# Generated by PNCconf at Sun Oct  2 16:01:19 2022
# Using LinuxCNC version:  2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = CNC-ANDI
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = probe_basic
CONFIG_FILE = custom_config.yml
FULLSCREEN = True
OPEN_FILE = /home/cnc/linuxcnc/nc_files/pb_examples/blank.ngc
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.000000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = JOG .001mm .01mm .1mm 1mm 
DEFAULT_LINEAR_VELOCITY = 25.000000
MAX_LINEAR_VELOCITY = 100.000000
MIN_LINEAR_VELOCITY = 0.016667
DEFAULT_ANGULAR_VELOCITY = 50.000000
MAX_ANGULAR_VELOCITY = 240.000000
MIN_ANGULAR_VELOCITY = 0.016667
EDITOR = gedit
GEOMETRY = XYZB

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

[PYTHON]
# ***leave the following commented out unless you are using the ATC macros***
#TOPLEVEL = /home/cnc/linuxcnc/configs/CNC-ANDI/python/toplevel.py
#PATH_APPEND = /home/cnc/linuxcnc/configs/CNC-ANDI/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 = 0.010

[RS274NGC]
RS274NGC_STARTUP_CODE = F6000 S12000 G21 G17 G40 G43 G54 G64 P0.005 G80 G90 G91.1 G92.1 G94 G97 G98
FEATURES = 30
PROGRAM_PREFIX = ~/linuxcnc/nc_files
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = /home/cnc/linuxcnc/configs/CNC-ANDI/subroutines
REMAP=M600 modalgroup=6 ngc=m600
REMAP=M300 modalgroup=7 ngc=m300
REMAP=M500 modalgroup=7 ngc=m500
# ***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]
COMM_WAIT = 0.010
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1300000

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i76e.0

[HAL]
HALUI = halui
HALFILE = CNC-ANDI.hal
HALFILE = custom.hal
HALFILE = handrad.hal
#HALFILE = custom_postgui.hal
#HALFILE = coolant_cannon.hal ***leave commented out unless using programmable coolant nozzle***
POSTGUI_HALFILE = time.hal
#POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]
#MDI_COMMAND=(debug,macro0) # this one is for numbering but not used by pendant (need 1 to 16)
#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]
JOINTS = 5
KINEMATICS = trivkins coordinates=XYYZB

[TRAJ]
AXES = 5   ***this line sets probe basics DRO axes display countset as required for your machine***
COORDINATES =  XYYZB
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 25.0
MAX_LINEAR_VELOCITY = 100.000000 
DEFAULT_ANGULAR_VELOCITY = 25.000000
MAX_ANGULAR_VELOCITY = 240.000000
NO_FORCE_HOMING = 0

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 800.0
MIN_LIMIT = -0.500
MAX_LIMIT = 605.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 800.0
# 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 = 200.00
STEPGEN_MAXACCEL = 1600.00
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 400.0
BACKLASH = 0.01
MIN_LIMIT = -0.500
MAX_LIMIT = 605.0
HOME_OFFSET = -3.000000
HOME_SEARCH_VEL = -30.000000
HOME_LATCH_VEL = -0.500000
#HOME_FINAL_VEL = -0.250000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 800.0
MIN_LIMIT = -0.500
MAX_LIMIT = 1185.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 800.0
# 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 = 200.00
STEPGEN_MAXACCEL = 1600.00
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 400.0
BACKLASH = 0.01
MIN_LIMIT = -0.500
MAX_LIMIT = 1185.0
HOME_OFFSET = -1.000000
HOME_SEARCH_VEL = -30.000000
HOME_LATCH_VEL = -0.500000
#HOME_FINAL_VEL = -0.250000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 800.0
# 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 = 200.00
STEPGEN_MAXACCEL = 1600.00
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 400.0
BACKLASH = 0.01
MIN_LIMIT = -0.500
MAX_LIMIT = 1185.0
HOME_OFFSET = -2.130000
HOME_SEARCH_VEL = -30.000000
HOME_LATCH_VEL = -0.500000
#HOME_FINAL_VEL = -0.250000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 800.0
MIN_LIMIT = -293.0
MAX_LIMIT = 0.500

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 800.0
# 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 = 200.00
STEPGEN_MAXACCEL = 1600.00
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 400.0
BACKLASH = 0.01
MIN_LIMIT = -293.0
MAX_LIMIT = 0.500
HOME_OFFSET = 1.000000
HOME_SEARCH_VEL = 20.000000
HOME_LATCH_VEL = 0.500000
#HOME_FINAL_VEL = 0.250000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#******************************************

#******************************************
[AXIS_B]
MAX_VELOCITY = 240.0
MAX_ACCELERATION = 4000.0
MIN_LIMIT = -999999.0
MAX_LIMIT = 999999.0

[JOINT_4]
TYPE = ANGULAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 240.0
MAX_ACCELERATION = 4000.0
# 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 = 315.00
STEPGEN_MAXACCEL = 8000.00
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   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 111.1111
MIN_LIMIT = -999999.0
MAX_LIMIT = 999999.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.000000
HOME_LATCH_VEL = 0.00000
#HOME_FINAL_VEL = 0.250000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 3
#******************************************

[SPINDLE_0]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 24000.0
OUTPUT_SCALE = 48000
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 24000