[EMC]
VERSION = 1.1
MACHINE = preview_test_9_axis
  DEBUG = 0

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

[FILTER]

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[RS274NGC]
RS274NGC_STARTUP_CODE = G17 G20 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
PARAMETER_FILE = test.var

[PYTHON]

[EMCMOT]
EMCMOT =              motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD =   600000
SERVO_PERIOD = 1000000

[EMCIO]
TOOL_TABLE = tool.tbl
TOOL_CHANGE_POSITION = 0 0 2

[HAL]
HALUI = halui
HALFILE = LIB:core_sim.hal
HALFILE = LIB:simulated_home.hal
HALFILE = LIB:lathe.hal

[TRAJ]
COORDINATES = X Y Z A
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50.0
DEFAULT_LINEAR_ACCEL = 500.0
DEFAULT_ANGULAR_VELOCITY = 45.0
MAX_LINEAR_VELOCITY = 200.0
MAX_LINEAR_ACCEL = 250.0
MAX_ANGULAR_VELOCITY = 90.0

[KINS]
KINEMATICS = trivkins coordinates=XYZA
JOINTS = 4

[AXIS_X]
MIN_LIMIT = -250.0
MAX_LIMIT = 250.0
MAX_VELOCITY = 100
MAX_ACCELERATION = 1250

[AXIS_Y]
MIN_LIMIT = -250.0
MAX_LIMIT = 250.0
MAX_VELOCITY = 100
MAX_ACCELERATION = 1250

[AXIS_Z]
MIN_LIMIT = -50.0
MAX_LIMIT = 100.0
MAX_VELOCITY = 100
MAX_ACCELERATION = 1250

[AXIS_A]
MIN_LIMIT = -360.0
MAX_LIMIT = 360.0
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0


[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 100
MAX_ACCELERATION = 1250
MIN_LIMIT = -250.0
MAX_LIMIT = 250.0
HOME_SEQUENCE = 0

[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 100
MAX_ACCELERATION = 1250
MIN_LIMIT = -250.0
MAX_LIMIT = 250.0
HOME_SEQUENCE = 0

[JOINT_2]
TYPE = LINEAR
MAX_VELOCITY = 100
MAX_ACCELERATION = 1250
MIN_LIMIT = -50.0
MAX_LIMIT = 100.0
HOME_SEQUENCE = 0

[JOINT_3]
TYPE = ANGULAR
MAX_VELOCITY = 90.0
MAX_ACCELERATION = 1200.0
HOME_SEQUENCE = 0