[EMC]
MACHINE = JA3-Delta
DEBUG = 0

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 0.1
PROGRAM_PREFIX = /home/pkm/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 10.000000
MAX_LINEAR_VELOCITY = 2000.000000
MIN_LINEAR_VELOCITY = 1.000000
DEFAULT_ANGULAR_VELOCITY = 1.000000
MAX_ANGULAR_VELOCITY = 10.000000
MIN_ANGULAR_VELOCITY = 0.100000
EDITOR = gedit
GEOMETRY = xyz
OPEN_FILE = /home/pkm/linuxcnc/nc_files/test.ngc

[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 = linuxcnc.var

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

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_7i43
# BOARD0=7i43

[HAL]
HALFILE = ja3-delta.hal
# SHUTDOWN = shutdown.hal
HALUI = halui

[TRAJ]
AXES = 3
COORDINATES = X Y Z
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_VELOCITY = 10.00
MAX_LINEAR_VELOCITY = 2000.00

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

[AXIS_X]
HOME =                          0.000
MAX_VELOCITY =                  2000
MAX_ACCELERATION =              60000
MIN_LIMIT =                     -200
MAX_LIMIT =                     200

[AXIS_Y]
HOME =                          0.000
MAX_VELOCITY =                  2000
MAX_ACCELERATION =              60000
MIN_LIMIT =                     -200
MAX_LIMIT =                     200

[AXIS_Z]
HOME =                          0.000
MAX_VELOCITY =                  2000
MAX_ACCELERATION =              60000
MIN_LIMIT =                     -800
MAX_LIMIT =                     -550

[KINS]
KINEMATICS = deltakins
JOINTS = 3

[JOINT_0]
TYPE =                          ANGULAR
HOME =                          0.000
MAX_VELOCITY =                  2000
MAX_ACCELERATION =              60000
BACKLASH = 0.000
FERROR = 20.0
MIN_FERROR = 5.0
P = 0.3
I = 0.05
D = 0.05
FF0 = 0
FF1 = 0.015
FF2 = 2e-05
BIAS = 0
DEADBAND = 0
INPUT_SCALE = -2275.556
OUTPUT_SCALE = 10
MAX_OUTPUT = 8
MIN_LIMIT = -60.0
MAX_LIMIT = 60.0
HOME_OFFSET = -18.700000
HOME_SEARCH_VEL = -15.000000
HOME_LATCH_VEL = 5
HOME_FINAL_VEL = 10
HOME_USE_INDEX = YES
HOME_SEQUENCE = 0

[JOINT_1]
TYPE =                          ANGULAR
HOME =                          0.000
MAX_VELOCITY =                  2000
MAX_ACCELERATION =              60000
BACKLASH = 0.000
FERROR = 20.0
MIN_FERROR = 5.0
P = 0.3
I = 0.05
D = 0.05
FF0 = 0
FF1 = 0.015
FF2 = 2e-05
BIAS = 0
DEADBAND = 0
INPUT_SCALE = -2275.556
OUTPUT_SCALE = 10
MAX_OUTPUT = 8
MIN_LIMIT = -60.0
MAX_LIMIT = 60.0
HOME_OFFSET = -16.600000
HOME_SEARCH_VEL = -15.000000
HOME_LATCH_VEL = 5
HOME_FINAL_VEL = 10
HOME_USE_INDEX = YES
HOME_SEQUENCE = 0

[JOINT_2]
TYPE =                          ANGULAR
HOME =                          0.000
MAX_VELOCITY =                  2000
MAX_ACCELERATION =              60000
BACKLASH = 0.000
FERROR = 20.0
MIN_FERROR = 5.0
P = 0.3
I = 0.05
D = 0.05
FF0 = 0
FF1 = 0.015
FF2 = 2e-05
BIAS = 0
DEADBAND = 0
INPUT_SCALE = -2275.556
OUTPUT_SCALE = 10
MAX_OUTPUT = 8
MIN_LIMIT = -60.0
MAX_LIMIT = 60.0
HOME_OFFSET = -14.000000
HOME_SEARCH_VEL = -15.000000
HOME_LATCH_VEL = 5
HOME_FINAL_VEL = 10
HOME_USE_INDEX = YES
HOME_SEQUENCE = 0