#this file was created and edited August 20th 2010
#this is a beta release .ini file for micRo v3 with syncRo v3 and home switches
#please report any problems to support@lumenlab.com or www.lumenlab.com/forums
#opening these configuration files with Stepconf will erase certain modifications!
#modify at your own risk!
#www.lumenlab.com


[EMC]
MACHINE = micRo M3 (syncRo v3)
#NML_FILE = emc.nml
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/syncro/emc2/nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in

[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
RS274NGC_STARTUP_CODE = G21 G91 G1 F5 Z-.25 Y.25 X.25

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 30637
SERVO_PERIOD = 1000000

[HAL]
HALFILE = M3.S3H.emc2.4.hal
#HALFILE = custom.hal
#POSTGUI_HALFILE = custom_postgui.hal

[TRAJ]
AXES = 4
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 2.54
MAX_LINEAR_VELOCITY = 15
HOME = 0 0 0 0

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

[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 15
MAX_ACCELERATION = 762
STEPGEN_MAXACCEL = 952.5
SCALE = 755.905511811
FERROR = 1.27
MIN_FERROR = 0.254
MIN_LIMIT = -5.0
MAX_LIMIT = 475.0
#HOME_OFFSET = -10.0
#HOME_SEARCH_VEL = 7.62
#HOME_LATCH_VEL = 1.27
#HOME_FINAL_VEL = 7.62
#HOME_SEQUENCE = 2
##HOME_IGNORE_LIMITS = YES

[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 15
MAX_ACCELERATION = 762
STEPGEN_MAXACCEL = 952.5
SCALE = 755.905511811
FERROR = 1.27
MIN_FERROR = 0.254
MIN_LIMIT = -5.0
MAX_LIMIT = 480.0
#HOME_OFFSET = 485.0
#HOME_SEARCH_VEL = -10.16
#HOME_LATCH_VEL = 1.27
#HOME_FINAL_VEL = 10.16
#HOME_SEQUENCE = 1
##HOME_IGNORE_LIMITS = YES
##HOME_IS_SHARED = 1

[AXIS_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 15
MAX_ACCELERATION = 762
STEPGEN_MAXACCEL = 952.5
SCALE = 755.905511811
FERROR = 1.27
MIN_FERROR = 0.254
MIN_LIMIT = -65.0
MAX_LIMIT = 5.0
#HOME_OFFSET = 10.0
#HOME_SEARCH_VEL = -10.16
#HOME_LATCH_VEL = -1.27
#HOME_FINAL_VEL = 10.16
#HOME_SEQUENCE = 0
##HOME_IGNORE_LIMITS = YES
##HOME_IS_SHARED = 1

[AXIS_3]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 15
MAX_ACCELERATION = 762
STEPGEN_MAXACCEL = 952.5
SCALE = 755.905511811
FERROR = 1.27
MIN_FERROR = 0.254
MIN_LIMIT = -5.0
MAX_LIMIT = 475.0
#HOME_OFFSET = -10.0
#HOME_SEARCH_VEL = 7.62
#HOME_LATCH_VEL = 1.27
#HOME_FINAL_VEL = 7.62
#HOME_SEQUENCE = 2
##HOME_IGNORE_LIMITS = YES