[EMC]
MACHINE =               Plasma
DEBUG =                 0
VERSION =               1.0


[DISPLAY]
DISPLAY =               axis
CYCLE_TIME =            0.0500
HELP_FILE =             tklinucnc.txt
POSITION_OFFSET =       RELATIVE
POSITION_FEEDBACK =     ACTUAL
MAX_LINEAR_VELOCITY =   100
DEFAULT_LINEAR_VELOCITY = 10
MAX_FEED_OVERRIDE =     1.5
PROGRAM_PREFIX =        /home/cnc/linuxcnc/nc_files
INTRO_GRAPHIC =         linuxcnc.gif
INTRO_TIME =            5
GEOMETRY =              XYYZ
PYVCP =                 plasma.xml

[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 =            0.010

[RS274NGC]
PARAMETER_FILE =        hm2-stepper.var

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

[HAL]
HALFILE =               plasma.hal
HALUI =                 halui
# commands are executed in the order in which they appear
#HALCMD =               save neta
POSTGUI_HALFILE =       postgui.hal

[HALUI]
MDI_COMMAND =           G0 X0 Y0
MDI_COMMAND =           O<setorigin> CALL


[KINS]
JOINTS =                4
KINEMATICS =            gentrivkins

[TRAJ]
AXES =                  4
COORDINATES =           X Y Z
#HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010

# X
[AXIS_X]
HOME =                  0.000
MIN_LIMIT =             0.0
MAX_LIMIT =             50.0
MAX_VELOCITY =          20
MAX_ACCELERATION =      100

[JOINT_0]
TYPE =                  LINEAR
BACKLASH =              0.000
MIN_LIMIT =             0.0
MAX_LIMIT =             50.0
MAX_VELOCITY =          20
MAX_ACCELERATION =      100
FERROR =                0.050
MIN_FERROR =            0.005
HOME =                  0.000
HOME_SEQUENCE =         1
HOME_OFFSET =           0.000
HOME_SEARCH_VEL =       -5
HOME_LATCH_VEL =        0.3
HOME_USE_INDEX =        NO
HOME_IGNORE_LIMITS =    YES
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =       30
STEPGEN_MAX_ACC =       120
SCALE =                 715.1
# these are in nanoseconds
DIRSETUP   =            700
DIRHOLD    =            700
STEPLEN    =            2000
STEPSPACE  =            2000


# Y
[AXIS_Y]
HOME =                  0.000
MIN_LIMIT =             0
MAX_LIMIT =             45
MAX_VELOCITY =          20
MAX_ACCELERATION =      80

# Y first joint (Y on gecko)
[JOINT_1]
TYPE =                  LINEAR
BACKLASH =              0.000
MIN_LIMIT =             0
MAX_LIMIT =             45
MAX_VELOCITY =          20
MAX_ACCELERATION =      80
FERROR =                0.050
MIN_FERROR =            0.005
HOME =                  0.000
HOME_SEQUENCE =         2
HOME_OFFSET =           0.000
HOME_SEARCH_VEL =       -5
HOME_LATCH_VEL =        0.3
HOME_USE_INDEX =        NO
HOME_IGNORE_LIMITS =    YES
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =       36
STEPGEN_MAX_ACC =       120
SCALE =                 1909.86
# these are in nanoseconds
DIRSETUP   =            700
DIRHOLD    =            700
STEPLEN    =            2000
STEPSPACE  =            2000


# Y second joint (A on gecko)
[JOINT_3]
TYPE =                  LINEAR
BACKLASH =              0.000
MIN_LIMIT =             0
MAX_LIMIT =             45
MAX_VELOCITY =          20
MAX_ACCELERATION =      80
FERROR =                0.050
MIN_FERROR =            0.005
HOME =                  0.000
HOME_SEQUENCE = 2
HOME_OFFSET =           0.000
HOME_SEARCH_VEL =       -5
HOME_LATCH_VEL =        0.3
HOME_USE_INDEX =        NO
HOME_IGNORE_LIMITS =    YES
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =       36
STEPGEN_MAX_ACC =       120
SCALE =                 -1909.86
# these are in nanoseconds
DIRSETUP   =            700
DIRHOLD    =            700
STEPLEN    =            2000
STEPSPACE  =            2000


# Z
[AXIS_Z]
HOME =                  0.000
MIN_LIMIT =             -100
MAX_LIMIT =             100
MAX_VELOCITY =          2
MAX_ACCELERATION =      30

[JOINT_2]
TYPE =                  LINEAR
BACKLASH =              0.000
MIN_LIMIT =             -100
MAX_LIMIT =             100
MAX_VELOCITY =          2.4
MAX_ACCELERATION =      36
FERROR =                0.050
MIN_FERROR =            0.005
HOME =                  0.000
HOME_SEQUENCE =         0
HOME_OFFSET =           0.000
HOME_SEARCH_VEL =       1
HOME_LATCH_VEL =        -0.1
HOME_USE_INDEX =        NO
HOME_IGNORE_LIMITS =    YES
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =       10
STEPGEN_MAX_ACC =       240
SCALE =                 20377
# these are in nanoseconds
DIRSETUP   =            700
DIRHOLD    =            700
STEPLEN    =            2000
STEPSPACE  =            2000


[EMCIO]
# Name of IO controller program, e.g., io
EMCIO =                 io
# cycle time, in seconds
CYCLE_TIME =            0.100
# tool table file
TOOL_TABLE =            tool.tbl