249 lines
6.9 KiB
INI
249 lines
6.9 KiB
INI
# EMC controller parameters for a plasma controller. Make these what you need
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# for your system.
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# General note: Comments can either be preceded with a # or ; - either is
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# acceptable, although # is in keeping with most linux config files.
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# Settings with a + at the front of the comment are likely needed to get
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# changed by the user.
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# Settings with a - at the front are highly unneeded to be changed
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###############################################################################
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# General section
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###############################################################################
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[EMC]
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#- Version of this INI file
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VERSION = 1.1
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#+ Name of machine, for use with display, etc.
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MACHINE = LinuxCNC-STEPPER-GANTRY
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#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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DEBUG = 0
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#DEBUG = 0x00000007
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#DEBUG = 0x7FFFFFFF
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# Enable Adaptive Feedrate for THC
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# Used to pause execution of gcode for setup,
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# pierce delay and manual verification of pierce height
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# Set spindle speed to 1
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# Set up to use metric mm
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RS274NGC_STARTUP_CODE = M52 P1 G21 S1
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###############################################################################
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# Sections for display options
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###############################################################################
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[DISPLAY]
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#+ Name of display program, e.g., axis
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DISPLAY = axis
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#DISPLAY = tklinuxcnc
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# Cycle time, in seconds, that display will sleep between polls
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CYCLE_TIME = 0.200
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#- Path to help file
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HELP_FILE = doc/help.txt
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#HELP_FILE = tklinuxcnc.txt
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#- Initial display setting for position, RELATIVE or MACHINE
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POSITION_OFFSET = RELATIVE
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#- Initial display setting for position, COMMANDED or ACTUAL
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POSITION_FEEDBACK = ACTUAL
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#+ Highest value that will be allowed for feed override, 1.0 = 100%
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MAX_FEED_OVERRIDE = 1.5
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#- Prefix to be used
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PROGRAM_PREFIX = ../../nc_files/
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#- Introductory graphic
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 3
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#Increments for the JOB Section
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INCREMENTS = 1000 10 1 0.1 0.01
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# Editor to be used with Axis
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#EDITOR = geany
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###############################################################################
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# Task controller section
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###############################################################################
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[FILTER]
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#No Content
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[RS274NGC]
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#- File containing interpreter variables
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PARAMETER_FILE = stepper.var
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###############################################################################
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# Motion control section
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###############################################################################
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[EMCMOT]
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#- Name of the motion controller to use (only one exists for nontrivkins)
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EMCMOT = motmod
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#- Timeout for comm to emcmot, in seconds
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COMM_TIMEOUT = 1.0
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#+ Base task period, in nanosecs - this is the fastest thread in the machine
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#BASE_PERIOD = 15000
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#BASE_PERIOD = 18000
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#BASE_PERIOD = 20000
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BASE_PERIOD = 35000
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#BASE_PERIOD = 50000
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#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
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SERVO_PERIOD = 100000
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###############################################################################
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# Hardware Abstraction Layer section
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###############################################################################
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[TASK]
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# Name of task controller program, e.g., milltask
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TASK = milltask
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#- Cycle time, in seconds, that task controller will sleep between polls
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CYCLE_TIME = 0.100
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###############################################################################
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# Part program interpreter section
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###############################################################################
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[HAL]
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# The run script first uses halcmd to execute any HALFILE
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# files, and then to execute any individual HALCMD commands.
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#
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# HALUI to interact with NML
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# Run before any other HALFILE
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HALUI = halui
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# list of hal config files to run through halcmd
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#+ files are executed in the order in which they appear
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HALFILE = kinematics.hal
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HALFILE = stepper.hal
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HALFILE = stepper_parport.hal
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HALFILE = estop.hal
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#- list of halcmd commands to execute
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# commands are executed in the order in which they appear
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#HALCMD = save neta
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###############################################################################
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# Trajectory planner section
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###############################################################################
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[HALUI]
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#No Content
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[TRAJ]
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#+ machine specific settings
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COORDINATES = X Y Z A
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LINEAR_UNITS = mm
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ANGULAR_UNITS = deg
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DEFAULT_LINEAR_VELOCITY = 100
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MAX_LINEAR_VELOCITY = 180
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DEFAULT_LINEAR_ACCELERATION = 600
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MAX_LINEAR_ACCELERATION = 2400
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###############################################################################
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# Axes sections
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###############################################################################
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#+ First axis (X)
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[EMCIO]
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# A Tooltable file
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TOOL_TABLE = stepper.tbl
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[KINS]
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KINEMATICS = trivkins coordinates=XYZA kinstype=BOTH
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JOINTS = 4
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[AXIS_X]
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MIN_LIMIT = -1
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MAX_LIMIT = 2055
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MAX_VELOCITY = 170
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MAX_ACCELERATION = 2400
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 170
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MAX_ACCELERATION = 2400
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STEPGEN_MAXACCEL = 2960
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BACKLASH = 0.000
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SCALE = 150.333
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MIN_LIMIT = -1
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MAX_LIMIT = 2055
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FERROR = 1.270
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MIN_FERROR = 0.254
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = -50.0
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HOME_LATCH_VEL = 1.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 1
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#+ Second axis (Y)
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[AXIS_Y]
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MIN_LIMIT = -1
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MAX_LIMIT = 6050.0
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MAX_VELOCITY = 170
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MAX_ACCELERATION = 2400
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[JOINT_1]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 170
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MAX_ACCELERATION = 2400
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STEPGEN_MAXACCEL = 2960
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BACKLASH = 0.000
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SCALE = 150.333
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MIN_LIMIT = -1
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MAX_LIMIT = 6050.0
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FERROR = 1.270
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MIN_FERROR = 0.254
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = -50.0
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HOME_LATCH_VEL = 1.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 1
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#+ Third axis (Z)
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[AXIS_Z]
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MIN_LIMIT = -1
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MAX_LIMIT = 56.0
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MAX_VELOCITY = 8
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MAX_ACCELERATION = 600
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[JOINT_2]
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TYPE = LINEAR
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HOME = 55.000
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MAX_VELOCITY = 8
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MAX_ACCELERATION = 600
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STEPGEN_MAXACCEL = 650
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#STEPGEN_MAXACCEL = 2960
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BACKLASH = 0.000
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SCALE = 200
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MIN_LIMIT = -1
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MAX_LIMIT = 56.0
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FERROR = 1.270
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#MIN_FERROR = 0.254
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# This is done so Z axis can be operated with a HAL closed loop (plasma THC)
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MIN_FERROR = 500
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HOME_OFFSET = 55.0
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HOME_SEARCH_VEL = 10.0
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HOME_LATCH_VEL = -2.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 0
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#+ Second axis (A)
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[AXIS_A]
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MIN_LIMIT = -1
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MAX_LIMIT = 6050.0
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MAX_VELOCITY = 170
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MAX_ACCELERATION = 2400
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[JOINT_3]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 170
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MAX_ACCELERATION = 2400
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STEPGEN_MAXACCEL = 2960
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BACKLASH = 0.000
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SCALE = 150.333
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -1
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MAX_LIMIT = 6050.0
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FERROR = 1.270
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MIN_FERROR = 0.254
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = -50.0
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HOME_LATCH_VEL = 1.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = YES
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HOME_SEQUENCE = 1
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###############################################################################
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# section for main IO controller parameters
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###############################################################################
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