Initial file was generated in PNCconf then edited to line up the PINS along each TB on the MESA 7i77 & 7i84. Was just easier for cataloguing on the back end of things.


# Generated by PNCconf at Mon Sep 14 12:03:23 2015
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = BenchmanXTr_4axis
DEBUG = 0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.500000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/aaron/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = 10in 5in 2in 1in .5in .1in .05in .01in .005in .001in .0005in .0001in
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.41666675
MAX_LINEAR_VELOCITY = 3.333334
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 6.0000012
MAX_ANGULAR_VELOCITY = 12.0000024
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyza

[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 = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

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

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25

[HAL]
HALUI = halui
HALFILE = BenchmanXTr_4axis.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[TRAJ]
AXES = 4
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 360.00
DEFAULT_ANGULAR_VELOCITY = 36.00
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.17
MAX_LINEAR_VELOCITY = 1.67

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0
FERROR = 12
MIN_FERROR = -12
MAX_VELOCITY = 3.333334
MAX_ACCELERATION = 10
P = 50
I = 0
D = 0
FF0 = 0
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0.000015
MAX_OUTPUT = 10
ENCODER_SCALE = 50000
OUTPUT_SCALE = .6
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -0.0
MAX_LIMIT = 12.0
HOME_OFFSET = 6.0
HOME_SEARCH_VEL = 3
HOME_LATCH_VEL = 1
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES


#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 12
MIN_FERROR = -12
MAX_VELOCITY = 3.333334
MAX_ACCELERATION = 10
P = 29
I = 0
D = 0
FF0 = 0
FF1 = 0.0055
FF2 = 0.00022
BIAS = 0
DEADBAND = 0.000015
MAX_OUTPUT = 10
ENCODER_SCALE = 50000
OUTPUT_SCALE = 0.1
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -0.001
MAX_LIMIT = 7.5
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.2
FERROR = 12
MIN_FERROR = -12
MAX_VELOCITY = 3.333334
MAX_ACCELERATION = 10
P = 22
I = 0
D = 0
FF0 = 0
FF1 = 0.001
FF2 = 0.0003
BIAS = 0
DEADBAND = 5e-05
MAX_OUTPUT = 10
ENCODER_SCALE = 50000
OUTPUT_SCALE = 1
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -9.5
MAX_LIMIT = 0.201
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -0.050000
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES

#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 360
MIN_FERROR = -360
MAX_VELOCITY = 60
MAX_ACCELERATION = 240
P = 22
I = 0
D = 0
FF0 = 0
FF1 = 0.001
FF2 = 0.0003
BIAS = 0
DEADBAND = 0.000015
MAX_OUTPUT = 300
ENCODER_SCALE = 2000
OUTPUT_SCALE = 0.1
OUTPUT_MIN_LIMIT = -10
OUTPUT_MAX_LIMIT = 10
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -2.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES

#********************
# Spindle
#********************
[SPINDLE_9]
P = 1
I = 0.0
D = 0.0
FF0 = 10
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.000015
MAX_OUTPUT = 10
ENCODER_SCALE = 2000.0
OUTPUT_SCALE = 83.3
OUTPUT_MIN_LIMIT = -10.
OUTPUT_MAX_LIMIT = 10.