# Generated by stepconf at Sun Dec 11 19:18:04 2011
# If you make changes to this file, they will be
# overwritten when you run stepconf again

[EMC]
VERSION = 1
MACHINE = painter 5
DEBUG = 0

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.5
#INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0
PROGRAM_PREFIX = /home/claude/Public
OPEN_FILE = ""
INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = emc.var
RS274NGC_STARTUP_CODE = M53 P1

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 55555
SERVO_PERIOD = 1000000

[HAL]
HALFILE = painter.hal
POSTGUI_HALFILE = painter_postgui.hal
HALUI = halui

[HALUI]
# halui.mdi-command-00 Move to home position
MDI_COMMAND = G53 G0 X0 Y0 Z.05
# halui.mdi-command-01 Touch-off X,Y, and Z axes
MDI_COMMAND = G10 L20 P1 X0 Y0 Z0

[TRAJ]
AXES = 7
#COORDINATES = X Y Z A U
COORDINATES = X Y Z A
MAX_ANGULAR_VELOCITY = 360.00
DEFAULT_ANGULAR_VELOCITY = 90.00
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 0.20
MAX_LINEAR_VELOCITY = 2.00
MAX_VELOCITY = 2.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

# X Axis
[AXIS_0]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 5209.6
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.01
MAX_LIMIT = 60.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 2.000000
HOME_LATCH_VEL = 0.5
HOME_SEQUENCE = 0

# Y Axis
[AXIS_1]
TYPE = LINEAR
HOME = 0.0
MAX_VELOCITY = 2.0
MAX_ACCELERATION = 30.0
STEPGEN_MAXACCEL = 37.5
SCALE = 5209.6
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.01
MAX_LIMIT = 60.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 2.000000
HOME_LATCH_VEL = 0.5
HOME_SEQUENCE = 1

# Z Axis
[AXIS_2]
TYPE = LINEAR
MAX_VELOCITY = 0.2
MAX_ACCELERATION = 3.0
STEPGEN_MAXACCEL = 3.5
SCALE = 10160
FERROR = 0.05
MIN_FERROR = 0.01
MIN_LIMIT = -0.2
MAX_LIMIT = 1.7
HOME = 1.5
HOME_OFFSET = 1.0
HOME_SEARCH_VEL = 0.15
HOME_LATCH_VEL = 0.05
HOME_SEQUENCE = 2

# A Axis
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
MAX_VELOCITY = 400.0
MAX_ACCELERATION = 500.0
STEPGEN_MAXACCEL = 600.0
SCALE = 44.4444444444
FERROR = 5
MIN_FERROR = .25
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 60.000000
HOME_LATCH_VEL = 10.000000
HOME_SEQUENCE = 3

# U Axis (pneumatic up/down)
#[AXIS_6]
#TYPE = LINEAR
#HOME = 0.0
#MAX_VELOCITY = 1.0
#MAX_ACCELERATION = 30.0
#STEPGEN_MAXACCEL = 37.5
#SCALE = 8000.0
#FERROR = 0.05
#MIN_FERROR = 0.01
#MIN_LIMIT = -10.0
#MAX_LIMIT = 10.0
#HOME_OFFSET = 0.0
#HOME_SEQUENCE = 4