# This file was created with the 7i96 Wizard on Jun 10 2019 11:12:47
# Changes to most things are ok and will be read by the wizard

[EMC]
VERSION = 1.1
MACHINE = woodpecker
DEBUG = 0x00000000

[DISPLAY]
DISPLAY = qtvcp -f woodpecker
PREFERENCE_FILE_PATH = WORKINGFOLDER/woodpecker.pref
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
GEOMETRY = XYZABCUVW
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE  = 1.2
#spindle
MIN_SPINDLE_0_OVERRIDE   = 0.5
MAX_SPINDLE_0_OVERRIDE   = 1.2
DEFAULT_SPINDLE_0_SPEED  = 8000
MAX_SPINDLE_0_SPEED      = 24000
MIN_SPINDLE_0_SPEED      = 7200
MAX_SPINDLE_0_POWER      = 2000
# linear
MIN_LINEAR_VELOCITY     = 0
MAX_LINEAR_VELOCITY     = 60
DEFAULT_LINEAR_VELOCITY = 50
# angular
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 60
DEFAULT_ANGULAR_VELOCITY = 30
# NGCGUI subroutine path.
# Thr path must also  be in [RS274NGC] SUBROUTINE_PATH
NGCGUI_SUBFILE_PATH =  /home/.../linuxcnc/nc_files/ngcgui_lib/
# pre selected programs tabs
# specify filenames only, files must be in the NGCGUI_SUBFILE_PATH
NGCGUI_SUBFILE = slot.ngc
NGCGUI_SUBFILE = qpocket.ngc
CYCLE_TIME = 100
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 2
PROGRAM_PREFIX = ~/linuxcnc/nc_files
INCREMENTS = 10 mm, 1.0 mm, 0.10 mm, 0.01 mm, 1.0 inch, 0.1 inch, 0.01 inch
ANGULAR_INCREMENTS = 0.1, 1, 5, 10, 30, 45, 90
MDI_HISTORY_FILE = mdi_history.dat
MACHINE_LOG_PATH = machine_log.dat
LOG_FILE = woodpecker.log
TOOL_EDITOR = tooledit
CONFIRM_EXIT = True
GEOMETRY = xyzab

MACRO = auto_tool_zero auto_tool_zero
MACRO = go_to_zero go_to_zero
MACRO = go_to_home go_to_home
MACRO = go_to_g30 go_to_g30
MACRO = set_g30_position set_g30_position
MACRO = return  Xmm Ymm Srpm Psec Fmm/min Zmm
MACRO = go_to_position  xmm ymm zmm
MACRO = go_home go_home
MACRO = start_line  Srpm Psec Fmm/min Zmm

[FILTER]
PROGRAM_EXTENSION = .ngc,.nc,.tap G-Code File
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .html HTML Setup Files
PROGRAM_EXTENSION = .pdf PDF Setup Files
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3

[KINS]
KINEMATICS = trivkins coordinates=XYZAB kinstype=BOTH
JOINTS = 5

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

[RS274NGC]
PARAMETER_FILE = woodpecker.var
RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
SUBROUTINE_PATH = /home/.../linuxcnc/nc_files/probe/basic_probe/macros:~/linuxcnc/nc_files/examples/ngcgui_lib:~/linuxcnc/nc_files/examples/ngcgui_lib/utilitysubs
PARAMETER_FILE  = metric_parameters.txt
FEATURES=12

[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 100000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[TRAJ]
COORDINATES = XYZAB
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 60
POSITION_FILE = position.txt
SPINDLES = 1

[HAL]
HALUI = halui
HALFILE = gantrysim-xyzab.hal
HALFILE = simulated-gantry-xyzab-home.hal
#HALFILE = mpg.hal
POSTGUI_HALFILE = woodpecker_postgui.hal

[HALUI]
# no content

[PROBE]
#USE_PROBE = basicprobe
USE_PROBE = versaprobe

[AXIS_X]
MIN_LIMIT = -0.001
MAX_LIMIT = 520.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 500.0

[AXIS_Y]
MIN_LIMIT = -0.001
MAX_LIMIT = 630.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 500.0

[AXIS_Z]
OFFSET_AV_RATIO  = 0.2
MIN_LIMIT = -115.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 500.0

[AXIS_A]
MAX_VELOCITY = 60
MAX_ACCELERATION = 500.0

[AXIS_B]
MAX_VELOCITY = 60
MAX_ACCELERATION = 500.0

[JOINT_0]
AXIS = X
MIN_LIMIT = -0.001
MAX_LIMIT = 520.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 500.0
TYPE = LINEAR
SCALE = 160.0
STEPGEN_MAX_VEL = 72.0
STEPGEN_MAX_ACC = 600.0
FERROR = 1.0
MIN_FERROR = 0.5
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME = 20.0
HOME_OFFSET = -0.1
HOME_SEARCH_VEL = -20.000000
HOME_LATCH_VEL = 10.000
HOME_SEQUENCE = 2
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False
HOME_IS_SHARED = 1

[JOINT_1]
AXIS = Y
MIN_LIMIT = -0.001
MAX_LIMIT = 630.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 500.0
TYPE = LINEAR
SCALE = 160.0
STEPGEN_MAX_VEL = 72.0
STEPGEN_MAX_ACC = 600.0
FERROR = 1.0
MIN_FERROR = 0.5
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME = 20.0
HOME_OFFSET = -0.1
HOME_SEARCH_VEL = -20.00
HOME_LATCH_VEL = 10.00
HOME_SEQUENCE = -1
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False

[JOINT_2]
AXIS = Z
MIN_LIMIT = -115.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 500.0
TYPE = LINEAR
SCALE = 160.0
STEPGEN_MAX_VEL = 48.0
STEPGEN_MAX_ACC = 600.0
FERROR = 1.0
MIN_FERROR = 0.5
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME = -10.0
HOME_OFFSET = 0.1
HOME_SEARCH_VEL = 20.000000
HOME_LATCH_VEL = 10.00
HOME_SEQUENCE = 0
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False
HOME_IS_SHARED = 1

[JOINT_3]
TYPE = ANGULAR
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 500.0
INPUT_SCALE = 40
OUTPUT_SCALE = 1.0
FERROR = 5.0
MIN_FERROR = 1.0
HOME = 0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False

[JOINT_4]
TYPE = ANGULAR
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 500.0
INPUT_SCALE = 40
OUTPUT_SCALE = 1.0
FERROR = 5.0
MIN_FERROR = 1.0
HOME = 0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False

