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configs/sim.touchy/touchy.ini

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+# EMC controller parameters for a simulated machine.
+[TOUCHY]
+MACRO=increment xinc yinc
+MACRO=probe-hole maxradius
+
+[EMC]
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-TOUCHY
+
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =               0x7FFFFFFF
+DEBUG = 0x10
+
+[DISPLAY]
+
+DISPLAY = touchy
+
+PROGRAM_PREFIX = /home/linuxcnc/linuxcnc/nc_files
+
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+# EMBED_TAB_NAME = Tools
+# EMBED_TAB_COMMAND = xterm -into {XID} -rv -fn lucidasanstypewriter-bold-14 -e watch -n1 cat simpockets.tbl
+
+[TASK]
+
+TASK =                  milltask
+CYCLE_TIME =            0.001
+
+[RS274NGC]
+
+# File containing interpreter variables
+PARAMETER_FILE =        sim.var
+
+[EMCMOT]
+
+EMCMOT =              motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD  =               0
+# Servo task period, in nano-seconds
+SERVO_PERIOD =               1000000
+
+[HAL]
+
+HALFILE =                    core_sim.hal
+# add a test panel so people can actually test the screen
+HALCMD = loadusr gladevcp --always_above -c touchy_test touchy_test_panel.glade
+POSTGUI_HALFILE = touchy_postgui.hal
+
+[TRAJ]
+COORDINATES =           X Y Z
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+MAX_LINEAR_VELOCITY =   4
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+
+[AXIS_Y]
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+
+[AXIS_Z]
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+
+
+# First axis
+[JOINT_0]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+# Second axis
+[JOINT_1]
+TYPE =                          LINEAR
+HOME =                          0.000
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                     -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    0.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 1
+
+# Third axis
+[JOINT_2]
+TYPE =                          LINEAR
+HOME =                          0.0
+MAX_VELOCITY =                  4
+MAX_ACCELERATION =              100.0
+BACKLASH = 0.000
+INPUT_SCALE =                   4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT =                    -40.0
+MAX_LIMIT =                     40.0
+FERROR = 0.050
+MIN_FERROR = 0.010
+HOME_OFFSET =                    1.0
+HOME_SEARCH_VEL =                0.0
+HOME_LATCH_VEL =                 0.0
+HOME_USE_INDEX =                 NO
+HOME_IGNORE_LIMITS =             NO
+HOME_SEQUENCE = 0
+
+# section for main IO controller parameters -----------------------------------
+[EMCIO]
+
+# Name of IO controller program, e.g., io
+EMCIO = 		io
+
+# cycle time, in seconds
+CYCLE_TIME =    0.100
+
+# tool table file
+TOOL_TABLE =    simpockets.tbl
+TOOL_CHANGE_POSITION = 0 0 2
+RANDOM_TOOLCHANGER = 1