[EMCIO]
EMCIO                   = iov2
CYCLE_TIME              = 0.100
TOOL_TABLE              = tool.tbl
#TOOL_CHANGE_POSITION   = 0 0 50.8

[TASK]
TASK                    = milltask
CYCLE_TIME              = 0.01

[EMCMOT]
EMCMOT                  = motmod
COMM_TIMEOUT            = 1.0
BASE_PERIOD             = 100000
SERVO_PERIOD            = 1000000

[KINS]
KINEMATICS              = trivkins coordinates=xxyz kinstype=BOTH
x==joint0 AND joint1, y==joint2, z==joint3
JOINTS                  = 4

[TRAJ]
SPINDLES                = 4
COORDINATES             = XXYZ
LINEAR_UNITS            = mm
MAX_LINEAR_VELOCITY     = 250
DEFAULT_LINEAR_VELOCITY = 150
ANGULAR_UNITS           = degree
POSITION_FILE           = position.txt

[AXIS_X]
MIN_LIMIT               = 0
MAX_LIMIT               = 3100.000
# set to double the value in the corresponding joint
MAX_VELOCITY            = 250.0
# set to double the value in the corresponding joint
MAX_ACCELERATION        = 300.0
# shares the above two equally between the joint and the offset
OFFSET_AV_RATIO         = 0

[JOINT_0]
MIN_LIMIT               = 0
MAX_LIMIT               = 3100.000
MAX_VELOCITY            = 250
MAX_ACCELERATION        = 300
TYPE                    = LINEAR
MIN_FERROR              = 5.0
FERROR                  = 10.0
HOME                    = 10
#HOME_OFFSET             = -140
HOME_OFFSET             = -50
HOME_SEQUENCE           = -1
HOME_USE_INDEX          = NO
HOME_SEARCH_VEL         = -50
HOME_LATCH_VEL          = 5
HOME_FINAL_VEL          = 20
HOME_IGNORE_LIMITS      = YES
HOME_IS_SHARED          = 1


[JOINT_1]
MIN_LIMIT               = 0
MAX_LIMIT               = 3100.000
MAX_VELOCITY            = 250
MAX_ACCELERATION        = 300
TYPE                    = LINEAR
MIN_FERROR              = 5.0
FERROR                  = 10.0
HOME                    = 10
#HOME_OFFSET             = -140
HOME_OFFSET             = -50
HOME_SEQUENCE           = -1
HOME_USE_INDEX          = NO
HOME_SEARCH_VEL         = -50
HOME_LATCH_VEL          = 5
HOME_FINAL_VEL          = 20
HOME_IGNORE_LIMITS      = YES
HOME_IS_SHARED          = 1



[AXIS_Y]
MIN_LIMIT               = 0
MAX_LIMIT               = 1600.000
# set to double the value in the corresponding joint
MAX_VELOCITY            = 250.0
# set to double the value in the corresponding joint
MAX_ACCELERATION        = 300.0
# shares the above two equally between the joint and the offset
OFFSET_AV_RATIO         = 0

[JOINT_2]
MIN_LIMIT               = 0
MAX_LIMIT               = 1600.000
MAX_VELOCITY            = 250
MAX_ACCELERATION        = 300
TYPE                    = LINEAR
MIN_FERROR              = 5.0
FERROR                  = 10.0
HOME                    = 10
HOME_OFFSET             = -5
HOME_SEQUENCE           = 2
HOME_USE_INDEX          = NO
HOME_SEARCH_VEL         = -50
HOME_LATCH_VEL          = 5
HOME_FINAL_VEL          = 20
HOME_IGNORE_LIMITS      = YES
HOME_IS_SHARED          = 1


[AXIS_Z]
MIN_LIMIT               = -100
MAX_LIMIT               = 0
# set to double the value in the corresponding joint
MAX_VELOCITY            = 80.0
# set to double the value in the corresponding joint
MAX_ACCELERATION        = 300.0
# shares the above two equally between the joint and the offset
OFFSET_AV_RATIO         = 0.5

[JOINT_3]
# this should be the top of your slats
MIN_LIMIT               = -100
MAX_LIMIT               = 5
MAX_VELOCITY            = 40
MAX_ACCELERATION        = 300
TYPE                    = LINEAR
MIN_FERROR              = 5.0
FERROR                  = 10.0
HOME                    = 0
HOME_OFFSET             = 10
HOME_SEQUENCE           = 0
HOME_USE_INDEX          = NO
HOME_SEARCH_VEL         = 15
HOME_LATCH_VEL          = 5
HOME_FINAL_VEL          = 15
HOME_IGNORE_LIMITS      = YES
HOME_IS_SHARED          = 1