# 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 =               $Revision$

# Name of machine, for use with display, etc.
MACHINE =               LinuxCNC-Circular-Blend-Tester-slowZ

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =               0x7FFFFFFF
DEBUG = 0

# Sections for display options ------------------------------------------------
[DISPLAY]
PYVCP = vcp.xml
# Name of display program, e.g., axis
DISPLAY = axis

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =    0.066666666666

# 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 =     2.0
MAX_SPINDLE_OVERRIDE =  1.0

MAX_LINEAR_VELOCITY =   12
DEFAULT_LINEAR_VELOCITY =   .25
# Prefix to be used
PROGRAM_PREFIX = ../nc_files/

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

# 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_components.hal
HALFILE = test_status.tcl
HALFILE = axis-X.tcl
HALFILE = axis-Y.tcl
HALFILE = axis-Z.tcl
# Other HAL files
HALFILE = axis_manualtoolchange.hal
HALFILE = sim_spindle_encoder.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 = postgui.hal

HALUI = halui

# Trajectory planner section --------------------------------------------------
[TRAJ]

AXES =                  4
COORDINATES =           X Y Z A
HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
DEFAULT_LINEAR_VELOCITY = 1.2
POSITION_FILE = position.txt
MAX_LINEAR_VELOCITY =   12

ARC_BLEND_ENABLE =      1
ARC_BLEND_FALLBACK_ENABLE = 0
ARC_BLEND_OPTIMIZATION_DEPTH = 50
ARC_BLEND_GAP_CYCLES = 4
ARC_BLEND_RAMP_FREQ = 20

# Axes sections ---------------------------------------------------------------

# First axis
[AXIS_0]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  8
MAX_ACCELERATION =              30
BACKLASH = 0.000
INPUT_SCALE =                   2000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -40.0
MAX_LIMIT =                     40.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_SEQUENCE = 0

# Second axis
[AXIS_1]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  8
MAX_ACCELERATION =              30
BACKLASH = 0.000
INPUT_SCALE =                   2000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -40.0
MAX_LIMIT =                     40.0
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_SEQUENCE = 0

# Third axis
[AXIS_2]

TYPE =                          LINEAR
HOME =                          0.0
# Make Z accel and max vel really slow to highlight issues with helices
MAX_VELOCITY =                  .01
MAX_ACCELERATION =              .1
BACKLASH = 0.0
INPUT_SCALE =                   2000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0001
FERROR = 0.050
MIN_FERROR = 0.010
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_SEQUENCE = 0

[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 25
MAX_ACCELERATION = 800
SCALE = 500.0
FERROR = 5.0
MIN_FERROR = 2.5
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.00000
HOME_LATCH_VEL = 0.00000
HOME_USE_INDEX =                 NO
HOME_SEQUENCE = 0

# section for main IO controller parameters -----------------------------------
[EMCIO]

# Name of IO controller program, e.g., io
EMCIO = 		io

# cycle time, in seconds
CYCLE_TIME =    0.066666666666

# tool table file
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_QUILL_UP = 1
