[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i23
CONFIG="firmware=hm2/5i23/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"




[EMC]

# Name of machine, for use with display, etc.
MACHINE =               HM2-Servo

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

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =                0x00000003
#DEBUG =                0x00000007
DEBUG = 0




[DISPLAY]
EDITOR=gedit 
MAX_LINEAR_VELOCITY = 24.0
DEFAULT_LINEAR_VELOCITY = 5
# Name of display program, e.g., tkemc
DISPLAY =              axis
#DISPLAY =             mini

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.0200

# Path to help file
HELP_FILE =             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 =     3

# Prefix to be used
PROGRAM_PREFIX = /home/cnc/emc2/nc_files

# Introductory graphic
INTRO_GRAPHIC =         emc2.gif
INTRO_TIME =            5




[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




[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE = hm2-servo.var




[EMCMOT]

EMCMOT =                motmod

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

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

# Servo task period, in nanoseconds
SERVO_PERIOD =          100000




[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 = hm2-servo.hal

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

#HALFILE = joypad_v3.hal


[TRAJ]

AXES =                  3
# COORDINATES =         X Y Z R P W
COORDINATES =           X Y Z
HOME =                  0 0 0 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      16.0
MAX_VELOCITY =          166.0
DEFAULT_ACCELERATION =  300.0
MAX_ACCELERATION =      300.0
NO_FORCE_HOMING = 1
POSITION_FILE=mill.pos



[AXIS_0]

TYPE =                  LINEAR
HOME =                  0.000
MAX_VELOCITY =           100
MAX_ACCELERATION =       100
BACKLASH =             .0
INPUT_SCALE =           200
OUTPUT_SCALE =          -1
OUTPUT_OFFSET =         0.0
MIN_LIMIT =             -10000.0
MAX_LIMIT =             10000.0
FERROR =                5000
MIN_FERROR =            5000
HOME_OFFSET =           0
HOME_SEARCH_VEL =       0
HOME_LATCH_VEL =        0
HOME_USE_INDEX =        YES
HOME_IGNORE_LIMITS =    YES
MAX_OUTPUT =            1
# PID tuning params
DEADBAND =              0
P =                     4
I =                     0
D =                     0.015
FF0 =                   0
FF1 =                   0.01
FF2 =			0
BIAS =                  0




[AXIS_1]

TYPE =                  LINEAR
HOME =                  0.000
MAX_VELOCITY =           100
MAX_ACCELERATION =       300
BACKLASH =             .0
INPUT_SCALE =           -200
OUTPUT_SCALE =          -1
OUTPUT_OFFSET =         0.0
MIN_LIMIT =             -10000.0
MAX_LIMIT =             10000.0
FERROR =                5000
MIN_FERROR =            2000
HOME_OFFSET =           0
HOME_SEARCH_VEL =       0
HOME_LATCH_VEL =        0
HOME_USE_INDEX =        YES
HOME_IGNORE_LIMITS =    YES
MAX_OUTPUT =            .5
# PID tuning params
DEADBAND =              0
P =                     4
I =                     0
D =                     0.02
FF0 =                   0
FF1 =                   0.015
FF2 =			0
BIAS =                  0




[AXIS_2]


TYPE =                  LINEAR
HOME =                  0.000
MAX_VELOCITY =           10
MAX_ACCELERATION =       20
BACKLASH =             .0
INPUT_SCALE =           -1000
OUTPUT_SCALE =          -1
OUTPUT_OFFSET =         0.0
MIN_LIMIT =             -1000.0
MAX_LIMIT =             1000.0
FERROR =                .7
MIN_FERROR =            .5
HOME_OFFSET =           0
HOME_SEARCH_VEL =       20
HOME_LATCH_VEL =       0
HOME_USE_INDEX =        YES
HOME_IGNORE_LIMITS =    YES
MAX_OUTPUT =            1
# PID tuning params
DEADBAND =              0.003
P =                     1
I =                     10
D =                     0.005
FF0 =                   0
FF1 =                   0
FF2 =			0.01
BIAS =                  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 = tool.tbl