# Generated by PNCconf at Wed Mar 23 09:42:27 2022
# Using LinuxCNC version:  2.8
# Все изменения в этом файле будут перезаписаны
# overwritten when you run PNCconf again

[EMC]
MACHINE = 7I96_GMOC
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = gmoccapy
# Probe sensor screen
EMBED_TAB_NAME=Probe Screen
EMBED_TAB_LOCATION = ntb_user_tabs
EMBED_TAB_COMMAND=halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -x {XID} -u python/probe_screen.py -H probe_icons/probe_screen.hal probe_icons/probe_screen.glade 

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/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 25.000000
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
PROGRAM_EXTENSION = .ngc gcode file
PROGRAM_EXTENSION = .txt possible gcode file
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
# Probe sensor screen
FEATURES=30
SUBROUTINE_PATH = macros
REMAP=M6   modalgroup=6  prolog=change_prolog   ngc=manual_change  epilog=change_epilog

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

[HMOT]
# **** This is for info only ****
CARD0=hm2_7i96.0

[HAL]
HALUI = halui
HALFILE = 7I96_GMOC.hal
HALFILE = custom.hal
HALFILE = LIB:xhc-hb04.tcl
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

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

[TRAJ]
COORDINATES =  XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 3.33
MAX_LINEAR_VELOCITY = 33.33
POSITION_FILE = position.txt
NO_FORCE_HOMING = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1
#******************************************
[AXIS_X]
MAX_VELOCITY = 25
MAX_ACCELERATION = 750.0
#MIN_LIMIT = -34.1
#MAX_LIMIT = 350.1
MIN_LIMIT = -500
MAX_LIMIT = 500

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.05
MAX_VELOCITY = 25
MAX_ACCELERATION = 750.0
BACKLASH = 0.07
# 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 = 31.25
STEPGEN_MAXACCEL = 937.50
P = 0.0
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   = 2000
DIRHOLD    = 2000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 2000.25
#MIN_LIMIT = -34.1
#MAX_LIMIT = 350.1
MIN_LIMIT = -500
MAX_LIMIT = 500

HOME_OFFSET = 0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = -0.5
HOME_FINAL_VEL = 0.5
HOME_USE_INDEX = NO
#******************************************

#******************************************
[AXIS_Y]
MAX_VELOCITY = 25
MAX_ACCELERATION = 750.0
#MIN_LIMIT = -25.1
#MAX_LIMIT = 215.1
MIN_LIMIT = -500
MAX_LIMIT = 500

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.05
MAX_VELOCITY = 25
MAX_ACCELERATION = 750.0
BACKLASH = 0.08
# 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 = 31.25
STEPGEN_MAXACCEL = 937.50
P = 0.0
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   = 2000
DIRHOLD    = 2000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 2000.25
#MIN_LIMIT = -25.1
#MAX_LIMIT = 215.1
MIN_LIMIT = -500
MAX_LIMIT = 500

HOME_OFFSET = 0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = -0.5
HOME_FINAL_VEL = 0.5
HOME_USE_INDEX = YES
#******************************************

#******************************************
[AXIS_Z]
#MAX_VELOCITY = 25
#MAX_ACCELERATION = 750.0
MAX_VELOCITY = 5
MAX_ACCELERATION = 150
#MIN_LIMIT = -33.1
#MAX_LIMIT = 269.5
MIN_LIMIT = -500
MAX_LIMIT = 500

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
#MAX_VELOCITY = 25
#MAX_ACCELERATION = 750.0
MAX_VELOCITY = 5
MAX_ACCELERATION = 150
BACKLASH = 0.15
# 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 = 31.25
#STEPGEN_MAXACCEL = 937.50
STEPGEN_MAXVEL = 6.25
STEPGEN_MAXACCEL = 187.5
P = 0.0
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   = 2000
DIRHOLD    = 2000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 2000.25
#MIN_LIMIT = -33.1
#MAX_LIMIT = 269.5
MIN_LIMIT = -500
MAX_LIMIT = 500

HOME_OFFSET = 0
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = -0.5
HOME_FINAL_VEL = 0.5
HOME_USE_INDEX = YES
#******************************************

[SPINDLE_0]
MAX_VELOCITY = 66.66
MAX_ACCELERATION = 66.66
# 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 = 83.33
STEPGEN_MAXACCEL = 83.33
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 4000.0
# these are in nanoseconds
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 1000
STEPLEN    = 1000
STEPSPACE  = 1000
#STEP_SCALE = 32.1
STEP_SCALE = 5000
ENCODER_SCALE = -5000.0
#******************************************
# Probe sensor screen

[TOOLSENSOR]
# Absolute coordinates of the toolsetter pad 
X = 10
Y = 10
# Absolute Z start search coordinates
Z = 60
# Maximum search distance and direction (sign)
MAXPROBE = -60
# Speed of movements during working in Probe Screen
RAPID_SPEED = 600
# Diameter of toolsetter pad 
TS_DIAMETER = 10
# The speed of the reverse rotation of the spindle when measuring the tool diameter
REV_ROTATION_SPEED = 300

[CHANGE_POSITION]
# Abs coordinates tool change point
X = 10
Y = 10
Z = 60

[PYTHON]
PATH_PREPEND = ./python
TOPLEVEL = python/toplevel.py

[XHC-HB04]
BUTTON=01:button-goto-zero
BUTTON=02:button-start-pause
BUTTON=03:button-rewind
BUTTON=04:button-probe-z
BUTTON=05:button-macro-3
BUTTON=06:button-half
BUTTON=07:button-zero
BUTTON=08:button-safe-z
BUTTON=09:button-home
BUTTON=0A:button-macro-1
BUTTON=0B:button-macro-2
BUTTON=0C:button-spindle
BUTTON=0D:button-step
BUTTON=0E:button-mode
BUTTON=0F:button-macro-6
BUTTON=10:button-macro-7
BUTTON=16:button-stop
BUTTON=17:button-reset

[XHC_HB04_CONFIG]
# specify layout = n for LIB:xhc-hb04-layout{n}.cfg files
layout = 2
# coords: specify upto 4 letters from set {x y z a b c u v w}
# coords: switch labels are xyza but any unique 4 letters
#         from the set {xyxabcuvw) can be used (if the coord exists)
coords = x y z 
# lowpass settings:
# coef: slows rate of change of output,  range: 0 < coef < 1
coefs = 1 1 1 1
# mpg_accels: provision for reduced acceleration for mpg jogging
mpg_accels = 10 50 200 500
#mpg_accels = 10 50 50 50
# scale plus or minus, rotaries may require larger scale factor:
scales = 1 1 1 1
# require_pendant = no: create xhc-hb04 hal pins when pendant not connecte
#                       at startup
require_pendant = no
# inch_or_mm = in | mm
inch_or_mm = mm
# jogmode normal(default) or vnormal or plus-minus
jogmode = normal
# sequence 1: 0.001,0.010,0.100,1.000 (mm-based machine)
# sequence 2: 0.001,0.005,0.010,0.020 (inch-based machine)
# sequence 3: 0.001,0.010,0.100
# sequence 4: 0.001,0.005,0.010,0.020,0.050,0.100
# sequence 5: 0.001,0.010,0.050,0.100,1.000
sequence = 1

[XHC_HB04_BUTTONS]
# use button names according to layout file LIB:xhc-hb04-layout{n}.cfg
# note: "start-pause" is connected for standard behavior
#        controlling halui.pause/halui.resume/halui.run
# these are examples, edit as required:

reset       = halui.estop.activate
stop        = halui.program.stop

#goto-zero   = halui.mdi-command-00
# synthesized per-axis buttons for goto-zero button:
goto-zero-x = halui.mdi-command-01
goto-zero-y = halui.mdi-command-02
goto-zero-z = halui.mdi-command-03
goto-zero-a = halui.mdi-command-04

start-pause = std_start_pause
rewind      = halui.program.step

# probe-input for simulating a probe:
probe-z     = halui.mdi-command-09

spindle     = halui.spindle.0.start

#####half         = ""
# synthesized per-axis buttons for half button:
#####zhalf-x      = ""
#####zhalf-y      = ""
#####zhalf-z      = ""
#####zhalf-a      = ""

#zero        = ""
# synthesized per-axis buttons for zero button:
zero-x      = halui.mdi-command-05
zero-y      = halui.mdi-command-06
zero-z      = halui.mdi-command-07
zero-a      = halui.mdi-command-08

safe-z      = halui.mdi-command-10

home        = halui.mdi-command-11

macro-1     = halui.mdi-command-12
macro-2     = halui.mdi-command-13
macro-3     = halui.mdi-command-14

step        = xhc-hb04.stepsize-up
mode 	    = halui.mdi-command-15

macro-6     = halui.mdi-command-16
macro-7     = halui.mdi-command-17

[HALUI]
# these are examples, edit as required:
# a halui hal pin is created for each MDI_COMMAND below
# halui.mdi-command-00, halui.mdi-command-01,... etc
MDI_COMMAND=G0 X0 Y0 Z0
MDI_COMMAND=G0 X0
MDI_COMMAND=G0 Y0
MDI_COMMAND=G0 Z0
MDI_COMMAND=G0 A0

MDI_COMMAND=G10 L20 P0 X0
MDI_COMMAND=G10 L20 P0 Y0
MDI_COMMAND=G10 L20 P0 Z0
MDI_COMMAND=G10 L20 P0 A0

MDI_COMMAND=O<probe_down> Call
MDI_COMMAND=O<safe_z> Call
MDI_COMMAND=O<home> Call

MDI_COMMAND=O<macro_1> Call
MDI_COMMAND=O<macro_2> Call
MDI_COMMAND=O<macro_3> Call

MDI_COMMAND=O<mode> Call
MDI_COMMAND=O<macro_6> Call
MDI_COMMAND=O<macro_7> Call

[APPLICATIONS]
APP = xhc-hb04-accels
APP = monitor-xhc-hb04