[EMC]
VERSION = 1.1
MACHINE = EtherCAT Gantry Machine
DEBUG = 1

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
NO_FORCE_HOMING = 0
PROGRAM_PREFIX = /home/linuxcnc/nc_files
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 0
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
DEFAULT_LINEAR_VELOCITY=100.0
MIN_LINEAR_VELOCITY=5.0
MAX_LINEAR_VELOCITY=400.0
CYCLE_TIME = 0.100

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

[RS274NGC]
PARAMETER_FILE = linuxcnc.var
SUBROUTINE_PATH = ./subroutines

[EMCMOT]
EMCMOT = motmod
HOMEMOD=cia402_homecomp
COMM_TIMEOUT = 1.0
BASE_PERIOD = 0
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.005

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

[HAL]
HALUI = halui
HALFILE = cia402.hal
#SHUTDOWN = shutdown.hal  # stale: references lcec.0.3 digital outs (X drive), not EL2809

[HALUI]


[TRAJ]
COORDINATES = X Y Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = deg
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 250
POSITION_FILE = position.txt

########################################################
# KINEMATICS (PRINTNC STYLE GANTRY)
########################################################
[KINS]
JOINTS = 4
KINEMATICS = trivkins coordinates=XYYZ

########################################################
# AXES
########################################################

[AXIS_X]
MIN_LIMIT = -10
MAX_LIMIT = 900
MAX_VELOCITY = 400
MAX_ACCELERATION = 750

[AXIS_Y]
MIN_LIMIT = -10
MAX_LIMIT = 1200
MAX_VELOCITY = 400
MAX_ACCELERATION = 750

[AXIS_Z]
MIN_LIMIT = -200
MAX_LIMIT = 0.001
MAX_VELOCITY = 50
MAX_ACCELERATION = 750

########################################################
# JOINTS (CIA402 DRIVES)
####################################### #################
 
[JOINT_0]
# X
TYPE = LINEAR
MAX_VELOCITY = 250
MAX_ACCELERATION = 750
MIN_LIMIT = -10
MAX_LIMIT = 900
HOME = 0.0
FERROR = 2000
MIN_FERROR = 2000
HOME_IGNORE_LIMITS = 1
HOME_OFFSET = 0
HOME_SEQUENCE = 1

CIA402_HOMING_ENABLED = 1
CIA402_HOMING_METHOD=4
CIA402_HOMING_SEARCH_VELOCITY=300000
CIA402_HOMING_LATCH_VELOCITY=5000
CIA402_HOMING_ACCELERATION=131072

[JOINT_1]
# Y1 (gantry master)
TYPE = LINEAR
MAX_VELOCITY = 250
MAX_ACCELERATION = 750
MIN_LIMIT = -10
MAX_LIMIT = 1200
HOME = 0.0
FERROR = 2000
MIN_FERROR = 2000
HOME_IGNORE_LIMITS = 1
HOME_OFFSET = 0
HOME_SEQUENCE = 2

CIA402_HOMING_ENABLED = 1
CIA402_HOMING_METHOD=4
CIA402_HOMING_SEARCH_VELOCITY=300000
CIA402_HOMING_LATCH_VELOCITY=5000
CIA402_HOMING_ACCELERATION=131072

[JOINT_2]
# Y2 (gantry slave)
TYPE = LINEAR
MAX_VELOCITY = 250
MAX_ACCELERATION = 750
MIN_LIMIT = -10
MAX_LIMIT = 1200
HOME = 0.0
FERROR = 2000
MIN_FERROR = 2000
HOME_IGNORE_LIMITS = 1
HOME_OFFSET = 0
HOME_SEQUENCE = 2

CIA402_HOMING_ENABLED = 1
CIA402_HOMING_METHOD=4
CIA402_HOMING_SEARCH_VELOCITY=300000
CIA402_HOMING_LATCH_VELOCITY=5000
CIA402_HOMING_ACCELERATION=131072

[JOINT_3]
# Z
TYPE = LINEAR
MAX_VELOCITY = 50
MAX_ACCELERATION = 750
MIN_LIMIT = -200
MAX_LIMIT = 10000
HOME = 0.0
FERROR = 2000
MIN_FERROR = 2000
HOME_IGNORE_LIMITS = 1
HOME_OFFSET = 5.0
HOME_SEQUENCE = 3

CIA402_HOMING_ENABLED = 1
CIA402_HOMING_METHOD=4
CIA402_HOMING_SEARCH_VELOCITY=100000
CIA402_HOMING_LATCH_VELOCITY=5000
CIA402_HOMING_ACCELERATION=131072