# 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 = 1.0

# 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]



#TKPKG = Ngcgui 1.0
#TKPKG = Ngcguittt 1.0
# Ngcgui must be before Ngcguittt
#NGCGUI_FONT = Helvetica -12 normal
#NGCGUI_PREAMBLE = /home/josh/linuxcnc-dev/configs/sim/nc_files/in_std.ngc
# here type names of your programs
#[RS274NGC]
#NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/helix.ngc
#NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/helix_rtheta.ngc
#NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/iquad.ngc
#NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/arc1.ngc
#NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/arc2.ngc
#NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/hole_circle.ngc
#NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/qpocket.ngc
#NGCGUI_SUBFILE = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/slot.ngc
# symbol "" opens empty tab
#NGCGUI_SUBFILE = ""
#NGCGUI_OPTIONS = noremove
#NGCGUI_OPTIONS = opt1 opt2 ...
# avalible options:
# nonew -- prevent from creating new tab
# noremove -- prevent from removing tabs
# noauto -- no autofilling
# noiframe -- images displaying in new window
#GCMC_INCLUDE_PATH = /home/myname/gcmc_includes
# turning on engraving generator
#TTT = truetype-tracer
#TTT_PREAMBLE = mm_std.ngc
#PROGRAM_PREFIX = /home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib
#==================================================
#[RS274NGC]
#PARAMETER_FILE = linuxcnc.var
#======================NGCGUI======================
# path to ngcgui files
#SUBROUTINE_PATH = /home/josh/linuxcnc-dev/sim/nc_files/ngcgui_lib:/home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/utilitysubs
#USER_M_PATH = home/josh/linuxcnc-dev/configs/sim/nc_files/ngcgui_lib/mfiles
#==================================================





# Name of display program, e.g., axis
DISPLAY = axis

# 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

MAX_LINEAR_VELOCITY = 5
DEFAULT_LINEAR_VELOCITY = .25
DEFAULT_SPINDLE_SPEED = 200
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/

# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5

EDITOR = gedit
TOOL_EDITOR = tooledit

INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 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.var

# Motion control section ------------------------------------------------------
[EMCMOT]

EMCMOT = motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0

# 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

# 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.tbl
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_QUILL_UP = 1

# 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
HALFILE = check_xyz_constraints.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]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 4
DEFAULT_LINEAR_ACCEL = 100
MAX_LINEAR_ACCEL = 100
POSITION_FILE = position.txt

[KINS]
KINEMATICS = trivkins
JOINTS = 3

# Axes sections ---------------
[AXIS_X]
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = 0.0
MAX_LIMIT = 38.0

[AXIS_Y]
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = 0.0
MAX_LIMIT = 43.0

[AXIS_Z]
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -8.0
MAX_LIMIT = 0.12

# Joints sections -------------
[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 5
MAX_ACCELERATION = 50.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
FERROR = 0.050
MIN_FERROR = 0.010
MIN_LIMIT = 0.0
MAX_LIMIT = 38.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1

[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 5
MAX_ACCELERATION = 50.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
FERROR = 0.050
MIN_FERROR = 0.010
MIN_LIMIT = 0.0
MAX_LIMIT = 43.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 5
MAX_ACCELERATION = 50.0
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
MIN_LIMIT = -8.0

# Normally the Z max should be 0.000!
# The only reason it's greater than 0 here is so that the splash screen
# gcode will run.
MAX_LIMIT = 0.12

FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1