# 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 =               $Revision$

# 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]


# Name of display program, e.g., xemc
DISPLAY =             axis
LATHE = 1
# 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 =     1.2
MAX_SPINDLE_OVERRIDE =  1.0
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/

# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5

EDITOR = gedit

INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 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 -----------------------------------------------------
[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 --------------------------------------------
[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE = sim_mm.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

# 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 = sim_spindle_encoder.hal
HALFILE = axis_manualtoolchange.hal
HALFILE = simulated_home.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 = test_postgui.hal

HALUI = halui

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

AXES =                  3
COORDINATES =           X Z
HOME =                  0 0 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      30.48
MAX_VELOCITY =          53.34
DEFAULT_ACCELERATION =  508
MAX_ACCELERATION =      508
POSITION_FILE = position_mm.txt
ARC_BLEND_ENABLE =      1
ARC_BLEND_FALLBACK_ENABLE = 1
ARC_BLEND_OPTIMIZATION_DEPTH = 50
#Use this setting for no smoothing (for debugging and stress-testing)
ARC_BLEND_SMOOTHING_THRESHOLD = .75
#Use this setting for "normal" smoothing, i.e. if we blend over more than 40% of a segment
#ARC_BLEND_SMOOTHING_THRESHOLD = 0.40

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

# First axis
[AXIS_0]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  30.48
MAX_ACCELERATION =              508
BACKLASH = 0.000
INPUT_SCALE =                   157.48
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -2540
MAX_LIMIT =                     2540
FERROR = 1.27
MIN_FERROR = .254
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                127
HOME_LATCH_VEL =                 25.4
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1

# Second axis
[AXIS_1]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  30.48
MAX_ACCELERATION =              508
BACKLASH = 0.000
INPUT_SCALE =                   157.48
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -2540
MAX_LIMIT =                     2540
FERROR = 1.27
MIN_FERROR = .254
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                127
HOME_LATCH_VEL =                 25.4
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 1

# Third axis
[AXIS_2]

TYPE =                          LINEAR
HOME =                          0.0
MAX_VELOCITY =                  30.48
MAX_ACCELERATION =              508
BACKLASH = 0.000
INPUT_SCALE =                   157.48
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -500.8
MAX_LIMIT =                     1010.6
FERROR = 1.27
MIN_FERROR = .254
HOME_OFFSET =                    25.4
HOME_SEARCH_VEL =                127
HOME_LATCH_VEL =                 25.4
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1

# 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 = sim_mm.tbl
TOOL_CHANGE_POSITION = 0 0 50.8