[EMC]
VERSION = 1.1
MACHINE = Lenze_EtherCAT_Y_Axis

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
PROGRAM_EXTENSION = .ngc,.gcode
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1.0
DEFAULT_LINEAR_VELOCITY = 20.0
MAX_LINEAR_VELOCITY = 100.0

[RS274NGC]
PARAMETER_FILE = sim.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 0
# Длина серво-периода шины EtherCAT (1 миллисекунда)
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HAL]
HALFILE = cia402.hal

[TRAJ]
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_ACCELERATION = 500.0
MAX_ACCELERATION = 1000.0
DEFAULT_LINEAR_VELOCITY = 20.0
MAX_LINEAR_VELOCITY = 100.0

[KINS]
KINEMATICS = trivkins coordinates=XYZ
JOINTS = 3

# ==========================================
# ОСЬ X (Joint 0) — Симуляция
# ==========================================
[AXIS_X]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 1000.0
MIN_LIMIT = -100.0
MAX_LIMIT = 500.0

[JOINT_0]
TYPE = LINEAR
MIN_LIMIT = -100.0
MAX_LIMIT = 500.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 1000.0
HOME = 0.0
HOME_SEARCH_VEL = 0.0

# ==========================================
# ОСЬ Y (Joint 1) — РЕАЛЬНЫЙ ПРИВОД LENZE
# ==========================================
[AXIS_Y]
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 500.0
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0

[JOINT_1]
TYPE = LINEAR
MIN_LIMIT = -1000.0
MAX_LIMIT = 1000.0
MAX_VELOCITY = 50.0
MAX_ACCELERATION = 500.0
# SCALE: Количество импульсов энкодера на 1 мм пути.
SCALE = 1000.0
# Тестовые свободные лимиты ошибки следования, чтобы исключить вылеты при старте шины
FERROR = 20.0
MIN_FERROR = 10.0
HOME = 0.0
HOME_SEARCH_VEL = -10.0
HOME_LATCH_VEL = 2.0
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1

# ==========================================
# ОСЬ Z (Joint 2) — Симуляция
# ==========================================
[AXIS_Z]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 1000.0
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0

[JOINT_2]
TYPE = LINEAR
MIN_LIMIT = -100.0
MAX_LIMIT = 100.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 1000.0
HOME = 0.0
HOME_SEARCH_VEL = 0.0