# Generated by PNCconf at Thu Feb 12 12:01:09 2026
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = SeaNC2
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/probotix/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 1.000000
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
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 = G20 G40 G90 G94 G97 G64 P0.001

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1800000

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

[HAL]
HALUI = halui
HALFILE = SeaNC2.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 = 0.10
MAX_LINEAR_VELOCITY = 1.00

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 0.8333333333333334
MAX_ACCELERATION = 30.0
MIN_LIMIT = -0.001
MAX_LIMIT = 8.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 0.8333333333333334
MAX_ACCELERATION = 30.0
# 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 = 1.04
STEPGEN_MAXACCEL = 37.50
P = 555.5555555555555
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 = -8000.0
MIN_LIMIT = -0.001
MAX_LIMIT = 8.0
HOME_OFFSET = -0.050000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 0.5
MAX_ACCELERATION = 30.0
MIN_LIMIT = -0.001
MAX_LIMIT = 8.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 0.5
MAX_ACCELERATION = 30.0
# 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 = 37.50
P = 555.5555555555555
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 = -8000.0
MIN_LIMIT = -0.001
MAX_LIMIT = 8.0
HOME_OFFSET = -0.050000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -3

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 0.5
MAX_ACCELERATION = 30.0
# 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 = 37.50
P = 555.5555555555555
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 = -8000.0
MIN_LIMIT = -0.001
MAX_LIMIT = 8.0
HOME_OFFSET = -0.050000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -3
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
MIN_LIMIT = -4.0
MAX_LIMIT = 0.001

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
# 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 = 1.25
STEPGEN_MAXACCEL = 37.50
P = 555.5555555555555
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 = -8000.0
MIN_LIMIT = -4.0
MAX_LIMIT = 0.001
HOME_OFFSET = 0.050000
HOME_SEARCH_VEL = 0.050000
HOME_LATCH_VEL = 0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************

[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
OUTPUT_SCALE = 2000
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 2000
#******************************************

[DISPLAY]
PYVCP = ztouch.xml

[RS274NGC]
SUBROUTINE_PATH = /home/probotix/linuxcnc/configs/SeaNC2_PENDANT/subroutines

[HAL]
HALFILE = io.hal
POSTGUI_HALFILE = postgui.hal
HALUI = halui
[HALUI]
MDI_COMMAND = O <z_touch> CALL
# Z axis touch plate subroutine