# Generated by PNCconf at Fri Oct  1 14:39:54 2021
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again

[EMC]
MACHINE = my_LinuxCNC_machine
DEBUG = 0

[DISPLAY]
DISPLAY = gmoccapy
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 = 1
PROGRAM_PREFIX = /home/const/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
DEFAULT_LINEAR_VELOCITY = 1.6666667
MAX_LINEAR_VELOCITY = 65
MIN_LINEAR_VELOCITY = 0.01
DEFAULT_ANGULAR_VELOCITY = 0.25
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.01
EDITOR = gedit
GEOMETRY = xyzb
HOME_IGNORE_LIMITS = yes

[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 = 0.050

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

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



[HAL]
HALUI = halui
HALFILE = my_LinuxCNC_machine.hal
HALFILE = custom.hal
SHUTDOWN = shutdown.hal

[HALUI]

[TRAJ]
AXES = 5
COORDINATES = B X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.50
MAX_LINEAR_VELOCITY = 50.00

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

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 5.0
MAX_VELOCITY = 200
MAX_ACCELERATION = 1000
P = 2.0
I = 0.02
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 10
ENCODER_SCALE = -409.6
OUTPUT_SCALE = -1
MIN_LIMIT = -495
MAX_LIMIT = 200.0


HOME = 0.0
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 = 2

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 5
MAX_VELOCITY = 200
MAX_ACCELERATION = 1000
P = 1.0
I = 0.02
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 10
ENCODER_SCALE = 409.6
OUTPUT_SCALE = -1
MIN_LIMIT = -495
MAX_LIMIT = 35,5

HOME = 0.0
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_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 15.0
MIN_FERROR = 8
MAX_VELOCITY = 200
MAX_ACCELERATION = 1000
P = 1.0
I = 0.006
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0001
MAX_OUTPUT = 10
ENCODER_SCALE = 409.6
OUTPUT_SCALE = 1
MIN_LIMIT = -496
MAX_LIMIT = 1

HOME = 0.0
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 = 0
HOME_IGNORE_LIMITS = yes

#********************
# Axis B
#********************
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 10
MIN_FERROR = 30
MAX_VELOCITY = 30
MAX_ACCELERATION = 30
P = 3
I = 0.0
D = 0.02
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
ENCODER_SCALE = 400
OUTPUT_SCALE = -1
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
BACKLASH = 0.18

#********************
# Spindle 
#********************
[SPINDLE_9]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000