# This file was created with the 7i96 Wizard on Jun 10 2019 11:12:47
# Changes to most things are ok and will be read by the wizard

[EMC]
VERSION = 1.1
MACHINE = qtdragon
DEBUG = 0x00000000

[DISPLAY]
# sets qtdragon as screen. for debug output to terminal add -d or -v
# sets window title
# sets icon in task manager
DISPLAY = qtvcp qtdragon
TITLE = QtDragon XYZYA Gantry/Rotational Axis
ICON = silver_dragon.png

# qtdragon saves most preference to this file
PREFERENCE_FILE_PATH = WORKINGFOLDER/qtdragon.pref

# min/max percentage overrides allowed in qtdragon 1 = 100%
MAX_FEED_OVERRIDE       = 1.2
MIN_SPINDLE_0_OVERRIDE    = 0.5
MAX_SPINDLE_0_OVERRIDE    = 1.2

# manual spindle speed will start at this RPM
DEFAULT_SPINDLE_0_SPEED   = 12000

# spindle up/down increment in RPM
SPINDLE_INCREMENT = 200

# min max apindle speed manually allowed 
MIN_SPINDLE_0_SPEED = 1000
MAX_SPINDLE_0_SPEED = 20000

# max spindle power in Watts
MAX_SPINDLE_POWER = 2000

# min/max/default jog velocities in qtdragon in units/sec
MIN_LINEAR_VELOCITY     = 0
MAX_LINEAR_VELOCITY     = 60.00
DEFAULT_LINEAR_VELOCITY = 25.0

DEFAULT_ANGULAR_VELOCITY = 10
MIN_ANGULAR_VELOCITY = 1
MAX_ANGULAR_VELOCITY = 360

# incremental jog step length options
INCREMENTS = 10 mm, 1.0 mm, 0.10 mm, 0.01 mm, 1.0 inch, 0.1 inch, 0.01 inch

CYCLE_TIME = 100
INTRO_GRAPHIC = silver_dragon.png
INTRO_TIME = 2

# default program search path
PROGRAM_PREFIX = ~/linuxcnc/nc_files

# NGCGUI subroutine path.
# Thr path must also  be in [RS274NGC] SUBROUTINE_PATH
NGCGUI_SUBFILE_PATH = ../../../nc_files/ngcgui_lib/
# pre selected programs tabs
# specify filenames only, files must be in the NGCGUI_SUBFILE_PATH
NGCGUI_SUBFILE = slot.ngc
NGCGUI_SUBFILE = qpocket.ngc

# qtdragon saves MDI cxommands to this file
MDI_HISTORY_FILE = mdi_history.dat
# qtdragon saves rnning logs to this file
LOG_FILE = qtdragon.log

[MDI_COMMAND_LIST]
# for macro buttons on main oage up to 10 possible
MDI_COMMAND = G0 Z25;X0 Y0;Z0, Goto\nUser\nZero
MDI_COMMAND = G53 G0 Z0;G53 G0 X0 Y0,Goto\nMachn\nZero

[FILTER]
# Controls what programs are shown inqtdragon file manager
PROGRAM_EXTENSION = .ngc,.nc,.tap G-Code File (*.ngc,*.nc,*.tap)
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script

# specifies what special 'filter' programs runs based on program ending
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3

[KINS]
KINEMATICS = trivkins coordinates=XYZYA kinstype=BOTH
JOINTS = 5

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

[RS274NGC]
# motion controller saves parameters to this file
PARAMETER_FILE = qtdragon.var

# start up G/M codes when first loaded
RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.0127 G80 G90 G94 G97 M5 M9

# subroutine/remap path list
SUBROUTINE_PATH = ../../../../nc_files/probe/basic_probe/macros:~/linuxcnc/nc_files/examples/ngcgui_lib:~/linuxcnc/nc_files/examples/ngcgui_lib/utilitysubs

# on abort, this ngc file is called. required for basic/versa probe
ON_ABORT_COMMAND=O <on_abort> call

[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 100000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[TRAJ]
COORDINATES = XYZYA
LINEAR_UNITS = metric
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 60.00
DEFAULT_LINEAR_VELOCITY = 50.00
SPINDLES = 1

[HAL]
HALUI = halui
# loads the HAL machine simulation
HALFILE = gantrysim.hal
HALFILE = simulated-gantry-home.hal
# our HAL simulation library doesn't connect this - so we do
POSTGUI_HALCMD = net joint_4_pos joint.4.motor-pos-cmd => joint.4.motor-pos-fb

# this file is loaded after qtdragon has made it's HAl pins
# you can add mutiple entries
POSTGUI_HALFILE = qtdragon_postgui.hal

# this command is run after qtdragon has made it's HAl pins
# any HAL conmmand can be used
# you can add mutiple entries
# uncomment this one to print all HAL pins that start with qt
#POSTGUI_HALCMD = show pin qt

[HALUI]
# no content

[PROBE]
# pick basic probe or versa probe or remove for none
#USE_PROBE = versaprobe
USE_PROBE = basicprobe

[AXIS_X]
MIN_LIMIT = -0.001
MAX_LIMIT = 520.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 500.0

[AXIS_Y]
MIN_LIMIT = -0.001
MAX_LIMIT = 630.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 500.0

[AXIS_Z]
MIN_LIMIT = -115.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 500.0

[AXIS_A]
MAX_VELOCITY = 60
MAX_ACCELERATION = 500.0

[JOINT_0]
AXIS = X
MIN_LIMIT = -0.001
MAX_LIMIT = 520.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 500.0
TYPE = LINEAR
SCALE = 160.0
STEPGEN_MAX_VEL = 72.0
STEPGEN_MAX_ACC = 600.0
FERROR = 1.0
MIN_FERROR = 0.5
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME = 20.0
HOME_OFFSET = -0.1
HOME_SEARCH_VEL = -20.000000
HOME_LATCH_VEL = 10.000
HOME_SEQUENCE = 2
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False
HOME_IS_SHARED = 1

[JOINT_1]
AXIS = Y
MIN_LIMIT = -0.001
MAX_LIMIT = 630.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 500.0
TYPE = LINEAR
SCALE = 160.0
STEPGEN_MAX_VEL = 72.0
STEPGEN_MAX_ACC = 600.0
FERROR = 1.0
MIN_FERROR = 0.5
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME = 20.0
HOME_OFFSET = -0.1
HOME_SEARCH_VEL = -20.00
HOME_LATCH_VEL = 10.00
HOME_SEQUENCE = -1
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False

[JOINT_2]
AXIS = Z
MIN_LIMIT = -115.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 500.0
TYPE = LINEAR
SCALE = 160.0
STEPGEN_MAX_VEL = 48.0
STEPGEN_MAX_ACC = 600.0
FERROR = 1.0
MIN_FERROR = 0.5
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME = -10.0
HOME_OFFSET = 0.1
HOME_SEARCH_VEL = 20.000000
HOME_LATCH_VEL = 10.00
HOME_SEQUENCE = 0
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False
HOME_IS_SHARED = 1

[JOINT_3]
AXIS = Y
MIN_LIMIT = -0.001
MAX_LIMIT = 630.0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 500.0
TYPE = LINEAR
SCALE = 160.0
STEPGEN_MAX_VEL = 72.0
STEPGEN_MAX_ACC = 600.0
FERROR = 1.0
MIN_FERROR = 0.5
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME = 20.0
HOME_OFFSET = -0.1
HOME_SEARCH_VEL = -20.00
HOME_LATCH_VEL = 10.00
HOME_SEQUENCE = -1
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False

[JOINT_4]
TYPE = ANGULAR
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 500.0
INPUT_SCALE = 40
OUTPUT_SCALE = 1.0
FERROR = 5.0
MIN_FERROR = 1.0
HOME = 0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0
HOME_USE_INDEX = False
HOME_IGNORE_LIMITS = False