[EMC]
VERSION = 1.1
MACHINE = Historical-LATHE
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0

[DISPLAY]
DISPLAY = axis
PYVCP = lathe.xml
LATHE = 1
#EDITOR = geany
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/
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5

[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 = sim-lathe.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 50000
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[HAL]
HALFILE = core_sim.hal
HALFILE = axis_manualtoolchange.hal
HALFILE = simulated_home.hal
HALFILE = lathe.hal
POSTGUI_HALFILE = lathe_postgui.hal

[TRAJ]
COORDINATES = X Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.0
MAX_LINEAR_VELOCITY = 3.333334
DEFAULT_LINEAR_ACCELERATION = 20.0
MAX_LINEAR_ACCELERATION = 20.0

[EMCIO]
EMCIO =   io
CYCLE_TIME = 0.100
TOOL_TABLE = lathe.tbl
TOOL_CHANGE_POSITION = 2 0 1
TOOL_CHANGE_WITH_SPINDLE_ON = 1

[KINS]
KINEMATICS = trivkins
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 3.333334
MAX_ACCELERATION = 20.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 3.333334
MAX_ACCELERATION = 20.0
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 1.0
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1

[AXIS_Z]
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
MAX_VELOCITY = 3.333334
MAX_ACCELERATION = 20.0

[JOINT_1]
# JOINT_1: not used, home immediately:
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 3.333334
MAX_ACCELERATION = 20.0
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 1.0
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1