[EMC]
VERSION = 1.1
MACHINE = sim-xyzac-trt
DEBUG = 0

[DISPLAY]
OPEN_FILE = ./examples/impeller-7bl-xyzac.ngc
JOG_AXES = XYZC
DISPLAY = gmoccapy
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2
PROGRAM_PREFIX = ../../../nc_files
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 1

TKPKG = Ngcgui 1.0
NGCGUI_FONT = Helvetica -12 normal
NGCGUI_SUBFILE = test-xyzac.ngc

[RS274NGC]
PARAMETER_FILE = xyzac.var
SUBROUTINE_PATH = ./examples:../../macros
REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
REMAP=M61  modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog

# the Python plugins serves interpreter and task
[PYTHON]
PATH_PREPEND = ../../python
TOPLEVEL = ../../python/toplevel.py
LOG_LEVEL = 0

[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl -no_use_hal_manualtoolchange

# vismach xyzac-trt-gui items
HALCMD = loadusr -W xyzac-trt-gui
HALCMD = net  :table-x      joint.0.pos-fb             xyzac-trt-gui.table-x
HALCMD = net  :saddle-y     joint.1.pos-fb             xyzac-trt-gui.saddle-y
HALCMD = net  :spindle-z    joint.2.pos-fb             xyzac-trt-gui.spindle-z
HALCMD = net  :tilt-a       joint.3.pos-fb             xyzac-trt-gui.tilt-a
HALCMD = net  :rotate-c     joint.4.pos-fb             xyzac-trt-gui.rotate-c
HALCMD = net  :tool-offset  motion.tooloffset.z
HALCMD = net  :tool-offset  xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset
HALCMD = net  :y-offset     xyzac-trt-kins.y-offset    xyzac-trt-gui.y-offset
HALCMD = net  :z-offset     xyzac-trt-kins.z-offset    xyzac-trt-gui.z-offset
HALCMD = sets :y-offset     20
HALCMD = sets :z-offset     10

POSTGUI_HALFILE = postgui.hal

[KINS]
KINEMATICS = xyzac-trt-kins
JOINTS =  5

[TRAJ]
COORDINATES = XYZAC
LINEAR_UNITS = mm
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = 20
MAX_LINEAR_VELOCITY = 35
MAX_LINEAR_ACCELERATION = 400
DEFAULT_LINEAR_ACCELERATION = 300

[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000
COMM_TIMEOUT =       1

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[EMCIO]
TOOL_TABLE = xyzac-trt.tbl

[AXIS_X]
MIN_LIMIT = -200
MAX_LIMIT =  200
MAX_VELOCITY =   20
MAX_ACCELERATION =  300

[JOINT_0]
TYPE = LINEAR
HOME =    0
MAX_VELOCITY =   20
MAX_ACCELERATION =  300
MIN_LIMIT = -200
MAX_LIMIT =  200
HOME_SEARCH_VEL =    0
HOME_SEQUENCE =    0

[AXIS_Y]
MIN_LIMIT = -100
MAX_LIMIT =  100
MAX_VELOCITY =   20
MAX_ACCELERATION =  300

[JOINT_1]
TYPE = LINEAR
HOME =    0
MAX_VELOCITY =   20
MAX_ACCELERATION =  300
MIN_LIMIT = -100
MAX_LIMIT =  100
HOME_SEARCH_VEL =    0
HOME_SEQUENCE =    0

[AXIS_Z]
MIN_LIMIT = -120
MAX_LIMIT =  120
MAX_VELOCITY =   20
MAX_ACCELERATION =  300

[JOINT_2]
TYPE = LINEAR
HOME =    0
MAX_VELOCITY =   20
MAX_ACCELERATION =  300
MIN_LIMIT = -120
MAX_LIMIT =  120
HOME_SEARCH_VEL =    0
HOME_SEQUENCE =    0

[AXIS_A]
MIN_LIMIT = -100
MAX_LIMIT =   50
MAX_VELOCITY =   30
MAX_ACCELERATION =   300

[JOINT_3]
TYPE = ANGULAR
HOME =    0
MAX_VELOCITY =   30
MAX_ACCELERATION =  300
MIN_LIMIT = -100
MAX_LIMIT =   50
HOME_SEARCH_VEL =    0
HOME_SEQUENCE =    0

[AXIS_C]
MIN_LIMIT = -36000
MAX_LIMIT =  36000
MAX_VELOCITY =     30
MAX_ACCELERATION =    300

[JOINT_4]
TYPE = ANGULAR
HOME =      0
MAX_VELOCITY =     30
MAX_ACCELERATION =    300
MIN_LIMIT = -36000
MAX_LIMIT =  36000
HOME_SEARCH_VEL =      0
HOME_SEQUENCE =      0
