathe/subroutines/

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

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i96s.0

[HAL]
HALUI = halui
HALFILE = 7-14_Lathe.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 2
KINEMATICS = trivkins coordinates=XZ

[TRAJ]
COORDINATES =  XZ
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

#******************************************
[AXIS_X]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -200.0
MAX_LIMIT = 0.01
BACKLASH = 0.0500

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 31.25
STEPGEN_MAXACCEL = 937.50
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    = 5000
STEPSPACE  = 5000
STEP_SCALE = -400.0
MIN_LIMIT = -200.0
MAX_LIMIT = 1.00
HOME_OFFSET = 0.2500000000
HOME_SEARCH_VEL = 10.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = -0.100000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
HOME_IGNORE_LIMITS = YES
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -400.0
MAX_LIMIT = 0.01
BACKLASH = 0.2100

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 31.25
STEPGEN_MAXACCEL = 937.50
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    = 5000
STEPSPACE  = 5000
STEP_SCALE = 320.0
MIN_LIMIT = -400.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.250000
HOME_SEARCH_VEL = 10.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = -0.500000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 2
HOME_IGNORE_LIMITS = YES
#******************************************

[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 = 2000.0
ENCODER_SCALE = 400.0