[APPLICATIONS]
#APP = halshow --fformat %12.4f puma560.halshow

[EMC]
VERSION = 1.1
MACHINE = puma560 (switchkins) (inch)
#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0

[KINS]
JOINTS= 6
KINEMATICS= genserkins

[HAL]
HALUI   = halui
HALCMD  = loadusr -W puma560gui
HALFILE = LIB:basic_sim.tcl
HALFILE = puma560_dh.hal

HALCMD  = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
POSTGUI_HALFILE = puma560_postgui.hal
#HALCMD  = net J5-home-status <= J5:homesw
#HALFILE = custom.hal


[RS274NGC]
#    USER_M_PATH = ./mcodes
#SUBROUTINE_PATH = ./remap_subs
#   HAL_PIN_VARS = 1
#          REMAP = M428  modalgroup=10  ngc=428remap
#          REMAP = M429  modalgroup=10  ngc=429remap
#          REMAP = M430  modalgroup=10  ngc=430remap
#RS274NGC_STARTUP_CODE = G20 G10L2P0 x19.2 y5.5 z9.4 a90 b0 c90 (debug, ini: startup offsets set)
PARAMETER_FILE  = puma560.var

[HALUI]
# MDI-COMMANDS 00,01,02 (remapped) do not alter limits when switching:
# M428:genserkins    (kinstype==0 startupDEFAULT)
# M429:identity kins (kinstype==1)
# M430:userk kins    (kinstype==2)
MDI_COMMAND = M428
MDI_COMMAND = M429
MDI_COMMAND = M430
# MDI-COMMANDS 03,04,05 ALTER limits when switching
MDI_COMMAND = M128
MDI_COMMAND = M129
MDI_COMMAND = M130

[DISPLAY]
DISPLAY = axis
CYCLE_TIME = 0.200
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.0
PROGRAM_PREFIX = /home/marko/linuxcnc/nc_files
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PYVCP = puma560.xml

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1000000
BASE_PERIOD = 25000


[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[TRAJ]
COORDINATES = X Y Z A B C
LINEAR_UNITS = inch
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = 1.0
MAX_LINEAR_VELOCITY = 10.0
DEFAULT_LINEAR_ACCELERATION = 10.0
MAX_LINEAR_ACCELERATION = 20.0
MAX_ANGULAR_VELOCITY = 100

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

[JOINT_0]
TYPE = ANGULAR
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -90.0
MAX_LIMIT = 130.0
HOME = 0.0
HOME_OFFSET = 120.0
HOME_SEARCH_VEL = -2.0
HOME_LATCH_VEL = -2.0
HOME_FINAL_VEL = 0.0
HOME_SEQUENCE = 5
SCALE = 113.778
STEPGEN_MAXACCEL = 937.5

[AXIS_X]
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -90.0
MAX_LIMIT = 120.0


[AXIS_Y]
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = 40
MAX_LIMIT = 220

[JOINT_1]
TYPE = ANGULAR
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -50              
MAX_LIMIT = 130            
HOME_SEARCH_VEL = 1       
HOME_LATCH_VEL  = 0.2
HOME_FINAL_VEL  = 0
HOME = 90.0                 
HOME_OFFSET = 140.0         
HOME_SEQUENCE = 0
HOME_IGNORE_LIMITS = YES
SCALE = 355.556
STEPGEN_MAXACCEL = 937.5

[AXIS_Z]
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = 0
MAX_LIMIT = 150

[JOINT_2]
TYPE = ANGULAR
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -120
MAX_LIMIT = 90
HOME_SEARCH_VEL = -2   
HOME_LATCH_VEL  = -1 
HOME_FINAL_VEL  = 0
HOME = 00.0                  
HOME_OFFSET = -60.0        
HOME_SEQUENCE = 1
HOME_IGNORE_LIMITS = YES
SCALE = 321.905
STEPGEN_MAXACCEL = 937.5

[JOINT_3]
TYPE = ANGULAR
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -20.0
MAX_LIMIT = 340.0
HOME = 0.0
HOME_OFFSET = 140.0
HOME_SEARCH_VEL = 2.0
HOME_LATCH_VEL = 2.0
HOME_FINAL_VEL = 0.0
HOME_SEQUENCE = 2
SCALE = 71.111
STEPGEN_MAXACCEL = 937.5


[AXIS_A]
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -180.0
MAX_LIMIT = 180.0

[JOINT_4]
TYPE = ANGULAR
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -90
MAX_LIMIT = 90
HOME_SEARCH_VEL = -3
HOME_LATCH_VEL = -1
HOME = 0.0
HOME_OFFSET = -130.0
HOME_IGNORE_LIMITS = YES
HOME_FINAL_VEL  =  0 
HOME_SEQUENCE = 4
SCALE = 71.111
STEPGEN_MAXACCEL = 937.5

[JOINT_5]
TYPE = ANGULAR
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 2000.0
MIN_LIMIT = -90
MAX_LIMIT = 270
HOME = 0.0
HOME_SEARCH_VEL = -2.5
HOME_LATCH_VEL = -2.5
HOME_FINAL_VEL = 0
HOME_USE_INDEX = NO
HOME_OFFSET = -90.0
HOME_SEQUENCE = 3
SCALE = 177.778
STEPGEN_MAXACCEL = 1937.5

[AXIS_C]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 2000.0
MIN_LIMIT = 0
MAX_LIMIT = 360







[AXIS_B]
MAX_VELOCITY = 30.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -90
MAX_LIMIT = 90