# Notes:
# 1) [AXIS_n]OFFSET_AV_RATIO= controls external offsets a,v
#     Allowed values are 0.0 <= OFFSET_AV_RATIO <= 0.9
#     Value of 0.0 disables external offsets
#     Disallowed values are superseded with msg to stdout
# 2) Immediate homing herein
#    ([JOINT_*]HOME_SEQUENCE=0, other HOME_* items omitted)
# 3) uncomment [JOINT_0]HOME_SEARCH_VEL,HOME_LATCH_VEL
#    to demonstrate non-zero joint.0.motor-offset


[HAL]
HALUI   = halui
HALFILE = LIB:basic_sim.tcl
POSTGUI_HALFILE = jwp_z_panel.hal

[EMC]
MACHINE = Jog-While-Pause Z Demo
VERSION = 1.1

[DISPLAY]
PYVCP = jwp_z_panel.xml
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_LINEAR_VELOCITY = 2
OPEN_FILE = ./jwp_z.ngc

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[RS274NGC]
USER_M_PATH = .
PARAMETER_FILE = sim.var

[EMCMOT]
EMCMOT = motmod
SERVO_PERIOD = 1000000

[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = inch
ANGULAR_UNITS = degree

[KINS]
JOINTS = 3
KINEMATICS = trivkins coordinates=XYZ

[AXIS_X]
MIN_LIMIT        =  -1
MAX_LIMIT        =  11
MAX_VELOCITY     =   2
MAX_ACCELERATION =  20

[AXIS_Y]
MIN_LIMIT        =  -1
MAX_LIMIT        =   5
MAX_VELOCITY     =   2
MAX_ACCELERATION =  20

[AXIS_Z]
# Note: low OFFSET_AV_RATIO:
OFFSET_AV_RATIO  =   0.05
MIN_LIMIT        =  -1
MAX_LIMIT        =   1
MAX_VELOCITY     =   2
MAX_ACCELERATION =  20

[JOINT_0]
TYPE             = LINEAR
HOME_SEQUENCE    =   0
MAX_VELOCITY     =   2
MAX_ACCELERATION =  20

[JOINT_1]
TYPE             = LINEAR
HOME_SEQUENCE    =   0
MAX_VELOCITY     =   2
MAX_ACCELERATION =  20

[JOINT_2]
TYPE             = LINEAR
HOME_SEQUENCE    =   0
MAX_VELOCITY     =   2
MAX_ACCELERATION =  20
