[HOSTMOT2]
DRIVER=hm2_eth board_ip="10.10.10.10"
BOARD=7i76e
CONFIG="num_encoders=1 num_stepgens=5 sserial_port_0=20xxxxxx"




[EMC]

# Name of machine, for use with display, etc.
MACHINE =               Mah-G0704

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =                0x00000003
#DEBUG =                0x00000007
DEBUG = 0




[DISPLAY]

# Name of display program, e.g., tkemc
#DISPLAY =               tkemc
DISPLAY =              axis

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.100

# Path to help file
HELP_FILE =             tkemc.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     30

# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/

# Introductory graphic
INTRO_GRAPHIC =         emc2.gif
INTRO_TIME =            5


[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python


[TASK]

# Name of task controller program, e.g., milltask
TASK =                  milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.010




[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE =        hm2-stepper.var




[EMCMOT]

EMCMOT =                motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT =             0.010

# Servo task period, in nanoseconds
#SERVO_PERIOD =          1000000

SERVO_PERIOD =         600000



[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.

# list of hal config files to run through halcmd
# files are executed in the order in which they appear

HALFILE =		hm2-pidstepper.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =               save neta




[TRAJ]

AXES =                  3
COORDINATES =           X Y Z
#HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.001




[AXIS_0]

#
# Step timing is 1 us steplen + 1 us stepspace
# That gives 2 us step period = 500 KHz max step freq
#
#
# Scale is 2000 steps/rev * 5 revs/inch = 10000 steps/inch
#
# This gives a maxvel of 25/1 = 50 ips
#


TYPE =              LINEAR
MAX_VELOCITY =       5
MAX_ACCELERATION =   25
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =    24
STEPGEN_MAX_ACC =    240

BACKLASH =           0.000

# scale is 2000 steps/rev * 5 revs/inch
SCALE =           10000

MIN_LIMIT =             -30.0
MAX_LIMIT =             30.0

FERROR =    .002
MIN_FERROR = .001

#HOME =                  0.000
#HOME_OFFSET =           0.10
#HOME_SEARCH_VEL =       0.10
#HOME_LATCH_VEL =        -0.01
#HOME_USE_INDEX =        YES
#HOME_IGNORE_LIMITS =    YES

# these are in nanoseconds
DIRSETUP   =              2000
DIRHOLD    =              2000
STEPLEN    =              1000
STEPSPACE  =              1000

# PID tuning params
DEADBAND =              0
P =                     1000
I =                     0
D =                     0
FF0 =                   0
FF1 =                   1
FF2 =			0.00023
BIAS =                  0
MAX_OUTPUT =		0
MAX_ERROR =		0.0005

[AXIS_1]

TYPE =              LINEAR
MAX_VELOCITY =       5
MAX_ACCELERATION =   25
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =    24
STEPGEN_MAX_ACC =    240

BACKLASH =           0.000

SCALE = 10000

MIN_LIMIT =             -30.0
MAX_LIMIT =             30.0

FERROR =    .002
MIN_FERROR = .001

#HOME =                  0.000
#HOME_OFFSET =           0.10
#HOME_SEARCH_VEL =       0.10
#HOME_LATCH_VEL =        -0.01
#HOME_USE_INDEX =        YES
#HOME_IGNORE_LIMITS =    YES

# these are in nanoseconds
DIRSETUP   =              2000
DIRHOLD    =              2000
STEPLEN    =              1000
STEPSPACE  =              1000

# PID tuning params
DEADBAND =              0
P =                     1000
I =                     0
D =                     0
FF0 =                   0
FF1 =                   1
FF2 =			0.00023
BIAS =                  0
MAX_OUTPUT =		0
MAX_ERROR =		0.0005



[AXIS_2]

TYPE =              LINEAR
MAX_VELOCITY =      5
MAX_ACCELERATION =  25
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =    24
STEPGEN_MAX_ACC =    240

BACKLASH =           0.000

SCALE = -10000

MIN_LIMIT =             -30.0
MAX_LIMIT =             30.0

FERROR =    .002
MIN_FERROR = .001

#HOME =                  0.000
#HOME_OFFSET =           0.10
#HOME_SEARCH_VEL =       0.10
#HOME_LATCH_VEL =        -0.01
#HOME_USE_INDEX =        YES
#HOME_IGNORE_LIMITS =    YES

# these are in nanoseconds
DIRSETUP   =              2000
DIRHOLD    =              2000
STEPLEN    =              1000
STEPSPACE  =              1000

# PID tuning params
DEADBAND =              0
P =                     1000
I =                     0
D =                     0
FF0 =                   0
FF1 =                   1
FF2 =			0.00023
BIAS =                  0
MAX_OUTPUT =		0
MAX_ERROR =		0.0005

[SPINDLE_9]

# PID tuning params
DEADBAND =              0
P =                     50
I =                     200
D =                     .2
FF0 =                   0
FF1 =                   0
FF2 =			0
BIAS =                  0
MAX_OUTPUT =		0
MAX_ERROR =		50
SCALE =			6000
MINLIM =		0
MAXLIM =		6000

[EMCIO]

# Name of IO controller program, e.g., io
EMCIO =                 io

# cycle time, in seconds
CYCLE_TIME =            0.100

# tool table file
TOOL_TABLE =            tool.tbl