[EMC]
DEBUG = 0xffffffff
VERSION = 1.1

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

[TASK]
TASK = milltask
CYCLE_TIME = 0.001
MDI_QUEUED_COMMANDS=10000

[RS274NGC]
PARAMETER_FILE = sim.var
SUBROUTINE_PATH = ./subs
LOG_LEVEL = 999

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

[HAL]
HALUI = halui
HALFILE = LIB:core_sim.hal
POSTGUI_HALFILE = postgui.hal

[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

[KINS]
JOINTS = 3
KINEMATICS = trivkins

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

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

[AXIS_Z]
MAX_VELOCITY =     4
MAX_ACCELERATION = 1000.0
MIN_LIMIT =        -4.0
MAX_LIMIT =        4.0

[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

[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

[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 =        -4.0
MAX_LIMIT =        4.0
FERROR =           0.050
MIN_FERROR =       0.010

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