1  [EMC]
  2  VERSION = 1.1
  3  MACHINE = LinuxCNC-sim-9axis
  4    DEBUG = 0
  5  
  6  [DISPLAY]
  7               DISPLAY = axis
  8            CYCLE_TIME = 0.100
  9       POSITION_OFFSET = RELATIVE
 10     POSITION_FEEDBACK = ACTUAL
 11     MAX_FEED_OVERRIDE = 1.2
 12  MAX_SPINDLE_OVERRIDE = 1.0
 13        PROGRAM_PREFIX = ../../nc_files/
 14         INTRO_GRAPHIC = linuxcnc.gif
 15            INTRO_TIME = 5
 16                #EDITOR = gedit
 17            INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
 18              GEOMETRY = XYZABCUVW
 19  
 20  [FILTER]
 21  PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
 22  PROGRAM_EXTENSION = .py Python Script
 23                png = image-to-gcode
 24                gif = image-to-gcode
 25                jpg = image-to-gcode
 26                 py = python
 27  
 28  [TASK]
 29        TASK = milltask
 30  CYCLE_TIME = 0.001
 31  
 32  [RS274NGC]
 33  PARAMETER_FILE = sim-9axis.var
 34  
 35  [EMCMOT]
 36  # joint4 is locked rotary
 37  # create hal pins: joint4.unlock, joint.4.is-locked
 38  # JOINTS_AXES specify joint4 with mask:
 39        EMCMOT = motmod unlock_joints_mask=0x10
 40  COMM_TIMEOUT = 1.0
 41  SERVO_PERIOD = 1000000
 42  
 43  [EMCIO]
 44                 EMCIO = io
 45            CYCLE_TIME = 0.100
 46            TOOL_TABLE = sim.tbl
 47  TOOL_CHANGE_POSITION = 0 0 2
 48  
 49  [HAL]
 50    HALUI = halui
 51  HALFILE = LIB:basic_sim.tcl
 52  HALFILE = locking_indexer.hal
 53  
 54  [TRAJ]
 55                  COORDINATES = X Y Z A B C U V W
 56                 LINEAR_UNITS = inch
 57                ANGULAR_UNITS = degree
 58      DEFAULT_LINEAR_VELOCITY = 1.0
 59  DEFAULT_LINEAR_ACCELERATION = 20.0
 60     DEFAULT_ANGULAR_VELOCITY = 45.0
 61          MAX_LINEAR_VELOCITY = 1.2
 62      MAX_LINEAR_ACCELERATION = 20.0
 63         MAX_ANGULAR_VELOCITY = 90.0
 64                POSITION_FILE = position9.txt
 65  
 66  [KINS]
 67  KINEMATICS = trivkins
 68      JOINTS = 9
 69  
 70  [AXIS_X]
 71  MAX_VELOCITY = 1.2
 72  MAX_ACCELERATION = 20.0
 73  MIN_LIMIT = -10.0
 74  MAX_LIMIT = 10.0
 75  [AXIS_Y]
 76  MAX_VELOCITY = 1.2
 77  MAX_ACCELERATION = 20.0
 78  MIN_LIMIT = -10.0
 79  MAX_LIMIT = 10.0
 80  [AXIS_Z]
 81  MAX_VELOCITY = 1.2
 82  MAX_ACCELERATION = 20.0
 83  MIN_LIMIT = -2.0
 84  MAX_LIMIT = 4.0
 85  [AXIS_A]
 86  MAX_VELOCITY = 90.0
 87  MAX_ACCELERATION = 1200.0
 88  [AXIS_B]
 89  # JOINTS_AXES specify the joint number
 90  # JOINTS_AXES also mask: motmod unlock_joints_mask=0x10
 91  LOCKING_INDEXER_JOINT = 4
 92  MAX_VELOCITY = 90.0
 93  MAX_ACCELERATION = 1200.0
 94  [AXIS_C]
 95  MAX_VELOCITY = 90.0
 96  MAX_ACCELERATION = 1200.0
 97  [AXIS_U]
 98  MAX_VELOCITY = 1.2
 99  MAX_ACCELERATION = 20.0
100  MIN_LIMIT = -2.0
101  MAX_LIMIT = 4.0
102  [AXIS_V]
103  MAX_VELOCITY = 1.2
104  MAX_ACCELERATION = 20.0
105  MIN_LIMIT = -2.0
106  MAX_LIMIT = 4.0
107  [AXIS_W]
108  MAX_VELOCITY = 1.2
109  MAX_ACCELERATION = 20.0
110  MIN_LIMIT = -2.0
111  MAX_LIMIT = 4.0
112  
113  [JOINT_0]
114              TYPE = LINEAR
115      MAX_VELOCITY = 1.2
116  MAX_ACCELERATION = 20.0
117         MIN_LIMIT = -10.0
118         MAX_LIMIT = 10.0
119   HOME_SEARCH_VEL = 5.0
120    HOME_LATCH_VEL = 1.0
121     HOME_SEQUENCE = 1
122    HOME_USE_INDEX = 1
123  
124  [JOINT_1]
125              TYPE = LINEAR
126  MAX_VELOCITY = 1.2
127  MAX_ACCELERATION = 20.0
128         MIN_LIMIT = -10.0
129         MAX_LIMIT = 10.0
130   HOME_SEARCH_VEL = 5.0
131    HOME_LATCH_VEL = 1.0
132     HOME_SEQUENCE = 1
133    HOME_USE_INDEX = 1
134  
135  [JOINT_2]
136              TYPE = LINEAR
137  MAX_VELOCITY = 1.2
138  MAX_ACCELERATION = 20.0
139         MIN_LIMIT = -2.0
140         MAX_LIMIT = 4.0
141   HOME_SEARCH_VEL = 5.0
142    HOME_LATCH_VEL = 1.0
143     HOME_SEQUENCE = 0
144    HOME_USE_INDEX = 1
145  
146  [JOINT_3]
147              TYPE = ANGULAR
148  MAX_VELOCITY = 90.0
149  MAX_ACCELERATION = 1200.0
150   HOME_SEARCH_VEL = 0.0
151    HOME_LATCH_VEL = 0.0
152     HOME_SEQUENCE = 1
153  
154  [JOINT_4]
155              TYPE = ANGULAR
156  MAX_VELOCITY = 90.0
157  MAX_ACCELERATION = 1200.0
158   HOME_SEARCH_VEL = 0.0
159    HOME_LATCH_VEL = 0.0
160     HOME_SEQUENCE = 1
161  # joints_axes: for homing
162  LOCKING_INDEXER = 1
163  
164  [JOINT_5]
165              TYPE = ANGULAR
166  MAX_VELOCITY = 90.0
167  MAX_ACCELERATION = 1200.0
168   HOME_SEARCH_VEL = 0.0
169    HOME_LATCH_VEL = 0.0
170     HOME_SEQUENCE = 1
171  
172  [JOINT_6]
173              TYPE = LINEAR
174  MAX_VELOCITY = 1.2
175  MAX_ACCELERATION = 20.0
176         MIN_LIMIT = -10.0
177         MAX_LIMIT = 10.0
178   HOME_SEARCH_VEL = 0.0
179    HOME_LATCH_VEL = 0.0
180     HOME_SEQUENCE = 0
181  
182  [JOINT_7]
183              TYPE = LINEAR
184  MAX_VELOCITY = 1.2
185  MAX_ACCELERATION = 20.0
186         MIN_LIMIT = -10.0
187         MAX_LIMIT = 10.0
188   HOME_SEARCH_VEL = 0.0
189    HOME_LATCH_VEL = 0.0
190     HOME_SEQUENCE = 0
191  
192  [JOINT_8]
193              TYPE = LINEAR
194  MAX_VELOCITY = 1.2
195  MAX_ACCELERATION = 20.0
196         MIN_LIMIT = -2.0
197         MAX_LIMIT = 4.0
198   HOME_SEARCH_VEL = 0.0
199    HOME_LATCH_VEL = 0.0
200     HOME_SEQUENCE = 0