/* my ini file ... congif for one axis  .... but other is the same */ */

[AXIS_X]
MIN_LIMIT = -45000
MAX_LIMIT = 45000
MAX_VELOCITY = 7000.0
MAX_ACCELERATION = 2000.0

[JOINT_0]
TYPE = ANGULAR
#TYPE = LINEAR
MAX_VELOCITY = 3600.0
MAX_ACCELERATION = 650.0
STEPGEN_MAXACCEL = 0
SCALE = 1 
FERROR = 2
MIN_FERROR = 20
MIN_LIMIT = -180
MAX_LIMIT = 180
#HOME_ABSOLUTE_ENCODER	= 2
HOME					= 0
HOME_OFFSET				= 0
HOME_SEQUENCE			= 0
HOME_SEARCH_VEL			= 0
#HOME_USE_INDEX			= 1
HOME_LATCH_VEL			= 0
HOME_IGNORE_LIMITS		= yes

/* my hal file I copy only one axis .... but other is the same */
loadusr -W lcec_conf /home/demo/linuxcnc/configs/et-3ax/cia402linuxcnc.xml
loadrt lcec

loadrt [KINS]KINEMATICS
setp rotarydeltakins.platformradius 190.00
setp rotarydeltakins.thighlength 340.0
setp rotarydeltakins.shinlength 800.0
setp rotarydeltakins.footradius 74.09

#autoconverted  trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS 
loadrt conv_u32_float names=cu32f.0,cu32f.1,cu32f.2
loadrt toggle count=1


addf lcec.read-all servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf lcec.write-all servo-thread
addf cu32f.0 servo-thread
addf cu32f.1 servo-thread
addf cu32f.2 servo-thread
addf toggle.0 servo-thread

net ec-slaves-responding <= lcec.slaves-responding
net ec-link-up <= lcec.link-up
net ec-all-op <= lcec.all-op

net ec_up lcec.state-op => iocontrol.0.emc-enable-in lcec.0.0.driverControl-0 lcec.0.1.driverControl-0 lcec.0.2.driverControl-0

 
setp lcec.0.0.driverControl-1 1
setp lcec.0.0.driverControl-2 1
setp lcec.0.1.driverControl-1 1
setp lcec.0.1.driverControl-2 1
setp lcec.0.2.driverControl-1 1
setp lcec.0.2.driverControl-2 1


net Xaxe_on joint.0.amp-enable-out => lcec.0.0.driverControl-3 
net Yaxe_on joint.1.amp-enable-out => lcec.0.1.driverControl-3 
net Zaxe_on joint.2.amp-enable-out => lcec.0.2.driverControl-3 

net Xaxe_fb joint.0.motor-pos-fb <= lcec.0.0.posActual
net Xaxe_cmd joint.0.motor-pos-cmd => lcec.0.0.posCommand
net Yaxe_fb  joint.1.motor-pos-fb <= lcec.0.1.posActual
net Yaxe_cmd joint.1.motor-pos-cmd => lcec.0.1.posCommand
net Zaxe_fb  joint.2.motor-pos-fb <= lcec.0.2.posActual
net Zaxe_cmd joint.2.motor-pos-cmd => lcec.0.2.posCommand