Gantry Router EMC2 ini file with Mesa 5i23 and 7i47

# Generated by PNCconf at Tue Jun 22 13:04:05 2010
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = shopbot-config-1
DEBUG = 0

[DISPLAY]
DISPLAY = axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =		0.200
#- 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 = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/bes/emc2/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 1.000000
MAX_LINEAR_VELOCITY = 11.666667
MIN_LINEAR_VELOCITY = 0.000833
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
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 = 0.010

[RS274NGC]
PARAMETER_FILE = emc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 20000
SERVO_PERIOD = 1000000

# [HOSTMOT2]
# This is for info only
# DRIVER0=hm2_pci
# BOARD0=5i23
# CONFIG0="firmware=hm2/5i23/SVST2_4_7I47.BIT num_encoders=4 num_pwmgens=2 num_stepgens=4"

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

# HALUI to interact with NML
# Run before any other HALFILE
HALUI = halui
HALFILE = shopbot-config-1.hal
#HALFILE = kinematics.hal

[HALUI]

[TRAJ]
AXES = 4
COORDINATES = X Y Z
#HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.17
MAX_LINEAR_VELOCITY = 11.67
NO_FORCE_HOMING = 1

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

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
MAX_VELOCITY = 12
MAX_ACCELERATION = 24
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10.0
#INPUT_SCALE = 2000.0
MIN_LIMIT = -0.01
MAX_LIMIT = 96.0
#FERROR = 1.270
#MIN_FERROR = 0.254
HOME_OFFSET = -0.25
HOME_SEARCH_VEL = -0.50000
HOME_LATCH_VEL = 0.16667
HOME_FINAL_VEL = 0.16667
HOME_USE_INDEX = No
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED =		1
HOME_SEQUENCE = 1
HOME = 1
SCALE =           1527.887453483
# these are in nanoseconds
DIRSETUP   =              1500
DIRHOLD    =              1500
STEPLEN    =              1500
STEPSPACE  =              2500
HOME_SEQUENCE = 1


#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
#FERROR = 1.270
#MIN_FERROR = 0.254
MAX_ACCELERATION = 24
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 72.0
HOME_OFFSET = -0.25
HOME_SEARCH_VEL = -0.50000
HOME_LATCH_VEL = 0.16667
HOME_FINAL_VEL = 0.16667
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED =		1
HOME_SEQUENCE = 2
HOME = 1
SCALE =           1527.887453483
# these are in nanoseconds
DIRSETUP   =              1500
DIRHOLD    =              1500
STEPLEN    =              1500
STEPSPACE  =              2500
HOME_SEQUENCE = 0

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
#FERROR = 1.270
#MIN_FERROR = 0.254
MAX_ACCELERATION = 24
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10.0
MIN_LIMIT = -6.0
MAX_LIMIT = 0.01
HOME_OFFSET = -0.25
HOME_SEARCH_VEL = -0.50000
HOME_LATCH_VEL = 0.16667
HOME_FINAL_VEL = 0.16667
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED =		1
HOME = 1
SCALE =           1833.464944179
# these are in nanoseconds
DIRSETUP   =              1500
DIRHOLD    =              1500
STEPLEN    =              1500
STEPSPACE  =              2500
HOME_SEQUENCE = 2

#********************
# Axis X2
#********************
[AXIS_3]
TYPE = LINEAR
#FERROR = 1.270
#MIN_FERROR = 0.254
MAX_ACCELERATION = 24
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10.0
MIN_LIMIT = -0.01
MAX_LIMIT = 96.0
HOME_OFFSET = -0.25
HOME_SEARCH_VEL = -0.50000
HOME_LATCH_VEL = 0.16667
HOME_FINAL_VEL = 0.16667
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED =		1
HOME_SEQUENCE = 1
HOME = 1
SCALE =           1527.887453483
# these are in nanoseconds
DIRSETUP   =              1500
DIRHOLD    =              1500
STEPLEN    =              1500
STEPSPACE  =              2500

#remember to add ignore limits for homing (http://www.linuxcnc.org/docs/2.4/html/config_ini_homing.html)

#Set homing latch speed such that there is one step per servo cycle