[EMC]

# Name of machine, for use with display, etc.
MACHINE =               servo 3 axis

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =                0x00000003
#DEBUG =                0x00000007
DEBUG = 0




[DISPLAY]

# Name of display program, e.g., tkemc
DISPLAY =              axis

CYCLE_TIME = 0.200
MAX_FEED_OVERRIDE = 1.500000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/a/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = MACHINE
DEFAULT_LINEAR_VELOCITY = 20.000000
MAX_LINEAR_VELOCITY = 125.000000
MIN_LINEAR_VELOCITY = 0.010000
DEFAULT_ANGULAR_VELOCITY = 30.000000
MAX_ANGULAR_VELOCITY = 250.000000
MIN_ANGULAR_VELOCITY = 0.010000
EDITOR = gedit
GEOMETRY = XYZ
PYVCP = Panel.xml


[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]

# Name of task controller program, e.g., milltask
TASK =                  milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.010




[RS274NGC]

# File containing interpreter variables
#PARAMETER_FILE




[EMCMOT]

EMCMOT =                motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT =             0.010

# Servo task period, in nanoseconds
SERVO_PERIOD =          1000000




[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.

# list of hal config files to run through halcmd
# files are executed in the order in which they appear

HALFILE = egantry_test.hal
POSTGUI_HALFILE = custom_postgui.hal
HALUI=halui
POSTGUI_HALFILE = postgui.hal



[HALUI]

MDI_COMMAND = o<tool> call




[TRAJ]

AXES =                  4
JOINTS =                4
COORDINATES =           X Y Z
HOME =                  0 0 0 0 
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      100
MAX_VELOCITY =          250
DEFAULT_ACCELERATION =  200
MAX_ACCELERATION =      10




[AXIS_0]
NAME = X1
TYPE = LINEAR
HOME = 0
FERROR = 1
MIN_FERROR = 1
MAX_VELOCITY = 200
MAX_ACCELERATION = 300
P = 8
I = 0
D = 0
FF0 = 0
FF1 = 0.09
FF2 = 0.001
BIAS = 0
DEADBAND = 0.00005
MAX_OUTPUT = 10
MIN_LIMIT = -225.000
MAX_LIMIT = 2325.000
HOME_OFFSET = 0.000
HOME_SEARCH_VEL = -15
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 10
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1

[AXIS_3]
NAME = X2
TYPE = LINEAR
HOME = 0
FERROR = 1
MIN_FERROR = 1
MAX_VELOCITY = 200
MAX_ACCELERATION = 300
P = 8
I = 0
D = 0
FF0 = 0
FF1 = 0.09
FF2 = 0.001
BIAS = 0
DEADBAND = 0.00005
MAX_OUTPUT = 10
MIN_LIMIT = -225.000
MAX_LIMIT = 2325.000
HOME_OFFSET = 4.000
HOME_SEARCH_VEL = -15
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 10
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1

[AXIS_1]
NAME = Y
TYPE = LINEAR
HOME = 5.0
FERROR = 10
MIN_FERROR = 10
MAX_VELOCITY = 200
MAX_ACCELERATION = 300
P = 20
I = 0
D = 0
FF0 = 0
FF1 = 0.08
FF2 = 0.0015
BIAS = 0
DEADBAND = 0.00005
MAX_OUTPUT = 10
MIN_LIMIT = -40.000
MAX_LIMIT = 1265.000
HOME_OFFSET = -5.000
HOME_SEARCH_VEL = -15
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 10
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 1

[AXIS_2]
NAME = Z
TYPE = LINEAR
HOME = 5.0
FERROR = 5
MIN_FERROR = 5
MAX_VELOCITY = 200
MAX_ACCELERATION = 300
P = 16
I = 0.001
D = 0
FF0 = 0
FF1 = 0.0735
FF2 = 0.00017
BIAS = 0
DEADBAND = 0.00005
MAX_OUTPUT = 10
MIN_LIMIT = -250.000
MAX_LIMIT = 250.000
HOME_OFFSET = 5.000
HOME_SEARCH_VEL = 10
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 10
HOME_USE_INDEX = YES
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0




[EMCIO]
# Name of IO controller program, e.g., io
EMCIO =                 io
# cycle time, in seconds
CYCLE_TIME =            0.100
# tool table file
TOOL_TABLE = tool.tbl