# Erstellt von PNCconf am Sat May 25 10:35:49 2024
# Verwendete LinuxCNC version:  Master (2.9)
# Änderungen an dieser Datei werden beim nächsten
# wird überschrieben sobald Sie PNCconf erneut ausführen

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

[DISPLAY]
#DISPLAY = axis
DISPLAY = probe_basic
CONFIG_FILE = custom_config.yml
FULLSCREEN = True
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.200000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = lin 1mm .1mm .01mm 
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 108.333333
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
FEATURES = 30
RS274NGC_STARTUP_CODE = G21 G40 G90 G94 G97 G64 P0.025
SUBROUTINE_PATH = /home/cnc/linuxcnc/configs/cnc/subroutines/

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

[HMOT]
CARD0=hm2_7i96s.0

[HAL]
HALUI = halui
HALFILE = CNC.hal
#HALFILE = custom.hal
POSTGUI_HALFILE = probe_basic_postgui.hal
SHUTDOWN = shutdown.hal

[HALUI]

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

[TRAJ]
COORDINATES =  XXYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.03
MAX_LIMIT = 1100.000

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# Die folgenden Werte sollten 25% größer sein als MAX_VELOCITY und MAX_ACCELERATION
# Bei Verwendung der UMKEHRSPIEL-Kompensation sollte STEPGEN_MAXACCEL um 100% größer sein.
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
# diese sind in Nanosekunden
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -200.0
MIN_LIMIT = -0.03
MAX_LIMIT = 1100.00
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 5.000000
HOME_LATCH_VEL = 0.800000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = -1

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 750.0
# Die folgenden Werte sollten 25% größer sein als MAX_VELOCITY und MAX_ACCELERATION
# Bei Verwendung der UMKEHRSPIEL-Kompensation sollte STEPGEN_MAXACCEL um 100% größer sein.
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
# diese sind in Nanosekunden
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -200.0
MIN_LIMIT = -0.03
MAX_LIMIT = 1100.00
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 5.000000
HOME_LATCH_VEL = 0.800000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = -1
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 30
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.03
MAX_LIMIT = 800.000

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# Die folgenden Werte sollten 25% größer sein als MAX_VELOCITY und MAX_ACCELERATION
# Bei Verwendung der UMKEHRSPIEL-Kompensation sollte STEPGEN_MAXACCEL um 100% größer sein.
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
# diese sind in Nanosekunden
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -200
MIN_LIMIT = -0.03
MAX_LIMIT = 800.000
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 3.000000
HOME_LATCH_VEL = 0.600000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 2
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -270
MAX_LIMIT = 0.01

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750
# Die folgenden Werte sollten 25% größer sein als MAX_VELOCITY und MAX_ACCELERATION
# Bei Verwendung der UMKEHRSPIEL-Kompensation sollte STEPGEN_MAXACCEL um 100% größer sein.
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
# diese sind in Nanosekunden
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 200.0
MIN_LIMIT = -270.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -10.000000
HOME_LATCH_VEL = -0.600000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
#******************************************

[SPINDLE_0]
MAX_OUTPUT = 18000
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
#MAX_OUTPUT = 2000