10VC Rotary INI File

# Hacked out on 4/6/15 First Version

[EMC]
VERSION = 1.01
MACHINE = 10VC AXIS
DEBUG = 0x7FFFFFFF

[DISPLAY]
DISPLAY = axis
#PREFERENCE_FILE_PATH = ~/.gscreen_preferences
CYCLE_TIME =  0.100
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.5
MIN_FEED_OVERRIDE = 0
DEFAULT_FEED_OVERRIDE = 0
MAX_SPINDLE_OVERRIDE = 1.5
MIN_SPINDLE_OVERRIDE = 0
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 3
PROGRAM_PREFIX = /home/greenmill/linuxcnc/nc_files
INCREMENTS = 1.000 in, .200 in, .100 in, .025 in, .010 in, .001 in, .0001 in
DEFAULT_LINEAR_VELOCITY = 1
MAX_LINEAR_VELOCITY = 1.5
MIN_LINEAR_VELOCITY = 0
DEFAULT_ANGULAR_VELOCITY = 0.25
MAX_ANGULAR_VELOCITY = 1.00
MIN_ANGULAR_VELOCITY = 0.01




#########################################################################################################

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .NGC XYZ Post Processor
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
RS274NGC_STARTUP_CODE = G17 G20 G90
PARAMETER_FILE = emc.var
SUBROUTINE_PATH = /home/greenmill/linuxcnc/nc_files
USER_M_PATH = /home/greenmill/linuxcnc/M_codes
LOG_LEVEL = 1

REMAP=M6  modalgroup=6 ngc=vmcchange
REMAP=M26 modalgroup=5 ngc=my26
REMAP=M27 modalgroup=8 ngc=my27
REMAP=M28 modalgroup=8 ngc=my28
REMAP=M1 modalgroup=4 ngc=extend_m1
REMAP=M39 modalgroup=6 ngc=my39
REMAP=M40 modalgroup=6 ngc=my40




[PYTHON]
TOPLEVEL= /home/greenmill/linuxcnc/python/toplevel.py
PATH_APPEND= /home/greenmill/linuxcnc/python
PYTHON_TASK = 1

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 2500000

[HOSTMOT2]
DRIVER=hm2_eth board_ip="10.10.10.10"
BOARD=7i80
CONFIG = "sserial_port_0=000xxxxx num_resolvers=6 num_pwmgens=6 num_encoders=2"


[HAL]
HALUI = halui
HALFILE = 10VC+carousel+rotaryaxis.hal

POSTGUI_HALFILE = post_gui+carousel+rotaryaxis.hal

[APPLICATIONS]
#APP = halshow carousel



[TRAJ]
MAX_VELOCITY = 7.5
MAX_ACCELERATION = 20
MAX_ANGULAR_VELOCITY = 1.00
AXES = 4
COORDINATES = XYZA
LINEAR_UNITS = inch
ANGULAR_UNITS = DEGREE
CYCLE_TIME = 0.010
#DEFAULT_VELOCITY = 1
#MAX_LINEAR_VELOCITY = 5
NO_FORCE_HOMING = 1

ARC_BLEND_ENABLE = 1
ARC_BLEND_FALLBACK_ENABLE = 0
ARC_BLEND_OPTIMIZATION_DEPTH = 50
ARC_BLEND_GAP_CYCLES = 4
ARC_BLEND_RAMP_FREQ = 100

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_WITH_SPINDLE_ON = 0
#TOOL_CHANGE_POSITION =
#TOOL_CHANGE_QUILL_UP = 0

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
FERROR = 10
MIN_FERROR = 1
BACKLASH = 0.0000
MAX_VELOCITY = 6.66666
MAX_ACCELERATION = 12
P = 25
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.001
BIAS = 0
DEADBAND = 0
RESOLVER_SCALE =0.200088
OUTPUT_SCALE = 10
MAX_OUTPUT = 9.9
MIN_LIMIT = -0.001
MAX_LIMIT = 40.000

HOME = 0.000
HOME_OFFSET = -0.125
HOME_SEARCH_VEL = -0.333
HOME_LATCH_VEL = 0.1667
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = yes
HOME_IS_SHARED = NO
HOME_SEQUENCE = 1
VOLATILE_HOME = 0

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
FERROR = .200
MIN_FERROR = .050
BACKLASH = 0
MAX_VELOCITY = 6.66666
MAX_ACCELERATION = 12
P = 20
I = 0
D = 0.01
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0.001
RESOLVER_SCALE =0.1999999
OUTPUT_SCALE = 10
MAX_OUTPUT = 9.9
MIN_LIMIT = -0.010
MAX_LIMIT = 20.000

HOME = 0.000
HOME_OFFSET = -0.125
HOME_SEARCH_VEL = -0.333
HOME_LATCH_VEL = 0.1667
#HOME_FINAL_VEL = .500
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = yes
HOME_IS_SHARED = NO
HOME_SEQUENCE = 1
VOLATILE_HOME = 0

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
FERROR = 1
MIN_FERROR = 1
BACKLASH = 0
MAX_VELOCITY = 6.6666
MAX_ACCELERATION = 15
P = 30
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
RESOLVER_SCALE =0.199956
OUTPUT_SCALE = 10
MAX_OUTPUT = 9.9
MIN_LIMIT = 5.000
MAX_LIMIT = 25.010

HOME = 25.000
HOME_OFFSET = 25.125
HOME_SEARCH_VEL = .333
HOME_LATCH_VEL = -0.1667
#HOME_FINAL_VEL = .500
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = yes
HOME_IS_SHARED = NO
HOME_SEQUENCE = 0
VOLATILE_HOME = 0

#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
UNITS = degree
WRAPPED_ROTARY = 0
LOCKING_INDEXER = 0
FERROR = 10000
#MIN_FERROR = 10
BACKLASH = 0
MAX_VELOCITY = 5
MAX_ACCELERATION = 3
P = 0
I = 0
D = 0
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
ENCODER_SCALE = 27.7777
OUTPUT_SCALE = -1
MAX_OUTPUT = 3
#MIN_LIMIT = -360.000
#MAX_LIMIT = 360.010

HOME = 0
#HOME_OFFSET = 0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_FINAL_VEL = 0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = yes
HOME_IS_SHARED = no
HOME_SEQUENCE = 2
VOLATILE_HOME = 0

#********************
# Spindle
#********************
[SPINDLE_9]
MAX_VELOCITY = 6000
MAX_ACCELERATION = 50
ENCODER_SCALE = 10000
OUTPUT_SCALE = 974
MAX_OUTPUT = 10.0