################################################################################
#
#       Copyright (c) 2005-2009, Stratasys Inc.
#       All Rights Reserved Worldwide.
#
#       MODELER2.CFG FILE FOR LAHAINA, KAPALUA, AND PAIA GENDERS
#       SR30 SUPPORT MATERIAL
#
#       %full_name: 55/cfg/modeler2.cfg/12.2.1 %
#       %derived_by: mbjurstr %
#       %date_created: Thu Apr 29 13:47:18 2010 %
#
################################################################################

# History:
# Rev A:  Incorporated Hawaii changes.        BND 9-19-06
# Rev B:  Zeroed purge position modifiers     BND 11-10-06
# Rev C:  Change xpurge, xbrush parameters    MM 03-20-07
# Rev D:  XY motor currents changed to 2.0A.  BND 7-19-07
# Rev E:  Reduced motor currents to 1.25A
#         Reduced long purge time to 10 seconds.
#         Updated constants for Maui 8x6 DVT. 
#         Decreased model purge time.         BND 9-27-07
# Rev F:  Increased support std purge time to 35.  BND 11-9-07
# Rev G:  increased gluelessrate to 12 IPS.
#         increased model purge rollback to -2400.  TPP 12-12-07
# Rev H:  zeroed out purge and brush modifiers.  BND 1-21-08     
# Rev I:  zeroed out XY glueless rate.   BND 2-11-08
# Rev J:  Reduced model and support std purge rates, increased times.
#         Decreased support long purge rate. 
#         Decreased model acceleration - all to reduce push force.  BND 3-17-08#
# Rev K:  Another change to model and support std purge rates and times to reduce purge length.
#                 Changed long purge rates and times to match.  
#                 Changed model and support purge rollback distances.
#                 Changed support unload purge temp to 290.     
#                 Increased tip wipe pattern width.  Added notes to tip wipe and brush modifiers.  BND 4-8-08
# Rev L:  Added look-ahead setback temperature for support.  HPE 6-16-08
# Rev M:  Added look-ahead setback temperature for model, reduced POV rollback.  BND 6-27-08
# Rev N:  Reduced support SH purge rollback.  BND 8-01-08
# Rev O:  Reduced model unload temperature.  BND 9-16-08
# Rev P:  Added comments to unload and purge parameters.  BND 10-8-08
# Rev Q:  Changed model additional rollback to eliminate gaps in purge seams.
#         Changed model & support std. purge rollback distance to optimize purge seams.  TPP 10-22-08
# Rev R:  Changed support LATS temperature=270.  BND 3-17-09
# Rev S:  Added Kapalua gender to title block.  BND 5-06-09
# Rev T:  Reduced 'MDLSTDPURGEDIST' from -2000 to -2350.  BJE 7-23-09
# Rev U:  Reduced 'MDLSTDPURGEDIST' from -2350 to -2400.  BJE 9-16-09
# Rev V:  Reduced 'SPTCURRENTLIMIT' from 13652 to 12000. PL 11-2-09
# Rev W:  Increased SUPADDROLLBACK from -10k to -18k, SUPSHBLOWEROFFTIME from 3k to 5k, SUPHOTTEMPERATURE 
#         from 300 to 310, SUPLOOKAHEADSETBACKTEMP from 270 to 280 - ALL FOR SR30.   BND 9-10-09
#
#
# This file contains the following information:
#   head motor PID values
#   select head purge parameters
#   head PID control parameters
#   autoload parameters
#   Stepper Motor Currents:
#   XYZ Axis Speed Parameters:
#   Purge and Tip Wipe Locations:
# Pump conversion factors:  MICS = (counts/cycle)/815
#                                MIC = (counts)/.0494
# ------------------------------------------------
# Head Motor PID:
SPTHEADMOTORKP=90               
SPTHEADMOTORKI=100
SPTHEADMOTORKD=5
SPTHEADMOTORKAFF=900
SPTHEADMOTORKVFF=0
SPTHEADMOTORAC=50000
SPTHEADMOTORIL=15000
SPTHEADMOTORDS=10
MDLHEADMOTORKP=90
MDLHEADMOTORKI=100
MDLHEADMOTORKD=5
MDLHEADMOTORKAFF=900
MDLHEADMOTORKVFF=0
MDLHEADMOTORAC=25000
MDLHEADMOTORIL=15000
MDLHEADMOTORDS=10
# Head Motor Currents:
MDLCURRENTLIMIT=13652           # (1/32767)*3A = 1.25A
SPTCURRENTLIMIT=12000           # (1/32767)*3A = 1.10A
# Purge Parameters:
SUPPREPURGEDELAY=0              # 1/10 sec
SUPPREPURGEROLLBACK=0           # counts
SPTLONGPURGERATE=500000         # triggered by TIPIDLETIMEOUT.  counts/cycle
SPTLONGPURGETIME=35             # 1/10 seconds
SPTLONGPURGERBRATE=1600000      # counts/cycle
SPTLONGPURGERBDIST=-500         # counts
SPTSTDPURGERATE=500000          # counts/cycle
SPTSTDPURGETIME=35              # 1/10 sec
SPTSTDPURGERBRATE=1600000       # counts/cycle
SPTSTDPURGERBDIST=-2400         # controls purge seam.  counts
SUPPOSTPURGEDELAY=1             # sec
SUPADDROLLBACK=-18000           # counts
IDLEPURGEDELAY=1                # 1/10 sec
TIPIDLETIMEOUT=1800             # sec - triggers long purge if idle at temp for more than XX sec.
MDLPREPURGEDELAY=0              # 1/10 sec
MDLPREPURGEROLLBACK=0           # counts
MDLLONGPURGERATE=500000         # triggered by TIPIDLETIMEOUT.  counts/cycle
MDLLONGPURGETIME=22             # 1/10 sec
MDLLONGPURGERBRATE=1600000      # counts/cycle
MDLLONGPURGERBDIST=-500         # counts
MDLSTDPURGERATE=500000          # counts/cycle
MDLSTDPURGETIME=22              # 1/10 sec
MDLSTDPURGERBRATE=1600000       # counts/cycle
MDLSTDPURGERBDIST=-2400         # controls purge seam.  counts
MDLPOSTPURGEDELAY=1             # sec
MDLADDROLLBACK=-2500            # counts
MDLSHBLOWEROFFTIME=0            # turn off hb for msec for model
SUPSHBLOWEROFFTIME=5000         # turn off hb for msec for support
MDLTEMPSOAKTIME=30              # delay between reaching temp and purge (sec)
SUPTEMPSOAKTIME=15              # delay between reaching temp and purge (sec)
# Head PID Parameters:
KTEMPERATURETODAC=7             # Head temp PID
TIMETEMPERATUREINTEGRATION=95 # Head temp PID
KPROPORTIONALACTION=30          # Head temp PID
TDERIVITIVE=4                   # Head temp PID
MDLTEMPTOL=70                   # 1/10 degrees C
MDLHIGHTEMPALARM=3330           # 1/10 degrees C
MDLLOWTEMPALARM=2399            # 1/10 degrees C
SUPTEMPTOL=70                   # 1/10 degrees C
SUPHIGHTEMPALARM=3330           # 1/10 degrees C
SUPLOWTEMPALARM=2399            # 1/10 degrees C
# Autoload Parameters:
HOTTEMPERATURE=3000             # 1/10 degrees C  MODEL AUTOLOAD PURGE TEMP
COOLTEMPERATURE=2000            # 1/10 degrees C  MODEL AUTOLOAD (not purge) TEMP
SUPHOTTEMPERATURE=3100          # 1/10 degrees C  SUPPORT AUTOLOAD PURGE TEMP
SUPCOOLTEMPERATURE=2000         # 1/10 degrees C  SUPPORT AUTOLOAD (not purge) TEMP
MODUNLOADTEMPERATURE=3000       # 1/10 degrees C  MODEL UNLOAD PURGE TEMP
SUPUNLOADTEMPERATURE=3100       # 1/10 degrees C  SUPPORT UNLOAD PURGE TEMP
LCLOADSPEED=400000              # counts/cycle
LCDETECTSPEED=600000            # counts/cycle
UCBACKOUTSPEED=800000           # counts/cycle
# Stepper Motor "High Power" Currents ("Low Power" currents are compile time):
XAXISPOWER=21626                # (1/32767)*3A = 2.0A (2.0A measured)
YAXISPOWER=21626                # (1/32767)*3A = 2.0A (2.0A measured)
ZAXISPOWER=22000                # (1/32767)*3A = 2.0A
# XYZ Axis Speed Parameters:
GLUELESSRATE=0                  # Additional increase over 12 IPS = #*.05IPS
GLUELESSACCELERATION=0          # Additional increase over 96.8 in/s^2 = #*.968in/s^2
ZAXISVELOCITY=0                 # Additional increase over 1 IP = #*.015IPS
ZAXISACCELERATION=0             # Additional increase over 38 in/s^2 = #*.38in/s^2
FHCRAWL=0                       # Additional increase over .9 IPS = #*.05IPS
FHVELOCITY=0                    # Additional increase over 1.25 IPS = #*.05IPS
# Purge and Tip Wipe Locations:
XPURGEPOSITION=0                # position modifier = #*.01
XBRUSHPOSITION=0                # position modifier = #*.01 - X position to start tip wipe pattern (left side of brush)
YPURGEPOSITION=0                # position modifier = #*.01
YBRUSHPOSITION=0                # position modifier = #*.01 - Y position to start tip wipe pattern (front side of brush)
TWBRUSHLEN=0                    # position modifier = #*.01 - size of brush in Y
TWBRUSHWID=0                    # position modifier = #*.01 - size of brush in X
TWWIPELEN=0                     # position modifier = #*.01 - size of tip wipe pattern in X
TWWIPEWID=30                    # position modifier = #*.01 - size of tip wipe pattern in Y
TWWIPESTEP=0                    # position modifier = #*.01 - distance to index start point in X
SYSTEMREVISION=1
HMRUNTIME=6000
# Head Temperature Setback Parameters
MDLSETBACKTEMP=2000             # 1/10 C model liquifier setback temperature
SUPSETBACKTEMP=1800             # 1/10 C support liquifier setback temperature
MDLLOOKAHEADSETBACKTEMP=3000    # 1/10 C model end of layer setback temp
SUPLOOKAHEADSETBACKTEMP=2800    # 1/10 C support end of layer setback temp
# Pause On Vertex (POV) Extrusion Constants:
POVMODFLOWDECELERATION=-100000  # encoder_counts/PMD_cycle^2, shifted left 16 bits, must be negative
POVSUPFLOWDECELERATION=100000   # encoder_counts/PMD_cycle^2, shifted left 16 bits, must be positive
POVMODROLLBACKAMOUNT=-2000      # encoder_counts, must be negative
POVSUPROLLBACKAMOUNT=2000       # encoder_counts, must be positive
POVMODROLLBACKFLOWRATE=-1000000 # encoder_counts/PMD_cycle, must be negative
POVSUPROLLBACKFLOWRATE=1000000  # encoder_counts/PMD_cycle, must be positive
# Pause On Vertex (POV) Gantry Constants:
POVXYDECELERATION=10            # inches/s^2 - desired XY decel during POV
POVMAXXYDECELERATION=50         # inches/s^2 - max acceptable XY decel during POV
POVDELAYTIME=10                 # 1/10 sec
#
# Following error monitoring (model)
MODPOSITIONERRORMAX    =   -1	# encoder counts, -1 disables
MODPOSITIONERRORWAIT   =  100	# time in msec
#
# Following error monitoring (support)
SUPPOSITIONERRORMAX    = 1200	# encoder counts, -1 disables
SUPPOSITIONERRORWAIT   =  200	# time in msec
#
# Following error monitoring (support, first layer)
FIRSTPOSITIONERRORMAX  = 3500	# encoder counts, -1 disables
FIRSTPOSITIONERRORWAIT =  600	# time in msec
#
# Head Motor Currents (support, first layer):
FIRSTLAYERCURRENTLIMIT=13652    # (1/32767)*3A = 1.10A
#
# No Ooze Temperatures
MODNOOOZETEMP=3150
SUPNOOOZETEMP=2830

