Import LinuxCNC source tree

configs/sim/axis/axis_mm_scurve.ini

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+# ========================================================
+# S-CURVE MOTION PLANNING CONFIGURATION EXAMPLE
+# ========================================================
+#
+# This file demonstrates how to configure S-curve (jerk-limited)
+# motion planning in LinuxCNC. S-curve planning produces smoother
+# acceleration profiles that can reduce machine vibration and
+# improve surface finish.
+#
+# IMPORTANT: S-curve planning is OPTIONAL.
+# Traditional trapezoidal acceleration is used when:
+#   - PLANNER_TYPE = 0, OR
+#   - MAX_LINEAR_JERK = 0
+#
+# NOTE: If MAX_LINEAR_JERK is not specified, it defaults to 1e9 (1 billion),
+# which effectively disables jerk limiting while still using S-curve calculations.
+# This produces motion similar to trapezoidal but not identical.
+#
+# ========================================================
+[EMC]
+VERSION = 1.1
+MACHINE = scurve_example
+DEBUG = 0
+
+[DISPLAY]
+JOG_AXES = XYZ
+GEOMETRY = XYZ
+DISPLAY = axis
+CYCLE_TIME = 0.200
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 2.0
+PROGRAM_PREFIX = M-Codes
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+EDITOR = gedit
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+COMM_WAIT = 0.010
+BASE_PERIOD =   150000
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.010
+
+[HAL]
+HALUI = halui
+HALFILE = axis_mm_scurve.hal
+
+[TRAJ]
+# --------------------------------------------------------
+# S-curve Planner Configuration
+# --------------------------------------------------------
+
+# PLANNER_TYPE: Select the acceleration profile shape
+#   0 = Trapezoidal (traditional - constant acceleration)
+#   1 = S-curve (smoother - limited jerk/derivative of acceleration)
+# Default: 0 (trapezoidal)
+#
+# NOTE: This parameter can be changed at RUNTIME via HAL pin:
+#       ini.traj_planner_type (allows switching on-the-fly)
+PLANNER_TYPE = 1
+
+# MAX_LINEAR_JERK: Maximum rate of change of acceleration
+# Units: machine-units/second^3 (e.g., mm/s^3 or inch/s^3)
+#
+# Setting this to 0 disables S-curve planning regardless of PLANNER_TYPE
+# If not specified, defaults to 1e9 (effectively no jerk limiting)
+# Maximum allowed value is 1e9 (values above are automatically clamped)
+#
+# Recommended starting values (adjust based on your machine):
+#   - Light/rigid machines: 1000-10000
+#   - Heavy/flexible machines: 100-1000
+#   - Very rigid machines: 10000-100000
+#
+# Higher values = sharper acceleration changes (closer to trapezoidal)
+# Lower values = smoother acceleration changes (more gradual)
+#
+# NOTE: This parameter can be changed at RUNTIME via HAL pin:
+#       ini.traj_max_jerk (allows tuning on-the-fly)
+MAX_LINEAR_JERK = 10000.0
+
+# --------------------------------------------------------
+# Standard TRAJ parameters (still required with S-curve)
+# --------------------------------------------------------
+COORDINATES = X Y Z
+LINEAR_UNITS = mm
+ANGULAR_UNITS = deg
+CYCLE_TIME = 0.010
+DEFAULT_LINEAR_VELOCITY = 100.0
+MAX_LINEAR_VELOCITY = 300.0
+DEFAULT_LINEAR_ACCELERATION = 500.0
+MAX_LINEAR_ACCELERATION = 1000.0
+# to be able to run gcodes and MDI without homing
+NO_FORCE_HOMING = 1
+
+
+ARC_BLEND_ENABLE = 1
+ARC_BLEND_FALLBACK_ENABLE = 0
+ARC_BLEND_OPTIMIZATION_DEPTH = 50
+ARC_BLEND_RAMP_FREQ = 20
+ARC_BLEND_GAP_CYCLES = 4
+
+
+
+[EMCIO]
+EMCIO = io
+CYCLE_TIME = 0.100
+
+
+[KINS]
+# 5axiskins misnomer 1 more joint for W
+KINEMATICS = trivkins
+JOINTS = 3
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = scurve_example.var
+
+# ========================================================
+# JOINT CONFIGURATION
+# ========================================================
+# Each joint can have its own jerk limit. If not specified,
+# the joint uses the axis/trajectory jerk limits.
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 300.0
+MAX_ACCELERATION = 1000.0
+HOME_SEQUENCE = 0
+
+# MAX_JERK: Maximum jerk for this joint
+# Units: machine-units/second^3
+# Default: 0.0 (disabled, uses trapezoidal)
+#
+# This should match or be higher than the trajectory jerk
+# to avoid limiting coordinated motion.
+MAX_JERK = 10000.0
+
+#MIN_LIMIT = -200.0 #disabled to give more space for testing g-codes
+#MAX_LIMIT = 200.0 #disabled to give more space for testing g-codes
+
+# ========================================================
+# HOMING CONFIGURATION FOR S-CURVE
+# ========================================================
+# WARNING: When using S-curve motion (PLANNER_TYPE=1), you MUST set
+# HOME_SEARCH_VEL and HOME_LATCH_VEL significantly SLOWER than you
+# would with trapezoidal motion planning.
+#
+# S-curve motion requires MORE DISTANCE to decelerate due to the
+# jerk-limited acceleration profile. If homing velocities are too
+# high, the axis may overshoot and hit hard limits or sensor limits.
+#
+# RECOMMENDED: Start with 50% or less of the velocities you would
+# use with trapezoidal planning, then increase cautiously.
+#
+# Example homing configuration (adjust for your machine):
+#HOME_SEARCH_VEL = 5.0       # Velocity for initial limit switch search
+#HOME_LATCH_VEL = 1.0        # Velocity for precise homing (slower)
+#HOME_OFFSET = 0.0           # Distance from switch to home position
+#HOME_USE_INDEX = NO         # Use encoder index pulse for homing
+#HOME_IGNORE_LIMITS = NO     # Ignore limit switches during homing move
+# ========================================================
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 300.0
+MAX_ACCELERATION = 1000.0
+MAX_JERK = 10000.0
+#MIN_LIMIT = -200.0 #disabled to give more space for testing g-codes
+#MAX_LIMIT = 200.0 #disabled to give more space for testing g-codes
+HOME_SEQUENCE = 0
+
+# WARNING: S-curve homing requires SLOWER velocities than trapezoidal!
+# See JOINT_0 for detailed homing configuration examples.
+#HOME_SEARCH_VEL = 5.0
+#HOME_LATCH_VEL = 1.0
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 200.0
+MAX_ACCELERATION = 800.0
+MAX_JERK = 10000.0
+#MIN_LIMIT = -100.0 #disabled to give more space for testing g-codes
+#MAX_LIMIT = 100.0 #disabled to give more space for testing g-codes
+HOME_SEQUENCE = 0
+
+# WARNING: S-curve homing requires SLOWER velocities than trapezoidal!
+# See JOINT_0 for detailed homing configuration examples.
+#HOME_SEARCH_VEL = 4.0
+#HOME_LATCH_VEL = 0.8
+
+# ========================================================
+# AXIS CONFIGURATION
+# ========================================================
+
+[AXIS_X]
+#MIN_LIMIT = -200.0 #disabled to give more space for testing g-codes
+#MAX_LIMIT = 200.0 #disabled to give more space for testing g-codes
+MAX_VELOCITY = 300.0
+MAX_ACCELERATION = 1000.0
+
+# MAX_JERK: Maximum jerk for coordinated motion on this axis
+# Units: machine-units/second^3
+# Default: 0.0 (disabled)
+MAX_JERK = 10000.0
+
+[AXIS_Y]
+#MIN_LIMIT = -200.0 #disabled to give more space for testing g-codes
+#MAX_LIMIT = 200.0 #disabled to give more space for testing g-codes
+MAX_VELOCITY = 300.0
+MAX_ACCELERATION = 1000.0
+MAX_JERK = 10000.0
+
+[AXIS_Z]
+#MIN_LIMIT = -100.0 #disabled to give more space for testing g-codes
+#MAX_LIMIT = 100.0 #disabled to give more space for testing g-codes
+MAX_VELOCITY = 200.0
+MAX_ACCELERATION = 800.0
+MAX_JERK = 10000.0
+
+# ========================================================
+# TUNING GUIDELINES
+# ========================================================
+#
+# 1. START WITH TRAPEZOIDAL (PLANNER_TYPE=0)
+#    - Verify your machine works correctly with traditional planning
+#    - Note any vibration or resonance issues
+#
+# 2. ENABLE S-CURVE WITH CONSERVATIVE VALUES
+#    - Set PLANNER_TYPE = 1
+#    - Start with low MAX_LINEAR_JERK (e.g., 100-500)
+#    - Jerk should typically be 10-100x your acceleration value
+#
+# 3. GRADUALLY INCREASE JERK
+#    - Increase MAX_LINEAR_JERK in steps of 2-3x
+#    - Test with simple moves and observe:
+#      * Motor current/torque
+#      * Vibration levels
+#      * Following errors
+#      * Surface finish quality
+#
+# 4. FIND OPTIMAL VALUE
+#    - Too low: Motion becomes sluggish, cycle time increases
+#    - Too high: Approaches trapezoidal behavior, loses smoothness
+#    - Optimal: Smooth motion without excessive deceleration
+#
+# 5. VERIFY COORDINATED MOTION
+#    - Test circular interpolation (G2/G3)
+#    - Check complex 3D toolpaths
+#    - Verify axis jerk limits don't constrain trajectory jerk
+#
+# ========================================================
+# TROUBLESHOOTING
+# ========================================================
+#
+# SYMPTOM: No difference between PLANNER_TYPE=0 and PLANNER_TYPE=1
+# SOLUTION: Verify MAX_LINEAR_JERK > 0 and MAX_JERK > 0 for all joints/axes
+#
+# SYMPTOM: Motion is too slow with S-curve enabled
+# SOLUTION: Increase MAX_LINEAR_JERK value
+#
+# SYMPTOM: Following errors increase with S-curve
+# SOLUTION: Decrease MAX_LINEAR_JERK or increase PID I-gain
+#
+# SYMPTOM: Vibration/resonance at certain speeds
+# SOLUTION: Adjust MAX_LINEAR_JERK to avoid resonant frequencies
+#          Consider using different jerk values for different axes
+#
+# ========================================================