# EMC controller parameters for generic controller. Make these what you need
# for your system.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# Settings with a + at the front of the comment are likely needed to get 
# changed by the user.
# Settings with a - at the front are highly unneeded to be changed
###############################################################################
# General section 
###############################################################################

[EMC]
#- Version of this INI file
VERSION = 1.1
#+ Name of machine, for use with display, etc.
MACHINE =               LinuxCNC-HAL-VTI
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
# DEBUG =               0x00000007
# DEBUG =               0x7FFFFFFF
###############################################################################
# Sections for display options 
###############################################################################

[DISPLAY]
#+ Name of display program, e.g., axis
# DISPLAY =              axis 
 DISPLAY = 		tklinuxcnc
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.200
#- Path to help file
HELP_FILE =             tklinuxcnc.txt
#- Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       RELATIVE
#- Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     ACTUAL
#+ Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.2
#- Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
#- Introductory graphic
INTRO_GRAPHIC =         linuxcnc.gif
INTRO_TIME =            5
###############################################################################
# Task controller section 
###############################################################################

[FILTER]
#No Content

[RS274NGC]
#- File containing interpreter variables
PARAMETER_FILE =        vti.var
###############################################################################
# Motion control section 
###############################################################################

[EMCMOT]
#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT =              motmod
#- Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0
#- Servo task period, in nanosecs
SERVO_PERIOD =               1000000
###############################################################################
# Hardware Abstraction Layer section
###############################################################################

[TASK]
# Name of task controller program, e.g., milltask
TASK =                  milltask
#- Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.010
###############################################################################
# Part program interpreter section 
###############################################################################

[HAL]
# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#
# list of hal config files to run through halcmd
#+ files are executed in the order in which they appear
HALFILE =                    core_servo.hal
HALFILE =                    vti_motion.hal
HALFILE =                    vti_io.hal
#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =                    save neta
###############################################################################
# Trajectory planner section
###############################################################################

[HALUI]
#No Content

[TRAJ]
#+ machine specific settings
# COORDINATES =         X Y Z R P W
COORDINATES =           X Y Z
HOME =                  0 0 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
DEFAULT_LINEAR_VELOCITY = 2.000
MAX_LINEAR_VELOCITY = 30.48
DEFAULT_LINEAR_ACCELERATION = 300.0
MAX_LINEAR_ACCELERATION = 500.0
###############################################################################
# Axes sections
###############################################################################
#+ First axis
# each setting is commented for axis_0

[EMCIO]
#- Name of IO controller program, e.g., io
EMCIO = 		io
#- cycle time, in seconds
CYCLE_TIME =            0.100
#- tool table file
TOOL_TABLE =            vti.tbl

[KINS]
KINEMATICS = trivkins
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 500.0

[JOINT_0]
# type of axis, LINEAR vs. ROTARY
TYPE =                          LINEAR
# home position
HOME =                          0.000
# maximum velocity
MAX_VELOCITY =                  30.48
# maximum acceleration
MAX_ACCELERATION =              500.0
# machanical backlash measured
BACKLASH =                      0.000
# time to update the axis
# number of encoder ticks / unit
INPUT_SCALE =                   800
# dac gain for output
OUTPUT_SCALE =                  1.000
# dac bias for output
OUTPUT_OFFSET =                 0.000
# minimum travel limit (from position 0)
MIN_LIMIT =                     -1000.0
# maximum travel limit (from position 0)
MAX_LIMIT =                     1000.0
# following error at max speed
FERROR =                        1.270
# following error when halted
MIN_FERROR =                    0.254
# read HAL_Introduction.pdf for an insight about Homing
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0.0
HOME_LATCH_VEL =                0.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            YES
# PID tuning params
MAX_OUTPUT =                    1.0
DEADBAND =                      0.000381
P =                             100.0
I =                             0.000
D =                             0.000
FF0 =                           0.000
FF1 =                           0.000
FF2 =				0.0
BIAS =                          0.000
#+ Second axis

[AXIS_Y]
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 500.0

[JOINT_1]
TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  30.48
MAX_ACCELERATION =              500.0
BACKLASH =                      0.000
INPUT_SCALE =                   200
OUTPUT_SCALE =                  1.000
OUTPUT_OFFSET =                 0.000
MIN_LIMIT =                     -1000.0
MAX_LIMIT =                     1000.0
FERROR =                        1.270
MIN_FERROR =                    0.254
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0.0
HOME_LATCH_VEL =                0.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
# PID tuning params
MAX_OUTPUT =                    1.0
DEADBAND =                      0.000381
P =                             100.0
I =                             0.000
D =                             0.000
FF0 =                           0.000
FF1 =                           0.000
FF2 =				0.0
BIAS =                          0.000
#+ Third axis

[AXIS_Z]
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 30.48
MAX_ACCELERATION = 500.0

[JOINT_2]
TYPE =                          LINEAR
HOME =                          0.0
MAX_VELOCITY =                  30.48
MAX_ACCELERATION =              500.0
BACKLASH =                      0.000
INPUT_SCALE =                   200
OUTPUT_SCALE =                  1.000
OUTPUT_OFFSET =                 0.000
MIN_LIMIT =                     -1000.0
MAX_LIMIT =                     1000.0
FERROR =                        1.270
MIN_FERROR =                    0.254
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0.0
HOME_LATCH_VEL =                0.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
# PID tuning params
MAX_OUTPUT =                    1.0
DEADBAND =                      0.000381
P =                             100.0
I =                             0.000
D =                             0.000
FF0 =                           0.000
FF1 =                           0.000
FF2 =				0.0
BIAS =                          0.000
###############################################################################
# section for main IO controller parameters 
###############################################################################
