Import LinuxCNC source tree

configs/sim/axis/vismach/scara/scara.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = SCARA (genserkins,switchkins)
+#+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+#DEBUG = 0
+
+[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 = scara.xml
+#EDITOR = geany
+
+[RS274NGC]
+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
+PARAMETER_FILE = scara.var
+# startup mm and offsets for axis.ngc demo file:
+RS274NGC_STARTUP_CODE = G21 G10L2P0 x432 y65 z416 (debug, ini: startup offsets)
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.010
+
+[KINS]
+JOINTS = 6
+# switchkins:
+#   kinstype==0 (default scarakins)
+#     j0,j1,j2,j3 -- implement scarakins for xyzc
+#     j4 == world->a (scaragui j4 is table tilt (y))
+#     j5 == world->b (scaragui j5 is table tilt (x))
+#   kinstype==1 (identity, assign per coordinates=xyzcab)
+#     letter x -- assigned to j0
+#     letter y -- assigned to j1
+#     letter z -- assigned to j2
+#     letter c -- assigned to j3
+#     letter a -- assigned to j4 (same as scarakins)
+#     letter b -- assigned to j5 (same as scarakins)
+#   kinstype==2 (userk, template is identity, user may specify)
+#
+# Note: coordinate= ordering for identity kins preserves ab relationships
+KINEMATICS = scarakins coordinates=xyzcab
+
+[HAL]
+HALUI   = halui
+HALFILE = LIB:basic_sim.tcl
+HALCMD  = loadusr -W scaragui
+HALCMD  = net :kinstype-select <= motion.analog-out-03 => motion.switchkins-type
+POSTGUI_HALFILE = scara_postgui.hal
+
+[HALUI]
+# M428:scara kins    (kinstype==0 startupDEFAULT)
+# M429:identity kins (kinstype==1)
+# M430:userk kins    (kinstype==2)
+MDI_COMMAND = M428
+MDI_COMMAND = M429
+MDI_COMMAND = M430
+
+[TRAJ]
+COORDINATES = XYZABC
+LINEAR_UNITS = mm
+DEFAULT_LINEAR_VELOCITY = 10.0
+MAX_LINEAR_VELOCITY = 600.0
+DEFAULT_LINEAR_ACCELERATION = 100.0
+MAX_LINEAR_ACCELERATION = 200.0
+ANGULAR_UNITS = degree
+DEFAULT_ANGULAR_VELOCITY = 10.0
+MAX_ANGULAR_VELOCITY = 600.0
+DEFAULT_ANGULAR_ACCELERATION = 100.0
+MAX_ANGULAR_ACCELERATION = 200.0
+
+[EMCIO]
+TOOL_TABLE = scara.tbl
+
+[AXIS_X]
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+[AXIS_Y]
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+[AXIS_Z]
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+[AXIS_C]
+MAX_VELOCITY = 60.0
+MAX_ACCELERATION = 400.0
+
+[JOINT_0]
+NAME = shoulder
+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_1]
+NAME = elbow
+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]
+NAME = z-slide
+TYPE = LINEAR
+MAX_VELOCITY = 30.0
+MAX_ACCELERATION = 200.0
+MIN_LIMIT = 25.0
+MAX_LIMIT = 300.0
+HOME_OFFSET = 25.0
+HOME = 25.000
+HOME_SEQUENCE = 0
+
+[JOINT_3]
+NAME = wrist
+TYPE = ANGULAR
+MAX_VELOCITY = 60.0
+MAX_ACCELERATION = 400.0
+MIN_LIMIT = -180.0
+MAX_LIMIT = 180.0
+HOME_OFFSET = 0.0
+HOME = 0.000
+HOME_SEQUENCE = 0
+
+[JOINT_4]
+NAME = table_rotate
+TYPE = ANGULAR
+MAX_VELOCITY = 60.0
+MAX_ACCELERATION = 400.0
+MIN_LIMIT = -180.0
+MAX_LIMIT =  180.0
+HOME_OFFSET = 0.0
+HOME = 0.000
+HOME_SEQUENCE = 0
+
+[JOINT_5]
+NAME = table_rotate
+TYPE = ANGULAR
+MAX_VELOCITY = 60.0
+MAX_ACCELERATION = 400.0
+MIN_LIMIT = -180.0
+MAX_LIMIT =  180.0
+HOME_OFFSET = 0.0
+HOME = 0.000
+HOME_SEQUENCE = 0