[EMC]
MACHINE = MPCNC
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = gscreen
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 1in 2in 5in 10in
MAX_FEED_OVERRIDE = 2.0
MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 2.0
DEFAULT_LINEAR_VELOCITY = 5.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 100.00
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 2
PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm

[KINS]
JOINTS = 5
KINEMATICS = trivkins coordinates=XXYYZ 
#kinstype=BOTH

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = config.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 200000
SERVO_PERIOD = 1000000

[HAL]
HALUI = halui
HALFILE = shield.hal

[HALUI]

[TRAJ]
COORDINATES =  XXYYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 5.0
MAX_LINEAR_VELOCITY = 100.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl
TOOL_CHANGE_QUILL_UP = 1

[AXIS_X]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 200.0
SCALE = 1000.0
FERROR = 1
MIN_FERROR = 0.25
HOME_OFFSET = 0.0

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 200.0
SCALE = 1000.0
FERROR = 1
MIN_FERROR = 0.25
HOME_OFFSET = 0.0

[AXIS_Y]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 200.0
SCALE = 1000.0
FERROR = 1
MIN_FERROR = 0.25
HOME_OFFSET = 0.0

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 200.0
SCALE = 1000.0
FERROR = 1
MIN_FERROR = 0.25
HOME_OFFSET = 0.0

[AXIS_Z]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 200.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0

[JOINT_4]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 200.0
SCALE = 1000.0
FERROR = 1
MIN_FERROR = 0.25
HOME_OFFSET = 0.0