# This config file was created 2021-05-23 13:15:24.323909 by the update_ini script
# The original config files may be found in the /home/moriseiki/linuxcnc/configs/ADTECH_Servo_EtherCAT402/ethercat_conf.old directory

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

MACHINE = EtherCAT Machine
DEBUG = 1

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 0
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[RS274NGC]

PARAMETER_FILE = linuxcnc.var

[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD =  0
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.005

[HAL]
HALFILE =ethercat_conf.hal

[HALUI]

[TRAJ]

HOME = 0 0 0
COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = 100
MAX_LINEAR_VELOCITY = 400

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
#TOOL_TABLE = tool.tbl


[KINS]
KINEMATICS = trivkins coordinates=XYZ
#This is a best-guess at the number of joints, it should be checked
JOINTS = 3

[AXIS_X]
MIN_LIMIT = -200
MAX_LIMIT = 500
MAX_VELOCITY = 375.0
MAX_ACCELERATION = 2000.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 375.0
MAX_ACCELERATION = 2000.0
STEPGEN_MAXACCEL = 0
SCALE = 1
FERROR = 1
MIN_FERROR = 2000
MIN_LIMIT = -200
MAX_LIMIT = 500
HOME_DELAY = 5
HOME_VEL = 1
HOME_OFFSET =                    100.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 0


[AXIS_Y]
MIN_LIMIT = -200
MAX_LIMIT = 200
MAX_VELOCITY = 400.0
MAX_ACCELERATION = 2000.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 400.0
MAX_ACCELERATION = 2000.0
STEPGEN_MAXACCEL = 0
SCALE = 1
FERROR = 1
MIN_FERROR = 2000
MIN_LIMIT = -200
MAX_LIMIT = 200
HOME_DELAY = 5
HOME_VEL = 1
HOME_OFFSET =                    150.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 1

[AXIS_Z]
MIN_LIMIT = 0
MAX_LIMIT = 600
MAX_VELOCITY = 400.0
MAX_ACCELERATION = 2000.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 400.0
MAX_ACCELERATION = 2000.0
STEPGEN_MAXACCEL = 0
SCALE = 1
FERROR = 1
MIN_FERROR = 2000
MIN_LIMIT = 0
MAX_LIMIT = 600
HOME_DELAY = 5
HOME_VEL = 1
HOME_OFFSET =                    100.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
HOME_SEQUENCE = 2