[EMC]
VERSION = 1.1
MACHINE = extend-builtins.ini
# Debug level, 0 means no messages. See src/emc/nml_intf/debugflags.h for others
DEBUG = 0

[DISPLAY]
DISPLAY = axis
OPEN_FILE= ./nc_files/examples.ngc
GLADEVCP= -c gladevcp show.ui
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
MAX_LINEAR_VELOCITY = 1.2
DEFAULT_LINEAR_VELOCITY = .25
PROGRAM_PREFIX = ../../nc_files/
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
#EDITOR = geany
TOOL_EDITOR = tooledit
INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in

[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.var
SUBROUTINE_PATH = nc_subroutines:../../nc_files/remap_lib/common_nc_subs
LOG_LEVEL = 1

# parameters exposed by prepare_prolog/evaluated by prepare_epilog:
#    #<tool>
#    #<pocket>
REMAP= T   prolog=prepare_prolog ngc=prepare epilog=prepare_epilog

# parameters exposed by change_prolog/evaluated by change_epilog:
#    #<tool_in_spindle>
#    #<selected_tool>
#    #<current_pocket>
#    #<selected_pocket>
REMAP= M6  modalgroup=6 prolog=change_prolog ngc=change epilog=change_epilog

# parameters exposed by settool_prolog/evaluated by settool_epilog:
#    #<tool>
#    #<pocket>
REMAP= M61  modalgroup=6 prolog=settool_prolog ngc=settool epilog=settool_epilog

# alternative for demonstration purposes: 'do it all in Python'
#REMAP= M61  modalgroup=6 python=set_tool_number

# parameters exposed by setspeed_prolog/evaluated by setspeed_epilog:
#  #<speed>
REMAP= S   prolog=setspeed_prolog  ngc=setspeed epilog=setspeed_epilog

# parameters exposed by setfeed_prolog/evaluated by setfeed_epilog:
#  #<feed>
REMAP= F   prolog=setfeed_prolog  ngc=setfeed epilog=setfeed_epilog

REMAP= M0 modalgroup=4 ngc=extend_m0
REMAP= M1 modalgroup=4 ngc=extend_m1
REMAP= M60 modalgroup=4 ngc=extend_m60

# this is important - read common_nc_subs/reset_state.ngc
ON_ABORT_COMMAND= O <reset_state> call

[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
POSTGUI_HALFILE = gladevcp.hal

[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.2
POSITION_FILE = position.txt
MAX_LINEAR_VELOCITY = 1.2
NO_FORCE_HOMING = 1

[EMCIO]
EMCIO = iov2
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_QUILL_UP = 1

[KINS]
KINEMATICS = trivkins
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1

[AXIS_Y]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_SEQUENCE = 1

[AXIS_Z]
MIN_LIMIT = -8.0
MAX_LIMIT = 8.00
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -8.0
MAX_LIMIT = 8.00
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1

# section for main IO controller parameters -----------------------------------
[PYTHON]
# where to find Python code
# code specific for this configuration
PATH_PREPEND= ./python
# generic support code
PATH_APPEND= ../../nc_files/remap_lib/python-stdglue

# import the following Python module
TOPLEVEL= python/toplevel.py

# the higher the more verbose tracing of the Python plugin
LOG_LEVEL = 1