# This config file was created 2020-03-10 13:18:35.233282 by the update_ini script
# The original config files may be found in the /home/mazak/linuxcnc/configs/Mazak_QT20/Mazak_QT20.old directory

# Generated by PNCconf at Sun Jan 19 14:45:23 2020
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
# The version string for this INI file.
VERSION = 1.1

MACHINE = Mazak_QT20
DEBUG = 0

[DISPLAY]
DISPLAY = axis
GLADEVCP =
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 = 5
PROGRAM_PREFIX = /home/leonardo/linuxcnc/nc_files
INCREMENTS = 1mm 0.1mm 0.01mm
LATHE = 1
BACK_TOOL_LATHE = 1

DEFAULT_LINEAR_VELOCITY = 40.0
MAX_LINEAR_VELOCITY = 166.6666666666667
MIN_LINEAR_VELOCITY = 0.50
DEFAULT_ANGULAR_VELOCITY = 12.0
MAX_ANGULAR_VELOCITY = 180.0
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz

[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

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 500000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALUI = halui
HALFILE = Mazak_QT20.hal
HALFILE = Turret.hal
HALFILE = Hyd_chuck.hal
HALFILE = Alarm_control.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[TRAJ]
ARC_BLEND_ENABLE = 0
COORDINATES = XZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 166.6666666666667
MAX_LINEAR_VELOCITY = 166.6666666666667
MAX_LINEAR_ACCELERATION = 800.0

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_WITH_SPINDLE_ON = 1
TOOL_CHANGE_POSITION = 180 0 0



#********************
# Axis X
#********************


[KINS]
KINEMATICS = trivkins coordinates=XZ
#This is a best-guess at the number of joints, it should be checked
JOINTS = 2

[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 200.0
MAX_VELOCITY = 300.0
MAX_ACCELERATION = 1000.0
OFFSET_AV_RATIO = 0.5


[JOINT_0]
TYPE = LINEAR
HOME = 100.0
HOME_SEQUENCE = 0
HOME_OFFSET = 100.0
HOME_SEARCH_VEL = 40.0
HOME_LATCH_VEL =  2.0
HOME_FINAL_VEL = 5.0
HOME_USE_INDEX = NO
VOLATILE_HOME = 0
FERROR = 1.0
MIN_FERROR = 0.01
MAX_VELOCITY = 300.0
MAX_ACCELERATION = 1000.0
# 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 = 315.0
STEPGEN_MAXACCEL = 1050.0
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   = 50
DIRHOLD    = 50
STEPLEN    = 50
STEPSPACE  = 50
STEP_SCALE = -10000.0
MIN_LIMIT = -10.0
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0

#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -1000.0
MAX_LIMIT = 50.0
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 1000.0


[JOINT_1]
TYPE = LINEAR
HOME = 0.0
HOME_SEQUENCE = 1
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 80.0
HOME_LATCH_VEL =  2.0
HOME_FINAL_VEL = 5.0
HOME_USE_INDEX = NO
VOLATILE_HOME = 0
FERROR = 1.0
MIN_FERROR = 0.01
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 1000.0
# 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 = 210.0
STEPGEN_MAXACCEL = 1050.0
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   = 50
DIRHOLD    = 50
STEPLEN    = 50
STEPSPACE  = 50
STEP_SCALE = -10000.0
MIN_LIMIT = -1000.0
MAX_LIMIT =  50.0
HOME_OFFSET = 0.0

#********************
# Spindle 
#********************
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=6i24

[SPINDLE_9]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000