# This config file was created 2021-03-12 16:42:08.823352 by the update_ini script
# The original config files may be found in the /home/philipp/linuxcnc/configs/3040T/3040T.old directory

[EMC]
# The version string for this INI file.
VERSION = 1.1

MACHINE = 3040T
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm
MAX_FEED_OVERRIDE = 2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 6.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 55
DEFAULT_ANGULAR_VELOCITY = 40
MAX_ANGULAR_VELOCITY = 250
INTRO_GRAPHIC = ./UVOSBannerLCNC.gif
INTRO_TIME = 5
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
PYVCP=pannel.xml
OPEN_FILE =""
PROGRAM_PREFIX=/home/philipp/linuxcnc/nc_files
GEOMETRY=XYZA

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

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = /home/philipp/linuxcnc/configs/3040T
USER_M_PATH = /home/philipp/linuxcnc/configs/3040T
RS274NGC_STARTUP_CODE =G64 P0.1 s2400 
REMAP=M6 modalgroup=6 ngc=tool-change
REMAP=M400 modalgroup=10 ngc=touchoff-z-to-bead
REMAP=M600 modalgroup=6 ngc=tool-job-begin
FEATURES=12

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 45000
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALUI=halui
HALFILE = 3040T.hal
POSTGUI_HALFILE = custom_postgui.hal

[HALUI]
MDI_COMMAND = M600
MDI_COMMAND = G0 X0 Y0
MDI_COMMAND = G53 G0 X0 Y0 Z0
MDI_COMMAND = G53 g0 z0
MDI_COMMAND = G53 g0 z-40
MDI_COMMAND = G10 L20 p0 x0 y0 z0
MDI_COMMAND = G10 L20 p0 x-36.257 y-49.488
MDI_COMMAND = G10 L2 p0 x261.3 y286.9
MDI_COMMAND = M400
MDI_COMMAND = o<rectangle_probe> call

[TRAJ]
SPINDLES = 2
COORDINATES = XYZA
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 6.00
MAX_LINEAR_VELOCITY = 60.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_AT_G30 = 0


[KINS]
KINEMATICS = trivkins coordinates=XYZA
JOINTS = 4

[AXIS_X]
MIN_LIMIT = -0.001
MAX_LIMIT = 290.0
MAX_VELOCITY = 55
MAX_ACCELERATION = 1500.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 55
MAX_ACCELERATION = 1500.0
STEPGEN_MAXACCEL = 1875.0
SCALE = -400.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.001
MAX_LIMIT = 290.0
HOME_OFFSET = -1.000000
HOME_SEARCH_VEL = -20.000000
HOME_LATCH_VEL = -1.250000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

[AXIS_Y]
MIN_LIMIT = -0.001
MAX_LIMIT = 395.0
MAX_VELOCITY = 55
MAX_ACCELERATION = 800.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 55
MAX_ACCELERATION = 800.0
STEPGEN_MAXACCEL = 1250.0
SCALE = -400.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -0.001
MAX_LIMIT = 395.0
BACKLASH = 0.01
HOME_OFFSET = -1.000000
HOME_SEARCH_VEL = -20.000000
HOME_LATCH_VEL = -1.250000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

[AXIS_Z]
MIN_LIMIT = -75
MAX_LIMIT = 0.001
MAX_VELOCITY = 50
MAX_ACCELERATION = 1500.0
OFFSET_AV_RATIO = 0.2

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 50
MAX_ACCELERATION = 1500.0
STEPGEN_MAXACCEL = 1875.0
SCALE = -400.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -75
MAX_LIMIT = 0.001
HOME_OFFSET = 1.000000
HOME_SEARCH_VEL = 30.000000
HOME_LATCH_VEL = 1.250000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

[AXIS_A]
MIN_LIMIT = -99999
MAX_LIMIT = 99999
MAX_VELOCITY = 500
MAX_ACCELERATION = 2000.0

[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 500
MAX_ACCELERATION = 2000.0
STEPGEN_MAXACCEL = 2500.0
SCALE = 4.6296
#SCALE = 4.86
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -99999
MAX_LIMIT = 99999
SEARCH_VEL = 0
LATCH_VEL = 0
USE_INDEX = NO
HOME_SEQUENCE = 0