# General section -------------------------------------------------------------
[EMC]

# Version of this INI file
VERSION = 1.1

# Name of machine, for use with display, etc.
MACHINE = CNC-04

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
#DEBUG = 0x7FFFFFFF
DEBUG = 0

# Sections for display options ------------------------------------------------
[DISPLAY]

# Name of display program, e.g., axis
#load probe basic screen
DISPLAY = probe_basic
#open with blank GCode file
OPEN_FILE = ~/linuxcnc/nc_files/pb_examples/blank.ngc
#path to a custom config file used by probe basic
CONFIG_FILE = custom_config.yml
#folder for saving user tabs
USER_TABS_PATH = user_tabs/
#folder for saving user buttons
USER_BUTTONS_PATH = user_buttons/
#folder to sav user DROs
USER_DROS_PATH = user_dro_display/
#Display DROs for 4 axis
DRO_DISPLAY = XYZBC
GEOMETRY = XYZBC
OFFSET_COLUMNS = XYZBC
#display columns for tool table
# T=tool number
# P=pocket number in atc
# Z=Z-offset
# D=Tool diameter
# R=Description
TOOL_TABLE_COLUMNS = TPZDR

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME = 0.100

# Path to help file
HELP_FILE = doc/help.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET = RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK = ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE = 2.0
MAX_SPINDLE_OVERRIDE = 2.0
MIN_SPINDLE_OVERRIDE = 0.5

#display Probe basic screen at startup (will not take longer to load until about 5s)
INTRO_GRAPHIC = pbsplash.png
INTRO_TIME = 3

KEYBOARD_JOG = true
KEYBOARD_JOG_SAFETY_OFF = true

# Prefix to be used
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files

# Introductory graphic (displayed first at startup)
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1

#EDITOR = geany
TOOL_EDITOR = tooledit

#selectable incrments of jog mode
INCREMENTS = JOG, 10 mm, 1 mm, 0.1 mm, 0.01 mm

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script

png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3

# Task controller section -----------------------------------------------------
[TASK]

# Name of task controller program, e.g., milltask
TASK = milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME = 0.001

# Part program interpreter section --------------------------------------------
[RS274NGC]

RS274NGC_STARTUP_CODE = F1500 S3000 G21 G17 G40 G43 G54 G64 P.001 G80 G90 G91.1 G92.1 G94 G97 G98
# File containing interpreter variables
PARAMETER_FILE = CNC-04.var
OWORD_NARGS = 1
NO_DOWNCASE_OWORD = 1
SUBROUTINE_PATH = subroutines
ON_ABORT_COMMAND = O<on_abort> CALL

# Motion control section ------------------------------------------------------
[EMCMOT]

EMCMOT = motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT = 1.0

# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
BASE_PERIOD = 0
# Servo task period, in nano-seconds
SERVO_PERIOD = 1000000

# section for main IO controller parameters -----------------------------------
[EMCIO]

#DB_PROGRAM = ./tool_db.sh
#TOOL_DB_FILE = tool_table.db

# Name of IO controller program, e.g., io
EMCIO = io

# cycle time, in seconds
CYCLE_TIME = 0.100

# tool table file
TOOL_TABLE = CNC-04.tbl
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_QUILL_UP = 1

# Hardware Abstraction Layer section --------------------------------------------------
[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#

# list of hal config files to run through halcmd
# files are executed in the order in which they appear
POSTGUI_HALFILE = probe_basic_postgui.hal
HALFILE = CNC-04.hal

# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD = save neta

# Single file that is executed after the GUI has started.  Only supported by
# AXIS at this time (only AXIS creates a HAL component of its own)
#POSTGUI_HALFILE = test_postgui.hal

HALUI = halui

# Trajectory planner section --------------------------------------------------
[TRAJ]
COORDINATES = X Y Z B C
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
#units per second (mm/s bzw. mm/s²)
DEFAULT_LINEAR_VELOCITY = 50
MAX_LINEAR_VELOCITY = 50
DEFAULT_LINEAR_ACCELERATION = 100
MAX_LINEAR_ACCELERATION = 100
#reference axis without homing first
NO_FORCE_HOMING = 1
POSITION_FILE = position.txt

[KINS]
KINEMATICS = trivkins
JOINTS = 6

# Axes sections ---------------
[AXIS_X]
MAX_VELOCITY = 50
MAX_ACCELERATION = 100
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0

[AXIS_Y]
MAX_VELOCITY = 50
MAX_ACCELERATION = 100
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0

[AXIS_Z]
MAX_VELOCITY = 50
MAX_ACCELERATION = 100
MIN_LIMIT = -800.0
MAX_LIMIT = 0.1

[AXIS_B]
MAX_VELOCITY = 10
MAX_ACCELERATION = 5
MIN_LIMIT = -1e99
MAX_LIMIT = 1e99

[AXIS_C]
MAX_VELOCITY = 10
MAX_ACCELERATION = 5
MIN_LIMIT = -1e99
MAX_LIMIT = 1e99

# Joints sections -------------
[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 50
MAX_ACCELERATION = 50
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
FERROR = 50
MIN_FERROR = 0.1
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 5.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 0
#17Bit Encoder = 131072 pulses per Rev divided by 5mm/Rev spindle thread = 26214.4 pulses per mm
PULSES_PER_MM = 26214.4

[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 50
MAX_ACCELERATION = 50
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
FERROR = 50
MIN_FERROR = 0.10
MIN_LIMIT = -10000.0
MAX_LIMIT = 10000.0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 5.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = 0
HOME_IS_SHARED = 0
#17Bit Encoder = 131072 pulses per Rev divided by 5mm/Rev spindle thread = 26214.4 pulses per mm
PULSES_PER_MM = 26214.4

[JOINT_2]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 50
MAX_ACCELERATION = 50
BACKLASH = 0.000
INPUT_SCALE = 4000
OUTPUT_SCALE = 1.000
FERROR = 50
MIN_FERROR = 0.10
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 5.0
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
HOME_SEQUENCE = -1
HOME_IS_SHARED = 0
#17Bit Encoder = 131072 pulses per Rev divided by 5mm/Rev spindle thread = 26214.4 pulses per mm
PULSES_PER_MM = 26214.4
MIN_LIMIT = -800.0
# Normally the Z max should be 0.000!
# The only reason it's greater than 0 here is so that the splash screen
# gcode will run.
MAX_LIMIT = 0.1

[JOINT_4]
TYPE = ANGULAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 5
#HOME = 0.000
#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = 20.0
#HOME_LATCH_VEL = 5.0
#HOME_USE_INDEX = NO
#HOME_IGNORE_LIMITS = NO
#HOME_SEQUENCE = -1
#HOME_IS_SHARED = 0
MIN_LIMIT = -1e99
MAX_LIMIT = 1e99

[JOINT_5]
TYPE = ANGULAR
MAX_VELOCITY = 10
MAX_ACCELERATION = 5
#HOME = 0.000
#HOME_OFFSET = 0.0
#HOME_SEARCH_VEL = 20.0
#HOME_LATCH_VEL = 5.0
#HOME_USE_INDEX = NO
#HOME_IGNORE_LIMITS = NO
#HOME_SEQUENCE = -1
#HOME_IS_SHARED = 0
MIN_LIMIT = -1e99
MAX_LIMIT = 1e99