# Milling hardware
# Chinese Mill 26 x 7 x 3.5, bench top mill
# X Y axis are on 1" 5tpi ball screws [converted]
# Z = worm.
#
#
# Gearing is as follows:
# Stepper Motor gear = 32 tooth
# Worm/Ball screw gear = 48 tooth
#
#
# Z at worm = 1 turn = 0.1".  Therefore when the motor turns 540 degrees = 0.1".
# X and Y at shaft = 1 turn = 0.2".  Therefore when the motor turns 540 degrees = 0.2".
#
# System is standard 200step steppers, running Gecko G201, microstepping (10).
# 2000 pulses = 1 rev
#
# Scaling Calculations:
#
# for X and Y:
#
# 1 inch = 5 turns of the screw
# 1 turn of the screw = 48/32 turns of the motor
# 1 turn of the motor = 2000 steps
#
# so scale is 1 inch = 5 * (48/32) * 2000 = 15000 steps
#
# for Z
#
# 1 inch = 10 turns of the worm
# 1 turn of the worm = 48/32 turns of the motor
# 1 turn of the motor = 2000 steps
#
# so scale is 1 inch = 10 * (48/32) * 2000 = 30000 steps
#
# lines with "#-!!!!!!!!!!!!! ALPHA" are edited by me.

[EMC]
VERSION =               $Revision: 1.4.2.4 $

#+ Name of machine, for use with display, etc.
MACHINE =               EMC-HAL-STEP-IN

#- Name of NML file to use, default is emc.nml
NML_FILE =              emc.nml
DEBUG = 0

###############################################################################
# Sections for display options 
###############################################################################
[DISPLAY]
#-!!!!!!!!!!!!! ALPHA
# DISPLAY = 		tkemc
DISPLAY =              axis

CYCLE_TIME =            0.200

#- Path to help file
HELP_FILE =             help/tkemc.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 =        /usr/share/emc/ncfiles

#- Introductory graphic
INTRO_GRAPHIC =         emc2.gif

#-!!!!!!!!!!!!! ALPHA
#INTRO_TIME =            5
INTRO_TIME =            0


###############################################################################
# Task controller section 
###############################################################################
[TASK]

#- Name of task controller program, e.g., bridgeporttask
TASK =                  milltask
# TASK =                minimilltask

#- Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.002

###############################################################################
# Part program interpreter section 
###############################################################################
[RS274NGC]

#- File containing interpreter variables
PARAMETER_FILE =        stepper.var

###############################################################################
# Motion control section 
###############################################################################
[EMCMOT]

#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT =              motmod

#- Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY =             111

#- Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0

#- Interval between tries to emcmot, in seconds
COMM_WAIT =             0.010

#+ Base task period, in nanosecs - this is the fastest thread in the machine
#-!!!!!!!!!!!!! ALPHA
#BASE_PERIOD =                50000
BASE_PERIOD =                30000

#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD =               1000000
#- Trajectory Planner task period, in nanosecs - will be rounded to an
#   integer multiple of SERVO_PERIOD
TRAJ_PERIOD =                10000000

###############################################################################
# Hardware Abstraction Layer 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_stepper.hal
#HALFILE =                    xylotex_pinout.hal
HALFILE =                    standard_pinout.hal

#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =                    save neta

###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES =                  3
# COORDINATES =         X Y Z R P W
COORDINATES =           X Y Z
HOME =                  0 0 0
LINEAR_UNITS =          0.03937007874016
ANGULAR_UNITS =         1.0
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      0.0167
#MAX_VELOCITY =          1.2
MAX_VELOCITY =          0.9
DEFAULT_ACCELERATION =  15.0
#MAX_ACCELERATION =      20.0
MAX_ACCELERATION =      35.0
PROBE_INDEX =           0
PROBE_POLARITY =        1

###############################################################################
# Axes sections
###############################################################################

#+ First axis
[AXIS_0]

TYPE =                          LINEAR
UNITS =                         0.03937007874016
HOME =                          0.000
#MAX_VELOCITY =                  1.2
MAX_VELOCITY =                  0.5
# NOTE:  the step generator module applies its own limits to
# acceleration and velocity.  We have discovered that it needs
# to have a little "headroom" over the accel by the trajectory
# planner, otherwise it can fall slightly behind during accel
# and later overshoot as it catches up.  In the long term we
# hope to come up with a clean fix for this problem.  In the
# meantime, please set STEPGEN_MAXACCEL below to a few percent
# higher than the regular acceleration limit MAX_ACCELERATION
MAX_ACCELERATION =              20.0
STEPGEN_MAXVEL =                1.4
STEPGEN_MAXACCEL =              21.0
BACKLASH = 0.00225
CYCLE_TIME =                    0.001000
#INPUT_SCALE =                   4000    0
INPUT_SCALE =                   15000    0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO

#+ Second axis
[AXIS_1]

TYPE =                          LINEAR
UNITS =                         0.03937007874016
HOME =                          0.000
#MAX_VELOCITY =                  1.2
MAX_VELOCITY =                  0.5
MAX_ACCELERATION =              20.0
STEPGEN_MAXVEL =                1.4
STEPGEN_MAXACCEL =              21.0
BACKLASH = 0.000
CYCLE_TIME =                    0.001000
#INPUT_SCALE =                   4000    0
INPUT_SCALE =                   15000    0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO

#+ Third axis
[AXIS_2]

TYPE =                          LINEAR
UNITS =                         0.03937007874016
HOME =                          0.0
#MAX_VELOCITY =                  1.2
MAX_VELOCITY =                  0.5
MAX_ACCELERATION =              20.0
STEPGEN_MAXVEL =                1.4
STEPGEN_MAXACCEL =              21.0
BACKLASH = 0.000
CYCLE_TIME =                    0.001000
INPUT_SCALE =                   30000    0
OUTPUT_SCALE = 1.000 0.000
MIN_LIMIT =                     -2.0
MAX_LIMIT =                     4.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO

###############################################################################
# section for main IO controller parameters 
###############################################################################
[EMCIO]

#- Name of IO controller program, e.g., io
EMCIO = 		io

#- cycle time, in seconds
CYCLE_TIME =            0.100

#- tool table file
TOOL_TABLE =            stepper.tbl


###############################################################################
# section for external NML server parameters
###############################################################################
[EMCSERVER]
# Uncomment the following line if you need to run a remote GUI.
# EMCSERVER =           emcsvr