# 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 =	$Revision$

#+ 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., xemc
DISPLAY =		axis 
#DISPLAY = 		tkemc

# 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 =		tklinucnc.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 
###############################################################################
[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 
###############################################################################
[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

#- Interval between tries to emcmot, in seconds
COMM_WAIT =		0.010

#+ 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
###############################################################################
[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
###############################################################################
[TRAJ]
#+ machine specific settings
AXES =			4
COORDINATES =		X Y Z A
LINEAR_UNITS =		1.0
ANGULAR_UNITS =         1.0
DEFAULT_VELOCITY =	100
MAX_VELOCITY =		180
DEFAULT_ACCELERATION =	600
MAX_ACCELERATION =	2400

###############################################################################
# Axes sections
###############################################################################

#+ First axis (X)
[AXIS_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_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_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_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 
###############################################################################
[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