# EMC controller parameters for generic controller. Make these what you need
# for your system.

# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.


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

# Version of this INI file
VERSION =               $Revision$

# Name of machine, for use with display, etc.
MACHINE =               LinuxCNC-DEMO-SIM-CL

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

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

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

# Path to help file
HELP_FILE =             tklinucnc.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 = ../../nc_files/

# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 2

# Editor to be used with Axis
EDITOR = gedit

# 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

# Part program interpreter section --------------------------------------------
[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE =        demo_sim_cl.var

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

EMCMOT =              motmod

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

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

# Base task period, in nanoseconds - this is the fastest thread in the machine
BASE_PERIOD =                50000
# Servo task period, in nanoseconds - will be rounded to an integer multiple
#   of BASE_PERIOD
SERVO_PERIOD =               1000000

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

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#

# list of hal config files to run through halcmd
# files are executed in the order in which they appear
HALFILE =                    core_sim.hal
HALFILE =                    demo_sim_cl.hal

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

# Trajectory planner section --------------------------------------------------
[TRAJ]

AXES =                  3
# COORDINATES =         X Y Z A B C
COORDINATES =           X Y Z
HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      0.0167
MAX_VELOCITY =          1.2
DEFAULT_ACCELERATION =  15.0
MAX_ACCELERATION =      20.0

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

# First axis
[AXIS_0]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  1.2
MAX_ACCELERATION =              20.0
STEPGEN_MAXACCEL =              21.0
BACKLASH = 0.000
SCALE =                   4000 
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO

# Second axis
[AXIS_1]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  1.2
MAX_ACCELERATION =              20.0
STEPGEN_MAXACCEL =              21.0
BACKLASH = 0.000
SCALE =                   4000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO

# Third axis
[AXIS_2]

TYPE =                          LINEAR
HOME =                          0.0
MAX_VELOCITY =                  1.2
MAX_ACCELERATION =              20.0
STEPGEN_MAXACCEL =              21.0
BACKLASH = 0.000
SCALE =                   4000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -2.0
MAX_LIMIT =                     4.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO

# 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

# tool table file
TOOL_TABLE =    demo_sim_cl.tbl