1  [EMC]
  2  VERSION = 1.1
  3  DEBUG = 0xffffffff
  4  
  5  [DISPLAY]
  6  DISPLAY = ./test-ui.py
  7  
  8  [TASK]
  9  TASK = milltask
 10  CYCLE_TIME = 0.001
 11  
 12  [RS274NGC]
 13  SUBROUTINE_PATH = ./subs
 14  LOG_LEVEL = 999
 15  REMAP=M442 modalgroup=5 ngc=m442
 16  
 17  [EMCMOT]
 18  #EMCMOT = motmod
 19  COMM_TIMEOUT = 4.0
 20  BASE_PERIOD = 0
 21  SERVO_PERIOD = 1000000
 22  
 23  [EMCIO]
 24  EMCIO = io
 25  CYCLE_TIME = 0.100
 26  TOOL_TABLE = simpockets.tbl
 27  TOOL_CHANGE_QUILL_UP = 1
 28  RANDOM_TOOLCHANGER = 0
 29  
 30  [HAL]
 31  HALFILE = mock-motion.hal
 32  #POSTGUI_HALFILE = postgui.hal
 33  
 34  [TRAJ]
 35  NO_FORCE_HOMING =       1
 36  AXES =                  3
 37  COORDINATES =           X Y Z
 38  HOME =                  0 0 0
 39  LINEAR_UNITS =          inch
 40  ANGULAR_UNITS =         degree
 41  DEFAULT_LINEAR_VELOCITY = 120
 42  MAX_LINEAR_VELOCITY =   400
 43  
 44  [KINS]
 45  KINEMATICS = trivkins
 46  JOINTS = 3
 47  
 48  [AXIS_X]
 49  MIN_LIMIT = -40.0
 50  MAX_LIMIT = 40.0
 51  MAX_VELOCITY = 400
 52  MAX_ACCELERATION = 1000.0
 53  
 54  [JOINT_0]
 55  TYPE =             LINEAR
 56  HOME =             0.000
 57  MAX_VELOCITY =     400
 58  MAX_ACCELERATION = 1000.0
 59  BACKLASH =         0.000
 60  INPUT_SCALE =      4000
 61  OUTPUT_SCALE =     1.000
 62  MIN_LIMIT =        -40.0
 63  MAX_LIMIT =        40.0
 64  FERROR =           0.050
 65  MIN_FERROR =       0.010
 66  
 67  [AXIS_Y]
 68  MIN_LIMIT = -40.0
 69  MAX_LIMIT = 40.0
 70  MAX_VELOCITY = 400
 71  MAX_ACCELERATION = 1000.0
 72  
 73  [JOINT_1]
 74  TYPE =             LINEAR
 75  HOME =             0.000
 76  MAX_VELOCITY =     400
 77  MAX_ACCELERATION = 1000.0
 78  BACKLASH =         0.000
 79  INPUT_SCALE =      4000
 80  OUTPUT_SCALE =     1.000
 81  MIN_LIMIT =        -40.0
 82  MAX_LIMIT =        40.0
 83  FERROR =           0.050
 84  MIN_FERROR =       0.010
 85  
 86  [AXIS_Z]
 87  MIN_LIMIT = -40
 88  MAX_LIMIT = 40
 89  MAX_VELOCITY = 400
 90  MAX_ACCELERATION = 1000.0
 91  
 92  [JOINT_2]
 93  TYPE =             LINEAR
 94  HOME =             0.0
 95  MAX_VELOCITY =     400
 96  MAX_ACCELERATION = 1000.0
 97  BACKLASH =         0.000
 98  INPUT_SCALE =      4000
 99  OUTPUT_SCALE =     1.000
100  MIN_LIMIT =        -40
101  MAX_LIMIT =        40
102  FERROR =           0.050
103  MIN_FERROR =       0.010
104