# Generated by PNCconf at Mon Jan 12 15:05:29 2015
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = mesa_comp_gantry
DEBUG = 0

[DISPLAY]
DISPLAY = axis
CYCLE_TIME = 0.200
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/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 250.000000
MAX_LINEAR_VELOCITY = 250.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 30.000000
MAX_ANGULAR_VELOCITY = 250.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = XYZ

[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 = 0.020

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

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

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i20

[HAL]
HALUI = halui
HALFILE = comp.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal


[HALUI]

[TRAJ]
AXES = 4
JOINTS = 4
COORDINATES = X Y Z  
HOME        = 0 0 0 
MAX_ANGULAR_VELOCITY = 225.00
DEFAULT_ANGULAR_VELOCITY = 22.50
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 250.00
DEFAULT_ACCELERATION = 1500
MAX_LINEAR_VELOCITY = 250.00

TLO_IS_ALONG_W = 1

[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 = 10.0
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 1500.0
# 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 = 312.5
STEPGEN_MAXACCEL = 1875
P = 6.5
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.029975
FF2 = 1e-05
BIAS = 0.0
DEADBAND = 0.0015
MAX_OUTPUT = 10.0
ENCODER_SCALE = -1500.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 800.0
HOME_OFFSET = 0.0


HOME_SEQUENCE = 0



#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 10.0
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 1500.0
# 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 = 300.0
STEPGEN_MAXACCEL = 1875.0
P = 6.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0198
FF2 = 2e-05
BIAS = 0.0
DEADBAND = 0.0015
MAX_OUTPUT = 10.0
ENCODER_SCALE = -1000.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 800.0
HOME_OFFSET = 0.0



HOME_SEARCH_VEL = -50
HOME_LATCH_VEL = 3
HOME_FINAL_VEL = 10
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0 


#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 10.0
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 1500
# 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 = 312.5
STEPGEN_MAXACCEL = 1875.0
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 = -1000.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 800.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 1 

#********************
# Axis A
#********************
[AXIS_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 10.0
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 1500.0
# 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 = 300.0
STEPGEN_MAXACCEL = 1875.0
P = 6.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0198
FF2 = 2e-05
BIAS = 0.0
DEADBAND = 0.0015
MAX_OUTPUT = 10.0
ENCODER_SCALE = -1000.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 800.0
HOME_OFFSET = 0.0

#HOME_SEARCH_VEL = -50
#HOME_LATCH_VEL = 3
#HOME_FINAL_VEL = 10
#HOME_USE_INDEX = NO
#HOME_SEQUENCE = 0 

#********************
# Spindle 
#********************
[SPINDLE_9]