# EMC controller parameters for generic controller. Make these what you need
# for your system.
# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.
# General section -------------------------------------------------------------

[EMC]
# Version of this INI file
VERSION = 1.1
# Name of machine, for use with display, etc.
MACHINE =               LinuxCNC-UNIVSTEP
# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG = 0
# DEBUG =               0x00000007
# DEBUG =               0x7FFFFFFF
# Sections for display options ------------------------------------------------

[DISPLAY]
# Name of display program, e.g., axis
DISPLAY =             axis
# DISPLAY =    tklinuxcnc
# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.100
# Path to help file
HELP_FILE =             tklinuxcnc.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 =     1.2
# Prefix to be used
PROGRAM_PREFIX = ../../nc_files/
# Introductory graphic
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 2
# Enable popup balloon help
BALLOON_HELP = 1
# Task controller section -----------------------------------------------------

[FILTER]
#No Content

[RS274NGC]
# File containing interpreter variables
PARAMETER_FILE =        univstep.var
# Motion control section ------------------------------------------------------

[EMCMOT]
EMCMOT =              motmod
# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0
# Servo task period, in nanoseconds
SERVO_PERIOD =               1000000
# Hardware Abstraction Layer 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 =            0.010
# Part program interpreter 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
HALFILE =                    univstep_load.hal
HALFILE =                    univstep_servo.hal
HALFILE =                    univstep_motion.hal
HALFILE =                    univstep_io.hal
# list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =                    save neta
# Trajectory planner section --------------------------------------------------

[HALUI]
#No Content

[TRAJ]
# COORDINATES =         X Y Z R P W
COORDINATES =           X Y Z A
HOME =                  0 0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
DEFAULT_LINEAR_VELOCITY = 0.0167
MAX_LINEAR_VELOCITY = 1.20
DEFAULT_LINEAR_ACCELERATION = 15.0
MAX_LINEAR_ACCELERATION = 20.0
# Axes sections ---------------------------------------------------------------
# First axis

[EMCIO]
# Name of IO controller program, e.g., io
EMCIO =     io
# cycle time, in seconds
CYCLE_TIME =    0.100
# tool table file
TOOL_TABLE =    univstep.tbl

[KINS]
KINEMATICS =  trivkins
JOINTS = 4

[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 20.0

[JOINT_0]
TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  1.20
MAX_ACCELERATION =              20.0
PID_MAX_VEL =              1.25
BACKLASH = 0.000
SCALE =                   4000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
FERROR = 0.0100
MIN_FERROR = 0.001
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
DEADBAND =                         0.000126
P =                              150
I =                              100
D =                                0.1
BIAS =                             0.0
FF0 =                              0
FF1 =                              1
FF2 =				0.0
# Second axis

[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 20.0

[JOINT_1]
TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  1.20
MAX_ACCELERATION =              20.0
PID_MAX_VEL =              1.25
BACKLASH = 0.000
SCALE =                   4000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
FERROR = 0.010
MIN_FERROR = 0.001
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
DEADBAND =                         0.000126
P =                              150
I =                              100
D =                                0.1
BIAS =                             0.0
FF0 =                              0
FF1 =                              1
FF2 =				0.0
# Third axis

[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.20
MAX_ACCELERATION = 20.0

[JOINT_2]
TYPE =                          LINEAR
HOME =                          0.0
MAX_VELOCITY =                  1.20
MAX_ACCELERATION =              20.0
PID_MAX_VEL =              1.25
BACKLASH = 0.000
SCALE =                   4000
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -10.0
MAX_LIMIT =                     10.0
FERROR = 0.010
MIN_FERROR = 0.001
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
DEADBAND =                         0.000126
P =                              150
I =                              100
D =                                0.1
BIAS =                             0.0
FF0 =                              0
FF1 =                              1
FF2 =				0.0
# Fourth axis

[AXIS_A]
MIN_LIMIT = -3600.0
MAX_LIMIT = 3600.0
MAX_VELOCITY = 65
MAX_ACCELERATION = 20.0

[JOINT_3]
TYPE =                          ANGULAR
HOME =                          0.0
MAX_VELOCITY =                  65
MAX_ACCELERATION =              20.0
PID_MAX_VEL =              66
BACKLASH = 0.000
SCALE =                   11.11111111
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -3600.0
MAX_LIMIT =                     3600.0
FERROR = 0.1
MIN_FERROR = 0.2
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO
DEADBAND =                        0.046
P =                              150
I =                              100
D =                                0.1
BIAS =                             0.0
FF0 =                              0
FF1 =                              1
FF2 =				0.0
# section for main IO controller parameters -----------------------------------
