# 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 = gmoccapy

EMBED_TAB_NAME = right_side_panel
EMBED_TAB_LOCATION = box_custom_4
EMBED_TAB_COMMAND = gladevcp -x {XID} -H vcp_box.hal vcp_box.glade

PREFERENCE_FILE_PATH = gmoccapy_preferences
LATHE = 1
BACK_TOOL_LATHE = 1
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 166.666
PROGRAM_PREFIX = ../../nc_files/
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]
HALUI = halui
HALFILE = maurice.hal
POSTGUI_HALFILE = gmoccapy_postgui.hal

[HALUI]

[TRAJ]
COORDINATES = X Z
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
TOOL_CHANGE_POSITION = 2 0 1
TOOL_CHANGE_WITH_SPINDLE_ON = 1

[KINS]
KINEMATICS = trivkins
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -2000
MAX_LIMIT = 2000
MAX_VELOCITY = 10
MAX_ACCELERATION = 2000.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 2000.0
STEPGEN_MAXACCEL = 0
SCALE = 1
FERROR = 1
MIN_FERROR = 2000
MIN_LIMIT = -2000
MAX_LIMIT = 2000
HOME_DELAY = 5
HOME_VEL = 1
HOME_OFFSET =                    0
HOME_SEARCH_VEL =                0
HOME_LATCH_VEL =                 0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             YES
HOME_SEQUENCE = 0

[AXIS_Z]
MIN_LIMIT = -2000
MAX_LIMIT = 2000
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 2000.0

[JOINT_1]
# JOINT_1: not used, home immediately:
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 2000.0
STEPGEN_MAXACCEL = 0
SCALE = 0.001
FERROR = 1
MIN_FERROR = 2000
MIN_LIMIT = -2000
MAX_LIMIT = 2000
HOME_DELAY = 5
HOME_VEL = 1
HOME_OFFSET =                    0
HOME_SEARCH_VEL =                0
HOME_LATCH_VEL =                 0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             YES
HOME_SEQUENCE = 1