# Generated by PNCconf at Wed Jan 26 14:31:38 2022
# Using LinuxCNC version:  2.8
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = DMC_Mini_2
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/foo/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 16.666667
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
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

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

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

[HMOT]
# **** This is for info only ****
CARD0=hm2_7c80.0

[HAL]
HALUI = halui
HALFILE = test.hal
HALFILE = xhc-whb04b-6.hal

#HALFILE = custom.hal
#POSTGUI_HALFILE = postgui_call_list.hal
#SHUTDOWN = shutdown.hal

[HALUI]
MDI_COMMAND = (DEBUG,<1>) ; <<< NEW (good for testing macros)
MDI_COMMAND = G10 L20 P0 X[#<_x>/2.0] ; <<< NEW (zero X at part center)
MDI_COMMAND = G10 L20 P0 Y[#<_y>/2.0] ; <<< NEW (zero Y at part center)
MDI_COMMAND = (DEBUG,<4>) ; <<< NEW
MDI_COMMAND = (DEBUG,<5>) ; <<< NEW
MDI_COMMAND = G10 L20 P0 X0 ; <<< NEW (Zero X)
MDI_COMMAND = G10 L20 P0 Y0 ; <<< NEW (Zero Y)
MDI_COMMAND = G10 L20 P0 Z0 ; <<< NEW (Zero Z)
MDI_COMMAND = (DEBUG,<9>) ; <<< NEW
MDI_COMMAND=(debug,macro10)
MDI_COMMAND=(debug,macro11)
MDI_COMMAND=(debug,macro12)
MDI_COMMAND=(debug,macro13)
MDI_COMMAND=(debug,macro14)
MDI_COMMAND=(debug,macro15)
MDI_COMMAND=(debug,macro16)


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

[TRAJ]
COORDINATES =  XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.67
MAX_LINEAR_VELOCITY = 16.67

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 16.6666666667
MAX_ACCELERATION = 200
MIN_LIMIT = 0.0
MAX_LIMIT = 295.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 16.6666666667
MAX_ACCELERATION = 200
# 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 = 33.33
STEPGEN_MAXACCEL = 250
P = 300
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 1.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 320
BACKLASH = 0.02
MIN_LIMIT = 0.00
MAX_LIMIT = 295.0
HOME_OFFSET = 0.0000
HOME_SEARCH_VEL = -8.00000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = -0.500000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
#VOLATILE_HOME = TRUE
HOME_SEQUENCE = 1
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 16.6666666667
MAX_ACCELERATION = 200
MIN_LIMIT = 0.0
MAX_LIMIT = 300.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 16.6666666667
MAX_ACCELERATION = 200
# 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 = 33.33
STEPGEN_MAXACCEL = 250
P = 300
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 1.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 320
BACKLASH = 0.02
MIN_LIMIT = 0.00
MAX_LIMIT = 300.00
HOME_OFFSET = 170.0000
HOME_SEARCH_VEL = 8.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 8.00000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
#VOLATILE_HOME = TRUE
HOME_SEQUENCE = 1

#******************************************
[AXIS_Z]
MAX_VELOCITY = 16.6666666667
MAX_ACCELERATION = 150
MIN_LIMIT = -120
MAX_LIMIT = 0

[JOINT_2]
TYPE = LINEAR
HOME = 100.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 16.6666666667
MAX_ACCELERATION = 150
# 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 = 33.33
STEPGEN_MAXACCEL = 200
P = 300
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 1.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 400
BACKLASH = 0.02
MIN_LIMIT = -120
MAX_LIMIT = 0
HOME_OFFSET = 100.00000
HOME_SEARCH_VEL = 8.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 0.500000
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
#VOLATILE_HOME = TRUE
HOME_SEQUENCE = 0
#******************************************

#******************************************

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000
OUTPUT_SCALE = 5733.0
OUTPUT_MIN_LIMIT = 100
OUTPUT_MAX_LIMIT = 2000