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Wang Dequan
311
tests/trajectory-planner/circular-arcs/configs/9axis.ini
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311
tests/trajectory-planner/circular-arcs/configs/9axis.ini
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# EMC controller parameters for a simulated machine.
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# General note: Comments can either be preceded with a # or ; - either is
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# acceptable, although # is in keeping with most linux config files.
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# General section -------------------------------------------------------------
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[EMC]
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# Version of this INI file
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VERSION = $Revision$
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# Name of machine, for use with display, etc.
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MACHINE = RT-Build-Circular-Arc-Blend-Tester
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# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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# DEBUG = 0x7FFFFFFF
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DEBUG = 0
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# Sections for display options ------------------------------------------------
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[DISPLAY]
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PYVCP = vcp_9axis.xml
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# Name of display program, e.g., axis
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DISPLAY = axis
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# Cycle time, in seconds, that display will sleep between polls
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CYCLE_TIME = 0.100
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# Path to help file
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HELP_FILE = doc/help.txt
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# Initial display setting for position, RELATIVE or MACHINE
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POSITION_OFFSET = RELATIVE
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# Initial display setting for position, COMMANDED or ACTUAL
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POSITION_FEEDBACK = ACTUAL
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# Highest value that will be allowed for feed override, 1.0 = 100%
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MAX_FEED_OVERRIDE = 1.2
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MAX_SPINDLE_OVERRIDE = 1.0
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# Prefix to be used
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PROGRAM_PREFIX = ../nc_files/
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# Introductory graphic
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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EDITOR = gedit
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INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
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GEOMETRY = XYZABCUVW
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[FILTER]
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PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
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PROGRAM_EXTENSION = .py Python Script
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png = image-to-gcode
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gif = image-to-gcode
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jpg = image-to-gcode
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py = python
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# Task controller section -----------------------------------------------------
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[TASK]
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# Name of task controller program, e.g., milltask
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TASK = milltask
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# Cycle time, in seconds, that task controller will sleep between polls
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CYCLE_TIME = 0.001
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# Part program interpreter section --------------------------------------------
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[RS274NGC]
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# File containing interpreter variables
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PARAMETER_FILE = sim-9axis.var
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# Motion control section ------------------------------------------------------
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[EMCMOT]
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EMCMOT = motmod
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# Timeout for comm to emcmot, in seconds
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COMM_TIMEOUT = 1.0
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# Servo task period, in nano-seconds
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SERVO_PERIOD = 1000000
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# Hardware Abstraction Layer section --------------------------------------------------
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[HAL]
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# The run script first uses halcmd to execute any HALFILE
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# files, and then to execute any individual HALCMD commands.
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#
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# list of hal config files to run through halcmd
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# files are executed in the order in which they appear
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HALFILE = core_sim9.hal
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HALFILE = axis_manualtoolchange.hal
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HALFILE = simulated_home.hal
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HALFILE = locking_indexer.hal
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HALFILE = constraint_check_9axis.tcl
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# Single file that is executed after the GUI has started. Only supported by
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# AXIS at this time (only AXIS creates a HAL component of its own)
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POSTGUI_HALFILE = postgui_9axis.hal
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HALUI = halui
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# Trajectory planner section --------------------------------------------------
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[TRAJ]
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AXES = 9
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COORDINATES = X Y Z A B C U V W
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HOME = 0 0 0 0 0 0 0 0 0
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 1.0
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DEFAULT_ANGULAR_VELOCITY = 45.0
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POSITION_FILE = position9.txt
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MAX_LINEAR_VELOCITY = 1.2
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MAX_ANGULAR_VELOCITY = 90.0
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ARC_BLEND_ENABLE = 1
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ARC_BLEND_FALLBACK_ENABLE = 0
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ARC_BLEND_OPTIMIZATION_DEPTH = 50
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ARC_BLEND_GAP_CYCLES = 4
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ARC_BLEND_RAMP_FREQ = 20
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# Axes sections ---------------------------------------------------------------
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[AXIS_0]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 5.0
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HOME_LATCH_VEL = 1.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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[AXIS_1]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 5.0
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HOME_LATCH_VEL = 1.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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[AXIS_2]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 1.0
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HOME_SEARCH_VEL = 5.0
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HOME_LATCH_VEL = 1.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 0
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[AXIS_3]
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TYPE = ANGULAR
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HOME = 0.0
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MAX_VELOCITY = 90.0
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MAX_ACCELERATION = 1200.0
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BACKLASH = 0.000
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INPUT_SCALE = 40
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OUTPUT_SCALE = 1.000
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FERROR = 5.0
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MIN_FERROR = 1.0
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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[AXIS_4]
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TYPE = ANGULAR
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HOME = 0.0
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MAX_VELOCITY = 90.0
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MAX_ACCELERATION = 1200.0
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BACKLASH = 0.000
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INPUT_SCALE = 40
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OUTPUT_SCALE = 1.000
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FERROR = 5.0
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MIN_FERROR = 1.0
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HOME_OFFSET = 45.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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LOCKING_INDEXER = 1
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[AXIS_5]
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TYPE = ANGULAR
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HOME = 0.0
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MAX_VELOCITY = 90.0
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MAX_ACCELERATION = 1200.0
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BACKLASH = 0.000
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INPUT_SCALE = 40
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OUTPUT_SCALE = 1.000
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FERROR = 5.0
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MIN_FERROR = 1.0
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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[AXIS_6]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 0
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[AXIS_7]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 0
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[AXIS_8]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 1.2
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MAX_ACCELERATION = 20.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -2.0
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MAX_LIMIT = 4.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 0
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# section for main IO controller parameters -----------------------------------
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[EMCIO]
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# tool table file
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TOOL_TABLE = sim.tbl
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TOOL_CHANGE_POSITION = 0 0 2
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