# EMC controller parameters for Mesa 5i20 controlled Smithy 1240 Mill

[EMC]
MACHINE = Smithy 1240 Combined Box Mill
VERSION = 1.1
DEBUG = 0x00000000
#DEBUG = 0x7FFFFFFF

[DISPLAY]
#DISPLAY = eztrol
# CYCLE_TIME is used by eztrol
CYCLE_TIME = .1
DISPLAY = axis
#DISPLAY = tklinuxcnc
#HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
TKPKG             = Ngcgui    1.0
TKPKG             = Ngcguittt 1.0
# note: ngcgui_app.tcl must precede ngcgui_ttt.tcl
NGCGUI_FONT       = Helvetica -12 normal
TTT               = truetype-tracer
TTT_PREAMBLE      = in_std.ngc
NGCGUI_PREAMBLE   = in_std.ngc
NGCGUI_POSTAMBLE  = bye.ngc
NGCGUI_SUBFILE    = backlash.ngc
NGCGUI_SUBFILE    = hole_circle.ngc
NGCGUI_SUBFILE    = helix.ngc
NGCGUI_SUBFILE    = helix_rtheta.ngc
NGCGUI_SUBFILE    = slot.ngc
NGCGUI_SUBFILE    = simp.ngc
NGCGUI_SUBFILE    = xyz.ngc
NGCGUI_SUBFILE    = iquad.ngc
NGCGUI_SUBFILE    = oquad.ngc
NGCGUI_SUBFILE    = db25.ngc
NGCGUI_SUBFILE    = ihex.ngc
NGCGUI_SUBFILE    = ohex.ngc
NGCGUI_SUBFILE    = gosper.ngc
NGCGUI_SUBFILE    = ""
#NGCGUI_SUBFILE   = "" use when imageframe is specified if 
#                      opening other files is required 
#                      images will be put in a toplevel window 
NGCGUI_OPTIONS    =
#NGCGUI_OPTIONS   = opt1 opt2 ...
# opt items:
#   nonew      -- disallow making a new tab page
#   noremove   -- disallow removing any tab page
#   noauto     -- no autosend (makeFile, then manually send)
#   noiframe   -- no internal image, image on separate toplevel
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.5
MIN_SPINDLE_OVERRIDE = 0.2
MAX_SPINDLE_OVERRIDE = 1.5
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
PROGRAM_PREFIX = ../../nc_files/
#EDITOR = geany
TOOL_EDITOR = tooledit
DEFAULT_LINEAR_VELOCITY = 0.2
# @SCALE = 25600
#MAX_LINEAR_VELOCITY = 1.9
# @SCALE = 10000
MAX_LINEAR_VELOCITY = 4.2
DEFAULT_ANGULAR_VELOCITY = 12.0
MAX_ANGULAR_VELOCITY = 85.0
PYVCP = 8i20.xml

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3

[RS274NGC]
PARAMETER_FILE = emc.var
SUBROUTINE_PATH   = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/utilitysubs
USER_M_PATH       = ../../nc_files/ngcgui_lib/mfiles

[EMCMOT]
EMCMOT = motmod
SHMEM_KEY = 111
COMM_TIMEOUT = 1.0
BASE_PERIOD = 250000
SERVO_PERIOD = 250000
TRAJ_PERIOD = 250000

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[HAL]
HALUI = halui
HALFILE = 1240combined.hal
#HALFILE = naiky.hal
EZTROL_HALFILE = 5i20eztrol.hal
#HALFILE = axis_manualtoolchange.hal
POSTGUI_HALFILE = 8i20postgui.hal

[HALUI]
#No Content

[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
# @SCALE = 25600
#MAX_VELOCITY = 1.9
# @SCALE = 10000
MAX_LINEAR_VELOCITY = 4.2
MAX_LINEAR_ACCELERATION = 10.0
DEFAULT_LINEAR_VELOCITY = 0.2

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = mill.tbl
#TOOL_CHANGE_POSITION = 0 0 2
#TOOL_CHANGE_WITH_SPINDLE_ON = 1
TOOL_CHANGE_QUILL_UP = 1
#TOOL_CHANGE_AT_G30 = 1

[KINS]
KINEMATICS = trivkins
JOINTS = 4

[AXIS_X]
MIN_LIMIT = -21.8
MAX_LIMIT = 0.2
MAX_VELOCITY = 4.2
MAX_ACCELERATION = 10.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.000
# @SCALE = 25600
#MAX_VELOCITY = 1.9
# @SCALE = 10000
MAX_VELOCITY = 4.2
MAX_ACCELERATION = 10.0
STEPGEN_MAXVEL = 0.0
STEPGEN_MAXACCEL = 0.0
BACKLASH = 0.0000
# Leadscrew Pitch = 5mm
# Drive Ratio = 1:1
# Steps/Rev = 25600
# Vel at 250k Steps/S = 115"/min
#SCALE = 130048
# Steps/Rev = 10000
# Vel at 250k Steps/S = 295"/min
SCALE = 50800
OUTPUT_SCALE = 1.000
MIN_LIMIT = -21.8
MAX_LIMIT = 0.2
FERROR = 0.25
MIN_FERROR = 0.1
HOME_OFFSET = 0.25
HOME_SEARCH_VEL = 0.5
HOME_LATCH_VEL = 0.05
HOME_FINAL_VEL = 0.5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 2

[AXIS_Y]
MIN_LIMIT = -11.8
MAX_LIMIT = 0.2
MAX_VELOCITY = 4.2
MAX_ACCELERATION = 10.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.000
# @SCALE = 25600
#MAX_VELOCITY = 1.9
# @SCALE = 10000
MAX_VELOCITY = 4.2
MAX_ACCELERATION = 10.0
STEPGEN_MAXVEL = 0.0
STEPGEN_MAXACCEL = 0.0
BACKLASH = 0.0000
# Leadscrew Pitch = 5mm
# Drive Ratio = 1:1
# Steps/Rev = 25600
# Vel at 250k Steps/S = 115"/min
#SCALE = -130048
# Steps/Rev = 10000
# Vel at 250k Steps/S = 295"/min
SCALE = -50800
OUTPUT_SCALE = 1.000
MIN_LIMIT = -11.8
MAX_LIMIT = 0.2
FERROR = 0.25
MIN_FERROR = 0.1
HOME_OFFSET = 0.25
HOME_SEARCH_VEL = 0.5
HOME_LATCH_VEL = 0.05
HOME_FINAL_VEL = 0.5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

[AXIS_Z]
MIN_LIMIT = -11.8
MAX_LIMIT = 0.2
MAX_VELOCITY = 4.2
MAX_ACCELERATION = 10.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.000
# @SCALE = 25600
#MAX_VELOCITY = 1.9
# @SCALE = 10000
MAX_VELOCITY = 4.2
MAX_ACCELERATION = 10.0
STEPGEN_MAXVEL = 0.0
STEPGEN_MAXACCEL = 0.0
BACKLASH = 0.0000
# Leadscrew Pitch = 5mm
# Drive Ratio = 1:1
# Steps/Rev = 25600
# Vel at 250k Steps/S = 115"/min
#SCALE = -130048
# Steps/Rev = 10000
# Vel at 250k Steps/S = 295"/min
SCALE = -50800
OUTPUT_SCALE = 1.000
MIN_LIMIT = -11.8
MAX_LIMIT = 0.2
FERROR = 0.25
MIN_FERROR = 0.1
HOME_OFFSET = 0.25
HOME_SEARCH_VEL = 0.5
HOME_LATCH_VEL = 0.05
HOME_FINAL_VEL = 0.5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

[AXIS_A]
MIN_LIMIT = -360000.0
MAX_LIMIT = 360000.0
MAX_VELOCITY = 85.0
MAX_ACCELERATION = 450.0

[JOINT_3]
TYPE = ANGULAR
HOME = 0.000
MAX_VELOCITY = 85.0
MAX_ACCELERATION = 450.0
STEPGEN_MAXVEL = 0.0
STEPGEN_MAXACCEL = 0.0
BACKLASH = 0.0000
# Drive Ratio = 90:360 = 1:4
# Steps/Rev = 200 * 50uSteps = 10000
# Vel at 400k Steps/S = 9600 deg/min
SCALE = 2500.0
OUTPUT_SCALE = 1.000
MIN_LIMIT = -360000.0
MAX_LIMIT = 360000.0
FERROR = 2.0
MIN_FERROR = 0.1
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
#HOME_FINAL_VEL = 0.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 3

[EZTROL]
QTEMC_PLUGIN = /usr/share/eztrol/lib/libqtemc-2.4.6.so
QTEMCHAL_PLUGIN = /usr/share/eztrol/lib/libqtemchal-2.4.6.so
EZTROLGUI = /usr/share/eztrol/eztrolgui/libguimill2.so
MAX_SPINDLE_RPM = 6000
DIR_PLUGIN = /usr/share/eztrol/eztrolplugins
PLUGIN = libeztrol_wizard_plugin.so
PLUGIN = libeztrol_webwizard_plugin.so
# disabling settings gcode editor will benefit systems with small memory size
ENABLE_SETTINGS_EDITOR = true
# disable OpenGL 3D Preview
ENABLE_3D_PREVIEW = true
# set to Full Screen TRUE/FALSE
FULLSCREEN = false
# Settings Tab GCode Editor Syntax Highlight
# color guide - http://www.w3.org/TR/SVG/types.html#ColorKeywords
AXIS_COLOR = magenta
LINENUMBER_COLOR = rosybrown
GM_COLOR = blue
STFDRLPQH_COLOR = red
O_COLOR = blue
RESERVEDWORDS_COLOR = darkviolet
VARIABLE_COLOR = olive
COMMENT_COLOR = seagreen
GUI_STYLESHEET = eztrolstyle1.qss

[EZTROLWIZARDS]
WIZARD_DIRECTORY = /usr/share/eztrol/eztrolwizards
SAVE_DIRECTORY = ../../nc_files

[EZTROLWEBWIZARD]
URL = http://www.mattshaver.com/ecmacam/ecmacam.htm
