[EMC]
MACHINE = egecobot
DEBUG = 1
VERSION = 1.1

[DISPLAY]
DISPLAY =  axis
INTRO_GRAPHIC = er_logo.png
INTRO_TIME = 1
EDITOR = gedit
POSITION_OFFSET = MACHINE
POSITION_FEEDBACK = COMMANDED
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 1.5
MIN_SPINDLE_OVERRIDE = 0.
MAX_SPINDLE_OVERRIDE = 1.5
DEFAULT_LINEAR_VELOCITY = 50.00
MIN_LINEAR_VELOCITY = 50.
MAX_LINEAR_VELOCITY = 300.00
DEFAULT_ANGULAR_VELOCITY = 50.0
MAX_ANGULAR_VELOCITY = 100.0
MIN_ANGULAR_VELOCITY = 50.0
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 10mm 5mm 1mm .5mm .1mm .05mm .01mm .005mm .001mm

[KINS]
JOINTS = 6
KINEMATICS = genserkins
#KINEMATICS = trivkins

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.10

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
USER_M_PATH = /home/emre/linuxcnc/configs/egecobot/mfiles

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT 	= 1.0
BASE_PERIOD 	= 1000000
SERVO_PERIOD 	= 2000000

[HAL]
HALFILE = egecobot.hal
HALFILE = l7npos_cia402.hal
HALFILE = kinematics.hal
#HALFILE = l7npos.hal
#POSTGUI_HALFILE = postgui_call_list.hal
#HALFILE = xhc-whb04b-6.hal
#HALFILE = my_panel.hal
HALUI = halui

[MDI_COMMAND_LIST]
MDI_COMMAND = G10 L20 P0 X0Y0
MDI_COMMAND = G0x0y0z0

[HALUI]
	MDI_COMMAND=(DEBUG,<1>)
	MDI_COMMAND=G10 L20 P0 X[#<_x>/2.0]
	MDI_COMMAND=G10 L20 P0 Y[#<_y>/2.0]
	MDI_COMMAND=(DEBUG,<4>)
	MDI_COMMAND=(DEBUG,<5>)
	MDI_COMMAND=G10 L20 P0 X0
	MDI_COMMAND=G10 L20 P0 Y0
	MDI_COMMAND=G10 L20 P0 Z0
	MDI_COMMAND=(DEBUG,<5>)
	MDI_COMMAND=(DEBUG,<9>)
	MDI_COMMAND=(DEBUG,<10>)
	MDI_COMMAND=(DEBUG,<2>)
	MDI_COMMAND=(DEBUG,<12>)
	MDI_COMMAND=(DEBUG,<13>)
	MDI_COMMAND=(DEBUG,<14>)
[TRAJ]
COORDINATES =  X Y Z A B C
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50.00
MAX_LINEAR_VELOCITY = 100.00
SPINDLES = 1

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

[AXIS_X]
MAX_VELOCITY = 1000.0
MAX_ACCELERATION = 1000.0
MIN_LIMIT = -30.0
MAX_LIMIT = 30.0
[JOINT_0]
TYPE = ANGULAR
HOME = 0.0
MIN_LIMIT = -30.0
MAX_LIMIT = 30.0
MAX_VELOCITY = 30
MAX_ACCELERATION = 30
SCALE = 209715.2
FERROR = 100
MIN_FERROR = 100
HOME_OFFSET = 15.
HOME_SEARCH_VEL = 0
HOME_SEQUENCE=0
HOME_ABSOLUTE_ENCODER = 1
HOME_USE_INDEX = NO
BACKLASH = 0.01


[AXIS_Y]
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 10.0
MIN_LIMIT = -80.000
MAX_LIMIT = 40.0
[JOINT_1]
TYPE = ANGULAR
HOME = 0.0
MIN_LIMIT = -80.0
MAX_LIMIT = 40.0
MAX_VELOCITY = 30
MAX_ACCELERATION = 30
SCALE = 12582912
FERROR = 100
MIN_FERROR = 100
HOME_OFFSET = -60.
HOME_SEARCH_VEL = 0
HOME_SEQUENCE=0
HOME_ABSOLUTE_ENCODER = 1
HOME_USE_INDEX = NO
BACKLASH = 0.01

[AXIS_Z]
MAX_VELOCITY = 30.
MAX_ACCELERATION = 30.
MIN_LIMIT = -80.
MAX_LIMIT = 80.0
[JOINT_2]
TYPE = ANGULAR
HOME = 0.0
MIN_LIMIT = -80.0
MAX_LIMIT = 80.0
MAX_VELOCITY = 30
MAX_ACCELERATION = 30
SCALE = 2097152
FERROR = 100
MIN_FERROR = 100
HOME_OFFSET = 165.
HOME_SEARCH_VEL = 0
HOME_SEQUENCE=0
HOME_ABSOLUTE_ENCODER = 1
HOME_USE_INDEX = NO
BACKLASH = 0.01


[AXIS_A]
MAX_VELOCITY = 30.
MAX_ACCELERATION = 30.
MIN_LIMIT = -125.0
MAX_LIMIT = 50.00
TYPE = ANGULAR
[JOINT_3]
HOME = 0.
MIN_LIMIT = -125.0
MAX_LIMIT = 50.00
MAX_VELOCITY = 30
MAX_ACCELERATION = 30
SCALE = 349525.333333
FERROR = 100
MIN_FERROR = 100
HOME_OFFSET = 114
HOME_SEARCH_VEL = 0
HOME_SEQUENCE=0
HOME_ABSOLUTE_ENCODER = 1
HOME_USE_INDEX = NO
BACKLASH = 0.01

[AXIS_B]
MAX_VELOCITY = 1000.
MAX_ACCELERATION = 1000.
MIN_LIMIT = -10000.0
MAX_LIMIT = +10000.0
TYPE = ANGULAR
[JOINT_4]
HOME = 0.0
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.
MAX_VELOCITY = 30
MAX_ACCELERATION = 90
SCALE = 69905.066667
FERROR = 100
MIN_FERROR = 100
HOME_OFFSET = 105
HOME_SEARCH_VEL = 0
HOME_SEQUENCE=0
HOME_ABSOLUTE_ENCODER = 1
HOME_USE_INDEX = NO
BACKLASH = 0.01

[AXIS_C]
MAX_VELOCITY = 1000.
MAX_ACCELERATION = 1000.
MIN_LIMIT = -10000.0
MAX_LIMIT = +10000.0
TYPE = ANGULAR
[JOINT_5]
HOME = 0.0
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.
MAX_VELOCITY = 30
MAX_ACCELERATION = 90
SCALE = 1000
FERROR = 100
MIN_FERROR = 100
HOME_OFFSET = -104.
HOME_SEARCH_VEL = 0
HOME_SEQUENCE=0
HOME_ABSOLUTE_ENCODER = 1
HOME_USE_INDEX = NO
BACKLASH = 0.01