[EMC]
VERSION = 1.1
MACHINE = Sim-5Axis Bridge Mill (xyzbcw)
  DEBUG = 0

[DISPLAY]
         GEOMETRY = XYZCBW
        OPEN_FILE = ./5axisgui.ngc
       INCREMENTS = 10 mm, 1 mm, .1 mm
         JOG_AXES = XYZC
         GEOMETRY = XYZCBW
          DISPLAY = axis
       CYCLE_TIME = 0.200
  POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.0
   PROGRAM_PREFIX = ../../nc_files/
    INTRO_GRAPHIC = linuxcnc.gif
       INTRO_TIME = 5
      TOOL_EDITOR = tooledit z diam
          #EDITOR = geany
            PYVCP = 5axis.xml

[RS274NGC]
SUBROUTINE_PATH = ./remap_subs
   HAL_PIN_VARS = 1
          REMAP = M428  modalgroup=10  ngc=428remap
          REMAP = M429  modalgroup=10  ngc=429remap
          REMAP = M430  modalgroup=10  ngc=430remap
PARAMETER_FILE = 5axis.var

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

[TASK]
      TASK = milltask
CYCLE_TIME = 0.010

[HAL]
  HALUI = halui
HALFILE = LIB:basic_sim.tcl
HALFILE = 5axisgui.hal
HALCMD  = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
POSTGUI_HALFILE = 5axis_postgui.hal

[HALUI]
# M428:bridgemill    (kinstype==0 startupDEFAULT)
# M429:identity kins (kinstype==1)
# M430:userk kins    (kinstype==2)
MDI_COMMAND = M428
MDI_COMMAND = M429
MDI_COMMAND = M430

[TRAJ]
         COORDINATES = XYZBCWY
        LINEAR_UNITS = mm
       ANGULAR_UNITS = degree
MAX_ANGULAR_VELOCITY = 360.0
DEFAULT_LINEAR_VELOCITY = 200.0
MAX_LINEAR_VELOCITY = 346.0
MAX_LINEAR_ACCELERATION = 800.0
DEFAULT_LINEAR_ACCELERATION = 800.0
MAX_ANGULAR_VELOCITY = 360

[EMCIO]
     EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = 5axis.tbl

[KINS]
# Note: Supported coordinates are XYZBCW but the W coordinate
#       motion is incorporated into the X,Y,Z axes.
#       Use of the W coordinate requires a joint (5)
#       in order to allow display of W values.
#       Use immediate homing for this joint (JOINT_5)
# Note: 5axiskins is misnomer
#       (xyzbcw  uses 6 joints)
#       (xyzbcwy uses 7 joints)

# xyzbcw
#          type0:5axiskins, type1:identity, type2:userk
#          x:joint0,y:joint1,z:joint2,b:joint3,c:joint4,w:joint5
#    JOINTS  = 6
# KINEMATICS = 5axiskins

# illustraed below is complex example with duplicate
# coord letters for y, 7 joints total):
#           type0:5axiskins, type1:identity, type2:userk
#           x:joint0
#           y:joint1 AND joint6
#           z:joint2
#           b:joint3
#           c:joint4
#           w:joint5
     JOINTS = 7
 KINEMATICS = 5axiskins coordinates=xyzbcwy

[AXIS_X]
       MIN_LIMIT = -500
       MAX_LIMIT =  500
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800

[AXIS_Y]
       MIN_LIMIT = -500
       MAX_LIMIT =  500
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800

[AXIS_Z]
       MIN_LIMIT = -500
       MAX_LIMIT =  100
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800

# B is one-to-one to JOINT_3
[AXIS_B]
       MIN_LIMIT = -120
       MAX_LIMIT =  120
    MAX_VELOCITY =   60
MAX_ACCELERATION =  200

# C is one-to-one to JOINT_4
[AXIS_C]
       MIN_LIMIT = -36000
       MAX_LIMIT = 36000
    MAX_VELOCITY =    60
MAX_ACCELERATION =   200

# W motion is incorporated in Z motion
# but a joint (JOINT_5) must be configured
# to support display of W values
[AXIS_W]
       MIN_LIMIT = -100
       MAX_LIMIT =  500
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800

[JOINT_0]
              TYPE = LINEAR
      MAX_VELOCITY =  200
  MAX_ACCELERATION =  800
         MIN_LIMIT = -500
         MAX_LIMIT =  500
   HOME_SEARCH_VEL =    0
     HOME_SEQUENCE =    0

[JOINT_1]
            TYPE = LINEAR
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800
       MIN_LIMIT = -500
       MAX_LIMIT =  500
 HOME_SEARCH_VEL =    0
   HOME_SEQUENCE =   -1

# joints 1 and 6 used for y
[JOINT_6]
            TYPE = LINEAR
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800
       MIN_LIMIT = -500
       MAX_LIMIT =  500
 HOME_SEARCH_VEL =    0
   HOME_SEQUENCE =   -1

[JOINT_2]
            TYPE = LINEAR
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800
       MIN_LIMIT = -500
       MAX_LIMIT =  100
 HOME_SEARCH_VEL =    0
   HOME_SEQUENCE =    0

[JOINT_3]
            TYPE = ANGULAR
    MAX_VELOCITY =   60
MAX_ACCELERATION =  200
       MIN_LIMIT = -120
       MAX_LIMIT =  120
 HOME_SEARCH_VEL =    0
   HOME_SEQUENCE =    0

[JOINT_4]
            TYPE = ANGULAR
    MAX_VELOCITY =     60
MAX_ACCELERATION =    200
       MIN_LIMIT = -36000
       MAX_LIMIT =  36000
 HOME_SEARCH_VEL =      0
   HOME_SEQUENCE =      0

# immediate homing for JOINT_5 (w coordinate)
[JOINT_5]
            TYPE = LINEAR
       MIN_LIMIT = -100
       MAX_LIMIT =  500
    MAX_VELOCITY =  200
MAX_ACCELERATION =  800
 HOME_SEARCH_VEL =    0
   HOME_SEQUENCE =    0