# Generated by PNCconf at Thu Oct  1 15:17:48 2026
# Using LinuxCNC version:  Master (2.10)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

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

[DISPLAY]
DISPLAY = qtvcp qtplasmac_4x3

POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 1in .1in .01in .001in .0001in
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 8.333333
MAX_LINEAR_VELOCITY = 16.666667
MIN_LINEAR_VELOCITY = 0.166667
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_gcode
nc  = qtplasmac_gcode
tap = qtplasmac_gcode

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
# Set 'DISABLE_AUTO_G54 = 1' to disable
# automatic resetting of the active WCS to 'G54' on M2 and M30
DISABLE_AUTO_G54 = 0
RS274NGC_STARTUP_CODE = G20 G40 G49 G80 G90 G92.1 G94 G97 M52P1
SUBROUTINE_PATH = ./:../../nc_files
USER_M_PATH = ./:/usr/share/doc/linuxcnc/examples/nc_files/plasmac/m_files


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

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

[HAL]
HALUI = halui
HALFILE = HornetPlasma.hal
HALFILE = qtplasmac_comp.hal
HALFILE = custom.hal
POSTGUI_HALFILE = qtplasmac_postgui.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal

[HALUI]

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

[TRAJ]
SPINDLES = 3
COORDINATES =  XYYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.67
MAX_LINEAR_VELOCITY = 16.67
NO_FORCE_HOMING = 1

[EMCIO]
TOOL_TABLE = tool.tbl

#******************************************
[AXIS_X]
# MAX_VEL & MAX_ACC need to be twice the corresponding joint value
MAX_VELOCITY = 33.333333333333336
MAX_ACCELERATION = 60.0
OFFSET_AV_RATIO = 0.5
MIN_LIMIT = -3.0
MAX_LIMIT = 84.0

[JOINT_0]
TYPE = LINEAR
HOME = 12.0
FERROR = 0.75
MIN_FERROR = 0.75
MAX_VELOCITY = 16.666666666666668
MAX_ACCELERATION = 30.0
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.55
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 10.0
ENCODER_SCALE = -12820.7
OUTPUT_SCALE = -10.0
MIN_LIMIT = -3.0
MAX_LIMIT = 84.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -4.166667
HOME_LATCH_VEL = -0.833333
HOME_FINAL_VEL = 7.500000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************

#******************************************
[AXIS_Y]
# MAX_VEL & MAX_ACC need to be twice the corresponding joint value
MAX_VELOCITY = 33.333333333333336
MAX_ACCELERATION = 60.0
OFFSET_AV_RATIO = 0.5
MIN_LIMIT = -144.0
MAX_LIMIT = 144.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.75
MIN_FERROR = 0.75
MAX_VELOCITY = 16.666666666666668
MAX_ACCELERATION = 30.0
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.55
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 10.0
ENCODER_SCALE = -12820.7
OUTPUT_SCALE = -10.0
BACKLASH = 0.0
MIN_LIMIT = -144.0
MAX_LIMIT = 144.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = -2

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.75
MIN_FERROR = 0.75
MAX_VELOCITY = 16.666666666666668
MAX_ACCELERATION = 30.0
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.55
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 10.0
ENCODER_SCALE = 12820.7
OUTPUT_SCALE = 10.0
BACKLASH = 0.0
MIN_LIMIT = -144.0
MAX_LIMIT = 144.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = -2
#******************************************

#******************************************
[AXIS_Z]
# MAX_VEL & MAX_ACC need to be twice the corresponding joint value
MAX_VELOCITY = 16.666666666666668
MAX_ACCELERATION = 60.0
OFFSET_AV_RATIO = 0.5
MIN_LIMIT = -5.0
MAX_LIMIT = 0.0

[JOINT_3]
TYPE = LINEAR
HOME = -0.5
FERROR = 0.75
MIN_FERROR = 0.75
MAX_VELOCITY = 8.333333333333334
MAX_ACCELERATION = 30.0
P = 20.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 10.0
ENCODER_SCALE = -20078.0
OUTPUT_SCALE = -10.0
MIN_LIMIT = -5.0
MAX_LIMIT = 0.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.833333
HOME_LATCH_VEL = 0.333333
HOME_FINAL_VEL = 0.833333
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************