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[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = hard-limits
#DEBUG = 0
DEBUG = 0x7fffffff
[DISPLAY]
DISPLAY = ./test-ui.py
[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 4.0
SERVO_PERIOD = 1000000
[TASK]
TASK = milltask
CYCLE_TIME = 0.010
[HAL]
HALFILE = hard-limits.hal
[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 0.10
MAX_LINEAR_VELOCITY = 1.00
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
[KINS]
KINEMATICS = trivkins
JOINTS = 3
[AXIS_X]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_OFFSET = 0.0
[AXIS_Y]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_OFFSET = 0.0
[AXIS_Z]
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 1.0
MAX_ACCELERATION = 30.0
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -10.0
MAX_LIMIT = 10.0
HOME_OFFSET = 0.0
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