# This config file was created 2019-07-24 11:54:12.710977 by the update_ini script
# The original config files may be found in the /home/maxim/linuxcnc/configs/ETHcombS/TA.old directory

# Generated by PNCconf at Sun May 22 23:57:42 2016
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again

[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = ETHcomb
DEBUG = 0

[DISPLAY]
# DISPLAY = gmoccapy
DISPLAY = axis
POSITION_OFFSET = RELATIVE
PREFERENCE_FILE_PATH = gmoccapy_preferences
ARCDIVISION = 64
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.500000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/maxim/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 5.0000
MAX_LINEAR_VELOCITY = 120.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 15.0000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.6666667
EDITOR = gedit
GEOMETRY = XYZ
# LATHE = 1
PYVCP = Panel.xml

[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

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 150000
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALUI = halui
HALFILE = TA.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[TRAJ]

COORDINATES = XYZ
MAX_ANGULAR_VELOCITY = 360.00
MAX_VELOCITY = 100.0
# MAX_LINEAR_VELOCITY = 100.00
DEFAULT_ANGULAR_VELOCITY = 36.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 30
POSITION_FILE = position.txt
HOME_IGNORE_LIMITS = 0

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

#********************
# Axis X
#********************


[KINS]
KINEMATICS = trivkins coordinates=XYZ
#This is a best-guess at the number of joints, it should be checked
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -0.01
MAX_LIMIT = 595
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 100.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 1500
MIN_FERROR = 1.5
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 100.0
P = 4.0
I = 0.0001
D = 0.0
FF0 = 0.0
FF1 = 0.0104
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10.0
ENCODER_SCALE = 5000
OUTPUT_SCALE = 1.0
MIN_LIMIT = -0.01
MAX_LIMIT = 595
# SACALE = 3000

HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -10.00000
HOME_LATCH_VEL = 0.05
HOME_FINAL_VEL = -0.01
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
HOME_IGNORE_LIMITS = 0

#********************
# Axis Y
#********************

[AXIS_Y]
MIN_LIMIT = -0.01
MAX_LIMIT = 395
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 100.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 1500
MIN_FERROR = 1.5
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 100.0
P = 4.0
I = 0.0001
D = 0.0
FF0 = 0.0
FF1 = 0.0104
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10.0
ENCODER_SCALE = 5000
OUTPUT_SCALE = 1.0
MIN_LIMIT = -0.01
MAX_LIMIT = 395

HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -10.00000
HOME_LATCH_VEL = 0.05
HOME_FINAL_VEL = -0.01
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
HOME_IGNORE_LIMITS = 0

#********************
# Axis Z
#********************

[AXIS_Z]
MIN_LIMIT = -114
MAX_LIMIT = 0.01
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 100.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 1500
MIN_FERROR = 1.5
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 100.0
SCALE = 640
P = 4.0
I = 0.0001
D = 0.0
FF0 = 0.0
FF1 = 0.0104
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10.0
ENCODER_SCALE = 5000
OUTPUT_SCALE = 1.0
MIN_LIMIT = -114
MAX_LIMIT = 0.01

HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 5.00000
HOME_LATCH_VEL = -0.05
HOME_FINAL_VEL = 0.01
HOME_USE_INDEX = NO
HOME_SEQUENCE = 2
HOME_IGNORE_LIMITS = 0

#********************
# Spindle.
#********************
[HOSTMOT2]
# **** This is for info only ****

[SPINDLE_9]
P = 0.0
I = 0.0
D = 0.0
FF0 = 0.0003435
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 22000.0
OUTPUT_SCALE = 10000
ENCODER_SCALE = 400.0
OUTPUT_SCALE = 0.0033

##OUTPUT_MIN_LIMIT = -10000
##OUTPUT_MAX_LIMIT = 10000


#********************
#  SPINDLE 
#********************
### [SPINDLE]

##MAX_OUTPUT = 2.0
##ENCODER_SCALE = 400.0
##OUTPUT_SCALE = 0.0033