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Add sim config for shared home switches
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‎configs/sim/axis/home_is_shared/README‎

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This config simulates shared homing switch on joint_0 (X-Axis) and joint_2 (Z-Axis).
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Note that the shared home switch signal (ie 'joint.0.home-sw-in', 'joint.2.home-sw-in') needs to be low in order to rehome the machine.
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Also note that 'simulate_home_is_shared.hal' is only used to simulate the homing process and should not be used for a real machine.

‎configs/sim/axis/home_is_shared/home_is_shared.ini‎

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[APPLICATIONS]
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APP = halshow ./simulate_home_is_shared.halshow
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# General section -------------------------------------------------------------
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[EMC]
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# Version of this INI file
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VERSION = 1.1
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# Name of machine, for use with display, etc.
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MACHINE = LinuxCNC-HAL-SIM-AXIS
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# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
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#DEBUG = 0x7FFFFFFF
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DEBUG = 0
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# Sections for display options ------------------------------------------------
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[DISPLAY]
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# Name of display program, e.g., axis
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DISPLAY = axis
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# Cycle time, in seconds, that display will sleep between polls
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CYCLE_TIME = 0.100
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# Path to help file
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HELP_FILE = doc/help.txt
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# Initial display setting for position, RELATIVE or MACHINE
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POSITION_OFFSET = RELATIVE
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# Initial display setting for position, COMMANDED or ACTUAL
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POSITION_FEEDBACK = ACTUAL
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# Highest value that will be allowed for feed override, 1.0 = 100%
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MAX_FEED_OVERRIDE = 1.2
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MAX_SPINDLE_OVERRIDE = 1.0
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MAX_LINEAR_VELOCITY = 5
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DEFAULT_LINEAR_VELOCITY = .25
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DEFAULT_SPINDLE_SPEED = 200
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# Prefix to be used
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PROGRAM_PREFIX = ../../nc_files/
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# Introductory graphic
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INTRO_GRAPHIC = linuxcnc.gif
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INTRO_TIME = 5
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#EDITOR = geany
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TOOL_EDITOR = tooledit
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INCREMENTS = 1 in, 0.1 in, 10 mil, 1 mil, 1mm, .1mm, 1/8000 in
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[FILTER]
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PROGRAM_EXTENSION = .png,.gif,.jpg Grayscale Depth Image
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PROGRAM_EXTENSION = .py Python Script
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png = image-to-gcode
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gif = image-to-gcode
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jpg = image-to-gcode
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py = python3
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# Task controller section -----------------------------------------------------
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[TASK]
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# Name of task controller program, e.g., milltask
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TASK = milltask
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# Cycle time, in seconds, that task controller will sleep between polls
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CYCLE_TIME = 0.001
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# Part program interpreter section --------------------------------------------
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[RS274NGC]
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# File containing interpreter variables
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PARAMETER_FILE = sim.var
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# Motion control section ------------------------------------------------------
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[EMCMOT]
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EMCMOT = motmod
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# Timeout for comm to emcmot, in seconds
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COMM_TIMEOUT = 1.0
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# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
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BASE_PERIOD = 0
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# Servo task period, in nano-seconds
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SERVO_PERIOD = 1000000
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# section for main IO controller parameters -----------------------------------
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[EMCIO]
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# tool table file
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TOOL_TABLE = ../sim.tbl
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TOOL_CHANGE_POSITION = 0 0 0
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TOOL_CHANGE_QUILL_UP = 1
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# Hardware Abstraction Layer section --------------------------------------------------
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[HAL]
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HALFILE = core_sim.hal
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HALFILE = simulated_home_is_shared.hal
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HALUI = halui
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# Trajectory planner section --------------------------------------------------
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[TRAJ]
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COORDINATES = X Y Z
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LINEAR_UNITS = inch
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ANGULAR_UNITS = degree
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MAX_LINEAR_VELOCITY = 4
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DEFAULT_LINEAR_ACCELERATION = 100
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MAX_LINEAR_ACCELERATION = 100
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POSITION_FILE = position.txt
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[KINS]
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KINEMATICS = trivkins
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JOINTS = 3
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# Axes sections ---------------
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[AXIS_X]
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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[AXIS_Y]
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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[AXIS_Z]
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MAX_VELOCITY = 4
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MAX_ACCELERATION = 100.0
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MIN_LIMIT = -8.0
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MAX_LIMIT = 0.12
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# Joints sections -------------
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[JOINT_0]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 50.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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FERROR = 0.050
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MIN_FERROR = 0.010
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 20.0
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HOME_LATCH_VEL = 20.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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HOME_IS_SHARED = 1
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[JOINT_1]
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TYPE = LINEAR
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HOME = 0.000
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 50.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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FERROR = 0.050
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MIN_FERROR = 0.010
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MIN_LIMIT = -10.0
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MAX_LIMIT = 10.0
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 20.0
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HOME_LATCH_VEL = 20.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 1
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[JOINT_2]
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TYPE = LINEAR
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HOME = 0.0
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MAX_VELOCITY = 5
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MAX_ACCELERATION = 50.0
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BACKLASH = 0.000
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INPUT_SCALE = 4000
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OUTPUT_SCALE = 1.000
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MIN_LIMIT = -8.0
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MAX_LIMIT = 0.12
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 1.0
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HOME_SEARCH_VEL = 20.0
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HOME_LATCH_VEL = 20.0
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HOME_USE_INDEX = NO
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HOME_IGNORE_LIMITS = NO
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HOME_SEQUENCE = 0
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HOME_IS_SHARED = 1

‎configs/sim/axis/home_is_shared/simulate_home_is_shared.halshow‎

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pin+joint.0.home-sw-in pin+joint.1.home-sw-in pin+joint.2.home-sw-in

‎configs/sim/axis/home_is_shared/simulated_home_is_shared.hal‎

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# This hal file simulates shared home switches
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loadrt or2 names=or2_0
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loadrt comp names=comp_x,comp_y,comp_z
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# set fixed value for position of virtual switches (use 'in0' for positive and 'in1' for negative values)
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net Xhomeswpos => comp_x.in0
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net Yhomeswpos => comp_y.in0
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net Zhomeswpos => comp_z.in0
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sets Xhomeswpos 1
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sets Yhomeswpos .5
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sets Zhomeswpos 2
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# link current position if simulated machine to the other input of the comp functions
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net Xpos => comp_x.in1
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net Ypos => comp_y.in1
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net Zpos => comp_z.in1
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# set hysteresis of virtual home switches
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setp comp_x.hyst .02
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setp comp_y.hyst .02
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setp comp_z.hyst .02
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net Xhomesw <= comp_x.out
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net Yhomesw <= comp_y.out => joint.1.home-sw-in
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net Zhomesw <= comp_z.out
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addf comp_x servo-thread
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addf comp_y servo-thread
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addf comp_z servo-thread
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# this section is only for shared home switch signals on multiple axes
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net Xhomesw => or2_0.in0
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net Zhomesw => or2_0.in1
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net XZhomesw or2_0.out => joint.0.home-sw-in joint.2.home-sw-in
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addf or2_0 servo-thread

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