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configs/sim/axis/extrajoints/1extrajoint.ini

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+# This sim config uses 'immediate' homing
+# To demonstrate motor-offsets:
+#   jog the extra joint(4) away from its turn-on position
+#   then home-all
+
+[EMC]
+MACHINE = 1extrajoint
+VERSION = 1.1
+
+[APPLICATIONS]
+APP = halshow --fformat %.6f extrajoints.halshow
+APP = sim_pin --title "j4 extrajoint" \
+      j4.limit3.min \
+      j4.limit3.max \
+      j4.limit3.maxv \
+      j4.limit3.maxa \
+      j4.limit3.in
+
+[KINS]
+JOINTS = 5
+# NOTE: 4 kinematic joints + 1 extra (motmod) total=5
+KINEMATICS = trivkins coordinates=XYYZ kinstype=both
+
+[EMCMOT]
+EMCMOT       = motmod num_extrajoints=1
+SERVO_PERIOD = 1000000
+
+[HAL]
+HALFILE = 1extrajoint.hal
+HALUI   = halui
+
+
+[DISPLAY]
+DISPLAY = axis
+MAX_LINEAR_VELOCITY = 1
+PROGRAM_PREFIX = .
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[TRAJ]
+COORDINATES = XYYZ
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+
+[JOINT_0]
+TYPE = LINEAR
+HOME_SEQUENCE     =   1
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_1]
+TYPE = LINEAR
+HOME_SEQUENCE     =  -2
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_2]
+TYPE = LINEAR
+HOME_SEQUENCE     =  -2
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_3]
+TYPE = LINEAR
+HOME_SEQUENCE     =   3
+MAX_VELOCITY      =  10
+MAX_ACCELERATION  = 100
+
+[JOINT_4]
+# this 'extra' joint is managed by a
+# limit3 component after homing
+TYPE = LINEAR
+HOME_SEQUENCE     =   0
+MIN_LIMIT         = -10
+MAX_LIMIT         =  10
+MAX_VELOCITY      =   5
+MAX_ACCELERATION  = 100