[EMC]
DEBUG = 0
VERSION = 1.1

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

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[RS274NGC]
PARAMETER_FILE = sim.var

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

[HAL]
HALFILE = LIB:core_sim.hal
HALFILE = ../heading.hal

[TRAJ]
NO_FORCE_HOMING=1
AXES =                  3
COORDINATES =           X Y Z
HOME =                  0 0 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
DEFAULT_LINEAR_VELOCITY = 100
MAX_LINEAR_VELOCITY =   500

[KINS]
KINEMATICS = trivkins
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 500
MAX_ACCELERATION = 3000

[JOINT_0]
TYPE =             LINEAR
HOME =             0.000
MAX_VELOCITY =     1000
MAX_ACCELERATION = 3000
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -1000.0
MAX_LIMIT =        1000.0
FERROR =           0.050
MIN_FERROR =       0.010
HOME_SEQUENCE = 0

[AXIS_Y]
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 500
MAX_ACCELERATION = 3000

[JOINT_1]
TYPE =             LINEAR
HOME =             0.000
MAX_VELOCITY =     500
MAX_ACCELERATION = 3000
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -1000.0
MAX_LIMIT =        1000.0
FERROR =           0.050
MIN_FERROR =       0.010
HOME_SEQUENCE = 0

[AXIS_Z]
MIN_LIMIT = -500.0
MAX_LIMIT = 500.0
MAX_VELOCITY = 500
MAX_ACCELERATION = 3000

[JOINT_2]
TYPE =             LINEAR
HOME =             0.0
MAX_VELOCITY =     500
MAX_ACCELERATION = 3000
BACKLASH =         0.000
INPUT_SCALE =      4000
OUTPUT_SCALE =     1.000
MIN_LIMIT =        -500.0
MAX_LIMIT =        500.0
FERROR =           0.050
MIN_FERROR =       0.010
HOME_SEQUENCE = 0