hexapod7i43.ini

[EMC]
MACHINE = 			hexapod
DEBUG = 			0

[DISPLAY]
DISPLAY = 			axis
CYCLE_TIME =            	0.05
POSITION_OFFSET = 		RELATIVE
POSITION_FEEDBACK = 		ACTUAL
MAX_FEED_OVERRIDE = 		2.000000
MAX_SPINDLE_OVERRIDE = 		1.500000
MIN_SPINDLE_OVERRIDE = 		0.500000
INTRO_GRAPHIC = 		emc2.gif
INTRO_TIME = 			1
INCREMENTS = 			5mm 1mm .5mm .1mm .05mm .01mm .005mm
DEFAULT_LINEAR_VELOCITY = 	10
MAX_LINEAR_VELOCITY = 		250
MIN_LINEAR_VELOCITY = 		0.1
DEFAULT_ANGULAR_VELOCITY = 	1
MAX_ANGULAR_VELOCITY = 		100
MIN_ANGULAR_VELOCITY = 		0.01
EDITOR = 			gedit
GEOMETRY = 			XYZCA-B

[FILTER]
PROGRAM_EXTENSION = 		.png,.gif,.jpg Greyscale 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 = 			0.010

[RS274NGC]
PARAMETER_FILE = 		emc.var

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

# [HOSTMOT2]
# This is for info only
# DRIVER0=hm2_7i43
# BOARD0=7i43
# CONFIG0="firmware=hm2/7i43-4/SVST4_6.BIT num_encoders=0 num_pwmgens=0 num_3pwmgens=0 num_stepgens=6"

[HAL]
HALUI = 			halui
HALFILE = 			hexapod7i43.hal
#SHUTDOWN = 			shutdown.hal

[HALUI]

[TRAJ]
AXES = 				6
COORDINATES = 			X Y Z A B C
LINEAR_UNITS = 			mm
ANGULAR_UNITS = 		degree
CYCLE_TIME = 			0.010
DEFAULT_VELOCITY = 		10
MAX_LINEAR_VELOCITY = 		250
POSITION_FILE = 		position.txt
NO_FORCE_HOMING = 		1

[EMCIO]
EMCIO = 			io
CYCLE_TIME = 			0.100
TOOL_TABLE = 			tool.tbl

[AXIS_0]
TYPE = 				LINEAR
HOME = 				249.66626
FERROR = 			15.0
MIN_FERROR = 			1
MAX_VELOCITY = 			250
MAX_ACCELERATION = 		10000.0
# these are in nanoseconds
DIRSETUP   = 			15000
DIRHOLD    = 			15000
STEPLEN    = 			2500
STEPSPACE  = 			2500
STEP_SCALE = 			200.0
MIN_LIMIT = 			-200.0
MAX_LIMIT = 			650.0
HOME_OFFSET = 			249.66626
HOME_SEARCH_VEL = 		0
HOME_LATCH_VEL = 		0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO


[AXIS_1]
TYPE = 				LINEAR
HOME = 				249.63733
FERROR = 			15
MIN_FERROR = 			1
MAX_VELOCITY = 			250
MAX_ACCELERATION = 		10000.0
# these are in nanoseconds
DIRSETUP   = 			15000
DIRHOLD    = 			15000
STEPLEN    = 			2500
STEPSPACE  = 			2500
STEP_SCALE = 			200.0
MIN_LIMIT = 			-200.0
MAX_LIMIT = 			650.0
HOME_OFFSET = 			249.63733
HOME_SEARCH_VEL = 		0
HOME_LATCH_VEL = 		0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO


[AXIS_2]
TYPE = 				LINEAR
HOME = 				249.66626
FERROR = 			15.0
MIN_FERROR = 			1
MAX_VELOCITY = 			250
MAX_ACCELERATION = 		10000.0
# these are in nanoseconds
DIRSETUP   = 			15000
DIRHOLD    = 			15000
STEPLEN    = 			2500
STEPSPACE  = 			2500
STEP_SCALE = 			200.0
MIN_LIMIT = 			-200.0
MAX_LIMIT = 			650.0
HOME_OFFSET = 			249.66626
HOME_SEARCH_VEL = 		0
HOME_LATCH_VEL = 		0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO


[AXIS_3]
TYPE = 				ANGULAR
HOME = 				249.63733
FERROR = 			15.0
MIN_FERROR = 			1
MAX_VELOCITY = 			150
MAX_ACCELERATION = 		750.0
# these are in nanoseconds
DIRSETUP   = 			15000
DIRHOLD    = 			15000
STEPLEN    = 			2500
STEPSPACE  = 			2500
STEP_SCALE = 			200.0
MIN_LIMIT = 			-200.0
MAX_LIMIT = 			650.0
HOME_OFFSET = 			249.63733
HOME_SEARCH_VEL = 		0
HOME_LATCH_VEL = 		0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO


[AXIS_4]
TYPE = 				ANGULAR
HOME = 				249.66626
FERROR = 			15.0
MIN_FERROR = 			1
MAX_VELOCITY = 			150
MAX_ACCELERATION = 		750.0
# these are in nanoseconds
DIRSETUP   = 			15000
DIRHOLD    = 			15000
STEPLEN    = 			2500
STEPSPACE  = 			2500
STEP_SCALE = 			200.0
MIN_LIMIT = 			-200.0
MAX_LIMIT = 			650.0
HOME_OFFSET = 			249.66626
HOME_SEARCH_VEL = 		0
HOME_LATCH_VEL = 		0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO


[AXIS_5]
TYPE = 				ANGULAR
HOME = 				249.63733
FERROR = 			15.0
MIN_FERROR = 			1
MAX_VELOCITY = 			150
MAX_ACCELERATION = 		750.0
# these are in nanoseconds
DIRSETUP   = 			15000
DIRHOLD    = 			15000
STEPLEN    = 			2500
STEPSPACE  = 			2500
STEP_SCALE = 			200.0
MIN_LIMIT = 			-200.0
MAX_LIMIT = 			650.0
HOME_OFFSET = 			249.63733
HOME_SEARCH_VEL = 		0
HOME_LATCH_VEL = 		0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO