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configs/sim.axis/axis_9axis.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = LinuxCNC-sim-9axis
+  DEBUG = 0
+
+[DISPLAY]
+             DISPLAY = axis
+          CYCLE_TIME = 0.100
+     POSITION_OFFSET = RELATIVE
+   POSITION_FEEDBACK = ACTUAL
+   MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+      PROGRAM_PREFIX = ../../nc_files/
+       INTRO_GRAPHIC = linuxcnc.gif
+          INTRO_TIME = 5
+              #EDITOR = geany
+          INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 1/8000 in
+            GEOMETRY = XYZABCUVW
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .py Python Script
+              png = image-to-gcode
+              gif = image-to-gcode
+              jpg = image-to-gcode
+               py = python3
+
+[TASK]
+      TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim-9axis.var
+
+[EMCMOT]
+# joint4 is locked rotary
+# create hal pins: joint4.unlock, joint.4.is-locked
+# JOINTS_AXES specify joint4 with mask:
+      EMCMOT = motmod unlock_joints_mask=0x10
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[EMCIO]
+               EMCIO = io
+          CYCLE_TIME = 0.100
+          TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 2
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+HALFILE = locking_indexer.hal
+
+[TRAJ]
+                COORDINATES = X Y Z A B C U V W
+               LINEAR_UNITS = inch
+              ANGULAR_UNITS = degree
+    DEFAULT_LINEAR_VELOCITY = 1.0
+DEFAULT_LINEAR_ACCELERATION = 20.0
+   DEFAULT_ANGULAR_VELOCITY = 45.0
+        MAX_LINEAR_VELOCITY = 1.2
+    MAX_LINEAR_ACCELERATION = 20.0
+       MAX_ANGULAR_VELOCITY = 90.0
+              POSITION_FILE = position9.txt
+
+[KINS]
+KINEMATICS = trivkins
+    JOINTS = 9
+
+[AXIS_X]
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+[AXIS_Y]
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+[AXIS_Z]
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+[AXIS_A]
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+[AXIS_B]
+# JOINTS_AXES specify the joint number
+# JOINTS_AXES also mask: motmod unlock_joints_mask=0x10
+LOCKING_INDEXER_JOINT = 4
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+[AXIS_C]
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+[AXIS_U]
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+[AXIS_V]
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+[AXIS_W]
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+
+[JOINT_0]
+            TYPE = LINEAR
+    MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+       MIN_LIMIT = -10.0
+       MAX_LIMIT = 10.0
+ HOME_SEARCH_VEL = 5.0
+  HOME_LATCH_VEL = 1.0
+   HOME_SEQUENCE = 1
+  HOME_USE_INDEX = 1
+
+[JOINT_1]
+            TYPE = LINEAR
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+       MIN_LIMIT = -10.0
+       MAX_LIMIT = 10.0
+ HOME_SEARCH_VEL = 5.0
+  HOME_LATCH_VEL = 1.0
+   HOME_SEQUENCE = 1
+  HOME_USE_INDEX = 1
+
+[JOINT_2]
+            TYPE = LINEAR
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+       MIN_LIMIT = -2.0
+       MAX_LIMIT = 4.0
+ HOME_SEARCH_VEL = 5.0
+  HOME_LATCH_VEL = 1.0
+   HOME_SEQUENCE = 0
+  HOME_USE_INDEX = 1
+
+[JOINT_3]
+            TYPE = ANGULAR
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+ HOME_SEARCH_VEL = 0.0
+  HOME_LATCH_VEL = 0.0
+   HOME_SEQUENCE = 1
+
+[JOINT_4]
+            TYPE = ANGULAR
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+ HOME_SEARCH_VEL = 0.0
+  HOME_LATCH_VEL = 0.0
+   HOME_SEQUENCE = 1
+# joints_axes: for homing
+LOCKING_INDEXER = 1
+
+[JOINT_5]
+            TYPE = ANGULAR
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+ HOME_SEARCH_VEL = 0.0
+  HOME_LATCH_VEL = 0.0
+   HOME_SEQUENCE = 1
+
+[JOINT_6]
+            TYPE = LINEAR
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+       MIN_LIMIT = -10.0
+       MAX_LIMIT = 10.0
+ HOME_SEARCH_VEL = 0.0
+  HOME_LATCH_VEL = 0.0
+   HOME_SEQUENCE = 0
+
+[JOINT_7]
+            TYPE = LINEAR
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+       MIN_LIMIT = -10.0
+       MAX_LIMIT = 10.0
+ HOME_SEARCH_VEL = 0.0
+  HOME_LATCH_VEL = 0.0
+   HOME_SEQUENCE = 0
+
+[JOINT_8]
+            TYPE = LINEAR
+MAX_VELOCITY = 1.2
+MAX_ACCELERATION = 20.0
+       MIN_LIMIT = -2.0
+       MAX_LIMIT = 4.0
+ HOME_SEARCH_VEL = 0.0
+  HOME_LATCH_VEL = 0.0
+   HOME_SEQUENCE = 0