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configs/sim/axis/simtcl/README

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+The simtcl configuration files make use of the tcl language for configuration instead of the more common ".hal" files.
+
+Configurations in this directory also demonstrate the use of a twopass method of processing ".hal" and ".tcl" files.  This method is enabled by the ini file setting of [HAL]TWOPASS=anything.  With twopass processing, the loadrt specifiers for a module can be specified in multiple places.
+
+o twopass_compat
+  verify compatibility with .hal halfiles
+
+o twopass_basic
+  use LIB example basic_sim
+
+Notes:
+
+Conventionally, hal is configured with ".hal" files which contain instructions in the halcmd language.  With ".tcl" files, common programming facilities like looping and testing are available too.
+
+Hal configuration files are specified by ini file [HAL]HALFILE items which can name either ".hal" or ".tcl" files.

configs/sim/axis/simtcl/sim.tbl

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+../../sim.tbl

configs/sim/axis/simtcl/twopass_base.inc

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+# twopass_base.inc
+
+[DISPLAY]
+                DISPLAY = axis
+             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
+    MAX_LINEAR_VELOCITY = 1.2
+DEFAULT_LINEAR_VELOCITY = .25
+         PROGRAM_PREFIX = ../../nc_files/
+          INTRO_GRAPHIC = linuxcnc.gif
+             INTRO_TIME = 5
+                 #EDITOR = geany
+            TOOL_EDITOR = tooledit
+             INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
+
+[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
+
+[TASK]
+TASK       = milltask
+CYCLE_TIME = 0.001
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT       = motmod
+COMM_TIMEOUT = 1.0
+BASE_PERIOD  = 0
+SERVO_PERIOD = 1000000
+
+[TRAJ]
+        COORDINATES = X Y Z
+       LINEAR_UNITS = inch
+      ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.2
+      POSITION_FILE = position.txt
+MAX_LINEAR_VELOCITY = 1.2
+
+[KINS]
+    JOINTS = 3
+KINEMATICS = trivkins
+
+[AXIS_X]
+       MIN_LIMIT = -40.0
+       MAX_LIMIT = 40.0
+    MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_0]
+              TYPE = LINEAR
+              HOME = 0.000
+      MAX_VELOCITY = 4
+  MAX_ACCELERATION = 100.0
+         MIN_LIMIT = -40.0
+         MAX_LIMIT = 40.0
+       HOME_OFFSET = 0.0
+   HOME_SEARCH_VEL = 20.0
+    HOME_LATCH_VEL = 20.0
+     HOME_SEQUENCE = 1
+
+[AXIS_Y]
+       MIN_LIMIT = -40.0
+       MAX_LIMIT = 40.0
+    MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_1]
+              TYPE = LINEAR
+              HOME = 0.000
+      MAX_VELOCITY = 4
+  MAX_ACCELERATION = 100.0
+         MIN_LIMIT = -40.0
+         MAX_LIMIT = 40.0
+       HOME_OFFSET = 0.0
+   HOME_SEARCH_VEL = 20.0
+    HOME_LATCH_VEL = 20.0
+     HOME_SEQUENCE = 1
+
+[AXIS_Z]
+       MIN_LIMIT = -8.0
+       MAX_LIMIT = 1.0
+    MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+
+[JOINT_2]
+              TYPE = LINEAR
+              HOME = 0.0
+      MAX_VELOCITY = 4
+  MAX_ACCELERATION = 100.0
+         MIN_LIMIT = -8.0
+         MAX_LIMIT = 1.0
+       HOME_OFFSET = 1.0
+   HOME_SEARCH_VEL = 20.0
+    HOME_LATCH_VEL = 20.0
+     HOME_SEQUENCE = 0
+
+[EMCIO]
+          TOOL_TABLE = sim.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1

configs/sim/axis/simtcl/twopass_basic.ini

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+# twopass_basic: demo/test using LIB:basic_sim.tcl
+
+#INCLUDE twopass_base.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = twopass_basic
+
+[HAL]
+# include this line with any non_null argument to enable twopass processing:
+TWOPASS = on
+# or use this line to enable debugging options:
+# TWOPASS = on,verbose,nodelete
+HALFILE = LIB:basic_sim.tcl
+
+
+

configs/sim/axis/simtcl/twopass_basic.txt

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+twopass_basic -- demonstrates twopass processing using LIB:basic_sim.tcl

configs/sim/axis/simtcl/twopass_basic_es.txt

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+twopass_basic -- demuestra procesamiento twopass usando LIB:basic_sim.tcl

configs/sim/axis/simtcl/twopass_compat.ini

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+# twopass_compat: demo/test compatibility with LIB: hal files
+
+#INCLUDE twopass_base.inc
+
+[EMC]
+VERSION = 1.1
+MACHINE = twopass_compat
+
+[HAL]
+# include this line with any non_null argument to enable twopass processing:
+TWOPASS = on
+# or use this line to enable debugging options:
+# TWOPASS = on,verbose,nodelete
+HALFILE = LIB:core_sim.hal
+HALFILE = LIB:axis_manualtoolchange.hal
+HALFILE = LIB:simulated_home.hal

configs/sim/axis/simtcl/twopass_compat.txt

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+twopass_compat -- verifies compatibility with the existing ".hal" files used by sim/axis.ini

configs/sim/axis/simtcl/twopass_compat_es.txt

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+twopass_compat -- verifica compatibilidad con archivos ".hal" existentes usados por sim/axis.ini