[EMC]
VERSION = 1.1
MACHINE = TC225
DEBUG = 0

[DISPLAY]
DISPLAY = probe_basic
CYCLE_TIME = 0.100
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.0
PROGRAM_PREFIX = /home/cnc2/linuxcnc/nc_files
INCREMENTS = 1 mm, .1 mm, 0.01 mm
OPEN_FILE = ~/linuxcnc/nc_files/pb_examples/blank.ngc
CONFIG_FILE = custom_config.yml
INTRO_GRAPHIC = pbsplash.png
INTRO_TIME = 3
USER_TABS_PATH = user_tabs/
USER_BUTTONS_PATH = user_buttons/
USER_DROS_PATH = user_dro_display/
DRO_DISPLAY = XYZA
GEOMETRY = XYZA
OFFSET_COLUMNS = XYZA
TOOL_TABLE_COLUMNS = TZDR
ATC_TAB_DISPLAY = 1
USER_ATC_BUTTONS_PATH = user_atc_buttons/

[TASK]
TASK = milltask
CYCLE_TIME = 0.001

[RS274NGC]
RS274NGC_STARTUP_CODE = F10 S300 G21 G17 G40 G49 G54 G64 P0.001 G80 G90 G91.1 G92.1 G94 G97 G98
PARAMETER_FILE = probe_basic.var
OWORD_NARGS = 1
NO_DOWNCASE_OWORD = 1
SUBROUTINE_PATH = ./subroutines
REMAP=M6  modalgroup=6 prolog=change_prolog ngc=toolchange epilog=change_epilog
REMAP=M10 modalgroup=6 argspec=P ngc=m10
REMAP=M11 modalgroup=6 argspec=p ngc=m11
REMAP=M12 modalgroup=6 argspec=p ngc=m12
REMAP=M13 modalgroup=6 ngc=m13
REMAP=M21 modalgroup=6 ngc=m21
REMAP=M22 modalgroup=6 ngc=m22
REMAP=M23 modalgroup=6 ngc=m23
REMAP=M24 modalgroup=6 ngc=m24
REMAP=M25 modalgroup=6 ngc=m25
REMAP=M26 modalgroup=6 ngc=m26

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

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = sim_mm.tbl
TOOL_CHANGE_POSITION = 0 0 410

[HAL]
HALFILE = tc225_test.hal
HALUI = halui
POSTGUI_HALFILE = probe_basic_postgui.hal
TWOPASS = on

[TRAJ]
AXES = 4
COORDINATES = X Y Z A
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 30.0
MAX_LINEAR_VELOCITY = 60.0
DEFAULT_LINEAR_ACCELERATION = 500.0
MAX_LINEAR_ACCELERATION = 1000.0
POSITION_FILE = position_mm.txt

[KINS]
KINEMATICS = trivkins
JOINTS = 4

[AXIS_X]
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 1000.0
MIN_LIMIT = -2540
MAX_LIMIT = 2540

[AXIS_Y]
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 1000.0
MIN_LIMIT = -2540
MAX_LIMIT = 2540

[AXIS_Z]
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 1000.0
MIN_LIMIT = -500
MAX_LIMIT = 300

[AXIS_A]
MAX_VELOCITY = 3600
MAX_ACCELERATION = 36000
MIN_LIMIT = -99999
MAX_LIMIT = 99999

[JOINT_0]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 1000.0
INPUT_SCALE = 1677721.6
OUTPUT_SCALE = 1
MIN_LIMIT = -2540
MAX_LIMIT = 2540
FERROR = 10000
MIN_FERROR = 1000.254
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0

[JOINT_1]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 1000.0
INPUT_SCALE = 1677721.6
OUTPUT_SCALE = 1
MIN_LIMIT = -2540
MAX_LIMIT = 2540
FERROR = 10000
MIN_FERROR = 1000
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0

[JOINT_2]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 60.0
MAX_ACCELERATION = 1000.0
INPUT_SCALE = 1677721.6
OUTPUT_SCALE = 1
MIN_LIMIT = -500
MAX_LIMIT = 300
FERROR = 10000
MIN_FERROR = 1000
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_SEQUENCE = 0

[JOINT_3]
TYPE = ANGULAR
HOME = 0
MAX_VELOCITY = 3600
MAX_ACCELERATION = 36000
INPUT_SCALE = 364.0888888889
OUTPUT_SCALE = 1
MIN_LIMIT = -99999
MAX_LIMIT = 99999
FERROR = 2000
MIN_FERROR = 2000
HOME_SEARCH_VEL = 0
HOME_SEQUENCE = 0

[SPINDLE]
PGAIN_V = 0
IGAIN_V = 0
DGAIN_V = 0
FF0_V = 0
FF1_V = 1
PGAIN_P = 1000
IGAIN_P = 0
DGAIN_P = 0
FF0_P = 0
FF1_P = 0

[ATC]
POCKETS = 10
DRUM_P1_REV = 0.0