#INCLUDE layout2_plasmac.inc

[APPLICATIONS]

APP = halscope 80000 -i autosave.halscope 
APP = monitor-xhc-hb04

[XHC_HB04_CONFIG]
#(optional, default: servo-thread)
threadname = servo-thread
#(optional, 1: 16 buttons | 2: 18 buttons, default: 2)
layout     = 2
#(optional, 4 max, default: x y z a)            
coords     = x y z 
#(optional, filter coefs 0 < coef < 1, default: 1 1 1 1)     
coefs      = 1 1 1 1
#(optional: reduced accelerations for all manual mode jogging)
#(in machine_units/sec/sec like [JOINT_n]MAX_ACCELERATION)
#(this option requires: [APPLICATIONS]APP = xhc-hb04-accels)      
mpg_accels = 37 37 37 37
#(optional, plus/minus factors, default: 1 1 1 1)   
scales     = 1 1 1 1
#(optional, yes | no, default: yes)      
require_pendant = no
#(optional, in | mm for display icon, default: mm)     
inch_or_mm = in
#(optional, normal | vnormal default: normal)          
jogmode    = normal
#(optional, 1 | 2 | 3 | 4 | 5, default: 1)       
sequence   = 2     

# required
[PLASMAC]

# sets the operating mode, if not specified the default is 0
# 0 = use arc-voltage-in for arcOK and THC (no need to connect arc-ok-in, move-up-in and move-down-in)
# 1 = use arc-ok-in for arcOK and arc-voltage-in for THC (no need to connect move-up-in and move-down-in)
# 2 = use arc-ok-in for arcOK and move-down-in + move-up-in for THC (no need to connect arc-voltage-in)
MODE = 1

# enable(0) or disable(1) the plasmac config page, if not specified the default is enabled
CONFIG_DISABLE          = 0

# percentage of cut-feed-rate used for paused motion speed
PAUSED_MOTION_SPEED     = 50

# torch on time when manual pulse requested
TORCH_PULSE_TIME        = 1.0

# for the four user buttons
# the text that appears on the button
# for multiple lines, split the lines with a \
# e.g. BUTTON_1_NAME = Clear \ Coordinates or 
#BUTTON_n_NAME
BUTTON_1_NAME           = Ohmic Test
BUTTON_2_NAME           = Z To Top
BUTTON_3_NAME           = Load Sheet
BUTTON_4_NAME           = HAL Show

# the command that the button sends
# for multiple lines, split the lines with a \
# e.g. BUTTON_1_NAME = Clear \ Coordinates or 
# e.g. BUTTON_1_CODE =  g0 x0 \ g1x10f100 \ g0x0
# ini file settings can be used, must be within {} and with a space between
# e.g. G0 X{JOINT_0 HOME}
# e.g. G0 X{JOINT_0 HOME} Y1
# e.g. G53 G0 Z[{AXIS_Z MAX_LIMIT} - 1.001]
# for an external command precede the command with %
# e.g. %halshow
# external commands and gcode may be on the same code line
# e.g  %halshow \ g0x.5y.5 \ %halmeter
# there are two special commands:
# probe-test and ohmic-test
# using these will set/reset the corresponding hal pin in the component
# adding a number after probe-test will hold the pin for that number of seconds
# e.g. probe-test 15 will hold the halpin on for 15 seconds
#BUTTON_n_CODE
BUTTON_1_CODE           = ohmic-test
BUTTON_2_CODE           = G53 G0 Z{JOINT_3 HOME}
BUTTON_3_CODE           = G53 G0 X{JOINT_0 HOME} Y47.9
BUTTON_4_CODE           = %halshow

# this section required as is for removing z axis moves from the loaded gcode file
# this is optional and if used then plasmac_gcode.py needs to be set as executable
[FILTER]
PROGRAM_EXTENSION       = .ngc remove z axis stuff
ngc                     = ./plasmac_gcode.py

[RS274NGC]
RS274NGC_STARTUP_CODE   = o<imperial_startup> call
PARAMETER_FILE          = imperial_parameters.txt

# required, ./ must be in this path
SUBROUTINE_PATH         = ./:../../nc_files/subroutines

# required for reading ini and hal variables
FEATURES                = 12

# required for our material change
USER_M_PATH = ./

[HAL]
# required
TWOPASS = ON
# the base machine
HALFILE = my_plasmac.hal
# the plasmac component connections
HALFILE = plasmac.hal
HALFILE = LIB:xhc-hb04_plasmac.tcl
# the plasmac machine connections
HALFILE = my_plasmac_connections.hal
# use this for customisation after GUI has loaded
POSTGUI_HALFILE = postgui.hal
# required
HALUI = halui

[DISPLAY]
DISPLAY                 = gmoccapy
POSITION_OFFSET         = RELATIVE
POSITION_FEEDBACK       = ACTUAL
MAX_FEED_OVERRIDE       = 1.5
PROGRAM_PREFIX          = ../../nc_files
INTRO_GRAPHIC           = linuxcnc.gif
INTRO_TIME              = 1
CYCLE_TIME              = 150
INCREMENTS              = 1, .1, .01, .001, .0001
OPEN_FILE = ""
TOOL_EDITOR             = tooledit DIAM
MDI_HISTORY_FILE        = imperial_mdi_history.txt
EDITOR                  = gedit
GEOMETRY                = xyz

# required
EMBED_TAB_NAME          = plasmac_buttons
EMBED_TAB_LOCATION      = box_cooling
EMBED_TAB_COMMAND       = gladevcp -c plasmac_buttons -x {XID} -u ./plasmac_buttons.py -H ./plasmac_buttons.hal plasmac_buttons.glade
EMBED_TAB_NAME          = plasmac_control
EMBED_TAB_LOCATION      = box_spindle
EMBED_TAB_COMMAND       = gladevcp -c plasmac_control -x {XID} -u ./plasmac_control.py -H ./plasmac_control.hal plasmac_control.glade
EMBED_TAB_NAME          = Statistics
EMBED_TAB_LOCATION      = ntb_preview
EMBED_TAB_COMMAND       = gladevcp -c plasmac_stats -x {XID} -u ./plasmac_stats.py -H ./plasmac_stats.hal plasmac_stats.glade

EMBED_TAB_NAME          = Plasma Run
# use one of the next two
# run panel in tab behind preview
EMBED_TAB_LOCATION      = ntb_preview
EMBED_TAB_COMMAND       = gladevcp -c plasmac_run -x {XID} -u ./plasmac_run.py -H plasmac_run.hal plasmac_run_tab.glade
# run panel in panel on left side
#EMBED_TAB_LOCATION      = box_left
#EMBED_TAB_COMMAND       = gladevcp -c plasmac_run -x {XID} -u ./plasmac_run.py -H plasmac_run.hal plasmac_run_panel.glade

EMBED_TAB_NAME          = Plasma Config
EMBED_TAB_LOCATION      = ntb_preview
EMBED_TAB_COMMAND       = gladevcp -c plasmac_config -x {XID} -u ./plasmac_config.py -H plasmac_config.hal plasmac_config.glade
EMBED_TAB_NAME          = plasmac_monitor
EMBED_TAB_LOCATION      = box_tool_and_code_info
EMBED_TAB_COMMAND       = gladevcp -c plasmac_monitor -x {XID} -u plasmac_monitor.py -H plasmac_monitor.hal plasmac_monitor.glade


[EMC]
VERSION                 = 1.1

# have plasma somewhere in here to enable the axis_tweaks
MACHINE = my_plasmac
DEBUG                   = 0

[TASK]
TASK                    = milltask
CYCLE_TIME              = 0.01

[EMCMOT]
EMCMOT                  = motmod
SERVO_PERIOD            = 1000000

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

[KINS]
KINEMATICS              = trivkins coordinates=xyyz
JOINTS                  = 4

[TRAJ]
COORDINATES             = XYYZ
LINEAR_UNITS            = inch
MAX_LINEAR_VELOCITY     = 8
ANGULAR_UNITS           = degree
POSITION_FILE           = imperial_position.txt
DEFAULT_LINEAR_VELOCITY = 0.38
SPINDLES = 3
ARC_BLEND_ENABLE = 1
ARC_BLEND_OPTIMIZATION_DEPTH = 50
ARC_BLEND_GAP_CYCLES = 4
#NO_FORCE_HOMING = 1

#########
#X AXIS
########

[AXIS_X]
MIN_LIMIT = -0.1
MAX_LIMIT = 48.625
# set to double the value in the corresponding joint
# set to double the value in the corresponding joint
MAX_VELOCITY = 16.6666668
# set to double the value in the corresponding joint
# set to double the value in the corresponding joint
MAX_ACCELERATION = 320.0
# shares the above two equally between the joint and the offset
OFFSET_AV_RATIO = 0.5
# shares the above two equally between the joint and the offset
OFFSET_AV_RATIO = 0.5

[JOINT_0]

TYPE = LINEAR
HOME = 0.0
FERROR = .5
MIN_FERROR = 0.05
MAX_VELOCITY = 4.1666667
MAX_ACCELERATION = 80
# 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 = 5.208
STEPGEN_MAXACCEL = 145
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   = 2000
DIRHOLD    = 2000
STEPLEN    = 2000
STEPSPACE  = 4000
STEP_SCALE = 3183.099
#old value -2910.262
MIN_LIMIT = -.1
MAX_LIMIT = 48.625
HOME = 0
HOME_OFFSET = 48.35
#HOME_OFFSET = 0
HOME_SEARCH_VEL = 2
HOME_LATCH_VEL = -.05
HOME_FINAL_VEL = 2
#HOME_SEARCH_VEL = 0
#HOME_LATCH_VEL = 0
#HOME_FINAL_VEL = 0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

#********************
# Axis Y1
#********************
[AXIS_Y]
MIN_LIMIT = -.10
MAX_LIMIT = 48
# set to double the value in the corresponding joint
# set to double the value in the corresponding joint
MAX_VELOCITY = 16.6666668
# set to double the value in the corresponding joint
# set to double the value in the corresponding joint
MAX_ACCELERATION = 320.0
# shares the above two equally between the joint and the offset
OFFSET_AV_RATIO = 0.5
# shares the above two equally between the joint and the offset
OFFSET_AV_RATIO = 0.5

[JOINT_1]

JOINT_1 = Y
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 4.1666667
MAX_ACCELERATION = 80
# 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 = 5.208
STEPGEN_MAXACCEL = 145
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   = 2000
DIRHOLD    = 2000
STEPLEN    = 2000
STEPSPACE  = 4000
STEP_SCALE = 3183.099
MIN_LIMIT = -.1
MAX_LIMIT = 48
HOME = 0
HOME_OFFSET = 48.05
#HOME_OFFSET = 0
HOME_SEARCH_VEL = 2
HOME_LATCH_VEL = -0.05
#HOME_SEARCH_VEL = 0
#HOME_LATCH_VEL = 0
HOME_FINAL_VEL = -2.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -2

#*******************
# Axis Y2
#*******************

[JOINT_2]

JOINT_3 = Y
TYPE = LINEAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 4.1666667
MAX_ACCELERATION = 80
# 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 = 5.208
STEPGEN_MAXACCEL = 145
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   = 2000
DIRHOLD    = 2000
STEPLEN    = 2000
STEPSPACE  = 4000
STEP_SCALE = 3183.099
MIN_LIMIT = -.1
MAX_LIMIT = 48
#HOME = 0
HOME_OFFSET = 48.02
#HOME_OFFSET = 0
HOME_SEARCH_VEL = 2
HOME_LATCH_VEL = -0.05
#HOME_SEARCH_VEL = 0
#HOME_LATCH_VEL = 0
HOME_FINAL_VEL = -2.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -2

#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -2.9
MAX_LIMIT = .25
#MAX_VELOCITY = 3.8333333
#MAX_ACCELERATION = 55
# required, set to double the value in the corresponding joint
# set to double the value in the corresponding joint
MAX_VELOCITY = 7.6666

# required, set to double the value in the corresponding joint
# set to double the value in the corresponding joint
MAX_ACCELERATION = 110.0
# shares the above two equally between the joint and the offset
OFFSET_AV_RATIO = 0.5

# required, shares the above two equally between the axis/joint and the offset
OFFSET_AV_RATIO         = .5


PLUNGE_RATE = 3.8
FLOAT_SW_OFFSET =.090

[JOINT_3]

TYPE = LINEAR
HOME = 0.0
FERROR = .5
MIN_FERROR = .05
MAX_VELOCITY = 3.8333
MAX_ACCELERATION = 55
# 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 = 5
STEPGEN_MAXACCEL = 70
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   = 2000
DIRHOLD    = 2000
STEPLEN    = 2000
STEPSPACE  = 4000
STEP_SCALE = 10000
MIN_LIMIT = -2.9
MAX_LIMIT = .25
HOME = 0
HOME_OFFSET = .3000
HOME_SEARCH_VEL = 0.5
HOME_LATCH_VEL = -0.2
HOME_FINAL_VEL = 0.5000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

[MACROS]
MACRO = probe_test
MACRO = xline_test