DRIVER=to_pci


[EMC]

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

# 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/vladimir/linuxcnc/nc_files

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


[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]

# 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 = my_sd.hal
POSTGUI_HALFILE = custom_postgui.hal



[TRAJ]

AXES =                  3 
COORDINATES =           X Y Z
HOME =                  0 0 0 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      1.0
MAX_VELOCITY =          300.0
DEFAULT_ACCELERATION =  600.0
NO_FORCE_HOMING=1
POSITION_FILE = position.txt


[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 9000.05
MIN_FERROR = 9000.05
MAX_VELOCITY = 200
MAX_ACCELERATION = 300.0
P = 20
I = 0
D = 0
FF0 = 0
FF1 = 0.06
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE = 100
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
SD_FB_SCALE = 500
SD_Len_impuls = 3
NO_FORCE_HOMING=1

[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 9000.05
MIN_FERROR = 9000.05
MAX_VELOCITY = 200
MAX_ACCELERATION = 200.0
P = 15
I = 0
D = 0
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE = 10000
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
SD_FB_SCALE = 1000
SD_Len_impuls = 1
NO_FORCE_HOMING=1



[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 9000.05
MIN_FERROR = 9000.05
MAX_VELOCITY = 200
MAX_ACCELERATION = 300.0
P = 20
I = 0
D = 0
FF0 = 0
FF1 = 0.06
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE = 100
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
SD_FB_SCALE = 1000
SD_Len_impuls = 3

[AXIS_3]
OUTPUT_SCALE = 0.1




[EMCIO]

# Name of IO controller program, e.g., io
EMCIO =                 io

# cycle time, in seconds
CYCLE_TIME =            0.100

# tool table file
TOOL_TABLE = tool.tbl