[EMC]
VERSION = 1.1
DEBUG = 0x0

[DISPLAY]
DISPLAY = ./test-ui.py

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[RS274NGC]
PARAMETER_FILE = sim.var

[EMCMOT]
#EMCMOT = motmod
COMM_TIMEOUT = 4.0
BASE_PERIOD = 0
SERVO_PERIOD = 1000000

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = simpockets.tbl
TOOL_CHANGE_QUILL_UP = 1
RANDOM_TOOLCHANGER = 0

[HAL]
HALFILE = mock-motion.hal
#POSTGUI_HALFILE = postgui.hal

[TRAJ]
NO_FORCE_HOMING =       1
COORDINATES =           X Y Z A B C U V W
HOME =                  0 0 0 0 0 0 0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
DEFAULT_LINEAR_VELOCITY = 1.2
MAX_LINEAR_VELOCITY =   4

[KINS]
KINEMATICS = trivkins
JOINTS = 9

[AXIS_X]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0

[JOINT_0]
TYPE =             LINEAR
HOME =             0.000
MAX_VELOCITY =     4
MAX_ACCELERATION = 1000.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -40.0
MAX_LIMIT =        40.0
FERROR =           0.050
MIN_FERROR =       0.010

[AXIS_Y]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0

[JOINT_1]
TYPE =             LINEAR
HOME =             0.000
MAX_VELOCITY =     4
MAX_ACCELERATION = 1000.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -40.0
MAX_LIMIT =        40.0
FERROR =           0.050
MIN_FERROR =       0.010

[AXIS_Z]
MIN_LIMIT = -4.0
MAX_LIMIT = 4.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0

[JOINT_2]
TYPE =             LINEAR
HOME =             0.0
MAX_VELOCITY =     4
MAX_ACCELERATION = 1000.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -4.0
MAX_LIMIT =        4.0
FERROR =           0.050
MIN_FERROR =       0.010

[AXIS_A]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0

[JOINT_3]
TYPE =             ANGULAR
HOME =             0.000
MAX_VELOCITY =     4
MAX_ACCELERATION = 1000.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -40.0
MAX_LIMIT =        40.0
FERROR =           0.050
MIN_FERROR =       0.010

[AXIS_B]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0

[JOINT_4]
TYPE =             ANGULAR
HOME =             0.000
MAX_VELOCITY =     4
MAX_ACCELERATION = 1000.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -40.0
MAX_LIMIT =        40.0
FERROR =           0.050
MIN_FERROR =       0.010

[AXIS_C]
MIN_LIMIT = -4.0
MAX_LIMIT = 4.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0

[JOINT_5]
TYPE =             ANGULAR
HOME =             0.0
MAX_VELOCITY =     4
MAX_ACCELERATION = 1000.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -4.0
MAX_LIMIT =        4.0
FERROR =           0.050
MIN_FERROR =       0.010

[AXIS_U]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0

[JOINT_6]
TYPE =             LINEAR
HOME =             0.000
MAX_VELOCITY =     4
MAX_ACCELERATION = 1000.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -40.0
MAX_LIMIT =        40.0
FERROR =           0.050
MIN_FERROR =       0.010

[AXIS_V]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0

[JOINT_7]
TYPE =             LINEAR
HOME =             0.000
MAX_VELOCITY =     4
MAX_ACCELERATION = 1000.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -40.0
MAX_LIMIT =        40.0
FERROR =           0.050
MIN_FERROR =       0.010

[AXIS_W]
MIN_LIMIT = -4.0
MAX_LIMIT = 4.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0

[JOINT_8]
TYPE =             LINEAR
HOME =             0.0
MAX_VELOCITY =     4
MAX_ACCELERATION = 1000.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -4.0
MAX_LIMIT =        4.0
FERROR =           0.050
MIN_FERROR =       0.010

