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gmoccapy -add a 4 axis halui test config
to confirm angular jograte works
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‎configs/sim/gmoccapy/gmoccapy_halui_test_4_axis.ini‎

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# General section -------------------------------------------------------------
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[EMC]
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VERSION = 1.1
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MACHINE = gmoccapy 4 axis
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DEBUG = 0
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# for details see nc_files/subroutines/maco_instructions.txt
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[DISPLAY]
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DISPLAY = gmoccapy
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# Cycle time, in milliseconds, that display will sleep between polls
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CYCLE_TIME = 100
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# Highest value that will be allowed for feed override, 1.0 = 100%
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MAX_FEED_OVERRIDE = 1.5
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MAX_SPINDLE_OVERRIDE = 1.2
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MIN_SPINDLE_OVERRIDE = .5
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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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# list of selectable jog increments
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INCREMENTS = 1.000 mm, 0.100 mm, 0.010 mm, 0.001 mm, 90.000 °
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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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[RS274NGC]
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RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.005 G80 G90 G94 G97 M5 M9
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PARAMETER_FILE = sim.var
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SUBROUTINE_PATH = ./macros
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REMAP=M6 modalgroup=6 prolog=change_prolog ngc=change_g43 epilog=change_epilog
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REMAP=M61 modalgroup=6 prolog=settool_prolog ngc=settool_g43 epilog=settool_epilog
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# the Python plugins serves interpreter and task
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[PYTHON]
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PATH_PREPEND = ./python
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TOPLEVEL = ./python/toplevel.py
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LOG_LEVEL = 0
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# Motion control section ------------------------------------------------------
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[EMCMOT]
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EMCMOT = motmod
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COMM_TIMEOUT = 1.0
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BASE_PERIOD = 100000
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SERVO_PERIOD = 1000000
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# Hardware Abstraction Layer section --------------------------------------------------
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[TASK]
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TASK = milltask
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CYCLE_TIME = 0.001
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# Part program interpreter section --------------------------------------------
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[HAL]
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HALFILE = core_sim4.hal
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HALFILE = spindle_sim.hal
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HALFILE = simulated_home.hal
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# Single file that is executed after the GUI has started.
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POSTGUI_HALFILE = gmoccapy_postgui.hal
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POSTGUI_HALCMD = loadusr qtvcp -a -H panel-4axis.hal panel
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HALUI = halui
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# Trajectory planner section --------------------------------------------------
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[HALUI]
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#No Content
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[MDI_COMMAND_LIST]
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# for macro buttons on main oage up to 10 possible
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MDI_COMMAND_MACRO0 = G0 Z1;X0 Y0;Z0, Goto\nUser\nZero
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MDI_COMMAND_MACRO1 = G53 G0 Z0;G53 G0 X0 Y0,Goto\nMachn\nZero
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MDI_COMMAND_MACRO2 = (MSG, macro 2);
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MDI_COMMAND_MACRO3 = (MSG, macro 2)
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MDI_COMMAND_MACRO4 = (MSG, macro 2),test
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[TRAJ]
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COORDINATES = X Y Z C
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LINEAR_UNITS = mm
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ANGULAR_UNITS = degree
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DEFAULT_LINEAR_VELOCITY = 50
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MAX_LINEAR_VELOCITY = 234
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POSITION_FILE = position.txt
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# First axis = X
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[EMCIO]
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# tool table file
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TOOL_TABLE = tool.tbl
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TOOL_CHANGE_POSITION = 100 100 -10
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TOOL_CHANGE_QUILL_UP = 1
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[KINS]
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KINEMATICS = trivkins coordinates=xyzc
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JOINTS = 4
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[AXIS_X]
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MIN_LIMIT = -400.0
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MAX_LIMIT = 400.0
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MAX_VELOCITY = 166
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MAX_ACCELERATION = 1500.0
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[JOINT_0]
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TYPE = LINEAR
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MAX_VELOCITY = 166
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MAX_ACCELERATION = 1500.0
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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 = -400.0
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MAX_LIMIT = 400.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME = 10
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HOME_SEARCH_VEL = 200.0
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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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# Second axis = Y
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[AXIS_Y]
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MIN_LIMIT = -400.0
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MAX_LIMIT = 400.0
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MAX_VELOCITY = 166
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MAX_ACCELERATION = 1500.0
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[JOINT_1]
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TYPE = LINEAR
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MAX_VELOCITY = 166
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MAX_ACCELERATION = 1500.0
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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 = -400.0
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MAX_LIMIT = 400.0
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FERROR = 0.050
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MIN_FERROR = 0.010
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HOME_OFFSET = 0.0
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HOME = 10
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HOME_SEARCH_VEL = 200.0
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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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# Third axis = Z
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[AXIS_Z]
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MIN_LIMIT = -400.0
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MAX_LIMIT = 0.001
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MAX_VELOCITY = 166
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MAX_ACCELERATION = 1500.0
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[JOINT_2]
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TYPE = LINEAR
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MAX_VELOCITY = 166
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MAX_ACCELERATION = 1500.0
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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 = -400.0
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MAX_LIMIT = 0.001
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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 = -10
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HOME_SEARCH_VEL = 200.0
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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
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# Fourth axis = A
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# Fifth axis = B
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# Sixt axis = C
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[AXIS_C]
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MAX_VELOCITY = 90.0
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MAX_ACCELERATION = 1200.0
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[JOINT_3]
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TYPE = ANGULAR
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HOME = 0.0
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MAX_VELOCITY = 90.0
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MAX_ACCELERATION = 1200.0
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BACKLASH = 0.000
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INPUT_SCALE = 40
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OUTPUT_SCALE = 1.000
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FERROR = 5.0
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MIN_FERROR = 1.0
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HOME_OFFSET = 0.0
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HOME_SEARCH_VEL = 0.0
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HOME_LATCH_VEL = 0.0
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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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# section for main IO controller parameters -----------------------------------
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[MACROS]
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MACRO = i_am_lost
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MACRO = halo_world
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MACRO = jog_around
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MACRO = increment xinc yinc
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MACRO = go_to_position X-pos Y-pos Z-pos
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# Sections for display options ------------------------------------------------

‎configs/sim/gmoccapy/panel-4axis.hal‎

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net rate halui.axis.jog-speed panel.jog-rate-f
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net angular-rate halui.axis.jog-speed-angular panel.jog-rate-angular-f
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net sx halui.axis.x.select panel.axis-x
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net sy halui.axis.y.select panel.axis-y
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net sz halui.axis.z.select panel.axis-z
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net sc halui.axis.c.select panel.axis-c
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net jog-p halui.axis.selected.plus panel.jog-pos
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net jog-m halui.axis.selected.minus panel.jog-neg
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net m0 halui.gui.mdi-command-MACRO0 panel.mdi-0
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net m1 halui.gui.mdi-command-MACRO1 panel.mdi-1
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net m2 halui.gui.mdi-command-MACRO2 panel.mdi-2
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net man panel.manual-mode halui.mode.manual
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net mdi panel.mdi-mode halui.mode.mdi
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net auto panel.auto-mode halui.mode.auto
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net pause halui.cycle.start panel.cycle-start
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net start halui.cycle.pause panel.cycle-pause
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net abort halui.abort panel.cycle-abort
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net cancel halui.gui.cancel panel.cancel
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net ok halui.gui.ok panel.ok
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