[EMC]
VERSION = 1.1
MACHINE = QtPyVCP - probe_basic Sim
DEBUG = 0

[DISPLAY]
DISPLAY = probe_basic_lathe
LATHE = 1
CONFIRM_EXIT = False
#LOG_FILE = sim.log
LOG_LEVEL = DEBUG
CONFIG_FILE = custom_config.yml
CYCLE_TIME =            0.100
POSITION_OFFSET =       RELATIVE
POSITION_FEEDBACK =     ACTUAL
DEFAULT_LINEAR_VELOCITY = 20
MAX_LINEAR_VELOCITY = 300
MIN_LINEAR_VELOCITY = 0.05
DEFAULT_ANGULAR_VELOCITY = 12.000000
DEFAULT_SPINDLE_SPEED = 300
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.500000
MAX_FEED_OVERRIDE = 2.000000
PROGRAM_PREFIX = ~/linuxcnc/nc_files
OPEN_FILE = ~/linuxcnc/nc_files/pb_examples/blank.ngc
INTRO_GRAPHIC = pbsplash.png
INTRO_TIME = 5
INCREMENTS = JOG .10mm .01mm .001mm .0001mm
GEOMETRY = xz
USER_TABS_PATH = user_tabs/
USER_BUTTONS_PATH = user_buttons/ 

[FILTER]
PROGRAM_EXTENSION = .nc,.txt,.tap Other NC files


[RS274NGC]
RS274NGC_STARTUP_CODE = F10 S300 G21 G17 G40 G49 G54 G64 P.001 G80 G90 G91.1 G92.1 G94 G97 G98 G92 x0 z0
PARAMETER_FILE = sim.var
OWORD_NARGS = 1
NO_DOWNCASE_OWORD = 1
SUBROUTINE_PATH = subroutines
REMAP=M20 modalgroup=10 argspec=Pq ngc=m20
REMAP= M6 modalgroup=6 prolog=change_prolog ngc=toolchange epilog=change_epilog
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALFILE = cia402.hal
HALFILE = hallib/m64-m66.hal
#HALFILE = hallib/hydraulic-pump.hal
HALFILE = hallib/toolchanger.hal
HALUI = halui
POSTGUI_HALFILE = hallib/probe_basic_lathe_postgui.hal
TWOPASS = on 
[HALUI]

[PYTHON]
TOPLEVEL= ./python/toplevel.py
PATH_APPEND= ./python/
PATH_APPEND= ./python/python-stdglue/

[TRAJ]
AXES = 2
SPINDLES = 1
COORDINATES = X Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 20
MAX_LINEAR_VELOCITY = 300
DEFAULT_ACCELERATION = 1000
MAX_ACCELERATION = 5000
NO_FORCE_HOMING = 1
POSITION_FILE = position.txt
# Axes sections ---------------------------------------------------------------

# First axis
[EMCIO]
EMCIO = iov2
CYCLE_TIME = 0.100
TOOL_TABLE = lathe.tbl
#TOOL_CHANGE_POSITION = 2 0 1
#TOOL_CHANGE_WITH_SPINDLE_ON = 1

[KINS]
KINEMATICS = trivkins coordinates=xz
JOINTS = 2

[AXIS_X]
MIN_LIMIT = -200
MAX_LIMIT = -10
MAX_VELOCITY = 200
MAX_ACCELERATION = 5000.0

[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 200
MAX_ACCELERATION = 5000
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
STEPGEN_MAXVEL = 200
STEPGEN_MAXACCEL = 5000
SCALE = 0.04
FERROR = 200
MIN_FERROR = 50
MIN_LIMIT = -200
MAX_LIMIT = -10
HOME_ABSOLUTE_ENCODER = 2
HOME = 0
HOME_OFFSET = 0
HOME_SEQUENCE = -1
[AXIS_Z]
MIN_LIMIT = -650
MAX_LIMIT = -25
MAX_VELOCITY = 300
MAX_ACCELERATION = 5000.0

[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 300
MAX_ACCELERATION = 5000
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
# is this applicable for ethercat????
STEPGEN_MAXVEL = 300
STEPGEN_MAXACCEL = 5000
STEP_SCALE = 1
FERROR = 2
MIN_FERROR = 20
MIN_LIMIT = -650
MAX_LIMIT = -25
HOME_ABSOLUTE_ENCODER = 2
HOME = 0
HOME_OFFSET = 0
HOME_SEQUENCE = -1