W axis with gantry kins hal/ini configuration

# EMC controller parameters for a simulated XYZBC machine.

# General note: Comments can either be preceded with a # or ; - either is
# acceptable, although # is in keeping with most linux config files.

# General section -------------------------------------------------------------
[EMC]

# Version of this INI file
VERSION = 1.0

# Name of machine, for use with display, etc.
MACHINE =               EMC-HAL-SIM-AXIS

# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
DEBUG =               0x7FFFFFFF
DEBUG = 0

# Sections for display options ------------------------------------------------
[DISPLAY]

# Name of display program, e.g., xemc
DISPLAY =             axis

# Cycle time, in seconds, that display will sleep between polls
CYCLE_TIME =            0.02

# Path to help file
HELP_FILE =             doc/help.txt

# Initial display setting for position, RELATIVE or MACHINE
POSITION_OFFSET =       RELATIVE

# Initial display setting for position, COMMANDED or ACTUAL
POSITION_FEEDBACK =     ACTUAL

# Highest value that will be allowed for feed override, 1.0 = 100%
MAX_FEED_OVERRIDE =     1.2
MAX_SPINDLE_OVERRIDE =  1.0
# Prefix to be used
PROGRAM_PREFIX = /home/todd/linuxcnc/nc_files

# Introductory graphic
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 5

EDITOR = gedit

INCREMENTS = 1 mm, .01 in, .1mm, 1 mil, .1 mil, 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 = python

# Task controller section -----------------------------------------------------
[TASK]

# Name of task controller program, e.g., milltask
TASK =                  milltask

# Cycle time, in seconds, that task controller will sleep between polls
CYCLE_TIME =            0.001

# Part program interpreter section --------------------------------------------
[RS274NGC]

# File containing interpreter variables
PARAMETER_FILE =        sim_xyzbc.var

# Motion control section ------------------------------------------------------
[EMCMOT]

EMCMOT =              motmod

# Timeout for comm to emcmot, in seconds
COMM_TIMEOUT =          1.0

# Interval between tries to emcmot, in seconds
COMM_WAIT =             0.010

# Servo task period, in nano-seconds
SERVO_PERIOD =          1000000

# Hardware Abstraction Layer section --------------------------------------------------
[HAL]

# The run script first uses halcmd to execute any HALFILE
# files, and then to execute any individual HALCMD commands.
#

# list of hal config files to run through halcmd
# files are executed in the order in which they appear
HALFILE =                    sim_xyzyw.hal

# Single file that is executed after the GUI has started.  Only supported by
# AXIS at this time (only AXIS creates a HAL component of its own)
#POSTGUI_HALFILE = test_postgui.hal

HALUI = halui

# Trajectory planner section --------------------------------------------------
[TRAJ]
COORDINATES =             X Y Z Y W
LINEAR_UNITS =            mm
ANGULAR_UNITS =           degree
DEFAULT_LINEAR_VELOCITY = 80
MAX_LINEAR_VELOCITY =     100
DEFAULT_LINEAR_ACCEL =    300
MAX_LINEAR_ACCEL =        300
POSITION_FILE =           position_sim_xyzbc.txt

[KINS]
JOINTS = 5
KINEMATICS = gantrykins 

# Axes sections ---------------------------------------------------------------
[AXIS_X]

[AXIS_Y]

[AXIS_Z]

[AXIS_B]

[AXIS_W]

# Joints sections -------------------------------------------------------------

# First joint
[JOINT_0]
TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  100
MAX_ACCELERATION =              300
BACKLASH =                      0.000
MIN_LIMIT =                     -1
MAX_LIMIT =                     1000
FERROR =                        1
MIN_FERROR =                    1
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0
HOME_LATCH_VEL =                0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
HOME_SEQUENCE =                 1

# Second joint
[JOINT_1]
TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  100
MAX_ACCELERATION =              300
BACKLASH =                      0.000
MIN_LIMIT =                     -1
MAX_LIMIT =                     1000
FERROR =                        1
MIN_FERROR =                    1
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0
HOME_LATCH_VEL =                0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
HOME_SEQUENCE =                1

# Third joint
[JOINT_2]
TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  100
MAX_ACCELERATION =              300
BACKLASH =                      0.000
MIN_LIMIT =                     -1
MAX_LIMIT =                     100
FERROR =                        1
MIN_FERROR =                    1
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0
HOME_LATCH_VEL =                0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
HOME_SEQUENCE =                 0

[JOINT_3]
TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  100
MAX_ACCELERATION =              300
BACKLASH =                      0.000
MIN_LIMIT =                     -1
MAX_LIMIT =                     1000
FERROR =                        1
MIN_FERROR =                    1
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0
HOME_LATCH_VEL =                0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
HOME_SEQUENCE =                 1

[JOINT_4]
TYPE =                          LINEAR
HOME =                          0.000
MAX_VELOCITY =                  100
MAX_ACCELERATION =              300
BACKLASH =                      0.000
MIN_LIMIT =                     -1
MAX_LIMIT =                     100
FERROR =                        1
MIN_FERROR =                    1
HOME_OFFSET =                   0.0
HOME_SEARCH_VEL =               0
HOME_LATCH_VEL =                0
HOME_USE_INDEX =                NO
HOME_IGNORE_LIMITS =            NO
HOME_SEQUENCE =                 0

# section for main IO controller parameters -----------------------------------
[EMCIO]
# Name of IO controller program, e.g., io
EMCIO = 		io

# cycle time, in seconds
CYCLE_TIME =    0.100

# tool table file
TOOL_TABLE =    sim_xyzbc.tbl
TOOL_CHANGE_POSITION = 0 0 80

# core HAL config file for XYZBC simulation

# first load all the RT modules that will be needed
loadrt [KINS]KINEMATICS coordinates=XYZYW
setp [KINS](KINEMATICS).joint-0 0
setp [KINS](KINEMATICS).joint-1 1
setp [KINS](KINEMATICS).joint-2 2
setp [KINS](KINEMATICS).joint-3 1
setp [KINS](KINEMATICS).joint-4 8

# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread

# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net Xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net Ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb
net Zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb
net Bpos joint.3.motor-pos-cmd => joint.3.motor-pos-fb
net Cpos joint.4.motor-pos-cmd => joint.4.motor-pos-fb

# estop loopback
net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

[TRAJ]
COORDINATES = XYZW
# The [TRAJ]COORDINATES item names the letters for gcode
# XYYZW or YYXZW or WXYYYYYYYYYYYZW work the same

[KINS]
JOINTS = 5
KINEMATICS = gentrivkins coordinates=xyyzw kinstype=BOTH
AUTO_TELEOP=20

# The coordinates=xyyzw for gentrivkins assigns to joints 
# in sequence: 0,1,2,3,4
# so here the order and axis names are important