[EMC]
MACHINE = Remora-uFlexiNet
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
CYCLE_TIME = 0.100
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
MAX_FEED_OVERRIDE = 10
MAX_SPINDLE_OVERRIDE = 1.0
DEFAULT_LINEAR_VELOCITY = 50.00
MIN_LINEAR_VELOCITY = 0
MAX_LINEAR_VELOCITY = 200.00
DEFAULT_ANGULAR_VELOCITY = 36.00
MIN_ANGULAR_VELOCITY = 0
MAX_ANGULAR_VELOCITY = 45.00
PROGRAM_PREFIX = ~/linuxcnc/nc_files
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
INCREMENTS = 50mm 10mm 5mm 1mm .5mm .1mm .05mm .01mm

[KINS]
JOINTS = 4
KINEMATICS =trivkins coordinates=XYZY kinstype=BOTH

[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
SUBROUTINE_PATH = ~/linuxcnc/subroutines
USER_M_PATH = ~/linuxcnc/m_codes

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
BASE_PERIOD = 0
SERVO_PERIOD = 2000000

[HAL]
HALFILE = remora-uFlexiNet.hal
POSTGUI_HALFILE = postgui_call_list.hal
HALUI = halui

[TRAJ]
COORDINATES =  XYZY
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
CYCLE_TIME = 0.010
DEFAULT_LINEAR_VELOCITY = 50.00
MAX_LINEAR_VELOCITY = 10000.00
NO_FORCE_HOMING = 1 
SPINDLES = 1

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

[AXIS_X]
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.01
MAX_LIMIT = 625.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -5.0
MAX_LIMIT = 625.0
MAX_VELOCITY = 250
MAX_ACCELERATION = 1000
STEPGEN_MAXACCEL = 1200
SCALE = -200
FERROR = 5.0
MIN_FERROR = 0.5
FF1_GAIN=1
P_GAIN=1.0
DEADBAND=0.005
HOME_SEARCH_VEL = -20.0
HOME_LATCH_VEL = -1.0
HOME_FINAL_VEL = -50
HOME_USE_INDEX = NO
HOME_OFFSET = 0.0
HOME_SEQUENCE = 1

[AXIS_Y]
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.01
MAX_LIMIT = 625.0

[JOINT_1]
TYPE = LINEAR
HOME = 625.0
MIN_LIMIT = -1.0
MAX_LIMIT = 625
MAX_VELOCITY = 250
MAX_ACCELERATION = 1000
STEPGEN_MAXACCEL = 1200
SCALE = 200
FERROR = 5
MIN_FERROR = 0.5
FF1_GAIN=1
P_GAIN=50.0
DEADBAND=0.005
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 1.0
HOME_FINAL_VEL = 30
HOME_USE_INDEX = NO
HOME_OFFSET = 0.0
HOME_SEQUENCE = -2

[JOINT_3]
TYPE = LINEAR
HOME = 625.0
MIN_LIMIT = -1.0
MAX_LIMIT = 625
MAX_VELOCITY = 250
MAX_ACCELERATION = 1000
STEPGEN_MAXACCEL = 1200
SCALE = -200
FERROR = 5
MIN_FERROR = 0.5
FF1_GAIN=1
P_GAIN=50.0
DEADBAND=0.005
HOME_SEARCH_VEL = 20.0
HOME_LATCH_VEL = 1.0
HOME_FINAL_VEL = 30
HOME_USE_INDEX = NO
HOME_OFFSET = 0.0
HOME_SEQUENCE = -2

[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 500.0
MIN_LIMIT = -170
MAX_LIMIT = 0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -170
MAX_LIMIT = 0.2
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 1000.0
STEPGEN_MAXACCEL = 1200.0
SCALE = -200
FERROR = 5
MIN_FERROR = 0.5
FF1_GAIN=1.0
P_GAIN=10.0
DEADBAND=0.005
HOME_SEARCH_VEL = 5 
HOME_LATCH_VEL = 2
HOME_FINAL_VEL = 1
HOME_USE_INDEX = NO
HOME_OFFSET = 0.0
HOME_SEQUENCE = 0