# SATURN ini file

[EMC]
MACHINE = SATURN 4x4
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
#POSITION_UNITS = INCH
MAX_FEED_OVERRIDE = 2.0
MAX_SPINDLE_OVERRIDE = 1.0
DEFAULT_SPINDLE_SPEED = 8000
INTRO_GRAPHIC = probotix_splash.gif
OPEN_FILE = /home/probotix/Desktop/Warmup Routine.ngc
INTRO_TIME = 5
PROGRAM_PREFIX = /home/probotix/Desktop/Cam Files
INCREMENTS = 1.00in .75in .50in .25in .1in .05in .01in .005in .001in 
PYVCP = pyvcp.xml

[FILTER]
PROGRAM_EXTENSION = .png,.gif Greyscale Depth Image
png = image-to-gcode
gif = image-to-gcode
PROGRAM_EXTENSION = .py Python Script
py = python
PROGRAM_EXTENSION = .php PHP Script
php = php
PROGRAM_EXTENSION = .ngc2 Filtered NGC File
ngc2 = g-code-filter.php


[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = emc.var
RS274NGC_STARTUP_CODE = G17 G20 G40 G49 G54 G90 G64 P0.01 T0
SUBROUTINE_PATH =  /home/probotix/linuxcnc/nc_files/subs

[EMCMOT]
EMCMOT = motmod
SHMEM_KEY = 111
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 40000
SERVO_PERIOD = 1000000

[HAL]
HALFILE = saturn.hal
POSTGUI_HALFILE = postgui.hal
HALUI = halui

[HALUI]
# add halui MDI commands here (max 64)
MDI_COMMAND = o100 CALL [1]
MDI_COMMAND = G53 G0 X24.0 Y48.0 Z0
MDI_COMMAND = G53 G0 X24.0 Y0 Z0
MDI_COMMAND = o102 CALL [2]
MDI_COMMAND = G10 L20 P0 X0 Y0
MDI_COMMAND = G10 L20 P0 Z0
MDI_COMMAND = G53 G0 X0 Y0 Z0
MDI_COMMAND = G0 X0 Y0
MDI_COMMAND = G64 P0.001
MDI_COMMAND = G64 P0.010
MDI_COMMAND = G64 P0.040
MDI_COMMAND = G17 G20 G40 G49 G54 G90 G64 P0.01 T0 M6

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 6.666666667
DEFAULT_ANGULAR_VELOCITY = 1440
MAX_LINEAR_VELOCITY = 6.666666667
MAX_ANGULAR_VELOCITY = 1440
NO_FORCE_HOMING = 0 
ARC_BLEND_ENABLE = 1
ARC_BLEND_FALLBACK_ENABLE = 0
ARC_BLEND_OPTIMIZATION_DEPTH = 50
ARC_BLEND_GAP_CYCLES = 4
ARC_BLEND_RAMP_FREQ = 20

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

[AXIS_0]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 6.666666667
MAX_ACCELERATION = 16
STEPGEN_MAXACCEL = 20
SCALE = 2037.18
FERROR = .05
MIN_FERROR = .01
MIN_LIMIT = -.06
MAX_LIMIT = 50.00
HOME_OFFSET = -.2
HOME_SEARCH_VEL = -.5
HOME_LATCH_VEL = -.1
HOME_IGNORE_LIMITS = 1
HOME_SEQUENCE = 1
HOME_FINAL_VEL = .2

[AXIS_1]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 6.666666667
MAX_ACCELERATION = 16
STEPGEN_MAXACCEL = 20
SCALE = 2037.18
FERROR = .05
MIN_FERROR = .01
MIN_LIMIT = -.06
MAX_LIMIT = 49.00
HOME_OFFSET = -.2
HOME_SEARCH_VEL = -.5
HOME_LATCH_VEL = -.1
HOME_IGNORE_LIMITS = 1
HOME_SEQUENCE = 1
HOME_FINAL_VEL = .2

[AXIS_2]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 4.2
MAX_ACCELERATION = 15
STEPGEN_MAXACCEL = 18.75
SCALE = 5080.0
FERROR = .05
MIN_FERROR = .01
MIN_LIMIT = -11
MAX_LIMIT = .1
HOME_OFFSET = .2
HOME_SEARCH_VEL = .5
HOME_LATCH_VEL = .2
HOME_IGNORE_LIMITS = 1
HOME_SEQUENCE = 0