[EMC]
VERSION = 1.1
MACHINE = LinuxCNC-HAL-SIM-AXIS
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0

[DISPLAY]
DISPLAY = axis
CYCLE_TIME = 0.100
HELP_FILE = doc/help.txt
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.0
MAX_LINEAR_VELOCITY = 1.2
DEFAULT_LINEAR_VELOCITY = .25
PROGRAM_PREFIX = ../../../nc_files/
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

[RS274NGC]
PARAMETER_FILE = sim.var

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

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[HAL]
  HALUI = halui
HALFILE = LIB:basic_sim.tcl
HALFILE = check_xyz_constraints.hal

[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 10
POSITION_FILE = position.txt
MAX_LINEAR_VELOCITY = 10

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_QUILL_UP = 1

[KINS]
KINEMATICS = trivkins
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 1.83
MAX_ACCELERATION = 15

[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.83
MAX_ACCELERATION = 15
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1

[AXIS_Y]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 1.83
MAX_ACCELERATION = 15

[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.83
MAX_ACCELERATION = 15
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_SEQUENCE = 1

[AXIS_Z]
MIN_LIMIT = -8.0
MAX_LIMIT = 8.0
MAX_VELOCITY = 1.5
MAX_ACCELERATION = 15

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.5
MAX_ACCELERATION = 15
MIN_LIMIT = -8.0
MAX_LIMIT = 8.0
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1
