# EMC controller parameters for UPC with threading.
# Modified and intended for use only with Kirk Wallace's HNC lathe - KW 20070823

# General section -------------------------------------------------------------
[EMC]

VERSION =               $Revision: 1.6 $
MACHINE =               HNC-3a-UPC-Thread
NML_FILE =              emc.nml

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG =                 0x00000001
# DEBUG =               0x00000007
# DEBUG =               0x7FFFFFFF

# Sections for display options ------------------------------------------------
[DISPLAY]
DISPLAY =               axis
LATHE   =               1
PYVCP   =               spindle.xml

# DISPLAY =               usrmot
# DISPLAY =    tkemc

CYCLE_TIME        =     0.100
HELP_FILE         =     doc/help.txt
POSITION_OFFSET   =     RELATIVE
POSITION_FEEDBACK =     ACTUAL
MAX_FEED_OVERRIDE =     1.2
PROGRAM_PREFIX    =     ../../nc_files/
INTRO_GRAPHIC     =     emc2.gif
INTRO_TIME        =     2
BALLOON_HELP      =     1

# Task controller section -----------------------------------------------------
[TASK]
TASK =                  milltask
CYCLE_TIME =            0.010

[RS274NGC]
PARAMETER_FILE =        hnc-3a.var

[EMCMOT]
EMCMOT =                motmod
SHMEM_KEY =             111
COMM_TIMEOUT =          1.0
COMM_WAIT =             0.010
BASE_PERIOD =           50000
SERVO_PERIOD =          1000000
TRAJ_PERIOD =           10000000

[HAL]

HALFILE =               hnc_load-3a.hal
# HALFILE =               univpwm_save.hal
HALFILE =               hnc_servo-3a.hal
HALFILE =               hnc_motion-3a.hal
HALFILE =               hnc_io-3a.hal
POSTGUI_HALFILE =       spindle_to_pyvcp.hal

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

[TRAJ]
AXES =                  3
COORDINATES =           X Y Z
HOME =                  0 0 0
LINEAR_UNITS =          0.03937007874016
ANGULAR_UNITS =         1.0
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      0.50
# units/second
MAX_VELOCITY =          4.0
# units/second
DEFAULT_ACCELERATION =  3.0
# units/second^2
MAX_ACCELERATION =      7.0
# units/second^2
PROBE_INDEX =           0
PROBE_POLARITY =        1
POSITION_FILE =         position.txt

# Axes sections ---------------------------------------------------------------

# Important note about OUTPUT_SCALE and PWM_OUTPUT_SCALE
# For this configuration, OUTPUT_SCALE is not used, because
# EMC always overwrites it on shutdown.  So PWM_OUTPUT_SCALE
# was added to hold the scaling.  Someday the OUTPUT_SCALE
# issue may be fixed, and PWM_OUTPUT_SCALE will go away.

# Scaling:  The PWM_OUTPUT_SCALE should be the speed
# in UNITS/second  (inches/sec or mm/sec) that would be
# reached if the PWM duty cycle was 100%.  It depends on
# the power supply voltage, motor RPM/Volt factor, and
# gearing/screw pitch.  For example:
#
# Power supply voltage 50V
# Motor RPM/V     1000RPM/24V
# Gearing:  2 motor revs per 1 screw rev
# Screw pitch: 0.2" per turn
#
# Max motor speed = 50V * 1000RPM/24V = 2083 RPM
# Max screw speed = 2083RPM * 1(screw)/2(motor) = 1041RPM
# Max table speed = 1041RPM * 0.2"/turn = 208 in/min
# Max table speed = 208 in/min / 60 seconds = 3.47 inches/sec
#
# Since max speed is reached at 100% duty cycle, PWM_OUTPUT_SCALE
# should be 3.47

# First axis
[AXIS_0]
TYPE =                          LINEAR
UNITS =                         0.03937007874016
HOME =                          0.000
MAX_VELOCITY =                  3.0
MAX_ACCELERATION =              6.0
PID_MAX_VEL =                   100
BACKLASH =                      0.000
CYCLE_TIME =                    0.001000
INPUT_SCALE =                   50000
OUTPUT_SCALE =                  -1
PWM_OUTPUT_SCALE =              -1
MIN_LIMIT =                     -12.0
MAX_LIMIT =                     10.0
FERROR =                        0.005
MIN_FERROR =                    0.002


HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0.8
HOME_LATCH_VEL =                -0.06
HOME_USE_INDEX =                YES
HOME_IGNORE_LIMITS =            NO

DEADBAND = 1e-06
P =        250
I =        0
D =        1
BIAS =     0
FF0 =      0
FF1 =      0.25
FF2 =      0.002


# Second axis
[AXIS_1]

TYPE =                          LINEAR
UNITS =                         0.03937007874016
HOME =                          0.000
MAX_VELOCITY =                  1.20
MAX_ACCELERATION =              2.0
PID_MAX_VEL =              1.2
BACKLASH = 0.000
CYCLE_TIME =                    0.001000
INPUT_SCALE =                   -128000
OUTPUT_SCALE = 1.000
PWM_OUTPUT_SCALE =              -1
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
FERROR = 0.002
MIN_FERROR = 1.005
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO

DEADBAND = 1e-06
P =        1600
I =                              30
D =                                10
BIAS =                             0
FF0 =                              0
FF1 =                              0.6
FF2 =                              0.08

# Third axis
[AXIS_2]
TYPE =                          LINEAR
UNITS =                         0.03937007874016
HOME =                          0.000
MAX_VELOCITY =                  3.0
MAX_ACCELERATION =              6.0
PID_MAX_VEL =                   100
BACKLASH =                      0.000
CYCLE_TIME =                    0.001000
INPUT_SCALE =                   50000
OUTPUT_SCALE =                  1
PWM_OUTPUT_SCALE =              1
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
FERROR =                        0.005
MIN_FERROR =                    0.002

HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0.8
HOME_LATCH_VEL =                -0.06
HOME_USE_INDEX =                YES
HOME_IGNORE_LIMITS =            NO

DEADBAND = 1e-06
P =        210
I =        0
D =        1.3
BIAS =     0
FF0 =      0
FF1 =      0.25
FF2 =      0.002

[SPINDLE]
# Encoder
INPUT_SCALE =                   -5000
OUTPUT_SCALE =                  1
# DAC output to VFD
DAC_SCALE =                     320

[TURRET]
STOP_SETTLE =                   200
PARK_SETTLE =                   200

[EMCIO]
EMCIO =     io
CYCLE_TIME =    0.100
TOOL_TABLE =    hnc-3a.tbl
# TOOL_CHANGE_POSITION = 4 0 6

[EMCSERVER]
# Uncomment the following line if you need to run a remote GUI.
# EMCSERVER =           emcsvr