# This config file was created 2017-05-10 09:59:22.679734 by the update_ini script
# The original config files may be found in the /home/jepler/src/linuxcnc/master/tests/remap/remap-io/test-ngc.old directory

[EMC]
# The version string for this INI file.
VERSION = 1.1

DEBUG = 0x0

[DISPLAY]
DISPLAY = ./test-ui.py

[FILTER]
#No Content

[RS274NGC]
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = .
REMAP= M62 modalgroup=5 argspec=P ngc=io_output_m62
REMAP= M63 modalgroup=5 argspec=P ngc=io_output_m63
REMAP= M64 modalgroup=5 argspec=P ngc=io_output_m64
REMAP= M65 modalgroup=5 argspec=P ngc=io_output_m65
REMAP= M66 modalgroup=5 argspec=pelq ngc=io_input_m66
REMAP= M67 modalgroup=5 argspec=EQ ngc=io_output_m67
REMAP= M68 modalgroup=5 argspec=EQ ngc=io_output_m68

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 4.0
BASE_PERIOD = 0
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[HAL]
HALUI = halui
HALFILE = core_sim.hal

[HALUI]
#No Content
[TRAJ]

NO_FORCE_HOMING=1
AXES =                  3
COORDINATES =           X Y Z
HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
DEFAULT_LINEAR_VELOCITY =      1.2
MAX_LINEAR_VELOCITY =   4

[EMCIO]
TOOL_TABLE = simpockets.tbl
TOOL_CHANGE_QUILL_UP = 1
RANDOM_TOOLCHANGER = 0



[KINS]
KINEMATICS = trivkins
#This is a best-guess at the number of joints, it should be checked
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0

[JOINT_0]

TYPE =             LINEAR
HOME =             0.000
MAX_VELOCITY =     4
MAX_ACCELERATION = 1000.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -40.0
MAX_LIMIT =        40.0
FERROR =           0.050
MIN_FERROR =       0.010

[AXIS_Y]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0

[JOINT_1]

TYPE =             LINEAR
HOME =             0.000
MAX_VELOCITY =     4
MAX_ACCELERATION = 1000.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -40.0
MAX_LIMIT =        40.0
FERROR =           0.050
MIN_FERROR =       0.010

[AXIS_Z]
MIN_LIMIT = -40.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 1000.0

[JOINT_2]

TYPE =             LINEAR
HOME =             0.0
MAX_VELOCITY =     4
MAX_ACCELERATION = 1000.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -40.0
MAX_LIMIT =        40.0
FERROR =           0.050
MIN_FERROR =       0.010

[PYTHON]

TOPLEVEL= toplevel.py
PATH_PREPEND= .
