# Generated by PNCconf at Wed Dec 27 21:15:00 2023
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = OSCNC
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = gmoccapy
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 5.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 2
PROGRAM_PREFIX = /home/NC
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 80.000000
MAX_LINEAR_VELOCITY = 25.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz
CYCLE_TIME = 100
#Toolchanger
#EMBED_TAB_NAME=PSNG
#EMBED_TAB_LOCATION = ntb_user_tabs
#EMBED_TAB_COMMAND=gladevcp -c probe -x {XID} -u psng/python/probe_screen.py -H psng/psng.hal psng/probe_screen.glade


[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
RS274NGC_STARTUP_CODE = G21 G40 G90 G94 G97 G64 P0.025
#Toolchanger
#REMAP=M6   modalgroup=6  prolog=change_prolog   ngc=manual_change  epilog=change_epilog
#RETAIN_G43 = 0
#INI_VARS = 1
#HAL_PIN_VARS = 1
#SUBROUTINE_PATH = macros:psng/macros

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

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i76e.0

[HAL]
HALUI = halui
HALFILE = OSCNC.hal
HALFILE = custom.hal
HALFILE = xhc-whb04b-6.hal
POSTGUI_HALFILE = gmoccapy_postgui.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal

#[PROBE_SCREEN]
#Z_SAFE_TRAVEL_OFFSET = -0.1

#[TOOLSENSOR]
# Absolute coordinates of the toolsetter pad
#X = 10
#X = 986.50
#Y = 55.09
# Absolute Z start search coordinates
#Z = 0
# Maximum search distance and direction (sign)
#MAXPROBE = -100
# Speed of movements during working in Probe Screen
#RAPID_SPEED = 100
# Diameter of toolsetter pad
#TS_DIAMETER = 10
# The speed of the reverse rotation of the spindle when measuring the tool diameter
#REV_ROTATION_SPEED = 300

#[CHANGE_POSITION]
#X = 986.50
#X = 10
#Y = 120
#Z = 0
#[PYTHON]
#PATH_PREPEND = ./python
#TOPLEVEL = python/toplevel.py

[HALUI]
MDI_COMMAND = G53 G0 Z0
MDI_COMMAND = G28
MDI_COMMAND = G10 L20 P0 X0
MDI_COMMAND = G10 L20 P0 Y0
MDI_COMMAND = G10 L20 P0 Z0

[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XXYZ
#kinstype=BOTH

[TRAJ]
COORDINATES =  XXYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 5.50
MAX_LINEAR_VELOCITY = 120.00
NO_FORCE_HOMING = 1

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -0.01
MAX_LIMIT = 1000.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 300.25
STEPGEN_MAXACCEL = 937.50
P = 1000.0
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
# these are in nanoseconds
DIRSETUP   = 3000
DIRHOLD    = 3000
STEPLEN    = 5000
STEPSPACE  = 2000
STEP_SCALE = -160.0
MIN_LIMIT = -0.01
MAX_LIMIT = 1000.0
HOME_OFFSET = 0.0
#HOME_SEQUENCE = -2

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 200.9
P = 1000.0
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
# these are in nanoseconds
DIRSETUP   = 3000
DIRHOLD    = 3000
STEPLEN    = 5000
STEPSPACE  = 2000
STEP_SCALE = -160.0
MIN_LIMIT = -0.01
MAX_LIMIT = 1000.0
HOME_OFFSET = 0.0
#HOME_SEQUENCE = -2
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 250.0
MIN_LIMIT = -0.01
MAX_LIMIT = 800.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 75.0
MAX_ACCELERATION = 100.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 200.0
P = 1000.0
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
# these are in nanoseconds
DIRSETUP   = 3000
DIRHOLD    = 3000
STEPLEN    = 3000
STEPSPACE  = 2000
STEP_SCALE = 160.0
MIN_LIMIT = -0.01
MAX_LIMIT = 800.0
HOME_OFFSET = 38.0
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = 15.500000
HOME_LATCH_VEL = 1.500000
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -150.0
MAX_LIMIT = 0.01

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 750.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 200.25
STEPGEN_MAXACCEL = 937.50
P = 1000.0
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
# these are in nanoseconds
DIRSETUP   = 3000
DIRHOLD    = 3000
STEPLEN    = 3000
STEPSPACE  = 2000
STEP_SCALE = 230.0
MIN_LIMIT = -150.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0
HOME_SEQUENCE = 0
HOME_SEARCH_VEL = -15.500000
HOME_LATCH_VEL = -1.500000
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000