###############################################################################
# GENERAL SECTION 
###############################################################################
[EMC]
VERSION =               	$Revision-$
MACHINE =               	HURCO-KMB1
DEBUG =				0

###############################################################################
# Sections for display options 
###############################################################################
[DISPLAY]
DISPLAY =               	axis 
# DISPLAY = 			gmocapy
POSITION_OFFSET =       	RELATIVE
POSITION_FEEDBACK =     	ACTUAL
MAX_FEED_OVERRIDE =     	1.2
MIN_SPINDLE_OVERRIDE =  	0.5
MAX_SPINDLE_OVERRIDE =  	1.0
DEFAULT_SPINDLE_SPEED = 	150
PROGRAM_PREFIX = 		/home/robert/linuxcnc/nc_files
INTRO_GRAPHIC =         	linuxcnc.gif
INTRO_TIME =            	5
CYCLE_TIME =            	0.05
HELP_FILE =             	tklinucnc.txt
DEFAULT_LINEAR_VELOCITY = 	.15
MIN_VELOCITY = 			.05
MAX_LINEAR_VELOCITY = 		1.0
MIN_LINEAR_VELOCITY = 		.01
DEFAULT_ANGULAR_VELOCITY = 	.25
MIN_ANGULAR_VELOCITY = 		.01
MAX_ANGULAR_VELOCITY = 		1.0
#INCREMENTS = 			.5 in, 

#OPEN_FILE = 
EDITOR = 			gedit
TOOL_EDITOR = 			tooledit
#PYVCP = /filename.xml 
#LATHE = 1
#GEOMETRY = XYZABCUVW
#ARCDIVISION = 64
#MDI_HISTORY_FILE = 
HELP_FILE = 			tklinucnc.txt


###############################################################################
# Part program interpreter section 
###############################################################################
[RS274NGC]
PARAMETER_FILE =        	kmb1-axis.var

###############################################################################
# MOTION CONTROL SECTION 
###############################################################################
[EMCMOT]
EMCMOT =                	motmod
period1=			100000
SERVO_PERIOD =          	1000000
COMM_TIMEOUT =         		1.0
COMM_WAIT =             	0.010

###############################################################################
# TASK CONTROLLER SECTION
###############################################################################
[TASK]
TASK =                  	milltask
CYCLE_TIME =            	0.010

###############################################################################
# HARDWARE ABSTRACTION LAYER - LOAD'S IN THE ORDER BELOW
###############################################################################
[HAL]

HALFILE =                	hurco-main.hal
HALFILE =                	hurco-motion.hal
#HALFILE =                	l
#HALCMD =                	save neta
#POSTGUI_HALFILE = 		
HALUI = 		 	halui

[HALUI]

MDI_COMMAND =			G53 G0 X0 Y0 Z0
	
###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]

COORDINATES =           	X Y Z
AXES =                  	3
JOINTS = 			3
HOME =                  	0 0 0
LINEAR_UNITS =          	inch
ANGULAR_UNITS =         	degree
DEFAULT_VELOCITY =      	0.0167
#DEFAULT_VELOCITY =      	0.20
DEFAULT_ACCELERATION =  	2.0
MAX_VELOCITY =          	5.0
MAX_ACCELERATION =      	20.0
POSITION_FILE =			position.txt



###############################################################################
# AXIS PARAMETERS
###############################################################################

[AXIS_0]
TYPE =                          LINEAR
UNITS =				INCH
HOME =                          0.0
MAX_VELOCITY =                  1.0
MAX_ACCELERATION =              20.0
BACKLASH =                      0.000
#COMP_FILE = file.extension
#COMP_FILE_TYPE = 0 or 1
MIN_LIMIT = 			0.0
MAX_LIMIT = 			20.0
MIN_FERROR = 			0.010
FERROR = 			1.0

# AXIS_0 HOMING SECTION
HOME = 				0.0
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0.0
HOME_LATCH_VEL =                0.0
HOME_FINAL_VEL = 		0.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO

# AXIS_0 SERVO SECTION
DEADBAND = 			0.010
#DEADBAND = 			0.00025
BIAS =                          0.000
P = 				20
I =                             0
D =                             0
FF0 =                           0
FF1 =                           0
FF2 =				0

OUTPUT_SCALE =                  -1
OUTPUT_OFFSET =                 0
MAX_OUTPUT =                    10
INPUT_SCALE =                   20000
ENCODER_SCALE = 		-20000


[AXIS_1]
TYPE =                          LINEAR
UNITS =				INCH
HOME =                          0.0
MAX_VELOCITY =                  1.0
MAX_ACCELERATION =              20.0
BACKLASH =                      0.000
#COMP_FILE = file.extension
#COMP_FILE_TYPE = 0 or 1
MIN_LIMIT = 			0.0
MAX_LIMIT = 			9.0
MIN_FERROR = 			0.010
FERROR = 			1.0

# AXIS_1 HOMING SECTION
HOME = 				0.0
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0.0
HOME_LATCH_VEL =                0.0
HOME_FINAL_VEL = 		0.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO

# AXIS_1 SERVO SECTION
DEADBAND = 			0.010
#DEADBAND = 			0.00025
BIAS =                          0.000
P = 				10
I =                             0
D =                             0
FF0 =                           0
FF1 =                           0
FF2 =				0

OUTPUT_SCALE =                  -1
OUTPUT_OFFSET =                 0
MAX_OUTPUT =                    10
INPUT_SCALE =                   20000
ENCODER_SCALE = 		-20000



[AXIS_2]
TYPE =                          LINEAR
UNITS =				INCH
HOME =                          0.0
MAX_VELOCITY =                  1.0
MAX_ACCELERATION =              20.0
BACKLASH =                      0.000
#COMP_FILE = file.extension
#COMP_FILE_TYPE = 0 or 1
MIN_LIMIT = 			0.0
MAX_LIMIT = 			-6.0
MIN_FERROR = 			0.010
FERROR = 			1.0

# AXIS_2 HOMING SECTION
HOME = 				0.0
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0.0
HOME_LATCH_VEL =                0.0
HOME_FINAL_VEL = 		0.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO

# AXIS_2 SERVO SECTION
DEADBAND = 			0.010
#DEADBAND = 			0.00025
BIAS =                          0.000
P = 				10
I =                             0
D =                             0
FF0 =                           0
FF1 =                           0
FF2 =				0

OUTPUT_SCALE =                  1
OUTPUT_OFFSET =                 0
MAX_OUTPUT =                    10
INPUT_SCALE =                   20000
ENCODER_SCALE = 		20000



# ENCODERS ON THE MACHINE NOW
# ENCODER SCALE FIGURED AS
# 1 ENCODER REVOLUTION EQUALS 0.200" MOVEMENT
# 1000PPR ENCODER X 4 QUADRATURE
# X 5 TPI FOR BALLSCREW
#        1000 PPR (PULSES PER REVOLUTION)
#        X  4 QUADRATURE ENCODER
#        4000 COUNTS PER REVOLUTION
#        X  5 TPI BALLSCREW
#      20,000 COUNTS PER INCH


# ORIGINAL ENCODERS ON THE MACHINE
# ENCODER SCALE FIGURED AS
# 1 ENCODER REVOLUTION EQUALS 0.200" MOVEMENT
# 200PPR ENCODER X 4 QUADRATURE
# X 5 TPI FOR BALLSCREW
#         200 PPR (PULSES PER REVOLUTION)
#        X  4 QUADRATURE ENCODER
#         800 COUNTS PER REVOLUTION
#        X  5 TPI BALLSCREW
#       4,000 COUNTS PER INCH


###############################################################################
#  IO CONTROLLER PARAMETERS 
###############################################################################
[EMCIO]

EMCIO = 			io
CYCLE_TIME =            	0.100
TOOL_TABLE =            	kmb1-axis.tbl