1  [EMC]
  2  VERSION = 1.1
  3  DEBUG = 0x7FFFFFFF
  4  NML_FILE = tcp.nml
  5  #DEBUG = 0
  6  
  7  [DISPLAY]
  8  DISPLAY = linuxcncrsh
  9  
 10  [RS274NGC]
 11  PARAMETER_FILE = sim.var
 12  USER_M_PATH = ./subs
 13  
 14  [EMCMOT]
 15  EMCMOT = motmod
 16  COMM_TIMEOUT = 4.0
 17  BASE_PERIOD = 0
 18  SERVO_PERIOD = 1000000
 19  
 20  [TASK]
 21  TASK = milltask
 22  CYCLE_TIME = 0.001
 23  
 24  [HAL]
 25  HALFILE = LIB:core_sim.hal
 26  
 27  [TRAJ]
 28  AXES =                  3
 29  COORDINATES =           X Y Z
 30  HOME =                  0 0 0
 31  LINEAR_UNITS =          inch
 32  ANGULAR_UNITS =         degree
 33  DEFAULT_LINEAR_VELOCITY = 1.2
 34  MAX_LINEAR_VELOCITY =   4
 35  NO_FORCE_HOMING =       1
 36  
 37  [EMCIO]
 38  EMCIO = io
 39  CYCLE_TIME = 0.100
 40  
 41  [KINS]
 42  KINEMATICS =  trivkins
 43  JOINTS = 3
 44  
 45  [AXIS_X]
 46  MIN_LIMIT = -40.0
 47  MAX_LIMIT = 40.0
 48  MAX_VELOCITY = 4
 49  MAX_ACCELERATION = 100.0
 50  
 51  [JOINT_0]
 52  TYPE =             LINEAR
 53  HOME =             0.000
 54  MAX_VELOCITY =     4
 55  MAX_ACCELERATION = 100.0
 56  BACKLASH =         0.000
 57  INPUT_SCALE =      4000
 58  OUTPUT_SCALE =     1.000
 59  MIN_LIMIT =        -40.0
 60  MAX_LIMIT =        40.0
 61  FERROR =           0.050
 62  MIN_FERROR =       0.010
 63  
 64  [AXIS_Y]
 65  MIN_LIMIT = -40.0
 66  MAX_LIMIT = 40.0
 67  MAX_VELOCITY = 4
 68  MAX_ACCELERATION = 100.0
 69  
 70  [JOINT_1]
 71  TYPE =             LINEAR
 72  HOME =             0.000
 73  MAX_VELOCITY =     4
 74  MAX_ACCELERATION = 100.0
 75  BACKLASH =         0.000
 76  INPUT_SCALE =      4000
 77  OUTPUT_SCALE =     1.000
 78  MIN_LIMIT =        -40.0
 79  MAX_LIMIT =        40.0
 80  FERROR =           0.050
 81  MIN_FERROR =       0.010
 82  
 83  [AXIS_Z]
 84  MIN_LIMIT = -4.0
 85  MAX_LIMIT = 4.0
 86  MAX_VELOCITY = 4
 87  MAX_ACCELERATION = 100.0
 88  
 89  [JOINT_2]
 90  TYPE =             LINEAR
 91  HOME =             0.0
 92  MAX_VELOCITY =     4
 93  MAX_ACCELERATION = 100.0
 94  BACKLASH =         0.000
 95  INPUT_SCALE =      4000
 96  OUTPUT_SCALE =     1.000
 97  MIN_LIMIT =        -4.0
 98  MAX_LIMIT =        4.0
 99  FERROR =           0.050
100  MIN_FERROR =       0.010