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lagun.bkp/lagun.ini.bak

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+# Generated by PNCconf at Fri Jul 26 13:18:08 2024
+# Using LinuxCNC version:  Master (2.9)
+# If you make changes to this file, they will be
+# overwritten when you run PNCconf again
+
+[EMC]
+MACHINE = my_LinuxCNC_machine
+DEBUG = 0
+VERSION = 1.1
+
+[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/linuxcnc/linuxcnc/nc_files
+INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
+POSITION_FEEDBACK = ACTUAL
+DEFAULT_LINEAR_VELOCITY = 0.250000
+MAX_LINEAR_VELOCITY = 1.000000
+MIN_LINEAR_VELOCITY = 0.016670
+DEFAULT_ANGULAR_VELOCITY = 12.000000
+MAX_ANGULAR_VELOCITY = 180.000000
+MIN_ANGULAR_VELOCITY = 1.666667
+EDITOR = gedit
+GEOMETRY = xyz
+CYCLE_TIME = 100
+
+[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
+RS274NGC_STARTUP_CODE = G20 G40 G90 G94 G97 G64 P0.001
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[HMOT]
+# **** This is for info only ****
+CARD0=hm2_5i24.0
+
+[HAL]
+HALUI = halui
+HALFILE = lagun.hal
+HALFILE = custom.hal
+POSTGUI_HALFILE = custom_postgui.hal
+SHUTDOWN = shutdown.hal
+
+HALFILE = xhc-whb04b-6.hal
+HALUI = halui
+
+[HALUI]
+    MDI_COMMAND=(DEBUG,<1>)
+    MDI_COMMAND=G10 L20 P0 X[#<_x>/2.0]
+    MDI_COMMAND=G10 L20 P0 Y[#<_y>/2.0]
+    MDI_COMMAND=(DEBUG,<4>)
+    MDI_COMMAND=(DEBUG,<5>)
+    MDI_COMMAND=G10 L20 P0 X0
+    MDI_COMMAND=G10 L20 P0 Y0
+    MDI_COMMAND=G10 L20 P0 Z0
+    MDI_COMMAND=(DEBUG,<5>)
+    MDI_COMMAND=(DEBUG,<9>)
+    MDI_COMMAND=(DEBUG,<10>)
+    MDI_COMMAND=(DEBUG,<2>)
+    MDI_COMMAND=(DEBUG,<12>)
+    MDI_COMMAND=(DEBUG,<13>)
+    MDI_COMMAND=(DEBUG,<14>)
+
+[KINS]
+JOINTS = 3
+KINEMATICS = trivkins coordinates=XYZ
+
+[TRAJ]
+COORDINATES =  XYZ
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 0.10
+MAX_LINEAR_VELOCITY = 1.00
+NO_FORCE_HOMING = 1
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.100
+TOOL_TABLE = tool.tbl
+TOOL_CHANGE_QUILL_UP = 1
+
+#******************************************
+[AXIS_X]
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 30.0
+MIN_LIMIT = -24.0
+MAX_LIMIT = +24.0
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.0
+FERROR = 0.5
+MIN_FERROR = 0.2
+MAX_VELOCITY = 100.0
+MAX_ACCELERATION = 30.0
+# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
+# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
+
+
+
+P = 0
+I = 0
+D = 4
+
+FF0 = 0
+FF1 = 0.6
+FF2 = 0
+
+P_LIN = 300
+I_LIN = 500
+D_LIN = 0
+
+BIAS = 0
+DEADBAND = 0.0005
+MAX_OUTPUT = 0
+
+ENCODER_LIN_SCALE = 5085.5
+ENCODER_MTR_SCALE = -27939.6
+# 5.4 is the ratio between linear and motor scales, roughly
+
+# these are in nanoseconds
+DIRSETUP   = 10000
+DIRHOLD    = 10000
+STEPLEN    = 5000
+STEPSPACE  = 5000
+STEP_SCALE = 200.0
+MIN_LIMIT = -24.0
+MAX_LIMIT = +24.0
+HOME_OFFSET = 0.0
+HOME_SEQUENCE = 2
+
+OUTPUT_SCALE = 1
+OUTPUT_OFFSET = 0
+
+[AXIS_Y]
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 30.0
+MIN_LIMIT = -12.0
+MAX_LIMIT = +12.0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.0
+FERROR = 0.5
+MIN_FERROR = 0.2
+MAX_VELOCITY = 100.0
+MAX_ACCELERATION = 30.0
+# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
+# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
+
+P = 0
+I = 0
+D = 5
+
+FF0 = 0
+FF1 = 0.6
+FF2 = 0
+
+P_LIN = 350
+I_LIN = 500
+D_LIN = 0
+
+BIAS = 0
+DEADBAND = 0
+MAX_OUTPUT = 1
+
+ENCODER_LIN_SCALE = 5085.4
+ENCODER_MTR_SCALE = 27453.6
+# these are in nanoseconds
+DIRSETUP   = 10000
+DIRHOLD    = 10000
+STEPLEN    = 5000
+STEPSPACE  = 5000
+STEP_SCALE = 200.0
+MIN_LIMIT = -12
+MAX_LIMIT = +12
+HOME_OFFSET = 0.0
+HOME_SEQUENCE = 3
+
+OUTPUT_SCALE = -1
+OUTPUT_OFFSET = 0
+#******************************************
+
+#******************************************
+[AXIS_Z]
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 30.0
+MIN_LIMIT = -4.0
+MAX_LIMIT = 1.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+FERROR = 0.5
+MIN_FERROR = 0.2
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 30.0
+# 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 = 1.25
+STEPGEN_MAXACCEL = 37.50
+P = 200
+I = 300
+D = 2
+FF0 = 0
+FF1 = 1
+FF2 = 0
+BIAS = 0
+DEADBAND = 0
+MAX_OUTPUT = 0
+# these are in nanoseconds
+DIRSETUP   = 10000
+DIRHOLD    = 10000
+STEPLEN    = 5000
+STEPSPACE  = 5000
+STEP_SCALE = 200.0
+MIN_LIMIT = -4.0
+MAX_LIMIT = +1.0
+HOME_OFFSET = 0.0
+HOME_SEQUENCE = 1
+
+OUTPUT_SCALE = -1
+OUTPUT_OFFSET = 0
+
+ENCODER_LIN_SCALE = -10075
+#******************************************
+
+[SPINDLE_0]
+P = 0
+I = 0
+D = 0
+FF0 = 1
+FF1 = 0
+FF2 = 0
+BIAS = 0
+DEADBAND = 0
+MAX_OUTPUT = 2000