# This config file was created 2021-11-14 15:25:48.580763 by the update_ini script
# The original config files may be found in the /home/telex-2-1/linuxcnc/configs/otrez/otrez.old directory


[EMC]
# The version string for this INI file.
VERSION = 1.1

MACHINE = otrez
DEBUG = 0

[DISPLAY]
DISPLAY = ./mygui
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
#INTRO_GRAPHIC = img001.JPG
#картинка заставки
#INTRO_TIME = 5
#время показа заставки
MAX_FEED_OVERRIDE = 1.2
PROGRAM_PREFIX = /home/telex-2-1/linuxcnc/configs/otrez
OPEN_FILE = /home/telex-2-1/linuxcnc/configs/otrez/otrez1.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

[RS274NGC]

PARAMETER_FILE = emc.var

[EMCMOT]

EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 50000
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.005

[HAL]
HALFILE = otrez.hal
POSTGUI_HALFILE = custom_postgui.hal
HALUI = halui

[HALUI]
MDI_COMMAND = M102  
#MDI-команда с пользовательской M-командой
MDI_COMMAND = o<ustx0>call
MDI_COMMAND = o<ustxmax>call
MDI_COMMAND = o<usty0>call
MDI_COMMAND = o<ustymax>call

[TRAJ]
#AXES = 2
COORDINATES = X Y
MAX_ANGULAR_VELOCITY = 0.10
DEFAULT_ANGULAR_VELOCITY = 0.01
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 50.00
MAX_LINEAR_VELOCITY = 150.00
NO_FORCE_HOMING = 1

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


[KINS]
KINEMATICS = trivkins coordinates=XY
#This is a best-guess at the number of joints, it should be checked
JOINTS = 2

[AXIS_X]
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 600.0

[JOINT_0]
TYPE = LINEAR
MAX_VELOCITY = 250.0
MAX_ACCELERATION = 600.0
STEPGEN_MAXACCEL = 650.0
SCALE = 67.975
FERROR = 1
MIN_FERROR = 0.25

[AXIS_Y]
MAX_VELOCITY = 150.0
MAX_ACCELERATION = 200.0

[JOINT_1]
TYPE = LINEAR
MAX_VELOCITY = 150.0
MAX_ACCELERATION = 200.0
STEPGEN_MAXACCEL = 250.0
SCALE = 67.975
FERROR = 1
MIN_FERROR = 0.25