# Generated by PNCconf at Mon Jun 29 13:49:08 2020
# Using LinuxCNC version:  UNAVAILABLE
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again

[EMC]
MACHINE = LCNC
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.100000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 10.000000
MAX_LINEAR_VELOCITY = 200.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 100.000000
MAX_ANGULAR_VELOCITY = 300.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyza
PYVCP = LCNC.xml


[FILTER]
PROGRAM_EXTENSION = .TAP, .ngc, .cnc, .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 = linuxcnc.var




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

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i92.0

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

[HALUI]
MDI_COMMAND = o<probe> call

[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYZA

[TRAJ]
AXES = 4
COORDINATES =  XYZA
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 10.0
MAX_LINEAR_VELOCITY = 200.00
MAX_ANGULAR_VELOCITY = 300.00 

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

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

[AXIS_X]
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 1000.0
MIN_LIMIT = 0
MAX_LIMIT = -300

[JOINT_0]
TYPE = LINEAR
HOME = 10
FERROR = 1.0
MIN_FERROR = 0.1
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 1000.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 250
STEPGEN_MAXACCEL = 1500
P = 850
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 5000
DIRHOLD    = 5000
STEPLEN    = 3000
STEPSPACE  = 3000
STEP_SCALE = 160
MIN_LIMIT = -0.1
MAX_LIMIT = 955.0

HOME = 0.000
HOME_OFFSET = 0.000
HOME_SEARCH_VEL = -10.000
HOME_LATCH_VEL = 20.000
HOME_FINAL_VEL = 2.000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1 

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

[AXIS_Y]
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 1000.0
MIN_LIMIT = -0.01
MAX_LIMIT = 1180.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 1.0
MIN_FERROR = 0.1
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 1000.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 250
STEPGEN_MAXACCEL = 1500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 4000
DIRHOLD    = 4000
STEPLEN    = 3000
STEPSPACE  = 3000
STEP_SCALE = -640
MIN_LIMIT = -0.01
MAX_LIMIT = 1180.0

HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -10.000
HOME_LATCH_VEL = 20.000
HOME_FINAL_VEL = 2.000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1 
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 1200.0
MIN_LIMIT = -300.0
MAX_LIMIT = 0.1

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 1.0
MIN_FERROR = 0.1
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 1200.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 300
STEPGEN_MAXACCEL = 2000
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 5000
DIRHOLD    = 5000
STEPLEN    = 2500
STEPSPACE  = 2500
STEP_SCALE = 640
MIN_LIMIT = -300.0
MAX_LIMIT = 0.1

HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 10.000
HOME_LATCH_VEL = -1.000
HOME_FINAL_VEL = -1.000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
#******************************************

#******************************************
[AXIS_A]
MAX_VELOCITY = 300.0
MAX_ACCELERATION = 3000.0
#MIN_LIMIT = -300.0
#MAX_LIMIT = 0.01

[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 5.0
MIN_FERROR = 0.5
MAX_VELOCITY = 300.0
MAX_ACCELERATION = 3000.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 800
STEPGEN_MAXACCEL = 10000
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 2500
DIRHOLD    = 2500
STEPLEN    = 2000
STEPSPACE  = 2000
STEP_SCALE = 26.66667
#MIN_LIMIT = -300.0
#MAX_LIMIT = 0.01

#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = 10.000
#HOME_LATCH_VEL = -20.000
#HOME_FINAL_VEL = -2.000
#HOME_USE_INDEX = NO
#HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 24000