feat: sync latest run execution updates

web-rtcp-5axis-sim-plan/working_run/test_linuxcnc_source/xyzac-trt.ini

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+[APPLICATIONS]
+# uncomment to enable:
+#APP = halshow --fformat %.5f switchkins.halshow
+
+[EMC]
+VERSION = 1.1
+MACHINE = sim-xyzac-trt-kins (switchkins)
+
+[DISPLAY]
+            GEOMETRY = XYZ-A
+           OPEN_FILE = ./demos/xyzac_switchkins.ngc
+               PYVCP = ./xyzac-trt.xml
+            JOG_AXES = XYZC
+             DISPLAY = axis
+MAX_ANGULAR_VELOCITY =  360
+ MAX_LINEAR_VELOCITY = 1000
+     POSITION_OFFSET = RELATIVE
+   POSITION_FEEDBACK = ACTUAL
+   MAX_FEED_OVERRIDE = 2
+      PROGRAM_PREFIX = ../../nc_files
+       INTRO_GRAPHIC = emc2.gif
+          INTRO_TIME = 1
+             #EDITOR = geany
+         TOOL_EDITOR = tooledit z diam
+
+               TKPKG = Ngcgui 1.0
+         NGCGUI_FONT = Helvetica -12 normal
+      NGCGUI_SUBFILE = xyzac_switchkins_sub.ngc
+      NGCGUI_SUBFILE = centering.ngc
+
+[RS274NGC]
+SUBROUTINE_PATH = ./remap_subs
+   HAL_PIN_VARS = 1
+          REMAP = M428  modalgroup=10  ngc=428remap
+          REMAP = M429  modalgroup=10  ngc=429remap
+          REMAP = M430  modalgroup=10  ngc=430remap
+ PARAMETER_FILE = xyzac.var
+
+[KINS]
+#NOTE: for backwrds compatibility !!!!!!!!!!!!!!!!!!!
+#      default switchkins-type == 0 is xyzac-trt-kins
+#      here    switchkins-type == 0 is identity kins
+KINEMATICS = xyzac-trt-kins sparm=identityfirst
+    JOINTS = 5
+
+[HAL]
+          HALUI = halui
+        HALFILE = LIB:basic_sim.tcl
+POSTGUI_HALFILE = switchkins_postgui.hal
+
+# net for control of motion.switchkins-type
+HALCMD = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
+
+# vismach xyzac-trt-gui items
+HALCMD = loadusr -W xyzac-trt-gui
+HALCMD = net  :table-x      joint.0.pos-fb             xyzac-trt-gui.table-x
+HALCMD = net  :saddle-y     joint.1.pos-fb             xyzac-trt-gui.saddle-y
+HALCMD = net  :spindle-z    joint.2.pos-fb             xyzac-trt-gui.spindle-z
+HALCMD = net  :tilt-a       joint.3.pos-fb             xyzac-trt-gui.tilt-a
+HALCMD = net  :rotate-c     joint.4.pos-fb             xyzac-trt-gui.rotate-c
+HALCMD = net  :tool-offset  motion.tooloffset.z
+HALCMD = net  :tool-offset  xyzac-trt-kins.tool-offset xyzac-trt-gui.tool-offset
+HALCMD = net  :y-offset     xyzac-trt-kins.y-offset    xyzac-trt-gui.y-offset
+HALCMD = net  :z-offset     xyzac-trt-kins.z-offset    xyzac-trt-gui.z-offset
+HALCMD = sets :y-offset     20
+HALCMD = sets :z-offset     10
+
+# not currently supported by xyzac-trt-gui:
+HALCMD = setp xyzac-trt-kins.x-rot-point 0
+HALCMD = setp xyzac-trt-kins.y-rot-point 0
+HALCMD = setp xyzac-trt-kins.z-rot-point 0
+HALCMD = setp xyzac-trt-kins.conventional-directions 0
+
+[HALUI]
+# NOTE: kinstype==0 is identity kins because sparm=identityfirst
+# M429:identity kins (motion.switchkins-type==0 startupDEFAULT)
+# M428:xyzac    kins (motion.switchkins-type==1)
+# M430:userk    kins (motion.switchkins-type==2)
+MDI_COMMAND = M429
+MDI_COMMAND = M428
+MDI_COMMAND = M430
+
+[TRAJ]
+                COORDINATES = XYZAC
+               LINEAR_UNITS = mm
+              ANGULAR_UNITS = deg
+    DEFAULT_LINEAR_VELOCITY = 20
+        MAX_LINEAR_VELOCITY = 35
+    MAX_LINEAR_ACCELERATION = 400
+DEFAULT_LINEAR_ACCELERATION = 300
+
+[EMCMOT]
+      EMCMOT = motmod
+SERVO_PERIOD = 1000000
+COMM_TIMEOUT =       1
+
+[TASK]
+      TASK = milltask
+CYCLE_TIME = 0.010
+
+[EMCIO]
+TOOL_TABLE = xyzac-trt.tbl
+
+[AXIS_X]
+       MIN_LIMIT = -200
+       MAX_LIMIT =  200
+    MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[AXIS_Y]
+       MIN_LIMIT = -100
+       MAX_LIMIT =  100
+    MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[AXIS_Z]
+       MIN_LIMIT = -120
+       MAX_LIMIT =  120
+    MAX_VELOCITY =   20
+MAX_ACCELERATION =  300
+
+[AXIS_A]
+       MIN_LIMIT = -100
+       MAX_LIMIT =   50
+    MAX_VELOCITY =   30
+MAX_ACCELERATION =   300
+
+[AXIS_C]
+       MIN_LIMIT = -36000
+       MAX_LIMIT =  36000
+    MAX_VELOCITY =     30
+MAX_ACCELERATION =    300
+
+[JOINT_0]
+              TYPE = LINEAR
+              HOME =    0
+      MAX_VELOCITY =   20
+  MAX_ACCELERATION =  300
+         MIN_LIMIT = -200
+         MAX_LIMIT =  200
+   HOME_SEARCH_VEL =    0
+     HOME_SEQUENCE =    0
+
+[JOINT_1]
+              TYPE = LINEAR
+              HOME =    0
+      MAX_VELOCITY =   20
+  MAX_ACCELERATION =  300
+         MIN_LIMIT = -100
+         MAX_LIMIT =  100
+   HOME_SEARCH_VEL =    0
+     HOME_SEQUENCE =    0
+
+[JOINT_2]
+              TYPE = LINEAR
+              HOME =    0
+      MAX_VELOCITY =   20
+  MAX_ACCELERATION =  300
+         MIN_LIMIT = -120
+         MAX_LIMIT =  120
+   HOME_SEARCH_VEL =    0
+     HOME_SEQUENCE =    0
+
+[JOINT_3]
+            TYPE = ANGULAR
+            HOME =    0
+    MAX_VELOCITY =   30
+MAX_ACCELERATION =  300
+       MIN_LIMIT = -100
+       MAX_LIMIT =   50
+ HOME_SEARCH_VEL =    0
+   HOME_SEQUENCE =    0
+
+[JOINT_4]
+            TYPE = ANGULAR
+            HOME =      0
+    MAX_VELOCITY =     30
+MAX_ACCELERATION =    300
+       MIN_LIMIT = -36000
+       MAX_LIMIT =  36000
+ HOME_SEARCH_VEL =      0
+   HOME_SEQUENCE =      0