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# 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 =               $Revision$

#+ Name of machine, for use with display, etc.
MACHINE =               RepRap

#+ 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., xemc
DISPLAY =               axis 
# DISPLAY =              usrmot
# DISPLAY =              mini
# DISPLAY = 		     tkemc

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =             0.200

#- Path to help file
HELP_FILE =             tkemc.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 =     3.0

#+ Define geometry (U axis should not move the tool on the GUI)
GEOMETRY =              XYZ

#- Prefix to be used
PROGRAM_PREFIX =        /home/fma/emc2/configs/reprap/nc_files/

#- Introductory graphic
INTRO_GRAPHIC =         emc2.gif
INTRO_TIME =            3

PYVCP =                 pyvcp/temperature.pyvcp

###############################################################################
# Task controller 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 
###############################################################################
[RS274NGC]

#- File containing interpreter variables
PARAMETER_FILE =        reprap.var

###############################################################################
# Filters section 
###############################################################################
[FILTER]

PROGRAM_EXTENSION = .gcode Skeinforge Gcode file
gcode = /home/fma/emc2/configs/reprap/nc_files/gcode2ngc.py
#gcode = cat

###############################################################################
# Motion control section 
###############################################################################
[EMCMOT]

#- Name of the motion controller to use (only one exists for nontrivkins)
EMCMOT =                motmod

#- Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0

#- Interval between tries to emcmot, in seconds
COMM_WAIT =             0.010

#+ Base task period, in nanosecs - this is the fastest thread in the machine
BASE_PERIOD =           50000

#- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
SERVO_PERIOD =          100000

###############################################################################
# Hardware Abstraction Layer 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 =               reprap.hal
HALFILE =               pinout.hal
HALFILE =               hal/temperature.hal

#- list of halcmd commands to execute
# commands are executed in the order in which they appear
#HALCMD =                save neta

POSTGUI_HALFILE =       hal/temperature_gui.hal

###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES =                  7
COORDINATES =           X Y Z U
HOME =                  0 0 0 0
LINEAR_UNITS =          mm
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      50.0
MAX_VELOCITY =          120.0
DEFAULT_ACCELERATION =  3000.0
MAX_ACCELERATION =      5000.0

###############################################################################
# Axes sections
###############################################################################

#+ First axis
[AXIS_0]
TYPE =                  LINEAR
HOME =                  0.000
MAX_VELOCITY =          120.0
# NOTE:  the step generator module applies its own limits to
# acceleration and velocity.  We have discovered that it needs
# to have a little "headroom" over the accel by the trajectory
# planner, otherwise it can fall slightly behind during accel
# and later overshoot as it catches up.  In the long term we
# hope to come up with a clean fix for this problem.  In the
# meantime, please set STEPGEN_MAXACCEL below to a few percent
# higher than the regular acceleration limit MAX_ACCELERATION
MAX_ACCELERATION =      3000.0
STEPGEN_MAXACCEL =      3200.0
BACKLASH =              0.000
SCALE =                 80
OUTPUT_SCALE =          1.000
MIN_LIMIT =             -300.0
MAX_LIMIT =             300.0
FERROR =                1.250
MIN_FERROR =            0.250
HOME_OFFSET =           0.0
HOME_SEARCH_VEL =       0.0
HOME_LATCH_VEL =        0.0
HOME_USE_INDEX =        NO
HOME_IGNORE_LIMITS =    NO

#+ Second axis
[AXIS_1]
TYPE =                  LINEAR
HOME =                  0.000
MAX_VELOCITY =          120.0
MAX_ACCELERATION =      3000.0
STEPGEN_MAXACCEL =      3200.0
BACKLASH =              0.000
SCALE =                 80
OUTPUT_SCALE =          1.000
MIN_LIMIT =             -300.0
MAX_LIMIT =             300.0
FERROR =                1.250
MIN_FERROR =            0.250
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 =          3.0
MAX_ACCELERATION =      1000.0
STEPGEN_MAXACCEL =      1200.0
BACKLASH =              0.000
SCALE =                 2560
OUTPUT_SCALE =          1.000
MIN_LIMIT =             -300.0
MAX_LIMIT =             300.0
FERROR =                1.250
MIN_FERROR =            0.250
HOME_OFFSET =           0.0
HOME_SEARCH_VEL =       0.0
HOME_LATCH_VEL =        0.0
HOME_USE_INDEX =        NO
HOME_IGNORE_LIMITS =    NO

#+ Fourth axis
[AXIS_6]
TYPE =                  LINEAR
HOME =                  0.0
MAX_VELOCITY =          40.0
MAX_ACCELERATION =      3000.0
STEPGEN_MAXACCEL =      3200.0
BACKLASH =              0.000
#SCALE =                 69
SCALE =                 245
OUTPUT_SCALE =          1.000
MIN_LIMIT =             -1000000.0
MAX_LIMIT =             1000000.0
FERROR =                1.250
MIN_FERROR =            0.250
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 =            reprap.tbl