# EMC controller parameters for controller JET-lathe1.

# General note: Comments can either be preceded with a # or ;

# General section -------------------------------------------------------------
[EMC]
VERSION =               $Revision: 1.00 $
MACHINE =               EMC-JET-lathe1
NML_FILE =              emc.nml
#DEBUG =                0x00000003
#DEBUG =                0x00000007
#DEBUG =                0x7FFFFFFF
DEBUG = 0

# Sections for display options ------------------------------------------------
[DISPLAY]
DISPLAY =               axis
CYCLE_TIME =            0.0500
LATHE =                 1
HELP_FILE =             tkemc.txt
POSITION_OFFSET =       RELATIVE
POSITION_FEEDBACK =     ACTUAL
MAX_FEED_OVERRIDE =     1.5
MAX_SPINDLE_OVERRIDE =  1.5
PROGRAM_PREFIX =        /home/lathe1/emc2/nc_files
INTRO_GRAPHIC =         emc2.gif
INTRO_TIME =            3
EDITOR =                gedit

# Task controller section -----------------------------------------------------
[TASK]
TASK =                  milltask
CYCLE_TIME =            0.010

# Part program interpreter section --------------------------------------------
[RS274NGC]
RS274NGC_STARTUP_CODE = G18
PARAMETER_FILE =        JET-lathe1.var

# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT =                motmod
COMM_TIMEOUT =          1.0
COMM_WAIT =             0.010
SERVO_PERIOD =          1000000

# Hardware Abstraction Layer section --------------------------------------------------
[HAL]
HALFILE =               JET-lathe1.hal

# Trajectory planner section --------------------------------------------------
[TRAJ]
AXES =                  3
COORDINATES =           X Z
HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      1.0
MAX_VELOCITY =          1.0
DEFAULT_ACCELERATION =  10.
MAX_ACCELERATION =      10.

# Axes sections ---------------------------------------------------------------
[AXIS_0]
TYPE =                  LINEAR
MAX_VELOCITY =         .167
MAX_ACCELERATION =      10.0
BACKLASH =              0.006
INPUT_SCALE =           5094
OUTPUT_SCALE =          1
OUTPUT_OFFSET =         0
MIN_LIMIT =            -3.55
MAX_LIMIT =             7.45
FERROR =                1.15
#MIN_FERROR =            0.002
MIN_FERROR =            1.01
MAX_OUTPUT =            5

HOME_SEARCH_VEL    =    .1
HOME_LATCH_VEL     =   -.05
HOME_FINAL_VEL     =    .1
HOME_IGNORE_LIMITS =    YES
HOME_USE_INDEX     =    YES
HOME_OFFSET        =    6.060
#HOME_OFFSET        =    7.400
#HOME               =    7.400
HOME               =    6.060
# HOME_IS_SHARED
#HOME_SEQUENCE      =    0

# PID tuning params
DEADBAND =              0.00025
P =                     650
I =                     425
D =                     0.4
FF0 =                   1
FF1 =                   10
FF2 =			2.1
BIAS =                  0

# FAKE AXIS TO SATISFY MACHINE CALIBRATION SOFTWARE ######################
[AXIS_1]
TYPE =                  LINEAR
HOME =                  0.000
MAX_VELOCITY =          1.0
MAX_ACCELERATION =      50.0
BACKLASH =              0.006
INPUT_SCALE =           5094
OUTPUT_SCALE =          1.000
OUTPUT_OFFSET =         0.0
MIN_LIMIT =             -11.0
MAX_LIMIT =             0.0
FERROR =                0.15
#MIN_FERROR =            0.002
MIN_FERROR =            0.01
HOME_OFFSET =           0
HOME_SEARCH_VEL =       0
HOME_LATCH_VEL =        0
HOME_USE_INDEX =        NO
HOME_IGNORE_LIMITS =    NO
MAX_OUTPUT =            5.0
# PID tuning params
DEADBAND =              0.00024
P =                     300.0
I =                     150.0
D =                     0.0
FF0 =                   0.000
FF1 =                   0.000
FF2 =			0.0
BIAS =                  0.000
# END FAKE AXIS ##########################################################


[AXIS_2]
TYPE =                  LINEAR
MAX_VELOCITY =          .2
MAX_ACCELERATION =      4.0
BACKLASH =              0.000
INPUT_SCALE =           -5089
OUTPUT_SCALE =          1
OUTPUT_OFFSET =         0
MIN_LIMIT =             0.0
MAX_LIMIT =             35.0
*FERROR =                0.020
FERROR =                1.020
MIN_FERROR =            1.001
MAX_OUTPUT =            5

HOME_SEARCH_VEL    =    .16
HOME_LATCH_VEL     =   -.05
HOME_FINAL_VEL     =   -.160
HOME_IGNORE_LIMITS =    YES
HOME_USE_INDEX     =    YES
HOME_OFFSET        =    6.060
HOME               =    7.400
# HOME_IS_SHARED
#HOME_SEQUENCE      =    1

# PID tuning params
DEADBAND =              0.00024
#P =                     21.0
P =                     10
I =                     15
D =                     0.35
FF0 =                   0
FF1 =                   0
FF2 =			0
BIAS =                  0

# section for main IO controller parameters -----------------------------------
[EMCIO]
EMCIO =                 io
CYCLE_TIME =            0.100
TOOL_TABLE =            JET-lathe1.tbl