# Notes:
# 1) [AXIS_n]OFFSET_AV_RATIO= controls external offsets a,v
#     Allowed values are 0.0 <= OFFSET_AV_RATIO <= 0.9
#     Value of 0.0 disables external offsets
#     Disallowed values are superseded with msg to stdout
# 2) Immediate homing herein
#    ([JOINT_*]HOME_SEQUENCE=0, other HOME_* items omitted)
# 3) uncomment [JOINT_0]HOME_SEARCH_VEL,HOME_LATCH_VEL
#    to demonstrate non-zero joint.0.motor-offset

[APPLICATIONS]
APP = sim_pin --title "MPG Simulator" \
      e:xcounts \
      e:ycounts \
      e:zcounts

# make sure [xyz]:ecounts are zero if machine off:
APP = eoffsets_monitor.tcl

[HAL]
HALUI   = halui
HALFILE = LIB:basic_sim.tcl -no_use_hal_manualtoolchange
HALFILE = eoffsets.hal
POSTGUI_HALFILE = eoffsets_panel.hal

[EMC]
MACHINE = External Offsets Demo
VERSION = 1.1

[DISPLAY]
PYVCP = eoffsets_panel.xml
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_LINEAR_VELOCITY = 2
OPEN_FILE = ./eoffsets.ngc

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

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[RS274NGC]
SUBROUTINE_PATH = .
USER_M_PATH = .
PARAMETER_FILE = sim.var

[EMCIO]
TOOL_TABLE = eoffset.tbl
EMCIO = io
CYCLE_TIME = 0.100

[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000

[TRAJ]
COORDINATES   = XYZ
LINEAR_UNITS  = inch
ANGULAR_UNITS = degree

[KINS]
JOINTS     = 3
KINEMATICS = trivkins coordinates=XYZ

[AXIS_X]
OFFSET_AV_RATIO  =   0.2
MAX_VELOCITY     =   2
MAX_ACCELERATION =  20
MIN_LIMIT        =  -0.1
MAX_LIMIT        =  10

[AXIS_Y]
OFFSET_AV_RATIO =    0.2
MAX_VELOCITY     =   2
MAX_ACCELERATION =  20
MIN_LIMIT        =  -0.1
MAX_LIMIT        =   5

[AXIS_Z]
OFFSET_AV_RATIO  =   0.2
MAX_VELOCITY     =   2
MAX_ACCELERATION =  20
MIN_LIMIT        =  -1
MAX_LIMIT        =   1

[JOINT_0]
TYPE             = LINEAR
HOME_SEQUENCE    =  0
MAX_VELOCITY     =  2
MAX_ACCELERATION = 20

[JOINT_1]
TYPE             = LINEAR
HOME_SEQUENCE    =  0
MAX_VELOCITY     =  2
MAX_ACCELERATION = 20

[JOINT_2]
TYPE             = LINEAR
HOME_SEQUENCE    =  0
MAX_VELOCITY     =  2
MAX_ACCELERATION = 20