# Généré par Stepconf le Sun May 26 00:03:55 2013
# Si vous modifiez ce fichier, il sera
# écrasé quand vous relancerez Stepconf

[EMC]
MACHINE = CNC-6040
DEBUG = 0

[DISPLAY]
DISPLAY = gscreen -c gmoccapy2 -d
PREFERENCE_FILE_PATH = ~/.gmoccapy_preferences

EMBED_TAB_NAME = Camera
EMBED_TAB_LOCATION = ntb_preview
#EMBED_TAB_COMMAND = camview-emc -f Motion-JPEG -C camview.cfg -g togle-caa.ui -H campins.hal  -w {XID} 
EMBED_TAB_COMMAND = camview-emc -f Motion-JPEG -v 1280x720 -C camview.cfg -g togle-caa.ui -H campins.hal -w {XID} 

EMBED_TAB_NAME = Tool change
EMBED_TAB_LOCATION = box_right
EMBED_TAB_COMMAND = gladevcp -x {XID} -u python/probe.py probe.glade 

# Cycle time, in milliseconds, that display will sleep between polls
CYCLE_TIME =            100

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.5
MAX_SPINDLE_OVERRIDE =  1.2
MIN_SPINDLE_OVERRIDE = .5

# Max and default jog speeds in units per second
MAX_LINEAR_VELOCITY =   50
DEFAULT_LINEAR_VELOCITY = 5
MAX_ANGULAR_VELOCITY = 234

# Prefix to be used
PROGRAM_PREFIX = nc_files/
#OPEN_FILE = /home/emcmesa/linuxcnc-dev/configs/sim/gmoccapy/nc_files/Gmoccapy_2_tools_with_compensation.ngc

# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5

# list of selectable jog increments
INCREMENTS = 1mm, 0.1mm, 0.01mm, 0.001mm

[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

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

# the Python plugins serves interpreter and task
[PYTHON]
# where to find Python code
# code specific for this configuration	
PATH_PREPEND=./python
# generic support code
PATH_APPEND=./python-stdglue

# import the following Python module
TOPLEVEL=python/toplevel.py

# the higher the more verbose tracing of the Python plugin
LOG_LEVEL = 0

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = nc_subroutines

# optional features - a bit mask to selectively turn on experimental/dubious features
# see 
# RETAIN_G43           0x00000001
# OWORD_N_ARGS         0x00000002
# INI_VARS             0x00000004
# HAL_PIN_VARS         0x00000008
# NO_DOWNCASE_OWORD    0x00000010
# turn on all optional features

# turn on all optional features except RETAIN_G43
FEATURES=30

ON_ABORT_COMMAND=O <on_abort> call 

#
# ------ remapping toolchange - related codes ----------------------
#
# see python/remap.py for the prolog and epilog handlers
# see nc_files/remap-subroutines for the NGC procedures
#
# the prepare_min.ngc and change_min.ngc are templates - fill in as needed
REMAP=M6   modalgroup=6  prolog=change_prolog   ngc=manual_change  epilog=change_epilog    


# accessible in interp as #<_[section]name>

# start of tool length touchoff probe
[TOOLSENSOR]
X = 632
Y = 385 
Z = 95
MAXPROBE=-90   # abort change if no toolsensor contact after this probe distance
PROBEFEED=10
PROBEFEED_FAST=500

# this is not named TOOL_CHANGE_POSITION  on purpose - canon uses it and will
# interfere
[CHANGE_POSITION]
X = 0
Y = 385
Z = 95

# motion.digital-in/out-NN pins
[PINS]
CHANGE = 0  # motion.digital-out-00
PROBING = 1 # motion.digital-out-01
ENABLE = 2  # motion.digital-out-02

CHANGED = 0 # motion.digital-in-00
REFTOOL = 1 # motion.digital-in-01

TOOLNO = 0  # motion.analog-out-00
REFLEN = 1  # motion.analog-out-01
CURRLEN = 2  # motion.analog-out-02

[DWELL]
ACK_SECS=3600 # timeout the change after 1 hour


[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 22000
SERVO_PERIOD = 1000000

[HAL]
HALUI = halui
HALFILE = CNC-6040.hal
HALFILE = custom.hal
HALFILE = xhc-hb04.hal
POSTGUI_HALFILE = gmoccapy_postgui.hal

[HALUI]
# ajoutez ici les commandes MDI halui (maximum 64) 
MDI_COMMAND=o<_camon>call
MDI_COMMAND=o<_camoff>call
MDI_COMMAND=o<_camstore>call
MDI_COMMAND=o<_camcenter3>call
MDI_COMMAND=o<_camcenter4>call
MDI_COMMAND=o<touch-top>call
MDI_COMMAND=G10 L20 P1 X0
MDI_COMMAND=G10 L20 P1 Y0
MDI_COMMAND=G10 L20 P1 Z0
MDI_COMMAND=o<goto-origin-safe-z>call
MDI_COMMAND=o<goto-tool-change-position>call

[TRAJ]
AXES = 4
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 360.00
DEFAULT_ANGULAR_VELOCITY = 36.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 5.00
MAX_LINEAR_VELOCITY = 50.00
MAX_VELOCITY = 50
POSITION_FILE = position.txt

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

[AXIS_0]
TYPE = LINEAR
HOME = 633.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 500.0
STEPGEN_MAXACCEL = 625.0
SCALE = 160.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = 0.0
MAX_LIMIT = 633.001
HOME_OFFSET = 633.500000
HOME_SEARCH_VEL = 25.000000
HOME_LATCH_VEL = 3.125000
HOME_SEQUENCE = 1

[AXIS_1]
TYPE = LINEAR
HOME = 410.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 500.0
STEPGEN_MAXACCEL = 625.0
SCALE = 160.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = 0.0
MAX_LIMIT = 410.001
HOME_OFFSET = 410.500000
HOME_SEARCH_VEL = 25.000000
HOME_LATCH_VEL = 3.125000
HOME_SEQUENCE = 2

[AXIS_2]
TYPE = LINEAR
HOME = 95.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 400.0
STEPGEN_MAXACCEL = 500.0
SCALE = 320.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = 0.0
MAX_LIMIT = 95.001
HOME_OFFSET = 95.500000
HOME_SEARCH_VEL = 25.000000
HOME_LATCH_VEL = 1.562500
HOME_SEQUENCE = 0

[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 342.003420034
MAX_ACCELERATION = 1200.0
STEPGEN_MAXACCEL = 1500.0
SCALE = 50.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 3
