# EMC controller parameters for generic controller. Make these what you need
# for your system.
# 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 of this INI file
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE =               LinuxCNC-MOTENC
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG =                0x00000003
#DEBUG =                0x00000007
DEBUG = 0
# Sections for display options ------------------------------------------------

[DISPLAY]
# Name of display program, e.g., tklinuxcnc
DISPLAY =               tklinuxcnc
#DISPLAY =              axis
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.0500
# Path to help file
HELP_FILE =             tklinuxcnc.txt
# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       RELATIVE
# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     ACTUAL
# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.5
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC =         linuxcnc.gif
INTRO_TIME =            5
# Task controller section -----------------------------------------------------

[FILTER]
#No Content

[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE =        motenc.var
# Motion control section ------------------------------------------------------

[EMCMOT]
EMCMOT =                motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0
# Servo task period, in nanoseconds
SERVO_PERIOD =          1000000
# Hardware Abstraction Layer section --------------------------------------------------

[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
# Part program interpreter section --------------------------------------------

[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 =               core_servo.hal
HALFILE =               motenc_motion.hal
HALFILE =               motenc_io.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =               save neta
# Trajectory planner section --------------------------------------------------

[HALUI]
#No Content

[TRAJ]
# COORDINATES =         X Y Z R P W
COORDINATES =           X Y Z
HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
DEFAULT_LINEAR_VELOCITY = 3.0
MAX_LINEAR_VELOCITY = 4.0
DEFAULT_LINEAR_ACCELERATION = 6.0
MAX_LINEAR_ACCELERATION = 7.0
# Axes sections ---------------------------------------------------------------
# First axis

[EMCIO]
# tool table file
TOOL_TABLE =            motenc.tbl

[KINS]
KINEMATICS = trivkins
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -32.0
MAX_LIMIT = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0

[JOINT_0]
TYPE =                  LINEAR
HOME =                  0.000
MAX_VELOCITY =          1.0
MAX_ACCELERATION =      4.0
BACKLASH =              0.000
INPUT_SCALE =           81920
OUTPUT_SCALE =          10.000
OUTPUT_OFFSET =         0.0
MIN_LIMIT =             -32.0
MAX_LIMIT =             0.0
FERROR =                1.000
MIN_FERROR =            0.002
HOME_OFFSET =           0.10
HOME_SEARCH_VEL =       0.10
HOME_LATCH_VEL =        -0.01
HOME_USE_INDEX =        YES
HOME_IGNORE_LIMITS =    YES
MAX_OUTPUT =            1.0
# PID tuning params
DEADBAND =              0.000015
P =                     100.0
I =                     0.000
D =                     0.000
FF0 =                   0.000
FF1 =                   0.000
FF2 =				0.0
BIAS =                  0.000
# Second axis

[AXIS_Y]
MIN_LIMIT = -14.0
MAX_LIMIT = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0

[JOINT_1]
TYPE =                  LINEAR
HOME =                  0.000
MAX_VELOCITY =          1.0
MAX_ACCELERATION =      4.0
BACKLASH =              0.000
INPUT_SCALE =           -81920
OUTPUT_SCALE =          10.000
OUTPUT_OFFSET =         0.0
MIN_LIMIT =             -14.0
MAX_LIMIT =             0.0
FERROR =                0.020
MIN_FERROR =            0.001
HOME_OFFSET =           0.10
HOME_SEARCH_VEL =       0.10
HOME_LATCH_VEL =        -0.01
HOME_USE_INDEX =        YES
HOME_IGNORE_LIMITS =    YES
MAX_OUTPUT =            1.0
# PID tuning params
DEADBAND =              0.000015
P =                     100.0
I =                     0.000
D =                     0.000
FF0 =                   0.000
FF1 =                   0.000
FF2 =				0.0
BIAS =                  0.000
# Third axis

[AXIS_Z]
MIN_LIMIT = -6.0
MAX_LIMIT = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 4.0

[JOINT_2]
TYPE =                  LINEAR
HOME =                  0.0
MAX_VELOCITY =          1.0
MAX_ACCELERATION =      4.0
BACKLASH =              0.000
INPUT_SCALE =           81920
OUTPUT_SCALE =          10.000
OUTPUT_OFFSET =         0.0
MIN_LIMIT =             -6.0
MAX_LIMIT =             0.0
FERROR =                0.020
MIN_FERROR =            0.001
HOME_OFFSET =           0.10
HOME_SEARCH_VEL =       0.10
HOME_LATCH_VEL =        -0.01
HOME_USE_INDEX =        YES
HOME_IGNORE_LIMITS =    YES
MAX_OUTPUT =            1.0
# PID tuning params
DEADBAND =              0.000015
P =                     100.0
I =                     0.000
D =                     0.000
FF0 =                   0.000
FF1 =                   0.000
FF2 =				0.0
BIAS =                  0.000
# section for main IO controller parameters -----------------------------------
