# This config file was created 2016-07-03 00:25:14.051011 by the update_ini script
# The original config files may be found in the /home/emcmesa/linuxcnc-org/configs/sim/gmoccapy/gmoccapy_XYZAC.old directory

# 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 = 1.1
MACHINE = depowdering
DEBUG = 0
#DEBUG =               0x7FFFFFFF

# Sections for display options ------------------------------------------------
[DISPLAY]
DISPLAY = gmoccapy
EDITOR = gedit
#EMBED_TAB_NAME = right_side_panel
#EMBED_TAB_LOCATION = box_right
#EMBED_TAB_COMMAND = gladevcp -H pendant_5_axis.hal pendant_5_axis.glade

# Cycle time, in milliseconds, that display will sleep between polls
#CYCLE_TIME =            100

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.5
MAX_SPINDLE_OVERRIDE =  1.2
MIN_SPINDLE_OVERRIDE = .5
MAX_RAPID_OVERRIDE = 1.5

# Max and default jog speeds in units per second
MAX_LINEAR_VELOCITY =   10
DEFAULT_LINEAR_VELOCITY = 10
MAX_ANGULAR_VELOCITY = 10

# Prefix to be used
PROGRAM_PREFIX = /home/pi/linuxcnc/nc_files

# Introductory graphic
INTRO_GRAPHIC = 
INTRO_TIME = 0

# list of selectable jog increments
INCREMENTS = 90mm 45mm 15mm 5mm

# for details see nc_files/subroutines/maco_instructions.txt
[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 -----------------------------------------------------
[RS274NGC]
#RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
PARAMETER_FILE = linuxcnc.var
#SUBROUTINE_PATH = macros

# Motion control section ------------------------------------------------------
[EMCMOT]
EMCMOT =              motmod
COMM_TIMEOUT =          1.0
BASE_PERIOD  =          100000
SERVO_PERIOD =          1000000

# Hardware Abstraction Layer section --------------------------------------------------
[TASK]
TASK =                  milltask
CYCLE_TIME =            0.010

# Part program interpreter section --------------------------------------------
[HAL]
HALFILE = depowdering.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal

# Single file that is executed after the GUI has started.
#POSTGUI_HALFILE = custom_postgui.hal

HALUI = halui

# Trajectory planner section --------------------------------------------------
#[HALUI]
#No Content

[TRAJ]
COORDINATES =      A C
HOME =             0 0
LINEAR_UNITS =     mm
ANGULAR_UNITS =    degree
DEFAULT_LINEAR_VELOCITY = 10
MAX_LINEAR_VELOCITY =     10
#POSITION_FILE =    position.txt
#NO_FORCE_HOMING = 1

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

[EMCIO]
EMCIO = 		io
CYCLE_TIME =    0.100

# tool table file
TOOL_TABLE = tool.tbl
#TOOL_CHANGE_POSITION = 100 100 -10
#TOOL_CHANGE_QUILL_UP = 1

[KINS]
KINEMATICS = trivkins coordinates=ac 
JOINTS = 2


[AXIS_A]
MAX_VELOCITY = 7.0
MAX_ACCELERATION = 10.0

[JOINT_0]
TYPE =                          ANGULAR
HOME =                          0.0
MAX_VELOCITY =                  7.0
MAX_ACCELERATION =              10.0
STEPGEN_MAXACCEL = 12.5
SCALE =                   133.33333
FERROR = 1.0
MIN_FERROR = 0.25
HOME_OFFSET =                    152.0
HOME_SEARCH_VEL =                7.0
HOME_LATCH_VEL =                 -3.750
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             yes
HOME_SEQUENCE = 1

[AXIS_C]
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 30.0

[JOINT_1]
TYPE =                          ANGULAR
HOME =                          0.0
MAX_VELOCITY =                  10.0
MAX_ACCELERATION =              30.0
STEPGEN_MAXACCEL = 37.5
SCALE =                   17.777778
FERROR = 1.0
MIN_FERROR = 0.25
HOME_OFFSET =                    30.0
HOME_SEARCH_VEL =                10.0
HOME_LATCH_VEL =                 7.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 1

# section for main IO controller parameters -----------------------------------
#[MACROS]
#MACRO = i_am_lost
#MACRO = halo_world