# 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 = Router_KP01
DEBUG = 0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.00000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/mazak/linuxcnc/configs/Router_KP01/
INCREMENTS = 1mm 0.1mm 0.01mm
LATHE = 0
OPEN_FILE=""

DEFAULT_LINEAR_VELOCITY = 83.333333333333333333333333333333
MAX_LINEAR_VELOCITY = 416.66666666666666666666666666667
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
SUBROUTINE_PATH = /home/mazak/linuxcnc/configs/Router_KP01/
RS274NGC_STARTUP_CODE = 

[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 500000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALUI = halui
#HALFILE = Router_KP01.hal
#HALFILE = Alarm_control.hal
#HALFILE = Tablero.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]
#MDI_COMMAND = o<t1> call
#MDI_COMMAND = o<t2> call
#MDI_COMMAND = o<t3> call
#MDI_COMMAND = o<t4> call
#MDI_COMMAND = o<t5> call
#MDI_COMMAND = o<t6> call
#MDI_COMMAND = o<t7> call
#MDI_COMMAND = o<t8> call

[TRAJ]
ARC_BLEND_ENABLE = 0
COORDINATES = XYYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 416.66666666666666666666666666667
MAX_LINEAR_VELOCITY = 416.66666666666666666666666666667
MAX_LINEAR_ACCELERATION = 2000

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

[KINS]
KINEMATICS = trivkins coordinates=XYYZ
#This is a best-guess at the number of joints, it should be checked
JOINTS = 4

[AXIS_X]
MIN_LIMIT = -2200.0
MAX_LIMIT = 15.0
MAX_VELOCITY = 625.0
MAX_ACCELERATION = 3000

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL =  0.0
HOME_FINAL_VEL = 0.0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
VOLATILE_HOME = 0
FERROR = 1.0
MIN_FERROR = 0.05
MAX_VELOCITY = 625.0
MAX_ACCELERATION = 3000.0
# 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 = 781.25
STEPGEN_MAXACCEL = 3750.0
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 = -1000.0
MIN_LIMIT = -2200.0
MAX_LIMIT = 15.0

[AXIS_Y]
MIN_LIMIT = -3200.0
MAX_LIMIT = 20.0
MAX_VELOCITY = 625.0
MAX_ACCELERATION = 3000

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL =  0.0
HOME_FINAL_VEL = 0.0
HOME_USE_INDEX = NO
HOME_SEQUENCE = -1
VOLATILE_HOME = 0
FERROR = 1.0
MIN_FERROR = 0.05
MAX_VELOCITY = 625.0
MAX_ACCELERATION = 3000.0
# 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 = 781.25
STEPGEN_MAXACCEL = 3750.0
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 = -1000.0
MIN_LIMIT = -3200.0
MAX_LIMIT = 20.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL =  0.0
HOME_FINAL_VEL = 0.0
HOME_USE_INDEX = NO
HOME_SEQUENCE = -1
VOLATILE_HOME = 0
FERROR = 1.0
MIN_FERROR = 0.05
MAX_VELOCITY = 625.0
MAX_ACCELERATION = 3000.0
# 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 = 781.25
STEPGEN_MAXACCEL = 3750.0
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 = -1000.0
MIN_LIMIT = -3200.0
MAX_LIMIT = 20.0

[AXIS_Z]
MIN_LIMIT = -180.0
MAX_LIMIT = 20.0
MAX_VELOCITY = 625.0
MAX_ACCELERATION = 3000

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL =  0.0
HOME_FINAL_VEL = 0.0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
VOLATILE_HOME = 0
FERROR = 1.0
MIN_FERROR = 0.05
MAX_VELOCITY = 625.0
MAX_ACCELERATION = 3000.0
# 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 = 781.25
STEPGEN_MAXACCEL = 3750.0
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 = -1000.0
MIN_LIMIT = -180.0
MAX_LIMIT = 20.0


[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
#DIRSETUP   = 100
#DIRHOLD    = 100
#STEPLEN    = 100
#STEPSPACE  = 100
#STEP_SCALE = -10000.0