# This config file was created 2016-12-15 09:30:26.457923 by the update_ini script
# The original config files may be found in the /home/skunkworks/linuxcnc/configs/circblendMaster/axis/axisfast.old directory

# EMC controller parameters for a simulated machine.

# 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 = 1.0

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

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =               0x7FFFFFFF
DEBUG = 0

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

; EMBED_TAB_NAME = Camera
; EMBED_TAB_COMMAND = camview-emc  -w {XID}

#ARCDIVISION = 200
PYVCP = vcp.xml
# Name of display program, e.g., xemc
DISPLAY = axis

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.100

# Path to help file
HELP_FILE =             doc/help.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 =     10
MAX_SPINDLE_OVERRIDE =  1.0

MAX_LINEAR_VELOCITY =   12
DEFAULT_LINEAR_VELOCITY =   .25
# Prefix to be used
PROGRAM_PREFIX = ../../../nc_files/

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

EDITOR = gedit
TOOL_EDITOR = tooledit

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 controller section -----------------------------------------------------

[RS274NGC]
#REMAP=M55 modalgroup=7 ngc=offtry

# File containing interpreter variables
PARAMETER_FILE = sim.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_PERIOD is unused in this configuration but specified in core_sim.hal
BASE_PERIOD  =               0
# Servo task period, in nano-seconds
SERVO_PERIOD =               1000000
SERVO_PERIOD =               200000

# Hardware Abstraction Layer 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 =            0.001

# Part program interpreter 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 = axis_manualtoolchange.hal
HALFILE = simulated_home.hal
HALFILE = check_constraints.hal


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

# Single file that is executed after the GUI has started.  Only supported by
# AXIS at this time (only AXIS creates a HAL component of its own)
POSTGUI_HALFILE = postgui.hal

HALUI = halui

# Trajectory planner section --------------------------------------------------

[HALUI]
#No Content
[TRAJ]


AXES =                  3
COORDINATES =           X Y Z
HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_LINEAR_VELOCITY =      1.2
POSITION_FILE = position.txt
MAX_LINEAR_VELOCITY =   20
ARC_BLEND_ENABLE =      1
ARC_BLEND_FALLBACK_ENABLE = 0
ARC_BLEND_OPTIMIZATION_DEPTH = 100
ARC_BLEND_GAP_CYCLES = 4
ARC_BLEND_RAMP_FREQ = 1000
ARC_BLEND_KINK_RATIO = .1


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

# First axis
[EMCIO]

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

# cycle time, in seconds
CYCLE_TIME =    0.100

# tool table file
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_QUILL_UP = 1


[KINS]
KINEMATICS = trivkins
#This is a best-guess at the number of joints, it should be checked
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 8.333
MAX_ACCELERATION = 30

[JOINT_0]


TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  8.333
MAX_ACCELERATION =              30
MAX_JERK	=		5000
BACKLASH = 0.000
INPUT_SCALE =                   1500
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -1000.0
MAX_LIMIT =                     1000.0
FERROR = 0.050
MIN_FERROR = 0.010
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_Y]
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 8.333
MAX_ACCELERATION = 30

[JOINT_1]


TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  8.333
MAX_ACCELERATION =             30
MAX_JERK	=		5000
BACKLASH = 0.000
INPUT_SCALE =                   1500
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -1000.0
MAX_LIMIT =                     1000.0
FERROR = 0.050
MIN_FERROR = 0.010
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

# Third axis
[AXIS_Z]
MIN_LIMIT = -1000
MAX_LIMIT = 1000
MAX_VELOCITY = 8.333
MAX_ACCELERATION = 30

[JOINT_2]


TYPE =                          LINEAR
HOME =                          0.0
MAX_VELOCITY =                  8.333
MAX_ACCELERATION =              30
MAX_JERK	=	5000
BACKLASH = 0.0
INPUT_SCALE =                   1500
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -1000
MAX_LIMIT =                     1000
FERROR = 0.050
MIN_FERROR = 0.010
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

# section for main IO controller parameters -----------------------------------