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[EMC]
VERSION = 1.1
MACHINE = Delta-robot-with-linear-joints
DEBUG = 0
[DISPLAY]
DISPLAY = tklinuxcnc
MAX_LINEAR_VELOCITY = 100
MAX_FEED_OVERRIDE = 1.2
DEFAULT_LINEAR_VELOCITY = 100
PROGRAM_PREFIX = ../../../nc_files/
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
#EDITOR = geany
TOOL_EDITOR = tooledit
INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = COMMANDED
[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python3
[TASK]
TASK = milltask
CYCLE_TIME = 0.001
[RS274NGC]
PARAMETER_FILE = sim.var
[EMCMOT]
EMCMOT = motmod
BASE_PERIOD = 0
SERVO_PERIOD = 1000000
[HAL]
HALFILE = sim_ldelta.hal
HALFILE = axis_manualtoolchange.hal
HALUI = halui
[TRAJ]
COORDINATES = X Y Z A
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 10
MAX_LINEAR_VELOCITY = 10
[KINS]
KINEMATICS = lineardeltakins
JOINTS = 4
[JOINT_0]
TYPE = LINEAR
HOME = 270
MAX_VELOCITY = 300
MAX_ACCELERATION = 5000.0
MIN_LIMIT = 0
MAX_LIMIT = 375
HOME_OFFSET = 375
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0
[JOINT_1]
TYPE = LINEAR
HOME = 270
MAX_VELOCITY = 300
MAX_ACCELERATION = 5000.0
MIN_LIMIT = 0
MAX_LIMIT = 375
HOME_OFFSET = 375
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0
[JOINT_2]
TYPE = LINEAR
HOME = 270
MAX_VELOCITY = 300
MAX_ACCELERATION = 5000.0
MIN_LIMIT = 0
MAX_LIMIT = 375
HOME_OFFSET = 375
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0
[JOINT_3]
TYPE = LINEAR
HOME = 0
MAX_VELOCITY = 100
MAX_ACCELERATION = 500.0
MIN_LIMIT = -1e6
MAX_LIMIT = 1e6
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_SEQUENCE = 0
[AXIS_X]
MAX_VELOCITY = 300
MAX_ACCELERATION = 5000
MIN_LIMIT = -95
MAX_LIMIT = 150
[AXIS_Y]
MAX_VELOCITY = 300
MAX_ACCELERATION = 5000
MIN_LIMIT = -95
MAX_LIMIT = 95
[AXIS_Z]
MAX_VELOCITY = 300
MAX_ACCELERATION = 5000
MIN_LIMIT = -5
MAX_LIMIT = 35
[AXIS_A]
MAX_VELOCITY = 100
MAX_ACCELERATION = 1000
MIN_LIMIT = -1e6
MAX_LIMIT = 1e6
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.1
TOOL_TABLE = sim.tbl
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