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

[DISPLAY]
DISPLAY = qtvcp -f qtdragon
PREFERENCE_FILE_PATH = qtdragon.pref
CYCLE_TIME = 0.100
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
DEFAULT_SPINDLE_0_SPEED = 1000
MAX_SPINDLE_0_SPEED = 24000
MIN_SPINDLE_0_SPEED = 750
DEFAULT_LINEAR_VELOCITY = 3.30
MIN_LINEAR_VELOCITY = 0.01
MAX_LINEAR_VELOCITY = 66.667
PROGRAM_PREFIX = /home/cnc/Desktop/Projects
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
INCREMENTS = 50mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm
GRIDS = 5mm 10mm 50mm 100mm
GEOMETRY = XYZ


[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .ngc,.nc,.tap G-Code Datei (*.ngc,*.nc,*.tap)
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 = subroutines/
RS274NGC_STARTUP_CODE = G17 G21 G40 G49 G64 P0.0025 G80 G90 G92.1 G94 G97 G98
USER_M_PATH = m_codes/

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 100000
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

[KINS]
JOINTS = 4
KINEMATICS =trivkins coordinates=XYYZ 

[TRAJ]
COORDINATES =  XYYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 3.30
MAX_LINEAR_VELOCITY = 66.667
#NO_FORCE_HOMING = 1
POSITION_FILE = lastposition.txt

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

[AXIS_X]
MAX_VELOCITY = 66.667
MAX_ACCELERATION = 800
MIN_LIMIT = -1000
MAX_LIMIT = 0

[JOINT_0]
TYPE = LINEAR
MIN_LIMIT = -1000
MAX_LIMIT = 0
MAX_VELOCITY = 66.667
MAX_ACCELERATION = 800
STEPGEN_MAXACCEL = 937.5
SCALE = 1280.0
FERROR = 1
MIN_FERROR = .25
HOME = 0
HOME_OFFSET = 5
HOME_SEARCH_VEL = 10.0
HOME_LATCH_VEL = 0.2
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
#HOME_IS_SHARED = 0

[AXIS_Y]
MAX_VELOCITY = 66.667
MAX_ACCELERATION = 800.0
MIN_LIMIT = -1000
MAX_LIMIT = 0

[JOINT_1]
TYPE = LINEAR
MIN_LIMIT = -1000
MAX_LIMIT = 0
MAX_VELOCITY = 66.667
MAX_ACCELERATION = 800.0
STEPGEN_MAXACCEL = 900.0
SCALE = -1280.0
FERROR = 1
MIN_FERROR = .25
HOME = 0
HOME_OFFSET = 5
HOME_SEARCH_VEL = 10.0
HOME_LATCH_VEL = 0.2
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -1
#HOME_IS_SHARED = 1

[JOINT_3]
TYPE = LINEAR
MIN_LIMIT = -1000
MAX_LIMIT = 0
MAX_VELOCITY = 66.667
MAX_ACCELERATION = 800.0
STEPGEN_MAXACCEL = 900.0
SCALE = -1280.0
FERROR = 1
MIN_FERROR = .25
HOME = 0
HOME_OFFSET = 5
HOME_SEARCH_VEL = 10.0
HOME_LATCH_VEL = 0.2
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = -1
#HOME_IS_SHARED = 1


[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -185.0
MAX_LIMIT = 0.001

[JOINT_2]
TYPE = LINEAR
MIN_LIMIT = -185.0
MAX_LIMIT = 0.001
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = -5120.0
FERROR = 1
MIN_FERROR = .25
HOME = 0
HOME_OFFSET = -2.0
HOME_SEARCH_VEL = 5.0
HOME_LATCH_VEL = 0.2
HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
#HOME_IS_SHARED = 0