; EMC controller parameters for switchless minimill.
; See genedit.ini for full descriptions and alternate values

; General section -------------------------------------------------------------
[EMC]
VERSION =		$Revision: 1.4.1
MACHINE =		Stepper Minimill
NML_FILE =		emc.nml
; DEBUG =             0x00000003
DEBUG =               0x7FFFFFFF


; Sections for display options ------------------------------------------------
[DISPLAY]
PLAT =			nonrealtime
DISPLAY =		tkemc
CYCLE_TIME =		0.100
HELP_FILE =		doc/help.txt
POSITION_OFFSET =	RELATIVE
POSITION_FEEDBACK =	ACTUAL
MAX_FEED_OVERRIDE =	1.2
PROGRAM_PREFIX =	programs/
INTRO_GRAPHIC =     emc.gif
INTRO_TIME =            10
INCH_METRIC =   	inch

; Task controller section -----------------------------------------------------
[TASK]
PLAT =			nonrealtime
TASK =			minimilltask
CYCLE_TIME =		0.010

; Part program interpreter section --------------------------------------------
[RS274NGC]
PARAMETER_FILE =	emc.var

; Motion control section ------------------------------------------------------
[EMCMOT]
PLAT =			realtime
;EMCMOT =		steppermod.o
EMCMOT =		siemensmod.o
SHMEM_KEY =		100
SHMEM_BASE_ADDRESS =	0x3A00000
IO_BASE_ADDRESS =	0x300
COMM_TIMEOUT =		1.0
COMM_WAIT =		0.010
; PERIOD =		0.00003

; Trajectory planner section --------------------------------------------------
[TRAJ]

AXES =			3
COORDINATES =		X Y Z
HOME =			0 0 0
LINEAR_UNITS =		1.0
;0.03937007874016
ANGULAR_UNITS =		1.0
CYCLE_TIME =		0.010
DEFAULT_VELOCITY = 	1
; 0.0167
MAX_VELOCITY = 		5
DEFAULT_ACCELERATION =	5.0
MAX_ACCELERATION =	5.0
PROBE_INDEX =		0
PROBE_POLARITY =	1

; Axes sections ---------------------------------------------------------------

; First axis
[AXIS_0]

TYPE =				LINEAR
UNITS =				1 
;0.03937007874016
HOME = 				0.000
MAX_VELOCITY =			10
P = 40.000
I = 1.000
D = 0.500
FF0 = 0.000
FF1 = 0.000
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.0000
CYCLE_TIME =			0.001
INPUT_SCALE =			1000.000 0.000
OUTPUT_SCALE = 1.000 0.000
; OUTPUT_SCALE = 1000.000 0.000
MIN_LIMIT =			-1000.0
MAX_LIMIT =			1000.0
MIN_OUTPUT =			-1000
MAX_OUTPUT =			1000
FERROR = 1000.000
MIN_FERROR = 100.000
HOMING_VEL =			0.1
HOME_OFFSET =			0.10
ENABLE_POLARITY =		0
MIN_LIMIT_SWITCH_POLARITY =	1
MAX_LIMIT_SWITCH_POLARITY =	1
HOME_SWITCH_POLARITY =		1
HOMING_POLARITY =		1
JOGGING_POLARITY =		1
FAULT_POLARITY =		1

; Second axis
[AXIS_1]

TYPE =				LINEAR
UNITS =				0.03937007874016
HOME = 				0.000
MAX_VELOCITY =			1.2
P = 1000.000
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 0.000
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.0005
CYCLE_TIME =			0.001000
INPUT_SCALE =			1000	0
OUTPUT_SCALE = 			1000 0.000
MIN_LIMIT =			-10.0
MAX_LIMIT =			10.0
MIN_OUTPUT =			-10
MAX_OUTPUT =			10
FERROR = 1.000
MIN_FERROR = 0.010
HOMING_VEL =			0.1
HOME_OFFSET =			0.10
ENABLE_POLARITY =		0
MIN_LIMIT_SWITCH_POLARITY =	1
MAX_LIMIT_SWITCH_POLARITY =	1
HOME_SWITCH_POLARITY =		1
HOMING_POLARITY =		1
JOGGING_POLARITY =		1
FAULT_POLARITY =		1


; Third axis
[AXIS_2]

TYPE =				LINEAR
UNITS =				0.03937007874016
HOME = 				0.000
MAX_VELOCITY =			1.2
P = 1000.000
I = 0.000
D = 0.000
FF0 = 0.000
FF1 = 0.000
FF2 = 0.000
BACKLASH = 0.000
BIAS = 0.000
MAX_ERROR = 0.000
DEADBAND = 0.0005
CYCLE_TIME =			0.001000
INPUT_SCALE =			1000	0
OUTPUT_SCALE = 			1000 -0.000
MIN_LIMIT =			-10.0
MAX_LIMIT =			10.0
MIN_OUTPUT =			-10
MAX_OUTPUT =			10
FERROR = 1.000
MIN_FERROR = 0.010
HOMING_VEL =			0.1
HOME_OFFSET =			0.10
ENABLE_POLARITY =		0
MIN_LIMIT_SWITCH_POLARITY =	1
MAX_LIMIT_SWITCH_POLARITY =	1
HOME_SWITCH_POLARITY =		1
HOMING_POLARITY =		1
JOGGING_POLARITY =		1
FAULT_POLARITY =		1

; section for main IO controller parameters -----------------------------------
[EMCIO]
PLAT =			nonrealtime
;EMCIO =		simio
EMCIO =		minimillio
CYCLE_TIME =	0.100
TOOL_TABLE =	emc.tbl