# Generated by stepconf 1.1 at Sun Jun 26 01:22:42 2011
# If you make changes to this file, they will be
# overwritten when you run stepconf again

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

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.2
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 12.50
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 125.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/gloops/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
PYVCP = custompanel.xml

[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XXYZ kinstype=BOTH

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
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

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000

[HAL]
HALFILE = base_for_halini.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal

[TRAJ]
COORDINATES =  X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 12.50
MAX_LINEAR_VELOCITY = 125.00

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

[AXIS_X]
MAX_VELOCITY = 125.0
MAX_ACCELERATION = 100
MIN_LIMIT = -0.001
MAX_LIMIT = 1100.0

[JOINT_0]
TYPE = LINEAR
HOME = 10
MIN_LIMIT = -0.001
MAX_LIMIT = 1100.0
MAX_VELOCITY = 125.0
MAX_ACCELERATION = 25
STEPGEN_MAXACCEL = 937.5
SCALE = 33.3333333333
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 1.500000
HOME_SEQUENCE = 1

[JOINT_1]
TYPE = LINEAR
HOME = 10
MIN_LIMIT = -0.001
MAX_LIMIT = 1100.0
MAX_VELOCITY = 125.0
MAX_ACCELERATION = 25
STEPGEN_MAXACCEL = 937.5
SCALE = 33.3333333333
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 1.500000
HOME_SEQUENCE = 1

[AXIS_Y]
MAX_VELOCITY = 125.0
MAX_ACCELERATION = 100
MIN_LIMIT = -0.001
MAX_LIMIT = 800.0

[JOINT_2]
TYPE = LINEAR
HOME = 100
MIN_LIMIT = -0.001
MAX_LIMIT = 800.0
MAX_VELOCITY = 60
MAX_ACCELERATION = 100
STEPGEN_MAXACCEL = 937.5
SCALE = -40.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 20
HOME_LATCH_VEL = -1.500000
HOME_SEQUENCE = 2

[AXIS_Z]
MAX_VELOCITY = 118.75
MAX_ACCELERATION = 750.0
MIN_LIMIT = -160.0
MAX_LIMIT = 0.001

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -160.0
MAX_LIMIT = 0.001
MAX_VELOCITY = 118.75
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 80.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 30
HOME_LATCH_VEL = 1.500000
HOME_SEQUENCE = 3