[HOSTMOT2]
DRIVER=hm2_pci
BOARD=5i23
CONFIG="firmware=hm2/5i23/svss8_8.bit enable_raw sserial_mode0=00000000 num_encoders=6 num_pwmgens=0"

[EMC]

# Name of machine, for use with display, etc.
MACHINE =               Harrison Mill

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =                0x00000003
#DEBUG =                0x00000007
DEBUG = 0


[DISPLAY]

# Name of display program, e.g., tkemc
DISPLAY =               touchy
#DISPLAY =                axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.0500
EMBED_TAB_NAME = Video
EMBED_TAB_COMMAND = camview-emc -w {XID}

# 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 =     1.5
MAX_LINEAR_VELOCITY = 200
# Prefix to be used
PROGRAM_PREFIX = /home/andypugh/emc2/nc_files

# Introductory graphic
INTRO_GRAPHIC =         emc2.gif
INTRO_TIME =            5

[TASK]

# Name of task controller program, e.g., milltask
TASK =                  milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.010

[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE =        harrison.var

[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

# Servo task period, in nanoseconds
SERVO_PERIOD =          1000000


[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 =		harrison.hal

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


[TRAJ]

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




[AXIS_0]

TYPE =              LINEAR
MAX_VELOCITY =       1000
MAX_ACCELERATION =   10000
BACKLASH =           0.000

# scale is 200 steps/rev * 5 revs/inch
SCALE =           1024

MIN_LIMIT =             -1000.0
MAX_LIMIT =             1000.0

FERROR =     0.050
MIN_FERROR = 0.005

#HOME =                  0.000
#HOME_OFFSET =           0.10
#HOME_SEARCH_VEL =       0.10
#HOME_LATCH_VEL =        -0.01
#HOME_USE_INDEX =        YES
#HOME_IGNORE_LIMITS =    YES

[AXIS_1]

TYPE =              LINEAR
MAX_VELOCITY =       100
MAX_ACCELERATION =   20

BACKLASH =           0.000

SCALE = 1000

MIN_LIMIT =             -1000.0
MAX_LIMIT =             1000.0

FERROR =     0.050
MIN_FERROR = 0.005

#HOME =                  0.000
#HOME_OFFSET =           0.10
#HOME_SEARCH_VEL =       0.10
#HOME_LATCH_VEL =        -0.01
#HOME_USE_INDEX =        YES
#HOME_IGNORE_LIMITS =    YES

[AXIS_2]

TYPE =              LINEAR
MAX_VELOCITY =      100
MAX_ACCELERATION =  20

BACKLASH =           0.000

SCALE = 1000

MIN_LIMIT =             -10.0
MAX_LIMIT =             10.0

FERROR =     0.050
MIN_FERROR = 0.005

#HOME =                  0.000
#HOME_OFFSET =           0.10
#HOME_SEARCH_VEL =       0.10
#HOME_LATCH_VEL =        -0.01
#HOME_USE_INDEX =        YES
#HOME_IGNORE_LIMITS =    YES

[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