# Generated by PNCconf at Tue Sep  6 13:03:09 2011
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = a2gantry
DEBUG = 0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/a2ms/emc2/nc_files
#PYVCP = custompanel.xml
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 1.0
MAX_LINEAR_VELOCITY = 52
MIN_LINEAR_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
SERVO_PERIOD = 1000000


# [HOSTMOT2]
# This is for info only
# DRIVER0=hm2_7i43
# BOARD0=7i43
# CONFIG0="firmware=hm2/7i43-4/SVST4_4t.BIT num_encoders=4 num_pwmgens=1 num_stepgens=4"

[HAL]
HALUI = halui
HALFILE = kinematics.hal
HALFILE = a2gantry.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
#SHUTDOWN = shutdown.hal

[HALUI]
#MDI_COMMAND = G0 G53 Z0
#MDI_COMMAND = G28
#MDI_COMMAND = G92 X0
#MDI_COMMAND = G92 Y0
#MDI_COMMAND = G92 Z0
#MDI_COMMAND = G92.1

[TRAJ]
AXES = 4
COORDINATES = X Y Z
HOME = 0 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 1.00
#DEFAULT_ACCELERATION = 2.00
MAX_VELOCITY = 52
MAX_ACCELERATION = 300

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

#********************
# Axis X
#********************
[AXIS_0]
NAME = X
TYPE = LINEAR
HOME = 0.0
HOME_SEQUENCE = 0
#FERROR = 0.05
FERROR = 0.5
#MIN_FERROR = 0.01
MIN_FERROR = 0.5
MAX_VELOCITY = 75
#MAX_ACCELERATION = 120
MAX_ACCELERATION = 360
#Encoder/PID
P=0.0
I=0.0
D=0.0
FF0=0.0
FF1=1.0
FF2=0.0
BIAS=0.0
DEADBAND=0.0
MAX_OUTPUT=0

# these are in nanoseconds
DIRSETUP   = 200
DIRHOLD    = 200
STEPLEN    = 3500
STEPSPACE  = 500
#SCALE = 1273.239544735163
#INPUT_SCALE = 1273.239544735163
SCALE = 2546.479089470325
INPUT_SCALE = 2546.479089470325
MIN_LIMIT = -0.01
MAX_LIMIT = 53.0
HOME_OFFSET = 0.0

#********************
# Axis Y (Y1)
#********************
[AXIS_1]
NAME = Y1
TYPE = LINEAR
HOME = 0.0
HOME_SEQUENCE = 0
#FERROR = 0.05
FERROR = 0.5
#MIN_FERROR = 0.01
MIN_FERROR = 0.5
MAX_VELOCITY = 75
MAX_ACCELERATION = 360

#Encoder/PID
P=0.0
I=0.0
D=0.0
FF0=0.0
FF1=1.0
FF2=0.0
BIAS=0.0
DEADBAND=0.0
MAX_OUTPUT=0

# these are in nanoseconds
DIRSETUP   = 200
DIRHOLD    = 200
STEPLEN    = 200
STEPSPACE  = 200
#500 encoder ppr (2000 quad)
#SCALE = -1273.239544735163
#INPUT_SCALE = -1273.239544735163
#1000 encoder ppr (4000 quad)
#SCALE = 2546.479089470325
#INPUT_SCALE = 2546.479089470325
SCALE = 25464.79089470325
INPUT_SCALE = 25464.79089470325
MIN_LIMIT = -0.01
MAX_LIMIT = 53.0
HOME_OFFSET = 0.0

#********************
# Axis Z
#********************
[AXIS_2]
NAME = Z
TYPE = LINEAR
HOME = 0.0
HOME_SEQUENCE = 0
#FERROR = 0.05
FERROR = 0.5
#MIN_FERROR = 0.01
MIN_FERROR =0.5
MAX_VELOCITY = 39
MAX_ACCELERATION = 120
STEPGEN_MAXACCEL = 140

#Encoder/PID
P=0.0
I=0.0
D=0.0
FF0=0.0
FF1=1.0
FF2=0.0
BIAS=0.0
DEADBAND=0.0
MAX_OUTPUT=0

# these are in nanoseconds
DIRSETUP   = 200
DIRHOLD    = 200
STEPLEN    = 3500
STEPSPACE  = 500
SCALE = 1273.239544735163
INPUT_SCALE = 1273.239544735163
MIN_LIMIT = -50.0
MAX_LIMIT = 50
HOME_OFFSET = 0.0

#********************
# Axis A (Y2)
#********************
[AXIS_3]
NAME = Y2
#[AXIS_7]
TYPE = LINEAR
HOME = 0.0
HOME_SEQUENCE = 0
#FERROR = 0.05
FERROR = 0.5
#MIN_FERROR = 0.01
MIN_FERROR = 0.5
MAX_VELOCITY = 39
#MAX_ACCELERATION = 120
#STEPGEN_MAXACCEL = 140
MAX_ACCELERATION = 120
#STEPGEN_MAXACCEL = 220
#Encoder/PID
P=0.0
I=0.0
D=0.0
FF0=0.0
FF1=1.0
FF2=0.0
BIAS=0.0
DEADBAND=0.0
MAX_OUTPUT=0

# these are in nanoseconds
DIRSETUP   = 200
DIRHOLD    = 200
STEPLEN    = 3500
STEPSPACE  = 500
#500 encoder ppr (2000 quad)
#SCALE = 1273.239544735163
#INPUT_SCALE = 1273.239544735163
#1000 encoder ppr (4000 quad)
SCALE = -2546.479089470325
INPUT_SCALE = -2546.479089470325
MIN_LIMIT = -0.01
MAX_LIMIT = 53.0
HOME_OFFSET = 0.0


#********************
# Spindle
#********************
[SPINDLE_9]
MAX_VELOCITY = 1.67
MAX_ACCELERATION = 2.0
OUTPUT_SCALE = 1.0
OUTPUT_OFFSET = 0.0
MAX_OUTPUT = 10.0
SCALE = 1000.0


#********************
# Charge Pump
#********************
[CHARGEPUMP_0]
OUTPUT_SCALE = 100
VALUE = 50