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# This config file was created 2020-11-21 22:42:23.728603 by the update_ini script
# The original config files may be found in the /home/electrolab/cnc/maurice/maurice.old directory
[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = EtherCAT Machine
DEBUG = 1
[DISPLAY]
DISPLAY = axis
LATHE = 1
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 0
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python
[RS274NGC]
PARAMETER_FILE = linuxcnc.var
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 0
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.005
[HAL]
HALFILE = maurice.hal
[HALUI]
[TRAJ]
COORDINATES = XZ
LINEAR_UNITS = mm
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = 100
MAX_LINEAR_VELOCITY = 400
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
KINEMATICS = trivkins coordinates=XZ
#This is a best-guess at the number of joints, it should be checked
MIN_LIMIT = -200
MAX_LIMIT = 500
MAX_VELOCITY = 375.0
MAX_ACCELERATION = 2000.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 375.0
MAX_ACCELERATION = 2000.0
STEPGEN_MAXACCEL = 0
SCALE = 1
FERROR = 1
MIN_FERROR = 2000
MIN_LIMIT = -200
MAX_LIMIT = 500
HOME_OFFSET = 0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
[JOINT_1]
# JOINT_1: not used, home immediately:
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0
MIN_LIMIT = -200
MAX_LIMIT = 200
MAX_VELOCITY = 400.0
MAX_VELOCITY = 400.0
SCALE = 1
MIN_LIMIT = -200
MAX_LIMIT = 200
HOME_OFFSET = 0
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1