Import LinuxCNC source tree

configs/sim/qtaxis/gantry/qt_gantry.ini

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+[KINS]
+JOINTS = 4
+KINEMATICS = trivkins coordinates=XYZY kinstype=BOTH
+# Notes:
+#  KINEMATICS coordinates=value  MUST agree with [TRAJ]COORDINATES
+#
+#  X: JOINT_0
+#  Y: JOINT_1 and JOINT_3
+#  Z: JOINT_2
+#
+#  kinstype=BOTH specifies non-identity kinematics
+#
+#  HOME ALL sequence:
+#  HOME_SEQUENCE  0 (first)  JOINT_0             (coordinate X)
+#  HOME_SEQUENCE -1 (second) JOINT_1 and JOINT_3 (coordinate Y)
+#  HOME_SEQUENCE  2 (third)  JOINT_2             (coordinate Z)
+#  The negative (-1) sequence indicates synchronization of
+#  the final move for all joints in the sequence
+
+[EMC]
+VERSION = 1.1
+MACHINE = LinuxCNC-GANTRY-SIM-qtvcp
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = qtvcp -d qtaxis
+PREFERENCE_FILE_PATH = WORKINGFOLDER/qtaxis_gantry.pref
+CYCLE_TIME = 0.100
+MAX_FEED_OVERRIDE = 1.2
+PROGRAM_PREFIX = ../../nc_files/
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+INCREMENTS = 0.100 in, 0.010 in, 0.001 in, 0.0001 in
+GEOMETRY = XYZ
+
+[FILTER]
+PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
+PROGRAM_EXTENSION = .dxf 3D Polygon Model
+PROGRAM_EXTENSION = .py Python Script
+png = image-to-gcode.py
+gif = image-to-gcode.py
+jpg = image-to-gcode.py
+dxf = toolpaths.py
+py = python3
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.001
+
+[HAL]
+HALFILE = gantrysim.hal
+HALFILE = sim_spindle_encoder.hal
+HALFILE = simulated-gantry-home.hal
+
+[TRAJ]
+# These two variables are a bit weird for gantry machines.
+# The gantry machine that this sim config describes has only three axes (X,
+# Y, and Z), but it uses two joints to implement the Y axis.
+# The [TRAJ]COORDINATES variable only lists the axis names
+# that are accepted in incoming G-code, and duplicate names here have no
+# effect.
+COORDINATES = XYZY
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 1.0
+MAX_LINEAR_VELOCITY = 58
+
+[EMCIO]
+TOOL_TABLE = sim.tbl
+
+[AXIS_X]
+MIN_LIMIT = -0.01
+MAX_LIMIT = 50.0
+MAX_VELOCITY = 39
+MAX_ACCELERATION = 120.0
+
+[JOINT_0]
+TYPE = LINEAR
+MIN_LIMIT = -0.01
+MAX_LIMIT = 50.0
+MAX_VELOCITY = 39
+MAX_ACCELERATION = 120.0
+HOME               = 0
+HOME_SEQUENCE      = 0
+HOME_SEARCH_VEL    = -10
+HOME_LATCH_VEL     =   5
+HOME_OFFSET        = -0.1
+
+[AXIS_Y]
+MIN_LIMIT = -0.01
+MAX_LIMIT = 50.0
+MAX_VELOCITY = 39
+MAX_ACCELERATION = 120.0
+
+[JOINT_1]
+TYPE = LINEAR
+MIN_LIMIT     = -0.01
+MAX_LIMIT     = 50.0
+MAX_VELOCITY = 39
+MAX_ACCELERATION = 120.0
+HOME               = 0.0
+HOME_SEQUENCE      = -1
+HOME_SEARCH_VEL    = -0.1
+HOME_LATCH_VEL     =  0.05
+HOME_OFFSET        = -0.1
+
+[AXIS_Z]
+MIN_LIMIT = -50.0
+MAX_LIMIT = 0.01
+MAX_VELOCITY = 39
+MAX_ACCELERATION = 120.0
+
+[JOINT_2]
+TYPE = LINEAR
+MIN_LIMIT   = -50.0
+MAX_LIMIT   = 0.01
+MAX_VELOCITY     = 39
+MAX_ACCELERATION = 120.0
+HOME               = 0.0
+HOME_SEQUENCE      = 2
+HOME_SEARCH_VEL    =  0.1
+HOME_LATCH_VEL     = -0.05
+HOME_OFFSET        = 0.1
+
+[JOINT_3]
+TYPE = LINEAR
+MIN_LIMIT   = -0.01
+MAX_LIMIT   = 50
+MAX_VELOCITY     = 39
+MAX_ACCELERATION = 120.0
+HOME               = 0.0
+HOME_SEQUENCE      = -1
+HOME_SEARCH_VEL    = -0.1
+HOME_LATCH_VEL     =  0.05
+HOME_OFFSET        = -0.1

configs/sim/qtaxis/gantry/sim.tbl

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+T1 P1 D0.125000 Z+0.511000 ;1/8 end mill
+T2 P2 D0.062500 Z+0.100000 ;1/16 end mill
+T3 P3 D0.201000 Z+1.273000 ;#7 tap drill
+T98876 P543 Z+0.100000 ;big tool number