Import LinuxCNC source tree

configs/sim/axis/vismach/VMC_toolchange/vmc_graycode.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = Vertical Machining Centre with Toolchange Simulation
+#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = axis
+CYCLE_TIME = 0.200
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 2.0
+PROGRAM_PREFIX = ../../nc_files
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+#EDITOR = geany
+
+[RS274NGC]
+PARAMETER_FILE = vmc.var
+SUBROUTINE_PATH = ./
+REMAP= M6   modalgroup=6  prolog=change_prolog ngc=toolchange epilog=change_epilog
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.010
+
+[HAL]
+HALUI = halui
+HALFILE = vmc.hal
+HALFILE = sim_vmc.hal
+HALFILE = spindle.hal
+HALFILE = toolchange_gray.hal
+
+[TRAJ]
+COORDINATES = X Y Z
+LINEAR_UNITS = mm
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 40
+MAX_LINEAR_VELOCITY = 80
+MAX_LINEAR_ACCELERATION = 800
+DEFAULT_LINEAR_ACCELERATION = 800
+
+[EMCIO]
+TOOL_TABLE = vmc.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -300
+MAX_LIMIT = 300
+MAX_VELOCITY = 80
+MAX_ACCELERATION = 800
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 80
+MAX_ACCELERATION = 800
+MIN_LIMIT = -300
+MAX_LIMIT = 300
+HOME_OFFSET = 301
+HOME_SEARCH_VEL = 60
+HOME_LATCH_VEL = -5
+HOME_USE_INDEX = NO
+HOME_IGNORE_LIMITS = YES
+HOME_SEQUENCE = 1
+
+[AXIS_Y]
+MIN_LIMIT = -100
+MAX_LIMIT = 100
+MAX_VELOCITY = 80
+MAX_ACCELERATION = 800
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0
+MAX_VELOCITY = 80
+MAX_ACCELERATION = 800
+MIN_LIMIT = -100
+MAX_LIMIT = 100
+HOME_OFFSET = 101
+HOME_SEARCH_VEL = 60
+HOME_LATCH_VEL = -5
+HOME_USE_INDEX = NO
+HOME_IGNORE_LIMITS = YES
+HOME_SEQUENCE = 1
+
+[AXIS_Z]
+MIN_LIMIT = -400
+MAX_LIMIT = 0
+MAX_VELOCITY = 80
+MAX_ACCELERATION = 800
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = -20
+MAX_VELOCITY = 80
+MAX_ACCELERATION = 800
+MIN_LIMIT = -400
+MAX_LIMIT = 0
+HOME_OFFSET = 1
+HOME_SEARCH_VEL = 60
+HOME_LATCH_VEL = -5
+HOME_USE_INDEX = NO
+HOME_IGNORE_LIMITS = YES
+HOME_SEQUENCE = 0
+
+[PYTHON]
+TOPLEVEL= ./toplevel.py
+PATH_APPEND= ./
+PATH_APPEND= ../../nc_files/remap_lib/python-stdglue/
+
+[MAX]
+# distance from the end of the "reference tool" (tool-length - 0) to the
+# center of the head tilt axis
+B_PIVOT_LENGTH = 0
+
+[SPINDLE]
+PGAIN_V = 0
+IGAIN_V = 0.01
+DGAIN_V = 0
+FF0_V = 1
+FF1_V = 0
+PGAIN_P = 100
+IGAIN_P = 1
+DGAIN_P = 0
+FF0_P = 0
+FF1_P = 1