# 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.

# Settings with a + at the front of the comment are likely needed to get 
# changed by the user.
# Settings with a - at the front are highly unneeded to be changed
###############################################################################
# General section 
###############################################################################
[EMC]

#- Version of this INI file
VERSION =               $Revision: 1.18 $

#+ Name of machine, for use with display, etc.
MACHINE =               Sherline Benchtop Mill (Metric)

#- Name of NML file to use, default is emc.nml
NML_FILE =              emc.nml

#+ 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]
DISPLAY =              mini 
CYCLE_TIME =            0.200
HELP_FILE =             tkemc.txt
POSITION_OFFSET =       RELATIVE
POSITION_FEEDBACK =     ACTUAL
MAX_FEED_OVERRIDE =     1.2
PROGRAM_PREFIX = /home/sherline/Desktop/G-Codes
INTRO_GRAPHIC =         open.gif
INTRO_TIME =            5


###############################################################################
# Task controller section 
###############################################################################
[TASK]
TASK =                  milltask
CYCLE_TIME =            0.010

###############################################################################
# Part program interpreter section 
###############################################################################
[RS274NGC]
PARAMETER_FILE =        stepper.var

###############################################################################
# Motion control section 
###############################################################################
[EMCMOT]
EMCMOT =              motmod
SHMEM_KEY =             111
COMM_TIMEOUT =          1.0
COMM_WAIT =             0.010
BASE_PERIOD =           50000
SERVO_PERIOD =          1000000
TRAJ_PERIOD =           10000000

###############################################################################
# Hardware Abstraction Layer section
###############################################################################
[HAL]
HALFILE =                    core_stepper.hal                    
HALFILE =                    standard_pinout.hal

###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
AXES =                  4
COORDINATES =          X Y Z A
HOME =                  0 0 0 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         deg
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      0.424
MAX_VELOCITY =          914.4
DEFAULT_ACCELERATION =  250.0
MAX_ACCELERATION =      300.0

###############################################################################
# Axes sections
###############################################################################
[AXIS_0]
TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  8.16
MAX_ACCELERATION =              15.0
STEPGEN_MAXACCEL =              17.24
BACKLASH =                      0.000
SCALE =                         800
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     -1800.0
MAX_LIMIT =                     1800.0
FERROR =                        12.70
MIN_FERROR =                     2.54
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO


[AXIS_1]

TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  8.16
MAX_ACCELERATION =              15.0
STEPGEN_MAXACCEL =              17.24
BACKLASH = 0.000
SCALE =                         -800
OUTPUT_SCALE =                  1.000
MIN_LIMIT =                     -1000.0
MAX_LIMIT =                     1000.0
FERROR =                        12.70
MIN_FERROR =                    2.54
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO

#+ Third axis
[AXIS_2]

TYPE =                          LINEAR
HOME =                          0.0
MAX_VELOCITY =                  8.16
MAX_ACCELERATION =              15.0
STEPGEN_MAXACCEL =              17.24
BACKLASH = 0.000
SCALE =                          -800
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -1000.0
MAX_LIMIT =                     1000.0
FERROR =                        12.70
MIN_FERROR =                     2.54
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO

[AXIS_3]
TYPE =                          ANGULAR
HOME =                          0.0
MAX_VELOCITY =                  36
MAX_ACCELERATION =              35.0
STEPGEN_MAXACCEL =              36.0
BACKLASH = 0.000
SCALE =                    160
OUTPUT_SCALE = 1.000
MIN_LIMIT =                     -10000.0
MAX_LIMIT =                     10000.0
FERROR = .5
MIN_FERROR = .10
HOME_OFFSET =                    0.0
HOME_SEARCH_VEL =                0.0
HOME_LATCH_VEL =                 0.0
HOME_USE_INDEX =                 NO
HOME_IGNORE_LIMITS =             NO


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

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

#- cycle time, in seconds
CYCLE_TIME =            0.100

#- tool table file
TOOL_TABLE =            stepper.tbl