[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i25
CONFIG="num_encoders=4 sserial_port_0=000xxx"




[EMC]

# Name of machine, for use with display, etc.
MACHINE =              6R13F3-4axis

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =                0x00000003
#DEBUG =                0x00000007
DEBUG = 0x0


[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/dan/linuxcnc/nc_files
INCREMENTS = 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 10.0000
MAX_LINEAR_VELOCITY = 050.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 12.0000
MAX_ANGULAR_VELOCITY = 24.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = -axyz

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python


[TASK]

# Name of task controller program, e.g., milltask
TASK =                  milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.010




[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var




[EMCMOT]

EMCMOT =                motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT =             0.010

# Servo task period, in nanoseconds
SERVO_PERIOD =          1000000




[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.

# list of hal config files to run through halcmd
# files are executed in the order in which they appear

HALFILE = hm2-servo7i77.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =               save neta




[TRAJ]

AXES =                  4
# COORDINATES =         X Y Z R P W
COORDINATES =         X Y Z A 
HOME =                  0 0 0 0
LINEAR_UNITS =         mm
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      30.0
MAX_VELOCITY =          50.0
DEFAULT_ACCELERATION = 100.0
MAX_ACCELERATION =      100.0


[AXIS_0]

TYPE =                  LINEAR
MAX_VELOCITY =          50.0
MAX_ACCELERATION =        50.0
ENCODER_SCALE =         2000.0
BACKLASH =             0
FERROR =                0.3
MIN_FERROR =            0.15

INPUT_SCALE =        -400

OUTPUT_SCALE =         1.00
OUTPUT_OFFSET =         0.0
MAX_OUTPUT =         10

MIN_LIMIT =            -500
MAX_LIMIT =              500
HOME =                  0.000
HOME_OFFSET =          -3.3
HOME_SEARCH_VEL =       -30.0
HOME_LATCH_VEL =        2.0
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX =      NO
HOME_IGNORE_LIMITS =    YES

# PID tuning params
DEADBAND =              0.00015
P =                   25
I =                   0.005
D =                    0.4
FF0 =                   0.001
FF1 =                  0.04
FF2 =			0.01
BIAS =                  0






[AXIS_1]

TYPE =                  LINEAR
MAX_VELOCITY =          50.0
MAX_ACCELERATION =    25.0
ENCODER_SCALE =         2000.0
BACKLASH =             0
FERROR =             0.12
INPUT_SCALE =        -200

OUTPUT_SCALE =         1.00
OUTPUT_OFFSET =         0.0
MAX_OUTPUT =         10

MIN_LIMIT =            -200
#MAX_LIMIT =              177
MAX_LIMIT =             200
HOME =                  0.000
HOME_OFFSET =          -23
HOME_SEARCH_VEL =       -30.0
HOME_LATCH_VEL =        2.0
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX =     NO
HOME_IGNORE_LIMITS =    YES

# PID tuning params
DEADBAND =              0.001
P =                   14
I =                   0.4
D =                    0.25
FF0 =                   1e-05
FF1 =                  0.06
FF2 =			0.001
BIAS =                  0





[AXIS_2]

TYPE =                  LINEAR
MAX_VELOCITY =         30.0
MAX_ACCELERATION =    50.0
ENCODER_SCALE =         2000.0 
BACKLASH =              0
FERROR =               0.075
MIN_FERROR =            0.050

INPUT_SCALE =         400

OUTPUT_SCALE =         -1.000
OUTPUT_OFFSET =         0.0
MAX_OUTPUT =            10

MIN_LIMIT =            -285
MAX_LIMIT =             0
HOME =                -5
HOME_OFFSET =         -19
HOME_SEARCH_VEL =      30
HOME_LATCH_VEL =       2
# the Z axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX =        NO
HOME_IGNORE_LIMITS =    YES

# PID tuning params
DEADBAND =              0.00015
P =                 18
I =                     0.08
D =                     0.4
FF0 =                   0.0028
FF1 =                  0.08
FF2 =			0.001
BIAS =                  -0.15






[AXIS_3]

TYPE =                 ANGULAR
MAX_VELOCITY =          50.0
MAX_ACCELERATION =      50.0
ENCODER_SCALE =         10000.0
BACKLASH =             0
FERROR =          0.25

INPUT_SCALE =      -1111.111
OUTPUT_SCALE =         1.00
OUTPUT_OFFSET =         0.0
MAX_OUTPUT =         10

MIN_LIMIT =            -500
MAX_LIMIT =              500
HOME =                  0.000
HOME_OFFSET =          -3.3
HOME_SEARCH_VEL =       -30.0
HOME_LATCH_VEL =        2.0
# the X axis servo's encoder does not have an index channel, so we have to home without index
HOME_USE_INDEX =     NO
HOME_IGNORE_LIMITS =    YES

# PID tuning params
DEADBAND =              0.0001
P =                   3
I =                   20
D =                    0.001
FF0 =                   0.0001
FF1 =                  0.02
FF2 =			0.001
BIAS =                  0













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