Import LinuxCNC source tree

configs/sim/tklinuxcnc/servo_sim.ini

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+[EMC]
+VERSION = 1.1
+MACHINE = LinuxCNC-HAL-SERVO-SIM
+# Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
+DEBUG = 0
+
+[DISPLAY]
+DISPLAY = tklinuxcnc
+CYCLE_TIME = 0.100
+HELP_FILE = tklinuxcnc.txt
+POSITION_OFFSET = RELATIVE
+POSITION_FEEDBACK = ACTUAL
+MAX_FEED_OVERRIDE = 1.2
+PROGRAM_PREFIX = ../../nc_files/
+INTRO_GRAPHIC = linuxcnc.gif
+INTRO_TIME = 5
+
+[RS274NGC]
+PARAMETER_FILE = sim.var
+
+[EMCMOT]
+EMCMOT = motmod
+COMM_TIMEOUT = 1.0
+BASE_PERIOD = 50000
+SERVO_PERIOD = 1000000
+
+[TASK]
+TASK = milltask
+CYCLE_TIME = 0.010
+
+[HAL]
+HALFILE = servo_sim.hal
+
+[TRAJ]
+COORDINATES = X Y Z
+LINEAR_UNITS = inch
+ANGULAR_UNITS = degree
+DEFAULT_LINEAR_VELOCITY = 0.167
+MAX_LINEAR_VELOCITY = 1.5
+DEFAULT_LINEAR_ACCELERATION = 20.0
+MAX_LINEAR_ACCELERATION = 20.0
+
+[EMCIO]
+TOOL_TABLE = sim.tbl
+
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.67
+MAX_ACCELERATION = 20.0
+
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 1.67
+MAX_ACCELERATION = 20.0
+
+[AXIS_Z]
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+MAX_VELOCITY = 1.67
+MAX_ACCELERATION = 20.0
+
+# our simulated "joints" consist of motors with 100 PPR
+# (400 count per rev) encoders, coupled to 5 TPI screws
+# thru a 3:1 belt reduction.
+# So the scaling is 400 CPR * 3 * 5 = 6000 counts/inch
+# Since we are using software encoder counters with a
+# base period of 50uS (20KHz) the maximum count rate is
+# 10KHz, which works out to 1.667 inches per second.
+
+[JOINT_0]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 1.67
+MAX_ACCELERATION = 20.0
+COMP_FILE = screwcompX.dat
+COMP_FILE_TYPE = 0
+MOTOR_PPR = 100
+DRIVE_RATIO = 15
+INPUT_SCALE = 6000
+OUTPUT_SCALE = 1.000
+# extra limit related info for simulation
+# the HARD_LIMIT variables determine when the simulated
+# hardware limit switches trip and release
+MIN_HARD_LIMIT_RELEASE = -10.5
+MIN_HARD_LIMIT = -10.2
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_HARD_LIMIT = 10.2
+MAX_HARD_LIMIT_RELEASE = 10.5
+# the HOME_SW variables determine when the simulated
+# home switch trips and releases
+HOME_SW_MIN = 9.5
+HOME_SW_MAX = 9.8
+HOME_OFFSET = 10.0
+HOME_SEARCH_VEL = 1.0
+HOME_LATCH_VEL = 0.5
+# PID tuning params
+DEADBAND = 0.0001
+PGAIN = 1500.0
+IGAIN = 8000.0
+DGAIN = 4.0
+FF0 = 0.000
+FF1 = 1.000
+FF2 = 0.000
+BIAS = 0.000
+
+[JOINT_1]
+TYPE = LINEAR
+HOME = 0.000
+MAX_VELOCITY = 1.67
+MAX_ACCELERATION = 20.0
+MOTOR_PPR = 100
+DRIVE_RATIO = 15
+INPUT_SCALE = 6000
+OUTPUT_SCALE = 1.000
+MIN_HARD_LIMIT_RELEASE = -10.5
+MIN_HARD_LIMIT = -10.2
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_HARD_LIMIT = 10.2
+MAX_HARD_LIMIT_RELEASE = 10.5
+HOME_SW_MIN = 9.5
+HOME_SW_MAX = 9.8
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+# PID tuning params
+DEADBAND = 0.0001
+PGAIN = 1500.0
+IGAIN = 8000.0
+DGAIN = 4.0
+FF0 = 0.000
+FF1 = 1.000
+FF2 = 0.000
+BIAS = 0.000
+
+[JOINT_2]
+TYPE = LINEAR
+HOME = 0.0
+MAX_VELOCITY = 1.67
+MAX_ACCELERATION = 20.0
+MOTOR_PPR = 100
+DRIVE_RATIO = 15
+INPUT_SCALE = 6000
+OUTPUT_SCALE = 1.000
+MIN_HARD_LIMIT_RELEASE = -2.5
+MIN_HARD_LIMIT = -2.2
+MIN_LIMIT = -2.0
+MAX_LIMIT = 4.0
+MAX_HARD_LIMIT = 4.2
+MAX_HARD_LIMIT_RELEASE = 4.5
+HOME_SW_MIN = 0.0
+HOME_SW_MAX = 0.1
+HOME_OFFSET = 0.0
+HOME_SEARCH_VEL = 0.0
+HOME_LATCH_VEL = 0.0
+# PID tuning params
+DEADBAND = 0.0001
+PGAIN = 1500.0
+IGAIN = 8000.0
+DGAIN = 4.0
+FF0 = 0.000
+FF1 = 1.000
+FF2 = 0.000
+BIAS = 0.000