# This config file was created 2018-02-12 11:43:32.040189 by the update_ini script
# The original config files may be found in the /home/engrtech/linuxcnc/configs/2gbp2/2gbp5.old directory

# Handedited RLS 2016-07-13
# glade panel added 2018-02-01

[EMC]
# The version string for this INI file.
VERSION = 1.0

MACHINE = 2gbp5
DEBUG = 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/engr-d510/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 2.500000
MAX_LINEAR_VELOCITY = 300.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 2.500000
MAX_ANGULAR_VELOCITY = 2.500000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyz
GLADEVCP = -u syringe.py syringe.ui

[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

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
NUM_DIO=6

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALUI = halui
HALFILE = 2gbp5.hal
HALFILE = custom.hal
POSTGUI_HALFILE = syringe.hal
SHUTDOWN = shutdown.hal

[HALUI]

[TRAJ]

AXES = 4
COORDINATES = X Y Z A
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 10.0
#MAX_LINEAR_VELOCITY = 100.0
MAX_LINEAR_VELOCITY = 200.0
POSITION_FILE = 2gbp_position.txt

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

#********************
# Axis X
#********************


[KINS]
KINEMATICS = trivkins
#This is a best-guess at the number of joints, it should be checked
JOINTS = 4

[AXIS_X]
MIN_LIMIT = -0.01
MAX_LIMIT = 200.1
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 100.0

[JOINT_0]

TYPE = LINEAR
FERROR = 2.0
MIN_FERROR = 1.00
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 100.0
STEPGEN_MAXACCEL = 125.0
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 1000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 100.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.1
HOME = 0.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.000000
HOME_LATCH_VEL = -1.0
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0

#********************
# Axis Y
#********************
[AXIS_Y]
MIN_LIMIT = -0.01
MAX_LIMIT = 200.1
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 100.0

[JOINT_1]

TYPE = LINEAR
FERROR = 2.00
MIN_FERROR = 1.00
MAX_VELOCITY = 200.0
MAX_ACCELERATION = 100.0
STEPGEN_MAXACCEL = 125.0
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 1000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 100.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.1
HOME_OFFSET = 200.0
HOME = 0.0
HOME_SEARCH_VEL = -20.0
HOME_LATCH_VEL = 1.0
HOME_FINAL_VEL = 0.0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1

#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -300
MAX_LIMIT = 0.01
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 20.0

[JOINT_2]

TYPE = LINEAR
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 20.0
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 1000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 100.0
MIN_LIMIT = -300
MAX_LIMIT = 0.01
HOME = 0.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 20.000000
HOME_LATCH_VEL = -1.000000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 2

#********************
# Syringe
#********************
[AXIS_A]
MIN_LIMIT = -9999999.0
MAX_LIMIT = 9999999.01
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 15.0

[JOINT_3]

TYPE = LINEAR
HOME = 0.0
FERROR = 0.005
MIN_FERROR = 0.0005
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 15.0
# these are in nanoseconds
DIRSETUP   = 1000
DIRHOLD    = 1000
STEPLEN    = 500
STEPSPACE  = 500
# scale is steps/mL volume
STEP_SCALE = -3600.0
MIN_LIMIT = -9999999.0
MAX_LIMIT = 9999999.01
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.000000
HOME_LATCH_VEL = 0.000000
HOME_FINAL_VEL = 0.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0
#
##********************
## Spindle 
##********************
#[SPINDLE_9]
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_5i25
# BOARD0=5i25