xk7130 feedback encoder ini scaling

# Generated by PNCconf at Thu Nov  9 12:55:45 2017
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = VMC2
DEBUG = 0

[DISPLAY]
DISPLAY = gmoccapy
EMBED_TAB_NAME =Probe Screen
EMBED_TAB_LOCATION = ntb_user_tabs
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -u python/probe_screen.py -x {XID} probe_icons/probe_screen.glade
PREFERENCE_FILE_PATH = gmoccapy_preferences
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 3.000000
MAX_SPINDLE_OVERRIDE = 1.250000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/chris/linuxcnc/nc_files
PYVCP = pyvcp-panel.xml
INCREMENTS = .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_VELOCITY = 150.000000
MAX_LINEAR_VELOCITY = 300
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 650.000000
MIN_ANGULAR_VELOCITY = 1.666667
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]
#BELOW IS THE STARTUP CODE FOR THE MACHINE, WILL BE IN THIS STATE AT STARTUP
RS274NGC_STARTUP_CODE = g17 g21 g40 g43h0 g54 g64 P 0.01 G80 G90 G94 G97 M5 M9
PARAMETER_FILE = linuxcnc.var
FEATURES=30
SUBROUTINE_PATH = macros

#BELOW ARE MY REMAPPED M CODES FOR TOOLCHANGES
REMAP=M6   modalgroup=6 prolog=change_prolog ngc=toolchange epilog=change_epilog
REMAP=M10  modalgroup=6 argspec=p ngc=m10
REMAP=M11  modalgroup=6 argspec=p ngc=m11
REMAP=M12  modalgroup=6 argspec=p ngc=m12
REMAP=M13  modalgroup=6 ngc=m13
REMAP=M21  modalgroup=6 ngc=m21
REMAP=M22  modalgroup=6 ngc=m22
REMAP=M23  modalgroup=6 ngc=m23
REMAP=M24  modalgroup=6 ngc=m24
REMAP=M25  modalgroup=6 ngc=m25
REMAP=M26  modalgroup=6 ngc=m26

[TOOLSENSOR]
# Control probe rapid speed
RAPID_SPEED = 600

[TOOLSETTER]

X = 10
Y = 10
Z = -20
# abort change if no toolsensor contact after this probe distance
MAXPROBE =  -20

# this is not named TOOL_CHANGE_POSITION  on purpose - canon uses it and will
# interfere
[CHANGE_POSITION]
X = 10
Y = 10
Z = -2

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

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_eth
# BOARD0=7i92

[HAL]
HALUI = halui
HALFILE = VMC2.hal
HALFILE = custom.hal
#HALFILE = vc-p1as.hal
POSTGUI_HALFILE = postgui_call_list.hal
#POSTGUI_HALFILE = vc-p1as-postgui.hal
POSTGUI_HALFILE = custom_postgui.hal
HALUI = halui
SHUTDOWN = shutdown.hal

[HALUI]
MDI_COMMAND=...
MDI_COMMAND=...
MDI_COMMAND=...
MDI_COMMAND=...
MDI_COMMAND=...
MDI_COMMAND=G10 L20 P1 X0
MDI_COMMAND=G10 L20 P1 Y0
MDI_COMMAND=G10 L20 P1 Z0
MDI_COMMAND=G0 X0 Y0 Z0
MDI_COMMAND=G10 L20 P1 A0

[PYTHON]
PATH_APPEND = /home/chris/linuxcnc/configs/VMC2/python
TOPLEVEL = /home/chris/linuxcnc/configs/VMC2/python/toplevel.py
LOG_LEVEL = 8

[TRAJ]
AXES = 4
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 360.00
DEFAULT_ANGULAR_VELOCITY = 36.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 50
MAX_VELOCITY = 300
NO_FORCE_HOMING = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 0

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10
MIN_FERROR = 1
MAX_VELOCITY = 300
MAX_ACCELERATION = 2000.0
# 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 = 350
STEPGEN_MAXACCEL = 4000
P = 10
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = -1000
# these are in nanoseconds
DIRSETUP   = 3000
DIRHOLD    = 6000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = -1000

MIN_LIMIT = -350.0
MAX_LIMIT = 340.0
HOME_OFFSET = -340.00
HOME_SEARCH_VEL = -75
HOME_LATCH_VEL = -10
HOME_FINAL_VEL = 150.000000
HOME_USE_INDEX = no
HOME_SEQUENCE = 1

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10
MIN_FERROR = 1
MAX_VELOCITY = 300
MAX_ACCELERATION = 2000.0
# 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 = 350
STEPGEN_MAXACCEL = 4000
P = 10
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = -1000
# these are in nanoseconds
DIRSETUP   = 3000
DIRHOLD    = 6000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = -1000

MIN_LIMIT = -397.00
MAX_LIMIT = 0
HOME_OFFSET = -18.000
HOME_SEARCH_VEL = 75
HOME_LATCH_VEL = 10
HOME_FINAL_VEL = 10.000000
HOME_USE_INDEX = no
HOME_SEQUENCE = 1

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10
MIN_FERROR = 1
MAX_VELOCITY = 150
MAX_ACCELERATION = 1800.0
# 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 = 190
STEPGEN_MAXACCEL = 3600
P = 10
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = 1000
# these are in nanoseconds
DIRSETUP   = 3000
DIRHOLD    = 6000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 1000

MIN_LIMIT = -435.0
MAX_LIMIT = 3.0
HOME_OFFSET = 2.000
HOME_SEARCH_VEL = 75
HOME_LATCH_VEL = 10
HOME_FINAL_VEL = 10.000000
HOME_USE_INDEX = no
HOME_SEQUENCE = 0

#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 2.0
MIN_FERROR = 0.750
MAX_VELOCITY = 650.0
MAX_ACCELERATION = 3000.0
# 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 = 840
STEPGEN_MAXACCEL = 6000
P = 3000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = 2000
# these are in nanoseconds
DIRSETUP   = 3000
DIRHOLD    = 6000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = -183.335
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 2

#********************
# Spindle
#********************
[SPINDLE_9]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 6225
ENCODER_SCALE = -4096
OUTPUT_SCALE = 6225
OUTPUT_MIN_LIMIT = -6225
OUTPUT_MAX_LIMIT = 6225