[EMC]
#DEBUG = 0
DEBUG = 0x7fffffff
VERSION = 1.1

[DISPLAY]
DISPLAY = linuxcncrsh
PROGRAM_PREFIX = ../../subs

[TASK]
TASK =                  milltask
CYCLE_TIME =            0.001

[RS274NGC]
PARAMETER_FILE =        sim.var
USER_M_PATH = ../../subs
SUBROUTINE_PATH = ../../subs

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

[HAL]
HALFILE = LIB:core_sim.hal

[TRAJ]
AXES =                  3
COORDINATES =           X Y Z
HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
DEFAULT_LINEAR_VELOCITY = 1.2
MAX_LINEAR_VELOCITY =   4
NO_FORCE_HOMING =       1

[EMCIO]
EMCIO = 		io
CYCLE_TIME =    0.100
TOOL_TABLE = simpockets.tbl
TOOL_CHANGE_QUILL_UP = 1
RANDOM_TOOLCHANGER = 1
TOOL_CHANGE_POSITION = 0.111 0.222 0.333

[AXIS_X]
HOME =                          0.000
MIN_LIMIT =                     -40.0
MAX_LIMIT =                     40.0
MAX_VELOCITY =                  4
MAX_ACCELERATION =              100.0

[AXIS_Y]
HOME =                          0.000
MIN_LIMIT =                     -40.0
MAX_LIMIT =                     40.0
MAX_VELOCITY =                  4
MAX_ACCELERATION =              100.0

[AXIS_Z]
HOME =                          0.0
MIN_LIMIT =                     -4.0
MAX_LIMIT =                     4.0
MAX_VELOCITY =                  4
MAX_ACCELERATION =              100.0

[KINS]
KINEMATICS = trivkins
JOINTS = 3

[JOINT_0]
TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  4
MAX_ACCELERATION =              100.0
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

[JOINT_1]
TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  4
MAX_ACCELERATION =              100.0
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

[JOINT_2]
TYPE =                          LINEAR
HOME =                          0.0
MAX_VELOCITY =                  4
MAX_ACCELERATION =              100.0
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

