diff --git a/.gitignore b/.gitignore
new file mode 100644
index 0000000000000000000000000000000000000000..cbb2b2429e07e6a0f816c6fbcd0227c333b6032b
--- /dev/null
+++ b/.gitignore
@@ -0,0 +1,5 @@
+gmoccapy_preferences
+linuxcnc.var
+old/*
+*.pref
+
diff --git a/basic_3_CIA402.xml b/basic_3_CIA402.xml
deleted file mode 100644
index 05b463f67fb513de514f8397cfbd0b56ebf112da..0000000000000000000000000000000000000000
--- a/basic_3_CIA402.xml
+++ /dev/null
@@ -1,68 +0,0 @@
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
diff --git a/gmoccapy_postgui.hal b/gmoccapy_postgui.hal
new file mode 100755
index 0000000000000000000000000000000000000000..bda742bb2db1433c3205d7153ed25a7254d73897
--- /dev/null
+++ b/gmoccapy_postgui.hal
@@ -0,0 +1,3 @@
+net X-homed => halui.joint.0.home
+net Z-homed => halui.joint.2.home
+
diff --git a/maurice.clp b/maurice.clp
new file mode 100644
index 0000000000000000000000000000000000000000..eee78e471abda28c1f0a929685c72916bedb6469
--- /dev/null
+++ b/maurice.clp
@@ -0,0 +1,331 @@
+_FILES_CLASSICLADDER
+_FILE-modbusioconf.csv
+#VER=1.0
+_/FILE-modbusioconf.csv
+_FILE-ioconf.csv
+#VER=1.0
+_/FILE-ioconf.csv
+_FILE-rung_4.csv
+#VER=2.0
+#LABEL=
+#COMMENT=
+#PREVRUNG=-1
+#NEXTRUNG=-1
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+_/FILE-rung_4.csv
+_FILE-sequential.csv
+#VER=1.0
+_/FILE-sequential.csv
+_FILE-timers_iec.csv
+1,1,0
+2,1,0
+1,1,0
+2,1,0
+1,1,1
+1,1,1
+1,0,0
+1,0,0
+1,0,0
+1,0,0
+_/FILE-timers_iec.csv
+_FILE-monostables.csv
+1,0
+1,0
+1,0
+1,0
+1,0
+1,0
+1,0
+1,0
+1,0
+1,0
+_/FILE-monostables.csv
+_FILE-arithmetic_expressions.csv
+#VER=2.0
+_/FILE-arithmetic_expressions.csv
+_FILE-symbols.csv
+#VER=1.0
+%I0,XStatHome,
+%I1,XStatPos,
+%I2,XHomingOk,
+%I3,XAtHome,
+%I4,ZStatHome,
+%I5,ZStatPos,
+%I6,ZHomingOk,
+%I7,ZAtHome,
+%I8,HomeAll,
+%I9,HomeX,
+%I10,HomeZ,
+%I11,%I11,
+%I12,%I12,
+%I13,%I13,
+%I14,%I14,
+%Q0,XHomed,
+%Q1,ZHomed,
+%Q2,XHoming,
+%Q3,ZHoming,
+%Q4,XCtrlHome,
+%Q5,XCtrlPos,
+%Q6,ZCtrlHome,
+%Q7,ZCtrlPos,
+%Q8,XHomStart,
+%Q9,ZHomStart,
+%Q10,%Q10,
+%Q11,%Q11,
+%Q12,%Q12,
+%Q13,%Q13,
+%Q14,%Q14,
+%B0,XToHome,
+%B1,ZToHome,
+%B2,%B2,
+%B3,%B3,
+%B4,%B4,
+%B5,%B5,
+%B6,%B6,
+%B7,%B7,
+%B8,%B8,
+%B9,%B9,
+%B10,%B10,
+%B11,%B11,
+%B12,%B12,
+%B13,%B13,
+%B14,%B14,
+%B15,%B15,
+%B16,%B16,
+%B17,%B17,
+%B18,%B18,
+%B19,%B19,
+%W0,%W0,
+%W1,%W1,
+%W2,%W2,
+%W3,%W3,
+%W4,%W4,
+%W5,%W5,
+%W6,%W6,
+%W7,%W7,
+%W8,%W8,
+%W9,%W9,
+%W10,%W10,
+%W11,%W11,
+%W12,%W12,
+%W13,%W13,
+%W14,%W14,
+%W15,%W15,
+%W16,%W16,
+%W17,%W17,
+%W18,%W18,
+%W19,%W19,
+%IW0,%IW0,
+%IW1,%IW1,
+%IW2,%IW2,
+%IW3,%IW3,
+%IW4,%IW4,
+%IW5,%IW5,
+%IW6,%IW6,
+%IW7,%IW7,
+%IW8,%IW8,
+%IW9,%IW9,
+%QW0,%QW0,
+%QW1,%QW1,
+%QW2,%QW2,
+%QW3,%QW3,
+%QW4,%QW4,
+%QW5,%QW5,
+%QW6,%QW6,
+%QW7,%QW7,
+%QW8,%QW8,
+%QW9,%QW9,
+%IF0,%IF0,
+%IF1,%IF1,
+%IF2,%IF2,
+%IF3,%IF3,
+%IF4,%IF4,
+%IF5,%IF5,
+%IF6,%IF6,
+%IF7,%IF7,
+%IF8,%IF8,
+%IF9,%IF9,
+%QF0,%QF0,
+%QF1,%QF1,
+%QF2,%QF2,
+%QF3,%QF3,
+%QF4,%QF4,
+%QF5,%QF5,
+%QF6,%QF6,
+%QF7,%QF7,
+%QF8,%QF8,
+%QF9,%QF9,
+%T0,%T0,Old Timer
+%T1,%T1,Old Timer
+%T2,%T2,Old Timer
+%T3,%T3,Old Timer
+%T4,%T4,Old Timer
+%T5,%T5,Old Timer
+%T6,%T6,Old Timer
+%T7,%T7,Old Timer
+%T8,%T8,Old Timer
+%T9,%T9,Old Timer
+%TM0,%TM0,New Timer
+%TM1,%TM1,New Timer
+%TM2,%TM2,New Timer
+%TM3,%TM3,New Timer
+%TM4,%TM4,New Timer
+%TM5,%TM5,New Timer
+%TM6,%TM6,New Timer
+%TM7,%TM7,New Timer
+%TM8,%TM8,New Timer
+%TM9,%TM9,New Timer
+%M0,%M0,One-shot
+%M1,%M1,One-shot
+%M2,%M2,One-shot
+%M3,%M3,One-shot
+%M4,%M4,One-shot
+%M5,%M5,One-shot
+%M6,%M6,One-shot
+%M7,%M7,One-shot
+%M8,%M8,One-shot
+%M9,%M9,One-shot
+%C0,%C0,Counter
+%C1,%C1,Counter
+%C2,%C2,Counter
+%C3,%C3,Counter
+%C4,%C4,Counter
+%C5,%C5,Counter
+%C6,%C6,Counter
+%C7,%C7,Counter
+%C8,%C8,Counter
+%C9,%C9,Counter
+%E0,%E0,Error Flag Bit
+%E1,%E1,Error Flag Bit
+%E2,%E2,Error Flag Bit
+%E3,%E3,Error Flag Bit
+%E4,%E4,Error Flag Bit
+%E5,%E5,Error Flag Bit
+%E6,%E6,Error Flag Bit
+%E7,%E7,Error Flag Bit
+%E8,%E8,Error Flag Bit
+%E9,%E9,Error Flag Bit
+_/FILE-symbols.csv
+_FILE-general.txt
+PERIODIC_REFRESH=50
+SIZE_NBR_RUNGS=100
+SIZE_NBR_BITS=20
+SIZE_NBR_WORDS=20
+SIZE_NBR_TIMERS=10
+SIZE_NBR_MONOSTABLES=10
+SIZE_NBR_COUNTERS=10
+SIZE_NBR_TIMERS_IEC=10
+SIZE_NBR_PHYS_INPUTS=15
+SIZE_NBR_PHYS_OUTPUTS=15
+SIZE_NBR_ARITHM_EXPR=100
+SIZE_NBR_SECTIONS=10
+SIZE_NBR_SYMBOLS=160
+_/FILE-general.txt
+_FILE-counters.csv
+0
+0
+0
+0
+0
+0
+0
+0
+0
+0
+_/FILE-counters.csv
+_FILE-rung_2.csv
+#VER=2.0
+#LABEL=
+#COMMENT=
+#PREVRUNG=-1
+#NEXTRUNG=3
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+_/FILE-rung_2.csv
+_FILE-rung_0.csv
+#VER=2.0
+#LABEL=
+#COMMENT=
+#PREVRUNG=1
+#NEXTRUNG=-1
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/2
+9-0-0/0 , 1-0-0/0 , 9-0-0/0 , 2-0-60/0 , 9-0-0/0 , 9-0-0/0 , 9-1-0/0 , 99-0-0/0 , 13-0-0/4 , 50-0-60/4
+0-0-0/0 , 1-1-60/2 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 99-1-0/0 , 13-0-0/0 , 99-0-0/0 , 99-0-0/0 , 51-1-60/5
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 9-1-0/0 , 9-0-0/0 , 50-0-60/8
+9-0-0/0 , 1-0-50/0 , 2-0-50/1 , 9-0-0/0 , 1-0-50/2 , 99-0-0/0 , 13-0-0/1 , 9-0-0/0 , 9-0-0/1 , 50-0-60/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+_/FILE-rung_0.csv
+_FILE-com_params.txt
+MODBUS_MASTER_SERIAL_PORT=
+MODBUS_MASTER_SERIAL_SPEED=9600
+MODBUS_MASTER_SERIAL_DATABITS=8
+MODBUS_MASTER_SERIAL_STOPBITS=1
+MODBUS_MASTER_SERIAL_PARITY=0
+MODBUS_ELEMENT_OFFSET=0
+MODBUS_MASTER_SERIAL_USE_RTS_TO_SEND=0
+MODBUS_MASTER_TIME_INTER_FRAME=100
+MODBUS_MASTER_TIME_OUT_RECEIPT=500
+MODBUS_MASTER_TIME_AFTER_TRANSMIT=0
+MODBUS_DEBUG_LEVEL=0
+MODBUS_MAP_COIL_READ=0
+MODBUS_MAP_COIL_WRITE=0
+MODBUS_MAP_INPUT=0
+MODBUS_MAP_HOLDING=0
+MODBUS_MAP_REGISTER_READ=0
+MODBUS_MAP_REGISTER_WRITE=0
+_/FILE-com_params.txt
+_FILE-timers.csv
+1,0
+1,0
+1,0
+1,0
+1,0
+1,0
+1,0
+1,0
+1,0
+1,0
+_/FILE-timers.csv
+_FILE-sections.csv
+#VER=1.0
+#NAME000=HomingLadder
+#NAME001=ToolPostLadder
+000,0,-1,2,0,0
+001,0,-1,4,4,0
+_/FILE-sections.csv
+_FILE-rung_3.csv
+#VER=2.0
+#LABEL=
+#COMMENT=
+#PREVRUNG=2
+#NEXTRUNG=1
+9-0-0/0 , 9-0-0/0 , 1-0-50/9 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-0-0/0
+9-0-0/0 , 1-0-50/8 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 2-0-60/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-1-0/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 3-1-60/0 , 2-0-60/1 , 9-0-0/0 , 9-0-0/0 , 50-0-0/1
+9-0-0/0 , 9-0-50/9 , 1-0-50/10 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 0-1-60/0
+0-0-0/0 , 0-0-50/10 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-60/0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+_/FILE-rung_3.csv
+_FILE-rung_1.csv
+#VER=2.0
+#LABEL=
+#COMMENT=
+#PREVRUNG=3
+#NEXTRUNG=0
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 9-0-0/0 , 9-0-0/0 , 9-0-0/0 , 50-0-60/3
+9-0-0/0 , 1-0-0/1 , 9-0-0/0 , 2-0-60/1 , 9-0-0/0 , 9-0-0/0 , 9-1-0/0 , 99-0-0/0 , 13-0-0/5 , 50-0-60/6
+0-0-0/0 , 1-1-60/3 , 0-1-0/0 , 0-0-0/0 , 0-0-0/0 , 99-1-0/0 , 13-0-50/2 , 99-0-0/0 , 99-0-0/0 , 51-1-60/7
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 9-1-0/0 , 9-0-0/0 , 50-0-60/9
+9-0-0/0 , 1-0-50/4 , 2-0-50/5 , 9-0-0/0 , 1-0-50/6 , 99-0-0/0 , 13-0-0/3 , 9-0-0/0 , 9-0-0/0 , 50-0-60/1
+0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0 , 99-0-0/0 , 99-0-0/0 , 0-0-0/0 , 0-0-0/0 , 0-0-0/0
+_/FILE-rung_1.csv
+_/FILES_CLASSICLADDER
diff --git a/maurice.hal b/maurice.hal
index 847096f59927eb731053dde30115aa6d56bb6ea3..5e97fd9957549585e471ff251768de7d27019878 100644
--- a/maurice.hal
+++ b/maurice.hal
@@ -11,6 +11,7 @@ loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EM
addf motion-command-handler servo-thread
addf motion-controller servo-thread
+loadusr halui -ini maurice.ini
#==========================================
# Global machine logic
@@ -28,8 +29,12 @@ net X-fault => joint.0.amp-fault-in
net X-poscmd <= joint.0.motor-pos-cmd
net X-posfb => joint.0.motor-pos-fb
-net X-homed => joint.0.home-sw-in
-net X-homing <= joint.0.homing
+#net X-homed => joint.0.home-sw-in
+#net Home-X <= joint.0.homing
+net X-inhibit => motion.feed-inhibit
+
+#net X-PoT => joint.0.pos-lim-sw-in
+#net X-NoT => joint.0.neg-lim-sw-in
#==========================================
# Z axis
@@ -41,8 +46,12 @@ net Z-fault => joint.2.amp-fault-in
net Z-poscmd <= joint.2.motor-pos-cmd
net Z-posfb => joint.2.motor-pos-fb
-net Z-homed => joint.2.home-sw-in
-net Z-homing <= joint.2.homing
+#net Z-homed => joint.2.home-sw-in
+#net Home-Z <= joint.2.homing
+#net Z-inhibit => motion.feed−inhibit
+
+#net Z-PoT => joint.2.pos-lim-sw-in
+#net Z-NoT => joint.2.neg-lim-sw-in
############################################
# Hardware section
@@ -52,6 +61,10 @@ net Z-homing <= joint.2.homing
# Components declaration
#==========================================
+loadrt classicladder_rt
+addf classicladder.0.refresh servo-thread
+loadusr classicladder maurice.clp
+
loadusr -W lcec_conf maurice.xml
loadrt lcec
@@ -68,14 +81,6 @@ setp lcec.0.0.modecontrol-4 0
setp lcec.0.1.modecontrol-0 0
setp lcec.0.1.modecontrol-4 0
-loadrt and2 count=2
-loadrt not count=2
-
-addf and2.0 servo-thread
-addf and2.1 servo-thread
-addf not.0 servo-thread
-addf not.1 servo-thread
-
#==========================================
# Global machine logic
#==========================================
@@ -91,18 +96,17 @@ net X-poscmd => lcec.0.0.poscommand
net X-posfb <= lcec.0.0.pos
net X-fault <= lcec.0.0.drivestatus-3
-net X-modehome <= lcec.0.0.modestatus-3
-net X-stat4 <= lcec.0.0.drivestatus-12
-
-net X-modehome => and2.0.in0
-net X-stat4 => and2.0.in1
-net X-homed <= and2.0.out
+net X-stat-pos <= lcec.0.0.modestatus-3
+net X-stat-home <= lcec.0.0.modestatus-2
+net X-homingok <= lcec.0.0.drivestatus-12
+net X-athome <= lcec.0.0.drivestatus-10
-net X-homing => not.0.in
-net X-position <= not.0.out
+net X-ctrl-home => lcec.0.0.modecontrol-1 => lcec.0.0.modecontrol-2
+net X-homestart => lcec.0.0.drivecontrol-4
+net X-ctrl-pos => lcec.0.0.modecontrol-3
-net X-homing => lcec.0.0.modecontrol-1 => lcec.0.0.modecontrol-2 => lcec.0.0.drivecontrol-4
-net X-position => lcec.0.0.modecontrol-3
+net X-PoT <= lcec.0.0.inputs-1
+net X-NoT <= lcec.0.0.inputs-0
#==========================================
# Z axis
@@ -113,15 +117,45 @@ net Z-poscmd => lcec.0.1.poscommand
net Z-posfb <= lcec.0.1.pos
net Z-fault <= lcec.0.1.drivestatus-3
-net Z-modehome <= lcec.0.1.modestatus-3
-net Z-stat4 <= lcec.0.1.drivestatus-12
+net Z-stat-pos <= lcec.0.1.modestatus-3
+net Z-stat-home <= lcec.0.1.modestatus-2
+net Z-homingok <= lcec.0.1.drivestatus-12
+net Z-athome <= lcec.0.1.drivestatus-10
+
+net Z-ctrl-home => lcec.0.1.modecontrol-1 => lcec.0.1.modecontrol-2
+net Z-homestart => lcec.0.1.drivecontrol-4
+net Z-ctrl-pos => lcec.0.1.modecontrol-3
+
+net Z-PoT <= lcec.0.1.inputs-1
+net Z-NoT <= lcec.0.1.inputs-0
+
+#==========================================
+# ClassicLadder
+#==========================================
+
+# Inputs
-net Z-modehome => and2.1.in0
-net Z-stat4 => and2.1.in1
-net Z-homed <= and2.1.out
+net X-stat-home => classicladder.0.in-00
+net X-stat-pos => classicladder.0.in-01
+net X-homingok => classicladder.0.in-02
+net X-athome => classicladder.0.in-03
+net Z-stat-home => classicladder.0.in-04
+net Z-stat-pos => classicladder.0.in-05
+net Z-homingok => classicladder.0.in-06
+net Z-athome => classicladder.0.in-07
+net Home-All => classicladder.0.in-08
+net Home-X => classicladder.0.in-09
+net Home-Z => classicladder.0.in-10
-net Z-homing => not.1.in
-net Z-position <= not.1.out
+# Outputs
-net Z-homing => lcec.0.1.modecontrol-1 => lcec.0.1.modecontrol-2 => lcec.0.1.drivecontrol-4
-net Z-position => lcec.0.1.modecontrol-3
+net X-homed <= classicladder.0.out-00
+net Z-homed <= classicladder.0.out-01
+net X-inhibit <= classicladder.0.out-02
+net Z-inhibit <= classicladder.0.out-03
+net X-ctrl-home <= classicladder.0.out-04
+net X-ctrl-pos <= classicladder.0.out-05
+net Z-ctrl-home <= classicladder.0.out-06
+net Z-ctrl-pos <= classicladder.0.out-07
+net X-homestart <= classicladder.0.out-08
+net Z-homestart <= classicladder.0.out-09
diff --git a/maurice.ini b/maurice.ini
index 3d3a3b79998703715c6970f169b445d23df49cc8..5707a3c71f9eecda67f7b3ebe587b7f1d7685e79 100644
--- a/maurice.ini
+++ b/maurice.ini
@@ -5,7 +5,7 @@
# The version string for this INI file.
VERSION = 1.1
-MACHINE = EtherCAT Machine
+MACHINE = Maurice
DEBUG = 1
[DISPLAY]
@@ -85,10 +85,10 @@ MAX_LIMIT = 500
HOME_DELAY = 5
HOME_VEL = 1
HOME_OFFSET = 0
-HOME_SEARCH_VEL = 0
-HOME_LATCH_VEL = 0
+HOME_SEARCH_VEL = 1
+HOME_LATCH_VEL = 1
HOME_USE_INDEX = NO
-HOME_IGNORE_LIMITS = NO
+HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
[JOINT_1]
@@ -117,9 +117,9 @@ MAX_LIMIT = 200
HOME_DELAY = 5
HOME_VEL = 1
HOME_OFFSET = 0
-HOME_SEARCH_VEL = 0
-HOME_LATCH_VEL = 0
+HOME_SEARCH_VEL = 1
+HOME_LATCH_VEL = 1
HOME_USE_INDEX = NO
-HOME_IGNORE_LIMITS = NO
+HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
diff --git a/maurice.xml b/maurice.xml
index e0102031e25641022ee19bd64f01dc76d4034a2b..8ffb2d96761a76b41bc185d629f2e89534cc270e 100644
--- a/maurice.xml
+++ b/maurice.xml
@@ -19,6 +19,7 @@
+
@@ -43,6 +44,7 @@
+
diff --git a/maurice_gmoccapy.ini b/maurice_gmoccapy.ini
index d6d95e20733dfb118490ac8a8c2ed479c4e63697..93d0be1d68dcbb48a55b21822e061a64444511d0 100644
--- a/maurice_gmoccapy.ini
+++ b/maurice_gmoccapy.ini
@@ -10,6 +10,11 @@ DEBUG = 1
[DISPLAY]
DISPLAY = gmoccapy
+
+EMBED_TAB_NAME = right_side_panel
+EMBED_TAB_LOCATION = box_custom_4
+EMBED_TAB_COMMAND = gladevcp -x {XID} -H vcp_box.hal vcp_box.glade
+
PREFERENCE_FILE_PATH = gmoccapy_preferences
LATHE = 1
BACK_TOOL_LATHE = 1
@@ -49,6 +54,7 @@ CYCLE_TIME = 0.005
[HAL]
HALUI = halui
HALFILE = maurice.hal
+POSTGUI_HALFILE = gmoccapy_postgui.hal
[HALUI]
@@ -89,11 +95,11 @@ MIN_LIMIT = -2000
MAX_LIMIT = 2000
HOME_DELAY = 5
HOME_VEL = 1
-HOME_OFFSET = 100.0
-HOME_SEARCH_VEL = 9.9
-HOME_LATCH_VEL = 9.9
+HOME_OFFSET = 0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
-HOME_IGNORE_LIMITS = NO
+HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 0
[AXIS_Z]
@@ -121,10 +127,10 @@ MIN_LIMIT = -2000
MAX_LIMIT = 2000
HOME_DELAY = 5
HOME_VEL = 1
-HOME_OFFSET = 150.0
-HOME_SEARCH_VEL = 9.9
-HOME_LATCH_VEL = 9.9
+HOME_OFFSET = 0
+HOME_SEARCH_VEL = 0
+HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
-HOME_IGNORE_LIMITS = NO
+HOME_IGNORE_LIMITS = YES
HOME_SEQUENCE = 1
diff --git a/vcp_box.glade b/vcp_box.glade
new file mode 100755
index 0000000000000000000000000000000000000000..069bdc920decb3241ca7c8d003693a42bd2787a2
--- /dev/null
+++ b/vcp_box.glade
@@ -0,0 +1,63 @@
+
+
+
+
+
+
+
diff --git a/vcp_box.hal b/vcp_box.hal
new file mode 100755
index 0000000000000000000000000000000000000000..91d55c46db62b20e7c92acd6bcf751393026b890
--- /dev/null
+++ b/vcp_box.hal
@@ -0,0 +1,4 @@
+net Home-All <= vcp_box.home-all
+net Home-X <= vcp_box.home-x
+net Home-Z <= vcp_box.home-z
+