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configs/sim.gmoccapy/6_axis.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = gmoccapy_9_axis
+  DEBUG = 0
+
+[DISPLAY]
+DISPLAY = gmoccapy
+CYCLE_TIME = 150
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 1
+GEOMETRY = XYZABC
+
+# Values that will be allowed for override, 1.0 = 100%
+MAX_FEED_OVERRIDE    =  1.5
+MAX_SPINDLE_OVERRIDE =  1.2
+MIN_SPINDLE_OVERRIDE =  0.5
+
+DEFAULT_SPINDLE_SPEED = 500
+
+# list of selectable jog increments
+INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm ,1.2345 in
+
+
+[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]
+RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = macros
+
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.150
+TOOL_TABLE = tool.tbl
+TOOL_CHANGE_POSITION = 0 0 2
+
+[HAL]
+HALUI = halui
+HALFILE = core_sim_6.hal
+#HALFILE = simulated_home_9.hal
+
+[TRAJ]
+COORDINATES = X Y Z A B C
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 50.0
+DEFAULT_LINEAR_ACCEL = 500.0
+DEFAULT_ANGULAR_VELOCITY = 45.0
+MAX_LINEAR_VELOCITY = 200.0
+MAX_LINEAR_ACCEL = 250.0
+MAX_ANGULAR_VELOCITY = 90.0
+
+[KINS]
+KINEMATICS = trivkins coordinates=XYZABC
+JOINTS = 6
+
+[AXIS_X]
+MIN_LIMIT = -250.0
+MAX_LIMIT = 250.0
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1250
+
+[AXIS_Y]
+MIN_LIMIT = -250.0
+MAX_LIMIT = 250.0
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1250
+
+[AXIS_Z]
+MIN_LIMIT = -50.0
+MAX_LIMIT = 100.0
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1250
+
+[AXIS_A]
+MIN_LIMIT = -360.0
+MAX_LIMIT = 360.0
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+
+[AXIS_B]
+MIN_LIMIT = -360.0
+MAX_LIMIT = 360.0
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+
+[AXIS_C]
+MIN_LIMIT = -360.0
+MAX_LIMIT = 360.0
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+
+[JOINT_0]
+TYPE = LINEAR
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1250
+MIN_LIMIT = -250.0
+MAX_LIMIT = 250.0
+HOME_SEQUENCE = 0
+
+[JOINT_1]
+TYPE = LINEAR
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1250
+MIN_LIMIT = -250.0
+MAX_LIMIT = 250.0
+HOME_SEQUENCE = 0
+
+[JOINT_2]
+TYPE = LINEAR
+MAX_VELOCITY = 100
+MAX_ACCELERATION = 1250
+MIN_LIMIT = -50.0
+MAX_LIMIT = 100.0
+HOME_SEQUENCE = 0
+
+[JOINT_3]
+TYPE = ANGULAR
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+HOME_SEQUENCE = 0
+
+[JOINT_4]
+TYPE = ANGULAR
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+HOME_SEQUENCE = 0
+
+[JOINT_5]
+TYPE = ANGULAR
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+HOME_SEQUENCE = 0
+
+