# EMC controller parameters for Mesa 5i20 controlled Smithy 6130 Lathe

[EMC]
MACHINE = Smithy 1315 Lathe
VERSION = 1.1
DEBUG = 0x00000000
#DEBUG = 0x7FFFFFFF

[DISPLAY]
DISPLAY = axis
#DISPLAY = tklinuxcnc
# Path to help file for tklinuxcnc
HELP_FILE = /usr/share/doc/linuxcnc/tklinuxcnc.txt
LATHE = 1
TKPKG             = Ngcgui    1.0
NGCGUI_FONT       = Helvetica -12 normal
NGCGUI_PREAMBLE   = lathe_std.ngc
NGCGUI_POSTAMBLE  = bye.ngc
NGCGUI_SUBFILE    = backlash.ngc
NGCGUI_SUBFILE    = id.ngc
NGCGUI_SUBFILE    = od.ngc
NGCGUI_SUBFILE    = taper-od.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 = 1.2
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
DEFAULT_LINEAR_VELOCITY = 0.2
MAX_LINEAR_VELOCITY = 1.5
DEFAULT_ANGULAR_VELOCITY = 0.1
PROGRAM_PREFIX = ../../nc_files/
#EDITOR = gedit
TOOL_EDITOR = tooledit
PYVCP = 1315.xml

[FILTER]
#No Content

[RS274NGC]
PARAMETER_FILE = emc.var
RS274NGC_STARTUP_CODE = G18 G54
SUBROUTINE_PATH   = ../../nc_files/ngcgui_lib:../../nc_files/ngcgui_lib/lathe:../../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 = 0.010

[HAL]
HALUI = halui
HALFILE = 1315.hal
#HALFILE = naiky.hal
POSTGUI_HALFILE = 1315postgui.hal

[HALUI]
#No Content

[TRAJ]
COORDINATES = X Z
HOME = 0 0
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 1.5
MAX_LINEAR_ACCELERATION = 5.0

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = lathe.tbl
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_WITH_SPINDLE_ON = 1

[KINS]
KINEMATICS =  trivkins
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -5.75
MAX_LIMIT = 0.15
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 5.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 5.0
STEPGEN_MAXACCEL = 0
STEPGEN_MAXVEL = 0
BACKLASH = 0.0005
# Leadscrew Pitch = 5mm
# Drive Ratio = 21:35
# Steps/Rev = 10000
# Vel at 200k Steps/S = 2.4 in/min
SCALE = 84666.666666667
OUTPUT_SCALE = 1.000
MIN_LIMIT = -5.75
MAX_LIMIT = 0.15
FERROR = 0.250
MIN_FERROR = 0.1
HOME_OFFSET = 0.20
HOME_SEARCH_VEL = 1.0
HOME_LATCH_VEL = 0.05
HOME_FINAL_VEL = 0.5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

[AXIS_Z]
MIN_LIMIT = -7.8
MAX_LIMIT = 0.15
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 5.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 5.0
STEPGEN_MAXACCEL = 0
STEPGEN_MAXVEL = 0
BACKLASH = 0.0010
# Leadscrew Pitch = 5mm
# Drive Ratio = 21:35
# Steps/Rev = 10000
# Vel at 200k Steps/S = 2.4 in/min
SCALE = 84666.666666667
OUTPUT_SCALE = 1.000
#MIN_LIMIT = -10.1
MIN_LIMIT = -7.8
MAX_LIMIT = 0.15
FERROR = 0.250
MIN_FERROR = 0.1
HOME_OFFSET = 0.20
HOME_SEARCH_VEL = 1.0
HOME_LATCH_VEL = 0.05
HOME_FINAL_VEL = 0.5
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
