Moved PDOs to SDOs, made an example config

Cards/EaserCAT-3000-Digital-Stepper-Analog-Encoder-Frequency/linuxcnc/configs/sim.axis/axis.ini

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+# EMC controller parameters for a simulated 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 = 1.1
+
+# Name of machine, for use with display, etc.
+MACHINE = LinuxCNC-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., axis
+DISPLAY = axis
+
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME = 0.100
+
+# 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
+
+MAX_LINEAR_VELOCITY = 5
+DEFAULT_LINEAR_VELOCITY = .25
+DEFAULT_SPINDLE_SPEED = 200
+# Prefix to be used
+PROGRAM_PREFIX = /home/debian/linuxcnc/nc_files
+
+# Introductory graphic
+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 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.var
+
+# Motion control section ------------------------------------------------------
+[EMCMOT]
+
+EMCMOT = motmod
+
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT = 1.0
+
+# BASE_PERIOD is unused in this configuration but specified in core_sim.hal
+BASE_PERIOD = 0
+# Servo task period, in nano-seconds
+SERVO_PERIOD = 1000000
+
+# 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.tbl
+TOOL_CHANGE_POSITION = 0 0 0
+TOOL_CHANGE_QUILL_UP = 1
+
+# 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 = e3000.hal
+#HALFILE = core_sim.hal
+#HALFILE = sim_spindle_encoder.hal
+#HALFILE = axis_manualtoolchange.hal
+#HALFILE = simulated_home.hal
+#HALFILE = check_xyz_constraints.hal
+#HALFILE = cooling.hal
+
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD = save neta
+
+# 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
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+MAX_LINEAR_VELOCITY = 4
+DEFAULT_LINEAR_ACCELERATION = 100
+MAX_LINEAR_ACCELERATION = 100
+POSITION_FILE = position.txt
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+# Axes sections ---------------
+[AXIS_X]
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+
+[AXIS_Y]
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+
+[AXIS_Z]
+MAX_VELOCITY = 4
+MAX_ACCELERATION = 100.0
+MIN_LIMIT = -8.0
+MAX_LIMIT = 0.12
+
+# Joints sections -------------
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+BACKLASH = 0.000
+INPUT_SCALE = 4000
+OUTPUT_SCALE = 1.000
+FERROR = 0.050
+MIN_FERROR = 0.010
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_USE_INDEX = YES
+HOME_IGNORE_LIMITS = NO
+HOME_SEQUENCE = 1
+HOME_IS_SHARED = 1
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+BACKLASH = 0.000
+INPUT_SCALE = 4000
+OUTPUT_SCALE = 1.000
+FERROR = 0.050
+MIN_FERROR = 0.010
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
+HOME_USE_INDEX = YES
+HOME_IGNORE_LIMITS = NO
+HOME_SEQUENCE = 1
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 5
+MAX_ACCELERATION = 50.0
+BACKLASH = 0.000
+INPUT_SCALE = 4000
+OUTPUT_SCALE = 1.000
+MIN_LIMIT = -8.0
+
+# Normally the Z max should be 0.000!
+# The only reason it's greater than 0 here is so that the splash screen
+# gcode will run.
+MAX_LIMIT = 0.12
+
+FERROR = 0.50
+MIN_FERROR = 0.10
+HOME_OFFSET = 1.0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0.0
+HOME_USE_INDEX = YES
+HOME_IGNORE_LIMITS = NO
+HOME_SEQUENCE = 0
+HOME_IS_SHARED = 1