[EMC]
MACHINE = Remora-NVEM
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
CYCLE_TIME = 0.100
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
MAX_FEED_OVERRIDE = 10
MAX_SPINDLE_OVERRIDE = 1.0
DEFAULT_LINEAR_VELOCITY = 50.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 125.00
DEFAULT_ANGULAR_VELOCITY = 36.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 45.00
PROGRAM_PREFIX = ~/linuxcnc/nc_files
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
INCREMENTS = 50mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm

[KINS]
JOINTS = 4
#KINEMATICS =trivkins coordinates=XYZ kinstype=BOTH
# kinstype=BOTH means that the machine can move in joint mode and world mode
# not good for gantrys or double z axes.
KINEMATICS =trivkins coordinates=XYYZ

[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 = linuxcnc.var
SUBROUTINE_PATH = ~/linuxcnc/subroutines
USER_M_PATH = ~/linuxcnc/m_codes

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 0
SERVO_PERIOD = 2000000

[HAL]
HALFILE = remora-ec500.hal
# remove comment from next line to enable the NVEM NVMPG
HALFILE = remora-nv-mpg.hal
POSTGUI_HALFILE = postgui_call_list.hal
HALUI = halui

[TRAJ]
COORDINATES =  X Y Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 100.00
MAX_LINEAR_VELOCITY = 200.00
NO_FORCE_HOMING = 1

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

[AXIS_X]
MAX_VELOCITY = 175
MAX_ACCELERATION = 2000.0
MIN_LIMIT = 0.0
MAX_LIMIT = 550.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
HOME_IGNORE_LIMITS = NO
MIN_LIMIT = 0.0
MAX_LIMIT = 550.0
MAX_VELOCITY = 175.0
MAX_ACCELERATION = 2000.0
STEPGEN_MAXACCEL = 2200.0
SCALE = 160.0
FERROR = 1.0
MIN_FERROR = 0.5
#HOME_SEARCH_VEL = -10.0
#HOME_LATCH_VEL = -3.0
#HOME_FINAL_VEL = 20
#HOME_IGNORE_LIMITS = YES
#HOME_USE_INDEX = NO
#HOME_OFFSET = -25.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -200
HOME_LATCH_VEL = 20
HOME_SEQUENCE = 2

[AXIS_Y]
MAX_VELOCITY = 175.0
MAX_ACCELERATION = 2000.0
MIN_LIMIT = 0
MAX_LIMIT = 775.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = 0.0
MAX_LIMIT = 775.0
MAX_VELOCITY = 175.0
MAX_ACCELERATION = 2000.0
STEPGEN_MAXACCEL = 2200.0
SCALE = 160.0
FERROR = 1.0
MIN_FERROR = 0.5
#HOME_SEARCH_VEL = -10.0
#HOME_LATCH_VEL = -3.0
#HOME_FINAL_VEL = 20
#HOME_IGNORE_LIMITS = YES
#HOME_USE_INDEX = NO
#HOME_OFFSET = -20.0
#HOME = -10.0
#OME_SEQUENCE = 2
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = 0
MAX_LIMIT = 775
MAX_VELOCITY = 175.0
MAX_ACCELERATION = 2000.0
STEPGEN_MAXACCEL = 2200.0
SCALE = 160.0
FERROR = 1.0
MIN_FERROR = 0.5
#HOME_SEARCH_VEL = -10.0
#HOME_LATCH_VEL = -3.0
#HOME_FINAL_VEL = 20
#HOME_IGNORE_LIMITS = YES
#HOME_USE_INDEX = NO
#HOME_OFFSET = -20.0
#HOME = -10.0
#OME_SEQUENCE = 3
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0


[AXIS_Z]
MAX_VELOCITY = 175.0
MAX_ACCELERATION = 2000.0
MIN_LIMIT = 0
MAX_LIMIT = 100


[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = 0
MAX_LIMIT = 180
MAX_VELOCITY = 175.0
MAX_ACCELERATION = 2000.0
STEPGEN_MAXACCEL = 2200.0
SCALE = 160.0
FERROR = 1.0
MIN_FERROR = 0.5
#HOME_SEARCH_VEL = -10.0
#HOME_LATCH_VEL = -3.0
#HOME_FINAL_VEL = 20
#HOME_IGNORE_LIMITS = YES
#HOME_USE_INDEX = NO
#HOME_OFFSET = -20.0
#HOME = -10.0
#OME_SEQUENCE = 3
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 2