1  [EMC]
  2  # The version string for this INI file.
  3  VERSION = 1.1
  4  DEBUG = 0x7fffffff
  5  
  6  [DISPLAY]
  7  DISPLAY = ./test-ui.py
  8  
  9  [FILTER]
 10  #No Content
 11  
 12  [RS274NGC]
 13  PARAMETER_FILE = sim.var
 14  USER_M_PATH = ./subs
 15  
 16  [EMCMOT]
 17  EMCMOT = motmod
 18  COMM_TIMEOUT = 4.0
 19  BASE_PERIOD =   600000
 20  SERVO_PERIOD = 1000000
 21  
 22  [TASK]
 23  TASK = milltask
 24  CYCLE_TIME = 0.001
 25  MDI_QUEUED_COMMANDS=10000
 26  
 27  [HAL]
 28  HALFILE = LIB:core_sim.hal
 29  HALFILE = LIB:simulated_home.hal
 30  HALFILE = LIB:lathe.hal
 31  POSTGUI_HALFILE = postgui.hal
 32  
 33  [TRAJ]
 34  NO_FORCE_HOMING=1
 35  AXES =                  3
 36  COORDINATES =           X Z
 37  LINEAR_UNITS =          inch
 38  ANGULAR_UNITS =         degree
 39  DEFAULT_LINEAR_VELOCITY = 1.2
 40  MAX_LINEAR_VELOCITY =   4
 41  
 42  [EMCIO]
 43  EMCIO = io
 44  CYCLE_TIME = 0.100
 45  
 46  [KINS]
 47  KINEMATICS = trivkins
 48  JOINTS = 3
 49  
 50  [AXIS_X]
 51  MIN_LIMIT = -10.0
 52  MAX_LIMIT = 10.0
 53  MAX_VELOCITY = 3.333334
 54  MAX_ACCELERATION = 20.0
 55  
 56  [JOINT_0]
 57  
 58  TYPE =             LINEAR
 59  HOME =             0.000
 60  MAX_VELOCITY =     3.333334
 61  MAX_ACCELERATION = 20.0
 62  BACKLASH =         0.000
 63  INPUT_SCALE =      4000
 64  OUTPUT_SCALE =     1.000
 65  MIN_LIMIT =        -10.0
 66  MAX_LIMIT =        10.0
 67  FERROR =           0.050
 68  MIN_FERROR =       0.010
 69  HOME_OFFSET =                    1.0
 70  HOME_SEARCH_VEL =                5.0
 71  HOME_LATCH_VEL =                 1.0
 72  HOME_USE_INDEX =                 NO
 73  HOME_IGNORE_LIMITS =             NO
 74  HOME_SEQUENCE = 0
 75  HOME_IS_SHARED = 1
 76  
 77  [AXIS_Z]
 78  MIN_LIMIT = -2.0
 79  MAX_LIMIT = 4.0
 80  MAX_VELOCITY = 3.333334
 81  MAX_ACCELERATION = 20.0
 82  
 83  [JOINT_1]
 84  # JOINT_1: not used, home immediately:
 85  HOME_SEARCH_VEL = 0
 86  HOME_LATCH_VEL = 0
 87  HOME_USE_INDEX = NO
 88  HOME_SEQUENCE = 0
 89  
 90  [JOINT_2]
 91  TYPE =             LINEAR
 92  HOME =             0.0
 93  MAX_VELOCITY =     3.333334
 94  MAX_ACCELERATION = 20.0
 95  BACKLASH =         0.000
 96  INPUT_SCALE =      4000
 97  OUTPUT_SCALE =     1.000
 98  MIN_LIMIT =        -2.0
 99  MAX_LIMIT =        4.0
100  FERROR =           0.050
101  MIN_FERROR =       0.010
102  HOME_OFFSET =                    1.0
103  HOME_SEARCH_VEL =                5.0
104  HOME_LATCH_VEL =                 1.0
105  HOME_USE_INDEX =                 NO
106  HOME_IGNORE_LIMITS =             NO
107  HOME_SEQUENCE = 1
108  HOME_IS_SHARED = 1