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configs/sim.gmoccapy/gmoccapy_tool_sensor.ini

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+# General section -------------------------------------------------------------
+[EMC]
+VERSION = 1.1
+MACHINE =               gmoccapy tool sensor
+DEBUG =               0x00080000
+#DEBUG =               0x7FFFFFFF
+
+# for details see nc_files/subroutines/maco_instructions.txt
+#[MACROS]
+MACRO = i_am_lost
+MACRO = halo_world
+MACRO = jog_around
+MACRO = increment xinc yinc
+MACRO = go_to_position X-pos Y-pos Z-pos
+
+# Sections for display options ------------------------------------------------
+[DISPLAY]
+DISPLAY = gmoccapy
+# We do explicit give an preference file here, because otherwise 
+# the sim may not work on other computers. That is also the reason
+# we use the prefix para, so it will not be ignored from git
+PREFERENCE_FILE_PATH = gmoccapy_tool_sensor.para
+
+EMBED_TAB_NAME = tool sensor
+EMBED_TAB_LOCATION = box_right
+EMBED_TAB_COMMAND = gladevcp -x {XID} -H tool_sensor.hal tool_sensor.glade
+
+# Cycle time, in milliseconds, that display will sleep between polls
+CYCLE_TIME =            100
+
+# Highest value that will be allowed for feed override, 1.0 = 100%
+MAX_FEED_OVERRIDE =     1.5
+MAX_SPINDLE_OVERRIDE =  1.2
+MIN_SPINDLE_OVERRIDE = .5
+
+DEFAULT_SPINDLE_SPEED = 450
+
+# Prefix to be used
+PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
+
+# Introductory graphic
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+# list of selectable jog increments
+INCREMENTS = 1.0 mm, 0.1 mm, 0.01 mm, 0.001 mm
+
+[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 controller section -----------------------------------------------------
+[RS274NGC]
+RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
+PARAMETER_FILE = sim.var
+SUBROUTINE_PATH = macros
+
+# optional features - a bit mask to selectively turn on experimental/dubious features
+# see 
+# RETAIN_G43           0x00000001
+# OWORD_N_ARGS         0x00000002
+# INI_VARS             0x00000004
+# HAL_PIN_VARS         0x00000008
+# NO_DOWNCASE_OWORD    0x00000010
+# turn on all optional features
+
+# turn on optional features in this case just INI reading 
+FEATURES=12
+
+ON_ABORT_COMMAND=O <on_abort> call 
+
+# parameters exposed by change_prolog/evaluated by change_epilog:
+#    #<tool_in_spindle>
+#    #<selected_tool>
+#    #<current_pocket>
+#    #<selected_pocket>
+REMAP=M6  modalgroup=6 prolog=change_prolog ngc=change epilog=change_epilog
+
+# accessible in interp as #<_[section]name>
+# start of tool length touchoff probe
+[EMCMOT]
+EMCMOT =              motmod
+COMM_TIMEOUT =          1.0
+BASE_PERIOD  =          100000
+SERVO_PERIOD =          1000000
+
+# Hardware Abstraction Layer section --------------------------------------------------
+[TASK]
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+# Part program interpreter section --------------------------------------------
+[HAL]
+HALFILE = core_sim.hal
+HALFILE = spindle_sim.hal
+HALFILE = simulated_home.hal
+
+# Single file that is executed after the GUI has started.
+POSTGUI_HALFILE = gmoccapy_postgui.hal
+
+HALUI = halui
+
+# Trajectory planner section --------------------------------------------------
+[HALUI]
+#No Content
+
+[TRAJ]
+COORDINATES = X Y Z 
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 9.0
+MAX_LINEAR_VELOCITY = 234
+POSITION_FILE = position.txt
+#NO_FORCE_HOMING = 1
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.100
+
+# tool table file
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins coordinates=xyz
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = 0
+MAX_LIMIT = 150.0
+MAX_VELOCITY = 15.0
+MAX_ACCELERATION = 500.0
+
+[JOINT_0]
+TYPE = LINEAR
+MAX_VELOCITY = 15.0
+MAX_ACCELERATION = 500.0
+STEPGEN_MAXACCEL = 750.5
+SCALE = 266.6666
+FERROR = 1
+MIN_FERROR = .25
+MIN_LIMIT = 0
+MAX_LIMIT = 150.0
+HOME_OFFSET = 0.0
+HOME = 10.000
+HOME_SEARCH_VEL = 30
+HOME_LATCH_VEL = 10
+HOME_IGNORE_LIMITS = YES
+HOME_SEQUENCE = 1
+
+[AXIS_Y]
+MIN_LIMIT = 0
+MAX_LIMIT = 110.0
+MAX_VELOCITY = 15.0
+MAX_ACCELERATION = 500.0
+
+[JOINT_1]
+TYPE = LINEAR
+MAX_VELOCITY = 15.0
+MAX_ACCELERATION = 500.0
+STEPGEN_MAXACCEL = 750.5
+SCALE = 266.6666
+FERROR = 1
+MIN_FERROR = .25
+MIN_LIMIT = 0
+MAX_LIMIT = 110.0
+HOME_OFFSET = 0.0
+HOME = 10.000
+HOME_SEARCH_VEL = 30
+HOME_LATCH_VEL = 10
+HOME_IGNORE_LIMITS = YES
+HOME_SEQUENCE = 1
+
+[AXIS_Z]
+MIN_LIMIT = -100.0
+MAX_LIMIT = 0
+MAX_VELOCITY = 15.0
+MAX_ACCELERATION = 500.0
+
+[JOINT_2]
+TYPE = LINEAR
+MAX_VELOCITY = 15.0
+MAX_ACCELERATION = 500.0
+STEPGEN_MAXACCEL = 750.5
+SCALE = 266.6666
+FERROR = 1
+MIN_FERROR = .25
+MIN_LIMIT = -100.0
+MAX_LIMIT = 0
+HOME_OFFSET = 0.0
+HOME = -10.000
+HOME_SEARCH_VEL = 30
+HOME_LATCH_VEL = 10
+HOME_IGNORE_LIMITS = YES
+HOME_SEQUENCE = 0
+
+# section for main IO controller parameters -----------------------------------
+[TOOLSENSOR]
+X = 10
+Y = 10  
+Z = -20
+# abort change if no toolsensor contact after this probe distance
+MAXPROBE =  -20
+
+# this is not named TOOL_CHANGE_POSITION  on purpose - canon uses it and will
+# interfere
+[CHANGE_POSITION]
+X = 10
+Y = 10
+Z = -2
+
+# the Python plugins serves interpreter and task
+[PYTHON]
+PATH_PREPEND = python
+TOPLEVEL = python/toplevel.py
+LOG_LEVEL = 8
+
+# Motion control section ------------------------------------------------------