# Generated by PNCconf at Mon Sep 24 12:22:38 2018
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

[EMC]
MACHINE = Paladin
DEBUG = 0
VERSION = 1.0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/user/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 50.0
MAX_LINEAR_VELOCITY = 100.0
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyz

# добавим GladeVCP панель в виде закладки рядом с  Preview/DRO:
EMBED_TAB_NAME=Auto Tool Measurement
EMBED_TAB_COMMAND=halcmd loadusr -Wn gladevcp gladevcp -c gladevcp  -u python/auto_tool_measurement.py -x {XID} auto_tool_measurement.glade


EMBED_TAB_NAME=Spindle-VFD
EMBED_TAB_COMMAND=halcmd loadusr -Wn spindle gladevcp -c spindle -x {XID} -u spindle-vfd.py spindle-vfd-tab.glade
#GLADEVCP = -u spindle-vfd.py spindle-vfd-panel.glade 
#USER_COMMAND_FILE = fullscreen.py







[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
# Возможность чтения INI и HAL переменных из gcode и др.
FEATURES=30
# Папка для подпрограмм
SUBROUTINE_PATH = macros
# подпрограмма вызывается при сбое во время выполнения remap M6 процедур
ON_ABORT_COMMAND=O <on_abort> call 
# Remap M6
REMAP=M6   modalgroup=6  prolog=change_prolog   ngc=manual_change  epilog=change_epilog 
RS274NGC_STARTUP_CODE = G21 G90 G64 P0.02 Q0.02

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

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_eth
# BOARD0=7i92

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

[HALUI]

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

[TRAJ]
COORDINATES =  XXYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 10.00
MAX_LINEAR_VELOCITY = 100.00

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

#******************************************
[AXIS_X]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 300.0
MIN_LIMIT = -1.0
MAX_LIMIT = 2318.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 300.0
# 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 = 125.00
STEPGEN_MAXACCEL = 400.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 320.0
MIN_LIMIT = -1.0
MAX_LIMIT = 2318.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = -1

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 300.0
# 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 = 125.00
STEPGEN_MAXACCEL = 400.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 320.0
MIN_LIMIT = -1.0
MAX_LIMIT = 2318.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = -1
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 80.0
MAX_ACCELERATION = 100.0
MIN_LIMIT = -1.0
MAX_LIMIT = 1618.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 80.0
MAX_ACCELERATION = 100.0
# 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 = 150.00
STEPGEN_MAXACCEL = 150.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 320.0
MIN_LIMIT = -1.0
MAX_LIMIT = 1618.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10.000000
HOME_LATCH_VEL = 0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
#******************************************

#******************************************
[AXIS_Z]
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 60.0
MIN_LIMIT = -300.0
MAX_LIMIT = 1.0
HOME = 0.0

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 60.0
# 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 = 100.0
STEPGEN_MAXACCEL = 100.00
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = -320.0
MIN_LIMIT = -300.0
MAX_LIMIT = 1.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = -5.000000
HOME_LATCH_VEL = -0.500000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = -0
#******************************************

[SPINDLE_9]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000



[TOOLSENSOR]
# Позиция X(abs),Y(abs) для Tool setter, позиция Z(abs), с которой стартует поиск 
X = 0
Y = 0  
Z = -100
# Расстояние поиска в относительных единицах, должно быть отрицательным (поиск вниз).
MAXPROBE =  -185
BH = 5.000

[CHANGE_POSITION]
# Позиция смены инструмента. Всё в абсолютных координатах
X = 0
Y = 0
Z = 0

[PYTHON]
# Папка для пользовательских модулей
PATH_PREPEND = ./python
# Точка запуска remap процедур
TOPLEVEL = python/toplevel.py