# Generated by stepconf 1.1 at Fri Oct 11 17:59:27 2024
# If you make changes to this file, they will be
# overwritten when you run stepconf again

[EMC]
MACHINE = XYYZA2PPT
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = qtvcp qtdragon_hd
PREFERENCE_FILE_PATH = WORKINGFOLDER/qtdragon.pref
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 20
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 25.00
DEFAULT_ANGULAR_VELOCITY = 36.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 360.00
CYCLE_TIME = 0.100
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/phil/linuxcnc/nc_files
INCREMENTS = 10mm 1mm .5mm .1mm .05mm .01mm .005mm

[KINS]
JOINTS = 5
KINEMATICS = trivkins coordinates=XYYZA kinstype=BOTH

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code 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
BASE_PERIOD = 65000
SERVO_PERIOD = 1000000

[HAL]
HALFILE = XYYZA2PPT.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal

[TRAJ]
COORDINATES =  X Y Y Z A
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 36.00
MAX_LINEAR_VELOCITY = 25.00

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

#*** AXIS_X *******************************
[AXIS_X]
MAX_VELOCITY = 22.83653846153846
MAX_ACCELERATION = 100.0
MIN_LIMIT = -5
MAX_LIMIT = 200.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -5
MAX_LIMIT = 200.0
MAX_VELOCITY = 22.83653846153846
MAX_ACCELERATION = 100.0
STEPGEN_MAXACCEL = 125.0
SCALE = 640.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
HOME_SEQUENCE = 1
#******************************************

#*** AXIS_Y *******************************
[AXIS_Y]
MAX_VELOCITY = 22.83653846153846
MAX_ACCELERATION = 100.0
MIN_LIMIT = -1.0
MAX_LIMIT = 201.0

[JOINT_1]
TYPE = LINEAR
HOME = 195.0
MIN_LIMIT = -1.0
MAX_LIMIT = 201.0
MAX_VELOCITY = 22.83653846153846
MAX_ACCELERATION = 100.0
STEPGEN_MAXACCEL = 125.0
SCALE = 640.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 195.0
HOME_SEQUENCE = -2

[JOINT_2]
TYPE = LINEAR
HOME = 195.0
MIN_LIMIT = -1.0
MAX_LIMIT = 201.0
MAX_VELOCITY = 22.83653846153846
MAX_ACCELERATION = 100.0
STEPGEN_MAXACCEL = 125.0
SCALE = 640.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 195.0
HOME_SEQUENCE = -2
#******************************************

#*** AXIS_Z *******************************
[AXIS_Z]
MAX_VELOCITY = 22.83653846153846
MAX_ACCELERATION = 100.0
MIN_LIMIT = -75.0
MAX_LIMIT = 1.0

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -75.0
MAX_LIMIT = 1.0
MAX_VELOCITY = 22.83653846153846
MAX_ACCELERATION = 100.0
STEPGEN_MAXACCEL = 125.0
SCALE = 640.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
HOME_SEQUENCE = 0
#******************************************

#*** AXIS_A *******************************
[AXIS_A]
MAX_VELOCITY = 274.03846153846155
MAX_ACCELERATION = 1200.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0

[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
MAX_VELOCITY = 274.03846153846155
MAX_ACCELERATION = 1200.0
STEPGEN_MAXACCEL = 1500.0
SCALE = 53.333333333333336
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
HOME_SEQUENCE = 3
#******************************************