[EMC]
VERSION = 1.1
MACHINE = getting-started:demo.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
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 = 0

# generalized  remapping of RS274NGC codes
#-----------------------------------------
# currently only unused M- and G-codes may be activated as per below, plus the
# T,M6,M61,S and F codes.
# G: currently supported modal group: 1
# M:currently supported modal groups: 5,6,7,8,9,10
# for T,S,F remaps the modal group is fixed and any modalgroup= option is ignored


# An argument specification (keyword 'argspec') describes required and  permitted words,
# and preconditions for that code to execute.
#
# It consists of 0-n characters of the class [@A-KMNP-Za-kmnp-z^>] .
#
# parameter words:
#   an uppercase letter for each required parameter 'word'
#   a lowercase letter for each optional parameter 'word'
#
# Preconditions:
#   an '^' means: speed must be > 0
#   an '>' means: feed must be > 0
#
# if calling an NGC oword function (ngc= <funcname>), the parameters are passed
# as local named parameters which are already set when the function starts
# optional words are passed if set in the block, and may be tested for existence
# by # EXISTS(#<..>) .
#
# example 1:
REMAP= M400  modalgroup=10 argspec=Pq ngc=m400
# see nc_subroutines/m400.ngc
# to exercise, try:
# M400
# M400 P123
# M400 P123 Q456
# ---------------
#
# Example 2:
#
# Calling with traditional positioal parameter lists:
#
# To do so, add the '@' character to the argspec.
# In this case, the arguments (required or optional) will be passed tradional-style
#
REMAP= M410  modalgroup=10 argspec=@Pq ngc=m410
# see nc_subroutines/m410.ngc
#
# to exercise, try:
# M410
# M410 P123
# M410 P123 Q456
#
# NB: you lose the capability to distinguish more than one optional parameter word!
# since you can't tell whether Q was passed as 'Q0' or no Q word was set.
#
# -------------------------------------------------------------------------
#
# up to here you wouldn't need the PYTHON section to be defined since no
# Python code was used.
# Examples below refer to Python handlers and hence need the plugin configured.
#
# instead of calling an NGC procedure, we call the remap.g886() Python function:
#
REMAP= G88.6  modalgroup=1 argspec=XYZp  py=g886
# see python/remap.py function g886
# to exercise, try:
# g88.6 x1 y2 z3
# g88.6 x1 y2 z3 p33 (a comment here)

# a more complex example
# based on nc_files/involute.py example and can it as a G-code
# all checking is done in the Python procedure by directly accessing interpreter internals
#
REMAP= G88.1 modalgroup=1   py=involute
# see python/remap.py function involute
#
#
# pin wiggling example - equivalent of M62
# usgage : M462 P<pin-number> Q<0 or 1>
REMAP= M462  modalgroup=10 argspec=PQ py=m462

# pin wiggling example - equivalent of M65
# usgage : M465 P<pin-number> Q<0 or 1>
REMAP= M465  modalgroup=10 argspec=PQ py=m465

# this is important - read nc_subroutines/on_abort.ngc
ON_ABORT_COMMAND= O <on_abort> 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

[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 = io

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

[PYTHON]
PATH_PREPEND= python

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

# the higher the more verbose tracing of the Python plugin
LOG_LEVEL = 8