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configs/sim.axis/ldelta_demo.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = Delta-robot-with-linear-joints
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = axis
+
+MAX_LINEAR_VELOCITY = 100
+MAX_FEED_OVERRIDE = 1.2
+DEFAULT_LINEAR_VELOCITY = 100
+PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
+
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+#EDITOR = geany
+TOOL_EDITOR = tooledit
+
+INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil
+
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = COMMANDED
+
+[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.var
+
+[EMCMOT]
+EMCMOT = motmod
+BASE_PERIOD  = 0
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = sim_ldelta.hal
+HALFILE = axis_manualtoolchange.hal
+HALUI = halui
+
+HALCMD = setp joint.0.jog-enable 1
+HALCMD = setp joint.1.jog-enable 1
+HALCMD = setp joint.2.jog-enable 1
+
+HALCMD = setp axis.x.jog-enable  1
+HALCMD = setp axis.y.jog-enable  1
+HALCMD = setp axis.z.jog-enable  1
+
+HALCMD = setp joint.0.jog-scale 10
+HALCMD = setp joint.1.jog-scale 10
+HALCMD = setp joint.2.jog-scale 10
+
+HALCMD = setp axis.x.jog-scale  10
+HALCMD = setp axis.y.jog-scale  10
+HALCMD = setp axis.z.jog-scale   2
+
+HALCMD = setp halui.joint.jog-speed 2000
+HALCMD = setp halui.axis.jog-speed  2000
+
+[APPLICATIONS]
+
+# tester for joints (FREE) jogging (012 wheel and halui)
+APP = sim_pin >/dev/null \
+  halui.mode.joint/mode=Pulse \
+  joint.0.jog-counts \
+  joint.1.jog-counts \
+  joint.2.jog-counts \
+  halui.joint.0.plus/mode=Hold \
+  halui.joint.0.minus/mode=Hold \
+  halui.joint.1.plus/mode=Hold \
+  halui.joint.1.minus/mode=Hold \
+  halui.joint.2.plus/mode=Hold \
+  halui.joint.2.minus/mode=Hold
+
+# tester for axis (TELEOP) jogging (xyz wheel and halui)
+APP = sim_pin >/dev/null \
+  halui.mode.teleop/mode=Pulse \
+  axis.x.jog-counts \
+  axis.y.jog-counts \
+  axis.z.jog-counts \
+  halui.axis.x.plus/mode=Hold \
+  halui.axis.x.minus/mode=Hold \
+  halui.axis.y.plus/mode=Hold \
+  halui.axis.y.minus/mode=Hold \
+  halui.axis.z.plus/mode=Hold \
+  halui.axis.z.minus/mode=Hold
+
+[TRAJ]
+COORDINATES = X Y Z A
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 10
+MAX_LINEAR_VELOCITY = 10
+
+[KINS]
+JOINTS = 4
+KINEMATICS = lineardeltakins
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 270
+MAX_VELOCITY = 300
+MAX_ACCELERATION = 5000.0
+MIN_LIMIT = 0
+MAX_LIMIT = 375
+HOME_OFFSET = 375
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+HOME_SEQUENCE = 0
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 270
+MAX_VELOCITY = 300
+MAX_ACCELERATION = 5000.0
+MIN_LIMIT = 0
+MAX_LIMIT = 375
+HOME_OFFSET = 375
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+HOME_SEQUENCE = 0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 270
+MAX_VELOCITY = 300
+MAX_ACCELERATION = 5000.0
+MIN_LIMIT = 0
+MAX_LIMIT = 375
+HOME_OFFSET = 375
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+HOME_SEQUENCE = 0
+
+[JOINT_3]
+TYPE = LINEAR
+HOME = 0
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 500.0
+MIN_LIMIT = -1e6
+MAX_LIMIT = 1e6
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+HOME_SEQUENCE = 0
+
+[AXIS_X]
+MAX_VELOCITY = 300
+MAX_ACCELERATION = 5000
+MIN_LIMIT = -95
+MAX_LIMIT = 150
+
+[AXIS_Y]
+MAX_VELOCITY = 300
+MAX_ACCELERATION = 5000
+MIN_LIMIT = -95
+MAX_LIMIT = 95
+
+[AXIS_Z]
+MAX_VELOCITY = 300
+MAX_ACCELERATION = 5000
+MIN_LIMIT = -5
+MAX_LIMIT = 35
+
+[AXIS_A]
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1000
+MIN_LIMIT = -1e6
+MAX_LIMIT = 1e6
+
+[EMCIO]
+EMCIO =   io
+CYCLE_TIME = 0.1
+TOOL_TABLE = sim.tbl