moveoff.comp is a 'Hal-only' method for providing offsets for up to nine axes (x,y,z,a,b,c,u,v,w).

The moveoff.comp component provides min, max, velocity, and acceleration limits for each axis (similar to the limit3 component).

See the manpage for more information:

  $ man moveoff

The demonstration configs show:

  o moveoff_gui
    a simple gui

  o hookup_moveoff.tcl
    a script to connect a moveoff component

  o moveoff.halscope
    halscope configs to illustrate movement
    (GUI's to not show Hal-only offset movements)

Demonstration configs:

  demonstration    mode    controls
  ---------------- ------- -------------------- 
1 onpause_local    onpause local
2 onpause_external onpause external (simulated)
3 always_local     always  local
4 always_external  always  external (simulated)
5 no_gui           NA      NA
6 zretract         onpause pyvcp panel
7 pyvcp            onpause pyvcp panel
8 gladevcp         onpause gladevcp panel