# Basic 5i25/7i77 ini file

[EMC]
MACHINE = 7i77
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
PYVCP = pyvcp-panel.xml
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5

# the next line will need to be modified to point to the nc_files folder
# PROGRAM_PREFIX = /home/yourname/linuxcnc/nc_files

INCREMENTS = .1mm .05mm .01mm .005mm .001mm .0005mm .0001mm

[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 = 7i77.var

[EMCMOT]
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010

[HAL]
HALFILE = 7i77.hal
POSTGUI_HALFILE = pyvcp.hal

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 100
MAX_LINEAR_VELOCITY = 100.00

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

#### the axis values need to be updated to your machine

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.005
MIN_FERROR = 10.0005
MAX_VELOCITY = 60.667

MAX_ACCELERATION = 60.0

P = 40.0
I =0.0015
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0

DEADBAND = 0.0
MAX_OUTPUT = 120.0
ENCODER_SCALE = 2002
OUTPUT_SCALE = 50.0
OUTPUT_MIN_LIMIT = -100.0
OUTPUT_MAX_LIMIT = 100.0
MIN_LIMIT = -1000.01
MAX_LIMIT = 1000.0
HOME_OFFSET = 0.0




[AXIS_1]
TYPE =                  LINEAR
MAX_VELOCITY =          1.0
MAX_ACCELERATION =      4.0
BACKLASH =              0.000
FERROR =                0.010
MIN_FERROR =            0.002

INPUT_SCALE =           -81920
OUTPUT_SCALE =          1.000
OUTPUT_OFFSET =         0.0
MAX_OUTPUT =            1.0

MIN_LIMIT =             -3.0
MAX_LIMIT =             10.0
#HOME =                  0.000
#HOME_OFFSET =           -2.9
#HOME_SEARCH_VEL =       -0.50
#HOME_LATCH_VEL =        0.10
# the Y axis encoder has an index channel, so we use it to improve the home accuracy
#HOME_USE_INDEX =        YES
#HOME_IGNORE_LIMITS =    YES

# PID tuning params
DEADBAND =              0.000015
P =                     1.0
I =                     0.000
D =                     0.000
FF0 =                   0.000
FF1 =                   0.000
FF2 =			              0.0
BIAS =                  0.000




[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.005
MIN_FERROR = 10.0005
MAX_VELOCITY = 100.667
#30
MAX_ACCELERATION = 150.0

P = 20.0
I =0.015
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0

DEADBAND = 0.0
MAX_OUTPUT = 50.0
ENCODER_SCALE = 1000
OUTPUT_SCALE = 50.0
OUTPUT_MIN_LIMIT = -100.0
OUTPUT_MAX_LIMIT = 100.0
MIN_LIMIT = -1000.01
MAX_LIMIT = 1000.0
HOME_OFFSET = 0.0



#********************
# Spindle 
#********************
[SPINDLE_9]
ENCODER_SCALE = 10000.00
OUTPUT_SCALE = 2600.0
OUTPUT_MIN_LIMIT = -2300.0
OUTPUT_MAX_LIMIT = 2300.0