# January 20, 2013
# for system with:
# Mesa 5I25 
# 4 axis steppers
# Gecko G540
# MPG on parallel port 0
# 
[EMC]
MACHINE = KX1
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.5
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/john/Desktop/
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
PYVCP = custompanel.xml

[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 = emc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
#before updating grub for the rtai isue: BASE_PERIOD = 30769
BASE_PERIOD = 25000
SERVO_PERIOD = 1000000

[HAL]
HALUI = halui
HALFILE = KX1-5i25.hal

# for CNC4PC MPG AND CNC4PC Touch Probe
POSTGUI_HALFILE = MPG_TouchProbe_custom_postgui.hal

[HALUI]
# add halui MDI commands here (max 64) 

[TRAJ]
AXES = 4
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 120.00
DEFAULT_ANGULAR_VELOCITY = 60.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 20.0
MAX_LINEAR_VELOCITY = 100.00
HOME= 0 0 0 0

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

[AXIS_0]
BACKLASH = 0.02
TYPE = LINEAR
HOME = 0.0
# STEPGEN_MAXVEL 1-10% largerthan MAX_VELOCITY
MAX_VELOCITY = 180.0
STEPGEN_MAXVEL	= 190.0 
# STEPGEN_MAXACCEL 1-10% larger than MAX_ACCELLERATION
MAX_ACCELERATION = 600.0
STEPGEN_MAXACCEL = 660.0 
SCALE = 500.0
FERROR = 1
MIN_FERROR = .25

# from experimentation
MIN_LIMIT = -2.4
MAX_LIMIT = 258.5
HOME_OFFSET = -2.500000
HOME_SEARCH_VEL = -50.000000
HOME_LATCH_VEL = -1.000000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

[AXIS_1]

BACKLASH = 0.05
TYPE = LINEAR
HOME = 0.0
# STEPGEN_MAXVEL 1-10% largerthan MAX_VELOCITY
MAX_VELOCITY = 180.0
STEPGEN_MAXVEL	= 190.0 
# STEPGEN_MAXACCEL 1-10% larger than MAX_ACCELLERATION
MAX_ACCELERATION = 600.0
STEPGEN_MAXACCEL = 660.0 
SCALE = 500.0
FERROR = 1
MIN_FERROR = .25

#from experimentation
MIN_LIMIT = -2.7
MAX_LIMIT = 116.0
HOME_OFFSET = -3.000000
HOME_SEARCH_VEL = -40.000000
HOME_LATCH_VEL = -1.000000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
# keep this one slow; less "nodding" and pucker factor
# STEPGEN_MAXVEL 1-10% largerthan MAX_VELOCITY
MAX_VELOCITY = 60.0
STEPGEN_MAXVEL	= 66.0
# STEPGEN_MAXACCEL 1-10% larger than MAX_ACCELLERATION
MAX_ACCELERATION = 400.0
STEPGEN_MAXACCEL = 500.0
SCALE = 500.0
FERROR = 1
MIN_FERROR = .25
# from experimentation
MIN_LIMIT = -178.0
MAX_LIMIT = 3.0

HOME_OFFSET = 3.000000
HOME_SEARCH_VEL = 20.000000
HOME_LATCH_VEL = 1.000000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

[AXIS_3]
TYPE = ANGULAR
WRAPPED_ROTARY=1
HOME = 0.0
HOME_SEARCH_VELOCITY = 0.0
STEPGEN_MAXVEL	= 400.0

MAX_VELOCITY = 180.0
MAX_ACCELERATION = 800.0
STEPGEN_MAXACCEL = 880.0
SCALE = 600.0
FERROR =360 
MIN_FERROR = .25
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0


HOME_OFFSET = 0.0
HOME_SEQUENCE= 3