[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = PCNC-770
DEBUG = 0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = ../../nc_files
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in
PYVCP = pcnc-770.xml
DEFAULT_LINEAR_VELOCITY = 0.2
DEFAULT_ANGULAR_VELOCITY = 0.1

[FILTER]
PROGRAM_EXTENSION = .nc,.NC   G-Code file
PROGRAM_EXTENSION = .tap,.TAP G-Code file
PROGRAM_EXTENSION = .txt,.TXT G-Code file
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
PROGRAM_EXTENSION = .py Python Script
py = python

[RS274NGC]
PARAMETER_FILE = emc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 33333
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALFILE = pcnc-770.hal
POSTGUI_HALFILE = custom_postgui.hal

[HALUI]
#No Content

[TRAJ]
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 30.00
DEFAULT_ANGULAR_VELOCITY = 3.00
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.13
MAX_LINEAR_VELOCITY = 2.25
NO_FORCE_HOMING = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[KINS]
KINEMATICS =  trivkins
JOINTS = 4

[AXIS_X]
MIN_LIMIT = -0.000001
MAX_LIMIT = 14.0
MAX_VELOCITY = 2.25
MAX_ACCELERATION = 15

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 2.25
MAX_ACCELERATION = 15
STEPGEN_MAXACCEL = 15.75
SCALE = 10900.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.000001
MAX_LIMIT = 14.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -0.750000
HOME_LATCH_VEL = 0.050000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

[AXIS_Y]
MIN_LIMIT = -0.000001
MAX_LIMIT = 7.5
MAX_VELOCITY = 2.25
MAX_ACCELERATION = 15

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 2.25
MAX_ACCELERATION = 15
STEPGEN_MAXACCEL = 15.75
SCALE = 10900.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.000001
MAX_LIMIT = 7.5
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -0.750000
HOME_LATCH_VEL = 0.050000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1

[AXIS_Z]
MIN_LIMIT = -13.25
MAX_LIMIT = 0.000001
MAX_VELOCITY = 1.666
MAX_ACCELERATION = 10.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.666
MAX_ACCELERATION = 10.0
STEPGEN_MAXACCEL = 10.5
SCALE = 10900.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -13.25
MAX_LIMIT = 0.000001
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.600000
HOME_LATCH_VEL = -0.050000
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0

[AXIS_A]
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 400.0

[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 400.0
STEPGEN_MAXACCEL = 420.0
SCALE = 500.0
FERROR = 1
MIN_FERROR = .25
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 0.00000
HOME_LATCH_VEL = 0.00000
HOME_SEQUENCE = 1
