# Muzzer
# Gmoccapy dev
# 23rd Aug 2021
#

[EMC]
VERSION = 1.1
MACHINE = Muzzer Gmoccapy Lathe
DEBUG = 0

[DISPLAY]
DISPLAY = gmoccapy
PREFERENCE_FILE_PATH = gmoccapy_preferences
MAX_FEED_OVERRIDE = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
LATHE = 1
PROGRAM_PREFIX = ../../nc_files/
# Andy Pugh's macros here:
# EMBED_TAB_NAME=Cycles
# EMBED_TAB_COMMAND=halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -u lathehandler.py -x {XID} lathemacro.ui
# QtPyVCP Specific Options
# CONFIRM_EXIT = False
# FULLSCREEN = True
# MAXIMIZE = False
# POSITION = 0x0

LOG_FILE = sim.log
LOG_LEVEL = DEBUG
PREFERENCE_FILE = sim.pref
CONFIG_FILE = custom_config.yml
CYCLE_TIME =            0.100

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       MACHINE
# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.50000
MAX_LINEAR_VELOCITY = 5.000000
MIN_LINEAR_VELOCITY = 0.016670
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
DEFAULT_SPINDLE_SPEED = 1000
MAX_SPINDLE_OVERRIDE = 1.5000000
MIN_SPINDLE_OVERRIDE = 0.500000
MAX_FEED_OVERRIDE = 2.000000
# Prefix to be used
PROGRAM_PREFIX = ~/linuxcnc/nc_files
OPEN_FILE = ~/linuxcnc/nc_files/examples/lathe_pawn.ngc
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
INCREMENTS = JOG 1mm 0.6mm 0.3mm 0.1mm 0.05mm 0.02mm
GEOMETRY = xz

[VTK]
# VTK_Widget Options
MACHINE_BOUNDRY = 0
MACHINE_TICKS = 0
MACHINE_LABELS = 0
PROGRAM_BOUNDRY = 1
PROGRAM_TICKS = 0
PROGRAM_LABELS = 1
GRID_LINES = 0

[FILTER]
PROGRAM_EXTENSION = .nc,.txt,.tap Other NC files

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
SUBROUTINE_PATH = macros
RS274NGC_STARTUP_CODE = G7 G18

# File containing interpreter variables
# PARAMETER_FILE = sim-lathe.var 
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = subroutines: ~/home/muzzer/linuxcnc/configs/probe_basic/probe_basic_lathe/lathe_macros_V3/

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
#BASE_PERIOD = 100000
SERVO_PERIOD = 1000000

[HMOT]
# **** This is for info only ****
CARD0=hm2_5i25.0

[HAL]
POSTGUI_HALFILE = hallib/time.hal
HALUI = halui
HALFILE = hallib/Bantam_v1.hal
# Added hal file for XHC MPG:
# used to be misnamed HALFILE = hallib/xhc-hb04b.hal
HALFILE = hallib/xhc-whb04b-6.hal
# Not sure what the (empty) postgui_call_list.hal is intended for:
# POSTGUI_HALFILE = hallib/postgui_call_list.hal
# Currently the shutdown.hal file is also empty
SHUTDOWN = hallib/shutdown.hal
POSTGUI_HALFILE = lathemacro_postgui.hal

[HALUI]
MDI_COMMAND = G10 L20 P0 X0 ( Set X to zero )
MDI_COMMAND = G10 L20 P0 Z0 ( Set Z to zero )
MDI_COMMAND=(debug,macro0)
MDI_COMMAND=(debug,macro1)
MDI_COMMAND=(debug,macro2)
MDI_COMMAND=(debug,macro3)
MDI_COMMAND=(debug,macro4)
MDI_COMMAND=(debug,macro5)
MDI_COMMAND=(debug,macro6)
MDI_COMMAND=(debug,macro7)
MDI_COMMAND=(debug,macro8)
MDI_COMMAND=(debug,macro9)
MDI_COMMAND=(debug,macro10)
MDI_COMMAND=(debug,macro11)
MDI_COMMAND=(debug,macro12)
MDI_COMMAND=(debug,macro13)
MDI_COMMAND=(debug,macro14)
MDI_COMMAND=(debug,macro15)
MDI_COMMAND=(debug,macro16)

[KINS]
KINEMATICS = trivkins coordinates=xz
JOINTS = 2

[TRAJ]
COORDINATES =  XZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 10.00
MAX_LINEAR_VELOCITY = 100.00
# SPINDLES = 2
# CYCLE_TIME =            0.010 (IN NEXT SECTION)
# DEFAULT_VELOCITY =      1.0 OR SHD THIS BE "MAX_LINEAR_VELOCITY"????"
# DEFAULT_ACCELERATION =  20.0
# MAX_ACCELERATION =      20.0
NO_FORCE_HOMING = 1
# ENCODER_SCALE = (same as STEP_SCALE, ideally)

[EMCIO]
EMCIO = 		io
CYCLE_TIME =    0.100
# TOOL_TABLE = tool.tbl - (NB it's tool.tbl in Axis!!)
TOOL_TABLE = lathe.tbl
#TOOL_CHANGE_POSITION = 2 0 1 (not present in Axis)
#TOOL_CHANGE_WITH_SPINDLE_ON = 1 (not present in Axis)


[AXIS_X]
MIN_LIMIT = -100
MAX_LIMIT = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 600.0

[JOINT_0]
TYPE =                          LINEAR
# HOME is the distance the axis moves - AFTER setting home position zero
# MAKE CERTAIN IT IS NEGATIVE ON X AXIS!!
# It can be within the soft limits but will error if it's not.
HOME =                          0.000
FERROR =                        10
MIN_FERROR =                    1.00
MAX_VELOCITY =                  100
MAX_ACCELERATION =              600.0
BACKLASH =                      0.000
# Encoder counts per machine unit (5um scale?)
INPUT_SCALE =                   -200 
OUTPUT_SCALE =                  1.000
# HOME_OFFSET is the offset between home switch and where machine zero
#  is to be set. For combined limit and home this should not be negative!!
# I used 2.0 to be clear of the switch
HOME_OFFSET =                   2.0
HOME_SEARCH_VEL =               5.0
HOME_LATCH_VEL =                1.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            YES
HOME_SEQUENCE =                 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 =                125
STEPGEN_MAXACCEL =              750
P =                             60
I =                             40 
D =                             1
FF0 =                           0
FF1 =                           0.4
FF2 =                           0.01
BIAS =                          0
DEADBAND =                      0.0045
MAX_OUTPUT =                    0
# these are in nanoseconds
DIRSETUP   =                    10000
DIRHOLD    =                    10000
# These were 5000ns. The Lichuan drive supports 600k in diff mode
STEPLEN    =                    2500
STEPSPACE  =                    2500  
STEP_SCALE =                    1000 
# number of pulses per machine unit
# MIN_LIMIT and MAX_LIMIT are the soft limits
# They are ignored during homing (see HOME_IGNORE_LIMITS above)
# but if home is outside soft limits you will get a warning
MIN_LIMIT =                     -100.0
MAX_LIMIT =                     1
# HOME_OFFSET is where the machine zero is positioned after homing.
# Negative values would place it beyond the limit switch!! 
# This seems to be duplicated:
# HOME_OFFSET =                   0
#******************************************

[AXIS_Z]
# Min was -100; Max 10. Change to -100, 100
MIN_LIMIT =                     -410
MAX_LIMIT =                     2.0    
MAX_VELOCITY =                  100
MAX_ACCELERATION =              600

[JOINT_1]
TYPE =                          LINEAR
HOME =                          0.0
FERROR =                        50
MIN_FERROR =                    10.0
MAX_VELOCITY =                  100
MAX_ACCELERATION =              600
# What are these scale things?
BACKLASH =                      0.000
INPUT_SCALE =                   200 
# INPUT_SCALE is encoder counts per machine unit (5um scale)
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     -410
MAX_LIMIT =                     2.0
HOME_OFFSET =                   5.0
HOME_SEARCH_VEL =               5.0
HOME_LATCH_VEL =                1.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            YES
HOME_SEQUENCE =                 
# HOME_IS_SHARED =                1
# 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 =                125
STEPGEN_MAXACCEL =              750
P =                             50
I =                             10
D =                             3
FF0 =                           0
FF1 =                           0.85
FF2 =                           0.005
BIAS =                          0
DEADBAND =                      0.0045
MAX_OUTPUT =                    0
# these are in nanoseconds
DIRSETUP   =                    10000
DIRHOLD    =                    10000
# These were 5000ns. The Lichuan drive supports 600k in diff mode
STEPLEN    =                    2500
STEPSPACE  =                    2500
STEP_SCALE =                    846.15
# number of pulses per machine unit
HOME_OFFSET =                   0.0
#******************************************
[SPINDLE_0]
P = 1
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
# MAX_OUTPUT needs to be set to "4000" for 2000rpm
MAX_OUTPUT = 4000
ENCODER_SCALE = 4000 
# ^ Counts per rev presumably
# v No idea how this is scaled but 4475 seems to work!
OUTPUT_SCALE = 4475
# v "4000" seems to correspond to 2000rpm bizarrely
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 4000