Import LinuxCNC source tree

configs/by_interface/vitalsystems/motenc.ini

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+# EMC controller parameters for generic controller. Make these what you need
+# for your system.
+# General note: Comments can either be preceded with a # or ; - either is
+# acceptable, although # is in keeping with most linux config files.
+# General section -------------------------------------------------------------
+
+[EMC]
+# Version of this INI file
+VERSION = 1.1
+# Name of machine, for use with display, etc.
+MACHINE =               LinuxCNC-MOTENC
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG =                0x00000003
+#DEBUG =                0x00000007
+DEBUG = 0
+# Sections for display options ------------------------------------------------
+
+[DISPLAY]
+# Name of display program, e.g., tklinuxcnc
+DISPLAY =               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
+# Task controller section -----------------------------------------------------
+
+[FILTER]
+#No Content
+
+[RS274NGC]
+# File containing interpreter variables
+PARAMETER_FILE =        motenc.var
+# Motion control section ------------------------------------------------------
+
+[EMCMOT]
+EMCMOT =                motmod
+# Timeout for comm to emcmot, in seconds
+COMM_TIMEOUT =          1.0
+# Servo task period, in nanoseconds
+SERVO_PERIOD =          1000000
+# Hardware Abstraction Layer section --------------------------------------------------
+
+[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
+# Part program interpreter section --------------------------------------------
+
+[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 =               core_servo.hal
+HALFILE =               motenc_motion.hal
+HALFILE =               motenc_io.hal
+# list of halcmd commands to execute
+# commands are executed in the order in which they appear
+#HALCMD =               save neta
+# Trajectory planner section --------------------------------------------------
+
+[HALUI]
+#No Content
+
+[TRAJ]
+# COORDINATES =         X Y Z R P W
+COORDINATES =           X Y Z
+HOME =                  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
+# Axes sections ---------------------------------------------------------------
+# First axis
+
+[EMCIO]
+# tool table file
+TOOL_TABLE =            motenc.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -32.0
+MAX_LIMIT = 0.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_0]
+TYPE =                  LINEAR
+HOME =                  0.000
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          10.000
+OUTPUT_OFFSET =         0.0
+MIN_LIMIT =             -32.0
+MAX_LIMIT =             0.0
+FERROR =                1.000
+MIN_FERROR =            0.002
+HOME_OFFSET =           0.10
+HOME_SEARCH_VEL =       0.10
+HOME_LATCH_VEL =        -0.01
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+MAX_OUTPUT =            1.0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   0.000
+FF2 =				0.0
+BIAS =                  0.000
+# Second axis
+
+[AXIS_Y]
+MIN_LIMIT = -14.0
+MAX_LIMIT = 0.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_1]
+TYPE =                  LINEAR
+HOME =                  0.000
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+INPUT_SCALE =           -81920
+OUTPUT_SCALE =          10.000
+OUTPUT_OFFSET =         0.0
+MIN_LIMIT =             -14.0
+MAX_LIMIT =             0.0
+FERROR =                0.020
+MIN_FERROR =            0.001
+HOME_OFFSET =           0.10
+HOME_SEARCH_VEL =       0.10
+HOME_LATCH_VEL =        -0.01
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+MAX_OUTPUT =            1.0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   0.000
+FF2 =				0.0
+BIAS =                  0.000
+# Third axis
+
+[AXIS_Z]
+MIN_LIMIT = -6.0
+MAX_LIMIT = 0.0
+MAX_VELOCITY = 1.0
+MAX_ACCELERATION = 4.0
+
+[JOINT_2]
+TYPE =                  LINEAR
+HOME =                  0.0
+MAX_VELOCITY =          1.0
+MAX_ACCELERATION =      4.0
+BACKLASH =              0.000
+INPUT_SCALE =           81920
+OUTPUT_SCALE =          10.000
+OUTPUT_OFFSET =         0.0
+MIN_LIMIT =             -6.0
+MAX_LIMIT =             0.0
+FERROR =                0.020
+MIN_FERROR =            0.001
+HOME_OFFSET =           0.10
+HOME_SEARCH_VEL =       0.10
+HOME_LATCH_VEL =        -0.01
+HOME_USE_INDEX =        YES
+HOME_IGNORE_LIMITS =    YES
+MAX_OUTPUT =            1.0
+# PID tuning params
+DEADBAND =              0.000015
+P =                     100.0
+I =                     0.000
+D =                     0.000
+FF0 =                   0.000
+FF1 =                   0.000
+FF2 =				0.0
+BIAS =                  0.000
+# section for main IO controller parameters -----------------------------------