# EMC controller parameters for a plasma controller. Make these what you need
# for your system.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# Settings with a + at the front of the comment are likely needed to get 
# changed by the user.
# Settings with a - at the front are highly unneeded to be changed
###############################################################################
# General section 
###############################################################################

[EMC]
#- Version of this INI file
VERSION = 1.1
#+ Name of machine, for use with display, etc.
MACHINE =	LinuxCNC-STEPPER-GANTRY
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG =		0
#DEBUG =	0x00000007
#DEBUG =	0x7FFFFFFF
# Enable Adaptive Feedrate for THC
# Used to pause execution of gcode for setup,
# pierce delay and manual verification of pierce height
# Set spindle speed to 1
# Set up to use metric mm
RS274NGC_STARTUP_CODE =	M52 P1 G21 S1
###############################################################################
# Sections for display options 
###############################################################################

[DISPLAY]
#+ Name of display program, e.g., axis
DISPLAY =		axis 
#DISPLAY = 		tklinuxcnc
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =		0.200
#- Path to help file
HELP_FILE = 		doc/help.txt
#HELP_FILE =		tklinuxcnc.txt
#- Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =	RELATIVE
#- Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =	ACTUAL
#+ Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =	1.5
#- Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
#- Introductory graphic
INTRO_GRAPHIC =		linuxcnc.gif
INTRO_TIME =		3
#Increments for the JOB Section
INCREMENTS =	1000 10 1 0.1 0.01
# Editor to be used with Axis
#EDITOR = gedit
###############################################################################
# Task controller section 
###############################################################################

[FILTER]
#No Content

[RS274NGC]
#- File containing interpreter variables
PARAMETER_FILE =	stepper.var
###############################################################################
# Motion control section 
###############################################################################

[EMCMOT]
#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT =		motmod
#- Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =		1.0
#+ Base task period, in nanosecs - this is the fastest thread in the machine
#BASE_PERIOD =		15000
#BASE_PERIOD =		18000
#BASE_PERIOD =		20000
BASE_PERIOD =		35000
#BASE_PERIOD =		50000
#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD =		100000
###############################################################################
# Hardware Abstraction Layer section
###############################################################################

[TASK]
# Name of task controller program, e.g., milltask
TASK =                  milltask
#- Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =		0.100
###############################################################################
# Part program interpreter section 
###############################################################################

[HAL]
# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#
# HALUI to interact with NML
# Run before any other HALFILE
HALUI =			halui
# list of hal config files to run through halcmd
#+ files are executed in the order in which they appear
HALFILE =		kinematics.hal
HALFILE =		stepper.hal
HALFILE =		stepper_parport.hal
HALFILE =		estop.hal
#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =		save neta
###############################################################################
# Trajectory planner section
###############################################################################

[HALUI]
#No Content

[TRAJ]
#+ machine specific settings
COORDINATES =		X Y Z A
LINEAR_UNITS =		1.0
ANGULAR_UNITS =         1.0
DEFAULT_LINEAR_VELOCITY = 100
MAX_LINEAR_VELOCITY = 180
DEFAULT_LINEAR_ACCELERATION = 600
MAX_LINEAR_ACCELERATION = 2400
###############################################################################
# Axes sections
###############################################################################
#+ First axis (X)

[EMCIO]
#- Name of IO controller program, e.g., io
EMCIO = 		io
#- cycle time, in seconds
CYCLE_TIME =            0.100
# A Tooltable file
TOOL_TABLE =		stepper.tbl

[KINS]
KINEMATICS =  trivkins coordinates=XYZA  kinstype=BOTH
JOINTS = 4

[AXIS_X]
MIN_LIMIT = -1
MAX_LIMIT = 2055
MAX_VELOCITY = 170
MAX_ACCELERATION = 2400

[JOINT_0]
TYPE =				LINEAR
HOME =				0.000
MAX_VELOCITY =			170
MAX_ACCELERATION =		2400
STEPGEN_MAXACCEL =		2960
BACKLASH =			0.000
SCALE =			        150.333
MIN_LIMIT =                     -1
MAX_LIMIT =			2055
FERROR =			1.270
MIN_FERROR =			0.254
HOME_OFFSET =			0.0
HOME_SEARCH_VEL =		-50.0
HOME_LATCH_VEL =		1.0
HOME_USE_INDEX =		NO
HOME_IGNORE_LIMITS =		YES 
HOME_SEQUENCE =			1
#+ Second axis (Y)

[AXIS_Y]
MIN_LIMIT = -1
MAX_LIMIT = 6050.0
MAX_VELOCITY = 170
MAX_ACCELERATION = 2400

[JOINT_1]
TYPE =				LINEAR
HOME =				0.000
MAX_VELOCITY =			170
MAX_ACCELERATION =		2400
STEPGEN_MAXACCEL =		2960
BACKLASH =			0.000
SCALE =			        150.333
MIN_LIMIT =			-1
MAX_LIMIT =			6050.0
FERROR =			1.270
MIN_FERROR =			0.254
HOME_OFFSET =			0.0
HOME_SEARCH_VEL =		-50.0
HOME_LATCH_VEL =		1.0
HOME_USE_INDEX =		NO
HOME_IGNORE_LIMITS =		YES
HOME_SEQUENCE =			1	
#+ Third axis (Z)

[AXIS_Z]
MIN_LIMIT = -1
MAX_LIMIT = 56.0
MAX_VELOCITY = 8
MAX_ACCELERATION = 600

[JOINT_2]
TYPE =				LINEAR
HOME =				55.000
MAX_VELOCITY =			8
MAX_ACCELERATION =		600
STEPGEN_MAXACCEL =		650
#STEPGEN_MAXACCEL =		2960
BACKLASH =			0.000
SCALE =			        200
MIN_LIMIT =			-1
MAX_LIMIT =			56.0
FERROR =			1.270
#MIN_FERROR =			0.254
# This is done so Z axis can be operated with a HAL closed loop (plasma THC)
MIN_FERROR =			500
HOME_OFFSET =			55.0
HOME_SEARCH_VEL =		10.0
HOME_LATCH_VEL =		-2.0
HOME_USE_INDEX =		NO
HOME_IGNORE_LIMITS =		YES
HOME_SEQUENCE =			0
#+ Second axis (A)

[AXIS_A]
MIN_LIMIT = -1
MAX_LIMIT = 6050.0
MAX_VELOCITY = 170
MAX_ACCELERATION = 2400

[JOINT_3]
TYPE =				LINEAR
HOME =				0.000
MAX_VELOCITY =			170
MAX_ACCELERATION =		2400
STEPGEN_MAXACCEL =		2960
BACKLASH = 			0.000
SCALE =			        150.333
OUTPUT_SCALE =			1.000
MIN_LIMIT =			-1
MAX_LIMIT =			6050.0
FERROR =			1.270
MIN_FERROR =			0.254
HOME_OFFSET =			0.0
HOME_SEARCH_VEL =		-50.0
HOME_LATCH_VEL =		1.0
HOME_USE_INDEX =		NO
HOME_IGNORE_LIMITS =		YES
HOME_SEQUENCE =			1
###############################################################################
# section for main IO controller parameters 
###############################################################################
