Import LinuxCNC source tree

configs/sim/axis/vismach/puma/puma560.ini

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+[APPLICATIONS]
+#APP = halshow --fformat %12.4f puma560.halshow
+
+[EMC]
+VERSION = 1.1
+MACHINE = puma560 (switchkins) (inch)
+#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[KINS]
+JOINTS= 6
+KINEMATICS= genserkins
+
+[HAL]
+HALUI   = halui
+HALCMD  = loadusr -W puma560gui
+HALFILE = LIB:basic_sim.tcl
+HALFILE = puma560_dh.hal
+HALCMD  = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
+POSTGUI_HALFILE = puma560_postgui.hal
+
+[RS274NGC]
+    USER_M_PATH = ./mcodes
+SUBROUTINE_PATH = ./remap_subs
+   HAL_PIN_VARS = 1
+          REMAP = M428  modalgroup=10  ngc=428remap
+          REMAP = M429  modalgroup=10  ngc=429remap
+          REMAP = M430  modalgroup=10  ngc=430remap
+RS274NGC_STARTUP_CODE = G20 G10L2P0 x19.2 y5.5 z9.4 a90 b0 c90 (debug, ini: startup offsets set)
+PARAMETER_FILE  = puma560.var
+
+[HALUI]
+# MDI-COMMANDS 00,01,02 (remapped) do not alter limits when switching:
+# M428:genserkins    (kinstype==0 startupDEFAULT)
+# M429:identity kins (kinstype==1)
+# M430:userk kins    (kinstype==2)
+MDI_COMMAND = M428
+MDI_COMMAND = M429
+MDI_COMMAND = M430
+# MDI-COMMANDS 03,04,05 ALTER limits when switching
+MDI_COMMAND = M128
+MDI_COMMAND = M129
+MDI_COMMAND = M130
+
+[DISPLAY]
+DISPLAY = axis
+CYCLE_TIME = 0.200
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 2.0
+PROGRAM_PREFIX = ../../nc_files/
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+PYVCP = puma560.xml
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.010
+
+[TRAJ]
+COORDINATES = X Y Z A B C
+LINEAR_UNITS = inch
+ANGULAR_UNITS = deg
+DEFAULT_LINEAR_VELOCITY = 1.0
+MAX_LINEAR_VELOCITY = 10.0
+DEFAULT_LINEAR_ACCELERATION = 10.0
+MAX_LINEAR_ACCELERATION = 20.0
+MAX_ANGULAR_VELOCITY = 100
+
+[EMCIO]
+TOOL_TABLE = puma.tbl
+
+[AXIS_X]
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -100
+MAX_LIMIT =  100
+
+[AXIS_Y]
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -100
+MAX_LIMIT =  100
+
+[AXIS_Z]
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -100
+MAX_LIMIT =  100
+
+[AXIS_A]
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -360.0
+MAX_LIMIT =  360.0
+
+[AXIS_B]
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -360.0
+MAX_LIMIT =  360.0
+
+[AXIS_C]
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -360.0
+MAX_LIMIT =  360.0
+
+[JOINT_0]
+TYPE = ANGULAR
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -180.0
+MAX_LIMIT = 180.0
+HOME_OFFSET = 0.0
+HOME = 0.000
+HOME_SEQUENCE = 0
+
+[JOINT_1]
+TYPE = ANGULAR
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -360.0
+MAX_LIMIT = 360.0
+HOME_OFFSET = 0.0
+HOME = 0.000
+HOME_SEQUENCE = 0
+
+[JOINT_2]
+TYPE = ANGULAR
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -215.0
+MAX_LIMIT = 35.0
+HOME_OFFSET = 0.0
+HOME = 0.000
+HOME_SEQUENCE = 0
+
+[JOINT_3]
+TYPE = ANGULAR
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -360.0
+MAX_LIMIT = 360.0
+HOME_OFFSET = 0.0
+HOME = 0.000
+HOME_SEQUENCE = 0
+
+[JOINT_4]
+TYPE = ANGULAR
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -360.0
+MAX_LIMIT = 360.0
+HOME_OFFSET = 0.0
+# avoid kinematisInverse fail:
+HOME = 0.1
+HOME_SEQUENCE = 0
+
+[JOINT_5]
+TYPE = ANGULAR
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = -360.0
+MAX_LIMIT = 360.0
+HOME_OFFSET = 0.0
+HOME = 0.000
+HOME_SEQUENCE = 0