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

#- Version of this INI file
VERSION =               $Revision$

#+ Name of machine, for use with display, etc.
MACHINE =               GM6-PCI-3-axis-stepper

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

###############################################################################
# Sections for display options
###############################################################################
[DISPLAY]

#+ Name of display program, e.g., xemc
DISPLAY =              axis
# DISPLAY =              usrmot
# DISPLAY =              mini
# DISPLAY = 		 tkemc
# DISPLAY =              touchy
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.200

#- Path to help file
HELP_FILE =             tkemc.txt

#- Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       RELATIVE

#- Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     ACTUAL

#+ Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.2

#- Prefix to be used
#PROGRAM_PREFIX = /home/gm/emc2/nc_files
PROGRAM_PREFIX = ../../nc_files/

#- Introductory graphic
INTRO_GRAPHIC =         emc2.gif
INTRO_TIME =            1

###############################################################################
# Task controller section
###############################################################################
[TASK]

# Name of task controller program, e.g., milltask
TASK =                  milltask

#- Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.010

[RS274NGC]

#- File containing interpreter variables
PARAMETER_FILE =        gm.var

###############################################################################
# Motion control section
###############################################################################
[EMCMOT]

#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT =              motmod

#- Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0

#- Interval between tries to emcmot, in seconds
COMM_WAIT =             0.010

#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD =               1000000

###############################################################################
# Hardware Abstraction Layer section
###############################################################################
[HAL]

# list of hal config files to run through halcmd
#+ files are executed in the order in which they appear
HALFILE =                    3-axis-stepper.hal

###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES =                  3
COORDINATES =           X Y Z
HOME =                  0 0 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      0.424
MAX_VELOCITY =          30.48
DEFAULT_ACCELERATION =  300.0
MAX_ACCELERATION =      500.0

###############################################################################
# Axes sections
###############################################################################

#+ First axis
[AXIS_0]

TYPE =                          LINEAR
HOME =                          -50.000
MAX_VELOCITY =                  30.48
STEPGEN_MAXVEL =              	0.0
MAX_ACCELERATION =              50.0
STEPGEN_MAXACCEL =              0.0
BACKLASH = 			0.000
SCALE =                   	1000
OUTPUT_SCALE = 			1.000
MIN_LIMIT =                     -191.0
MAX_LIMIT =                     0.0
FERROR = 			1.270
MIN_FERROR = 			0.254
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               15.0
HOME_LATCH_VEL =                -2.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
HOME_SEQUENCE =                 1

#+ Second axis
[AXIS_1]

TYPE =                          LINEAR
HOME =                          -40.000
MAX_VELOCITY =                  30.48
STEPGEN_MAXVEL =              	0.0
MAX_ACCELERATION =              50.0
STEPGEN_MAXACCEL =              0.0
BACKLASH = 			0.000
SCALE =                   	-1000
OUTPUT_SCALE = 			1.000
MIN_LIMIT =                     -250.0
MAX_LIMIT =                     0.0
FERROR = 			1.270
MIN_FERROR = 			0.254
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               15.0
HOME_LATCH_VEL =                -3.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
HOME_SEQUENCE =                 1

#+ Third axis
[AXIS_2]

TYPE =                          LINEAR
HOME =                          -30.0
MAX_VELOCITY =                  30.48
STEPGEN_MAXVEL =              	0.0
MAX_ACCELERATION =              50.0
STEPGEN_MAXACCEL =              0.0
BACKLASH = 			0.000
SCALE =                   	100
OUTPUT_SCALE = 			1.000
MIN_LIMIT =                     -985.0
MAX_LIMIT =                     0.00
FERROR = 			1.270
MIN_FERROR = 			0.254
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               15.0
HOME_LATCH_VEL =                -3.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
HOME_SEQUENCE =                 0

###############################################################################
# section for main IO controller parameters
###############################################################################
[EMCIO]

#- Name of IO controller program, e.g., io
EMCIO = 		io

#- cycle time, in seconds
CYCLE_TIME =            0.100