# INI file for 7i92 + (1) 7i77
# Created 2/7/2017 => Jeremy Turner

[EMC]
MACHINE = Matsuura_MC500V2
DEBUG = 0

[DISPLAY]
DISPLAY = Axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = COMMANDED
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/mill/linuxcnc/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 5.0
MAX_LINEAR_VELOCITY = 5.0
MIN_LINEAR_VELOCITY = 0.010000
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 = 0.001

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
##RS274NGC_STARTUP_CODE = G17 G20 G40 G43H0 G54 G64P0.001 G80 G90 G94 G97 M5 M9

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

[HOSTMOT2]
DRIVER = hm2_eth board_ip="192.168.1.121"
BOARD = 7i92
CONFIG = "num_encoders=6 sserial_port_0=300xxx "

[HAL]
HALUI = halui
HALFILE = Matsuura.hal

[HALUI]

[TRAJ]
AXES = 3
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 5.0
MAX_VELOCITY = 5.0
##POSITION_FILE =    position.txt

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
##TOOL_CHANGE_POSITION = -1 -13 0
##TOOL_CHANGE_QUILL_UP = 1

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = -14.45
FERROR = .05
MIN_FERROR = .05
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 15.0
BACKLASH = .003
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
ENCODER_SCALE = -19999.9994
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -28.9
MAX_LIMIT = -0.02
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 1.0
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = -3.0
FERROR = .05
MIN_FERROR = .05
MAX_VELOCITY = 5.0
MAX_ACCELERATION = 15.0
BACKLASH = 0.003
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
ENCODER_SCALE = -19999.9994
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -13.75
MAX_LIMIT = -0.02
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 1.0
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 2.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = .05
MIN_FERROR = .05
MAX_VELOCITY = 2.5
MAX_ACCELERATION = 15.0
BACKLASH = .001
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
ENCODER_SCALE = -30480.0
OUTPUT_SCALE = -10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
MIN_LIMIT = -5.25
MAX_LIMIT = 0.001
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 1.0
HOME_LATCH_VEL = -0.016667
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

#********************
# Spindle
#********************
[SPINDLE_9]
P = 0.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
OUTPUT_SCALE = 15000
OUTPUT_MIN_LIMIT = 0.0
OUTPUT_MAX_LIMIT = 15000