# Generated by PNCconf at Wed Apr 27 23:03:29 2005
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = ARROW
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EMBED_TAB_NAME = GladeVCP
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -H gvcp_call_list.hal -x {XID} gvcp-panel.ui
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.200000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/plocha/g-cod
PYVCP = pyvcp-panel.xml
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 125.00000
MAX_LINEAR_VELOCITY = 300.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
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

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25

[HAL]
HALUI = halui
HALFILE = ARROW.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 25.00
MAX_LINEAR_VELOCITY = 150.00

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

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.50
MIN_FERROR = 0.10
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 = 400.00
STEPGEN_MAXACCEL = 10000.00
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 125.0
# these are in nanoseconds
DIRSETUP   = 250
DIRHOLD    = 250
STEPLEN    = 250
STEPSPACE  = 250
STEP_SCALE = 1600.0
MIN_LIMIT = -3
MAX_LIMIT = 505.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 25.000000
HOME_LATCH_VEL = 5.000000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.50
MIN_FERROR = 0.10
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 = 400.00
STEPGEN_MAXACCEL = 10000
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 125.0
# these are in nanoseconds
DIRSETUP   = 250
DIRHOLD    = 250
STEPLEN    = 250
STEPSPACE  = 250
STEP_SCALE = 1600.0
MIN_LIMIT = -0.01
MAX_LIMIT = 500.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 25.000000
HOME_LATCH_VEL = 5.000000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 2

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 0.50
MIN_FERROR = 0.10
MAX_VELOCITY = 300.0
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 = 400.00
STEPGEN_MAXACCEL = 10000.00
P = 50.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 125.0
# these are in nanoseconds
DIRSETUP   = 250
DIRHOLD    = 250
STEPLEN    = 250
STEPSPACE  = 250
STEP_SCALE = 1600.0
MIN_LIMIT = -500.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -25.000000
HOME_LATCH_VEL = -5.00000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0

#********************
# Spindle 
#********************
[SPINDLE_9]
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 = 7500.0
OUTPUT_SCALE = 7500.0
OUTPUT_MIN_LIMIT = 0.0
OUTPUT_MAX_LIMIT = 7500.0
MAXI = 20.0 
MAXD = 20.0 
MAXERROR = 250.0 


 # 100ppr encoder on spindle 
 # INPUT_SCALE=100 ppr x4 (quad) = 4000 ppr
 # 400/360=1.111* p/degree

INPUT_SCALE = -1.111111
ORIENT_POS = 78.0
ORIENT_MODE = 1
ORIENT_ANGLE = 100
 # POS-PID
POSPID_P = 1.0
POSPID_I = 0.0
POSPID_D = 0.0
POSPID_FF0 = 1.0
POSPID_FF1 = 0.0
POSPID_FF2 = 0.0
POSPID_BIAS = 0.0
POSPID_DEADBAND = 0.0
POSPID_MAX_OUTPUT = 60.0