# This config file was created 2021-02-04 16:39:45.407451 by the update_ini script
# The original config files may be found in the /home/johan/linuxcnc/configs/test/test.old directory

# Generated by stepconf 1.1 at Fri May  1 19:07:04 2020
# 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 = 1.1

MACHINE = my-3d
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 = 2.50
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 25.00
DEFAULT_ANGULAR_VELOCITY = 36.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 360.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/johan/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
PYVCP = custompanel.xml
GEOMETRY = XYZ

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .gcode 3D Printer

png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
gcode = python /home/johan/linuxcnc/configs/my-3d/3d_print_filter.py

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH=/home/johan/linuxcnc/configs/my-3d/custom-m-codes
USER_M_PATH=/home/johan/linuxcnc/configs/my-3d/custom-m-codes
REMAP=M17 modalgroup=10 ngc=enable_steppers
REMAP=M18 modalgroup=10 ngc=disable_steppers
REMAP=M84 modalgroup=10 ngc=stop_idle_hold
REMAP=M82 modalgroup=10 ngc=do_nothing

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALUI = halui
HALFILE = my-3d.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal

[HALUI]

[TRAJ]
COORDINATES = XYZU
JOINTS =      3
HOME =        0 0 0 0
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 25.0
MAX_LINEAR_VELOCITY = 25.0
DEFAULT_LINEAR_ACCELERATION = 50.0
MAX_LINEAR_ACCELERATION = 50.0

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


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

# X axis
#prescale = 2, steps/rev = 200, 2  mm/rev
#scale = 200*2/2 steps/mm
[AXIS_X]
MIN_LIMIT = -90.0
MAX_LIMIT = 90.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 50.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 50.0
STEPGEN_MAXACCEL = 62.5
SCALE = 200.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -90.0
MAX_LIMIT = 90.0
HOME_OFFSET = -91.400000
HOME_SEARCH_VEL = -10.0
HOME_LATCH_VEL = -1.50
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

# Y axis
#prescale = 2, steps/rev = 200, 2  mm/rev
#scale = 200*2/2 steps/mm
[AXIS_Y]
MIN_LIMIT = -90.0
MAX_LIMIT = 90.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 50.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 50.0
STEPGEN_MAXACCEL = 62.5
SCALE = 200.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -90.0
MAX_LIMIT = 90.0
HOME_OFFSET = 66.00000
HOME_SEARCH_VEL = 10.0
HOME_LATCH_VEL = 2.5
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

# Z axis
#prescale = 8, steps/rev = 200, 1  mm/rev
#scale = 200*8/1 = 1600 steps/mm
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 51.7
MAX_VELOCITY = 6.0
MAX_ACCELERATION = 50.0

[JOINT_2]
TYPE = LINEAR
HOME = 48.0
MAX_VELOCITY = 6.0
MAX_ACCELERATION = 50.0
STEPGEN_MAXACCEL = 62.5
SCALE = 1600.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -10.0
MAX_LIMIT = 51.7
HOME_OFFSET = 51.7
HOME_SEARCH_VEL = 7.500000
HOME_LATCH_VEL = 0.312500
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

# U axis
#prescale = 4, steps/rev = 200, 34.069  mm/rev (D=10.85, pi*10.85=34.069)
#scale = 200*4/34.069 steps/mm
[AXIS_U]
MIN_LIMIT = -1e99
MAX_LIMIT = 1e99
MAX_VELOCITY = 30
MAX_ACCELERATION = 50.0

[JOINT_3]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 30
MAX_ACCELERATION = 50.0
STEPGEN_MAXACCEL = 62.5
SCALE = 23.5    
BACKLASH = 0.000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -1e99
MAX_LIMIT = 1e99
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
HOME_IS_SHARED = NO