# This config file was created 2017-05-05 11:37:07.568700 by the update_ini script
# The original config files may be found in the /home/engrtech/linuxcnc/configs/scissoryz/scissoryz.old directory

# Generated by stepconf 1.1 at Mon Nov  2 16:47:44 2015
# If you make changes to this file, they will be
# overwritten when you run stepconf again

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

MACHINE = scissoryz
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 2.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 20.00
DEFAULT_ANGULAR_VELOCITY = 60.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 28800.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/engrtech/linuxcnc/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in

[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
COMM_WAIT = 0.010
BASE_PERIOD = 30000
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALFILE = scissoryz.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[HALUI]
#No Content
[TRAJ]

AXES = 4
COORDINATES = X Y Z A
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 60.00
MAX_LINEAR_VELOCITY = 20.00

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


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

[AXIS_X]
MIN_LIMIT = -0.01
MAX_LIMIT = 8.0
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 1600.0

[JOINT_0]

TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 20.0
MAX_ACCELERATION = 1600.0
STEPGEN_MAXACCEL = 2000.0
SCALE = 500.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.01
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0

[AXIS_Y]
MIN_LIMIT = -0.01
MAX_LIMIT = 8.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0

[JOINT_1]

TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 8000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.01
MAX_LIMIT = 8.0
HOME_OFFSET = 0.0

[AXIS_Z]
MIN_LIMIT = -4.0
MAX_LIMIT = 0.01
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0

[JOINT_2]

TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 8000.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -4.0
MAX_LIMIT = 0.01
HOME_OFFSET = 0.0

[AXIS_A]
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
MAX_VELOCITY = 11400.0
MAX_ACCELERATION = 144000.0

[JOINT_3]

TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 11400.0
MAX_ACCELERATION = 144000.0
STEPGEN_MAXACCEL = 180000.0
#STEPGEN_MAXACCEL = 200000.0
SCALE = 2.77777777778
#FERROR = 1
#MIN_FERROR = .25
FERROR = 10
MIN_FERROR = 2.5
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0