# 
[EMC]
MACHINE = Remora-EC500
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
LATHE = TRUE
CYCLE_TIME = 0.100
PYVCP = custompanel.xml
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
MAX_FEED_OVERRIDE = 10
MAX_SPINDLE_OVERRIDE = 1.0
DEFAULT_LINEAR_VELOCITY = 50.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 125.00
DEFAULT_ANGULAR_VELOCITY = 36.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 45.00
PROGRAM_PREFIX = ~/linuxcnc/nc_files
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
INCREMENTS = 50mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm
EMBED_TAB_NAME=Cycles
EMBED_TAB_COMMAND = halcmd loadusr -Wn gladevcp gladevcp -c gladevcp -U notouch=1 -U norun=0 -u lathehandler.py -x {XID} lathemacro.ui
OPEN_FILE=''''
EMBED_TAB_NAME = Spindle
EMBED_TAB_COMMAND = pyvcp custompanel.xml
[KINS]
JOINTS = 2
#KINEMATICS =trivkins coordinates=XZ kinstype=BOTH
# kinstype=BOTH means that the machine can move in joint mode and world mode
# not good for gantrys or double z axes.
KINEMATICS =trivkins coordinates=XZ

[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

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = ~/linuxcnc/subroutines
USER_M_PATH = ~/linuxcnc/m_codes
RS274NGC_STARTUP_CODE = G18

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 0
SERVO_PERIOD = 1000000

[HAL]
HALFILE = remora-ec500.hal
# remove comment from next line to enable the NVEM NVMPG
# HALFILE = remora-nv-mpg.hal
POSTGUI_HALFILE = postgui_call_list.hal
HALUI = halui



[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_WITH_SPINDLE_ON = 1

[TRAJ]
COORDINATES = XZ 
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 20.00
MAX_LINEAR_VELOCITY = 20.00
NO_FORCE_HOMING = 1 

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_WITH_SPINDLE_ON = 1

[AXIS_X]
MAX_VELOCITY = 25.00
MAX_ACCELERATION = 20.0
MIN_LIMIT = -44
MAX_LIMIT = 3.00 

[JOINT_0]
TYPE = LINEAR
HOME = -41.047
MIN_LIMIT = -44
MAX_LIMIT = 3.00
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 2000.0
STEPGEN_MAXACCEL = 2200.0
SCALE = 807.0
FERROR = 1.0
MIN_FERROR = 0.5
#HOME_SEARCH_VEL = -15.0
#HOME_LATCH_VEL = -3.0
#HOME_FINAL_VEL = 20
#HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = YES
HOME_INDEX_NO_ENCODER_RESET = YES
#HOME_OFFSET = -25.0
#HOME = 0.0
#HOME_SEQUENCE = 1 
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = -10
HOME_LATCH_VEL = 0.5
HOME_FINAL_VEL = 0.000000
HOME_SEQUENCE = 0

[AXIS_Z]
MAX_VELOCITY = 40.0
MAX_ACCELERATION = 20.0
MIN_LIMIT =  -35.0
MAX_LIMIT = 245.0

[JOINT_1]
TYPE = LINEAR
HOME = 230.0
MIN_LIMIT = -35.0
MAX_LIMIT = 245.0
MAX_VELOCITY = 35.0
MAX_ACCELERATION = 20.0
STEPGEN_MAXACCEL = 20.0
SCALE = 807.0
FERROR = 1.0
MIN_FERROR = 0.5
#HOME_SEARCH_VEL = -1.0
#HOME_LATCH_VEL = -3.0
#HOME_FINAL_VEL = 20
#HOME_IGNORE_LIMITS = YES
HOME_USE_INDEX = YES
HOME_INDEX_NO_ENCODER_RESET = YES
#HOME_OFFSET = -20.0


HOME_OFFSET = 0
HOME_SEARCH_VEL = 15
HOME_LATCH_VEL = 2.0
HOME_FINAL_VEL = 35.0
HOME_SEQUENCE = 1


[SPINDLE_0]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 4000.0
ENCODER_SCALE = 100.0
OUTPUT_SCALE = 4000
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 4000


[MACROS]
MACRO = m600