# Generated by PNCconf at Tue Mar  9 09:10:54 2021
# Using LinuxCNC version:  2.9.0~pre0
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

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

[DISPLAY]
DISPLAY = probe_basic
CONFIG_FILE = custom_config.yml
FULLSCREEN = TRUE
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/user/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 0.250000
MAX_LINEAR_VELOCITY = 30.000000
MIN_LINEAR_VELOCITY = 0.016670
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz


[ATC]
# ***If using an ATC, uncomment POCKETS line and add your pocket count***
# Carousel image available for 8, 10, 12, 14, 16, 18, 20, 21, 24
POCKETS = 8


[PYTHON]
# ***leave the following commented out unless you are using the ATC macros***
#TOPLEVEL = /home/user/linuxcnc/configs/Siegfried/python/toplevel.py
#PATH_APPEND = /home/user/linuxcnc/configs/Siegfried/python/
#LOG_LEVEL = 8

[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 = 0.100


[RS274NGC]
RS274NGC_STARTUP_CODE = F10 S300 G20 G17 G40 G49 G54 G64 P0.001 G80 G90 G91.1 G92.1 G94 G97 G98
FEATURES = 30
PROGRAM_PREFIX = ~/linuxcnc/nc_files
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = /home/user/linuxcnc/configs/Siegfried/subroutines/



# ***ATC tool change use, uncomment the following remapped M codes at bottom of [RS274NGC] section ***
#REMAP=M6   modalgroup=6 prolog=change_prolog ngc=toolchange epilog=change_epilog
#REMAP=M10  modalgroup=6 argspec=p ngc=m10
#REMAP=M11  modalgroup=6 argspec=p ngc=m11
#REMAP=M12  modalgroup=6 argspec=p ngc=m12
#REMAP=M13  modalgroup=6 ngc=m13
#REMAP=M21  modalgroup=6 ngc=m21
#REMAP=M22  modalgroup=6 ngc=m22
#REMAP=M23  modalgroup=6 ngc=m23
#REMAP=M24  modalgroup=6 ngc=m24
#REMAP=M25  modalgroup=6 ngc=m25
#REMAP=M26  modalgroup=6 ngc=m26




[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
COMM_WAIT = 0.010

[HMOT]
CARD0=hm2_7i97.0

[HAL]
HALUI = halui
HALFILE = basic7i97.hal
HALFILE = custom.hal
HALFILE = chinahandrad.hal
#HALFILE = coolant_cannon.hal ***leave commented out unless using programmable coolant nozzle***
POSTGUI_HALFILE = probe_basic_postgui.hal
#POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

[TRAJ]
AXES = 3
COORDINATES =  XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 30.00

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 500.0
MIN_LIMIT = -0.001
MAX_LIMIT = 195.0

[JOINT_0]
TYPE = LINEAR
#HOME = 0.0
FERROR = 1
MIN_FERROR = 1
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 500.0
P = 22
I = 7
D = 0
FF0 = 0
FF1 = 0.0885
FF2 = 0
BIAS = 0
DEADBAND = 0.0001
MAX_OUTPUT = 0
ENCODER_SCALE = -2048
OUTPUT_SCALE = -10
MIN_LIMIT = -0.001
MAX_LIMIT = 195.0
# Full Speed of Homing Search Positive Value (Two Moves: Forward then after find homing backwards)
HOME_SEARCH_VEL = 15
#Small Speed Homing Search Positive Value (Because is already outside of home-switch because of Home_Search_Vel)
HOME_LATCH_VEL = 5
# Speed from Home_offset to Home position
HOME_FINAL_VEL = 5
# Ignore Limit-Switch by homing
HOME_IGNORE_LIMITS = NO
# Index Puls for homing
HOME_USE_INDEX = NO
# Offset from Switch to prevent stand over switch or near switch
HOME_OFFSET = 2
# Position the Joint go and set Joint to Zero > G53 make sure Home_Final_Vel is set!!!
HOME = 3 
# If you have all Switches on same Pin the set it YES otherwise NO
HOME_IS_SHARED = NO
# Homing Order of the Joints 0, 1, -1 negative means Joint is waiting for other Joint to move synchronized
# If the HOME_SEQUENCE value is zero or positive, a command to home the joint will home only the specified joint
HOME_SEQUENCE =  -1
#Joint becomes unhomed when machone go off
#VOLATILE_HOME = NO
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 500.0
MIN_LIMIT = -0.001
MAX_LIMIT = 180

[JOINT_1]
TYPE = LINEAR
#HOME = 0.0
FERROR = 1
MIN_FERROR = 1
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 500.0
P = 22
I = 7
D = 0
FF0 = 0
FF1 = 0.0885
FF2 = 0
BIAS = 0
DEADBAND = 0.0001
MAX_OUTPUT = 0
ENCODER_SCALE = -2048
OUTPUT_SCALE = -10
MIN_LIMIT = -0.001
MAX_LIMIT = 180
# Full Speed of Homing Search Positive Value (Two Moves: Forward then after find homing backwards)
HOME_SEARCH_VEL = 15
#Small Speed Homing Search Positive Value (Because is already outside of home-switch because of Home_Search_Vel)
HOME_LATCH_VEL = 5
# Speed from Home_offset to Home position
HOME_FINAL_VEL = 5
# Ignore Limit-Switch by homing
HOME_IGNORE_LIMITS = NO
# Index Puls for homing
HOME_USE_INDEX = NO
# Offset from Switch to prevent stand over switch or near switch
HOME_OFFSET = 1
# Position the Joint go and set Joint to Zero > G53 make sure Home_Final_Vel is set!!!
HOME = 2
# If you have all Switches on same Pin the set it YES otherwise NO
HOME_IS_SHARED = NO
# Homing Order of the Joints 0, 1, -1 negative means Joint is waiting for other Joint to move synchronized
# If the HOME_SEQUENCE value is zero or positive, a command to home the joint will home only the specified joint
HOME_SEQUENCE =  -1
#Joint becomes unhomed when machone go off
#VOLATILE_HOME = NO
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 500.0
MIN_LIMIT = -0.001
MAX_LIMIT = 100

[JOINT_2]
TYPE = LINEAR
#HOME = 0.0
FERROR = 1
MIN_FERROR = 1
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 500.0
P = 22
I = 7
D = 0
FF0 = 0
FF1 = 0.0885
FF2 = 0
BIAS = 0
DEADBAND = 0.0001
MAX_OUTPUT = 0
ENCODER_SCALE = -2048
OUTPUT_SCALE = -10
MIN_LIMIT = -0.001
MAX_LIMIT = 100
# Full Speed of Homing Search Positive Value (Two Moves: Forward then after find homing backwards)
HOME_SEARCH_VEL = 15
#Small Speed Homing Search Positive Value (Because is already outside of home-switch because of Home_Search_Vel)
HOME_LATCH_VEL = 5
# Speed from Home_offset to Home position
HOME_FINAL_VEL = 5
# Ignore Limit-Switch by homing
HOME_IGNORE_LIMITS = NO
# Index Puls for homing
HOME_USE_INDEX = NO
# Offset from Switch to prevent stand over switch or near switch
HOME_OFFSET = 1
# Position the Joint go and set Joint to Zero > G53 make sure Home_Final_Vel is set!!!
HOME = 2
# If you have all Switches on same Pin the set it YES otherwise NO
HOME_IS_SHARED = NO
# Homing Order of the Joints 0, 1, -1 negative means Joint is waiting for other Joint to move synchronized
# If the HOME_SEQUENCE value is zero or positive, a command to home the joint will home only the specified joint
HOME_SEQUENCE =  0
#Joint becomes unhomed when machone go off
#VOLATILE_HOME = NO
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 40000.0
ENCODER_SCALE = 1
OUTPUT_SCALE = -40000.0
MIN_LIMIT = 0
MAX_LIMIT = 40000