DRIVER=to_pci


[EMC]

# Name of machine, for use with display, etc.
MACHINE =               to_pci_16A20

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




[DISPLAY]

# Name of display program, e.g., tkemc
DISPLAY =              axis

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.0500

# Path to help file
HELP_FILE =             tklinucnc.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.5

# Prefix to be used
PROGRAM_PREFIX = /home/dron/linuxcnc/nc_files

# Introductory graphic
INTRO_GRAPHIC =         linuxcnc.gif
INTRO_TIME =            5
PYVCP = Panel.xml

INCREMENTS = 50mm 5mm 1mm .5mm .1mm .05mm .01mm
LATHE = 1

DEFAULT_LINEAR_VELOCITY = 1.666667
MAX_LINEAR_VELOCITY = 65
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xz
HOME_IGNORE_LIMITS = yes


[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

[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]
HALUI = halui
HALFILE = my16A20.hal
POSTGUI_HALFILE = custom_postgui.hal

[HALUI]
MDI_COMMAND = T1
MDI_COMMAND = T2
MDI_COMMAND = T3
MDI_COMMAND = T4
MDI_COMMAND = T5
MDI_COMMAND = T6
MDI_COMMAND = T7
MDI_COMMAND = T8
MDI_COMMAND = M06 G43


[TRAJ]

AXES =                  3
COORDINATES =           X Z
HOME =                  0 0 0 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
CYCLE_TIME = 		0.010
DEFAULT_VELOCITY = 	0.17
MAX_LINEAR_VELOCITY = 	50
NO_FORCE_HOMING = 	1
POSITION_FILE = position.txt

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = my16A20_tool.tbl
RANDOM_TOOLCHANGER = 1
TOOL_CHANGE_WITH_SPINDLE_ON = 1


#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 99999
MIN_FERROR = 99999.5
MAX_VELOCITY = 4000
MAX_ACCELERATION = 300.0
P = 1.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10.0
ENCODER_SCALE = 2000
OUTPUT_SCALE = 1
MIN_LIMIT = -250.0
MAX_LIMIT = 250.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 3.00000
HOME_LATCH_VEL = -0.1
HOME_FINAL_VEL = 0.01000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
HOME_IGNORE_LIMITS = yes

#********************
# Axis Z
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 999
MIN_FERROR = 999
MAX_VELOCITY = 4500
MAX_ACCELERATION = 600.0
P = 1.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 10.0
ENCODER_SCALE = 2000
OUTPUT_SCALE = 1
MIN_LIMIT = -2500.0
MAX_LIMIT = 2500.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 3.00000
HOME_LATCH_VEL = -0.1
HOME_FINAL_VEL = 0.01000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
HOME_IGNORE_LIMITS = yes

#********************
# Spindle 
#********************
[SPINDLE]
ENCODER_SCALE = 4096
OUTPUT_SCALE = 10