my_cnc.ini

# Generated by PNCconf at Sat Aug 27 13:52:46 2022
# Using LinuxCNC version:  Master (2.9)
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

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

#[DISPLAY]
#DISPLAY = axis
#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/cnc/linuxcnc/nc_files
#INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
#POSITION_FEEDBACK = ACTUAL
#DEFAULT_LINEAR_VELOCITY = 6.000000
#MAX_LINEAR_VELOCITY = 25.000000
#MIN_LINEAR_VELOCITY = 0.500000
#DEFAULT_ANGULAR_VELOCITY = 12.000000
#MAX_ANGULAR_VELOCITY = 180.000000
#MIN_ANGULAR_VELOCITY = 1.666667
#EDITOR = gedit
#GEOMETRY = xyz
#CYCLE_TIME = 100

# for details see nc_files/subroutines/maco_instructions.txt
[DISPLAY]
DISPLAY = gmoccapy

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

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.5
MAX_SPINDLE_OVERRIDE =  1.2
MIN_SPINDLE_OVERRIDE = .5

# Prefix to be used
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files

# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5

# list of selectable jog increments
INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm, 90.000 °

[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]
SUBROUTINE_PATH = macros
PARAMETER_FILE = linuxcnc.var
FEATURES=12
ON_ABORT_COMMAND=O <on_abort> call
REMAP=M6 modalgroup=6 prolog=change_prolog ngc=change epilog=change_epilog

[TOOLSENSOR]
X = 382.797
Y = 9.205
Z = -60
MAXPROBE = -75
SEARCHVEL = 120
PROBEVEL = 30
SPINDLE_REFERENCE = -133.704

[CHANGE_POSITION]
X = 382.797
Y = 9.205
Z = -10

[PYTHON]
PATH_PREPEND = python
TOPLEVEL = python/toplevel.py

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

[HMOT]
CARD0=hm2_7c81.0

[HAL]
HALUI = halui
HALFILE = my_cnc.hal
HALFILE = custom.hal
#HALFILE = xboxctrl.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal

[HALUI]

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

[TRAJ]
COORDINATES =  XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.33
MAX_LINEAR_VELOCITY = 33.33

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 0
TOOL_CHANGE_AT_G30 = 0


#******************************************
[AXIS_X]
MAX_VELOCITY = 33.333333333333336
MAX_ACCELERATION = 150.0
MIN_LIMIT = -0.01
MAX_LIMIT = 390.01

[JOINT_0]
TYPE = LINEAR
HOME = 20.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 33.333333333333336
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 = 41.67
STEPGEN_MAXACCEL = 187.50
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 = 40.0
MIN_LIMIT = -0.01
MAX_LIMIT = 390.01
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -10.000000
HOME_LATCH_VEL = -1.000000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
VOLATILE_HOME = 1
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 33.333333333333336
MAX_ACCELERATION = 150.0
MIN_LIMIT = -0.01
MAX_LIMIT = 285.01

[JOINT_1]
TYPE = LINEAR
HOME = 265.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 33.333333333333336
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 = 41.67
STEPGEN_MAXACCEL = 187.50
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 = 40.0
MIN_LIMIT = -0.01
MAX_LIMIT = 285.01
HOME_OFFSET = 285.000000
HOME_SEARCH_VEL = 10.000000
HOME_LATCH_VEL = 1.000000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2
VOLATILE_HOME = 1
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 16.666666666666668
MAX_ACCELERATION = 100.0
MIN_LIMIT = -139.01
MAX_LIMIT = 0.01

[JOINT_2]
TYPE = LINEAR
HOME = -5.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 16.666666666666668
MAX_ACCELERATION = 100.0
# 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 = 20.83
STEPGEN_MAXACCEL = 125.00
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 = 40.0
MIN_LIMIT = -139.01
MAX_LIMIT = 0.01
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10.000000
HOME_LATCH_VEL = 1.000000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
VOLATILE_HOME = 1
#******************************************

[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 = 24000
OUTPUT_MIN_LIMIT = -24000
OUTPUT_MAX_LIMIT = 24000