[EMC]
VERSION = 1.1
MACHINE =               SIM-PENTAPOD
DEBUG = 0

[DISPLAY]
DISPLAY =              	axis
CYCLE_TIME =            0.200
HELP_FILE =             tklinuxcnc.txt
POSITION_OFFSET =       MACHINE
POSITION_FEEDBACK =     ACTUAL
MAX_FEED_OVERRIDE =     2.0
PROGRAM_PREFIX = ../../nc_files/
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 2
PYVCP = panel.xml
GEOMETRY = XYZ-AB
INCREMENTS = 10 mm, 1 mm, 0.1 mm

[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 =        pentapod.var
SUBROUTINE_PATH = .

[EMCMOT]
EMCMOT =              motmod
COMM_TIMEOUT =          1.0
COMM_WAIT =             0.010
SERVO_PERIOD =               1000000
TRAJ_PERIOD =                10000000

[TASK]
TASK =                  milltask
CYCLE_TIME =            0.010

[HAL]
HALUI = halui
HALFILE = LIB:basic_sim.tcl
HALFILE = kinematics.hal
POSTGUI_HALFILE = pentapod_postgui.hal

[HALUI]
MDI_COMMAND = G53 G0 X0 Y0 Z0 A0 B0
MDI_COMMAND = M6 T1 G43
MDI_COMMAND = G49

[TRAJ]
AXES = 5
COORDINATES = X Y Z A B
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 5.00
DEFAULT_LINEAR_VELOCITY = 50.000000
MAX_LINEAR_VELOCITY = 100.000000
MIN_LINEAR_VELOCITY = 0.100000
DEFAULT_ANGULAR_VELOCITY = 1.000000
MAX_ANGULAR_VELOCITY = 10.000000
MIN_ANGULAR_VELOCITY = 0.100000
POSITION_FILE = position.txt
NO_FORCE_HOMING = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1

[AXIS_X]
HOME =                          0.000
MAX_VELOCITY =                  100
MAX_ACCELERATION =              1000
MIN_LIMIT =                     -250
MAX_LIMIT =                     250

[AXIS_Y]
HOME =                          0.000
MAX_VELOCITY =                  100
MAX_ACCELERATION =              1000
MIN_LIMIT =                     -250
MAX_LIMIT =                     250

[AXIS_Z]
HOME =                          -0.000
MAX_VELOCITY =                  100
MAX_ACCELERATION =              1000
MIN_LIMIT =                     -250
MAX_LIMIT =                     250

[AXIS_A]
HOME =                          0.000
MAX_VELOCITY =                  20
MAX_ACCELERATION =              50
MIN_LIMIT =                     -50
MAX_LIMIT =                     50

[AXIS_B]
HOME =                          0.000
MAX_VELOCITY =                  20
MAX_ACCELERATION =              50
MIN_LIMIT =                     -15
MAX_LIMIT =                     15

[KINS]
KINEMATICS = pentakins
JOINTS = 5

[JOINT_0]
TYPE =                          LINEAR
HOME = 598.5792
MAX_VELOCITY =                  100.0
MAX_ACCELERATION =              1000.0
BACKLASH =                      0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     400.0
MAX_LIMIT =                     1500.0
FERROR =                        2.000
MIN_FERROR =                    0.200
HOME_OFFSET = 598.5792
HOME_SEARCH_VEL =               0.0
HOME_LATCH_VEL =                0.0
HOME_FINAL_VEL =                15.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
HOME_SEQUENCE =                 -1

[JOINT_1]
TYPE =                          LINEAR
HOME = 697.1982
MAX_VELOCITY =                  100.0
MAX_ACCELERATION =              1000.0
BACKLASH =                      0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     400.0
MAX_LIMIT =                     1500.0
FERROR =                        2.000
MIN_FERROR =                    0.200
HOME_OFFSET = 697.1982
HOME_SEARCH_VEL =               0.0
HOME_LATCH_VEL =                0.0
HOME_FINAL_VEL =                15.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
HOME_SEQUENCE =                 -1

[JOINT_2]
TYPE =                          LINEAR
HOME = 682.785
MAX_VELOCITY =                  100.0
MAX_ACCELERATION =              1000.0
BACKLASH =                      0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     400.0
MAX_LIMIT =                     1500.0
FERROR =                        2.000
MIN_FERROR =                    0.200
HOME_OFFSET = 682.785
HOME_SEARCH_VEL =               0.0
HOME_LATCH_VEL =                0.0
HOME_FINAL_VEL =                15.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
HOME_SEQUENCE =                 -1

[JOINT_3]
TYPE =                          LINEAR
HOME = 787.9175
MAX_VELOCITY =                  100.0
MAX_ACCELERATION =              1000.0
BACKLASH =                      0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     400.0
MAX_LIMIT =                     1500.0
FERROR =                        2.000
MIN_FERROR =                    0.200
HOME_OFFSET = 787.9175
HOME_SEARCH_VEL =               0.0
HOME_LATCH_VEL =                0.0
HOME_FINAL_VEL =                15.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
HOME_SEQUENCE =                 -1

[JOINT_4]
TYPE =                          LINEAR
HOME = 806.0397
MAX_VELOCITY =                  100.0
MAX_ACCELERATION =              1000.0
BACKLASH =                      0.000
INPUT_SCALE =                   4000
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     400.0
MAX_LIMIT =                     1500.0
FERROR =                        2.000
MIN_FERROR =                    0.200
HOME_OFFSET = 806.0397
HOME_SEARCH_VEL =               0.0
HOME_LATCH_VEL =                0.0
HOME_FINAL_VEL =                15.0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
HOME_SEQUENCE =                 -1