[EMC]
# The version string for this INI file.
VERSION = 1.1
DEBUG = 0x7fffffff

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

[FILTER]
#No Content

[RS274NGC]
PARAMETER_FILE = sim.var
USER_M_PATH = ./subs

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 4.0
BASE_PERIOD =   600000
SERVO_PERIOD = 1000000

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

[HAL]
HALFILE = LIB:core_sim.hal
HALFILE = LIB:simulated_home.hal
HALFILE = LIB:lathe.hal
POSTGUI_HALFILE = postgui.hal

[TRAJ]
NO_FORCE_HOMING=1
AXES =                  3
COORDINATES =           X Z
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
DEFAULT_LINEAR_VELOCITY = 1.2
MAX_LINEAR_VELOCITY =   4

[KINS]
KINEMATICS = trivkins
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 3.333334
MAX_ACCELERATION = 20.0

[JOINT_0]

TYPE =             LINEAR
HOME =             0.000
MAX_VELOCITY =     3.333334
MAX_ACCELERATION = 20.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -10.0
MAX_LIMIT =        10.0
FERROR =           0.050
MIN_FERROR =       0.010
HOME_OFFSET =                    1.0
HOME_SEARCH_VEL =                5.0
HOME_LATCH_VEL =                 1.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 0

[AXIS_Z]
MIN_LIMIT = -2.0
MAX_LIMIT = 4.0
MAX_VELOCITY = 3.333334
MAX_ACCELERATION = 20.0

[JOINT_1]
# JOINT_1: not used, home immediately:
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 0

[JOINT_2]
TYPE =             LINEAR
HOME =             0.0
MAX_VELOCITY =     3.333334
MAX_ACCELERATION = 20.0
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -2.0
MAX_LIMIT =        4.0
FERROR =           0.050
MIN_FERROR =       0.010
HOME_OFFSET =                    1.0
HOME_SEARCH_VEL =                5.0
HOME_LATCH_VEL =                 1.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 1