<commit_before># 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 =               EMC-HAL-STEP-IN

#- Name of NML file to use, default is configs/common/emc.nml
NML_FILE =              emc.nml

#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG =                0x00000000
# 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 =             doc/help.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 =     9.0

#- Prefix to be used
PROGRAM_PREFIX =        ../../nc_files

#- Introductory graphic
INTRO_GRAPHIC =         emc2.gif
INTRO_TIME =            5


###############################################################################
# Task controller section 
###############################################################################
[TASK]

#- Name of task controller program, e.g., bridgeporttask
TASK =                  milltask
# TASK =                minimilltask

#- 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 =        stepper.var

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

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

#- Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY =             111

#- 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 =               1000000
#- Trajectory Planner task period, in nanosecs - will be rounded to an
#   integer multiple of SERVO_PERIOD
TRAJ_PERIOD =                10000000

###############################################################################
# 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 =                    stepper_xyza.hal
#HALFILE =                    xylotex_pinout.hal
HALFILE =                    standard_pinout.hal

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

###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES =                  4
# COORDINATES =         X Y Z R P W
COORDINATES =           X Y Z A
HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      1.2
MAX_VELOCITY =          100.0
DEFAULT_ACCELERATION =  20.0
MAX_ACCELERATION =      400.0
PROBE_INDEX =           0
PROBE_POLARITY =        1

###############################################################################
# Axes sections<commit_msg>fix up inifile for jogging speeds<commit_after># 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 =               EMC-HAL-STEP-IN

#- Name of NML file to use, default is configs/common/emc.nml
NML_FILE =              emc.nml

#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG =                0x00000000
# 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 =             doc/help.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 =     9.0

#- Prefix to be used
PROGRAM_PREFIX =        ../../nc_files

#- Introductory graphic
INTRO_GRAPHIC =         emc2.gif
INTRO_TIME =            5


###############################################################################
# Task controller section 
###############################################################################
[TASK]

#- Name of task controller program, e.g., bridgeporttask
TASK =                  milltask
# TASK =                minimilltask

#- 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 =        stepper.var

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

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

#- Key for real OS shared memory, e.g., for simulated motion
SHMEM_KEY =             111

#- 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 =               1000000
#- Trajectory Planner task period, in nanosecs - will be rounded to an
#   integer multiple of SERVO_PERIOD
TRAJ_PERIOD =                10000000

###############################################################################
# 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 =                    stepper_xyza.hal
#HALFILE =                    xylotex_pinout.hal
HALFILE =                    standard_pinout.hal

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

###############################################################################
# Trajectory planner section
###############################################################################
[TRAJ]
#+ machine specific settings
AXES =                  4
# COORDINATES =         X Y Z R P W
COORDINATES =           X Y Z A
HOME =                  0 0 0
LINEAR_UNITS =          inch
ANGULAR_UNITS =         degree
CYCLE_TIME =            0.010
DEFAULT_VELOCITY =      .2
DEFAULT_ANGULAR_VELOCITY =      30
MAX_VELOCITY =          1.2
MAX_ANGULAR_VELOCITY =          90
DEFAULT_ACCELERATION =  20.0
MAX_ACCELERATION =      400.0
PROBE_INDEX =           0
PROBE_POLARITY =        1

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