# This config file was created 2020-08-14 11:45:43.340433 by the update_ini script
# The original config files may be found in the /home/engrtech/linuxcnc/configs/winder/winder.old directory

# Generated by PNCconf at Fri Aug 14 11:17:03 2020
# If you make changes to this file, they will be
# overwritten when you run PNCconf again

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

MACHINE = winder
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/engrtech/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
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

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

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

[HALUI]

[TRAJ]

AXES = 4
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 360.00
DEFAULT_ANGULAR_VELOCITY = 36.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 25.00

[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 = 200.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0

[JOINT_0]

TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 31.25
STEPGEN_MAXACCEL = 937.50
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   = 1000
DIRHOLD    = 1000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 410.1
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0

#********************
# Axis Y
#********************
[AXIS_Y]
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0

[JOINT_1]

TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 31.25
STEPGEN_MAXACCEL = 937.50
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   = 1000
DIRHOLD    = 1000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 2000.0
MIN_LIMIT = -0.01
MAX_LIMIT = 200.0
HOME_OFFSET = 0.0

#********************
# Axis Z
#********************
[AXIS_Z]
MIN_LIMIT = -100.0
MAX_LIMIT = 0.01
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0

[JOINT_2]

TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
# 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 = 31.25
STEPGEN_MAXACCEL = 937.50
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   = 1000
DIRHOLD    = 1000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 2000.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0

#********************
# Axis A
#********************
[AXIS_A]
MIN_LIMIT = -99999.0
MAX_LIMIT = 99999.0
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1200.0

[JOINT_3]

TYPE = ANGULAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 0.05
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1200.0
# 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 = 450.00
STEPGEN_MAXACCEL = 1500.00
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   = 1000
DIRHOLD    = 1000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 2000.0
MIN_LIMIT = -99999999.0
MAX_LIMIT = 99999999.0
HOME_OFFSET = 0.0

#********************
# Spindle 
#********************
[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i25

[SPINDLE_9]
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 = 2000.0