# Erstellt von PNCconf am Mon Sep 28 09:18:39 2020
# Using LinuxCNC version:  2.8
# Änderungen an dieser Datei werden beim nächsten
# overwritten when you run PNCconf again

# General section -------------------------------------------------------------
[EMC]
MACHINE = Schaublin2
DEBUG = 0
VERSION = 1.1

###############################################################################
# Sections for display options ------------------------------------------------
###############################################################################
[DISPLAY]
DISPLAY = gmoccapy -i
# Log level:
# DEBUG       -d
# INFO        -i
# VERBOSE     -v
# ERROR       -q

# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME = 100

# Values that will be allowed for override, 1.0 = 100%
MAX_FEED_OVERRIDE    = 1.5
MAX_SPINDLE_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5

# Initial value for spindle speed
DEFAULT_SPINDLE_SPEED = 450

# The following are not used, added here to suppress warnings (from qt_istat/logger).
#for gmoccapy following linear params are from TRAJ ?
DEFAULT_LINEAR_VELOCITY  = 10
MIN_LINEAR_VELOCITY      = 0.5
MAX_LINEAR_VELOCITY      = 25
DEFAULT_ANGULAR_VELOCITY = 1800
MAX_ANGULAR_VELOCITY     = 3600
MIN_ANGULAR_VELOCITY     = 0.1
DEFAULT_SPINDLE_0_SPEED  = 500
MIN_SPINDLE_0_SPEED      = 0
MAX_SPINDLE_0_SPEED      = 6000
MAX_SPINDLE_0_OVERRIDE   = 1.2
MIN_SPINDLE_0_OVERRIDE   = 0.5

# Prefix to be used
PROGRAM_PREFIX = ./nc_files

# Introductory graphic
INTRO_GRAPHIC = schaublin-logo.png
INTRO_TIME = 1

# list of selectable jog increments
INCREMENTS = 10mm 1mm .5mm .1mm .05mm .01mm .005mm

EDITOR = kate
GEOMETRY = xyc

LATHE = 1
BACK_TOOL_LATHE = 1

# Cyclea tab
EMBED_TAB_NAME = Cycles
EMBED_TAB_LOCATION = ntb_preview
#EMBED_TAB_LOCATION = ntb_user_tabs
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui

#On screen messages
MESSAGE_TEXT = Axis drive fault. Do you want to reset the drive? [] Pavaros klaida. Perkrauti?
MESSAGE_TYPE = yesnodialog
MESSAGE_PINNAME = drivefault

MESSAGE_TEXT = Air supply low. || Oro spaudimas per zemas.
MESSAGE_TYPE = okdialog
MESSAGE_PINNAME = msgairpres

###############################################################################
# Display section end ---------------------------------------------------------
###############################################################################

# for details see nc_files/subroutines/maco_instructions.txt
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[RS274NGC]
RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
PARAMETER_FILE = linuxcnc.var
USER_M_PATH = ./mcodes
SUBROUTINE_PATH = ./remap_subs
          REMAP = M254 modalgroup=10   ngc=m254
          REMAP = M255 modalgroup=10   ngc=m255

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
DIO = 16
AIO = 0
SPINDLES = 1

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

[MESA]
BOARD = 7i76e

# Part program interpreter section --------------------------------------------
[HAL]
HALUI = halui
HALFILE = Schaublin2.hal
HALFILE = SchaublinSpindle.hal
HALFILE = ladder.hal
#HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
#SHUTDOWN = shutdown.hal

# Trajectory planner section --------------------------------------------------
[HALUI]
MDI_COMMAND = M19 R0 $0
# ORIENT MAIN SPINDLE
MDI_COMMAND = M19 R0 $1
# ORIENT SUB SPINDLE
MDI_COMMAND = M255
# SWITCH MAIN SPINDLE FROM AXIS TO SPINDLE MODE

[KINS]
#KINEMATICS = trivkins coordinates=xyzac
KINEMATICS = trivkins coordinates=xzc
JOINTS = 3

[TRAJ]
#COORDINATES =  XYZAC
COORDINATES =  XZC
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 15
MAX_LINEAR_VELOCITY = 20.00
MAX_LINEAR_ACCELERATION = 500

MAX_ANGULAR_VELOCITY = 3600.00
DEFAULT_ANGULAR_VELOCITY = 1800.00		
# Angular params go in DISPLAY ??

NO_FORCE_HOMING = 1

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

[MACROS]
MACRO = i_am_lost

#******************************************
# X AXIS
#******************************************

[AXIS_X]
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 150.0
MIN_LIMIT = 0
MAX_LIMIT = 220.5

[JOINT_0]
TYPE = LINEAR
FERROR = 1.0
MIN_FERROR = 0.1
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 150.0
# 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 = 25
STEPGEN_MAXACCEL = 185
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 1000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = -200

MIN_LIMIT = 0
MAX_LIMIT = 220.5

HOME = 220.0
HOME_OFFSET = 220.0
HOME_SEARCH_VEL = 15
HOME_LATCH_VEL = -10
HOME_FINAL_VEL = -15
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

#******************************************
# Z AXIS
#******************************************

[AXIS_Z]
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 150.0
MIN_LIMIT =-300
MAX_LIMIT =0.1

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 150.0
# 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 = 25
STEPGEN_MAXACCEL = 185
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 1000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 200
MIN_LIMIT =-300
MAX LIMIT = 0.1
#HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = -10
HOME_FINAL_VEL = 5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

#******************************************
# C AXIS
#******************************************

[AXIS_C]
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1000.0
MIN_LIMIT = -36000.0
MAX_LIMIT = 36000.0

[JOINT_2]
TYPE = ANGULAR
FERROR = 500
MIN_FERROR = 500
MIN_LIMIT = -36000.0
MAX_LIMIT = 36000.0

#STEPGEN SETTINGS APPLIED BY M102
SCALE = 19.139
#SCALE = 114.833333
MAX_RPS = 3600
MAX_ACCEL_RPS = 1500

MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1000.0

MAX_OUTPUT_UNHOMED = 30
MAX_OUTPUT_HOMED = 60

# 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 = 4500
#STEPGEN_MAXACCEL = 1250
P = 1
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
FF3 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# these are in nanoseconds
#DIRSETUP   = 1000
#DIRHOLD    = 1000
#STEPLEN    = 600
#STEPSPACE  = 600
#STEP_SCALE =    19.13889
#ENCODER_SCALE = 27.77778

HOME_OFFSET = 0.0
HOME = 0.0
HOME_FINAL_VEL = 50
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = -50
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = YES
#VOLATILE_HOME = 1
HOME_SEQUENCE = 2

#******************************************
# SPINDLE
#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 3000
MAX_RPS = 3000
MAX_ACCEL_RPS = 1000
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 1000
STEPLEN    = 500
STEPSPACE  = 500
SCALE = 114.833333
# Drive is 10000 PPR and 1.45:1 spindle:motor ratio
#SCALE = 19.138889
#STEP_SCALE = 6890.0
ENCODER_SCALE = 10000
#STEPGEN_MAXVEL = 1250
#STEPGEN_MAXACCEL = 625
#OUTPUT_SCALE = 115
MAX_VELOCITY = 3000
MAX_REVERSE_VELOCITY = 3000

#******************************************
# SPINDLE ORIENT
#******************************************

[ORIENT_S0]
P = 250
I = 1.5
D = 15
FF0 = 0
FF1 = 1
FF2 = 0
FF3 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0