[EMC]
MACHINE = Norte03
DEBUG = 0

[DISPLAY]
DISPLAY = axis
#géén extra PYVCP panel doen starten--integreren in het alarms.xml
PYVCP = alarms.xml
EMBED_TAB_NAME = GladeVCP
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -H gvcp_call_list.hal -x {XID} gvcp-panel.ui
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.500000
MAX_SPINDLE_OVERRIDE = 1.200000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 3
PROGRAM_PREFIX = /home/ghislainvdwalle/0/
SUBROUTINE_PATH = /home/ghislainvdwalle/0/
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 16.972165649
MAX_LINEAR_VELOCITY = 83.666666
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 0.250000
MAX_ANGULAR_VELOCITY = 1.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = xyz
NGCGUI_SUBFILE = /home/ghislainvdwalle/0/test.ngc
OPEN_FILE = /home/ghislainvdwalle/0/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 = 1000000

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_pci
# BOARD0=5i20

[HAL]
HALUI = halui
HALFILE = Norte03.hal
HALFILE = custom.hal
#POSTGUI_HALFILE = mpg.hal
POSTGUI_HALFILE = pyvcp-alarms.hal
POSTGUI_HALFILE = postgui_call_list.hal
SHUTDOWN = shutdown.hal

[HALUI]

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 2.5
MAX_LINEAR_VELOCITY = 83.333333333
NO_FORCE_HOMING = 1
#NO_FORCE_HOMING = 0

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
RANDOM_TOOLCHANGER = 1

#********************
# Axis X
#********************
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
#FERROR = 2.0
#MIN_FERROR = 0.20
MAX_VELOCITY = 83.333333333
MAX_ACCELERATION = 100.0
P = 2.0
I = 0.1
D = 0.0
FF0 = 0.00
FF1 = 0.0035
FF2 = 0.00
BIAS = 0.0
DEADBAND =  0.002000
MAX_OUTPUT = 10.0
ENCODER_SCALE = 1000.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -2000.0
MAX_LIMIT = 2000.0
HOME_OFFSET = 0.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.0
#HOME_SEARCH_VEL = 33.333333
HOME_LATCH_VEL = -0.333333
HOME_FINAL_VEL = 0.333333
HOME_USE_INDEX = NO

#********************
# Axis Y
#********************
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 7.0
MIN_FERROR = 0.50
#FERROR = 2.0
#MIN_FERROR = 0.20
MAX_VELOCITY = 83.333333333
MAX_ACCELERATION = 80.0
P = 1
I = 0.1
D = 0.0
FF0 = 0.0
FF1 = 0.035
FF2 = 0.00
BIAS = 0.0
DEADBAND =  0.002000
MAX_OUTPUT = 10.0
ENCODER_SCALE = 1000.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -600.0
MAX_LIMIT = 100.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.0
#HOME_SEARCH_VEL = 33.333333
HOME_LATCH_VEL = -0.333333
HOME_FINAL_VEL = 0.333333
HOME_USE_INDEX = NO

#********************
# Axis Z
#********************
[AXIS_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 2.0
MIN_FERROR = 0.40
MAX_VELOCITY = 33.333333
MAX_ACCELERATION = 100.0
# P = 0.6
P = 0.4
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.035
FF2 = 0.00
BIAS = 0.00
DEADBAND =  0.002000
#DEADBAND =  0.005000
MAX_OUTPUT = 10.0
ENCODER_SCALE = 1000.0
OUTPUT_SCALE = 10.0
MIN_LIMIT = -600.0
MAX_LIMIT = 38.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.0
#HOME_SEARCH_VEL = 33.333333
HOME_LATCH_VEL = -0.333333
HOME_FINAL_VEL = 0.333333
HOME_USE_INDEX = NO

#********************
# Spindle 
#********************
# De encoder scale is correct met de glade panel lezing
# De output scale is proefondervindelijk vastgesteld
[SPINDLE_9]
ENCODER_SCALE = 4096
OUTPUT_SCALE =1642
MAX_OUTPUT = 3.0