Import LinuxCNC source tree

configs/by_interface/mesa/hm2-servo/3x20-small.ini

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+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               HM2-Servo
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+DISPLAY =              axis
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0500
+# Path to help file
+HELP_FILE =             tklinuxcnc.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 =     1.5
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+# Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+
+[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
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = hm2-servo.var
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+[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 = hm2-servo.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+
+[HALUI]
+#No Content
+
+[TRAJ]
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z
+HOME =                  0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
+
+[EMCIO]
+# tool table file
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_0]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the X axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Y]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_1]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           -81920
+OUTPUT_SCALE =          1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Z]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 3.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_2]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             3.0
+HOME =                  0.0
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Z axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=3x20
+CONFIG="firmware=hm2/3x20-1/SV24.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/4i65.ini

@@ -0,0 +1,201 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               HM2-Servo
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+DISPLAY =              axis
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0500
+# Path to help file
+HELP_FILE =             tklinuxcnc.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 =     1.5
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+# Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+
+[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
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = hm2-servo.var
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+[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 = hm2-servo.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+
+[HALUI]
+#No Content
+
+[TRAJ]
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z
+HOME =                  0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
+
+[EMCIO]
+# tool table file
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_0]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the X axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Y]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_1]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           -81920
+OUTPUT_SCALE =          1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Z]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 3.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_2]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             3.0
+HOME =                  0.0
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Z axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=4i65
+CONFIG="firmware=hm2/4i65/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/4i68.ini

@@ -0,0 +1,201 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               HM2-Servo
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+DISPLAY =              axis
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0500
+# Path to help file
+HELP_FILE =             tklinuxcnc.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 =     1.5
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+# Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+
+[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
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = hm2-servo.var
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+[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 = hm2-servo.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+
+[HALUI]
+#No Content
+
+[TRAJ]
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z
+HOME =                  0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
+
+[EMCIO]
+# tool table file
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_0]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the X axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Y]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_1]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           -81920
+OUTPUT_SCALE =          1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Z]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 3.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_2]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             3.0
+HOME =                  0.0
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Z axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=4i68
+CONFIG="firmware=hm2/4i68/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/5i20.ini

@@ -0,0 +1,201 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               HM2-Servo
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+DISPLAY =              axis
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0500
+# Path to help file
+HELP_FILE =             tklinuxcnc.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 =     1.5
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+# Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+
+[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
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = hm2-servo.var
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+[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 = hm2-servo.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+
+[HALUI]
+#No Content
+
+[TRAJ]
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z
+HOME =                  0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
+
+[EMCIO]
+# tool table file
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_0]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the X axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Y]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_1]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           -81920
+OUTPUT_SCALE =          1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Z]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 3.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_2]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             3.0
+HOME =                  0.0
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Z axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=5i20
+CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/5i22-big.ini

@@ -0,0 +1,201 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               HM2-Servo
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+DISPLAY =              axis
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0500
+# Path to help file
+HELP_FILE =             tklinuxcnc.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 =     1.5
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+# Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+
+[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
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = hm2-servo.var
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+[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 = hm2-servo.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+
+[HALUI]
+#No Content
+
+[TRAJ]
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z
+HOME =                  0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
+
+[EMCIO]
+# tool table file
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_0]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the X axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Y]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_1]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           -81920
+OUTPUT_SCALE =          1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Z]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 3.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_2]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             3.0
+HOME =                  0.0
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Z axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=5i22
+CONFIG="firmware=hm2/5i22-1.5/SVST8_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/5i22-small.ini

@@ -0,0 +1,201 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               HM2-Servo
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+DISPLAY =              axis
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0500
+# Path to help file
+HELP_FILE =             tklinuxcnc.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 =     1.5
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+# Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+
+[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
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = hm2-servo.var
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+[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 = hm2-servo.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+
+[HALUI]
+#No Content
+
+[TRAJ]
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z
+HOME =                  0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
+
+[EMCIO]
+# tool table file
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_0]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the X axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Y]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_1]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           -81920
+OUTPUT_SCALE =          1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Z]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 3.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_2]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             3.0
+HOME =                  0.0
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Z axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=5i22
+CONFIG="firmware=hm2/5i22-1/SVST8_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/5i23.ini

@@ -0,0 +1,201 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               HM2-Servo
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+DISPLAY =              axis
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0500
+# Path to help file
+HELP_FILE =             tklinuxcnc.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 =     1.5
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+# Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+
+[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
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = hm2-servo.var
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+[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 = hm2-servo.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+
+[HALUI]
+#No Content
+
+[TRAJ]
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z
+HOME =                  0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
+
+[EMCIO]
+# tool table file
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_0]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the X axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Y]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_1]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           -81920
+OUTPUT_SCALE =          1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Z]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 3.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_2]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             3.0
+HOME =                  0.0
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Z axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=5i23
+CONFIG="firmware=hm2/5i23/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/7i43-big.ini

@@ -0,0 +1,201 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               HM2-Servo
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+DISPLAY =              axis
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0500
+# Path to help file
+HELP_FILE =             tklinuxcnc.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 =     1.5
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+# Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+
+[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
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = hm2-servo.var
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+[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 = hm2-servo.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+
+[HALUI]
+#No Content
+
+[TRAJ]
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z
+HOME =                  0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
+
+[EMCIO]
+# tool table file
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_0]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the X axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Y]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_1]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           -81920
+OUTPUT_SCALE =          1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Z]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 3.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_2]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             3.0
+HOME =                  0.0
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Z axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[HOSTMOT2]
+DRIVER=hm2_7i43
+BOARD=7i43
+CONFIG="firmware=hm2/7i43-4/SVST4_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/7i43-small.ini

@@ -0,0 +1,201 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               HM2-Servo
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+DISPLAY =              axis
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0500
+# Path to help file
+HELP_FILE =             tklinuxcnc.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 =     1.5
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+# Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+
+[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
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = hm2-servo.var
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+[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 = hm2-servo.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+
+[HALUI]
+#No Content
+
+[TRAJ]
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z
+HOME =                  0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
+
+[EMCIO]
+# tool table file
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_0]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the X axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Y]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_1]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           -81920
+OUTPUT_SCALE =          1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Z]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 3.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_2]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             3.0
+HOME =                  0.0
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Z axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[HOSTMOT2]
+DRIVER=hm2_7i43
+BOARD=7i43
+CONFIG="firmware=hm2/7i43-2/SVST4_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/7i90.ini

@@ -0,0 +1,201 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               HM2-Servo
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+DISPLAY =              axis
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0500
+# Path to help file
+HELP_FILE =             tklinuxcnc.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 =     1.5
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+# Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+
+[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
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = hm2-servo.var
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+[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 = hm2-servo.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+
+[HALUI]
+#No Content
+
+[TRAJ]
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z
+HOME =                  0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
+
+[EMCIO]
+# tool table file
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_0]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the X axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Y]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_1]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           -81920
+OUTPUT_SCALE =          1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Z]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 3.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_2]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             3.0
+HOME =                  0.0
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Z axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[HOSTMOT2]
+DRIVER=hm2_7i90
+BOARD=7i90
+CONFIG=""

configs/by_interface/mesa/hm2-servo/7i93.ini

@@ -0,0 +1,202 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               HM2-Servo
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+DISPLAY =              axis
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0500
+# Path to help file
+HELP_FILE =             tklinuxcnc.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 =     1.5
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+# Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+
+[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
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = hm2-servo.var
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+[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 = hm2-servo-eth.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+
+[HALUI]
+#No Content
+
+[TRAJ]
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z
+HOME =                  0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
+
+[EMCIO]
+# tool table file
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_0]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the X axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Y]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_1]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           -81920
+OUTPUT_SCALE =          1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Z]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 3.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_2]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             3.0
+HOME =                  0.0
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Z axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[HOSTMOT2]
+DRIVER=hm2_eth
+BOARD_IP=192.168.1.121
+BOARD=7i93
+CONFIG="num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/7i96s.ini

@@ -0,0 +1,202 @@
+[EMC]
+# The version string for this INI file.
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               HM2-Servo
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+DISPLAY =              axis
+# Cycle time, in seconds, that display will sleep between polls
+CYCLE_TIME =            0.0500
+# Path to help file
+HELP_FILE =             tklinuxcnc.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 =     1.5
+# Prefix to be used
+PROGRAM_PREFIX = ../../nc_files/
+# Introductory graphic
+INTRO_GRAPHIC =         linuxcnc.gif
+INTRO_TIME =            5
+
+[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
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE = hm2-servo.var
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+
+[TASK]
+# Name of task controller program, e.g., milltask
+TASK =                  milltask
+# Cycle time, in seconds, that task controller will sleep between polls
+CYCLE_TIME =            0.010
+
+[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 = hm2-servo-eth.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+
+[HALUI]
+#No Content
+
+[TRAJ]
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z
+HOME =                  0 0 0 0
+LINEAR_UNITS =          inch
+ANGULAR_UNITS =         degree
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
+
+[EMCIO]
+# tool table file
+TOOL_TABLE = tool.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_0]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the X axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Y]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_1]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           -81920
+OUTPUT_SCALE =          1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             10.0
+HOME =                  0.000
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Y axis servo's encoder has an index channel, so we use it to improve the home accuracy
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         1
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[AXIS_Z]
+MIN_LIMIT = -3.0
+MAX_LIMIT = 3.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_2]
+TYPE =                  LINEAR
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+FERROR =                0.010
+MIN_FERROR =            0.002
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          -1.000
+OUTPUT_OFFSET =         0.0
+MAX_OUTPUT =            1.0
+MIN_LIMIT =             -3.0
+MAX_LIMIT =             3.0
+HOME =                  0.0
+HOME_OFFSET =           -2.9
+HOME_SEARCH_VEL =       -0.50
+HOME_LATCH_VEL =        0.10
+# the Z axis servo's encoder does not have an index channel, so we have to home without index
+HOME_USE_INDEX =        NO
+HOME_IGNORE_LIMITS =    YES
+HOME_SEQUENCE =         0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   1.000
+FF2 =			0.0
+BIAS =                  0.000
+
+[HOSTMOT2]
+DRIVER=hm2_eth
+BOARD_IP=192.168.1.121
+BOARD=7i96s
+CONFIG="num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/README

@@ -0,0 +1,19 @@
+This configuration drives a 3-axis servo machine using a Mesa AnythingIO board with the HostMot2 firmware.  The config will only run if you have the card installed and have installed the firmware.
+
+See LinuxCNC_Documentation.pdf - 11.4 Mesa HostMot2 Driver section for more information.
+
+All 3 axes use a home switch.  All home switches are connected to a single shared input pin.  X and Z home without encoder index, Y homes with encoder index.
+
+No limit switches are used.
+
+These configs have 3 Encoders, 3 PWMs, and 0 StepGens
+
+5i22-big   For the 1.5M gate version
+
+5i22-small For the 1.0M gate version
+
+7i43-big   For the 400k gate version
+
+7i43-small For the 200k gate version
+
+3x20-small For the 1.0M gate version

configs/by_interface/mesa/hm2-servo/hm2-servo-eth.hal

@@ -0,0 +1,230 @@
+# #######################################
+#
+# HAL file for HostMot2 with 3 servos
+#
+# Derived from Ted Hyde's original hm2-servo config
+#
+# Based up work and discussion with Seb & Peter & Jeff
+# GNU license references - insert here. www.linuxcnc.org
+#
+#
+# ########################################
+# Firmware files are in /lib/firmware/hm2/7i43/
+# Must symlink the hostmot2 firmware directory of sanbox to
+# /lib/firmware before running EMC2...
+# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
+#
+# See also:
+# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
+# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
+#
+# #####################################################################
+
+
+# ###################################
+# Core EMC/HAL Loads
+# ###################################
+
+# kinematics
+loadrt [KINS]KINEMATICS
+
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+
+# standard components
+loadrt pid num_chan=3 
+
+# hostmot2 driver
+# if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
+#loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
+loadrt hostmot2
+
+# load low-level driver
+loadrt [HOSTMOT2](DRIVER) board_ip=[HOSTMOT2](BOARD_IP) config=[HOSTMOT2](CONFIG)
+
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency 40000
+
+
+# ################################################
+# THREADS
+# ################################################
+
+addf hm2_[HOSTMOT2](BOARD).0.read          servo-thread
+
+addf motion-command-handler                servo-thread
+addf motion-controller                     servo-thread
+
+addf pid.0.do-pid-calcs                    servo-thread
+addf pid.1.do-pid-calcs                    servo-thread
+addf pid.2.do-pid-calcs                    servo-thread
+
+addf hm2_[HOSTMOT2](BOARD).0.write         servo-thread
+       
+
+# ######################################################
+# Axis-of-motion Specific Configs (not the GUI)
+# ######################################################
+
+
+# ################
+# X [0] Axis
+# ################
+
+# axis enable chain
+newsig emcmot.00.enable bit
+sets emcmot.00.enable FALSE
+net emcmot.00.enable => pid.0.enable
+net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
+net emcmot.00.enable <= joint.0.amp-enable-out 
+
+# encoder feedback
+setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
+setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
+
+setp  hm2_[HOSTMOT2](BOARD).0.encoder.00.scale  [JOINT_0]INPUT_SCALE
+net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
+net motor.00.pos-fb => joint.0.motor-pos-fb #push copy back to Axis GUI
+
+# set PID loop gains from inifile
+setp pid.0.Pgain [JOINT_0]P
+setp pid.0.Igain [JOINT_0]I
+setp pid.0.Dgain [JOINT_0]D
+setp pid.0.bias [JOINT_0]BIAS
+setp pid.0.FF0 [JOINT_0]FF0
+setp pid.0.FF1 [JOINT_0]FF1
+setp pid.0.FF2 [JOINT_0]FF2
+setp pid.0.deadband [JOINT_0]DEADBAND
+setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
+
+# position command signals
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type 1 #pwm on pin1, dir on pin2
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale  [JOINT_0]OUTPUT_SCALE
+
+net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command
+net motor.00.command  pid.0.output  =>  hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
+
+
+# ################
+# Y [1] Axis
+# ################
+
+# axis enable chain
+newsig emcmot.01.enable bit
+sets emcmot.01.enable FALSE
+net emcmot.01.enable => pid.1.enable
+net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.enable
+net emcmot.01.enable <= joint.1.amp-enable-out 
+
+# encoder feedback
+setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1
+setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0
+
+setp  hm2_[HOSTMOT2](BOARD).0.encoder.01.scale  [JOINT_1]INPUT_SCALE
+net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
+net motor.01.pos-fb => joint.1.motor-pos-fb #push copy back to Axis GUI
+
+# set PID loop gains from inifile
+setp pid.1.Pgain [JOINT_1]P
+setp pid.1.Igain [JOINT_1]I
+setp pid.1.Dgain [JOINT_1]D
+setp pid.1.bias [JOINT_1]BIAS
+setp pid.1.FF0 [JOINT_1]FF0
+setp pid.1.FF1 [JOINT_1]FF1
+setp pid.1.FF2 [JOINT_1]FF2
+setp pid.1.deadband [JOINT_1]DEADBAND
+setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
+
+# position command signals
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.output-type 1 #pwm on pin1, dir on pin2
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.scale [JOINT_1]OUTPUT_SCALE
+
+net emcmot.01.pos-cmd joint.1.motor-pos-cmd => pid.1.command
+net motor.01.command  pid.1.output  =>  hm2_[HOSTMOT2](BOARD).0.pwmgen.01.value
+
+
+# ################
+# Z [2] Axis
+# ################
+
+# axis enable chain
+newsig emcmot.02.enable bit
+sets emcmot.02.enable FALSE
+net emcmot.02.enable => pid.2.enable
+net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
+net emcmot.02.enable <= joint.2.amp-enable-out 
+
+# encoder feedback
+setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1
+setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0
+
+setp  hm2_[HOSTMOT2](BOARD).0.encoder.02.scale  [JOINT_2]INPUT_SCALE
+net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
+net motor.02.pos-fb => joint.2.motor-pos-fb #push copy back to Axis GUI
+
+# set PID loop gains from inifile
+setp pid.2.Pgain [JOINT_2]P
+setp pid.2.Igain [JOINT_2]I
+setp pid.2.Dgain [JOINT_2]D
+setp pid.2.bias [JOINT_2]BIAS
+setp pid.2.FF0 [JOINT_2]FF0
+setp pid.2.FF1 [JOINT_2]FF1
+setp pid.2.FF2 [JOINT_2]FF2
+setp pid.2.deadband [JOINT_2]DEADBAND
+setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
+
+# position command signals
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [JOINT_2]OUTPUT_SCALE
+
+net emcmot.02.pos-cmd joint.2.motor-pos-cmd => pid.2.command
+net motor.02.command  pid.2.output  =>  hm2_[HOSTMOT2](BOARD).0.pwmgen.02.value
+
+
+# ##################################################
+# Standard I/O Block - EStop, Etc
+# ##################################################
+
+# create a signal for the estop loopback
+net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
+
+
+#
+# homing
+#
+
+#
+# In this example, each of the three axes have their own home switch.  All
+# home switches are connected to GPIO 25, though hostmot2 boards generally
+# have enough GPIO pins to put each axis' home switch on its own pin.
+#
+# Each switch is normally open, momentarily closed.  When the switch is open,
+# GPIO 25 floats high (because that is the hostmot2 way).  When the switch is
+# closed, it shorts GPIO 25 to ground.
+#
+# EMC expects the value on the .home-sw-in HAL pin to be active high, ie
+# True when the switch is closed and False when the switch is open.
+# We get this behavior by linking the GPIO .in_not pin instead of the .in
+# pin.
+#
+
+net home-switch <= hm2_[HOSTMOT2](BOARD).0.gpio.025.in_not
+net home-switch => joint.0.home-sw-in
+net home-switch => joint.1.home-sw-in
+net home-switch => joint.2.home-sw-in
+
+# only the Y servo has an index, X and Z home without using the index
+net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> joint.1.index-enable
+

configs/by_interface/mesa/hm2-servo/hm2-servo.hal

@@ -0,0 +1,230 @@
+# #######################################
+#
+# HAL file for HostMot2 with 3 servos
+#
+# Derived from Ted Hyde's original hm2-servo config
+#
+# Based up work and discussion with Seb & Peter & Jeff
+# GNU license references - insert here. www.linuxcnc.org
+#
+#
+# ########################################
+# Firmware files are in /lib/firmware/hm2/7i43/
+# Must symlink the hostmot2 firmware directory of sanbox to
+# /lib/firmware before running EMC2...
+# sudo ln -s $HOME/emc2-sandbox/src/hal/drivers/mesa-hostmot2/firmware /lib/firmware/hm2
+#
+# See also:
+# <http://www.linuxcnc.org/docs/devel/html/man/man9/hostmot2.9.html#config%20modparam>
+# and http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?HostMot2
+#
+# #####################################################################
+
+
+# ###################################
+# Core EMC/HAL Loads
+# ###################################
+
+# kinematics
+loadrt [KINS]KINEMATICS
+
+# motion controller, get name and thread periods from ini file
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+
+# standard components
+loadrt pid num_chan=3 
+
+# hostmot2 driver
+# if you have any firmware trouble, enable the debug flags here and see what's going on in the syslog
+#loadrt hostmot2 debug_idrom=1 debug_module_descriptors=1 debug_pin_descriptors=1 debug_modules=1
+loadrt hostmot2
+
+# load low-level driver
+loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
+
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.pwm_frequency 40000
+
+
+# ################################################
+# THREADS
+# ################################################
+
+addf hm2_[HOSTMOT2](BOARD).0.read          servo-thread
+
+addf motion-command-handler                servo-thread
+addf motion-controller                     servo-thread
+
+addf pid.0.do-pid-calcs                    servo-thread
+addf pid.1.do-pid-calcs                    servo-thread
+addf pid.2.do-pid-calcs                    servo-thread
+
+addf hm2_[HOSTMOT2](BOARD).0.write         servo-thread
+       
+
+# ######################################################
+# Axis-of-motion Specific Configs (not the GUI)
+# ######################################################
+
+
+# ################
+# X [0] Axis
+# ################
+
+# axis enable chain
+newsig emcmot.00.enable bit
+sets emcmot.00.enable FALSE
+net emcmot.00.enable => pid.0.enable
+net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
+net emcmot.00.enable <= joint.0.amp-enable-out 
+
+# encoder feedback
+setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.00.filter 1
+setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
+
+setp  hm2_[HOSTMOT2](BOARD).0.encoder.00.scale  [JOINT_0]INPUT_SCALE
+net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
+net motor.00.pos-fb => joint.0.motor-pos-fb #push copy back to Axis GUI
+
+# set PID loop gains from inifile
+setp pid.0.Pgain [JOINT_0]P
+setp pid.0.Igain [JOINT_0]I
+setp pid.0.Dgain [JOINT_0]D
+setp pid.0.bias [JOINT_0]BIAS
+setp pid.0.FF0 [JOINT_0]FF0
+setp pid.0.FF1 [JOINT_0]FF1
+setp pid.0.FF2 [JOINT_0]FF2
+setp pid.0.deadband [JOINT_0]DEADBAND
+setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
+
+# position command signals
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type 1 #pwm on pin1, dir on pin2
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale  [JOINT_0]OUTPUT_SCALE
+
+net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command
+net motor.00.command  pid.0.output  =>  hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
+
+
+# ################
+# Y [1] Axis
+# ################
+
+# axis enable chain
+newsig emcmot.01.enable bit
+sets emcmot.01.enable FALSE
+net emcmot.01.enable => pid.1.enable
+net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.enable
+net emcmot.01.enable <= joint.1.amp-enable-out 
+
+# encoder feedback
+setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1
+setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0
+
+setp  hm2_[HOSTMOT2](BOARD).0.encoder.01.scale  [JOINT_1]INPUT_SCALE
+net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
+net motor.01.pos-fb => joint.1.motor-pos-fb #push copy back to Axis GUI
+
+# set PID loop gains from inifile
+setp pid.1.Pgain [JOINT_1]P
+setp pid.1.Igain [JOINT_1]I
+setp pid.1.Dgain [JOINT_1]D
+setp pid.1.bias [JOINT_1]BIAS
+setp pid.1.FF0 [JOINT_1]FF0
+setp pid.1.FF1 [JOINT_1]FF1
+setp pid.1.FF2 [JOINT_1]FF2
+setp pid.1.deadband [JOINT_1]DEADBAND
+setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
+
+# position command signals
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.output-type 1 #pwm on pin1, dir on pin2
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.scale [JOINT_1]OUTPUT_SCALE
+
+net emcmot.01.pos-cmd joint.1.motor-pos-cmd => pid.1.command
+net motor.01.command  pid.1.output  =>  hm2_[HOSTMOT2](BOARD).0.pwmgen.01.value
+
+
+# ################
+# Z [2] Axis
+# ################
+
+# axis enable chain
+newsig emcmot.02.enable bit
+sets emcmot.02.enable FALSE
+net emcmot.02.enable => pid.2.enable
+net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
+net emcmot.02.enable <= joint.2.amp-enable-out 
+
+# encoder feedback
+setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 1
+setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
+setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0
+
+setp  hm2_[HOSTMOT2](BOARD).0.encoder.02.scale  [JOINT_2]INPUT_SCALE
+net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
+net motor.02.pos-fb => joint.2.motor-pos-fb #push copy back to Axis GUI
+
+# set PID loop gains from inifile
+setp pid.2.Pgain [JOINT_2]P
+setp pid.2.Igain [JOINT_2]I
+setp pid.2.Dgain [JOINT_2]D
+setp pid.2.bias [JOINT_2]BIAS
+setp pid.2.FF0 [JOINT_2]FF0
+setp pid.2.FF1 [JOINT_2]FF1
+setp pid.2.FF2 [JOINT_2]FF2
+setp pid.2.deadband [JOINT_2]DEADBAND
+setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
+
+# position command signals
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [JOINT_2]OUTPUT_SCALE
+
+net emcmot.02.pos-cmd joint.2.motor-pos-cmd => pid.2.command
+net motor.02.command  pid.2.output  =>  hm2_[HOSTMOT2](BOARD).0.pwmgen.02.value
+
+
+# ##################################################
+# Standard I/O Block - EStop, Etc
+# ##################################################
+
+# create a signal for the estop loopback
+net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
+
+
+#
+# homing
+#
+
+#
+# In this example, each of the three axes have their own home switch.  All
+# home switches are connected to GPIO 25, though hostmot2 boards generally
+# have enough GPIO pins to put each axis' home switch on its own pin.
+#
+# Each switch is normally open, momentarily closed.  When the switch is open,
+# GPIO 25 floats high (because that is the hostmot2 way).  When the switch is
+# closed, it shorts GPIO 25 to ground.
+#
+# EMC expects the value on the .home-sw-in HAL pin to be active high, ie
+# True when the switch is closed and False when the switch is open.
+# We get this behavior by linking the GPIO .in_not pin instead of the .in
+# pin.
+#
+
+net home-switch <= hm2_[HOSTMOT2](BOARD).0.gpio.025.in_not
+net home-switch => joint.0.home-sw-in
+net home-switch => joint.1.home-sw-in
+net home-switch => joint.2.home-sw-in
+
+# only the Y servo has an index, X and Z home without using the index
+net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> joint.1.index-enable
+

configs/by_interface/mesa/hm2-servo/tool.tbl

@@ -0,0 +1,4 @@
+T1 P1 D0.125000 Z+0.511000 ;1/8 end mill
+T2 P2 D0.062500 Z+0.100000 ;1/16 end mill
+T3 P3 D0.201000 Z+1.273000 ;#7 tap drill
+T99999 P99999 Z+0.100000 ;big tool number