# Generated by PNCconf at Sat Sep 19 14:38:17 2020
# Using LinuxCNC version:  2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

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

[DISPLAY]
DISPLAY = gmoccapy
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/giesberge/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz

MESSAGE_TEXT = REMOVE CLIP
MESSAGE_TYPE = okdialog
MESSAGE_PINNAME = removeprobe

[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
SUBROUTINE_PATH = macros
FEATURES=12
ON_ABORT_COMMAND=O <on_abort> call
REMAP=M6 modalgroup=6 prolog=change_prolog ngc=change epilog=change_epilog

[MACROS]
MACRO = load_material
MACRO = reset_tool_height


[TOOLSENSOR]
X = 47
Y = 71
Z = -110
MAXPROBE = -10

[CHANGE_POSITION]
X = 15
Y = 15
Z = -1

[PYTHON]
PATH_PREPEND = python
TOPLEVEL = python/toplevel.py

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 2000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i96.0

[HAL]
HALUI = halui
HALFILE = PrintNC.hal
HALFILE = custom.hal
HALFILE = vfd.hal
HALFILE = probe.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

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

[TRAJ]
COORDINATES =  XYYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 10.00
MAX_LINEAR_VELOCITY = 100.00

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = 5
MAX_LIMIT = 940.0

[JOINT_0]
TYPE = LINEAR
HOME = 10
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
# 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 = 125.00
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 = 0.01
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 5000
DIRHOLD    = 5000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -160.0
MIN_LIMIT = 0
MAX_LIMIT = 945
HOME_SEARCH_VEL = -25
HOME_LATCH_VEL = -10
HOME_FINAL_VEL = -10
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_OFFSET = 0.0
HOME_SEQUENCE=2
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 80
MAX_ACCELERATION = 750.0
MIN_LIMIT = 10
MAX_LIMIT = 600.0

[JOINT_1]
TYPE = LINEAR
HOME = 15.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
# 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 = 125
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
# these are in nanoseconds
DIRSETUP   = 5000
DIRHOLD    = 5000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 160.0
MIN_LIMIT = 5
MAX_LIMIT = 601.0
HOME_OFFSET = 5.5
HOME_SEARCH_VEL = -50
HOME_LATCH_VEL = -10
HOME_FINAL_VEL = -10
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE=-1

[JOINT_2]
TYPE = LINEAR
HOME = 15.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100
MAX_ACCELERATION = 750.0
# 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 = 125
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
# these are in nanoseconds
DIRSETUP   = 5000
DIRHOLD    = 5000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 160.0
MIN_LIMIT = 5
MAX_LIMIT = 601.0
HOME_OFFSET = 5.0
HOME_SEARCH_VEL = -50
HOME_LATCH_VEL = -10
HOME_FINAL_VEL = -10
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE=-1
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 15.0
MAX_ACCELERATION = 100.0
MIN_LIMIT = -120.0
MAX_LIMIT = 0.01

[JOINT_3]
TYPE = LINEAR
HOME = -5
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 15.0
MAX_ACCELERATION = 200.0
# 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 = 20
STEPGEN_MAXACCEL = 250
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.01
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -400.0
MIN_LIMIT = -120.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 15
HOME_LATCH_VEL = 10
HOME_FINAL_VEL = 10
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_OFFSET = 0.0
HOME_SEQUENCE=0
#******************************************

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