# Generated by PNCconf at Wed Mar  6 05:25:58 2002
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again

[EMC]
MACHINE = 2204-1
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EMBED_TAB_NAME = ATC
EMBED_TAB_LOCATION = ntb_user_tabs
EMBED_TAB_COMMAND = gladevcp -x {XID} -H ATC_2204vmf4.hal ATC_2204vmf4.glade
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/user/linuxcnc/nc_files
INCREMENTS = 50mm 5mm 1mm .5mm .1mm .05mm .01mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 20.000000
MAX_LINEAR_VELOCITY = 80.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.750000
MAX_ANGULAR_VELOCITY = 12.000000
MIN_ANGULAR_VELOCITY = 1.60000
EDITOR = gedit
GEOMETRY = xyz

[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
ORIENT_OFFSET = 0

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25

[HAL]
HALUI = halui
HALFILE = 2204-1.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[TRAJ]
AXES = 7
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 720.00
DEFAULT_ANGULAR_VELOCITY = 136.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 10.33
MAX_LINEAR_VELOCITY = 5000.00

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

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 10
MAX_VELOCITY = 5000.0
MAX_ACCELERATION = 250.0
P = 5
I = 0
D = 0
FF0 = 0
FF1 = 0.00384
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE = 1024
OUTPUT_SCALE = 1
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -250
MAX_LIMIT = 250.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
#HOME_OFFSET = 120.000000
#HOME_SEARCH_VEL = 15.000000
#HOME_LATCH_VEL = -5
#HOME_FINAL_VEL = 0.000000
#HOME_USE_INDEX = YES
#HOME_SEQUENCE = 1

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 10
MAX_VELOCITY = 5000.0
MAX_ACCELERATION = 50.0
P = 3
I = 0
D = 0
FF0 = 0
FF1 = 0.0028
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE = -1024
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -250.00
MAX_LIMIT = 250.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
#HOME_OFFSET = -150.0
#HOME_SEARCH_VEL = -10.0
#HOME_LATCH_VEL = 5.0
#HOME_FINAL_VEL = 0.000000
#HOME_USE_INDEX = YES
#HOME_SEQUENCE = 2

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 10
MAX_VELOCITY = 2000.0
MAX_ACCELERATION = 100.0
P = 5
I = 0
D = 0
FF0 = 0
FF1 = 0.00756
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE = -1024
OUTPUT_SCALE = 10
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -250.0
MAX_LIMIT = 250.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
#HOME_OFFSET = 30.000000
#HOME_SEARCH_VEL = 10.000000
#HOME_LATCH_VEL = -3.00000
#HOME_FINAL_VEL = 0.000000
#HOME_USE_INDEX = YES
#HOME_SEQUENCE = 0

#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 0.1
MIN_FERROR = 100.0
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 10.0
P = 3
I = 0
D = 0
FF0 = 0
FF1 = 0.0509
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE = -2024
OUTPUT_SCALE = 1
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
#HOME_OFFSET = 60.000000
#HOME_SEARCH_VEL = 10.000000
#HOME_LATCH_VEL = -2.00000
#HOME_FINAL_VEL = 0.000000
#HOME_USE_INDEX = YES
#HOME_SEQUENCE = 3

#********************
# Axis U
#********************
[AXIS_6]
TYPE = LINEAR
HOME = 0.0
FERROR = 20.0
MIN_FERROR = 10
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 250.0
P = 1
I = 0
D = 0
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE = 1600
OUTPUT_SCALE = 1
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -1
MAX_LIMIT = 3000.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
#HOME_OFFSET = 0
# HOME_SEARCH_VEL = 15.000000
# HOME_LATCH_VEL = -5
# HOME_FINAL_VEL = 0.000000
# HOME_USE_INDEX = YES
# HOME_SEQUENCE = 4

#********************
# Spindle 
#********************
[SPINDLE_9]
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 = 1400.0
ENCODER_SCALE = 2048.0
#ENCODER_SCALE = -8192.0
OUTPUT_SCALE = 1400
OUTPUT_MIN_LIMIT = -1400
OUTPUT_MAX_LIMIT = 1400