# This config file was created 2024-07-02 13:55:26.690349 by the update_ini script
# The original config files may be found in the /home/sad/linuxcnc/configs/sad-1/sad-1.old directory

# Generated by PNCconf at Mon Apr  8 20:22:28 2024
# 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 = sad-1
DEBUG = 0

[DISPLAY]
DISPLAY = axis
#GLADEVCP = -H gvcp_call_list.hal gvcp-panel.ui
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 = 5
PROGRAM_PREFIX = /home/sad/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
LATHE = 1
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 30
#скорость при G1
MAX_LINEAR_VELOCITY = 20
MIN_LINEAR_VELOCITY = 0.1
DEFAULT_ANGULAR_VELOCITY = 12
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xz
#PYVCP = custompanel.xml

TKPKG = Ngcgui    1.0
TKPKG = Ngcguittt 1.0
NGCGUI_SUBFILE = Проточка.ngc
NGCGUI_SUBFILE = Расточка.ngc
NGCGUI_SUBFILE = Резьба.ngc
NGCGUI_SUBFILE = Конус.ngc
NGCGUI_SUBFILE = Сфера.ngc
NGCGUI_FONT = Helvetica -18 normal

[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
RS274NGC_STARTUP_CODE = G21 G40 G90 G94 G97 G64 P0.025
SUBROUTINE_PATH = /home/sad/linuxcnc/configs/sad-1/macros

[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1500000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALUI = halui
HALFILE = sad-1.hal
HALFILE = xhc-whb04b-6.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]
MDI_COMMAND = O <x_null> CALL
MDI_COMMAND = O <z_null> CALL

#MDI_COMMAND=(debug,macro0) # this one is for numbering but not used by pendant (need 1 to 16)
#MDI_COMMAND=(debug,macro1)
MDI_COMMAND=(debug,macro2)
MDI_COMMAND=(debug,macro3)
MDI_COMMAND=(debug,macro4)
MDI_COMMAND=O <macro5> CALL
MDI_COMMAND=O <macro6> CALL
MDI_COMMAND=(debug,macro7)
MDI_COMMAND=(debug,macro8)
MDI_COMMAND=(debug,macro9)
MDI_COMMAND=(debug,macro10)
MDI_COMMAND=(debug,macro11)
MDI_COMMAND=(debug,macro12)
MDI_COMMAND=(debug,macro13)
MDI_COMMAND=(debug,macro14)
MDI_COMMAND=(debug,macro15)
MDI_COMMAND=(debug,macro16)

[TRAJ]
COORDINATES = XZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
#DEFAULT_LINEAR_VELOCITY = 5
#MAX_LINEAR_VELOCITY = 3
NO_FORCE_HOMING = 1

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

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


[KINS]
KINEMATICS = trivkins coordinates=XZ
#This is a best-guess at the number of joints, it should be checked
JOINTS = 2

[AXIS_X]
MIN_LIMIT = 0.0
MAX_LIMIT = 65.0
MAX_VELOCITY = 5
MAX_ACCELERATION = 100

[JOINT_0]
TYPE = LINEAR
#HOME = 0.0
FERROR = 10
MIN_FERROR = 10
MAX_VELOCITY = 5
MAX_ACCELERATION = 50
# 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 = 6.25
STEPGEN_MAXACCEL = 63
P = 20.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 5000
DIRHOLD    = 5000
STEPLEN    = 2500
STEPSPACE  = 2500
STEP_SCALE = 2600
ENCODER_SCALE = 200
MIN_LIMIT = 0.0
MAX_LIMIT = 65.0

HOME = 12.4
HOME_OFFSET = 0
HOME_SEARCH_VEL = 5
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 5
#HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1


#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -253.0
MAX_LIMIT = -0.1
MAX_VELOCITY = 20
MAX_ACCELERATION = 100.0

[JOINT_1]
TYPE = LINEAR
FERROR = 10
MIN_FERROR = 10
MAX_VELOCITY = 30
MAX_ACCELERATION = 100.0
# 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 = 40
STEPGEN_MAXACCEL = 125
P = 100.0
I = 0.1
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.04
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 600
DIRHOLD    = 600
STEPLEN    = 2000
STEPSPACE  = 2000
STEP_SCALE = 5000
ENCODER_SCALE = 200.0
MIN_LIMIT = -253.0
MAX_LIMIT = 0.1

#Положение в которое придет ось по завершении процедуры выставления нулей осей. 
HOME = -150
# Положения датчика home на оси или индекс импульса, в единицах измерения станка. 
HOME_OFFSET = 0
# Начальная скорость поиска home в единицах измерения станка за секунду.
HOME_SEARCH_VEL = -20.0
# Скорость в единицах измерения станка в секунду до позиции размыкания датчика home. 
HOME_LATCH_VEL = -5
# Скорость в единицах измерения станка в секунду с момента размыкания датчика home до положения HOME.
HOME_FINAL_VEL = 0
# Поиск домашней позиции по индексной метки оси
#HOME_USE_INDEX = YES
# Используется для процедуры "Home All" (выставить все оси). <n> начинается с 0 и не одно число не должно быть пропущено. 
# Если не установлено или равно -1 ось не будет выставлена функцией "Home All". Более одной оси может быть выствалено одновременно. 
#
HOME_IGNORE_LIMITS = Yes
HOME_SEQUENCE = 0

#********************
# Spindle 
#********************
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_eth
#BOARD0=7i92

[SPINDLE_9]
MAX_VELOCITY = 41.666666666666664
MAX_ACCELERATION = 300.0
# 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 = 52.08
STEPGEN_MAXACCEL = 375.00
P = 100
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.01
MAX_OUTPUT = 2000.0
# these are in nanoseconds
DIRSETUP   = 600
DIRHOLD    = 600
STEPLEN    = 2000
STEPSPACE  = 2000
STEP_SCALE = 20000
OUTPUT_SCALE = 5000
#ENCODER_SCALE = 200