Import LinuxCNC source tree

configs/by_interface/mesa/hm2-servo/4i65.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=4i65
+CONFIG="firmware=hm2/4i65/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"