[EMC]
MACHINE = Canterp Example
VERSION = 1.1

[TASK]
TASK = milltask
CYCLE_TIME = 0.001
INTERPRETER = libcanterp.so

[DISPLAY]
OPEN_FILE = ./canterp_example.can
DISPLAY = axis
CYCLE_TIME = 0.100
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MAX_SPINDLE_OVERRIDE = 1.0
MAX_LINEAR_VELOCITY = 1.2
DEFAULT_LINEAR_VELOCITY = .25
PROGRAM_PREFIX = ../../nc_files/
#EDITOR = gedit
TOOL_EDITOR = tooledit
INCREMENTS = 1mm, .1mm

[RS274NGC]
PARAMETER_FILE = canterp.var

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

[HAL]
  HALUI = halui
HALFILE = LIB:basic_sim.tcl

[TRAJ]
NO_FORCE_HOMING = 1
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.2
MAX_LINEAR_VELOCITY = 1.2

[KINS]
KINEMATICS = trivkins
JOINTS = 3

[AXIS_X]
HOME = 0.000
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -9999
MAX_LIMIT = 9999
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_SEQUENCE = 1
HOME_IS_SHARED = 1

[AXIS_Y]
HOME = 0.000
MIN_LIMIT = -9999
MAX_LIMIT = 9999
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.000
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -9999
MAX_LIMIT = 9999
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_SEQUENCE = 1

[AXIS_Z]
HOME = 0.0
MIN_LIMIT = -9999
MAX_LIMIT = 9999
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 4
MAX_ACCELERATION = 100.0
MIN_LIMIT = -9999
MAX_LIMIT = 9999
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 20.0
HOME_SEQUENCE = 0
HOME_IS_SHARED = 1

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = sim.tbl
TOOL_CHANGE_POSITION = 0 0 0
TOOL_CHANGE_QUILL_UP = 1
