[EMC]
MACHINE = Linear
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 = 0.1
PROGRAM_PREFIX = /home/pkm/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 100
MAX_LINEAR_VELOCITY = 1000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyz
OPEN_FILE = /home/pkm/linuxcnc/nc_files/linear_test.ngc

[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

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 500000

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_7i43
# BOARD0=7i43

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

[HALUI]

[TRAJ]
AXES = 3
COORDINATES = X Y Z
HOME =  0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 100
MAX_LINEAR_VELOCITY = 1000.00
NO_FORCE_HOMING = 1

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

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = -13.87
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 1000.0
MAX_ACCELERATION = 10000.0
P = 8
I = 80
D = 0.01
FF0 = 0
FF1 = 0.0006
FF2 = 8e-05
BIAS = 0
DEADBAND = 0.02
#P = 8
#I = 75
#D = 0.015
#FF0 = 0
#FF1 = 0.0015
#FF2 = 9e-05
#BIAS = 0
#DEADBAND = 0.02
MAX_OUTPUT = 10
ENCODER_SCALE = 200
MIN_LIMIT = -50.0
MAX_LIMIT = 50.0
HOME_OFFSET = -13.87

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = -13.87
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 1000.0
MAX_ACCELERATION = 10000.0
P = 1.5
I = 0.5
D = 0.01
FF0 = 0
FF1 = 0.005
FF2 = 0.0001
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE = 200
MIN_LIMIT = -50.0
MAX_LIMIT = 50.0
HOME_OFFSET = -13.87

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = -13.87
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 1000.0
MAX_ACCELERATION = 10000.0
P = 1.5
I = 0.5
D = 0.01
FF0 = 0
FF1 = 0.005
FF2 = 0.0001
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 10
ENCODER_SCALE = 200
MIN_LIMIT = -50.0
MAX_LIMIT = 50.0
HOME_OFFSET = -13.87