[EMC]
VERSION = 1.1
MACHINE = LinuxCNC-HAL-SIM-SCARA
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0

[DISPLAY]
DISPLAY = gmoccapy
CYCLE_TIME = 0.200
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.0
PROGRAM_PREFIX = ../../../nc_files/
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
MIN_SPINDLE_OVERRIDE = 0.25
MAX_SPINDLE_OVERRIDE = 1.5

EMBED_TAB_NAME = Joints Meter DRO
EMBED_TAB_LOCATION = ntb_preview
EMBED_TAB_COMMAND = gladevcp -x {XID} -H scara_panel.hal scara.glade

# 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 = python3

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = scara.var
RS274NGC_STARTUP_CODE = G21

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
TRAJ_PERIOD = 10000000

[HAL]
HALUI = halui
HALFILE = scara_sim_4.hal
POSTGUI_HALFILE = postgui.hal

[TRAJ]
COORDINATES = X Y Z C
LINEAR_UNITS = mm
DEFAULT_LINEAR_VELOCITY = 10.0
MAX_LINEAR_VELOCITY = 600.0
DEFAULT_LINEAR_ACCELERATION = 100.0
MAX_LINEAR_ACCELERATION = 200.0
ANGULAR_UNITS = degree
DEFAULT_ANGULAR_VELOCITY = 10.0
MAX_ANGULAR_VELOCITY = 600.0
DEFAULT_ANGULAR_ACCELERATION = 100.0
MAX_ANGULAR_ACCELERATION = 200.0

[EMCIO]
TOOL_TABLE = scara.tbl

[KINS]
KINEMATICS = scarakins
JOINTS = 4

[AXIS_X]
MAX_VELOCITY = 40       
MAX_ACCELERATION = 200.0

[AXIS_Y]
MAX_VELOCITY = 40
MAX_ACCELERATION = 200.0

[AXIS_Z]
MAX_VELOCITY = 40
MAX_ACCELERATION = 200.0

[AXIS_C]
MAX_VELOCITY = 40
MAX_ACCELERATION = 200.0

[JOINT_0]
NAME = shoulder
TYPE = ANGULAR
HOME = 0.000
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -360.0
MAX_LIMIT = 360.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0

[JOINT_1]
NAME = elbow
TYPE = ANGULAR
HOME = 0.000
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -360.0
MAX_LIMIT = 360.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0

[JOINT_2]
NAME = z-slide
TYPE = LINEAR
HOME = 25.000
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = 25.0
MAX_LIMIT = 300.0
HOME_OFFSET = 25.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0

[JOINT_3]
NAME = wrist
TYPE = ANGULAR
HOME = 0.000
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -180.0
MAX_LIMIT = 180.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0
