[EMC]
VERSION = 1.1

#DEBUG = 0x0
#DEBUG = 0xffffffff

[DISPLAY]
DISPLAY = ./display.py

[FILTER]
#No Content

[RS274NGC]
PARAMETER_FILE = simulator.var
USER_M_PATH = ./subs

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

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[HAL]
HALUI = halui
HALFILE = simulator.hal

[HALUI]
#No Content

[TRAJ]
AXES =                  3
COORDINATES =           X Y Z
HOME =                  0 0 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
DEFAULT_LINEAR_VELOCITY =      10
MAX_LINEAR_ACCELERATION =      1000
MAX_LINEAR_VELOCITY =          100

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

[KINS]
KINEMATICS = trivkins
JOINTS = 3

[MQTT]
DRYRUN = --dryrun
BROKER = broker.local
USERNAME = username
PASSWORD = password

[AXIS_X]
MIN_LIMIT = -1000
MAX_LIMIT = 1000
MAX_VELOCITY = 100
MAX_ACCELERATION = 1000

[JOINT_0]
TYPE =             LINEAR
HOME =             0.000
HOME_ABSOLUTE_ENCODER = 1
MAX_VELOCITY =     100
MAX_ACCELERATION = 1000
BACKLASH =         0.000
MIN_LIMIT =        -1000
MAX_LIMIT =        1000
FERROR =           0.001

[AXIS_Y]
MIN_LIMIT = -1000
MAX_LIMIT = 1000
MAX_VELOCITY = 100
MAX_ACCELERATION = 1000

[JOINT_1]
TYPE =             LINEAR
HOME =             0.000
HOME_ABSOLUTE_ENCODER = 1
MAX_VELOCITY =     100
MAX_ACCELERATION = 1000
BACKLASH =         0.000
MIN_LIMIT =        -1000
MAX_LIMIT =        1000
FERROR =           0.001

[AXIS_Z]
MIN_LIMIT = -1000
MAX_LIMIT = 1000
MAX_VELOCITY = 100
MAX_ACCELERATION = 1000

[JOINT_2]
TYPE =             LINEAR
HOME =             0.000
HOME_ABSOLUTE_ENCODER = 1
MAX_VELOCITY =     100
MAX_ACCELERATION = 1000
BACKLASH =         0.000
MIN_LIMIT =        -1000
MAX_LIMIT =        1000
FERROR =           0.001
