[EMC]
VERSION = 1.1
MACHINE = LinuxCNC-HAL-SIM-AXIS
DEBUG = 0

[DISPLAY]
DISPLAY = axis
CYCLE_TIME = 0.100
HELP_FILE = doc/help.txt
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.0
PROGRAM_PREFIX = ../../nc_files/
OPEN_FILE = ./foam.ngc
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
#EDITOR = geany
INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
GEOMETRY = XY;UV
FOAM = 1

[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

[RS274NGC]
PARAMETER_FILE = foam.var

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

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

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

[TRAJ]
NO_FORCE_HOMING = 1
COORDINATES = X Y U V
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.0
DEFAULT_ANGULAR_VELOCITY = 45.0
MAX_LINEAR_VELOCITY = 1.2
MAX_ANGULAR_VELOCITY = 90.0

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 2

[KINS]
KINEMATICS = trivkins coordinates=xyuv
JOINTS = 4

[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_SEARCH_VEL = 0.0
HOME_SEQUENCE = 0

[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_SEARCH_VEL = 0.0
HOME_SEQUENCE = 0

[AXIS_U]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_SEARCH_VEL = 0.0
HOME_SEQUENCE = 0

[AXIS_V]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.2
MAX_ACCELERATION = 20.0

[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
HOME_SEARCH_VEL = 0.0
HOME_SEQUENCE = 0