Configure PlasmaC with only one BOB

# Generated by stepconf 1.1 at Fri Dec 25 19:31:57 2020
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES
loadrt hal_parport cfg="0 out"
setp parport.0.reset-time 5000
loadrt stepgen step_type=0,0,0,0

addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf parport.0.write base-thread
addf parport.0.reset base-thread

addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
# net spindle-cmd-rpm     <= spindle.0.speed-out
# net spindle-cmd-rpm-abs <= spindle.0.speed-out-abs
# net spindle-cmd-rps     <= spindle.0.speed-out-rps
# net spindle-cmd-rps-abs <= spindle.0.speed-out-rps-abs
# net spindle-at-speed    => spindle.0.at-speed

net xstep           => parport.0.pin-02-out
setp parport.0.pin-02-out-reset 1
setp parport.0.pin-03-out-invert 1
net xdir            => parport.0.pin-03-out
net ystep           => parport.0.pin-04-out
setp parport.0.pin-04-out-reset 1
setp parport.0.pin-05-out-invert 1
net ydir            => parport.0.pin-05-out
net zstep           => parport.0.pin-06-out
setp parport.0.pin-06-out-reset 1
setp parport.0.pin-07-out-invert 1
net zdir            => parport.0.pin-07-out
net y1step          => parport.0.pin-08-out
setp parport.0.pin-08-out-reset 1
setp parport.0.pin-09-out-invert 1
net y1dir           => parport.0.pin-09-out
net xenable         => parport.0.pin-14-out
net all-home       <= parport.0.pin-11-in-not
net home-y1        <= parport.0.pin-10-in-not
net dout-001         => parport.0.pin-16-out
net dout-011         => parport.0.pin-17-out
net din-001          <= parport.0.pin-11-in
net din-011          <= parport.0.pin-12-in
net din-021          <= parport.0.pin-13-in
net din-031          <= parport.0.pin-15-in

setp stepgen.0.position-scale [JOINT_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 35000
setp stepgen.0.dirsetup 35000
setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
net xpos-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => joint.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable joint.0.amp-enable-out => stepgen.0.enable
net all-home => joint.0.home-sw-in

setp stepgen.1.position-scale [JOINT_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 35000
setp stepgen.1.dirsetup 35000
setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net ypos-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => joint.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable joint.1.amp-enable-out => stepgen.1.enable
net home-y1 => joint.1.home-sw-in

setp stepgen.2.position-scale [JOINT_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel [JOINT_1]STEPGEN_MAXACCEL
net y1pos-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
net y1pos-fb stepgen.2.position-fb => joint.2.motor-pos-fb
net y1step <= stepgen.2.step
net y1dir <= stepgen.2.dir
net y1enable joint.2.amp-enable-out => stepgen.2.enable
net all-home => joint.2.home-sw-in

setp stepgen.3.position-scale [JOINT_3]SCALE
setp stepgen.3.steplen 1
setp stepgen.3.stepspace 0
setp stepgen.3.dirhold 35000
setp stepgen.3.dirsetup 35000
setp stepgen.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
net zpos-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
net zpos-fb stepgen.3.position-fb => joint.3.motor-pos-fb
net zstep <= stepgen.3.step
net zdir <= stepgen.3.dir
net zenable joint.3.amp-enable-out => stepgen.3.enable
net all-home => joint.3.home-sw-in

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in

# loadusr -W hal_manualtoolchange
# net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
# net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
# net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
# net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

# toolchange passthrough
net tool:change iocontrol.0.tool-change  => iocontrol.0.tool-changed
net tool:prep   iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

# this section only reqired if using the sim testing panel
# [APPLICATIONS]
# DELAY                   = 3
# APP                     = test/plasmac_test.py

# required
[PLASMAC]

# required for upgrades (DO NOT CHANGE)
LAST_MAJOR_UPGRADE      = 0.144

# sets the operating mode, if not specified the default is 0
# 0 = use arc-voltage-in for arcOK and THC (no need to connect arc-ok-in, move-up-in and move-down-in)
# 1 = use arc-ok-in for arcOK and arc-voltage-in for THC (no need to connect move-up-in and move-down-in)
# 2 = use arc-ok-in for arcOK and move-down-in + move-up-in for THC (no need to connect arc-voltage-in)
MODE = 2

# enable(0) or disable(1) the plasmac config page, if not specified the default is enabled
CONFIG_DISABLE          = 0

# the font for the Axis GUI, if not specified 'sans 10' will be used
# valid font sizes are from 9 to 15
FONT                    = sans 10

# the window size for the Axis GUI
# 0 = minimum size to suit font
# 1 = maximized
# width x height = custom size
WINDOW_SIZE             = 0

# the theme for the Axis GUI tabs, if not specified the system theme will be used
THEME                   = Clearlooks

# select portrait mode, if not specified the default is landscape
#AXIS_ORIENT            = portrait

# percentage of cut-feed-rate used for paused motion speed
PAUSED_MOTION_SPEED     = 50

# torch on time when manual pulse requested
TORCH_PULSE_TIME        = 1.0

# for Powermax communications
#PM_PORT                 = /dev/ttyUSB0

# for the five user buttons in the main window
BUTTON_1_NAME           = Ohmic\Test
BUTTON_1_CODE           = ohmic-test
BUTTON_2_NAME           = Probe\Test
BUTTON_2_CODE           = probe-test 30
BUTTON_3_NAME           = Change\Consumables
BUTTON_3_CODE           = change-consumables X0 Y0 F4000
BUTTON_4_NAME           = Pierce\& Cut
BUTTON_4_CODE           = cut-type
BUTTON_5_NAME           = Load\Sheet
BUTTON_5_CODE           = G53 G0 X{JOINT_0 HOME} Y1

# for the ten user buttons in the Extras panel
BUTTON_10_NAME           = 
BUTTON_10_CODE           = 
BUTTON_10_IMAGE          = 
BUTTON_11_NAME           = 
BUTTON_11_CODE           = 
BUTTON_11_IMAGE          = 
BUTTON_12_NAME           = 
BUTTON_12_CODE           = 
BUTTON_12_IMAGE          = 
BUTTON_13_NAME           = 
BUTTON_13_CODE           = 
BUTTON_13_IMAGE          = 
BUTTON_14_NAME           = PlasmaC\User Guide
BUTTON_14_CODE           = %xdg-open http://linuxcnc.org/docs/devel/html/plasma/plasmac-user-guide.html
BUTTON_14_IMAGE          = 
BUTTON_15_NAME           = 
BUTTON_15_CODE           = 
BUTTON_15_IMAGE          = 
BUTTON_16_NAME           = 
BUTTON_16_CODE           = 
BUTTON_16_IMAGE          = 
BUTTON_17_NAME           = 
BUTTON_17_CODE           = 
BUTTON_17_IMAGE          = 
BUTTON_18_NAME           = 
BUTTON_18_CODE           = 
BUTTON_18_IMAGE          = 
BUTTON_19_NAME           = LinuxCNC\Docs
BUTTON_19_CODE           = %xdg-open http://linuxcnc.org/docs/devel/html
BUTTON_19_IMAGE          = 

# this section required as is for removing z axis moves from the loaded gcode file
# this is optional and if used then plasmac_gcode.py needs to be set as executable
[FILTER]
PROGRAM_EXTENSION       = .ngc (filter gcode files)
ngc                     = ./plasmac/plasmac_gcode.py
nc                      = ./plasmac/plasmac_gcode.py
tap                     = ./plasmac/plasmac_gcode.py

[RS274NGC]
RS274NGC_STARTUP_CODE   = o<metric_startup> call
PARAMETER_FILE          = metric_parameters.txt

# required, ./ must be in this path
SUBROUTINE_PATH         = ./:./plasmac:../../nc_files/subroutines

# required for reading ini and hal variables
FEATURES                = 12

# required for our material change
USER_M_PATH             = ./:./plasmac

[HAL]
# required
TWOPASS = ON
# the base machine
HALFILE = testplasmacnc.hal
# the plasmac component connections
HALFILE = ./plasmac/plasmac.tcl
# the plasmac machine connections
HALFILE = testplasmacnc_connections.hal
# use this for customisation after GUI has loaded
POSTGUI_HALFILE = postgui.hal
# required
HALUI = halui

[DISPLAY]
DISPLAY = axis
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 = 50.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 150.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/giuseppe/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
OPEN_FILE = ""
TOOL_EDITOR = tooledit x y
CYCLE_TIME = 0.1

# required
USER_COMMAND_FILE = ./plasmac/plasmac_axis.py

# required
EMBED_TAB_NAME          = Statistics
EMBED_TAB_COMMAND       = gladevcp -c plasmac_stats -x {XID} -u ./plasmac/plasmac_stats.py -H ./plasmac/plasmac_stats.hal ./plasmac/plasmac_stats.glade

# use one of the next two
# run panel in tab behind preview
EMBED_TAB_NAME          = Run
EMBED_TAB_COMMAND       = gladevcp -c plasmac_run -x {XID} -u ./plasmac/plasmac_run.py -H ./plasmac/plasmac_run.hal ./plasmac/plasmac_run_tab.glade
# run panel in panel on right side
#GLADEVCP                = -c plasmac_run -u ./plasmac/plasmac_run.py -H ./plasmac/plasmac_run.hal ./plasmac/plasmac_run_panel.glade

EMBED_TAB_NAME          = Config
EMBED_TAB_COMMAND       = gladevcp -c plasmac_config -x {XID} -u ./plasmac/plasmac_config.py -H ./plasmac/plasmac_config.hal ./plasmac/plasmac_config.glade

EMBED_TAB_NAME          = Extras
EMBED_TAB_COMMAND       = gladevcp -c plasmac_wizards -x {XID} -u ./plasmac/plasmac_wizards.py ./plasmac/plasmac_wizards.glade

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

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

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 83333
SERVO_PERIOD = 1000000

[TRAJ]
SPINDLES = 3
COORDINATES =  X Y Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50.00
MAX_LINEAR_VELOCITY = 150.00

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

[AXIS_X]
# set to double the value in the corresponding joint
MAX_VELOCITY = 400.0
# set to double the value in the corresponding joint
MAX_ACCELERATION = 1800.0
# shares the above two equally between the joint and the offset
OFFSET_AV_RATIO = 0.5
MIN_LIMIT = -0.001
MAX_LIMIT = 1390.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1390.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 900.0
STEPGEN_MAXACCEL = 1125.0
SCALE = 29.0909090909
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = -5.000000
HOME_SEARCH_VEL = -30.000000
HOME_LATCH_VEL = -5.000000
HOME_SEQUENCE = 1
HOME_FINAL_VEL = 5

[AXIS_Y]
# set to double the value in the corresponding joint
MAX_VELOCITY = 400.0
# set to double the value in the corresponding joint
MAX_ACCELERATION = 1800.0
# shares the above two equally between the joint and the offset
OFFSET_AV_RATIO = 0.5
MIN_LIMIT = -0.001
MAX_LIMIT = 1000.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1000.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 800.0
STEPGEN_MAXACCEL = 1125.0
SCALE = 29.0909090909
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = -5.000000
HOME_SEARCH_VEL = -30.000000
HOME_LATCH_VEL = -5.000000
HOME_SEQUENCE = -2
HOME_FINAL_VEL = 5

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 1000.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 800.0
STEPGEN_MAXACCEL = 1125.0
SCALE = 29.0909090909
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = -5.000000
HOME_SEARCH_VEL = -30.000000
HOME_LATCH_VEL = -5.000000
HOME_SEQUENCE = -2
HOME_FINAL_VEL = 5

[AXIS_Z]
# set to double the value in the corresponding joint
MAX_VELOCITY = 57.000228001
# set to double the value in the corresponding joint
MAX_ACCELERATION = 600.0
# shares the above two equally between the joint and the offset
OFFSET_AV_RATIO = 0.5
MIN_LIMIT = -40.0
MAX_LIMIT = 5.0

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -40.0
MAX_LIMIT = 5.0
MAX_VELOCITY = 28.5001140005
MAX_ACCELERATION = 300.0
STEPGEN_MAXACCEL = 375.0
SCALE = 400.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 5.000000
HOME_SEARCH_VEL = 2.000000
HOME_LATCH_VEL = 0.100000
HOME_SEQUENCE = 0
HOME_FINAL_VEL = 5

net all-home       <= parport.0.pin-11-in-not

net din-001          <= parport.0.pin-11-in