# file modified from emc/configs/sim/axis.ini

[EMC]
VERSION = ini_hal_demo
MACHINE = ini_hal_demo
DEBUG = 0

[RS274NGC]
PARAMETER_FILE    = sim.var

[DISPLAY]
PROGRAM_PREFIX    = ../../nc_files

DISPLAY                 = axis
CYCLE_TIME              = 0.100
HELP_FILE               = doc/help.txt
POSITION_OFFSET         = RELATIVE
POSITION_FEEDBACK       = ACTUAL
MAX_FEED_OVERRIDE       = 2.0
MAX_SPINDLE_OVERRIDE    = 1.0
MAX_LINEAR_VELOCITY     = 1.2
DEFAULT_LINEAR_VELOCITY = .25
INTRO_GRAPHIC           = linuxcnc.gif
INTRO_TIME              = 1
EDITOR                  = gedit
# use tooltable columns for diam and z only:
TOOL_EDITOR = tooledit diam z
INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py  = python

[TASK]
TASK       = milltask
CYCLE_TIME = 0.001

[EMCMOT]
EMCMOT       = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT    = 0.010
BASE_PERIOD  = 0
SERVO_PERIOD = 1000000

[HAL]
HALFILE = core_sim.hal
HALFILE = axis_manualtoolchange.hal
HALFILE = simulated_home.hal
HALFILE = ini_hal_pins.tcl
HALUI   = halui

[TRAJ]
AXES                = 3
COORDINATES         = X Y Z
#NO_FORCE_HOMING    = 1
HOME                = 0 0 0
LINEAR_UNITS        = inch
ANGULAR_UNITS       = degree
CYCLE_TIME          = 0.010
DEFAULT_VELOCITY    = 1.2
MAX_LINEAR_VELOCITY = 1.2
MAX_VELOCITY = 1.2345

[AXIS_0]
TYPE                = LINEAR
MAX_VELOCITY        = 40
MAX_ACCELERATION    = 100.0
BACKLASH            = 0.001
INPUT_SCALE         = 4000
OUTPUT_SCALE        = 1.000
MIN_LIMIT           = -400.0
MAX_LIMIT           = 400.0
FERROR              = 0.050
MIN_FERROR          = 0.010
HOME                = 0.0
HOME_OFFSET         = 0.0
HOME_SEARCH_VEL     = 20.0
HOME_LATCH_VEL      = 20.0
HOME_USE_INDEX      = NO
HOME_IGNORE_LIMITS  = NO
HOME_SEQUENCE       = 1
HOME_IS_SHARED      = 1

# Second axis
[AXIS_1]
TYPE                = LINEAR
MAX_VELOCITY        = 40
MAX_ACCELERATION    = 100.0
BACKLASH            = 1.000
INPUT_SCALE         = 4000
OUTPUT_SCALE        = 1.000
MIN_LIMIT           = -400.0
MAX_LIMIT           = 400.0
FERROR              = 0.050
MIN_FERROR          = 0.010
HOME                = 0.0
HOME_OFFSET         = 0.0
HOME_SEARCH_VEL     = 20.0
HOME_LATCH_VEL      = 20.0
HOME_USE_INDEX      = NO
HOME_IGNORE_LIMITS  = NO
HOME_SEQUENCE       = 1


[AXIS_2]
TYPE                = LINEAR
MAX_VELOCITY        = 40
MAX_ACCELERATION    = 100.0
BACKLASH            = 2.000
INPUT_SCALE         = 4000
OUTPUT_SCALE        = 1.000
MIN_LIMIT           = -800.0
MAX_LIMIT           = 100.0
FERROR              = 0.050
MIN_FERROR          = 0.010
HOME                = 0.0
HOME_OFFSET         = 1.0
HOME_SEARCH_VEL     = 20.0
HOME_LATCH_VEL      = 20.0
HOME_USE_INDEX      = NO
HOME_IGNORE_LIMITS  = NO
HOME_SEQUENCE       = 0
HOME_IS_SHARED      = 1

[EMCIO]
EMCIO                = io
CYCLE_TIME           = 0.100
TOOL_TABLE           = sim.tbl
TOOL_CHANGE_POSITION = 0 0 2