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configs/sim/axis/ja_tests/xyzb_locking_indexer/README

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+The TEMPORARY xyzb directory contains standalone, simplified xyzb ini examples
+to test:
+
+  a) wheel jogging for IDENTITY kins configs where the hal pins
+     for joints and axes jogging  are connected together
+  b) omitted axis letters
+  c) duplicated axis letters (ref: some gantry configs do this)
+  d) locking indexer on AXIS_B (the joint number depends on the configuration
+  e) automatically set mode to teleop after homing
+
+The configs start additional applications:
+ 1) sim_pin gui to demonstrate wheel jogging for joints and axes
+     Signal j:x is jog-counts for  axis x AND joint 0
+     Signal j:y is jog-counts for  axis y AND joint 1
+     Signal j:z is jog-counts for  axis z AND joint 2
+     Signal j:b is jog-counts for  axis b AND joint 3
+ 2) halshow app to show relevant hal pins
+
+xyzb.ini   trivkins with omitted axis letter (a)
+xyyzb.ini  trivkins with omitted axis letter (a)
+                                   and  duplicated axis letter (y)
+                                   and  auto teleop after homing
+
+The xyyzb.ini uses the trivkins kinstype option
+to set the kinematics type to KINEMATICS_BOTH to demonstrate
+jogging and teleop jogging.
+

configs/sim/axis/ja_tests/xyzb_locking_indexer/xyyzb.ini

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+[APPLICATIONS]
+# wheel jog simulation:
+# independent joint and axis wheels:
+APP = sim_pin halui.mode.joint/mode=Pulse \
+      joint.0.jog-counts \
+      joint.1.jog-counts \
+      joint.2.jog-counts \
+      joint.3.jog-counts \
+      joint.4.jog-counts \
+      >/dev/null
+APP = sim_pin halui.mode.teleop/mode=Pulse \
+      axis.x.jog-counts \
+      axis.y.jog-counts \
+      axis.z.jog-counts \
+      >/dev/null
+APP = halshow xyzb.halshow
+
+[KINS]
+JOINTS = 5
+KINEMATICS = trivkins coordinates=xyyzb kinstype=both
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+HALFILE = LIB:wheeljogpins.tcl 0.1
+
+# simulate a locking rotary joint4
+HALCMD = loadrt timedelay names=timedelay_unlock
+HALCMD = addf   timedelay_unlock servo-thread
+HALCMD = net B-unlock      joint.4.unlock       => timedelay_unlock.in
+HALCMD = net B-is-unlocked timedelay_unlock.out => joint.4.is-unlocked
+HALCMD = setp timedelay_unlock.on-delay 0.75
+HALCMD = setp timedelay_unlock.off-delay 0.5
+
+[EMC]
+VERSION = 1.1
+MACHINE = XYYZB trivkins coordinates=xyyzb KINEMATICS_BOTH
+[DISPLAY]
+DISPLAY = axis
+CYCLE_TIME = 0.100
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+GEOMETRY = XYZB
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+[RS274NGC]
+PARAMETER_FILE = xyzb.var
+[EMCMOT]
+EMCMOT = motmod unlock_joints_mask=0x10
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+[TRAJ]
+NO_FORCE_HOMING = 1
+COORDINATES = X Y Y Z B
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 10.0
+DEFAULT_LINEAR_ACCELERATION = 200.0
+DEFAULT_ANGULAR_VELOCITY = 45.0
+MAX_LINEAR_VELOCITY = 10
+MAX_LINEAR_ACCELERATION = 200.0
+MAX_ANGULAR_VELOCITY = 3600.0
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 200
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 200
+[AXIS_Z]
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 200
+[AXIS_B]
+LOCKING_INDEXER_JOINT = 4
+MAX_ACCELERATION = 200
+MAX_VELOCITY = 3600
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+
+[JOINT_3]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+
+[JOINT_4]
+TYPE = ANGULAR
+HOME = 0.0
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+LOCKING_INDEXER = 1
+HOME_SEQUENCE = 0

configs/sim/axis/ja_tests/xyzb_locking_indexer/xyzb.hal

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+# for trivkins     xyzb
+#                 --> 0123
+
+# connect joint and axis jog pins together for corresponding items
+net j:x axis.x.jog-counts joint.0.jog-counts
+net j:y axis.y.jog-counts joint.1.jog-counts
+net j:z axis.z.jog-counts joint.2.jog-counts
+net j:b axis.b.jog-counts joint.3.jog-counts
+
+net  j:e joint.0.jog-enable joint.1.jog-enable joint.2.jog-enable joint.3.jog-enable
+net  j:e  axis.x.jog-enable  axis.y.jog-enable  axis.z.jog-enable  axis.b.jog-enable
+sets j:e 1
+
+net  j:s joint.0.jog-scale joint.1.jog-scale  joint.2.jog-scale joint.3.jog-scale
+net  j:s  axis.x.jog-scale   axis.y.jog-scale  axis.z.jog-scale  axis.b.jog-scale
+sets j:s 1
+
+net  j:v joint.0.jog-vel-mode joint.1.jog-vel-mode  joint.2.jog-vel-mode joint.3.jog-vel-mode
+net  j:v  axis.x.jog-vel-mode  axis.y.jog-vel-mode   axis.z.jog-vel-mode  axis.b.jog-vel-mode
+sets j:v 1
+
+# simulate a locking rotary joint3
+loadrt timedelay names=timedelay_unlock
+addf   timedelay_unlock servo-thread
+
+net B-unlock      joint.3.unlock       => timedelay_unlock.in
+net B-is-unlocked timedelay_unlock.out => joint.3.is-unlocked
+
+setp timedelay_unlock.on-delay 0.75
+setp timedelay_unlock.off-delay 0.5

configs/sim/axis/ja_tests/xyzb_locking_indexer/xyzb.halshow

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+# halshow watchlist created Wed Mar 09 18:54:13 MST 2016
+
+pin+motion.teleop-mode
+pin+joint.0.jog-counts
+pin+joint.1.jog-counts
+pin+joint.2.jog-counts
+pin+joint.3.jog-counts
+pin+joint.4.jog-counts
+pin+axis.x.jog-counts
+pin+axis.y.jog-counts
+pin+axis.z.jog-counts
+pin+axis.b.jog-counts
+pin+joint.3.unlock
+pin+joint.3.is-unlocked
+pin+joint.3.homed
+pin+joint.4.unlock
+pin+joint.4.is-unlocked
+pin+joint.4.homed

configs/sim/axis/ja_tests/xyzb_locking_indexer/xyzb.ini

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+[APPLICATIONS]
+# wheel jog simulation:
+APP = sim_pin \
+      axis.x.jog-counts \
+      axis.y.jog-counts \
+      axis.z.jog-counts \
+      axis.b.jog-counts \
+      >/dev/null
+APP = halshow xyzb.halshow
+
+[KINS]
+JOINTS = 4
+KINEMATICS = trivkins coordinates=xyzb
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+HALFILE = LIB:wheeljogpins.tcl 0.1
+
+# simulate a locking rotary joint3
+HALCMD = loadrt timedelay names=timedelay_unlock
+HALCMD = addf   timedelay_unlock servo-thread
+HALCMD = net B-unlock      joint.3.unlock       => timedelay_unlock.in
+HALCMD = net B-is-unlocked timedelay_unlock.out => joint.3.is-unlocked
+HALCMD = setp timedelay_unlock.on-delay 0.75
+HALCMD = setp timedelay_unlock.off-delay 0.5
+
+[EMC]
+VERSION = 1.1
+MACHINE = XYZB trivkins coordinates=xyzb
+[DISPLAY]
+DISPLAY = axis
+CYCLE_TIME = 0.100
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+GEOMETRY = XYZB
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+[RS274NGC]
+PARAMETER_FILE = xyzb.var
+[EMCMOT]
+EMCMOT = motmod unlock_joints_mask=0x08
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+[TRAJ]
+NO_FORCE_HOMING = 1
+COORDINATES = X Y Z B
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 10.0
+DEFAULT_LINEAR_ACCELERATION = 200.0
+DEFAULT_ANGULAR_VELOCITY = 45.0
+MAX_LINEAR_VELOCITY = 10
+MAX_LINEAR_ACCELERATION = 200.0
+MAX_ANGULAR_VELOCITY = 3600.0
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 200
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 200
+[AXIS_Z]
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 200
+[AXIS_B]
+LOCKING_INDEXER_JOINT = 3
+MAX_ACCELERATION = 200
+MAX_VELOCITY = 3600
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_SEQUENCE = 0
+
+[JOINT_3]
+TYPE = ANGULAR
+HOME = 0.0
+MAX_VELOCITY = 90.0
+MAX_ACCELERATION = 1200.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+LOCKING_INDEXER = 1
+HOME_SEQUENCE = 0

configs/sim/axis/ja_tests/xyzx_mpg/README

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+xyzx_gantry configs using:
+  trivkins coordinates=xyzx kintype=BOTH
+
+xyzx.ini          -- includes sim_pin simulation for wheel jogging
+xyzx-xhc-hb04.ini -- uses an  xhc-hb04 pendant (18 button model)
+
+Usage:
+
+    1) F1        (estop off)
+       F2        (machine on)
+       Ctrl-HOME (home, switch automatically to teleop mode)
+
+    2) Teleop mode jogging:
+
+         keyboard jog: Left/Right arrows------ x
+                       Up/Dn arrows----------- y
+                       PgUp/Dn---------------- z
+                       left/right bracket----- x
+
+         mpg jog:      rotary x/wheel -------- x
+                       rotary y/wheel -------- y
+                       rotary z/wheel -------- z
+                       rotary a/wheel -------- none
+
+         sim_pin jog   jog:x-0 +/- ----------- x
+                       jog:y-1 +/- ----------- y
+                       jog:z-2 +/- ----------- z
+                       jog:3   +/- ----------- none
+
+    3) To switch to joint mode in axis gui, use '$' key
+
+    4) Joint mode jogging:
+
+         keyboard jog: Left/Right arrows------ joint_0
+                       Up/Dn arrows----------- joint_1
+                       PgUp/Dn---------------- joint_2
+                       left/right bracket----- joint_3
+
+         mpg jog:      rotary x/wheel -------- joint_0
+                       rotary y/wheel -------- joint_1
+                       rotary z/wheel -------- joint_2
+                       rotary a/wheel -------- joint_3
+
+         sim_pin jog   jog:x-0 +/- ----------- joint_0
+                       jog:y-1 +/- ----------- joint_1
+                       jog:z-2 +/- ----------- joint_2
+                       jog:3   +/- ----------- joint_3
+
+Notes:
+a) For simplicity, the configs connect:
+       joint.N.motor=pos-cmd => joint.0.motor-pos-fb
+   and use immediate homing (no home switch logic).
+
+b) The configs use [KINS]AUTOTELEOP= to automatically
+   switch to teleop mode after homing.
+
+c) The LIB:xhc-hb04.tcl script handles configurations
+   with known kinematics -- trivkins for the configs
+   provided here.
+
+d) For a machine configured as xyzx, the 0,1,2 --> x,y,z
+   connections are handled automatically by LIB:xhc-hb04.tcl.
+   Additional hal connections to allow jogging joint_3
+   are done in a postgui hal file (xhc-hb04-postgui.hal).
+
+   In practice, independent joint jogging of joint_0 and joint_3
+   may rack a gantry or cause other problems if not used with
+   extreme care.
+

configs/sim/axis/ja_tests/xyzx_mpg/xhc-hb04-postgui.hal

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+# optional postgui hal file to allow MPG wheel jog of joint_3
+# using the fourth xhc-hb04 rotary switch position (labeled 'a')
+
+# connect to existing signals:
+net pendant:jog-scale    => joint.3.jog-scale
+net pendant:wheel-counts => pendant_util.in3
+
+# make new signals and connections for optionalj3 jogging:
+net optionalj3:enable <= xhc-hb04.jog.enable-a
+net optionalj3:enable => joint.3.jog-enable
+
+net optionalj3:filtered <= pendant_util.out3
+net optionalj3:filtered => joint.3.jog-counts
+
+# scale3 value is: kvalue * scale_for_rotary_switch_a
+# kvalue=100 is a constant defined in xhc-hb04.tcl
+# scale_for_rotary_switch_a=1 defined in xhc-hb04.inc
+setp pendant_util.scale3 100
+

configs/sim/axis/ja_tests/xyzx_mpg/xhc-hb04.inc

@@ -0,0 +1,100 @@
+[XHC_HB04_CONFIG]
+# specify layout = n for LIB:xhc-hb04-layout{n}.cfg files
+layout = 2
+# coords: specify upto 4 letters from set {x y z a b c u v w}
+# coords: switch labels are xyza but any unique 4 letters
+#         from the set {xyxabcuvw} can be used (if the coord exists)
+coords = x y z
+# lowpass settings:
+# coef: slows rate of change of output,  range: 0 < coef < 1
+coefs = 1 1 1 1
+# scale plus or minus, rotaries may require larger scale factor:
+scales = 1 1 1 1
+# jogmode normal(default) or vnormal
+jogmode = normal
+# sequence 1: 0.001,0.010,0.100,1.000 (mm-based machine)
+# sequence 2: 0.001,0.005,0.010,0.020 (inch-based machine)
+# sequence 3: 0.001,0.010,0.100
+# sequence 4: 0.001,0.005,0.010,0.020,0.050,0.100
+# sequence 5: 0.001,0.010,0.050,0.100,1.000
+sequence = 2
+# require_pendant = no: create xhc-hb04 hal pins when pendant not
+#                       connected at startup
+require_pendant = no
+# inch_or_mm = in | mm
+inch_or_mm = in
+# mpg_accels: provision for reduced acceleration for manual mode jogging
+mpg_accels = 20 20 20 20
+
+[XHC_HB04_BUTTONS]
+# use button names according to layout file LIB:xhc-hb04-layout{n}.cfg
+# note: "start-pause" is connected for standard behavior
+#        controlling halui.pause/halui.resume/halui.run
+# these are examples, edit as required:
+
+goto-zero   = halui.mdi-command-00
+# synthesized per-axis buttons for goto-zero button:
+goto-zero-x = ""
+goto-zero-y = ""
+goto-zero-z = ""
+goto-zero-a = ""
+
+start-pause = std_start_pause
+rewind      = halui.program.step
+# probe-input for simulating a probe:
+probe-z     = motion.probe-input
+macro-3     = halui.mdi-command-03
+
+half        = halui.spindle.0.stop
+# synthesized per-axis buttons for half button:
+half-x      = ""
+half-y      = ""
+half-z      = ""
+half-a      = ""
+
+zero        = ""
+# synthesized per-axis buttons for zero button:
+zero-x      = halui.mdi-command-12
+zero-y      = halui.mdi-command-13
+zero-z      = halui.mdi-command-14
+zero-a      = halui.mdi-command-15
+
+safe-z      = halui.mdi-command-10
+# in this sim, home-all only works first time, hold down till finished:
+home        = halui.home-all
+macro-1     = halui.mdi-command-01
+macro-2     = halui.mdi-command-02
+spindle     = halui.spindle.0.start
+step        = xhc-hb04.stepsize-up
+mode        = ""
+macro-6     = halui.mdi-command-06
+macro-7     = halui.mdi-command-07
+stop        = halui.program.stop
+reset       = halui.estop.activate
+
+[HALUI]
+# these are examples, edit as required:
+# a halui hal pin is created for each MDI_COMMAND below
+# halui.mdi-command-00, halui.mdi-command-01,... etc
+MDI_COMMAND=G0 X0 Y0 Z0
+MDI_COMMAND=(debug, example: mdi-01)
+MDI_COMMAND=(debug, example: mdi-02)
+#03 M110: clears notifications
+MDI_COMMAND=M110
+MDI_COMMAND=(debug, example: mdi-04)
+MDI_COMMAND=(debug, example: mdi-05)
+MDI_COMMAND=(debug, example: mdi-06)
+#07 M101: example print to stdout
+MDI_COMMAND=M101
+MDI_COMMAND=(debug, example: mdi-08)
+MDI_COMMAND=(debug, example: mdi-09)
+MDI_COMMAND=(debug, example: mdi-10)
+MDI_COMMAND=(debug, example: mdi-11)
+#12
+MDI_COMMAND= G10 L20 P0 X0
+#13
+MDI_COMMAND= G10 L20 P0 Y0
+#14
+MDI_COMMAND= G10 L20 P0 Z0
+#15
+MDI_COMMAND= G10 L20 P0 C0

configs/sim/axis/ja_tests/xyzx_mpg/xyzx-xhc-hb04.ini

@@ -0,0 +1,13 @@
+#INCLUDE xyzx_base.inc
+#INCLUDE xhc-hb04.inc
+
+[APPLICATIONS]
+APP = halshow xyzx.halshow
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+HALFILE = LIB:xhc-hb04.tcl
+
+# optional, use to support jogging of joint_3:
+POSTGUI_HALFILE = ./xhc-hb04-postgui.hal

configs/sim/axis/ja_tests/xyzx_mpg/xyzx.halshow

@@ -0,0 +1,26 @@
+pin+motion.teleop-mode
+sig+pendant:wheel-counts
+
+pin+joint.0.jog-enable
+pin+joint.1.jog-enable
+pin+joint.2.jog-enable
+pin+joint.3.jog-enable
+
+pin+joint.0.jog-scale
+pin+joint.1.jog-scale
+pin+joint.2.jog-scale
+pin+joint.3.jog-scale
+
+pin+joint.0.motor-pos-cmd
+pin+joint.1.motor-pos-cmd
+pin+joint.2.motor-pos-cmd
+pin+joint.3.motor-pos-cmd
+
+pin+axis.x.jog-enable
+pin+axis.y.jog-enable
+pin+axis.z.jog-enable
+
+pin+axis.x.pos-cmd
+pin+axis.y.pos-cmd
+pin+axis.z.pos-cmd
+

configs/sim/axis/ja_tests/xyzx_mpg/xyzx.ini

@@ -0,0 +1,17 @@
+#INCLUDE xyzx_base.inc
+
+[APPLICATIONS]
+# wheel jog simulation:
+APP = sim_pin \
+      jog:x-0 \
+      jog:y-1 \
+      jog:z-2 \
+      jog:3   \
+      >/dev/null
+APP = halshow xyzx.halshow
+
+[HAL]
+  HALUI = halui
+HALFILE = LIB:basic_sim.tcl
+HALFILE = ./xyzx_jog.hal
+

configs/sim/axis/ja_tests/xyzx_mpg/xyzx_base.inc

@@ -0,0 +1,88 @@
+[EMC]
+VERSION = 1.1
+MACHINE = trivkins xyzx KINEMATICS_BOTH
+  DEBUG = 0
+
+[KINS]
+ KINEMATICS = trivkins coordinates=xyzx kinstype=BOTH
+     JOINTS = 4
+
+[DISPLAY]
+         JOG_AXES = XYZX
+          DISPLAY = axis
+  POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+       CYCLE_TIME =   0.100
+MAX_FEED_OVERRIDE =   1.2
+
+[TASK]
+      TASK = milltask
+CYCLE_TIME = 0.001
+[RS274NGC]
+PARAMETER_FILE = xyzx.var
+[EMCMOT]
+      EMCMOT = motmod
+COMM_TIMEOUT =       1.0
+SERVO_PERIOD = 1000000
+[TRAJ]
+            NO_FORCE_HOMING = 1
+                COORDINATES = X Y Z X
+               LINEAR_UNITS = inch
+              ANGULAR_UNITS = degree
+    DEFAULT_LINEAR_VELOCITY =  10.0
+DEFAULT_LINEAR_ACCELERATION = 200.0
+        MAX_LINEAR_VELOCITY =  10.0
+    MAX_LINEAR_ACCELERATION = 200.0
+
+[AXIS_X]
+       MAX_LIMIT =   1e10
+       MIN_LIMIT =  -1e10
+    MAX_VELOCITY =  10
+MAX_ACCELERATION = 200
+[AXIS_Y]
+       MAX_LIMIT =   1e10
+       MIN_LIMIT =  -1e10
+    MAX_VELOCITY =  10
+MAX_ACCELERATION = 200
+[AXIS_Z]
+       MAX_LIMIT =   1e10
+       MIN_LIMIT =  -1e10
+    MAX_VELOCITY =  10
+MAX_ACCELERATION = 200
+
+[JOINT_0]
+            TYPE = LINEAR
+       MAX_LIMIT =   1e10
+       MIN_LIMIT =  -1e10
+    MAX_VELOCITY =  10
+MAX_ACCELERATION = 200.0
+ HOME_SEARCH_VEL =   0
+   HOME_SEQUENCE =   0
+
+[JOINT_1]
+            TYPE = LINEAR
+       MAX_LIMIT =   1e10
+       MIN_LIMIT =  -1e10
+    MAX_VELOCITY =  10
+MAX_ACCELERATION = 200.0
+ HOME_SEARCH_VEL =   0
+   HOME_SEQUENCE =   0
+
+[JOINT_2]
+            TYPE = LINEAR
+       MAX_LIMIT =   1e10
+       MIN_LIMIT =  -1e10
+    MAX_VELOCITY =  10
+MAX_ACCELERATION = 200.0
+ HOME_SEARCH_VEL =   0
+   HOME_SEQUENCE =   0
+
+[JOINT_3]
+            TYPE = LINEAR
+       MAX_LIMIT =   1e10
+       MIN_LIMIT =  -1e10
+    MAX_VELOCITY =  10
+MAX_ACCELERATION = 200.0
+ HOME_SEARCH_VEL =   0
+   HOME_SEQUENCE =   0
+

configs/sim/axis/ja_tests/xyzx_mpg/xyzx_jog.hal

@@ -0,0 +1,38 @@
+# connect joint and axis jog pins together for corresponding items
+net jog:x-0  axis.x.jog-counts
+net jog:x-0 joint.0.jog-counts
+
+net jog:y-1  axis.y.jog-counts
+net jog:y-1 joint.1.jog-counts
+
+net jog:z-2  axis.z.jog-counts
+net jog:z-2 joint.2.jog-counts
+
+net jog:3   joint.3.jog-counts
+
+net  jog:enable joint.0.jog-enable
+net  jog:enable joint.1.jog-enable
+net  jog:enable joint.2.jog-enable
+net  jog:enable joint.3.jog-enable
+net  jog:enable  axis.x.jog-enable
+net  jog:enable  axis.y.jog-enable
+net  jog:enable  axis.z.jog-enable
+sets jog:enable  1
+
+net  jog:scale joint.0.jog-scale
+net  jog:scale joint.1.jog-scale
+net  jog:scale joint.2.jog-scale
+net  jog:scale joint.3.jog-scale
+net  jog:scale  axis.x.jog-scale
+net  jog:scale  axis.y.jog-scale
+net  jog:scale  axis.z.jog-scale
+sets jog:scale  1
+
+net  jog:vmode joint.0.jog-vel-mode
+net  jog:vmode joint.1.jog-vel-mode
+net  jog:vmode joint.2.jog-vel-mode
+net  jog:vmode joint.3.jog-vel-mode
+net  jog:vmode  axis.x.jog-vel-mode
+net  jog:vmode  axis.y.jog-vel-mode
+net  jog:vmode  axis.z.jog-vel-mode
+sets jog:vmode  1

configs/sim/axis/ja_tests/xz/README

@@ -0,0 +1,21 @@
+trivkins examples
+
+xz.ini           KINEMATICS_IDENTITY
+
+xz_both.ini      KINEMATICS_BOTH
+
+xz_both_auto.ini KINEMATICS_BOTH
+                 (auto switch to teleop after homing)
+
+NOTE:
+!!!  [TRAJ]COORDINATES MUST AGREE WITH KINS:
+!!!  [TRAJ]COORDINATES = xz 
+
+xz.ini
+  [KINS]KINEMATICS=trivkins coordinates=xz
+
+xz_both.ini 
+  KINEMATICS = trivkins coordinates=xz kinstype=BOTH
+
+xz_both_auto.ini
+  KINEMATICS = trivkins coordinates=xz kinstype=BOTH

configs/sim/axis/ja_tests/xz/xz.ini

@@ -0,0 +1,12 @@
+#INCLUDE xzbase.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = trivkins XZ KINEMATICS_IDENTITY
+DEBUG = 0
+
+[KINS]
+# Note: coordinates must agree with [TRAJ]COORDINATES
+# trivkins with no kinstype defaults to KINEMATICS_IDENTITY
+KINEMATICS = trivkins coordinates=xz
+JOINTS = 2

configs/sim/axis/ja_tests/xz/xz.tbl

@@ -0,0 +1,2 @@
+T1 P1 D0.100000 X-0.333000 Z+0.100000 ;
+T2 P2 D0.200000 Z+0.200000 ;

configs/sim/axis/ja_tests/xz/xz_both.ini

@@ -0,0 +1,11 @@
+#INCLUDE xzbase.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = trivkins XZ KINEMATICS_BOTH
+DEBUG = 0
+
+[KINS]
+# Note: coordinates must agree with [TRAJ]COORDINATES
+KINEMATICS = trivkins coordinates=xz kinstype=BOTH
+JOINTS = 2

configs/sim/axis/ja_tests/xz/xz_both_auto.ini

@@ -0,0 +1,11 @@
+#INCLUDE xzbase.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = trivkins XZ KINEMATICS_BOTH,AUTO TELEOP
+DEBUG = 0
+
+[KINS]
+# Note: coordinates must agree with [TRAJ]COORDINATES
+KINEMATICS = trivkins coordinates=xz kinstype=BOTH
+JOINTS = 2

configs/sim/axis/ja_tests/xz/xzbase.inc

@@ -0,0 +1,95 @@
+[HAL]
+HALFILE = LIB:basic_sim.tcl
+  HALUI = halui
+
+[TRAJ]
+         COORDINATES = XZ
+        LINEAR_UNITS = inch
+       ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.0
+DEFAULT_LINEAR_ACCELERATION = 20.0
+MAX_LINEAR_VELOCITY = 4.44444
+MAX_LINEAR_ACCELERATION = 22.2222
+
+[DISPLAY]
+             DISPLAY = axis
+               LATHE = 1
+              #EDITOR = geany
+         TOOL_EDITOR = tooledit diam z
+      PROGRAM_PREFIX = ../../nc_files/
+          CYCLE_TIME = 0.100
+           HELP_FILE = doc/help.txt
+     POSITION_OFFSET = RELATIVE
+   POSITION_FEEDBACK = ACTUAL
+   MAX_FEED_OVERRIDE = 1.2
+MAX_SPINDLE_OVERRIDE = 1.0
+       INTRO_GRAPHIC = linuxcnc.gif
+          INTRO_TIME = 5
+
+[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
+
+[RS274NGC]
+PARAMETER_FILE = xz.var
+
+[EMCMOT]
+      EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+ BASE_PERIOD = 50000
+SERVO_PERIOD = 1000000
+
+[TASK]
+      TASK = milltask
+CYCLE_TIME = 0.001
+
+
+[EMCIO]
+                 TOOL_TABLE = xz.tbl
+       TOOL_CHANGE_POSITION = 2 0 1
+TOOL_CHANGE_WITH_SPINDLE_ON = 1
+
+[JOINT_0]
+              TYPE = LINEAR
+              HOME = 0.000
+      MAX_VELOCITY = 3.3
+  MAX_ACCELERATION = 20.3
+         MIN_LIMIT = -10.0
+         MAX_LIMIT = 10.0
+       HOME_OFFSET = 1.0
+   HOME_SEARCH_VEL = 5.0
+    HOME_LATCH_VEL = 1.0
+    HOME_USE_INDEX = NO
+HOME_IGNORE_LIMITS = NO
+     HOME_SEQUENCE = 0
+
+[JOINT_1]
+              TYPE = LINEAR
+              HOME = 0.0
+      MAX_VELOCITY = 3.4
+  MAX_ACCELERATION = 20.4
+         MIN_LIMIT = -2.0
+         MAX_LIMIT = 4.0
+       HOME_OFFSET = 1.0
+   HOME_SEARCH_VEL = 5.0
+    HOME_LATCH_VEL = 1.0
+    HOME_USE_INDEX = NO
+HOME_IGNORE_LIMITS = NO
+     HOME_SEQUENCE = 1
+
+[AXIS_X]
+       MIN_LIMIT = -10.0
+       MAX_LIMIT = 10.0
+    MAX_VELOCITY = 3.1
+MAX_ACCELERATION = 20.1
+
+[AXIS_Z]
+       MIN_LIMIT = -2.0
+       MAX_LIMIT = 4.0
+    MAX_VELOCITY = 3.2
+MAX_ACCELERATION = 20.2
+