# Erstellt von PNCconf am Sun Mar 26 14:33:09 2023
# Using LinuxCNC version:  2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

[EMC]
MACHINE = PUMA200
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 3.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
DEFAULT_SPINDLE_SPEED = 600
MIN_SPINDLE_0_SPEED = 10
MAX_SPINDLE_0_SPEED = 10000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 60.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = geany
GEOMETRY = xyzabc
PYVCP = Extra.xml

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .ngc,.NGC,.nc,.NC,.txt,.tap Gcode file

png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
dxf = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
RS274NGC_STARTUP_CODE = G21 G90 G94
    USER_M_PATH = ./mcodes
SUBROUTINE_PATH = ./remap_subs
   HAL_PIN_VARS = 1
          REMAP = M428  modalgroup=10  ngc=428remap
          REMAP = M429  modalgroup=10  ngc=429remap
          REMAP = M430  modalgroup=10  ngc=430remap

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


[HMOT]
# **** This is for info only ****
CARD0=hm2_7i92.0

[HAL]
HALUI = halui
HALFILE = PUMA200.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal
#HALFILE = puma_dh.hal
#POSTGUI_HALFILE = puma_postgui.hal

HALFILE = puma200gen_dh.hal
POSTGUI_HALFILE = puma200gen_postgui.hal

#HALCMD  = loadusr -W puma560gui

HALCMD  = loadusr -W ./pumagui.py
#HALFILE = LIB:basic_sim.tcl
HALCMD  = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type

[HALUI]
# MDI-COMMANDS 00,01,02 (remapped) do not alter limits when switching:
# M428:genserkins    (kinstype==0 startupDEFAULT)
# M429:identity kins (kinstype==1)
# M430:userk kins    (kinstype==2)
MDI_COMMAND = M428
MDI_COMMAND = M429
MDI_COMMAND = M430
# MDI-COMMANDS 03,04,05 ALTER limits when switching
MDI_COMMAND = M128
MDI_COMMAND = M129
MDI_COMMAND = M130




[KINS]
JOINTS = 6
#KINEMATICS = trivkins coordinates=XYZABC
KINEMATICS = genserkins
#KINEMATICS = pumakins



[TRAJ]
COORDINATES =  X Y Z A B C
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00
NO_FORCE_HOMING = 1
SPINDLES = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_WITH_SPINDLE_ON = 1

#******************************************
[TUNE]
MAIN_PWM = 20000
DELAY_BRAKE = 2.5
VOLTAGE_PERCENT = 0.87
PWM_FREQ_BRAKE = 150

A-0 = 0
ALPHA-0 = 0
D-0 = 330.2

A-1 = 0
ALPHA-1 = 1.570796
D-1 = 121.92

A-2 = 198.12
ALPHA-2 = 0
D-2 = 0

A-3 = 0
ALPHA-3 = 1.570796
D-3 = 203.2

A-4 = 0
ALPHA-4 = -1.570796
D-4 = 0

A-5 = 0
ALPHA-5 = -1.570796
D-5 = -55.88
  

#********************
# Axis X
#********************
[AXIS_X]
MAX_VELOCITY = 50.00
MAX_ACCELERATION = 500.0
MIN_LIMIT = -500.0
MAX_LIMIT = 500.0
[JOINT_0]
TYPE = ANGULAR
UNITS = deg
FERROR = 2.0
MIN_FERROR = 0.5

#SCALE_ENC = 134.256
SCALE_ENC = 129.777778

P = 200
I = 1500
D = 0.8
FF0 = 0
FF1 = 0.05
FF2 = 0.0005

MAXERROR = 0
DEADBAND = 0.005
BIAS = 0

MAXOUTPUT = 100
SCALE_PWM = 75


MAX_VELOCITY = 500.0
MAX_ACCELERATION = 500.0

MIN_LIMIT = -500.0
MAX_LIMIT = 500.0

#Referenzmarke bei -0.7895364
# g00 x-0.88
HOME = 0.0
#HOME_OFFSET = -0.715
HOME_OFFSET = -0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 2.0
HOME_SEQUENCE = 2
HOME_USE_INDEX = YES
HOME_FINAL_VEL = 10.
#********************
# Axis Y
#********************
[AXIS_Y]
MAX_VELOCITY = 50.00
MAX_ACCELERATION = 500.0
MIN_LIMIT = -500
MAX_LIMIT = 500

[JOINT_1]
TYPE = ANGULAR
UNITS = deg
FERROR = 2.0
MIN_FERROR = 0.5

#SCALE_ENC = -193.9255
SCALE_ENC = -169.572222

P = 200
I = 1500
D = 0.8
FF0 = 0
FF1 = 0.05
FF2 = 0.0005

MAXERROR = 0
DEADBAND = 0.005
BIAS = 0

MAXOUTPUT = 100
SCALE_PWM = -50

MAX_VELOCITY = 500.0
MAX_ACCELERATION = 500.0

MIN_LIMIT = -500.0
MAX_LIMIT = 500.0

#Referenzmarke bei -3.197104
# g00 y-17.4
HOME = 0.0
#HOME_OFFSET = -15.294833
HOME_OFFSET = -14.324833
HOME_OFFSET = 0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 2.
HOME_SEQUENCE = 0
HOME_USE_INDEX = YES
HOME_FINAL_VEL = 10
#********************
# Axis Z
#********************
[AXIS_Z]
MAX_VELOCITY = 50.00
MAX_ACCELERATION = 500.0
MIN_LIMIT = -1500.0
MAX_LIMIT = 1500.0


[JOINT_2]
TYPE = ANGULAR
UNITS = deg

FERROR = 2.0
MIN_FERROR = 0.5

#SCALE_ENC = 116.3553
SCALE_ENC = 104.055556

P = 200
I = 1500
D = 0.8
FF0 = 0
FF1 = 0.05
FF2 = 0.0005

MAXERROR = 0
DEADBAND = 0.005
BIAS = 0

MAXOUTPUT = 100
SCALE_PWM = 100

MAX_VELOCITY = 500.0
MAX_ACCELERATION = 500.0

MIN_LIMIT = -500.0
MAX_LIMIT = 500.0

#Referenzmarke bei -0.5500394
# g00 z-21.53
HOME = 0.0
#HOME_OFFSET = -16.1
HOME_OFFSET = -21.2109
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 1.0
HOME_SEQUENCE = 1
HOME_USE_INDEX = YES
HOME_FINAL_VEL = 10
#********************
# Axis A
#********************
[AXIS_A]
MAX_VELOCITY = 50.00
MAX_ACCELERATION = 500.0
MIN_LIMIT = -500.0
MAX_LIMIT = 500.0


[JOINT_3]
TYPE = ANGULAR
UNITS = deg
FERROR = 5
MIN_FERROR = 2.5

#SCALE_ENC = -96.9627
SCALE_ENC = -96.000000

P = 150
I = 1500
D = 0.8
FF0 = 0
FF1 = 0.05
FF2 = 0.0005

MAXERROR = 0
DEADBAND = 0.005
BIAS = 0

MAXOUTPUT = 100
SCALE_PWM = -100

MAX_VELOCITY = 500.0
MAX_ACCELERATION = 500.0

MIN_LIMIT = -500.0
MAX_LIMIT = 500.0

#Referenzmarke bei -1.17
# g00 a-1.11
#HOME = -91.134457
#HOME_OFFSET = 1.134457
HOME = 0.0
HOME_OFFSET = 0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 5
HOME_SEQUENCE = 2
HOME_USE_INDEX = YES
HOME_FINAL_VEL = 10

#********************
# Axis B
#********************
[AXIS_B]
MAX_VELOCITY = 50.00
MAX_ACCELERATION = 500.0
MIN_LIMIT = -500.0
MAX_LIMIT = 500.0


[JOINT_4]
TYPE = ANGULAR
UNITS = deg
FERROR = 5.0
MIN_FERROR = 2.5

#SCALE_ENC = -87.2665
SCALE_ENC = -97.777778

P = 200
I = 1750
D = 0.8
FF0 = 0
FF1 = 0.05
FF2 = 0.0005

MAXERROR = 0
DEADBAND = 0.005
BIAS = 0

MAXOUTPUT = 100
SCALE_PWM = -100

MAX_VELOCITY = 500.0
MAX_ACCELERATION = 500.0

MIN_LIMIT = -500.0
MAX_LIMIT = 500.0

#Referenzmarke bei 5.695
#HOME = -82.95
#HOME_OFFSET = -7.05
# g00 b-5.66
HOME = 0.1
HOME_OFFSET = 86.998
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = -5.0
HOME_SEQUENCE = 3
HOME_USE_INDEX = YES
HOME_FINAL_VEL = 10

#********************
# Axis C
#********************
[AXIS_C]
MAX_VELOCITY = 50.00
MAX_ACCELERATION = 500.0
MIN_LIMIT = -500.0
MAX_LIMIT = 500.0

[JOINT_5]
TYPE = ANGULAR
UNITS = deg
FERROR = 5
MIN_FERROR = 2.5

#SCALE_ENC = 69.8132
SCALE_ENC = 98.044444

P = 300
I = 1750
D = 0.8
FF0 = 0
FF1 = 0.05
FF2 = 0.0005

MAXERROR = 0
DEADBAND = 0.005
BIAS = 0

MAXOUTPUT = 100
SCALE_PWM = 100

MAX_VELOCITY = 500.0
MAX_ACCELERATION = 500.0

MIN_LIMIT = -500.0
MAX_LIMIT = 500.0

#Referenzmarke bei -1.99
# g00 c-1.99
#HOME = 1.647
#HOME_OFFSET = 1.647
HOME = 0
HOME_OFFSET = 0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 5.0
HOME_SEQUENCE = 4
HOME_USE_INDEX = YES
HOME_FINAL_VEL = 10