Revert "kmod+rtai: don't unload rtai modules after initial load"

This reverts commit dc52ac2227.

.gitattributes

@@ -1,2 +1,3 @@
 *.po merge=pofile
 *.pot merge=pofile
+.github/ export-ignore

.github/workflows/ci.yml

@@ -0,0 +1,219 @@
+# vim: sw=2
+
+name: Build CI
+
+on:
+  push:
+  pull_request:
+  release:
+    types: [published]
+  check_suite:
+    types: [rerequested]
+
+jobs:
+
+  rip-and-test:
+    runs-on: ubuntu-20.04
+    steps:
+    - name: Dump GitHub context
+      env:
+        GITHUB_CONTEXT: ${{ toJson(github) }}
+      run: echo "$GITHUB_CONTEXT"
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+        fetch-depth: 0
+    - run: git fetch --recurse-submodules=no https://github.com/linuxcnc/linuxcnc refs/tags/*:refs/tags/*
+    - name: Build RIP & test
+      run: |
+        ./scripts/travis-install-build-deps.sh
+        sudo apt-get install -y eatmydata
+        curl -O https://snapshot.debian.org/archive/debian/20220716T154603Z/pool/main/p/po4a/po4a_0.67-2_all.deb
+        sudo apt install ./po4a_0.67-2_all.deb
+        cd src
+        eatmydata ./autogen.sh
+        eatmydata ./configure --with-realtime=uspace --disable-check-runtime-deps
+        eatmydata make -O -j$((1+$(nproc))) default pycheck V=1
+        # Note that the package build covers html docs
+        ../scripts/rip-environment runtests -p
+
+  htmldocs:
+    runs-on: ubuntu-20.04
+    steps:
+    - name: Dump GitHub context
+      env:
+        GITHUB_CONTEXT: ${{ toJson(github) }}
+      run: echo "$GITHUB_CONTEXT"
+    - uses: actions/checkout@v2
+      with:
+        submodules: true
+        fetch-depth: 0
+    - run: git fetch --recurse-submodules=no https://github.com/linuxcnc/linuxcnc refs/tags/*:refs/tags/*
+    - name: Build HTML docmentation
+      run: |
+        ./scripts/travis-install-build-deps.sh
+        sudo apt-get install -y eatmydata
+        curl -O https://snapshot.debian.org/archive/debian/20220716T154603Z/pool/main/p/po4a/po4a_0.67-2_all.deb
+        sudo apt install ./po4a_0.67-2_all.deb
+        cd src
+        eatmydata ./autogen.sh
+        eatmydata ./configure --with-realtime=uspace --disable-check-runtime-deps --enable-build-documentation=html
+        eatmydata make -O -j$((1+$(nproc))) manpages
+        eatmydata make -O -j$((1+$(nproc))) translateddocs
+        eatmydata make -O -j$((1+$(nproc))) docs
+        # Note that the package build covers html docs
+
+  package-arch:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        image: ["debian:buster", "debian:bullseye", "debian:bookworm", "debian:sid"]
+    container:
+      image: ${{ matrix.image }}
+      # IPC_OWNER is needed for shmget IPC_CREAT
+      # SYS_ADMIN is needed for shmctl IPC_SET
+      options: --cpus=2 --cap-add=IPC_OWNER --cap-add=SYS_ADMIN
+    steps:
+    - name: Dump GitHub context
+      env:
+        GITHUB_CONTEXT: ${{ toJson(github) }}
+      run: echo "$GITHUB_CONTEXT"
+    - name: Install pre-dependencies
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        set -e
+        set -x
+        apt-get --quiet update
+        # Install stuff needed to check out the linuxcnc repo and turn it into a debian source package.
+        apt-get --yes --quiet install --no-install-suggests git lsb-release python3 devscripts
+
+    - uses: actions/checkout@v3
+      with:
+        # "fetch-depth: 0" fetches all of history, this is needed by
+        # our build system to determine the version from tags
+        fetch-depth: 0
+
+    - name: Add linuxcnc.org deb archive
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        case "${{matrix.image}}" in
+            debian:sid|debian:bookworm)
+                exit 0
+                ;;
+            *)
+                ;;
+        esac
+        set -e
+        set -x
+        apt-get --yes --quiet install --no-install-recommends gpg software-properties-common
+        gpg --homedir="${PWD}/gnupg" --output /etc/apt/trusted.gpg.d/linuxcnc-deb-archive.gpg --export 3CB9FD148F374FEF
+        DIST=$(echo ${{matrix.image}} | cut -d : -f 2)
+        add-apt-repository "deb http://linuxcnc.org $DIST base"
+        apt-get --quiet update
+
+    - name: Build architecture-specific Debian packages
+      env:
+        DEBEMAIL: emc-developers@lists.sourceforge.net
+        DEBFULLNAME: LinuxCNC Github CI Robot
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        set -e
+        set -x
+        git config --global --add safe.directory "${PWD}"
+        debian/configure
+        debian/update-dch-from-git
+        scripts/get-version-from-git | sed -re 's/^v(.*)$/\1/' >| VERSION; cat VERSION
+        git diff
+        apt-get --yes --quiet build-dep --arch-only .
+        apt-get --yes --quiet install eatmydata
+        eatmydata debuild -us -uc --build=any
+    - name: Test debian packages
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        set -e
+        set -x
+        apt-get --yes --quiet install ../*.deb
+        apt-get --yes --quiet install sudo # some tests run sudo...
+        adduser --disabled-password --gecos "" testrunner
+        passwd -d testrunner
+        adduser testrunner sudo
+        chmod 0777 $(find tests/ -type d) # make test dirs world-writable for the testrunner
+        su -c "./scripts/runtests -p ./tests" testrunner
+
+  package-indep:
+    runs-on: ubuntu-latest
+    strategy:
+      matrix:
+        image: ["debian:buster", "debian:bullseye", "debian:bookworm", "debian:sid"]
+    container:
+      image: ${{ matrix.image }}
+      # IPC_OWNER is needed for shmget IPC_CREAT
+      # SYS_ADMIN is needed for shmctl IPC_SET
+      options: --cpus=2 --cap-add=IPC_OWNER --cap-add=SYS_ADMIN
+    steps:
+    - name: Dump GitHub context
+      env:
+        GITHUB_CONTEXT: ${{ toJson(github) }}
+      run: echo "$GITHUB_CONTEXT"
+
+    - name: Install pre-dependencies
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        set -e
+        set -x
+        apt-get --quiet update
+        # Install stuff needed to check out the linuxcnc repo and turn it into a debian source package.
+        apt-get --yes --quiet install --no-install-suggests git lsb-release python3 devscripts
+
+    - uses: actions/checkout@v3
+      with:
+        # "fetch-depth: 0" fetches all of history, this is needed by
+        # our build system to determine the version from tags
+        fetch-depth: 0
+
+    - name: Add linuxcnc.org deb archive
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        case "${{matrix.image}}" in
+            debian:sid|debian:bookworm)
+                exit 0
+                ;;
+            *)
+                ;;
+        esac
+        set -e
+        set -x
+        apt-get --yes --quiet install gpg software-properties-common
+        gpg --homedir="${PWD}/gnupg" --output /etc/apt/trusted.gpg.d/linuxcnc-deb-archive.gpg --export 3CB9FD148F374FEF
+        DIST=$(echo ${{matrix.image}} | cut -d : -f 2)
+        add-apt-repository "deb http://linuxcnc.org $DIST base"
+        apt-get --quiet update
+
+    - name: Build architecture-independent Debian packages
+      env:
+        DEBEMAIL: emc-developers@lists.sourceforge.net
+        DEBFULLNAME: LinuxCNC Github CI Robot
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        set -e
+        set -x
+        git config --global --add safe.directory "${PWD}"
+        debian/configure
+        debian/update-dch-from-git
+        scripts/get-version-from-git | sed -re 's/^v(.*)$/\1/' >| VERSION; cat VERSION
+        git diff
+        apt-get --yes --quiet build-dep --indep-only .
+        apt-get --yes --quiet install eatmydata
+        eatmydata debuild -us -uc --build=all
+    - name: Test install debian packages
+      env:
+        DEBIAN_FRONTEND: noninteractive
+      run: |
+        set -e
+        set -x
+        apt-get --yes --quiet install ../*.deb

.gitignore

@@ -13,24 +13,25 @@ build-stamp
 .tmp*
 # Ignore generated html files, 
 /docs/src/*/*.html
-# Except Gcode quick-ref cards (en,de,sp,fr) which are maintained by hand
-!docs/html/gcode*.html
-# Ignore all LyX files, we're done with them now. 
-*.lyx
+docs/src/hal/components_gen.adoc
+# docs/html/.gitignore is for the html directory
 debian/*.debhelper.log
 rtlib/Module.symvers
 share/*/*.desktop
 share/menus/CNC.menu
-share/desktop-directories/cnc.directory
+share/desktop-directories/linuxcnc-cnc.directory
+share/desktop-directories/linuxcnc-ref.directory
+share/desktop-directories/linuxcnc-doc.directory
 src/modules.order
-docs/html/drivers
 /configs/*/emc.nml
 !/configs/common/emc.nml
 /docs/src/source-highlight/local
 lib/python/gremlin.py
+lib/python/qt5_graphics.py
 lib/python/touchy
 configs/sim/gmoccapy/*.pref
 configs/sim/gmoccapy/gmoccapy_plasma/*.pref
+configs/sim/gmoccapy/gmoccapy-JA/*.pref
 # Miscellaneous generated files (Rob)
 cscope
 cscope.*
@@ -38,5 +39,23 @@ cscope.*
 oprofile*
 *.log
 position.txt
-*.9
+# *.9
 *.glade.h
+# Ignore test results
+*.result
+# Ignore temp files
+*.swp
+# Ignore po4a temp files
+*.failed.po
+*-new_??.po
+# Ignore stamp files
+*.*-stamp
+# Ignore VSCode settings
+.vscode/settings.json
+# Ignore po4a-generated files for other languages
+docs/help/es/*
+docs/help/fr/*
+docs/help/hu/*
+docs/help/nb/*
+docs/help/vi/*
+docs/help/zh_CN/*

.travis.yml

@@ -1,6 +0,0 @@
-sudo: required
-language: c++
-before_install: ./scripts/travis-install-build-deps.sh
-script: ./scripts/travis-build-test.sh
-notifications:
-    email: false

COPYING

@@ -1,30 +1,12 @@
-****************************************************************
+                    GNU GENERAL PUBLIC LICENSE
+                       Version 2, June 1991
 
-Notice:  Most of LinuxCNC is covered by the GNU General Public 
-License.  Some portions are covered by the GNU Lesser 
-General Public License (mostly interface definitions).
-Both licenses are included in their entirety below.
-
-Much of LinuxCNC is derived from the Enhanced Machine Controller, a
-work of Fred Proctor, Tom Kramer, Will Shackleford, and others.
-That work was originally released into the public domain.  It was
-used as the basis of LinuxCNC, but received extensive modifications.
-LinuxCNC is NOT public domain.  Anyone wishing to use the public
-domain code in a way that is not compatible with the (L)GPL must
-locate the original the Enhanced Machine Controller code - they may
-NOT use LinuxCNC.
-    
-******************************************************************
-    
-		    GNU GENERAL PUBLIC LICENSE
-		       Version 2, June 1991
-
- Copyright (C) 1989, 1991 Free Software Foundation, Inc.
-     59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
  Everyone is permitted to copy and distribute verbatim copies
  of this license document, but changing it is not allowed.
 
-			    Preamble
+                            Preamble
 
   The licenses for most software are designed to take away your
 freedom to share and change it.  By contrast, the GNU General Public
@@ -33,7 +15,7 @@ software--to make sure the software is free for all its users.  This
 General Public License applies to most of the Free Software
 Foundation's software and to any other program whose authors commit to
 using it.  (Some other Free Software Foundation software is covered by
-the GNU Library General Public License instead.)  You can apply it to
+the GNU Lesser General Public License instead.)  You can apply it to
 your programs, too.
 
   When we speak of free software, we are referring to freedom, not
@@ -73,8 +55,8 @@ patent must be licensed for everyone's free use or not licensed at all.
 
   The precise terms and conditions for copying, distribution and
 modification follow.
-
-		    GNU GENERAL PUBLIC LICENSE
+
+                    GNU GENERAL PUBLIC LICENSE
    TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
 
   0. This License applies to any program or other work which contains
@@ -128,7 +110,7 @@ above, provided that you also meet all of these conditions:
     License.  (Exception: if the Program itself is interactive but
     does not normally print such an announcement, your work based on
     the Program is not required to print an announcement.)
-
+
 These requirements apply to the modified work as a whole.  If
 identifiable sections of that work are not derived from the Program,
 and can be reasonably considered independent and separate works in
@@ -186,7 +168,7 @@ access to copy from a designated place, then offering equivalent
 access to copy the source code from the same place counts as
 distribution of the source code, even though third parties are not
 compelled to copy the source along with the object code.
-
+
   4. You may not copy, modify, sublicense, or distribute the Program
 except as expressly provided under this License.  Any attempt
 otherwise to copy, modify, sublicense or distribute the Program is
@@ -243,7 +225,7 @@ impose that choice.
 
 This section is intended to make thoroughly clear what is believed to
 be a consequence of the rest of this License.
-
+
   8. If the distribution and/or use of the Program is restricted in
 certain countries either by patents or by copyrighted interfaces, the
 original copyright holder who places the Program under this License
@@ -273,7 +255,7 @@ make exceptions for this.  Our decision will be guided by the two goals
 of preserving the free status of all derivatives of our free software and
 of promoting the sharing and reuse of software generally.
 
-			    NO WARRANTY
+                            NO WARRANTY
 
   11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
 FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW.  EXCEPT WHEN
@@ -295,9 +277,9 @@ YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
 PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
 POSSIBILITY OF SUCH DAMAGES.
 
-		     END OF TERMS AND CONDITIONS
-
-	    How to Apply These Terms to Your New Programs
+                     END OF TERMS AND CONDITIONS
+
+            How to Apply These Terms to Your New Programs
 
   If you develop a new program, and you want it to be of the greatest
 possible use to the public, the best way to achieve this is to make it
@@ -321,17 +303,16 @@ the "copyright" line and a pointer to where the full notice is found.
     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
     GNU General Public License for more details.
 
-    You should have received a copy of the GNU General Public License
-    along with this program; if not, write to the Free Software
-    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
-
+    You should have received a copy of the GNU General Public License along
+    with this program; if not, write to the Free Software Foundation, Inc.,
+    51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 
 Also add information on how to contact you by electronic and paper mail.
 
 If the program is interactive, make it output a short notice like this
 when it starts in an interactive mode:
 
-    Gnomovision version 69, Copyright (C) year  name of author
+    Gnomovision version 69, Copyright (C) year name of author
     Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
     This is free software, and you are welcome to redistribute it
     under certain conditions; type `show c' for details.
@@ -354,437 +335,5 @@ necessary.  Here is a sample; alter the names:
 This General Public License does not permit incorporating your program into
 proprietary programs.  If your program is a subroutine library, you may
 consider it more useful to permit linking proprietary applications with the
-library.  If this is what you want to do, use the GNU Library General
+library.  If this is what you want to do, use the GNU Lesser General
 Public License instead of this License.
-
-******************************************************************************
-
-GNU LESSER GENERAL PUBLIC LICENSE
-
-Version 2.1, February 1999 
-
-Copyright (C) 1991, 1999 Free Software Foundation, Inc.
-51 Franklin St, Fifth Floor, Boston, MA  02110-1301  USA
-Everyone is permitted to copy and distribute verbatim copies
-of this license document, but changing it is not allowed.
-
-[This is the first released version of the Lesser GPL.  It also counts
- as the successor of the GNU Library Public License, version 2, hence
- the version number 2.1.]
-
-Preamble
-
-The licenses for most software are designed to take away your freedom to
-share and change it. By contrast, the GNU General Public Licenses are 
-intended to guarantee your freedom to share and change free software--to 
-make sure the software is free for all its users. 
-
-This license, the Lesser General Public License, applies to some specially
-designated software packages--typically libraries--of the Free Software 
-Foundation and other authors who decide to use it. You can use it too, but
-we suggest you first think carefully about whether this license or the 
-ordinary General Public License is the better strategy to use in any 
-particular case, based on the explanations below. 
-
-When we speak of free software, we are referring to freedom of use, not 
-price. Our General Public Licenses are designed to make sure that you 
-have the freedom to distribute copies of free software (and charge for 
-this service if you wish); that you receive source code or can get it 
-if you want it; that you can change the software and use pieces of it 
-in new free programs; and that you are informed that you can do these
-things. 
-
-To protect your rights, we need to make restrictions that forbid 
-distributors to deny you these rights or to ask you to surrender these 
-rights. These restrictions translate to certain responsibilities for 
-you if you distribute copies of the library or if you modify it. 
-
-For example, if you distribute copies of the library, whether gratis or
-for a fee, you must give the recipients all the rights that we gave you.
-You must make sure that they, too, receive or can get the source code. 
-If you link other code with the library, you must provide complete object
-files to the recipients, so that they can relink them with the library 
-after making changes to the library and recompiling it. And you must show
-them these terms so they know their rights. 
-
-We protect your rights with a two-step method: (1) we copyright the 
-library, and (2) we offer you this license, which gives you legal 
-permission to copy, distribute and/or modify the library. 
-
-To protect each distributor, we want to make it very clear that there is
-no warranty for the free library. Also, if the library is modified by 
-someone else and passed on, the recipients should know that what they 
-have is not the original version, so that the original author's reputation
-will not be affected by problems that might be introduced by others. 
-
-Finally, software patents pose a constant threat to the existence of any
-free program. We wish to make sure that a company cannot effectively 
-restrict the users of a free program by obtaining a restrictive license
-from a patent holder. Therefore, we insist that any patent license 
-obtained for a version of the library must be consistent with the full
-freedom of use specified in this license. 
-
-Most GNU software, including some libraries, is covered by the ordinary
-GNU General Public License. This license, the GNU Lesser General Public
-License, applies to certain designated libraries, and is quite different
-from the ordinary General Public License. We use this license for certain
-libraries in order to permit linking those libraries into non-free programs. 
-
-When a program is linked with a library, whether statically or using a 
-shared library, the combination of the two is legally speaking a combined
-work, a derivative of the original library. The ordinary General Public 
-License therefore permits such linking only if the entire combination fits
-its criteria of freedom. The Lesser General Public License permits more lax
-criteria for linking other code with the library. 
-
-We call this license the "Lesser" General Public License because it does 
-Less to protect the user's freedom than the ordinary General Public License.
-It also provides other free software developers Less of an advantage over 
-competing non-free programs. These disadvantages are the reason we use the 
-ordinary General Public License for many libraries. However, the Lesser 
-license provides advantages in certain special circumstances. 
-
-For example, on rare occasions, there may be a special need to encourage 
-the widest possible use of a certain library, so that it becomes a de-facto
-standard. To achieve this, non-free programs must be allowed to use the 
-library. A more frequent case is that a free library does the same job as
-widely used non-free libraries. In this case, there is little to gain by 
-limiting the free library to free software only, so we use the Lesser 
-General Public License. 
-
-In other cases, permission to use a particular library in non-free programs
-enables a greater number of people to use a large body of free software. 
-For example, permission to use the GNU C Library in non-free programs 
-enables many more people to use the whole GNU operating system, as well 
-as its variant, the GNU/Linux operating system. 
-
-Although the Lesser General Public License is Less protective of the users'
-freedom, it does ensure that the user of a program that is linked with the 
-Library has the freedom and the wherewithal to run that program using a 
-modified version of the Library. 
-
-The precise terms and conditions for copying, distribution and modification
-follow. Pay close attention to the difference between a "work based on the 
-library" and a "work that uses the library". The former contains code derived
-from the library, whereas the latter must be combined with the library in 
-order to run. 
-
-TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
-
-0. This License Agreement applies to any software library or other program
-which contains a notice placed by the copyright holder or other authorized
-party saying it may be distributed under the terms of this Lesser General 
-Public License (also called "this License"). Each licensee is addressed as
-"you". 
-
-A "library" means a collection of software functions and/or data prepared
-so as to be conveniently linked with application programs (which use some
-of those functions and data) to form executables. 
-
-The "Library", below, refers to any such software library or work which 
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-
-"Source code" for a work means the preferred form of the work for making
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-
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-using the Library is not restricted, and output from such a program is 
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-(independent of the use of the Library in a tool for writing it). Whether
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-uses the Library does. 
-
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-source code as you receive it, in any medium, provided that you conspicuously
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-
-You may charge a fee for the physical act of transferring a copy, and 
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-that you changed the files and the date of any change. 
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-
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-this License. 
-
-3. You may opt to apply the terms of the ordinary GNU General Public License
-instead of this License to a given copy of the Library. To do this, you must
-alter all the notices that refer to this License, so that they refer to the 
-ordinary GNU General Public License, version 2, instead of to this License. 
-(If a newer version than version 2 of the ordinary GNU General Public License
-has appeared, then you can specify that version instead if you wish.) Do not
-make any other change in these notices. 
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-END OF TERMS AND CONDITIONS
-
- 

COPYING.more

@@ -0,0 +1,790 @@
+****************************************************************
+
+Notice:  Most of LinuxCNC is covered by the GNU General Public 
+License.  Some portions are covered by the GNU Lesser 
+General Public License (mostly interface definitions).
+Both licenses are included in their entirety below.
+
+Much of LinuxCNC is derived from the Enhanced Machine Controller, a
+work of Fred Proctor, Tom Kramer, Will Shackleford, and others.
+That work was originally released into the public domain.  It was
+used as the basis of LinuxCNC, but received extensive modifications.
+LinuxCNC is NOT public domain.  Anyone wishing to use the public
+domain code in a way that is not compatible with the (L)GPL must
+locate the original the Enhanced Machine Controller code - they may
+NOT use LinuxCNC.
+    
+******************************************************************
+    
+		    GNU GENERAL PUBLIC LICENSE
+		       Version 2, June 1991
+
+ Copyright (C) 1989, 1991 Free Software Foundation, Inc.,
+ 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+			    Preamble
+
+  The licenses for most software are designed to take away your
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+License is intended to guarantee your freedom to share and change free
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+Foundation's software and to any other program whose authors commit to
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+  When we speak of free software, we are referring to freedom, not
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+
+		    GNU GENERAL PUBLIC LICENSE
+   TERMS AND CONDITIONS FOR COPYING, DISTRIBUTION AND MODIFICATION
+
+  0. This License applies to any program or other work which contains
+a notice placed by the copyright holder saying it may be distributed
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+
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+
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+
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+infringement or for any other reason (not limited to patent issues),
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+to distribute software through any other system and a licensee cannot
+impose that choice.
+
+This section is intended to make thoroughly clear what is believed to
+be a consequence of the rest of this License.
+
+  8. If the distribution and/or use of the Program is restricted in
+certain countries either by patents or by copyrighted interfaces, the
+original copyright holder who places the Program under this License
+may add an explicit geographical distribution limitation excluding
+those countries, so that distribution is permitted only in or among
+countries not thus excluded.  In such case, this License incorporates
+the limitation as if written in the body of this License.
+
+  9. The Free Software Foundation may publish revised and/or new versions
+of the General Public License from time to time.  Such new versions will
+be similar in spirit to the present version, but may differ in detail to
+address new problems or concerns.
+
+Each version is given a distinguishing version number.  If the Program
+specifies a version number of this License which applies to it and "any
+later version", you have the option of following the terms and conditions
+either of that version or of any later version published by the Free
+Software Foundation.  If the Program does not specify a version number of
+this License, you may choose any version ever published by the Free Software
+Foundation.
+
+  10. If you wish to incorporate parts of the Program into other free
+programs whose distribution conditions are different, write to the author
+to ask for permission.  For software which is copyrighted by the Free
+Software Foundation, write to the Free Software Foundation; we sometimes
+make exceptions for this.  Our decision will be guided by the two goals
+of preserving the free status of all derivatives of our free software and
+of promoting the sharing and reuse of software generally.
+
+			    NO WARRANTY
+
+  11. BECAUSE THE PROGRAM IS LICENSED FREE OF CHARGE, THERE IS NO WARRANTY
+FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW.  EXCEPT WHEN
+OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES
+PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED
+OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
+MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.  THE ENTIRE RISK AS
+TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU.  SHOULD THE
+PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING,
+REPAIR OR CORRECTION.
+
+  12. IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
+WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MAY MODIFY AND/OR
+REDISTRIBUTE THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES,
+INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING
+OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED
+TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY
+YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER
+PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE
+POSSIBILITY OF SUCH DAMAGES.
+
+		     END OF TERMS AND CONDITIONS
+
+	    How to Apply These Terms to Your New Programs
+
+  If you develop a new program, and you want it to be of the greatest
+possible use to the public, the best way to achieve this is to make it
+free software which everyone can redistribute and change under these terms.
+
+  To do so, attach the following notices to the program.  It is safest
+to attach them to the start of each source file to most effectively
+convey the exclusion of warranty; and each file should have at least
+the "copyright" line and a pointer to where the full notice is found.
+
+    <one line to give the program's name and a brief idea of what it does.>
+    Copyright (C) <year>  <name of author>
+
+    This program is free software; you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation; either version 2 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program; if not, write to the Free Software
+    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
+
+
+Also add information on how to contact you by electronic and paper mail.
+
+If the program is interactive, make it output a short notice like this
+when it starts in an interactive mode:
+
+    Gnomovision version 69, Copyright (C) year  name of author
+    Gnomovision comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
+    This is free software, and you are welcome to redistribute it
+    under certain conditions; type `show c' for details.
+
+The hypothetical commands `show w' and `show c' should show the appropriate
+parts of the General Public License.  Of course, the commands you use may
+be called something other than `show w' and `show c'; they could even be
+mouse-clicks or menu items--whatever suits your program.
+
+You should also get your employer (if you work as a programmer) or your
+school, if any, to sign a "copyright disclaimer" for the program, if
+necessary.  Here is a sample; alter the names:
+
+  Yoyodyne, Inc., hereby disclaims all copyright interest in the program
+  `Gnomovision' (which makes passes at compilers) written by James Hacker.
+
+  <signature of Ty Coon>, 1 April 1989
+  Ty Coon, President of Vice
+
+This General Public License does not permit incorporating your program into
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+
+END OF TERMS AND CONDITIONS
+
+ 

ISSUE_TEMPLATE.md

@@ -0,0 +1,33 @@
+# The issue tracker is not a support forum
+
+The LinuxCNC issue tracker is to report bugs in the software.
+If you have a question about how to use the software, use one of the other methods detailed on our community support page: http://linuxcnc.org/community/
+
+(delete this section before submitting your bug report)
+
+## Here are the steps I follow to reproduce the issue:
+
+ 1.
+ 2.
+ 3.
+
+## This is what I expected to happen:
+
+## This is what happened instead:
+
+## It worked properly before this:
+(If the behavior changed after making a particular change in hardware or
+software, describe the change you think is responsible.  E.g., "after upgrading
+from LinuxCNC 2.7.3 to 2.7.4")
+
+## Information about my hardware and software:
+
+ * I am using this Linux distribution and version (often, shown by `lsb_release -a`):
+ * I am using this kernel version (shown by `uname -a`):
+ * I am running ...
+   * [ ] A binary version from linuxcnc.org (including buildbot.linuxcnc.org)
+   * [ ] A binary I built myself
+   * [ ] A binary version from some other source besides linuxcnc.org
+ * I am using this LinuxCNC version (shown in package manager or, for git versions, `scripts/get-version-from-git`):
+ * I am using this user interface (GUI) (e.g., AXIS, Touchy, gmoccapy, etc):
+ * I am using this interface hardware vendor and chipset (e.g., parallel port, ethernet port, FPGA card): 

README

@@ -1,48 +0,0 @@
-DISCLAIMER
-----------
-
-    THE AUTHORS OF THIS SOFTWARE ACCEPT ABSOLUTELY NO LIABILITY FOR
-    ANY HARM OR LOSS RESULTING FROM ITS USE.  IT IS _EXTREMELY_ UNWISE
-    TO RELY ON SOFTWARE ALONE FOR SAFETY.  Any machinery capable of
-    harming persons must have provisions for completely removing power
-    from all motors, etc, before persons enter any danger area.  All
-    machinery must be designed to comply with local and national safety
-    codes, and the authors of this software can not, and do not, take
-    any responsibility for such compliance.
-
-
-This software is released under the GPLv2, with some parts under the LGPL.
-See the file COPYING for more details.
-
-
-The Build Process
------------------
-
-Refer to the file 'docs/INSTALL' for information about building and 
-running the software.
-    
-
-Quickstart
-----------
-
-From the top level directory, switch to the source directory:
-
-  cd src
-
-In the source directory, build LinuxCNC:
-
-  [for rtai]
-  ./autogen.sh
-  ./configure
-  [or, for PREEMPT-rt or vanilla kernels:]
-  ./autogen.sh
-  ./configure --with-realtime=uspace
-
-  make clean
-  make
-  sudo make setuid
-
-to run the software go back to the top level directory, and issue:
-
-  . scripts/rip-environment
-  linuxcnc

README.md

@@ -0,0 +1,87 @@
+
+[![Badge GPL2]][License]
+[![Badge LGPL]][License]
+
+<div align = center>
+
+<br>
+  
+# LinuxCNC
+  
+*Controlling CNC Machines*
+
+<br>
+  
+[![Badge Translation]][Translation]
+  
+<br>
+  
+---
+
+[<kbd> <br> Ｗｅｂｓｉｔｅ <br> </kbd>][Website] 
+[<kbd> <br> Ｉｎｓｔａｌｌ <br> </kbd>][Ｉｎｓｔａｌｌ] 
+[<kbd> <br> Ｂｕｉｌｄ <br> </kbd>][Ｂｕｉｌｄ] 
+[<kbd> <br> Ｄｏｃｕｍｅｎｔａｔｉｏｎ <br> </kbd>][Ｄｏｃｕｍｅｎｔａｔｉｏｎ]  
+  
+---
+
+<br>
+  
+It can drive milling machines, lathes, 3D printers, laser <br>
+cutters, plasma cutters, robot arms, hexapods, and more.
+
+LinuxCNC was initiated 25 years ago and evolved into a very <br>
+international project with contributions from all over the globe.
+  
+With release 2.9 of LinuxCNC we also transitioned the <br>
+documentation to the use of the public crowd translation <br>
+services [Weblate] and invite all our users to contribute.
+  
+The translations we expect to help attract practitioners <br>
+to the project and also helps educating enthusiasts of <br>
+all age groups on automated machining.
+
+<br>
+
+## DISCLAIMER
+  
+<br>
+
+```
+  
+Ｔｈｅ ａｕｔｈｏｒｓ ｏｆ ｔｈｉｓ ｓｏｆｔｗａｒｅ ａｃｃｅｐｔ
+ａｂｓｏｌｕｔｅｌｙ ｎｏ ｌｉａｂｉｌｉｔｙ ｆｏｒ ａｎｙ
+ｈａｒｍ　ｏｒ ｌｏｓｓ ｒｅｓｕｌｔｉｎｇ ｆｒｏｍ ｉｔｓ ｕｓｅ．
+
+Ｉｔ ｉｓ ＥＸＴＲＥＭＥＬＹ ｕｎｗｉｓｅ ｔｏ　ｒｅｌｙ
+ｏｎ ｓｏｆｔｗａｒｅ ａｌｏｎｅ ｆｏｒ ｓａｆｅｔｙ．
+
+Any machinery capable of harming persons must have
+provisions for completely removing power from all
+motors, etc, before persons enter any danger area.
+
+All machinery must be designed to comply with local 
+and national safety codes, and the authors of this 
+software cannot and do not, take any responsibility 
+for such compliance.
+  
+```
+
+<br>
+  
+</div>
+
+<!----------------------------------------------------------------------------->
+
+[Badge Translation]: https://hosted.weblate.org/widgets/linuxcnc/-/svg-badge.svg
+[Badge GPL2]: https://img.shields.io/badge/Most-LGPL_3-blue.svg?style=for-the-badge 'The license this software is under'
+[Badge LGPL]: https://img.shields.io/badge/Some-GPL_2-blue.svg?style=for-the-badge 'Some parts are under this license'
+
+[Translation]: https://hosted.weblate.org/engage/linuxcnc/
+[Weblate]: https://hosted.weblate.org/projects/linuxcnc/
+[Website]: https://linuxcnc.org/
+
+[Ｄｏｃｕｍｅｎｔａｔｉｏｎ]: http://linuxcnc.org/docs/stable/html/
+[Ｉｎｓｔａｌｌ]: http://linuxcnc.org/docs/stable/html/getting-started/getting-linuxcnc.html
+[Ｂｕｉｌｄ]: http://linuxcnc.org/docs/stable/html/code/building-linuxcnc.html
+[License]: COPYING

README_es.md

@@ -0,0 +1,25 @@
+# LinuxCNC
+
+LinuxCNC controla máquinas CNC. Puede manejar fresadoras, tornos, impresoras 3D, cortadores láser, cortadores de plasma, brazos de robot, hexápodos y otras. http://linuxcnc.org/
+
+# DESCARGO DE RESPONSABILIDAD
+
+** LOS AUTORES DE ESTE SOFTWARE NO ACEPTAN ABSOLUTAMENTE NINGUNA RESPONSABILIDAD POR NINGÚN DAÑO O PÉRDIDA RESULTANTE DE SU USO. **
+
+** ES _EXTREMADAMENTE_ IMPRUDENTE CONFIAR LA SEGURIDAD SOLO AL SOFTWARE. **
+
+** Cualquier maquinaria capaz de dañar a las personas debe tener prevista la desconexion completa de energía de todos los motores, etc., antes de que las personas entren en cualquier área peligrosa.
+
+** Toda la maquinaria debe estar diseñada para cumplir con las normas y códigos de seguridad locales y nacionales, y los autores de este software no pueden, y no lo hacen, asumir cualquier responsabilidad derivada de dicho cumplimiento. **
+
+
+Este software se lanza bajo licencia GPLv2, con algunas partes bajo LGPL. Vea el archivo COPYING para más detalles.
+
+La traduccion al español de este software queda adherida a este descargo y a las licencias GPLv2 y partes LGPL.
+
+
+# El proceso de construcción
+
+Consulte el archivo 'docs/src/code/building-linuxcnc.txt' para obtener información sobre cómo construir y ejecutar el software, o vea:
+
+http://linuxcnc.org/docs/devel/html/code/building-linuxcnc.html

TODO

@@ -1,3 +1,10 @@
+TODO for the joints_axes branch
+
+* clean up joints/axes throughout the whole code (lots of parts already done)
+* define a unified jogging way (both for joints and axes)
+* implement joint-limits for cartesian moves (requires simulating the speed in userspace)
+* update configs
+(and many other probably..)
 
 TODO     sort out axis/joints issues: 
 	    * limits need to be imposed on joints (tricky with kins)

VERSION

@@ -1 +1,2 @@
-2.7.14
+2.9.0~pre0
+

app-defaults/XEmc

@@ -1,894 +0,0 @@
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-
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-
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-
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-
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-
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-
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-
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-
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-
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-
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-
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-<KeyRelease>F12: keyAction()
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-
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-<Message>WM_PROTOCOLS:helpAboutProtocols() \n\
-<Key>Return: helpAboutReturnAction() \n\
-<Key>Escape: keyAction() \n\
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-<KeyRelease>F11: keyAction() \n\
-<KeyPress>F12: keyAction() \n\
-<KeyRelease>F12: keyAction()
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-Public Domain (1999)\n\
-National Institute of\n\
-        Standards and Technology
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-
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-<Message>WM_PROTOCOLS:errorShellProtocols() \n\
-<Key>Return: errorReturnAction() \n\
-<Key>Escape: keyAction() \n\
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-<Key>F2: keyAction() \n\
-<Key>F3: keyAction() \n\
-<Key>F4: keyAction() \n\
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-<KeyPress>F12: keyAction() \n\
-<KeyRelease>F12: keyAction()
-*errorDialog*errorDone*label: OK
-
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-! *commandMenuForm.borderColor: red
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-
-! dynamically labeled labels need a width
-
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-! *modeMenu.width is made the same
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-! floodMenu.width is made the same
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-! *brakeMenu.width is made the total
-
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-! *abortCommand.width is calculated
-! *abortCommand.height is calculated
-
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-
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-! *toolNumberForm.borderColor: red
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-
-*toolNumberFormTitle.label: Tool:
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-*toolNumberFormTitle.foreground: white
-*toolNumberFormTitle.background: blue
-*toolNumberFormTitle.width: 80
-*toolNumberFormName.label: (none)
-*toolNumberFormName.justify: left
-*toolNumberFormName.foreground: white
-*toolNumberFormName.background: blue
-*toolNumberFormName.width: 100
-! *toolNumberFormName.borderColor: white
-
-*toolOffsetForm.background: blue
-! *toolOffsetForm.borderColor: red
-*toolOffsetForm.defaultDistance: 0
-*toolOffsetForm.translations:#augment\
-<Btn3Up>: toolSetOffsetUpAction()
-
-*toolOffsetFormTitle.label: Offset:
-*toolOffsetFormTitle.justify: left
-*toolOffsetFormTitle.foreground: white
-*toolOffsetFormTitle.background: blue
-*toolOffsetFormTitle.width: 80
-*toolOffsetFormName.label: (none)
-*toolOffsetFormName.justify: left
-*toolOffsetFormName.foreground: white
-*toolOffsetFormName.background: blue
-*toolOffsetFormName.width: 100
-! *toolOffsetFormName.borderColor: white
-
-*toolSetOffsetShell*title: Set Tool Offset
-*toolSetOffsetToolLabel*label: Tool:
-*toolSetOffsetLengthLabel*label: Length:
-*toolSetOffsetDiameterLabel*label: Diameter:
-*toolSetOffsetDone*label: Done
-*toolSetOffsetCancel*label: Cancel
-*toolSetOffsetShell*translations:#override\
-<Message>WM_PROTOCOLS:toolSetOffsetShellProtocols() \n\
-<Key>Return: toolSetOffsetReturnAction() \n\
-<Key>Tab: toolSetOffsetTabAction() \n\
-<Key>Escape: keyAction() \n\
-<Key>F1: keyAction() \n\
-<Key>F2: keyAction() \n\
-<Key>F3: keyAction() \n\
-<Key>F4: keyAction() \n\
-<Key>F5: keyAction() \n\
-<Key>F6: keyAction() \n\
-<Key>F7: keyAction() \n\
-<Key>F8: keyAction() \n\
-<Key>F9: keyAction() \n\
-<Key>F10: keyAction() \n\
-<KeyPress>F11: keyAction() \n\
-<KeyRelease>F11: keyAction() \n\
-<KeyPress>F12: keyAction() \n\
-<KeyRelease>F12: keyAction()
-
-*positionTypeForm.background: blue
-! *positionTypeForm.borderColor: red
-*positionTypeForm.defaultDistance: 0
-
-*positionTypeFormTitle.label: Position:
-*positionTypeFormTitle.justify: left
-*positionTypeFormTitle.foreground: white
-*positionTypeFormTitle.background: blue
-*positionTypeFormTitle.width: 130
-*positionTypeFormName.label: (none)
-*positionTypeFormName.justify: left
-*positionTypeFormName.foreground: white
-*positionTypeFormName.background: blue
-*positionTypeFormName.width: 280
-! *positionTypeFormName.borderColor: white
-
-*workOffsetForm.background: blue
-! *workOffsetForm.borderColor: red
-*workOffsetForm.defaultDistance: 0
-
-*workOffsetFormTitle.label: Work Offsets:
-*workOffsetFormTitle.justify: left
-*workOffsetFormTitle.foreground: white
-*workOffsetFormTitle.background: blue
-*workOffsetFormTitle.width: 130
-*workOffsetFormName.label: (none)
-*workOffsetFormName.justify: left
-*workOffsetFormName.foreground: white
-*workOffsetFormName.background: blue
-*workOffsetFormName.width: 270
-! *workOffsetFormName.borderColor: white
-
-*posLabel0.width: 600
-*posLabel0.font: -adobe-courier-bold-r-normal--64-*-*-*-*-*-*-1
-! *posLabel0.foreground: white
-*posLabel0.background: blue
-*posLabel0.borderColor: white
-
-! *posLabel1.width same as for X
-! *posLabel1.font same as for X
-! *posLabel1.foreground: white
-*posLabel1.background: blue
-*posLabel1.borderColor: white
-
-! *posLabel2.width same as for X
-! *posLabel2.font: same as for X
-! *posLabel2.foreground: white
-*posLabel2.background: blue
-*posLabel2.borderColor: white
-
-*posOffsetShell*title: Axis Offset
-*posOffsetShell*translations:#override\
-<Message>WM_PROTOCOLS:posOffsetShellProtocols() \n\
-<Key>Return: posOffsetReturnAction()
-*posOffsetDialog*label: Enter new axis value:
-
-*jogIncrementForm.background: blue
-*jogSpeedForm.background: blue
-! *jogSpeedForm.borderColor: red
-*jogSpeedForm.defaultDistance: 0
-
-*jogSpeedTitleLabel.label: Axis Speed
-*jogSpeedTitleLabel.foreground: white
-*jogSpeedTitleLabel.background: blue
-*jogSpeedDecLabel.label: <
-*jogSpeedLabel.width: 40
-*jogSpeedLabel.justify: center
-*jogSpeedIncLabel.label: >
-
-*jogSpeedShell*title: Jog Speed
-*jogSpeedShell*translations:#override\
-<Message>WM_PROTOCOLS:jogSpeedShellProtocols() \n\
-<Key>Return: jogSpeedReturnAction()
-*jogSpeedDialog*label: Enter jog speed:
-
-*jogIncrementForm.background: blue
-! *jogIncrementForm.borderColor: red
-*jogIncrementForm.defaultDistance: 0
-
-*jogIncrementTitleLabel.label: Increment
-*jogIncrementTitleLabel.foreground: white
-*jogIncrementTitleLabel.background: blue
-
-*jogIncrementMenu.width: 100
-
-*jogForm.background: blue
-! *jogForm.borderColor: red
-*jogForm.defaultDistance: 0
-
-*jogTitleLabel.label: Axis Motion
-*jogTitleLabel.foreground: white
-*jogTitleLabel.background: blue
-*jogMinusLabel.label: -
-*homeCommand.label: home
-*jogPlusLabel.label: +
-
-*feedOverrideForm.background: blue
-! *feedOverrideForm.borderColor: red
-*feedOverrideForm.defaultDistance: 0
-
-*feedOverrideTitleLabel.label: Feed Override
-*feedOverrideTitleLabel.foreground: white
-*feedOverrideTitleLabel.background: blue
-*feedOverrideLabel.width: 40
-*feedOverrideLabel.justify: center
-*feedOverrideDecLabel.label: <
-*feedOverrideIncLabel.label: >
-
-*feedOverrideShell*title: Feed Override
-*feedOverrideShell*translations:#override\
-<Message>WM_PROTOCOLS:feedOverrideShellProtocols() \n\
-<Key>Return: feedOverrideReturnAction()
-*feedOverrideDialog*label: Enter feed %:
-
-*loggingStatusForm.background: blue
-! *loggingStatusForm.borderColor: red
-*loggingStatusForm.defaultDistance: 0
-
-*loggingStatusTitleLabel.label: Logging
-*loggingStatusTitleLabel.foreground: white
-*loggingStatusTitleLabel.background: blue
-*loggingStatusOpenLabel.width: 60
-*loggingStatusOpenLabel.justify: center
-*loggingStatusStartedLabel.width: 80
-*loggingStatusStartedLabel.justify: center
-*loggingStatusPointsLabel.width: 40
-*loggingStatusPointsLabel.justify: center
-
-*spindleIncLabel.translations:#augment\
-<Btn1Down>: downAction() \n\
-<Btn1Up>: upAction()
-
-*spindleDecLabel.translations:#augment\
-<Btn1Down>: downAction() \n\
-<Btn1Up>: upAction()
-
-*posLabel0.translations:#augment\
-<Btn1Down>: downAction() \n\
-<Btn1Up>: upAction() \n\
-<Btn3Up>: posOffsetUpAction() \n\
-
-*posLabel1.translations:#augment\
-<Btn1Down>: downAction() \n\
-<Btn1Up>: upAction() \n\
-<Btn3Up>: posOffsetUpAction()
-
-*posLabel2.translations:#augment\
-<Btn1Down>: downAction() \n\
-<Btn1Up>: upAction() \n\
-<Btn3Up>: posOffsetUpAction()
-
-*jogSpeedLabel.translations:#augment\
-<Btn1Down>: downAction()
-
-*jogSpeedIncLabel.translations:#augment\
-<Btn1Down>: downAction() \n\
-<Btn1Up>: upAction()
-
-*jogSpeedDecLabel.translations:#augment\
-<Btn1Down>: downAction() \n\
-<Btn1Up>: upAction()
-
-*jogMinusLabel.translations:#augment\
-<Btn1Down>: downAction() \n\
-<Btn1Up>: upAction()
-
-*jogPlusLabel.translations:#augment\
-<Btn1Down>: downAction() \n\
-<Btn1Up>: upAction()
-
-*feedOverrideLabel.translations:#augment\
-<Btn1Down>: downAction()
-
-*feedOverrideIncLabel.translations:#augment\
-<Btn1Down>: downAction() \n\
-<Btn1Up>: upAction()
-
-*feedOverrideDecLabel.translations:#augment\
-<Btn1Down>: downAction() \n\
-<Btn1Up>: upAction()
-
-*mdiForm.background: blue
-! *mdiForm.borderColor: red
-*mdiForm.defaultDistance: 0
-
-*mdiFormTitle.label: MDI:
-! *mdiFormTitle.foreground: blue
-*mdiFormTitle.background: white
-
-! *mdiFormText*font: fixed
-*mdiFormText*borderColor: white
-*mdiFormText*foreground: white
-*mdiFormText*background: blue
-! *mdiFormText.height: 20
-*mdiFormText.width: 400
-*mdiFormText*translations:#override\
-<Key>Return: mdiReturnAction() select-all() delete-selection() \n\
-<Key>Escape: keyAction() \n\
-<Key>End: keyAction() \n\
-<Key>F1: keyAction() \n\
-<Key>F2: keyAction() \n\
-<Key>F3: keyAction() \n\
-<Key>F4: keyAction() \n\
-<Key>F5: keyAction() \n\
-<Key>F6: keyAction() \n\
-<Key>F7: keyAction() \n\
-<Key>F8: keyAction() \n\
-<Key>F9: keyAction() \n\
-<Key>F10: keyAction() \n\
-<KeyPress>F11: keyAction() \n\
-<KeyRelease>F11: keyAction() \n\
-<KeyPress>F12: keyAction() \n\
-<KeyRelease>F12: keyAction() \n\
-<KeyPress>F11: keyAction() \n\
-<KeyRelease>F11: keyAction() \n\
-<KeyPress>F12: keyAction() \n\
-<KeyRelease>F12: keyAction()
-
-*mdiCodesLabel*justify: left
-*mdiCodesLabel*foreground: white
-*mdiCodesLabel*background: blue
-*mdiCodesLabel.width: 600
-
-*programForm.background: blue
-! *programForm.borderColor: red
-*programForm.defaultDistance: 0
-
-*programFormTitle.label: Program:
-! *programFormTitle.foreground: blue
-*programFormTitle.background: white
-
-*programFormName.label: (none)
-*programFormName.justify: left
-*programFormName.foreground: white
-*programFormName.background: blue
-*programFormName.width: 300
-
-*programFormStateTitle.label: Status:
-! *programFormStateTitle.foreground: blue
-*programFormStateTitle.background: white
-
-*programFormState.label: (none)
-*programFormState.justify: left
-*programFormState.foreground: white
-*programFormState.background: blue
-*programFormState.width: 100
-
-*programOpenCommand.label: Open...
-*programRunCommand.label: Run
-*programPauseCommand.label: Pause
-*programResumeCommand.label: Resume
-*programStepCommand.label: Step
-*programVerifyCommand.label: Verify
-
-*programText*font: fixed
-*programText*borderColor: white
-*programText*foreground: white
-*programText*background: blue
-*programText.height: 100
-*programText.width: 600
-*programText*translations: #override\
-<Key>Escape: keyAction() \n\
-<Key>F1: keyAction() \n\
-<Key>F2: keyAction() \n\
-<Key>F3: keyAction() \n\
-<Key>F4: keyAction() \n\
-<Key>F5: keyAction() \n\
-<Key>F6: keyAction() \n\
-<Key>F7: keyAction() \n\
-<Key>F8: keyAction() \n\
-<Key>F9: keyAction() \n\
-<Key>F10: keyAction() \n\
-<KeyPress>F11: keyAction() \n\
-<KeyRelease>F11: keyAction() \n\
-<KeyPress>F12: keyAction() \n\
-<KeyRelease>F12: keyAction() \n\
-<KeyPress>Prior: keyAction() \n\
-<KeyRelease>Prior: keyAction() \n\
-<KeyPress>Next: keyAction() \n\
-<KeyRelease>Next: keyAction() \n\
-<KeyPress>Up: keyAction() \n\
-<KeyRelease>Up: keyAction() \n\
-<KeyPress>Down: keyAction() \n\
-<KeyRelease>Down: keyAction() \n\
-<KeyPress>Right: keyAction() \n\
-<KeyRelease>Right: keyAction() \n\
-<KeyPress>Left: keyAction() \n\
-<KeyRelease>Left: keyAction() \n\
-<Key>0: keyAction() \n\
-<Key>1: keyAction() \n\
-<Key>2: keyAction() \n\
-<Key>3: keyAction() \n\
-<Key>4: keyAction() \n\
-<Key>5: keyAction() \n\
-<Key>6: keyAction() \n\
-<Key>7: keyAction() \n\
-<Key>8: keyAction() \n\
-<Key>9: keyAction() \n\
-<Key>x: keyAction() \n\
-<Key>y: keyAction() \n\
-<Key>z: keyAction() \n\
-Alt<Key>t: keyAction() \n\
-Alt<Key>x: keyAction() \n\
-Alt<Key>y: keyAction() \n\
-Alt<Key>z: keyAction() \n\
-<Key>l: keyAction() \n\
-<Key>o: keyAction() \n\
-<Key>e: keyAction() \n\
-<Key>r: keyAction() \n\
-<Key>p: keyAction() \n\
-<Key>s: keyAction() \n\
-<Key>v: keyAction() \n\
-<Key>a: keyAction() \n\
-<Key>b: keyAction() \n\
-Shift<Key>B: keyAction() \n\
-<Key>i: keyAction() \n\
-<Key>c: keyAction() \n\
-<KeyPress>comma: keyAction() \n\
-<KeyRelease>comma: keyAction() \n\
-<KeyPress>period: keyAction() \n\
-<KeyRelease>period: keyAction() \n\
-<Key>Home: keyAction() \n\
-<Key>End: keyAction()

configs/.gitignore

@@ -11,3 +11,5 @@
 position*.txt
 !common/*.hal
 *.ini.expanded
+hallib
+*_cmds.hal

configs/apps/README_es

@@ -0,0 +1,11 @@
+info: crear archivo de información del sistema
+
+Directorios:
+
+gladevcp -- widgets de demostración
+halrun ---- inicia halrun en xterm
+latency --- aplicaciones para investigar latencia
+parport --- pruebas de puerto paralelo
+pyvcp ----- demostraciones
+xhc-hbo4 -- prueba de colgante inalámbrico usb
+

configs/apps/gladevcp/README.changes

@@ -26,7 +26,7 @@ For a named widget, use:
 To retrieve a list of all widgets in the UI file, use:
     wl = self.builder.get_objects()
 
-This works regardless wether the UI is in libglade or GtkBuilder format.
+This works regardless whether the UI is in libglade or GtkBuilder format.
 
 persistence.py
 ==============

configs/apps/gladevcp/README.changes_es

@@ -0,0 +1,63 @@
+Nota sobre los cambios API de los manejadores de clase y persistence.py:
+
+Handlers de clase:
+=====================
+
+El parámetro 'panel' se eliminó de get_handlers() ya que no es necesario.
+En consecuencia, el handler del método __init__() no recibe este
+parámetro:
+
+class HandlerClass:
+    ...
+    def __init__(self, halcomp,builder,useropts):
+        self.halcomp = halcomp
+        self.builder = builder
+
+def get_handlers(halcomp,builder,useropts):
+
+    return [HandlerClass(halcomp,builder,useropts)]
+
+Acceso a widgets en handlers de clases:
+==========================================
+
+Para un widget con nombre, use:
+    w = self.builder.get_object("widgetname")
+
+Para recuperar una lista de todos los widgets en el archivo UI, use:
+    wl = self.builder.get_objects()
+
+Esto funciona independientemente de si la interfaz de usuario está en formato libglade o GtkBuilder.
+
+persistence.py
+==============
+El manejo del parámetro builder se ha simplificado. Se elimina
+de los métodos save_state y restore_state, y se agrega en su lugar al método
+IniFile.__init__(). Por lo tanto, utilicelo de la siguiente manera:
+
+class HandlerClass:
+    ...
+
+    def on_destroy(self,obj,data=None):
+        # note: save_state(<object to fetch attributes from>) only:
+        self.ini.save_state(self)
+
+
+    def __init__(self, halcomp,builder,useropts):
+        self.halcomp = halcomp
+        self.builder = builder
+
+        self.ini_filename = __name__ + '.ini'
+        self.defaults = {  IniFile.vars: dict(),
+                           IniFile.widgets : widget_defaults(select_widgets(self.builder.get_objects(), hal_only=False,output_only = True))
+                        }
+        # notese parámetro extra self.builder
+        self.ini = IniFile(self.ini_filename, self.defaults, self.builder)
+        # nota: solo se pasa el objeto que obtiene el conjunto de atributos:
+        self.ini.restore_state(self)
+
+
+Todos los ejemplos y plantillas se han adaptado en consecuencia.
+
+
+Michael Haberler 19 de diciembre de 2010
+

configs/apps/gladevcp/README_es

@@ -0,0 +1,16 @@
+Aplicaciones demo gladevcp:
+
+Aplicaciones:
+  glade-manual
+  gladevcp-test
+
+Directorios:
+  animated-backdrop
+  by-widget
+  class-callback
+  colored-label
+  complex
+  helloWorld
+  mdi-command-examples
+  simple-callback
+  templates

configs/apps/gladevcp/animated-backdrop/README_es

@@ -0,0 +1,16 @@
+Este es un ejemplo de cómo configurar un fondo de mapa de bits para la ventana de
+nivel superior gladevcp, y posicionamiento absoluto de los widgets HAL en ella.
+
+Es posible que necesite 'apt-get install python-cairo'
+
+------------------------------------------
+Para ejecutar de forma independiente:
+
+gladevcp -u cairodraw.py cairodraw.ui
+
+
+-psha & mah
+
+
+
+

configs/apps/gladevcp/animated-backdrop/cairodraw.py

@@ -8,15 +8,15 @@ pngfile = 'vortex.me.png'
 class HandlerClass:
 
     def on_expose(self,widget,data=None):
-        print "on_expose"
+        print("on_expose")
         cr = widget.window.cairo_create()
-        
-        # Sets the operator to clear which deletes everything below 
+
+        # Sets the operator to clear which deletes everything below
         # where an object is drawn
         cr.set_operator(cairo.OPERATOR_CLEAR)
         # Makes the mask fill the entire window
         cr.rectangle(0.0, 0.0, *widget.get_size())
-        # Deletes everything in the window (since the compositing 
+        # Deletes everything in the window (since the compositing
         # operator is clear and mask fills the entire window
         cr.fill()
         # Set the compositing operator back to the default
@@ -26,8 +26,8 @@ class HandlerClass:
             x, y, w, h = widget.allocation
             cr.scale(1.0 *w / self.width, 1.0*h/self.height)
 
-	cr.set_source_surface(self.img, 0, 0)
-	cr.paint()
+        cr.set_source_surface(self.img, 0, 0)
+        cr.paint()
 
 
 
@@ -35,7 +35,7 @@ class HandlerClass:
 
         self.builder = builder
         win = self.builder.get_object("window1")
-        
+
         #win.set_decorated(False)
 
         self.img = cairo.ImageSurface.create_from_png(pngfile)
@@ -51,7 +51,7 @@ class HandlerClass:
         screen = win.get_screen()
         rgba = screen.get_rgba_colormap()
         win.set_colormap(rgba)
-        
+
         # scaling the bitmap is possible by turning this on
         # however the fixed widget does NOT do proportional scaling
         self.scale = 1

configs/apps/gladevcp/by-widget/README_es

@@ -0,0 +1,6 @@
+by-widget
+
+combobox
+radiobutton
+sourceview
+spinbutton

configs/apps/gladevcp/by-widget/combobox.py

@@ -6,9 +6,9 @@
     Michael Haberler 12/2010
 '''
 
-#import pygtk
-import gtk
-import gobject
+import gi
+gi.require_version('Gtk', '3.0')
+from gi.repository import Gtk
 
 debug = 0
 
@@ -16,12 +16,12 @@ debug = 0
 class HandlerClass:
 
     def on_destroy(self,obj,data=None):
-        print "on_destroy, combobox active=%d" %(self.combo.get_active())
+        print("on_destroy, combobox active=%d" %(self.combo.get_active()))
         self.halcomp.exit() # avoid lingering HAL component
-        gtk.main_quit()
+        Gtk.main_quit()
 
     def on_changed(self, combobox, data=None):
-        print "on_changed %f %d" % (combobox.hal_pin_f.get(),combobox.hal_pin_s.get())
+        print("on_changed %f %d" % (combobox.hal_pin_f.get(),combobox.hal_pin_s.get()))
 
     def __init__(self, halcomp,builder,useropts):
         self.halcomp = halcomp
@@ -34,7 +34,7 @@ def get_handlers(halcomp,builder,useropts):
 
     global debug
     for cmd in useropts:
-        exec cmd in globals()
+        exec(cmd, globals())
 
     return [HandlerClass(halcomp,builder,useropts)]
 

configs/apps/gladevcp/by-widget/combobox_es.txt

@@ -0,0 +1,17 @@
+ejemplos de combobox:
+
+combobox
+combobox_manual_list
+
+Vea esto para aprender acerca de Glade y ComboBox: http://www.youtube.com/watch?v=Z5_F-rW2cL8
+
+------------------------------------------
+Para ejecutar de forma independiente:
+$ gladevcp -u combobox.py combobox.ui
+
+combobox_manual_list.* son archivos de ejemplo para construir listas desplegables sobre la marcha.
+
+correr como:
+$ gladevcp -u combobox_manual_list.py combobox_manual_list.ui
+
+Michael Haberler 12/2010

configs/apps/gladevcp/by-widget/combobox_manual_list.py

@@ -6,9 +6,9 @@
     Michael Haberler 12/2010
 '''
 
-#import pygtk
-import gtk
-import gobject
+import gi
+from gi.repository import Gtk
+from gi.repository import GObject
 
 debug = 0
 
@@ -16,15 +16,15 @@ debug = 0
 class HandlerClass:
 
     def on_destroy(self,obj,data=None):
-        print "on_destroy"
+        print("on_destroy")
         self.halcomp.exit() # avoid lingering HAL component
-        gtk.main_quit()
+        Gtk.main_quit()
 
     def on_changed(self, combobox, data=None):
         model = combobox.get_model()
         index = combobox.get_active()
         if index:
-            print 'index of selected value',index
+            print('index of selected value',index)
         return
 
 
@@ -36,7 +36,7 @@ class HandlerClass:
         self.combo = self.builder.get_object('hal_combobox1')
 
 
-        self.list_store = gtk.ListStore(gobject.TYPE_FLOAT)
+        self.list_store = Gtk.ListStore(GObject.TYPE_FLOAT)
         self.list_store.append([3.14])
         self.list_store.append([2.71828])
         self.list_store.append([1.67])
@@ -44,7 +44,7 @@ class HandlerClass:
         self.list_store.append([42.0])
         self.combo.set_model(self.list_store)
         self.combo.set_active(0)
-        cell = gtk.CellRendererText()
+        cell = Gtk.CellRendererText()
         self.combo.pack_start(cell, True)
         self.combo.add_attribute(cell, "text", 0)
 
@@ -53,7 +53,7 @@ def get_handlers(halcomp,builder,useropts):
 
     global debug
     for cmd in useropts:
-        exec cmd in globals()
+        exec(cmd, globals())
 
     return [HandlerClass(halcomp,builder,useropts)]
 

configs/apps/gladevcp/by-widget/radio.py

@@ -5,9 +5,12 @@
     Michael Haberler 12/2010
 '''
 
-import pygtk
-import gtk
-import pango
+import gi
+gi.require_version('Gtk', '3.0')
+from gi.repository import Gtk
+from gi.repository import Gdk
+from gi.repository import GObject
+from gi.repository import Pango
 
 debug = 0
 
@@ -23,22 +26,22 @@ class HandlerClass:
 
         else:
             state = 'inactive'
-        print '   %s button toggled - now %s ' % ( widget.get_label(), state)
+        print('   %s button toggled - now %s ' % ( widget.get_label(), state))
 
     def on_red_rbtn_toggled(self, widget, data=None):
-        print 'on_red_rbtn_toggled'
+        print('on_red_rbtn_toggled')
         self.print_radiobutton_state(widget)
 
     def on_blue_rbtn_toggled(self, widget, data=None):
-        print 'on_blue_rbtn_toggled'
+        print('on_blue_rbtn_toggled')
         self.print_radiobutton_state(widget)
 
     def on_green_rbtn_toggled(self, widget, data=None):
-        print 'on_green_rbtn_toggled'
+        print('on_green_rbtn_toggled')
         self.print_radiobutton_state(widget)
 
     def on_yellow_rbtn_toggled(self, widget, data=None):
-        print 'on_yellow_rbtn_toggled'
+        print('on_yellow_rbtn_toggled')
         self.print_radiobutton_state(widget)
 
     def on_showoutput_btn_toggled(self, widget, data=None):
@@ -50,12 +53,12 @@ class HandlerClass:
     def set_color_label(self, color):
         self.color_lbl.set_label(color)
         mycolor = self.color_lookup[color.lower()]
-        self.color_lbl.modify_fg(gtk.STATE_NORMAL, mycolor)
+        self.color_lbl.modify_fg(Gtk.StateFlags.NORMAL, mycolor)
 
     def on_destroy(self,obj,data=None):
-        print "on_destroy"
+        print("on_destroy")
         self.halcomp.exit() # avoid lingering HAL component
-        gtk.main_quit()
+        Gtk.main_quit()
 
     def __init__(self, halcomp,builder,useropts):
         self.halcomp = halcomp
@@ -65,14 +68,14 @@ class HandlerClass:
         self.window = self.builder.get_object('window1')
         self.color_lbl = self.builder.get_object('color_lbl')
 
-        fontdesc = pango.FontDescription("Sans 20")
+        fontdesc = Pango.FontDescription("Sans 20")
         self.color_lbl.modify_font(fontdesc)
 
         self.color_lookup = {
-                                'red':       gtk.gdk.Color(red=65535),
-                                'blue':     gtk.gdk.Color(blue=65535),
-                                'green':    gtk.gdk.Color(green=65535),
-                                'yellow':    gtk.gdk.color_parse('yellow')
+                                'red':       Gdk.color_parse('red'),
+                                'blue':     Gdk.color_parse('blue'),
+                                'green':    Gdk.color_parse('green'),
+                                'yellow':    Gdk.color_parse('yellow')
                                 }
         self.on_showoutput_btn_toggled(self.builder.get_object('showoutput_btn'))
 
@@ -80,7 +83,7 @@ def get_handlers(halcomp,builder,useropts):
 
     global debug
     for cmd in useropts:
-        exec cmd in globals()
+        exec(cmd, globals())
 
     return [HandlerClass(halcomp,builder,useropts)]
 

configs/apps/gladevcp/by-widget/radiobutton_es.txt

@@ -0,0 +1,9 @@
+Ejemplo gladevcp radiobutton
+Tomado de http://old.nabble.com/glade-and-radio-buttons.-td28793060.html
+
+------------------------------------------
+Para correr independientemente:
+
+$ gladevcp -u radio.py radio.ui
+
+Michael Haberler 12/2010

configs/apps/gladevcp/by-widget/sourceview.py

@@ -16,24 +16,23 @@ class HandlerClass:
             self.mark.set_visible(True)
         else:
             self.textbuffer.move_mark(self.mark, line)
-        self.sourceview.scroll_to_mark(self.mark, 0, True, 0, 0.5)       
+        self.sourceview.scroll_to_mark(self.mark, 0, True, 0, 0.5)
 
     def file_set(self,widget,data=None):
         filename = widget.get_filename()
-        print "file_set",filename
+        print("file_set",filename)
         self.textbuffer.set_text(open(filename).read())
         self.line = 1
-        self._set_line(self.line)    
+        self._set_line(self.line)
 
     def on_down(self,widget,data=None):
         self.line += 1
         self._set_line(self.line)
 
-        
     def on_up(self,widget,data=None):
         self.line -= 1
         self._set_line(self.line)
-   
+
     def __init__(self, halcomp,builder,useropts):
         self.halcomp = halcomp
         self.builder = builder
@@ -50,7 +49,6 @@ class HandlerClass:
         self.sourceview.set_mark_category_background('highlight', gtk.gdk.Color('yellow'))
         self.mark = None
 
-        
 def get_handlers(halcomp,builder,useropts):
 
     return [HandlerClass(halcomp,builder,useropts)]

configs/apps/gladevcp/by-widget/sourceview_es.txt

@@ -0,0 +1,9 @@
+Ejemplo para usar el widget sourceview
+---------------------------------------
+
+Cargando un archivo, y resaltando una línea
+
+------------------------------------------
+Para ejecutar de forma independiente:
+
+$ gladevcp -u sourceview.py sourceview.ui

configs/apps/gladevcp/by-widget/spinbutton_es.txt

@@ -0,0 +1,7 @@
+ejemplo de botón spin
+
+------------------------------------------
+Para ejecutar de forma independiente:
+$ gladevcp -u spinbutton.py spinbutton.ui
+
+Michael Haberler 06/2012

configs/apps/gladevcp/class-callback/README_es

@@ -0,0 +1,19 @@
+ejemplo con métodos de clase callback
+-------------------------------------
+
+Se muestra cómo utilizar los métodos de clases como devoluciones de llamada.
+
+Nota:
+
+Hay dos definiciones de clase en este ejemplo. Ambas están instanciadas. OtherClass, alrededor de la línea 84 durante
+la importacion, y HandlerClass por la función get_handlers().
+
+HandlerClass.__init__() muestra cómo definir un pin hal que no está asociado a ningún widget HAL.
+
+Al pasar el builder se habilita la referencia a cualquier widget en el árbol (vea, por ejemplo, la línea 33).
+
+Además, se muestra una devolución de llamada de temporizador lento (1 segundo) que actualiza 'value' del pin HAL.
+Este pin esta vinculado al widget de barra horizontal hal_hbar a través de class_callback.hal.
+------------------------------------------
+Para ejecutar de forma independiente:
+$  gladevcp -u class_callback.py -H class_callback.hal class_callback.ui

configs/apps/gladevcp/class-callback/class_callback.py

@@ -1,7 +1,14 @@
 import hal
-import glib
 import time
 
+import gi
+gi.require_version('Gtk', '3.0')
+from gi.repository import Gtk
+from gi.repository import Gdk
+from gi.repository import GObject
+from gi.repository import Pango
+from gi.repository import GLib
+
 from inspect import stack
 
 class OtherClass:
@@ -66,7 +73,7 @@ class HandlerClass:
         # demonstrate a slow background timer - granularity is one second
         # for a faster timer, use this:
         # glib.timeout_add(5000,  self._on_timer_tick)
-        glib.timeout_add_seconds(1, self._on_timer_tick)
+        GLib.timeout_add_seconds(1, self._on_timer_tick)
 
 
 

configs/apps/gladevcp/colored-label/README

@@ -11,9 +11,9 @@ invisible - see the coloredlabel.ui file.
 To help with this, the colorize() method tries to detect this
 situation and give a warning if the widget is a GtkLabel and the
 parent widget is not an GtkEventBox. It can be used to set the colors
-of arbitray widgets, not just GtkLabel.
+of arbitrary widgets, not just GtkLabel.
 
-Also, this example shows how to set a custon text and color label
+Also, this example shows how to set a custom text and color label
 depending on the HAL pin's value.
 
 ------------------------------------------

configs/apps/gladevcp/colored-label/README_es

@@ -0,0 +1,22 @@
+Cómo colorear un widget HAL_Label dependiendo del valor del pin
+-------------------------------------------------- ------------
+
+Configurar el color de fondo de un widget GtkLabel (HAL_Label está
+derivado de GtkLabel) es un poco complicado. Por razones de rendimiento
+el widget GtkLabel no tiene objeto ventana propio, y solo los objetos ventana
+pueden tener color de fondo. La solución es encerrar Labl en un contenedor 
+EventBox, que tiene una ventana pero invisible - ver el archivo coloredlabel.ui.
+
+Para ayudar a esto, el método colorize() intenta detectar esta
+situación y da una advertencia si el widget es un GtkLabel y
+el widget principal no es un GtkEventBox. Se puede utilizar para configurar los colores
+de widgets arbitrarios, no solo de GtkLabel.
+
+Además, este ejemplo muestra cómo configurar un texto custom y una etiqueta de color
+dependiendo del valor del pin HAL.
+
+------------------------------------------
+Para ejecutar de forma independiente:
+
+$ gladevcp -u coloredlabel.py -H coloredlabel.hal coloredlabel.ui
+

configs/apps/gladevcp/colored-label/coloredlabel.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # vim: sts=4 sw=4 et
 #    This is a component of LinuxCNC
 #    complex.py Copyright 2011 Michael Haberler
@@ -16,20 +16,24 @@
 #
 #    You should have received a copy of the GNU General Public License
 #    along with this program; if not, write to the Free Software
-#    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA''''''
+#    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.''''''
 '''
     gladevcp colored label example
     Michael Haberler 2/2011
 '''
 import sys
 import hal
-import gtk
+
+import gi
+gi.require_version('Gtk', '3.0')
+from gi.repository import Gtk
+from gi.repository import Gdk
 
 global red,green,white
 
-red    = gtk.gdk.color_parse("red")
-green  = gtk.gdk.color_parse("green")
-yellow = gtk.gdk.color_parse("yellow")
+red    = Gdk.color_parse("red")
+green  = Gdk.color_parse("green")
+yellow = Gdk.color_parse("yellow")
 
 # data for a table-driven HAL Label
 table = { 0: ("No Fault", green),
@@ -46,12 +50,12 @@ class HandlerClass:
     
     def colorize(self, w, state, color):
         ''' helper method: try to do the right thing when setting the color of a widget.
-        The GtkLabel, and hence HAL_Label widget doesnt take a color, so
+        The GtkLabel, and hence HAL_Label widget doesn't take a color, so
         it needs an enclosing Eventbox which can be colorized.'''
-        if isinstance(w,gtk.Label):
+        if isinstance(w,Gtk.Label):
             parent = w.get_parent()
-            if not isinstance(parent,gtk.EventBox):
-                print >> sys.stderr,"warning: the %s Label widget is not enclosed in an EventBox" % w.get_name()
+            if not isinstance(parent,Gtk.EventBox):
+                print("warning: the %s Label widget is not enclosed in an EventBox" % w.get_name(), file=sys.stderr)
             parent.modify_bg(state, color)
         else:
             # non-label widgets can be directly colorized
@@ -67,13 +71,13 @@ class HandlerClass:
         '''
         
         value = hal_widget.hal_pin.get()
-        if not table.has_key(value):
+        if value not in table:
             text = default_text + str(value)
             color = default_color
         else:
             (text,color) = table[value]
         hal_widget.set_label(text)
-        self.colorize(hal_widget, gtk.STATE_NORMAL, color)
+        self.colorize(hal_widget, Gtk.StateFlags.NORMAL, color)
 
     def __init__(self, halcomp,builder,useropts):
 

configs/apps/gladevcp/complex/README_es

@@ -0,0 +1,17 @@
+Ejemplo complex con widget y persistencia variable.
+----------------------------------------------------
+
+Se demuestra el uso del soporte gladevcp.util para persistencia,
+y muestra cómo obtener una devolución de llamada cuando cambian los 
+pines hal o los widgets de entrada hal.
+
+hal_togglebutton1 está vinculado a hal_led1 a través de complex.hal
+
+------------------------------------------
+Para ejecutar de forma independiente:
+$ gladevcp -u complex.py -H complex.hal complex.ui
+
+o para obtener gran cantidad de resultados de depuración sobre
+que están haciendo gladevcp y complex.py:
+
+$ gladevcp -d -d -u complex.py -U debug=3 -H complex.hal complex.ui

configs/apps/gladevcp/complex/complex.hal

@@ -1,5 +1,5 @@
 
-# a HAL table must be explicitely enabled from 'outside'
+# a HAL table must be explicitly enabled from 'outside'
 # by setting its hal pin to 1
 # otherwise, all contained widgets are disabled ('greyed out')
 

configs/apps/gladevcp/complex/complex.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # vim: sts=4 sw=4 et
 #    This is a component of LinuxCNC
 #    complex.py Copyright 2010 Michael Haberler
@@ -16,7 +16,7 @@
 #
 #    You should have received a copy of the GNU General Public License
 #    along with this program; if not, write to the Free Software
-#    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA''''''
+#    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.''''''
 '''
     gladevcp complex demo example
     Michael Haberler 11/2010
@@ -28,7 +28,9 @@ from gladevcp.persistence import IniFile,widget_defaults,set_debug,select_widget
 import hal
 import hal_glib
 import gtk
-import glib
+
+import gi
+from gi.repository import GLib
 
 debug = 0
 
@@ -45,7 +47,7 @@ class HandlerClass:
             user data passed if any - this is currently unused but
             the convention should be retained just in case
         '''
-        print "on_button_press()"
+        print("on_button_press()")
         self.nhits += 1
         halwidget.set_label("hits: %d" % self.nhits)
 
@@ -54,7 +56,7 @@ class HandlerClass:
         '''
         standard button-pressed callback. Parameter is the widget object instance.
         '''
-        print "on_toggle_button() HAL pin value: %s" %(str(hal_button.hal_pin.get()))
+        print("on_toggle_button() HAL pin value: %s" %(str(hal_button.hal_pin.get())))
 
     def _on_example_trigger_change(self,hal_pin,data=None):
         '''
@@ -63,7 +65,7 @@ class HandlerClass:
         handler through gladevcp since the name begins with an underscore (_) .
         Parameter is the HAL pin instance.
         '''
-        print "_on_example_trigger_change() - HAL pin value: %s" % (hal_pin.get())
+        print("_on_example_trigger_change() - HAL pin value: %s" % (hal_pin.get()))
 
     def on_led_pin_changed(self,hal_led,data=None):
         '''
@@ -72,7 +74,7 @@ class HandlerClass:
         just reacting to the changed HAL pin.
         the on_led_pin_changed signal is set in the complex.ui hal_led1 signals section
         '''
-        print "on_led_pin_changed() - HAL pin value:",hal_led.hal_pin.get()
+        print("on_led_pin_changed() - HAL pin value:",hal_led.hal_pin.get())
 
     def _on_timer_tick(self,userdata=None):
         '''
@@ -87,7 +89,7 @@ class HandlerClass:
 
 
     def on_unix_signal(self,signum,stack_frame):
-        print "on_unix_signal(): signal %d received, saving state" % (signum)
+        print("on_unix_signal(): signal %d received, saving state" % (signum))
         self.ini.save_state(self)
         gtk.main_quit()
         self.halcomp.exit()
@@ -97,7 +99,7 @@ class HandlerClass:
         gladevcp_demo.ui has a destroy callback set in the window1 Gobject
         note the widget tree is not safely accessible here any more
         '''
-        print "on_destroy() - saving state)"
+        print("on_destroy() - saving state)")
         self.ini.save_state(self)
 
     def on_restore_defaults(self,button,data=None):
@@ -106,7 +108,7 @@ class HandlerClass:
         self.builder.get_object('hal_button1').set_label("past hits: %d" % self.nhits)
 
     def on_save_settings(self,button,data=None):
-        print "on_save_settings() - saving state"
+        print("on_save_settings() - saving state")
         self.ini.save_state(self)
 
     def _hal_setup(self,halcomp, builder):
@@ -186,8 +188,8 @@ class HandlerClass:
 
         # demonstrate a slow background timer - granularity is one second
         # for a faster timer, use this:
-        # glib.timeout_add(5000,  self._on_timer_tick)
-        glib.timeout_add_seconds(1, self._on_timer_tick)
+        # GLib.timeout_add(5000,  self._on_timer_tick)
+        GLib.timeout_add_seconds(1, self._on_timer_tick)
 
 
 def get_handlers(halcomp,builder,useropts):
@@ -204,10 +206,10 @@ def get_handlers(halcomp,builder,useropts):
     #  -U debug=42 -U "print 'debug=%d' % debug"
     global debug
     for cmd in useropts:
-        exec cmd in globals()
+        exec(cmd, globals())
 
     set_debug(debug)
 
-    if debug: print "%s.get_handlers() called" % (__name__)
+    if debug: print("%s.get_handlers() called" % (__name__))
 
     return [HandlerClass(halcomp,builder,useropts)]

configs/apps/gladevcp/helloWorld/README_es

@@ -0,0 +1,20 @@
+Un ejemplo mínimo de gladevcp - tres widgets HAL
+-----------------------------------------------
+
+Para ejecutar de forma independiente:
+$ gladevcp_demo hw.ui
+
+Para conectar el pin HAL del botón al LED, ejecutar como:
+
+$ gladevcp_demo -H hw.hal hw.ui
+
+Para incrustar esta aplicación como una pestaña en Axis o Touchy, copie hw.ui y hw.hal a su directorio de configuración,
+y edite su archivo ini Axis/Touchy de la siguiente manera:
+
+[DISPLAY]
+EMBED_TAB_NAME = HelloWorld
+EMBED_TAB_COMMAND = gladevcp -H hw.hal -x {XID} hw.ui
+
+Para editar la interfaz de usuario:
+
+$ glade hw.ui

configs/apps/gladevcp/simple-callback/README_es

@@ -0,0 +1,10 @@
+Ejemplo que demuestra una devolución de llamada simple definida por el usuario
+------------------------------------------------------------------------------
+
+callback.py define la función on_button_press() que está conectada al árbol de widgets como un handler de eventos.
+Consulte la pestaña Signals de glade sobre cómo se hace referencia a hal_button1.
+
+------------------------------------------
+Para ejecutar de forma independiente:
+
+$ gladevcp  -u simplecallback.py simplecallback.ui

configs/apps/gladevcp/simple-callback/simplecallback.py

@@ -4,5 +4,5 @@ nhits = 0
 def on_button_press(gtkobj,data=None):
     global nhits
     nhits += 1
-    print "on_button_press callback"
+    print ("on_button_press callback")
     gtkobj.set_label("hits: %d" % nhits)

configs/apps/gladevcp/templates/README_es

@@ -0,0 +1,27 @@
+Estos son ejemplos de handler de clases de gladevcp para empezar con los suyos propios.
+
+--------------------------------------------------------------------------------------
+Para ejecutar de forma independiente:
+
+$ gladevcp -u functionhandler.py button.ui
+$ gladevcp -u classhandler.py button.ui
+$ gladevcp -u classhandler_persistent.py  -U debug=2 -U "print 'debug=%d' % debug"  button.ui
+
+NB: button.ui realmente no tiene un estado interesante de widget para restaurar.
+
+dar un vistazo a classhandler_persistent.ini para obtener una
+idea de cómo se guarda el estado persistente. Debería verse más o menos así:
+
+# generated by gladevcp.util.create_default_ini() on Wed Dec  8 12:27:13 2010
+[ini]
+        version = 1
+        signature = be44d45a0e07d57cfbe8915d668e8d3b399a4cdb
+[vars]
+        abool = True
+        afloat = 1.67
+        anint = 42
+        astring = sometext
+[widgets]
+# última actualización realizada por gladevcp.util.save_state() el miércoles 8 de diciembre 12:31:20 2010
+
+-Michael Haberler 12/2010

configs/apps/gladevcp/templates/classhandler.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # vim: sts=4 sw=4 et
 #    This is a component of LinuxCNC
 #    classhandler.py  Copyright 2010 Michael Haberler
@@ -16,27 +16,28 @@
 #
 #    You should have received a copy of the GNU General Public License
 #    along with this program; if not, write to the Free Software
-#    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 '''
     example gladevcp handler class to start your own
     no persistence support
 '''
 
-import glib
+import gi
+from gi.repository import GLib
 
 class HandlerClass:
 
 
     def on_button_press(self,widget,data=None):
-        print "on_button_press"
+        print("on_button_press")
 
 
     def on_destroy(self,obj,data=None):
-        print "on_destroy"
+        print("on_destroy")
 
 
     def _on_timer_tick(self,userdata=None):
-        print "timer tick"
+        print("timer tick")
         return True
 
 
@@ -48,12 +49,12 @@ class HandlerClass:
         # demonstrate a slow background timer - granularity is one second
         # for a faster timer, use this:
         # glib.timeout_add(5000,  self._on_timer_tick)
-        glib.timeout_add_seconds(1, self._on_timer_tick)
+        GLib.timeout_add_seconds(1, self._on_timer_tick)
 
 
 def get_handlers(halcomp,builder,useropts):
 
     for cmd in useropts:
-        exec cmd in globals()
+        exec(cmd, globals())
 
     return [HandlerClass(halcomp,builder,useropts)]

configs/apps/gladevcp/templates/classhandler_persistent.py

@@ -1,4 +1,4 @@
-#!/usr/bin/env python
+#!/usr/bin/env python3
 # vim: sts=4 sw=4 et
 #    This is a component of LinuxCNC
 #    classhandler_persistent.py  Copyright 2010 Michael Haberler
@@ -16,7 +16,7 @@
 #
 #    You should have received a copy of the GNU General Public License
 #    along with this program; if not, write to the Free Software
-#    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+#    Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA.
 '''
     example gladevcp handler class with widget and attribute persistence support
 '''
@@ -28,25 +28,25 @@ debug = 0
 class HandlerClass:
 
     def on_button_press(self,widget,data=None):
-        print "on_button_press"
+        print("on_button_press")
         self.anint += 1
         # show retained attributes as inifile and current values
-        print "attr\tini\tcurrent"
-        for k in self.defaults[IniFile.vars].keys():
-            print "%s\t%s\t%s" % (k,self.defaults[IniFile.vars][k],getattr(self,k,None))
+        print("attr\tini\tcurrent")
+        for k in list(self.defaults[IniFile.vars].keys()):
+            print("%s\t%s\t%s" % (k,self.defaults[IniFile.vars][k],getattr(self,k,None)))
 
     def on_destroy(self,obj,data=None):
         '''
         save state on application exit
         '''
-        print "on_destroy() - saving state"
+        print("on_destroy() - saving state")
         self.ini.save_state(self)
 
     def on_restore_defaults(self,button,data=None):
         '''
         example callback for 'Reset to defaults' button (unused)
         '''
-        print "on_restore_defaults() - setting default state"
+        print("on_restore_defaults() - setting default state")
         self.ini.create_default_ini()
         self.ini.restore_state(self)
 
@@ -85,7 +85,7 @@ def get_handlers(halcomp,builder,useropts):
 
     global debug
     for cmd in useropts:
-        exec cmd in globals()
+        exec(cmd, globals())
 
     # get some detail what save/restore etc are doing
     set_debug(debug)

configs/apps/gladevcp/templates/functionhandler.py

@@ -1,9 +1,9 @@
 
 
 def on_button_press(button,data=None):
-    print "button pressed"
+    print ("button pressed")
 
 
 def on_destroy(object,data=None):
-    print "on_destroy"
+    print ("on_destroy")
 

configs/apps/halrun/README_es

@@ -0,0 +1,8 @@
+halrun:
+
+Iniciar halrun en un terminal xterm
+Primero ordene el comando 'help' para mostrar los comandos
+
+Nota:
+   Linuxcnc no debe estar ejecutándose.
+   Se terminará cualquier otra instancia de halrun.

configs/apps/halrun/nodemocopy

@@ -1,2 +1,4 @@
 nodemocopy
-.demo files in this dir will not be copied to user dir
+.demo files in this dir will not be copied to user dir.
+Los archivos .demo en este directorio no se copiaran al directorio de usuario.
+

configs/apps/info_es.txt

@@ -0,0 +1,9 @@
+info: crea un archivo con información sobre LinuxCNC y elementos importantes del sistema.
+
+El archivo se crea en /tmp y es adecuado para su publicación como ayuda para diagnosticar problemas.
+
+Nombre de archivo: /tmp/linuxcnc.info
+
+El editor especificado por $VISUAL se utilizará para abrir el archivo.
+Si $VISUAL no está establecido, se intentarán otros editores comunes.
+

configs/apps/latency/README_es

@@ -0,0 +1,15 @@
+Programas de evaluación de latencia
+
+latency-test -- Prueba estándar para linuxcnc
+
+latency-plot -- Plot de latencias para los hilos base y servo predeterminados
+
+latency-histogram -- Histograma jitter para hilos base y servo predeterminados
+
+latency-histogram-1 -- Histograma jitter para un hilo servo
+
+Nota: Los programas latency-plot y latency-histogram se pueden ejecutar con más opciones desde una línea de comando de terminal. 
+Para ayuda sobre su uso:
+
+latency-plot --help
+latency-histogram --help

configs/apps/latency/nodemocopy

@@ -1,2 +1,3 @@
 nodemocopy
-.demo files in this dir will not be copied to user dir
+.demo files in this dir will not be copied to user dir.
+Los archivos .demo en este directorio no se copiaran al directorio de usuario.

configs/apps/nodemocopy

@@ -1,2 +1,4 @@
 nodemocopy
-.demo files in this dir will not be copied to user dir
+.demo files in this dir will not be copied to user dir.
+Los archivos .demo en este directorio no se copiaran al directorio de usuario
+

configs/apps/parport/README_es

@@ -0,0 +1,19 @@
+Prueba de puerto paralelo usando pyvcp
+
+parport_0x278  test port 0x278 < parallel port 1 (no típico)
+parport_0x378  test port 0x378 < parallel port 0
+
+Para encontrar la dirección del puerto paralelo, abra una terminal y escriba:
+
+cat /proc/ioports | grep parport
+
+normalmente sera parport0
+
+0378-037a: parport0
+
+Para averiguar la dirección de un puerto paralelo PCI:
+
+lspci -v
+
+Nota: Para el simulador, se puede mostrar un mensaje de 'acceso root requerido'.
+No se recomienda usar root para ejecutar linuxcnc.

configs/apps/parport/nodemocopy

@@ -1,2 +1,3 @@
 nodemocopy
-.demo files in this dir will not be copied to user dir
+.demo files in this dir will not be copied to user dir.
+Los archivos .demo en este directorio no se copiaran al directorio de usuario.

configs/apps/parport/parport_test_es.xml

@@ -0,0 +1,245 @@
+<!-- Test panel for the parallel port cfg for out -->
+<pyvcp>
+<hbox>
+    <labelframe text="Salidas">
+    <font>("Helvetica",16)</font>
+        <hbox>
+            <relief>RIDGE</relief>
+            <bd>2</bd>
+            <button>
+                <halpin>"btn01"</halpin>
+                <text>"Pin 01"</text>
+            </button>
+            <led>
+                <halpin>"led-01"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+           </led>
+
+            <button>
+                <halpin>"btn02"</halpin>
+                <text>"Pin 02"</text>
+            </button>
+            <led>
+                <halpin>"led-02"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+           </led>
+        </hbox>
+
+        <hbox>
+            <relief>RIDGE</relief>
+            <bd>2</bd>
+            <button>
+                <halpin>"btn03"</halpin>
+                <text>"Pin 03"</text>
+            </button>
+            <led>
+                <halpin>"led-03"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+           </led>
+
+            <button>
+                <halpin>"btn04"</halpin>
+                <text>"Pin 04"</text>
+            </button>
+            <led>
+                <halpin>"led-04"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+           </led>
+        </hbox>
+
+        <hbox>
+            <relief>RIDGE</relief>
+            <bd>2</bd>
+            <button>
+                <halpin>"btn05"</halpin>
+                <text>"Pin 05"</text>
+            </button>
+            <led>
+                <halpin>"led-05"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+           </led>
+
+            <button>
+                <halpin>"btn06"</halpin>
+                <text>"Pin 06"</text>
+            </button>
+            <led>
+                <halpin>"led-06"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+           </led>
+        </hbox>
+
+        <hbox>
+            <relief>RIDGE</relief>
+            <bd>2</bd>
+            <button>
+                <halpin>"btn07"</halpin>
+                <text>"Pin 07"</text>
+            </button>
+            <led>
+                <halpin>"led-07"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+           </led>
+
+            <button>
+                <halpin>"btn08"</halpin>
+                <text>"Pin 08"</text>
+            </button>
+            <led>
+                <halpin>"led-08"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+           </led>
+        </hbox>
+
+        <hbox>
+            <relief>RIDGE</relief>
+            <bd>2</bd>
+            <button>
+                <halpin>"btn09"</halpin>
+                <text>"Pin 09"</text>
+            </button>
+            <led>
+                <halpin>"led-09"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+           </led>
+
+           <button>
+                <halpin>"btn14"</halpin>
+                <text>"Pin 14"</text>
+            </button>
+            <led>
+                <halpin>"led-14"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+           </led>
+        </hbox>
+
+        <hbox>
+            <relief>RIDGE</relief>
+            <bd>2</bd>
+            <button>
+                <halpin>"btn16"</halpin>
+                <text>"Pin 16"</text>
+            </button>
+            <led>
+                <halpin>"led-16"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+           </led>
+
+            <button>
+                <halpin>"btn17"</halpin>
+                <text>"Pin 17"</text>
+            </button>
+            <led>
+                <halpin>"led-17"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+           </led>
+        </hbox>
+
+    </labelframe>
+
+    <labelframe text="Entradas">
+    <font>("Helvetica",16)</font>
+
+        <hbox>
+            <relief>RIDGE</relief>
+            <bd>2</bd>
+            <label>
+                <text>"Pin 10"</text>
+                <font>("Helvetica",14)</font>
+            </label>
+            <led>
+                <halpin>"led-10"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+            </led>
+        </hbox>
+
+        <hbox>
+            <relief>RIDGE</relief>
+            <bd>2</bd>
+            <label>
+                <text>"Pin 11"</text>
+                <font>("Helvetica",14)</font>
+            </label>
+            <led>
+                <halpin>"led-11"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+            </led>
+        </hbox>
+
+        <hbox>
+            <relief>RIDGE</relief>
+            <bd>2</bd>
+            <label>
+                <text>"Pin 12"</text>
+                <font>("Helvetica",14)</font>
+            </label>
+            <led>
+                <halpin>"led-12"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+            </led>
+        </hbox>
+
+        <hbox>
+            <relief>RIDGE</relief>
+            <bd>2</bd>
+            <label>
+                <text>"Pin 13"</text>
+                <font>("Helvetica",14)</font>
+            </label>
+            <led>
+                <halpin>"led-13"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+            </led>
+        </hbox>
+
+        <hbox>
+            <relief>RIDGE</relief>
+            <bd>2</bd>
+            <label>
+                <text>"Pin 15"</text>
+                <font>("Helvetica",14)</font>
+            </label>
+            <led>
+                <halpin>"led-15"</halpin>
+                <size>25</size>
+                <on_color>"green"</on_color>
+                <off_color>"red"</off_color>
+            </led>
+        </hbox>
+
+
+    </labelframe>
+</hbox>
+</pyvcp>

configs/apps/pyvcp/README_es

@@ -0,0 +1,9 @@
+Demostración de algunos pyvcp_widgets
+
+Notas:
+
+El widget de barra cambia de color en ciertos rangos de valores.
+
+El valor de las casillas de selección y los diales se puede cambiar utilizando señales HAL.
+
+multilabel cambiará el texto dependiendo de la señal HAL.

configs/apps/pyvcp/pyvcp_demo1_es.xml

@@ -0,0 +1,467 @@
+<?xml version='1.0' encoding='UTF-8'?>
+<pyvcp>
+    <labelframe text="Spinboxes enlazados a displays de escalas/numeros, muestran el uso de initval y  param_pin">
+    <font>("Helvetica",10)</font>
+    <bd>3</bd>
+    <relief>SUNKEN</relief>
+    <hbox>
+        <!-- stack of 3 spinboxes -->
+        <vbox>
+            <hbox>
+                <spinbox>
+                    <halpin>"spinbox0"</halpin>
+                    <min_>-12</min_>
+                    <max_>33</max_>
+                    <initval>10</initval>
+                    <resolution>0.1</resolution>
+                    <format>"2.3f"</format>
+                    <font>("Arial",16)</font>
+                    <param_pin>1</param_pin>
+                </spinbox>
+            </hbox>
+            <hbox>
+                <spinbox>
+                    <halpin>"spinbox1"</halpin>
+                    <min_>-12</min_>
+                    <max_>33</max_>
+                    <initval>20</initval>
+                    <resolution>0.1</resolution>
+                    <format>"2.3f"</format>
+                    <font>("Arial",16)</font>
+                    <param_pin>1</param_pin>
+                </spinbox>
+            </hbox>
+            <hbox>
+                <spinbox>
+                    <halpin>"spinbox2"</halpin>
+                    <min_>-12</min_>
+                    <max_>33</max_>
+                    <initval>30</initval>
+                    <resolution>0.1</resolution>
+                    <format>"2.3f"</format>
+                    <font>("Arial",16)</font>
+                    <param_pin>1</param_pin>
+                </spinbox>
+            </hbox>
+        </vbox>
+        <!-- stack of 3 horizontal scales in same hbox -->
+        <vbox>
+            <hbox>
+                <scale>
+                    <font>("Helvetica",16)</font>
+                    <width>"30"</width>
+                    <halpin>"scale0"</halpin>
+                    <resolution>1</resolution>
+                    <orient>HORIZONTAL</orient>
+                    <initval>5</initval>
+                    <min_>0</min_>
+                    <max_>100</max_>
+                    <param_pin>1</param_pin>
+                </scale>
+            </hbox>
+            <hbox>
+                <scale>
+                    <font>("Helvetica",16)</font>
+                    <width>"30"</width>
+                    <halpin>"scale1"</halpin>
+                    <resolution>1</resolution>
+                    <orient>HORIZONTAL</orient>
+                    <initval>15</initval>
+                    <min_>0</min_>
+                    <max_>100</max_>
+                    <param_pin>1</param_pin>
+                </scale>
+            </hbox>
+            <hbox>
+                <scale>
+                    <font>("Helvetica",16)</font>
+                    <width>"30"</width>
+                    <halpin>"scale2"</halpin>
+                    <resolution>1</resolution>
+                    <orient>HORIZONTAL</orient>
+                    <initval>25</initval>
+                    <min_>0</min_>
+                    <max_>100</max_>
+                    <param_pin>1</param_pin>
+                </scale>
+            </hbox>
+        </vbox>
+
+        <!-- stack of 3 number displays in same hbox -->
+        <vbox>
+            <hbox>
+                <number>
+                    <halpin>"number0"</halpin>
+                    <font>("Helvetica",16)</font>
+                    <format>"+4.4f"</format>
+                </number>
+            </hbox>
+            <hbox>
+                <number>
+                    <halpin>"number1"</halpin>
+                    <font>("Helvetica",16)</font>
+                    <format>"+4.4f"</format>
+                </number>
+            </hbox>
+            <hbox>
+                <number>
+                    <halpin>"number2"</halpin>
+                    <font>("Helvetica",16)</font>
+                    <format>"+4.4f"</format>
+                </number>
+            </hbox>
+        </vbox>
+
+    </hbox>
+    </labelframe>
+
+    <!-- new hbox with 3 dials -->
+    <labelframe text="Diales enlazados a escalas, muestran el uso de initval y param_pin">
+    <font>("Helvetica",10)</font>
+    <bd>3</bd>
+    <relief>RAISED</relief>
+    <hbox>
+        <dial>
+            <size>150</size>
+            <cpr>100</cpr>
+            <min_>0</min_>
+            <max_>100</max_>
+            <text>"Dial-0"</text>
+            <initval>10</initval>
+            <resolution>0.01</resolution>
+            <halpin>"dial0"</halpin>
+            <dialcolor>"yellow"</dialcolor>
+            <edgecolor>"green"</edgecolor>
+            <dotcolor>"black"</dotcolor>
+            <param_pin>1</param_pin>
+        </dial>
+
+        <dial>
+            <size>150</size>
+            <cpr>100</cpr>
+            <min_>0</min_>
+            <max_>100</max_>
+            <text>"Dial-1"</text>
+            <initval>12</initval>
+            <resolution>0.1</resolution>
+            <halpin>"dial1"</halpin>
+            <dialcolor>"green"</dialcolor>
+            <edgecolor>"red"</edgecolor>
+            <dotcolor>"black"</dotcolor>
+            <param_pin>1</param_pin>
+        </dial>
+
+        <dial>
+            <size>150</size>
+               <cpr>100</cpr>
+            <min_>0</min_>
+            <max_>100</max_>
+            <text>"Dial-2"</text>
+            <initval>5</initval>
+            <resolution>1</resolution>
+            <halpin>"dial2"</halpin>
+            <dialcolor>"yellow"</dialcolor>
+            <edgecolor>"green"</edgecolor>
+            <dotcolor>"black"</dotcolor>
+            <param_pin>1</param_pin>
+        </dial>
+    </hbox>
+    <!-- new hbox with 3 scales, spaced to sit under dials -->
+    <hbox>
+        <scale>
+            <font>("Helvetica",16)</font>
+            <width>"25"</width>
+            <halpin>"scale3"</halpin>
+            <resolution>0.01</resolution>
+            <orient>VERTICAL</orient>
+            <initval>1</initval>
+            <min_>0</min_>
+            <max_>100</max_>
+            <param_pin>1</param_pin>
+        </scale>
+
+        <!-- label used as a spacer -->
+        <label>
+            <text>"                "</text>
+        </label>
+
+        <scale>
+            <font>("Helvetica",16)</font>
+            <width>"25"</width>
+            <halpin>"scale4"</halpin>
+            <resolution>0.1</resolution>
+            <orient>VERTICAL</orient>
+            <initval>10</initval>
+            <min_>0</min_>
+            <max_>100</max_>
+            <param_pin>1</param_pin>
+        </scale>
+
+        <!-- label used as a spacer -->
+        <label>
+            <text>"                "</text>
+        </label>
+
+        <scale>
+            <font>("Helvetica",16)</font>
+            <width>"25"</width>
+            <halpin>"scale5"</halpin>
+            <resolution>1</resolution>
+            <orient>VERTICAL</orient>
+            <initval>20</initval>
+            <min_>0</min_>
+            <max_>100</max_>
+            <param_pin>1</param_pin>
+        </scale>
+    </hbox>
+    </labelframe>
+
+    <!-- new hbox with 3 dials -->
+    <labelframe text="Botones Radio enlazados a multi_labels mostrando leyenda de selección">
+    <font>("Helvetica",10)</font>
+    <bd>3</bd>
+    <relief>FLAT</relief>
+    <hbox>
+        <hbox>
+            <vbox>
+                <radiobutton>
+                    <choices>["uno","dos","tres"]</choices>
+                    <halpin>"radio0"</halpin>
+                    <initval>0</initval>
+                </radiobutton>
+            </vbox>
+            <vbox>
+                <radiobutton>
+                    <choices>["cuatro","cinco","seis"]</choices>
+                    <halpin>"radio1"</halpin>
+                    <initval>1</initval>
+                </radiobutton>
+            </vbox>
+        </hbox>
+        <hbox>
+            <vbox>
+                <multilabel>
+                    <legends>["Radio1-Seleccionado","Ahora Radio2-Seleccionado","Y ahora Radio3-Seleccionado"]</legends>
+                    <font>("Helvetica", 10)</font>
+                    <disable_pin>True</disable_pin>
+                    <initval>0</initval>
+                </multilabel>
+
+                <multilabel>
+                    <legends>["Radio4-Seleccionado","Ahora Radio5-Seleccionado","Y ahora Radio6-Seleccionado"]</legends>
+                    <font>("Helvetica", 10)</font>
+                    <disable_pin>True</disable_pin>
+                    <initval>1</initval>
+                </multilabel>
+            </vbox>
+        </hbox>
+    </hbox>
+    </labelframe>
+
+    <labelframe text="Checkbuttons mostrando configuración initval / leds de operación y cambio de valor remoto">
+    <font>("Helvetica",10)</font>
+    <bd>3</bd>
+    <relief>GROOVE</relief>
+    <hbox>
+        <hbox>
+            <vbox>
+                <checkbutton>
+                    <halpin>"checkbutton0"</halpin>
+                    <text>"Boton 0"</text>
+                    <initval>1</initval>
+                </checkbutton>
+                <checkbutton>
+                    <halpin>"checkbutton1"</halpin>
+                    <text>"Boton 1"</text>
+                    <initval>0</initval>
+                    </checkbutton>
+                <checkbutton>
+                    <halpin>"checkbutton2"</halpin>
+                    <text>"Boton 2"</text>
+                    <initval>0</initval>
+                </checkbutton>
+            </vbox>
+        </hbox>
+        <hbox>
+            <vbox>
+                <checkbutton>
+                    <halpin>"checkbutton3"</halpin>
+                    <text>"Boton 3"</text>
+                    <initval>0</initval>
+                </checkbutton>
+                <checkbutton>
+                    <halpin>"checkbutton4"</halpin>
+                    <text>"Boton 4"</text>
+                    <initval>1</initval>
+                </checkbutton>
+                <checkbutton>
+                    <halpin>"checkbutton5"</halpin>
+                    <text>"Boton 5"</text>
+                    <initval>0</initval>
+                </checkbutton>
+            </vbox>
+        </hbox>
+        <!-- hbox of labels used as a spacer -->
+        <hbox>
+            <vbox>
+                <label>
+                    <text>"       "</text>
+                </label>
+                <label>
+                    <text>"       "</text>
+                </label>
+                <label>
+                    <text>"       "</text>
+                </label>
+            </vbox>
+        </hbox>
+        <hbox>
+            <vbox>
+                <button>
+                    <halpin>"toggle-button0"</halpin>
+                    <text>"Cambiar Checkbox 0"</text>
+                </button>
+                <!-- label used as a spacer -->
+                <label>
+                    <text>"                "</text>
+                </label>
+                <button>
+                    <halpin>"toggle-button1"</halpin>
+                    <text>"Cambiar Checkbox 5"</text>
+                </button>
+            </vbox>
+        </hbox>
+
+        <!-- hbox of labels used as a spacer -->
+        <hbox>
+            <vbox>
+                <label>
+                    <text>"       "</text>
+                </label>
+                <label>
+                    <text>"       "</text>
+                </label>
+                <label>
+                    <text>"       "</text>
+                </label>
+            </vbox>
+        </hbox>
+
+        <hbox>
+            <vbox>
+                <led>
+                    <halpin>"led0"</halpin>
+                    <size>30</size>
+                    <on_color>"green"</on_color>
+                    <off_color>"red"</off_color>
+                </led>
+                <led>
+                    <halpin>"led1"</halpin>
+                    <size>30</size>
+                    <on_color>"green"</on_color>
+                    <off_color>"red"</off_color>
+                </led>
+                <led>
+                    <halpin>"led2"</halpin>
+                    <size>30</size>
+                    <on_color>"green"</on_color>
+                    <off_color>"red"</off_color>
+                </led>
+            </vbox>
+        </hbox>
+
+        <hbox>
+            <vbox>
+                <led>
+                    <halpin>"led3"</halpin>
+                    <size>30</size>
+                    <on_color>"green"</on_color>
+                    <off_color>"red"</off_color>
+                </led>
+                <led>
+                    <halpin>"led4"</halpin>
+                    <size>30</size>
+                    <on_color>"green"</on_color>
+                    <off_color>"red"</off_color>
+                </led>
+                <led>
+                    <halpin>"led5"</halpin>
+                    <size>30</size>
+                    <on_color>"green"</on_color>
+                    <off_color>"red"</off_color>
+                </led>
+            </vbox>
+        </hbox>
+
+
+     </hbox>
+     </labelframe>
+
+    <labelframe text="Barra con rangos de colores diferentes, activados por escala / etiquetas">
+    <font>("Helvetica",10)</font>
+    <bd>3</bd>
+    <relief>RIDGE</relief>
+    <hbox>
+        <hbox>
+            <bar>
+                <halpin>"my-bar"</halpin>
+                <min_>0</min_>
+                <max_>150</max_>
+                <bgcolor>"grey"</bgcolor>
+                 <range1>(0,100,"green")</range1>
+                <range2>(101,129,"orange")</range2>
+                <range3>(130,150,"red")</range3>
+                <fillcolor>"green"</fillcolor>
+             </bar>
+        </hbox>
+
+        <hbox>
+            <scale>
+                <font>("Helvetica",16)</font>
+                <width>"25"</width>
+                <halpin>"my-hscale"</halpin>
+                <resolution>1</resolution>
+                <orient>HORIZONTAL</orient>
+                <initval>0</initval>
+                <min_>0</min_>
+                <max_>150</max_>
+            </scale>
+        </hbox>
+
+        <!-- hbox of labels used as a spacer -->
+        <hbox>
+            <vbox>
+                <label>
+                    <text>"       "</text>
+                </label>
+                <label>
+                    <text>"       "</text>
+                </label>
+                <label>
+                    <text>"       "</text>
+                </label>
+            </vbox>
+        </hbox>
+
+        <hbox>
+            <vbox>
+                <label>
+                    <relief>FLAT</relief>
+                    <text>"Soy una etiqueta sin borde"</text>
+                </label>
+                <label>
+                    <bd>3</bd>
+                    <relief>RAISED</relief>
+                    <text>"Soy una etiqueta resaltada"</text>
+                </label>
+                <label>
+                    <bd>3</bd>
+                    <relief>SUNKEN</relief>
+                    <text>"Soy una etiqueta en bajorelieve"</text>
+                </label>
+            </vbox>
+        </hbox>
+    </hbox>
+    </labelframe>
+
+</pyvcp>

configs/apps/xhc-hb04/README_es

@@ -0,0 +1,12 @@
+Pruebas independientes xhc-hb04 
+
+
+Usarlo para probar diseños de botones para un colgante xhc-hb04 inalámbrico USB.
+
+xhc-hb04-layout1.demo - prueba con layout1 (16 botones)
+
+xhc-hb04-layout2.demo - prueba con layout2 (18 botones)
+
+xhc-hb04.demo: prueba sin diseño de botones predefinido
+
+(Conecte un colgante xhc-hb04 y enciéndalo para usar estos programas)

configs/apps/xhc-hb04/nodemocopy

@@ -1,2 +1,3 @@
 nodemocopy
-.demo files in this dir will not be copied to user dir
+.demo files in this dir will not be copied to user dir.
+Los archivos .demo en este directorio no se copiaran al directorio de usuario.

configs/attic/README_es

@@ -0,0 +1,8 @@
+trastero.
+
+Para cualquier cosa.
+
+Colección de configuraciones que:
+   pueden ser obsoletas
+   pueden ser no compatibles
+   pueden ser útiles para estudio

configs/attic/dallur-thc/README_es

@@ -0,0 +1,8 @@
+Esta configuración es para una máquina de corte por plasma con control "paso a paso", junto con conexiones ClassicLadder a algunas de las IO de LinuxCNC.
+
+Se basa en la configuración de muestra de classicladder, pero también incluye una bomba de carga y un sistema de control de altura de antorcha para los sistemas de Bob Cambells THC300 y CandCNC THC.
+
+Los pinouts paso a paso son para tarjetas breakout/combo estándar provista por Bob Campbell.
+
+Esta configuración está desactualizada y no se ejecutará sin actualización, ya que
+utiliza freqgen, que se ha eliminado desde Linuxcnc 2.6.

configs/attic/dallur-thc/dallur-advanced.hal

@@ -69,7 +69,7 @@ net emc-enable-in iocontrol.0.emc-enable-in classicladder.0.out-00
 # Spindle Signal, forward drives Torch ON
 # Spindle reverse is not used (might be used for a Running Start later)
 net turn_torch_on parport.1.pin-01-out
-#net spindle-reverse motion.spindle-reverse  parport.0.pin-17-out 
+#net spindle-reverse spindle.0.reverse  parport.0.pin-17-out 
 
 #Create a limit switch signal for each axis
 
@@ -80,14 +80,14 @@ net limit-reached-z parport.0.pin-13-in-not
 net limit-reached-a parport.0.pin-15-in-not
 
 #Connect all limit signals to relevant axes
-net limit-reached-x axis.0.neg-lim-sw-in
-net limit-reached-x axis.0.pos-lim-sw-in
-net limit-reached-y axis.1.neg-lim-sw-in
-net limit-reached-y axis.1.pos-lim-sw-in
-net limit-reached-a axis.1.neg-lim-sw-in
-net limit-reached-a axis.1.neg-lim-sw-in
-net limit-reached-z axis.2.neg-lim-sw-in
-net limit-reached-z axis.2.neg-lim-sw-in
+net limit-reached-x joint.0.neg-lim-sw-in
+net limit-reached-x joint.0.pos-lim-sw-in
+net limit-reached-y joint.1.neg-lim-sw-in
+net limit-reached-y joint.1.pos-lim-sw-in
+net limit-reached-a joint.1.neg-lim-sw-in
+net limit-reached-a joint.1.neg-lim-sw-in
+net limit-reached-z joint.2.neg-lim-sw-in
+net limit-reached-z joint.2.neg-lim-sw-in
 
 
 ########## Charge Pump #########
@@ -214,7 +214,7 @@ net Zpos-cmd-muxed mux2.2.out
 addf mux2.2 servo-thread
 
 #Disconnect Machine/Manual Axis Z Control while ArcOK for safety and to eliminate jitter
-net Zpos-instructed-cmd <= axis.2.motor-pos-cmd
+net Zpos-instructed-cmd <= joint.2.motor-pos-cmd
 
 net Zpos-instructed-cmd => mux2.3.in0
 net Zpos-fb => mux2.3.in1
@@ -252,7 +252,7 @@ net senseZFloatSwitch => classicladder.0.in-03
 net moveZtoFloat classicladder.0.out-03
 net moveZtoSafe classicladder.0.out-04
 net senseArcOK classicladder.0.in-04
-net spindle-forward classicladder.0.in-05 <= motion.spindle-forward 
+net spindle-forward classicladder.0.in-05 <= spindle.0.forward 
 net feed-hold classicladder.0.out-06
 net turn_torch_on classicladder.0.out-05
 net ui_mode_is_auto halui.mode.is-auto

configs/attic/dallur-thc/dallur-advanced.ini

@@ -1,89 +1,61 @@
 # 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 =               $Revision$
-
+VERSION = 1.1
 # Name of machine, for use with display, etc.
 MACHINE =               LinuxCNC-DALLUR-ADVANCED
-
 # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
 # DEBUG =                 0x00000001
 # DEBUG =               0x00000007
 # DEBUG =               0x7FFFFFFF
 DEBUG = 0
-
 # Enable Adaptive Feedrate for THC
 # Enable adaptive feed input, we use it for feedhold button and to
 # prevent motion during inverse-homing of torch and for pierce delay
 RS274NGC_STARTUP_CODE = M52 P1
-
 # Sections for display options ------------------------------------------------
-[DISPLAY]
 
-# Name of display program, e.g., xemc
+[DISPLAY]
+# Name of display program, e.g., xlinuxcnc
 # DISPLAY =             axis
-# DISPLAY =		xemc
-# DISPLAY =             usrmot
- DISPLAY = 		tkemc
+# DISPLAY =		xlinuxcnc
+ DISPLAY = 		tklinuxcnc
 # Cycle time, in seconds, that display will sleep between polls
 CYCLE_TIME =            0.200
-
 # Path to help file
-HELP_FILE =             tklinucnc.txt
-
+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 =     1.2
-
 # Prefix to be used
 PROGRAM_PREFIX = ../../nc_files/
-
 # Introductory graphic
 INTRO_GRAPHIC = linuxcnc.gif
 INTRO_TIME = 2
-
 # Increments for the JOG section
 INCREMENTS = 1000 10 1 0.1 0.01
-
 # Task controller section -----------------------------------------------------
-[TASK]
 
-# Name of task controller program, e.g., milltask
-TASK =                  milltask
+[FILTER]
+#No Content
 
-# Cycle time, in seconds, that task controller will sleep between polls
-CYCLE_TIME =            0.010
-
-# Part program interpreter section --------------------------------------------
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE =        dallur-advanced.var
-
 # Motion control section ------------------------------------------------------
+
 [EMCMOT]
-
 EMCMOT =              motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # Base task period, in nanoseconds - this is the fastest thread in the machine
 #BASE_PERIOD =		      10000
 #BASE_PERIOD =		      14107
@@ -94,19 +66,22 @@ BASE_PERIOD = 		      20000
 # Servo task period, in nanoseconds - will be rounded to an integer multiple
 #   of BASE_PERIOD
 SERVO_PERIOD =               1000000
-
 # Hardware Abstraction Layer section --------------------------------------------------
-[HAL]
 
+[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.
 #
-
 # HALUI to interact with NML 
 # Run before any other HALFILE
 HALUI=halui 
-
-
 # list of hal config files to run through halcmd
 # files are executed in the order in which they appear
 HALFILE =                    dallur-core_stepper.hal
@@ -115,31 +90,46 @@ HALFILE =                    dallur-halvcp.hal
 #HALFILE =                    xylotex_pinout.hal
 # HALFILE =                    standard_pinout.hal
 # HALFILE =                    simulated_limits.hal
-
-
 # list of halcmd commands to execute
 # commands are executed in the order in which they appear
 #HALCMD =                    save neta
-
 # Trajectory planner section --------------------------------------------------
-[TRAJ]
 
-AXES =                  3
+[HALUI]
+#No Content
+
+[TRAJ]
 COORDINATES =           X Y Z
 HOME =                  0 0 0
 LINEAR_UNITS = 		mm
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.00001
-DEFAULT_VELOCITY =      180.00
-MAX_VELOCITY =          260.00
-DEFAULT_ACCELERATION =  500.0
-MAX_ACCELERATION =      2400.0
-
+DEFAULT_LINEAR_VELOCITY = 180.00
+MAX_LINEAR_VELOCITY = 260.00
+DEFAULT_LINEAR_ACCELERATION = 500.0
+MAX_LINEAR_ACCELERATION = 2400.0
 # Axes sections ---------------------------------------------------------------
-
 # First axis
-[AXIS_0]
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO = 		io
+# cycle time, in seconds
+CYCLE_TIME =    0.100
+# tool table file
+TOOL_TABLE =    dallur-advanced.tbl
+# section for external NML server parameters ----------------------------------
+
+[KINS]
+KINEMATICS =  trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = 0
+MAX_LIMIT = 2100
+MAX_VELOCITY = 220
+MAX_ACCELERATION = 2400
+
+[JOINT_0]
 TYPE =                          LINEAR
 HOME =                          0.000
 MAX_VELOCITY =                  220
@@ -157,10 +147,15 @@ HOME_SEARCH_VEL =               0.0
 HOME_LATCH_VEL =                0.0
 HOME_USE_INDEX =                NO
 HOME_IGNORE_LIMITS =            NO
-
 # Second axis
-[AXIS_1]
 
+[AXIS_Y]
+MIN_LIMIT = 0.0
+MAX_LIMIT = 6100
+MAX_VELOCITY = 240
+MAX_ACCELERATION = 2400
+
+[JOINT_1]
 TYPE =                          LINEAR
 HOME =                          0.000
 MAX_VELOCITY =                  240
@@ -178,10 +173,15 @@ HOME_SEARCH_VEL =               0.0
 HOME_LATCH_VEL =                0.0
 HOME_USE_INDEX =                NO
 HOME_IGNORE_LIMITS =            NO
-
 # Third axis
-[AXIS_2]
 
+[AXIS_Z]
+MIN_LIMIT = 0.0
+MAX_LIMIT = 4000.0
+MAX_VELOCITY = 20
+MAX_ACCELERATION = 250
+
+[JOINT_2]
 TYPE =                          LINEAR
 HOME =                          0.0
 MAX_VELOCITY =                  20
@@ -200,7 +200,6 @@ HOME_SEARCH_VEL =                0.0
 HOME_LATCH_VEL =                 0.0
 HOME_USE_INDEX =                 NO
 HOME_IGNORE_LIMITS =             NO
-
 # Settings for the Torch Height Control which does not use the stepgen but depends on a PID loop
 P =				2500
 I =				0.0
@@ -210,20 +209,8 @@ FF0 =				0.0
 FF1 =				0.0
 FF2 =				0.0
 DEADBAND=			0.000375
-
 # section for main IO controller parameters -----------------------------------
-[EMCIO]
 
-# Name of IO controller program, e.g., io
-EMCIO = 		io
-
-# cycle time, in seconds
-CYCLE_TIME =    0.100
-
-# tool table file
-TOOL_TABLE =    dallur-advanced.tbl
-
-# section for external NML server parameters ----------------------------------
 [EMCSERVER]
 # Uncomment the following line if you need to run a remote GUI.
 # EMCSERVER =           emcsvr

configs/attic/dallur-thc/dallur-core_stepper.hal

@@ -2,9 +2,9 @@
 
 # first load the core RT modules that will be needed
 # kinematics
-loadrt trivkins
+loadrt [KINS]KINEMATICS
 # motion controller, get name and thread periods from ini file
-loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
 # stepper module, three step generators, all three using step/dir
 loadrt stepgen step_type=0,0,0
 
@@ -18,30 +18,30 @@ addf motion-controller servo-thread
 addf stepgen.update-freq servo-thread
 
 # connect position commands from motion module to step generator
-net Xpos-cmd <= axis.0.motor-pos-cmd
+net Xpos-cmd <= joint.0.motor-pos-cmd
 net Xpos-cmd => stepgen.0.position-cmd
-net Ypos-cmd <= axis.1.motor-pos-cmd
+net Ypos-cmd <= joint.1.motor-pos-cmd
 net Ypos-cmd => stepgen.1.position-cmd
 # Disabled to make THC work better
-#linksp Zpos-cmd <= axis.2.motor-pos-cmd
+#linksp Zpos-cmd <= joint.2.motor-pos-cmd
 # Disabled for THC to work
 #linksp Zpos-cmd => stepgen.2.position-cmd
 
 # connect position feedback from step generators
 # to motion module
 net Xpos-fb <= stepgen.0.position-fb
-net Xpos-fb => axis.0.motor-pos-fb
+net Xpos-fb => joint.0.motor-pos-fb
 net Ypos-fb <= stepgen.1.position-fb
-net Ypos-fb => axis.1.motor-pos-fb
+net Ypos-fb => joint.1.motor-pos-fb
 net Zpos-fb <= stepgen.2.position-fb
-net Zpos-fb => axis.2.motor-pos-fb
+net Zpos-fb => joint.2.motor-pos-fb
 
 # connect enable signals for step generators
-net Xen <= axis.0.amp-enable-out
+net Xen <= joint.0.amp-enable-out
 net Xen => stepgen.0.enable
-net Yen <= axis.1.amp-enable-out
+net Yen <= joint.1.amp-enable-out
 net Yen => stepgen.1.enable
-net Zen <= axis.2.amp-enable-out
+net Zen <= joint.2.amp-enable-out
 net Zen => stepgen.2.enable
 
 
@@ -54,12 +54,12 @@ net Zstep stepgen.2.step
 net Zdir stepgen.2.dir
 
 # set stepgen module scaling - get values from ini file
-setp stepgen.0.position-scale [AXIS_0]SCALE
-setp stepgen.1.position-scale [AXIS_1]SCALE
-setp stepgen.2.position-scale [AXIS_2]SCALE
+setp stepgen.0.position-scale [JOINT_0]SCALE
+setp stepgen.1.position-scale [JOINT_1]SCALE
+setp stepgen.2.position-scale [JOINT_2]SCALE
 
 # set stepgen module accel limits - get values from ini file
-setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
-setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
-setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
+setp stepgen.0.maxaccel [JOINT_0]STEPGEN_MAXACCEL
+setp stepgen.1.maxaccel [JOINT_1]STEPGEN_MAXACCEL
+setp stepgen.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL
 

configs/attic/demo_mazak/README_es

@@ -0,0 +1,8 @@
+Demo_mazak es un conjunto complejo de controladores HAL. Incluyen la tarjeta de movimiento Motenc-Lite, una tarjeta parport PMDX y una tarjeta IO ISA de propósito general. 
+Esta configuración se usa para la Mazak V5 de Cardinal Engineering y se incluye aquí como un ejemplo de una manera de distribuir las habilidades HAL en varios dispositivos.
+
+Esta demostración incluye un ejemplo del uso de un puerto paralelo para leer un codificador de volante. Trae ClassicLadder para manejar la mayor parte de la lógica de la 
+máquina para el cambio de velocidades y herramientas.
+
+No espere poder ejecutar esto tal como está a menos que tenga un conjunto de hardware coincidente. Sin el conjunto exacto de dispositivos, aún puede estudiar los archivos hal 
+para ver como se logran muchas de estas cosas.

configs/attic/demo_mazak/demo_mazak.hal

@@ -1,7 +1,7 @@
 # this file contains the HAL configuration for Roland's Mazak
 #
 # kinematics
-loadrt trivkins
+loadrt [KINS]KINEMATICS
 # first load the motion controller, get name and thread periods from ini file
 loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD
 
@@ -206,7 +206,7 @@ net motion-enable motion.enable
 
 # servo amp enable (only one, driven by axis 0)
 net servo-enable motenc.3.out-02
-net servo-enable axis.0.amp-enable-out
+net servo-enable joint.0.amp-enable-out
 
 # servo amp fault signals
 # the signals from the amps are actually "not running"
@@ -221,27 +221,27 @@ net Z-amp-running motenc.3.out-15
 # these are the real fault signals, and go to the motion
 # controller, they are derived from the ones above by
 # ladder logic
-net X-amp-fault axis.0.amp-fault-in
-net Y-amp-fault axis.1.amp-fault-in
-net Z-amp-fault axis.2.amp-fault-in
+net X-amp-fault joint.0.amp-fault-in
+net Y-amp-fault joint.1.amp-fault-in
+net Z-amp-fault joint.2.amp-fault-in
 
 # Limit switches
 # (the switches are NC, and open when hit, so
 # we invert the signals by using the -not input
 # pin - the result is limit signals that are
 # TRUE when the machine is on the limit.)
-net X-lim-plus  motenc.3.in-00-not => axis.0.pos-lim-sw-in
-net X-lim-minus motenc.3.in-01-not => axis.0.neg-lim-sw-in
-net Y-lim-plus  motenc.3.in-02-not => axis.1.pos-lim-sw-in
-net Y-lim-minus motenc.3.in-03-not => axis.1.neg-lim-sw-in
-net Z-lim-plus  motenc.3.in-04-not => axis.2.pos-lim-sw-in
-net Z-lim-minus motenc.3.in-05-not => axis.2.neg-lim-sw-in
+net X-lim-plus  motenc.3.in-00-not => joint.0.pos-lim-sw-in
+net X-lim-minus motenc.3.in-01-not => joint.0.neg-lim-sw-in
+net Y-lim-plus  motenc.3.in-02-not => joint.1.pos-lim-sw-in
+net Y-lim-minus motenc.3.in-03-not => joint.1.neg-lim-sw-in
+net Z-lim-plus  motenc.3.in-04-not => joint.2.pos-lim-sw-in
+net Z-lim-minus motenc.3.in-05-not => joint.2.neg-lim-sw-in
 
 # Home switches
 # (the switches are NC, see note above)
-net X-home motenc.3.in-08-not => axis.0.home-sw-in
-net Y-home motenc.3.in-09-not => axis.1.home-sw-in
-net Z-home motenc.3.in-10-not => axis.2.home-sw-in
+net X-home motenc.3.in-08-not => joint.0.home-sw-in
+net Y-home motenc.3.in-09-not => joint.1.home-sw-in
+net Z-home motenc.3.in-10-not => joint.2.home-sw-in
 
 # spindle related signals: "high level" signals
 #   ready (from drive to PC)
@@ -353,13 +353,13 @@ net sp-in-low-gear ax5214h.0.in-36
 net sp-enc-pos scale.2.in
 net sp-pos-revs scale.2.out
 setp scale.2.gain 0.002777777777777
-net sp-pos-revs motion.spindle-revs
+net sp-pos-revs spindle.0.revs
 
 # rayh begins to screw it up with help from his friends
 # connect iocontrol signals for spindle run and speed
 # these work as long as a spindle command is being output.
-net spindle-run-request motion.spindle-on
-net spindle-rpm-cmd motion.spindle-speed-out
+net spindle-run-request spindle.0.on
+net spindle-rpm-cmd spindle.0.speed-out
 
 # end of spindle control
 
@@ -484,7 +484,7 @@ net sp-index-enable motenc.3.enc-03-index-enable
 net sp-index-enable tristate-bit.0.out
 setp tristate-bit.0.in 1
 net tool-change tristate-bit.0.enable
-net sp-index-enable motion.spindle-index-enable
+net sp-index-enable spindle.0.index-enable
 
 # jogwheel signals
 setp encoder.0.x4-mode 0
@@ -518,9 +518,9 @@ net Y-enc-counts motenc.3.enc-01-count
 net Z-enc-counts motenc.3.enc-02-count
 
 # scaling to get inches (scale comes from ini file)
-setp motenc.3.enc-00-scale [AXIS_0]INPUT_SCALE
-setp motenc.3.enc-01-scale [AXIS_1]INPUT_SCALE
-setp motenc.3.enc-02-scale [AXIS_2]INPUT_SCALE
+setp motenc.3.enc-00-scale [JOINT_0]INPUT_SCALE
+setp motenc.3.enc-01-scale [JOINT_1]INPUT_SCALE
+setp motenc.3.enc-02-scale [JOINT_2]INPUT_SCALE
 
 # position in inches
 net X-enc-pos motenc.3.enc-00-position
@@ -528,9 +528,9 @@ net Y-enc-pos motenc.3.enc-01-position
 net Z-enc-pos motenc.3.enc-02-position
 
 # index pulses
-net X-index-enable motenc.3.enc-00-index-enable axis.0.index-enable
-net Y-index-enable motenc.3.enc-01-index-enable axis.1.index-enable
-net Z-index-enable motenc.3.enc-02-index-enable axis.2.index-enable
+net X-index-enable motenc.3.enc-00-index-enable joint.0.index-enable
+net Y-index-enable motenc.3.enc-01-index-enable joint.1.index-enable
+net Z-index-enable motenc.3.enc-02-index-enable joint.2.index-enable
 
 # -----------------------------------------------------
 # DACs - output to servo amps
@@ -539,12 +539,12 @@ net X-volts motenc.3.dac-00-value
 net Y-volts motenc.3.dac-01-value
 net Z-volts motenc.3.dac-02-value
 # get scale and offset from the ini file
-setp motenc.3.dac-00-gain [AXIS_0]OUTPUT_SCALE
-setp motenc.3.dac-01-gain [AXIS_1]OUTPUT_SCALE
-setp motenc.3.dac-02-gain [AXIS_2]OUTPUT_SCALE
-setp motenc.3.dac-00-offset [AXIS_0]OUTPUT_OFFSET
-setp motenc.3.dac-01-offset [AXIS_1]OUTPUT_OFFSET
-setp motenc.3.dac-02-offset [AXIS_2]OUTPUT_OFFSET
+setp motenc.3.dac-00-gain [JOINT_0]OUTPUT_SCALE
+setp motenc.3.dac-01-gain [JOINT_1]OUTPUT_SCALE
+setp motenc.3.dac-02-gain [JOINT_2]OUTPUT_SCALE
+setp motenc.3.dac-00-offset [JOINT_0]OUTPUT_OFFSET
+setp motenc.3.dac-01-offset [JOINT_1]OUTPUT_OFFSET
+setp motenc.3.dac-02-offset [JOINT_2]OUTPUT_OFFSET
 
 # -----------------------------------------------------
 # ADCs - servo amp current feedback
@@ -566,9 +566,9 @@ setp motenc.3.adc-02-offset 0.0
 
 # signals for position command
 # hook the motion controller outputs to the position command
-net X-pos-cmd axis.0.motor-pos-cmd
-net Y-pos-cmd axis.1.motor-pos-cmd
-net Z-pos-cmd axis.2.motor-pos-cmd
+net X-pos-cmd joint.0.motor-pos-cmd
+net Y-pos-cmd joint.1.motor-pos-cmd
+net Z-pos-cmd joint.2.motor-pos-cmd
 # and to the PID inputs
 net X-pos-cmd pid.0.command
 net Y-pos-cmd pid.1.command
@@ -579,9 +579,9 @@ net X-enc-pos pid.0.feedback
 net Y-enc-pos pid.1.feedback
 net Z-enc-pos pid.2.feedback
 # and to motion controller
-net X-enc-pos axis.0.motor-pos-fb
-net Y-enc-pos axis.1.motor-pos-fb
-net Z-enc-pos axis.2.motor-pos-fb
+net X-enc-pos joint.0.motor-pos-fb
+net Y-enc-pos joint.1.motor-pos-fb
+net Z-enc-pos joint.2.motor-pos-fb
 
 # hook PID outputs to DACs
 net X-volts pid.0.output
@@ -597,34 +597,34 @@ net servo-enable pid.1.enable
 net servo-enable pid.2.enable
 
 # get tuning params from ini file
-setp pid.0.deadband [AXIS_0]DEADBAND
-setp pid.0.Pgain [AXIS_0]PGAIN
-setp pid.0.Igain [AXIS_0]IGAIN
-setp pid.0.Dgain [AXIS_0]DGAIN
-setp pid.0.FF0 [AXIS_0]FF0
-setp pid.0.FF1 [AXIS_0]FF1
-setp pid.0.FF2 [AXIS_0]FF2
-setp pid.0.bias [AXIS_0]BIAS
-setp pid.1.deadband [AXIS_1]DEADBAND
-setp pid.1.Pgain [AXIS_1]PGAIN
-setp pid.1.Igain [AXIS_1]IGAIN
-setp pid.1.Dgain [AXIS_1]DGAIN
-setp pid.1.FF0 [AXIS_1]FF0
-setp pid.1.FF1 [AXIS_1]FF1
-setp pid.1.FF2 [AXIS_1]FF2
-setp pid.1.bias [AXIS_1]BIAS
-setp pid.2.deadband [AXIS_2]DEADBAND
-setp pid.2.Pgain [AXIS_2]PGAIN
-setp pid.2.Igain [AXIS_2]IGAIN
-setp pid.2.Dgain [AXIS_2]DGAIN
-setp pid.2.FF0 [AXIS_2]FF0
-setp pid.2.FF1 [AXIS_2]FF1
-setp pid.2.FF2 [AXIS_2]FF2
-setp pid.2.bias [AXIS_2]BIAS
+setp pid.0.deadband [JOINT_0]DEADBAND
+setp pid.0.Pgain [JOINT_0]PGAIN
+setp pid.0.Igain [JOINT_0]IGAIN
+setp pid.0.Dgain [JOINT_0]DGAIN
+setp pid.0.FF0 [JOINT_0]FF0
+setp pid.0.FF1 [JOINT_0]FF1
+setp pid.0.FF2 [JOINT_0]FF2
+setp pid.0.bias [JOINT_0]BIAS
+setp pid.1.deadband [JOINT_1]DEADBAND
+setp pid.1.Pgain [JOINT_1]PGAIN
+setp pid.1.Igain [JOINT_1]IGAIN
+setp pid.1.Dgain [JOINT_1]DGAIN
+setp pid.1.FF0 [JOINT_1]FF0
+setp pid.1.FF1 [JOINT_1]FF1
+setp pid.1.FF2 [JOINT_1]FF2
+setp pid.1.bias [JOINT_1]BIAS
+setp pid.2.deadband [JOINT_2]DEADBAND
+setp pid.2.Pgain [JOINT_2]PGAIN
+setp pid.2.Igain [JOINT_2]IGAIN
+setp pid.2.Dgain [JOINT_2]DGAIN
+setp pid.2.FF0 [JOINT_2]FF0
+setp pid.2.FF1 [JOINT_2]FF1
+setp pid.2.FF2 [JOINT_2]FF2
+setp pid.2.bias [JOINT_2]BIAS
 # get maximum (and minimum) output volts from ini file
-setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT
-setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT
-setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT
+setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
+setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
+setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
 
 # LADDER LOGIC!!!
 #

configs/attic/demo_mazak/demo_mazak.ini

@@ -1,144 +1,134 @@
 # mazak_rf.ini EMC controller parameters for Roland Friestad's Mazak mill.
-
 # 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 =               $Revision$
-
+VERSION = 1.1
 # Name of machine, for use with display, etc.
 MACHINE =               LinuxCNC-MAZAK-RF
-
 # Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
 # DEBUG =                 0x00000003
 # DEBUG =               0x00000007
 DEBUG = 0
-
 # enable adaptive feed input, we use it for feedhold button and to
 # prevent motion during spindle accel, gear changes, etc
 RS274NGC_STARTUP_CODE = M52 P1
-
-
 # Sections for display options ------------------------------------------------
+
 [DISPLAY]
-
-# Name of display program, e.g., xemc
+# Name of display program, e.g., xlinuxcnc
 DISPLAY =               axis
-# DISPLAY =               tkemc
+# DISPLAY =               tklinuxcnc
 # DISPLAY =               mini
-
 # Cycle time, in seconds, that display will sleep between polls
 CYCLE_TIME =            0.100
-
 # Path to help file
-HELP_FILE =             tklinucnc.txt
-
+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 =     1.2
-
 # Prefix to be used
 PROGRAM_PREFIX = ../../nc_files/
-
 # side panel with some extra controls
 PYVCP=panel.xml
-
 # Introductory graphic
 INTRO_GRAPHIC = linuxcnc.gif
 INTRO_TIME = 1
-
-EDITOR = gedit
-
+#EDITOR = gedit
 INCREMENTS = 0.010 0.001 0.0001
-
 # Task controller section -----------------------------------------------------
-[TASK]
 
-# Name of task controller program, e.g., milltask
-TASK =                  milltask
+[FILTER]
+#No Content
 
-# Cycle time, in seconds, that task controller will sleep between polls
-CYCLE_TIME =            0.010
-
-# Part program interpreter section --------------------------------------------
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE =        demo_mazak.var
-
 # Motion control section ------------------------------------------------------
+
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # Base task period, in nanoseconds - this is the fastest thread in the machine
 BASE_PERIOD =                100000
 # Servo task period, in nanoseconds - will be rounded to an integer multiple
 #   of BASE_PERIOD
 SERVO_PERIOD =               500000
-
 # Hardware Abstraction Layer section --------------------------------------------------
-[HAL]
 
+[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 =                    demo_mazak.hal
 HALFILE =                    tester.hal
-
 # list of halcmd commands to execute
 # commands are executed in the order in which they appear
 #HALCMD =                    save neta
-
 # Single file that is executed after the GUI has started.
 # used for "control panel" stuff, since the panel widgets
 # don't exist until the GUI starts
 POSTGUI_HALFILE = panel.hal
-
-
 # Spindle Controller Section --------------------------------------------------
-[SPINDLE]
 
-ORIENT_POSITION =       -75.0
-LOW_GEAR_RATIO =        4.133
-HIGH_GEAR_RATIO =       1.100
+[HALUI]
+#No Content
 
-# Trajectory planner section --------------------------------------------------
 [TRAJ]
-
-AXES =                  3
 # COORDINATES =         X Y Z A B C
 COORDINATES =           X Y Z
 HOME =                  0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
-DEFAULT_VELOCITY =      1.0
-MAX_VELOCITY =          5.0
-DEFAULT_ACCELERATION =  20.0
-MAX_ACCELERATION =      20.0
-
+DEFAULT_LINEAR_VELOCITY = 1.0
+MAX_LINEAR_VELOCITY = 5.0
+DEFAULT_LINEAR_ACCELERATION = 20.0
+MAX_LINEAR_ACCELERATION = 20.0
 # Axes sections ---------------------------------------------------------------
-
 # First axis
-[AXIS_0]
 
+[EMCIO]
+# change tools in the upper left corner of the table
+# to avoid hitting the vice or workpiece with the tool
+TOOL_CHANGE_POSITION = -13.75 7.5 -0.022
+# Name of IO controller program, e.g., io
+EMCIO =     io
+# cycle time, in seconds
+CYCLE_TIME =    0.100
+# tool table file
+TOOL_TABLE =    demo_mazak.tbl
+# tool turret info
+TOOL_TURRET_MAX = 24
+TOOL_TURRET_WRAP = 1
+# wait times in seconds for spindle brake, release
+SPINDLE_OFF_WAIT          =     1.0
+SPINDLE_ON_WAIT           =     1.5
+
+[KINS]
+KINEMATICS =  trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -14.0
+MAX_LIMIT = 14.0
+MAX_VELOCITY = 5.0
+MAX_ACCELERATION = 20.0
+
+[JOINT_0]
 TYPE =                          LINEAR
 HOME =                          0.000
 MAX_VELOCITY =                  5.0
@@ -170,10 +160,15 @@ FF0 =       0.000
 FF1 =       0.000
 FF2 =				0.0
 BIAS =      0.000
-
 # Second axis
-[AXIS_1]
 
+[AXIS_Y]
+MIN_LIMIT = -7.7
+MAX_LIMIT = 7.7
+MAX_VELOCITY = 5.0
+MAX_ACCELERATION = 20.0
+
+[JOINT_1]
 TYPE =                          LINEAR
 HOME =                          0.000
 MAX_VELOCITY =                  5.0
@@ -204,10 +199,15 @@ FF0 =       0.000
 FF1 =       0.000
 FF2 =				0.0
 BIAS =      0.000
-
 # Third axis
-[AXIS_2]
 
+[AXIS_Z]
+MIN_LIMIT = -7.75
+MAX_LIMIT = 0.025
+MAX_VELOCITY = 3.0
+MAX_ACCELERATION = 20.0
+
+[JOINT_2]
 TYPE =                          LINEAR
 HOME =                          0.0
 MAX_VELOCITY =                  3.0
@@ -243,28 +243,10 @@ FF0 =       0.000
 FF1 =       0.000
 FF2 =				0.0
 BIAS =      0.000
-
 # section for main IO controller parameters -----------------------------------
-[EMCIO]
-
-# change tools in the upper left corner of the table
-# to avoid hitting the vise or workpiece with the tool
-TOOL_CHANGE_POSITION = -13.75 7.5 -0.022
-
-# Name of IO controller program, e.g., io
-EMCIO =     io
-
-# cycle time, in seconds
-CYCLE_TIME =    0.100
-
-# tool table file
-TOOL_TABLE =    demo_mazak.tbl
-
-# tool turret info
-TOOL_TURRET_MAX = 24
-TOOL_TURRET_WRAP = 1
-
-# wait times in seconds for spindle brake, release
-SPINDLE_OFF_WAIT          =     1.0
-SPINDLE_ON_WAIT           =     1.5
 
+[SPINDLE]
+ORIENT_POSITION =       -75.0
+LOW_GEAR_RATIO =        4.133
+HIGH_GEAR_RATIO =       1.100
+# Trajectory planner section --------------------------------------------------

configs/attic/unclaimed/max/jogwheel.hal

@@ -0,0 +1,15 @@
+
+net jogA parport.0.pin-10-in => encoder.1.phase-A
+net jogB parport.0.pin-11-in => encoder.1.phase-B
+
+net jogX axisui.jog.x => joint.0.jog-enable
+net jogY axisui.jog.y => joint.1.jog-enable
+net jogZ axisui.jog.z => joint.2.jog-enable
+
+net jogcounts encoder.1.counts => joint.0.jog-counts joint.1.jog-counts joint.2.jog-counts
+
+sets jogscale .00002
+net jogscale joint.0.jog-scale
+net jogscale joint.1.jog-scale
+net jogscale joint.2.jog-scale
+

configs/attic/unclaimed/max/max.hal

@@ -0,0 +1,224 @@
+# HAL config file for MAX NC test machine
+#######################################################
+# first load all the HAL modules we're going to need
+#######################################################
+# kinematics
+loadrt [KINS]KINEMATICS
+# main motion controller module
+loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
+# using steppers....
+loadrt stepgen step_type=0,0,0,0
+# I/O thru the parport
+loadrt hal_parport cfg="0x0378"
+# counting the spindle encoder in software
+loadrt encoder num_chan=2
+# simulate the encoder
+loadrt sim_encoder num_chan=1
+# misc blocks needed to do fun things
+loadrt ddt count=8
+
+#######################################################
+# add realtime functions to the threads
+# first the high speed thread
+#######################################################
+# first we read parport inputs
+addf parport.0.read		base-thread
+addf sim-encoder.make-pulses    base-thread
+# update encoder counter
+addf encoder.update-counters    base-thread
+# generate step and dir signals
+addf stepgen.make-pulses	base-thread
+# write to outputs
+addf parport.0.write		base-thread
+
+
+
+# now the servo thread
+########################################################
+# capture axis and spindle positions
+addf stepgen.capture-position	servo-thread
+addf encoder.capture-position	servo-thread
+# process motion commands coming from user space
+addf motion-command-handler	servo-thread
+# run main motion controller
+addf motion-controller		servo-thread
+# differentiators to make vel and acc signals
+addf ddt.0			servo-thread
+addf ddt.1			servo-thread
+addf ddt.2			servo-thread
+addf ddt.3			servo-thread
+addf ddt.4			servo-thread
+addf ddt.5			servo-thread
+addf ddt.6			servo-thread
+addf ddt.7			servo-thread
+# update output info, axis and spindle
+addf stepgen.update-freq	servo-thread
+addf sim-encoder.update-speed   servo-thread
+
+
+
+#######################################################
+# interconnections
+#
+# first, the basic stepper machine connections
+#######################################################
+
+# connect position commands from motion module to step generator
+net Xpos-cmd <= joint.0.motor-pos-cmd
+net Xpos-cmd => stepgen.0.position-cmd
+net Ypos-cmd <= joint.1.motor-pos-cmd
+net Ypos-cmd => stepgen.1.position-cmd
+net Zpos-cmd <= joint.2.motor-pos-cmd
+net Zpos-cmd => stepgen.2.position-cmd
+net Apos-cmd <= joint.3.motor-pos-cmd
+net Apos-cmd => stepgen.3.position-cmd
+
+# connect position feedback from step generators
+# to motion module
+net Xpos-fb <= stepgen.0.position-fb
+net Xpos-fb => joint.0.motor-pos-fb
+net Ypos-fb <= stepgen.1.position-fb
+net Ypos-fb => joint.1.motor-pos-fb
+net Zpos-fb <= stepgen.2.position-fb
+net Zpos-fb => joint.2.motor-pos-fb
+net Apos-fb <= stepgen.3.position-fb
+net Apos-fb => joint.3.motor-pos-fb
+
+# connect enable signals for step generators
+net Xen <= joint.0.amp-enable-out
+net Xen => stepgen.0.enable
+net Yen <= joint.1.amp-enable-out
+net Yen => stepgen.1.enable
+net Zen <= joint.2.amp-enable-out
+net Zen => stepgen.2.enable
+net Aen <= joint.3.amp-enable-out
+net Aen => stepgen.3.enable
+
+# connect signals to step pulse generator outputs
+net Xstep <= stepgen.0.step
+net Xdir <= stepgen.0.dir
+net Ystep <= stepgen.1.step
+net Ydir <= stepgen.1.dir
+net Zstep <= stepgen.2.step
+net Zdir <= stepgen.2.dir
+net Astep <= stepgen.3.step
+net Adir <= stepgen.3.dir
+
+# create a signal for the estop loopback
+net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in
+
+# create signals for tool loading loopback
+net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
+net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed
+
+# create a signal for "spindle on"
+net spindle_on <= motion.spindle-on
+
+# connect physical pins to the signals
+net Xstep => parport.0.pin-03-out
+net Xdir => parport.0.pin-02-out
+net Ystep => parport.0.pin-05-out
+net Ydir => parport.0.pin-04-out
+net Zstep => parport.0.pin-07-out
+net Zdir => parport.0.pin-06-out
+net Astep => parport.0.pin-09-out
+net Adir => parport.0.pin-08-out
+# amp enable (active lo)
+net Xen => parport.0.pin-01-out
+setp parport.0.pin-01-out-invert 1
+# spindle enable (active lo)
+net spindle_on => parport.0.pin-14-out
+setp parport.0.pin-14-out-invert 1
+
+#######################################################
+# set scaling and other parameters of the basic machine
+
+# set stepgen module scaling - get values from ini file
+setp stepgen.0.position-scale [AXIS_0]SCALE
+setp stepgen.1.position-scale [AXIS_1]SCALE
+setp stepgen.2.position-scale [AXIS_2]SCALE
+setp stepgen.3.position-scale [AXIS_3]SCALE
+
+# set stepgen module accel limits - get values from ini file
+# jmk said to set these to ini value + 5% to avoid stepgen bug
+setp stepgen.0.maxaccel [AXIS_0]HAL_MAXACCEL
+setp stepgen.1.maxaccel [AXIS_1]HAL_MAXACCEL
+setp stepgen.2.maxaccel [AXIS_2]HAL_MAXACCEL
+setp stepgen.3.maxaccel [AXIS_3]HAL_MAXACCEL
+
+# end of basic machine
+
+#######################################################
+# Beginning of threading related stuff
+#######################################################
+
+# spindle speed control
+net spindle-speed-cmd <= motion.spindle-speed-out
+net spindle-speed-cmd => sim-encoder.0.speed
+
+# spindle encoder
+# connect encoder signals to encoder counter
+net spindle-phase-A => encoder.0.phase-A
+net spindle-phase-B => encoder.0.phase-B
+net spindle-phase-Z => encoder.0.phase-Z
+
+net spindle-phase-A <= sim-encoder.0.phase-A
+net spindle-phase-B <= sim-encoder.0.phase-B
+net spindle-phase-Z <= sim-encoder.0.phase-Z
+
+# assume 120 ppr = 480 counts/rev for the spindle
+setp sim-encoder.0.ppr 120
+# iocontrol output is in rpm, but sim-encoder speed is rps
+setp sim-encoder.0.scale 60
+# scale encoder output to read in revolutions
+# (that way thread pitches can be straightforward,
+#  a 20 tpi thread would multiply the encoder output
+#  by 1/20, etc)
+setp encoder.0.position-scale 480
+
+# encoder reset control
+net spindle-index-enable <= motion.spindle-index-enable
+net spindle-index-enable <=> encoder.0.index-enable
+
+
+# report our revolution count to the motion controller
+net spindle-pos <= encoder.0.position
+net spindle-pos => motion.spindle-revs
+
+
+#######################################################
+# make vel and accel sigs for testing
+#######################################################
+
+# send the position commands thru differentiators to
+# generate velocity and accel signals (for testing)
+
+# define the signals, and hook them up
+net Xpos-cmd => ddt.0.in
+net Xvel <= ddt.0.out
+net Xvel => ddt.1.in
+net Xacc <= ddt.1.out
+
+net Ypos-cmd => ddt.2.in
+net Yvel <= ddt.2.out
+net Yvel => ddt.3.in
+net Yacc <= ddt.3.out
+
+net Zpos-cmd => ddt.4.in
+net Zvel <= ddt.4.out
+net Zvel => ddt.5.in
+net Zacc <= ddt.5.out
+
+net Apos-cmd => ddt.6.in
+net Avel <= ddt.6.out
+net Avel => ddt.7.in
+net Aacc <= ddt.7.out
+
+# for spindle velocity estimate
+loadrt lowpass count=1
+net spindle-rpm-raw encoder.0.velocity
+net spindle-rpm-raw lowpass.0.in
+net spindle-rpm-filtered lowpass.0.out
+setp lowpass.0.gain .03
+addf lowpass.0 servo-thread
+

configs/attic/unclaimed/plasma-thc/mp1000A.hal

@@ -0,0 +1,190 @@
+###################### Torch Height Control ########################## 
+
+# Load realtime hal components for THC
+loadrt and2 count=9
+loadrt comp count=3
+loadrt updown
+loadrt flipflop count=3
+loadrt hypot
+loadrt logic personality=0x203
+loadrt minmax
+loadrt mult2 count=2
+loadrt mux2 count=7
+loadrt not count=3
+loadrt oneshot count=4
+loadrt or2 count=9
+loadrt scale
+loadrt sum2 count=5
+loadrt xor2 count=4
+loadrt conv_s32_float
+loadrt edge count=2
+
+# Attach realtime hal components to a realtime thread
+addf and2.0 servo-thread
+addf and2.1 servo-thread
+addf and2.2 servo-thread
+addf and2.3 servo-thread
+addf and2.4 servo-thread
+addf and2.5 servo-thread
+addf and2.6 servo-thread
+addf and2.7 servo-thread
+addf and2.8 servo-thread
+addf comp.0 servo-thread
+addf comp.1 servo-thread
+addf comp.2 servo-thread
+addf conv-s32-float.0 servo-thread
+addf edge.0 servo-thread
+addf edge.1 servo-thread
+addf flipflop.0 servo-thread
+addf flipflop.1 servo-thread
+addf flipflop.2 servo-thread
+addf hypot.0 servo-thread
+addf logic.0 servo-thread
+addf minmax.0 servo-thread
+addf mult2.0 servo-thread
+addf mult2.1 servo-thread
+addf mux2.0 servo-thread
+addf mux2.1 servo-thread
+addf mux2.2 servo-thread
+addf mux2.3 servo-thread
+addf mux2.4 servo-thread
+addf mux2.5 servo-thread
+addf mux2.6 servo-thread
+addf not.0 servo-thread
+addf not.1 servo-thread
+addf not.2 servo-thread
+addf oneshot.0 servo-thread
+addf oneshot.1 servo-thread
+addf oneshot.2 servo-thread
+addf oneshot.3 servo-thread
+addf or2.0 servo-thread
+addf or2.1 servo-thread
+addf or2.2 servo-thread
+addf or2.3 servo-thread
+addf or2.4 servo-thread
+addf or2.5 servo-thread
+addf or2.6 servo-thread
+addf or2.7 servo-thread
+addf or2.8 servo-thread
+addf updown.0 servo-thread
+addf scale.0 servo-thread
+addf sum2.0 servo-thread
+addf sum2.1 servo-thread
+addf sum2.2 servo-thread
+addf sum2.3 servo-thread
+addf sum2.4 servo-thread
+addf xor2.0 servo-thread
+addf xor2.1 servo-thread
+addf xor2.2 servo-thread
+
+# Set static values and default values
+setp oneshot.1.width [PLASMA]IGNITION_TIMEOUT
+setp oneshot.2.width [PLASMA]ARC_OK_FILTER_TIME
+setp oneshot.3.width [PLASMA]EXTINGUISH_TIMEOUT
+setp oneshot.3.falling 1
+setp oneshot.3.rising 0
+setp comp.2.in0 [PLASMA]MAX_FAILED_IGNITIONS
+setp mux2.1.in0 -1
+setp mux2.1.in1 1
+setp mux2.3.in0 0
+
+# Set the lowest value the THC will try to move the torch
+setp sum2.4.in0 [AXIS_2]MIN_LIMIT
+
+# Set default gains for sum, positive for addition and negative for subtraction
+# Setting positive gains will become implicit and those can be removed safely in a later version
+setp sum2.0.gain0 1
+setp sum2.0.gain1 1
+setp sum2.1.gain0 1
+setp sum2.1.gain1 1
+setp sum2.2.gain0 1
+setp sum2.2.gain1 -1
+setp sum2.3.gain0 1
+setp sum2.3.gain1 -1
+setp sum2.4.gain0 1
+setp sum2.4.gain1 -1
+
+# Set Hysterisis for float comp
+setp comp.1.hyst 0.001
+
+# Set percentage multiplier for scale
+setp scale.0.gain 0.01
+
+# Set edge detectors to work on falling edges to detect Ignition Timeouts
+setp edge.0.in-edge 1
+setp edge.1.in-edge 1
+
+# Hook up parallel port pins
+net MoveDown parport.1.pin-11-in-not => or2.0.in0
+net MoveUp parport.1.pin-12-in-not => or2.0.in1 mux2.1.sel
+
+# Hook up component pins using the net command
+net FloatSwitch parport.1.pin-03-in => or2.1.in1 and2.4.in0 and2.5.in1 and2.6.in1
+net ArcOK parport.1.pin-15-in-not => or2.4.in1 xor2.1.in1 oneshot.2.in
+net FilteredArcOK xor2.1.out => or2.1.in0 or2.6.in0 not.1.in and2.4.in1 flipflop.1.set oneshot.3.in flipflop.2.set and2.2.in0 
+net TimersOrArcOK or2.4.out => or2.5.in0 or2.3.in0 
+net LockHeight and2.0.out => xor2.2.in0
+net EnabledAdjustHeight and2.1.out => mux2.3.sel
+net ReleaseFeedHold and2.2.out => xor2.0.in1
+net TorchOn => and2.3.out parport.1.pin-01-out oneshot.1.in not.2.in
+net FloatSwitchEstop and2.4.out => logic.0.in-02
+net FloatAndTorchOn and2.5.out => or2.2.in1
+net TorchAndFloat and2.6.out => flipflop.0.set
+net PosAndFloat and2.7.out => or2.5.in1
+net IgnitionEstop comp.2.out => logic.0.in-01
+net StartTorchOn and2.8.out => and2.3.in0
+net OriginalPosZ-cmd joint.2.motor-pos-cmd => mux2.5.in0 sum2.2.in1
+net JointPoz-cmd joint.2.pos-cmd => sum2.2.in0
+net CHLTriggered comp.0.out => and2.0.in0
+net AtPosition comp.1.equal => and2.7.in0
+net VelX ddt.0.out => hypot.0.in0
+net VelY ddt.1.out => hypot.0.in1
+net FloatSwitchSet flipflop.0.out => or2.3.in1 and2.7.in1
+net ModeIsAuto halui.mode.is-auto => mux2.5.sel
+net VelXY hypot.0.out => minmax.0.in comp.0.in0
+net TriggerEStop logic.0.or => estop-latch.0.fault-in
+net MaximumVelocity minmax.0.max => mult2.1.in0 
+net TurnTorchOn motion.spindle-forward => xor2.0.in0 and2.8.in0 and2.6.in0 mux2.4.sel not.0.in 
+net HeightAdjustment mult2.0.out => mux2.3.in1
+net VelocityThreshold mult2.1.out => comp.0.in1
+net HeightOffset mux2.0.out => sum2.1.in1
+net AdjustmentDirection mux2.1.out => mult2.0.in1
+net PositionSnapshot mux2.2.out => sum2.1.in0 mux2.2.in0
+net SelectedAdjustment mux2.3.out => mux2.0.in1
+net PosZ-cmd mux2.4.out => stepgen.2.position-cmd comp.1.in1
+net PosSelectB mux2.5.out => mux2.4.in0
+net PosSelectC mux2.6.out => mux2.4.in1
+net TurnTorchOff not.0.out => and2.5.in0 or2.7.in0 updown.0.reset
+net ReversedArcOK not.1.out => minmax.0.reset
+net PierceDelayElapsed oneshot.0.out-not => and2.2.in1
+net IgnitionTimer oneshot.1.out => edge.0.in or2.8.in0
+net AdjustHeight or2.0.out => xor2.2.in1 and2.1.in0
+net TakeSnapshot or2.1.out => mux2.2.sel
+net TriggerLimit or2.2.out => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
+net ProbeOrArcOK or2.3.out => mux2.6.sel 
+net PAFOrArcOK or2.5.out => and2.3.in1
+net EstopOrArcOK or2.6.out => flipflop.0.reset
+net ExtEStop parport.0.pin-10-in => logic.0.in-00
+net ExtEStop  => logic.0.in-00
+net LimitZ parport.0.pin-13-in => or2.2.in0
+net ThresholdPercentage scale.0.out => mult2.1.in1
+net PosZ-fb stepgen.2.position-fb => joint.2.motor-pos-fb mux2.2.in1 comp.1.in0
+net PierceOffset sum2.0.out => mux2.0.in0
+net DestinationHeight sum2.1.out => mux2.6.in1
+net JointAxisDiff sum2.2.out => sum2.3.in1 sum2.4.in1
+net StepCordsTH sum2.3.out => mux2.5.in1
+net StepCordsML sum2.4.out => mux2.6.in0
+net FeedHold xor2.0.out => motion.feed-hold
+net CHLSwitched xor2.2.out => and2.1.in1
+net ArcOKTimer oneshot.2.out => xor2.1.in0
+net PierceLatch flipflop.1.out => mux2.0.sel oneshot.0.in
+net IgnitionCounterS32 updown.0.count => conv-s32-float.0.in
+net IgnitionCounterFloat conv-s32-float.0.out => comp.2.in1
+net IgnitionTimerOff oneshot.1.out-not => updown.0.countup
+net TorchOff not.2.out => flipflop.1.reset
+net TorchTurnedOffOrTimeout or2.7.out => or2.6.in1
+net IgnitionTimeout edge.0.out => or2.7.in1
+net ExtinguishTimer oneshot.3.out edge.1.in
+net ExtinguishLatch flipflop.2.out or2.8.in1
+net ExtinguishTimeout edge.1.out flipflop.2.reset
+net Timers or2.8.out => or2.4.in0 

configs/attic/unclaimed/plasma-thc/mp1000A_parport.hal

@@ -0,0 +1,32 @@
+############################# Parallel Ports ##############################################
+
+# Load Driver for Two Parallel Ports, one for Breakout Board, other for Plasma Torch Height Control
+loadrt hal_parport cfg="0xa400 0xac00 in"
+
+# Connect both Paralell Ports to Threads for Read / Write
+addf parport.0.read base-thread 1
+addf parport.0.write base-thread -1
+addf parport.1.read base-thread 1
+addf parport.1.write base-thread -1
+
+# Invert pins to make motors move in right direction
+setp parport.0.pin-03-out-invert 1
+setp parport.0.pin-05-out-invert 1
+
+# Hook up the step and dir signals to the parport pins
+# Axis A and Y are the same axis but different motors 
+net StepX stepgen.0.step => parport.0.pin-02-out
+net DirX stepgen.0.dir => parport.0.pin-03-out
+net StepY stepgen.1.step => parport.0.pin-04-out
+net DirY stepgen.1.dir => parport.0.pin-05-out
+net StepZ stepgen.2.step => parport.0.pin-06-out
+net DirZ stepgen.2.dir => parport.0.pin-07-out
+net StepA stepgen.3.step => parport.0.pin-08-out
+net DirA stepgen.3.dir => parport.0.pin-09-out
+
+# Hook up limit and home switches, each axis shares a common pin for homing, limit min and limit max
+net LimitX parport.1.pin-06-in-not => joint.0.neg-lim-sw-in joint.0.pos-lim-sw-in joint.0.home-sw-in
+net LimitY parport.1.pin-07-in-not => joint.1.neg-lim-sw-in joint.1.pos-lim-sw-in joint.1.home-sw-in
+# Z axis Limit switch handled by THC, see thc.hal
+#net LimitZ parport.1.pin-13-in => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
+net LimitA parport.1.pin-09-in-not => joint.3.neg-lim-sw-in joint.3.pos-lim-sw-in joint.3.home-sw-in

configs/attic/unclaimed/plasma-thc/mp1000B.hal

@@ -0,0 +1,190 @@
+###################### Torch Height Control ########################## 
+
+# Load realtime hal components for THC
+loadrt and2 count=9
+loadrt comp count=3
+loadrt updown
+loadrt flipflop count=3
+loadrt hypot
+loadrt logic personality=0x203
+loadrt minmax
+loadrt mult2 count=2
+loadrt mux2 count=7
+loadrt not count=3
+loadrt oneshot count=4
+loadrt or2 count=9
+loadrt scale
+loadrt sum2 count=5
+loadrt xor2 count=4
+loadrt conv_s32_float
+loadrt edge count=2
+
+# Attach realtime hal components to a realtime thread
+addf and2.0 servo-thread
+addf and2.1 servo-thread
+addf and2.2 servo-thread
+addf and2.3 servo-thread
+addf and2.4 servo-thread
+addf and2.5 servo-thread
+addf and2.6 servo-thread
+addf and2.7 servo-thread
+addf and2.8 servo-thread
+addf comp.0 servo-thread
+addf comp.1 servo-thread
+addf comp.2 servo-thread
+addf conv-s32-float.0 servo-thread
+addf edge.0 servo-thread
+addf edge.1 servo-thread
+addf flipflop.0 servo-thread
+addf flipflop.1 servo-thread
+addf flipflop.2 servo-thread
+addf hypot.0 servo-thread
+addf logic.0 servo-thread
+addf minmax.0 servo-thread
+addf mult2.0 servo-thread
+addf mult2.1 servo-thread
+addf mux2.0 servo-thread
+addf mux2.1 servo-thread
+addf mux2.2 servo-thread
+addf mux2.3 servo-thread
+addf mux2.4 servo-thread
+addf mux2.5 servo-thread
+addf mux2.6 servo-thread
+addf not.0 servo-thread
+addf not.1 servo-thread
+addf not.2 servo-thread
+addf oneshot.0 servo-thread
+addf oneshot.1 servo-thread
+addf oneshot.2 servo-thread
+addf oneshot.3 servo-thread
+addf or2.0 servo-thread
+addf or2.1 servo-thread
+addf or2.2 servo-thread
+addf or2.3 servo-thread
+addf or2.4 servo-thread
+addf or2.5 servo-thread
+addf or2.6 servo-thread
+addf or2.7 servo-thread
+addf or2.8 servo-thread
+addf updown.0 servo-thread
+addf scale.0 servo-thread
+addf sum2.0 servo-thread
+addf sum2.1 servo-thread
+addf sum2.2 servo-thread
+addf sum2.3 servo-thread
+addf sum2.4 servo-thread
+addf xor2.0 servo-thread
+addf xor2.1 servo-thread
+addf xor2.2 servo-thread
+
+# Set static values and default values
+setp oneshot.1.width [PLASMA]IGNITION_TIMEOUT
+setp oneshot.2.width [PLASMA]ARC_OK_FILTER_TIME
+setp oneshot.3.width [PLASMA]EXTINGUISH_TIMEOUT
+setp oneshot.3.falling 1
+setp oneshot.3.rising 0
+setp comp.2.in0 [PLASMA]MAX_FAILED_IGNITIONS
+setp mux2.1.in0 -1
+setp mux2.1.in1 1
+setp mux2.3.in0 0
+
+# Set the lowest value the THC will try to move the torch
+setp sum2.4.in0 [AXIS_2]MIN_LIMIT
+
+# Set default gains for sum, positive for addition and negative for subtraction
+# Setting positive gains will become implicit and those can be removed safely in a later version
+setp sum2.0.gain0 1
+setp sum2.0.gain1 1
+setp sum2.1.gain0 1
+setp sum2.1.gain1 1
+setp sum2.2.gain0 1
+setp sum2.2.gain1 -1
+setp sum2.3.gain0 1
+setp sum2.3.gain1 -1
+setp sum2.4.gain0 1
+setp sum2.4.gain1 -1
+
+# Set Hysterisis for float comp
+setp comp.1.hyst 0.001
+
+# Set percentage multiplier for scale
+setp scale.0.gain 0.01
+
+# Set edge detectors to work on falling edges to detect Ignition Timeouts
+setp edge.0.in-edge 1
+setp edge.1.in-edge 1
+
+# Hook up parallel port pins
+net MoveDown parport.1.pin-06-in-not => or2.0.in0
+net MoveUp parport.1.pin-07-in-not => or2.0.in1 mux2.1.sel
+
+# Hook up component pins using the net command
+net FloatSwitch parport.1.pin-03-in => or2.1.in1 and2.4.in0 and2.5.in1 and2.6.in1
+net ArcOK parport.1.pin-08-in-not => or2.4.in1 xor2.1.in1 oneshot.2.in
+net FilteredArcOK xor2.1.out => or2.1.in0 or2.6.in0 not.1.in and2.4.in1 flipflop.1.set oneshot.3.in flipflop.2.set and2.2.in0 
+net TimersOrArcOK or2.4.out => or2.5.in0 or2.3.in0 
+net LockHeight and2.0.out => xor2.2.in0
+net EnabledAdjustHeight and2.1.out => mux2.3.sel
+net ReleaseFeedHold and2.2.out => xor2.0.in1
+net TorchOn => and2.3.out parport.1.pin-01-out oneshot.1.in not.2.in
+net FloatSwitchEstop and2.4.out => logic.0.in-02
+net FloatAndTorchOn and2.5.out => or2.2.in1
+net TorchAndFloat and2.6.out => flipflop.0.set
+net PosAndFloat and2.7.out => or2.5.in1
+net IgnitionEstop comp.2.out => logic.0.in-01
+net StartTorchOn and2.8.out => and2.3.in0
+net OriginalPosZ-cmd joint.2.motor-pos-cmd => mux2.5.in0 sum2.2.in1
+net JointPoz-cmd joint.2.pos-cmd => sum2.2.in0
+net CHLTriggered comp.0.out => and2.0.in0
+net AtPosition comp.1.equal => and2.7.in0
+net VelX ddt.0.out => hypot.0.in0
+net VelY ddt.1.out => hypot.0.in1
+net FloatSwitchSet flipflop.0.out => or2.3.in1 and2.7.in1
+net ModeIsAuto halui.mode.is-auto => mux2.5.sel
+net VelXY hypot.0.out => minmax.0.in comp.0.in0
+net TriggerEStop logic.0.or => estop-latch.0.fault-in
+net MaximumVelocity minmax.0.max => mult2.1.in0 
+net TurnTorchOn motion.spindle-forward => xor2.0.in0 and2.8.in0 and2.6.in0 mux2.4.sel not.0.in 
+net HeightAdjustment mult2.0.out => mux2.3.in1
+net VelocityThreshold mult2.1.out => comp.0.in1
+net HeightOffset mux2.0.out => sum2.1.in1
+net AdjustmentDirection mux2.1.out => mult2.0.in1
+net PositionSnapshot mux2.2.out => sum2.1.in0 mux2.2.in0
+net SelectedAdjustment mux2.3.out => mux2.0.in1
+net PosZ-cmd mux2.4.out => stepgen.2.position-cmd comp.1.in1
+net PosSelectB mux2.5.out => mux2.4.in0
+net PosSelectC mux2.6.out => mux2.4.in1
+net TurnTorchOff not.0.out => and2.5.in0 or2.7.in0 updown.0.reset
+net ReversedArcOK not.1.out => minmax.0.reset
+net PierceDelayElapsed oneshot.0.out-not => and2.2.in1
+net IgnitionTimer oneshot.1.out => edge.0.in or2.8.in0
+net AdjustHeight or2.0.out => xor2.2.in1 and2.1.in0
+net TakeSnapshot or2.1.out => mux2.2.sel
+net TriggerLimit or2.2.out => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
+net ProbeOrArcOK or2.3.out => mux2.6.sel 
+net PAFOrArcOK or2.5.out => and2.3.in1
+net EstopOrArcOK or2.6.out => flipflop.0.reset
+net ExtEStop parport.0.pin-10-in => logic.0.in-00
+net ExtEStop  => logic.0.in-00
+net LimitZ parport.0.pin-13-in => or2.2.in0
+net ThresholdPercentage scale.0.out => mult2.1.in1
+net PosZ-fb stepgen.2.position-fb => joint.2.motor-pos-fb mux2.2.in1 comp.1.in0
+net PierceOffset sum2.0.out => mux2.0.in0
+net DestinationHeight sum2.1.out => mux2.6.in1
+net JointAxisDiff sum2.2.out => sum2.3.in1 sum2.4.in1
+net StepCordsTH sum2.3.out => mux2.5.in1
+net StepCordsML sum2.4.out => mux2.6.in0
+net FeedHold xor2.0.out => motion.feed-hold
+net CHLSwitched xor2.2.out => and2.1.in1
+net ArcOKTimer oneshot.2.out => xor2.1.in0
+net PierceLatch flipflop.1.out => mux2.0.sel oneshot.0.in
+net IgnitionCounterS32 updown.0.count => conv-s32-float.0.in
+net IgnitionCounterFloat conv-s32-float.0.out => comp.2.in1
+net IgnitionTimerOff oneshot.1.out-not => updown.0.countup
+net TorchOff not.2.out => flipflop.1.reset
+net TorchTurnedOffOrTimeout or2.7.out => or2.6.in1
+net IgnitionTimeout edge.0.out => or2.7.in1
+net ExtinguishTimer oneshot.3.out edge.1.in
+net ExtinguishLatch flipflop.2.out or2.8.in1
+net ExtinguishTimeout edge.1.out flipflop.2.reset
+net Timers or2.8.out => or2.4.in0 

configs/attic/unclaimed/plasma-thc/mp1000B_parport.hal

@@ -0,0 +1,32 @@
+############################# Parallel Ports ##############################################
+
+# Load Driver for Two Parallel Ports, one for Breakout Board, other for Plasma Torch Height Control
+loadrt hal_parport cfg="0xa400 0xac00 in"
+
+# Connect both Paralell Ports to Threads for Read / Write
+addf parport.0.read base-thread 1
+addf parport.0.write base-thread -1
+addf parport.1.read base-thread 1
+addf parport.1.write base-thread -1
+
+# Invert pins to make motors move in right direction
+setp parport.0.pin-03-out-invert 1
+setp parport.0.pin-05-out-invert 1
+
+# Hook up the step and dir signals to the parport pins
+# Axis A and Y are the same axis but different motors 
+net StepX stepgen.0.step => parport.0.pin-02-out
+net DirX stepgen.0.dir => parport.0.pin-03-out
+net StepY stepgen.1.step => parport.0.pin-04-out
+net DirY stepgen.1.dir => parport.0.pin-05-out
+net StepZ stepgen.2.step => parport.0.pin-06-out
+net DirZ stepgen.2.dir => parport.0.pin-07-out
+net StepA stepgen.3.step => parport.0.pin-08-out
+net DirA stepgen.3.dir => parport.0.pin-09-out
+
+# Hook up limit and home switches, each axis shares a common pin for homing, limit min and limit max
+net LimitX parport.0.pin-11-in => joint.0.neg-lim-sw-in joint.0.pos-lim-sw-in joint.0.home-sw-in
+net LimitY parport.0.pin-12-in => joint.1.neg-lim-sw-in joint.1.pos-lim-sw-in joint.1.home-sw-in
+# Z axis Limit switch handled by THC, see thc.hal
+#net LimitZ parport.1.pin-13-in => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
+net LimitA parport.0.pin-15-in => joint.3.neg-lim-sw-in joint.3.pos-lim-sw-in joint.3.home-sw-in

configs/attic/unclaimed/plasma-thc/stepper.hal

@@ -0,0 +1,54 @@
+############################ Step Generators #########################################
+
+# Stepper module, four step generators, all using step/dir
+loadrt stepgen step_type=0,0,0,0
+
+# Load realtime ddt for velocity calculations used for CHL
+loadrt ddt count=2
+
+# Hook functions to base thread (high speed thread for step generation)
+addf stepgen.make-pulses base-thread
+
+# Hook functions to servo thread
+addf stepgen.capture-position servo-thread
+addf motion-command-handler servo-thread
+addf motion-controller servo-thread
+addf stepgen.update-freq servo-thread
+addf ddt.0 servo-thread
+addf ddt.1 servo-thread
+
+# Configure signals for Z axis to be twice the size of the signals for other axis because
+# Z axis has a slo-syn driver which can't handle smaller step sizes
+setp stepgen.2.steplen 35200
+setp stepgen.2.stepspace 35200
+setp stepgen.2.dirsetup 35200
+setp stepgen.2.dirhold 35200
+
+# Set stepgen module scaling - get values from ini file
+setp stepgen.0.position-scale [AXIS_0]SCALE
+setp stepgen.1.position-scale [AXIS_1]SCALE
+setp stepgen.2.position-scale [AXIS_2]SCALE
+setp stepgen.3.position-scale [AXIS_3]SCALE
+
+# Set stepgen module accel limits - get values from ini file
+setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
+setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
+setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
+setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
+
+# Hook up stepgen to motion modules
+net PosX-cmd joint.0.motor-pos-cmd => stepgen.0.position-cmd
+net PosX-fb stepgen.0.position-fb => joint.0.motor-pos-fb ddt.0.in
+net PosY-cmd joint.1.motor-pos-cmd => stepgen.1.position-cmd
+net PosY-fb stepgen.1.position-fb => joint.1.motor-pos-fb ddt.1.in
+# Z Axis Position and feedback signals handled by THC, see thc.hal
+#net PosZ-cmd joint.2.motor-pos-cmd => stepgen.2.position-cmd
+#net PosZ-fb stepgen.2.position-fb => joint.2.motor-pos-fb
+net PosA-cmd joint.3.motor-pos-cmd => stepgen.3.position-cmd
+net PosA-fb stepgen.3.position-fb => joint.3.motor-pos-fb
+
+# Hook up enable signals for step generators
+net EnableX joint.0.amp-enable-out => stepgen.0.enable
+net EnableY joint.1.amp-enable-out => stepgen.1.enable
+net EnableZ joint.2.amp-enable-out => stepgen.2.enable
+net EnableA joint.3.amp-enable-out => stepgen.3.enable

configs/attic/unclaimed/plasma-thc/thc300.hal

@@ -0,0 +1,190 @@
+###################### Torch Height Control ########################## 
+
+# Load realtime hal components for THC
+loadrt and2 count=9
+loadrt comp count=3
+loadrt updown
+loadrt flipflop count=3
+loadrt hypot
+loadrt logic personality=0x203
+loadrt minmax
+loadrt mult2 count=2
+loadrt mux2 count=7
+loadrt not count=3
+loadrt oneshot count=4
+loadrt or2 count=9
+loadrt scale
+loadrt sum2 count=5
+loadrt xor2 count=4
+loadrt conv_s32_float
+loadrt edge count=2
+
+# Attach realtime hal components to a realtime thread
+addf and2.0 servo-thread
+addf and2.1 servo-thread
+addf and2.2 servo-thread
+addf and2.3 servo-thread
+addf and2.4 servo-thread
+addf and2.5 servo-thread
+addf and2.6 servo-thread
+addf and2.7 servo-thread
+addf and2.8 servo-thread
+addf comp.0 servo-thread
+addf comp.1 servo-thread
+addf comp.2 servo-thread
+addf conv-s32-float.0 servo-thread
+addf edge.0 servo-thread
+addf edge.1 servo-thread
+addf flipflop.0 servo-thread
+addf flipflop.1 servo-thread
+addf flipflop.2 servo-thread
+addf hypot.0 servo-thread
+addf logic.0 servo-thread
+addf minmax.0 servo-thread
+addf mult2.0 servo-thread
+addf mult2.1 servo-thread
+addf mux2.0 servo-thread
+addf mux2.1 servo-thread
+addf mux2.2 servo-thread
+addf mux2.3 servo-thread
+addf mux2.4 servo-thread
+addf mux2.5 servo-thread
+addf mux2.6 servo-thread
+addf not.0 servo-thread
+addf not.1 servo-thread
+addf not.2 servo-thread
+addf oneshot.0 servo-thread
+addf oneshot.1 servo-thread
+addf oneshot.2 servo-thread
+addf oneshot.3 servo-thread
+addf or2.0 servo-thread
+addf or2.1 servo-thread
+addf or2.2 servo-thread
+addf or2.3 servo-thread
+addf or2.4 servo-thread
+addf or2.5 servo-thread
+addf or2.6 servo-thread
+addf or2.7 servo-thread
+addf or2.8 servo-thread
+addf updown.0 servo-thread
+addf scale.0 servo-thread
+addf sum2.0 servo-thread
+addf sum2.1 servo-thread
+addf sum2.2 servo-thread
+addf sum2.3 servo-thread
+addf sum2.4 servo-thread
+addf xor2.0 servo-thread
+addf xor2.1 servo-thread
+addf xor2.2 servo-thread
+
+# Set static values and default values
+setp oneshot.1.width [PLASMA]IGNITION_TIMEOUT
+setp oneshot.2.width [PLASMA]ARC_OK_FILTER_TIME
+setp oneshot.3.width [PLASMA]EXTINGUISH_TIMEOUT
+setp oneshot.3.falling 1
+setp oneshot.3.rising 0
+setp comp.2.in0 [PLASMA]MAX_FAILED_IGNITIONS
+setp mux2.1.in0 -1
+setp mux2.1.in1 1
+setp mux2.3.in0 0
+
+# Set the lowest value the THC will try to move the torch
+setp sum2.4.in0 [AXIS_2]MIN_LIMIT
+
+# Set default gains for sum, positive for addition and negative for subtraction
+# Setting positive gains will become implicit and those can be removed safely in a later version
+setp sum2.0.gain0 1
+setp sum2.0.gain1 1
+setp sum2.1.gain0 1
+setp sum2.1.gain1 1
+setp sum2.2.gain0 1
+setp sum2.2.gain1 -1
+setp sum2.3.gain0 1
+setp sum2.3.gain1 -1
+setp sum2.4.gain0 1
+setp sum2.4.gain1 -1
+
+# Set Hysterisis for float comp
+setp comp.1.hyst 0.001
+
+# Set percentage multiplier for scale
+setp scale.0.gain 0.01
+
+# Set edge detectors to work on falling edges to detect Ignition Timeouts
+setp edge.0.in-edge 1
+setp edge.1.in-edge 1
+
+# Hook up parallel port pins
+net MoveDown parport.1.pin-06-in-not => or2.0.in0
+net MoveUp parport.1.pin-07-in-not => or2.0.in1 mux2.1.sel
+
+# Hook up component pins using the net command
+net FloatSwitch parport.1.pin-13-in => or2.1.in1 and2.4.in0 and2.5.in1 and2.6.in1
+net ArcOK parport.1.pin-08-in-not => or2.4.in1 xor2.1.in1 oneshot.2.in
+net FilteredArcOK xor2.1.out => or2.1.in0 or2.6.in0 not.1.in and2.4.in1 flipflop.1.set oneshot.3.in flipflop.2.set and2.2.in0 
+net TimersOrArcOK or2.4.out => or2.5.in0 or2.3.in0 
+net LockHeight and2.0.out => xor2.2.in0
+net EnabledAdjustHeight and2.1.out => mux2.3.sel
+net ReleaseFeedHold and2.2.out => xor2.0.in1
+net TorchOn => and2.3.out parport.1.pin-01-out oneshot.1.in not.2.in
+net FloatSwitchEstop and2.4.out => logic.0.in-02
+net FloatAndTorchOn and2.5.out => or2.2.in1
+net TorchAndFloat and2.6.out => flipflop.0.set
+net PosAndFloat and2.7.out => or2.5.in1
+net IgnitionEstop comp.2.out => logic.0.in-01
+net StartTorchOn and2.8.out => and2.3.in0
+net OriginalPosZ-cmd joint.2.motor-pos-cmd => mux2.5.in0 sum2.2.in1
+net JointPoz-cmd joint.2.pos-cmd => sum2.2.in0
+net CHLTriggered comp.0.out => and2.0.in0
+net AtPosition comp.1.equal => and2.7.in0
+net VelX ddt.0.out => hypot.0.in0
+net VelY ddt.1.out => hypot.0.in1
+net FloatSwitchSet flipflop.0.out => or2.3.in1 and2.7.in1
+net ModeIsAuto halui.mode.is-auto => mux2.5.sel
+net VelXY hypot.0.out => minmax.0.in comp.0.in0
+net TriggerEStop logic.0.or => estop-latch.0.fault-in
+net MaximumVelocity minmax.0.max => mult2.1.in0 
+net TurnTorchOn motion.spindle-forward => xor2.0.in0 and2.8.in0 and2.6.in0 mux2.4.sel not.0.in 
+net HeightAdjustment mult2.0.out => mux2.3.in1
+net VelocityThreshold mult2.1.out => comp.0.in1
+net HeightOffset mux2.0.out => sum2.1.in1
+net AdjustmentDirection mux2.1.out => mult2.0.in1
+net PositionSnapshot mux2.2.out => sum2.1.in0 mux2.2.in0
+net SelectedAdjustment mux2.3.out => mux2.0.in1
+net PosZ-cmd mux2.4.out => stepgen.2.position-cmd comp.1.in1
+net PosSelectB mux2.5.out => mux2.4.in0
+net PosSelectC mux2.6.out => mux2.4.in1
+net TurnTorchOff not.0.out => and2.5.in0 or2.7.in0 updown.0.reset
+net ReversedArcOK not.1.out => minmax.0.reset
+net PierceDelayElapsed oneshot.0.out-not => and2.2.in1
+net IgnitionTimer oneshot.1.out => edge.0.in or2.8.in0
+net AdjustHeight or2.0.out => xor2.2.in1 and2.1.in0
+net TakeSnapshot or2.1.out => mux2.2.sel
+net TriggerLimit or2.2.out => joint.2.neg-lim-sw-in joint.2.pos-lim-sw-in joint.2.home-sw-in
+net ProbeOrArcOK or2.3.out => mux2.6.sel 
+net PAFOrArcOK or2.5.out => and2.3.in1
+net EstopOrArcOK or2.6.out => flipflop.0.reset
+net ExtEStop parport.0.pin-10-in => logic.0.in-00
+net ExtEStop  => logic.0.in-00
+net LimitZ parport.0.pin-13-in => or2.2.in0
+net ThresholdPercentage scale.0.out => mult2.1.in1
+net PosZ-fb stepgen.2.position-fb => joint.2.motor-pos-fb mux2.2.in1 comp.1.in0
+net PierceOffset sum2.0.out => mux2.0.in0
+net DestinationHeight sum2.1.out => mux2.6.in1
+net JointAxisDiff sum2.2.out => sum2.3.in1 sum2.4.in1
+net StepCordsTH sum2.3.out => mux2.5.in1
+net StepCordsML sum2.4.out => mux2.6.in0
+net FeedHold xor2.0.out => motion.feed-hold
+net CHLSwitched xor2.2.out => and2.1.in1
+net ArcOKTimer oneshot.2.out => xor2.1.in0
+net PierceLatch flipflop.1.out => mux2.0.sel oneshot.0.in
+net IgnitionCounterS32 updown.0.count => conv-s32-float.0.in
+net IgnitionCounterFloat conv-s32-float.0.out => comp.2.in1
+net IgnitionTimerOff oneshot.1.out-not => updown.0.countup
+net TorchOff not.2.out => flipflop.1.reset
+net TorchTurnedOffOrTimeout or2.7.out => or2.6.in1
+net IgnitionTimeout edge.0.out => or2.7.in1
+net ExtinguishTimer oneshot.3.out edge.1.in
+net ExtinguishLatch flipflop.2.out or2.8.in1
+net ExtinguishTimeout edge.1.out flipflop.2.reset
+net Timers or2.8.out => or2.4.in0 

configs/by_interface/README_es

@@ -0,0 +1,3 @@
+by_interface
+
+Configuraciones demostrando el uso de hardware especifico.

configs/by_interface/general_mechatronics/GM6-PCI/3-axis-servo.hal

@@ -3,9 +3,9 @@
 #      		Loading real-time modules 				#
 #########################################################################
 
-loadrt trivkins
+loadrt [KINS]KINEMATICS
 loadrt hal_gm
-loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
 loadrt pid num_chan=3
 loadrt not
 
@@ -42,11 +42,11 @@ net hw_fault gm.0.power-fault => not.0.in
 net estop not.0.out => iocontrol.0.emc-enable-in
 
 # connect enable signals for DAC and PID
-net Xen axis.0.amp-enable-out => gm.0.dac.0.enable
+net Xen joint.0.amp-enable-out => gm.0.dac.0.enable
 net Xen => pid.0.enable
-net Yen axis.1.amp-enable-out => gm.0.dac.1.enable
+net Yen joint.1.amp-enable-out => gm.0.dac.1.enable
 net Yen => pid.1.enable
-net Zen axis.2.amp-enable-out => gm.0.dac.2.enable
+net Zen joint.2.amp-enable-out => gm.0.dac.2.enable
 net Zen => pid.2.enable
 
 #########################################################################
@@ -62,7 +62,7 @@ setp gm.0.encoder.0.counter-mode 0 	#0:quad, 1:stepDir
 setp gm.0.encoder.0.index-enable 0 	#0:disable, 1:enable
 setp gm.0.encoder.0.index-mode 	1 	#0:reset counter at index, 1:round position at index
 setp gm.0.encoder.0.counts-per-rev 2000
-setp gm.0.encoder.0.position-scale  [AXIS_0]INPUT_SCALE
+setp gm.0.encoder.0.position-scale  [JOINT_0]INPUT_SCALE
 setp gm.0.encoder.0.min-speed-estimate 0.1
 
 # ################
@@ -74,7 +74,7 @@ setp gm.0.encoder.1.counter-mode 0 	#0:quad, 1:stepDir
 setp gm.0.encoder.1.index-enable 0 	#0:disable, 1:enable
 setp gm.0.encoder.1.index-mode 	1 	#0:reset counter at index, 1:round position at index
 setp gm.0.encoder.1.counts-per-rev 2000
-setp gm.0.encoder.1.position-scale  [AXIS_2]INPUT_SCALE
+setp gm.0.encoder.1.position-scale  [JOINT_2]INPUT_SCALE
 setp gm.0.encoder.1.min-speed-estimate 0.1
 
 # ################
@@ -86,7 +86,7 @@ setp gm.0.encoder.2.counter-mode 0 	#0:quad, 1:stepDir
 setp gm.0.encoder.2.index-enable 0 	#0:disable, 1:enable
 setp gm.0.encoder.2.index-mode 	1 	#0:reset counter at index, 1:round position at index
 setp gm.0.encoder.2.counts-per-rev 2000
-setp gm.0.encoder.2.position-scale  [AXIS_2]INPUT_SCALE
+setp gm.0.encoder.2.position-scale  [JOINT_2]INPUT_SCALE
 setp gm.0.encoder.2.min-speed-estimate 0.1
 
 #########################################################################
@@ -98,45 +98,45 @@ setp gm.0.encoder.2.min-speed-estimate 0.1
 # ################
 
 # set PID loop gains from inifile
-setp pid.0.Pgain [AXIS_0]P
-setp pid.0.Igain [AXIS_0]I
-setp pid.0.Dgain [AXIS_0]D
-setp pid.0.bias [AXIS_0]BIAS
-setp pid.0.FF0 [AXIS_0]FF0
-setp pid.0.FF1 [AXIS_0]FF1
-setp pid.0.FF2 [AXIS_0]FF2
-setp pid.0.deadband [AXIS_0]DEADBAND
-setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT
+setp pid.0.Pgain [JOINT_0]P
+setp pid.0.Igain [JOINT_0]I
+setp pid.0.Dgain [JOINT_0]D
+setp pid.0.bias [JOINT_0]BIAS
+setp pid.0.FF0 [JOINT_0]FF0
+setp pid.0.FF1 [JOINT_0]FF1
+setp pid.0.FF2 [JOINT_0]FF2
+setp pid.0.deadband [JOINT_0]DEADBAND
+setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
 
 # ################
 # Y [1] Axis
 # ################
 
 # set PID loop gains from inifile
-setp pid.1.Pgain [AXIS_1]P
-setp pid.1.Igain [AXIS_1]I
-setp pid.1.Dgain [AXIS_1]D
-setp pid.1.bias [AXIS_1]BIAS
-setp pid.1.FF0 [AXIS_1]FF0
-setp pid.1.FF1 [AXIS_1]FF1
-setp pid.1.FF2 [AXIS_1]FF2
-setp pid.1.deadband [AXIS_1]DEADBAND
-setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT
+setp pid.1.Pgain [JOINT_1]P
+setp pid.1.Igain [JOINT_1]I
+setp pid.1.Dgain [JOINT_1]D
+setp pid.1.bias [JOINT_1]BIAS
+setp pid.1.FF0 [JOINT_1]FF0
+setp pid.1.FF1 [JOINT_1]FF1
+setp pid.1.FF2 [JOINT_1]FF2
+setp pid.1.deadband [JOINT_1]DEADBAND
+setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
 
 # ################
 # Z [2] Axis
 # ################
 
 # set PID loop gains from inifile
-setp pid.2.Pgain [AXIS_2]P
-setp pid.2.Igain [AXIS_2]I
-setp pid.2.Dgain [AXIS_2]D
-setp pid.2.bias [AXIS_2]BIAS
-setp pid.2.FF0 [AXIS_2]FF0
-setp pid.2.FF1 [AXIS_2]FF1
-setp pid.2.FF2 [AXIS_2]FF2
-setp pid.2.deadband [AXIS_2]DEADBAND
-setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT
+setp pid.2.Pgain [JOINT_2]P
+setp pid.2.Igain [JOINT_2]I
+setp pid.2.Dgain [JOINT_2]D
+setp pid.2.bias [JOINT_2]BIAS
+setp pid.2.FF0 [JOINT_2]FF0
+setp pid.2.FF1 [JOINT_2]FF1
+setp pid.2.FF2 [JOINT_2]FF2
+setp pid.2.deadband [JOINT_2]DEADBAND
+setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
 
 #########################################################################
 #        	 position reference and feedback connection		#
@@ -148,9 +148,9 @@ net Ypos-fb gm.0.encoder.1.position => pid.1.feedback
 net Zpos-fb gm.0.encoder.2.position => pid.2.feedback
 
 # connect position commands from motion module to PID
-net Xpos-cmd axis.0.motor-pos-cmd => pid.0.command
-net Ypos-cmd axis.1.motor-pos-cmd => pid.1.command
-net Zpos-cmd axis.2.motor-pos-cmd => pid.2.command
+net Xpos-cmd joint.0.motor-pos-cmd => pid.0.command
+net Ypos-cmd joint.1.motor-pos-cmd => pid.1.command
+net Zpos-cmd joint.2.motor-pos-cmd => pid.2.command
 
 # connect PID output to DAC
 net Xdac-cmd pid.0.output  =>  gm.0.dac.0.value
@@ -158,22 +158,22 @@ net Ydac-cmd pid.1.output  =>  gm.0.dac.1.value
 net Zdac-cmd pid.2.output  =>  gm.0.dac.2.value
 
 # connect position feedback
-net Xpos-cmd =>  axis.0.motor-pos-fb
-net Ypos-cmd =>  axis.1.motor-pos-fb
-net Zpos-cmd =>  axis.2.motor-pos-fb
+net Xpos-cmd =>  joint.0.motor-pos-fb
+net Ypos-cmd =>  joint.1.motor-pos-fb
+net Zpos-cmd =>  joint.2.motor-pos-fb
 
 #########################################################################
 #		homing and limit switches				#
 #########################################################################
 
-net lim-sw-x-pos gm.0.axis.0.pos-lim-sw-in-not => axis.0.pos-lim-sw-in
-net lim-sw-x-neg gm.0.axis.0.neg-lim-sw-in-not => axis.0.neg-lim-sw-in
-net lim-sw-x-home gm.0.axis.0.home-sw-in-not => axis.0.home-sw-in
+net lim-sw-x-pos gm.0.joint.0.pos-lim-sw-in-not => joint.0.pos-lim-sw-in
+net lim-sw-x-neg gm.0.joint.0.neg-lim-sw-in-not => joint.0.neg-lim-sw-in
+net lim-sw-x-home gm.0.joint.0.home-sw-in-not => joint.0.home-sw-in
 
-net lim-sw-y-pos gm.0.axis.1.pos-lim-sw-in-not => axis.1.pos-lim-sw-in
-net lim-sw-y-neg gm.0.axis.1.neg-lim-sw-in-not => axis.1.neg-lim-sw-in
-net lim-sw-y-home gm.0.axis.1.home-sw-in-not => axis.1.home-sw-in
+net lim-sw-y-pos gm.0.joint.1.pos-lim-sw-in-not => joint.1.pos-lim-sw-in
+net lim-sw-y-neg gm.0.joint.1.neg-lim-sw-in-not => joint.1.neg-lim-sw-in
+net lim-sw-y-home gm.0.joint.1.home-sw-in-not => joint.1.home-sw-in
 
-net lim-sw-z-pos gm.0.axis.2.pos-lim-sw-in-not => axis.2.pos-lim-sw-in
-net lim-sw-z-neg gm.0.axis.2.neg-lim-sw-in-not => axis.2.neg-lim-sw-in
-net lim-sw-z-home gm.0.axis.2.home-sw-in-not => axis.2.home-sw-in
+net lim-sw-z-pos gm.0.joint.2.pos-lim-sw-in-not => joint.2.pos-lim-sw-in
+net lim-sw-z-neg gm.0.joint.2.neg-lim-sw-in-not => joint.2.neg-lim-sw-in
+net lim-sw-z-home gm.0.joint.2.home-sw-in-not => joint.2.home-sw-in

configs/by_interface/general_mechatronics/GM6-PCI/3-axis-servo.ini

@@ -1,117 +1,113 @@
-
 ###############################################################################
 # General section
 ###############################################################################
+
 [EMC]
-
 #- Version of this INI file
-VERSION =               $Revision$
-
+VERSION = 1.1
 #+ Name of machine, for use with display, etc.
 MACHINE =               GM6-PCI-3-axis-servo
-
 #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
 DEBUG = 0
-
 ###############################################################################
 # Sections for display options
 ###############################################################################
-[DISPLAY]
 
-#+ Name of display program, e.g., xemc
+[DISPLAY]
+#+ Name of display program, e.g., axis
 DISPLAY =              axis
-# DISPLAY =              usrmot
-# DISPLAY =              mini
-# DISPLAY = 		 tkemc
+# DISPLAY = 		 tklinuxcnc
 # DISPLAY =              touchy
 # Cycle time, in seconds, that display will sleep between polls
 CYCLE_TIME =            0.200
-
 #- Path to help file
-HELP_FILE =             tkemc.txt
-
+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 =     1.2
-
 #- Prefix to be used
 #PROGRAM_PREFIX = /home/gm/emc2/nc_files
 PROGRAM_PREFIX = ../../nc_files/
-
 #- Introductory graphic
-INTRO_GRAPHIC =         emc2.gif
+INTRO_GRAPHIC =         linuxcnc.gif
 INTRO_TIME =            1
-
 ###############################################################################
 # Task controller 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
+[FILTER]
+#No Content
 
 [RS274NGC]
-
 #- File containing interpreter variables
 PARAMETER_FILE =        gm.var
-
 ###############################################################################
 # Motion control section
 ###############################################################################
-[EMCMOT]
 
+[EMCMOT]
 #- Name of the motion controller to use (only one exists for nontrivkins)
 EMCMOT =              motmod
-
 #- Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-#- Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 #- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
 SERVO_PERIOD =               1000000
-
 ###############################################################################
 # Hardware Abstraction Layer section
 ###############################################################################
-[HAL]
 
+[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]
 # list of hal config files to run through halcmd
 #+ files are executed in the order in which they appear
 HALFILE =                    3-axis-servo.hal
-
 ###############################################################################
 # Trajectory planner section
 ###############################################################################
+
+[HALUI]
+#No Content
+
 [TRAJ]
 #+ machine specific settings
-AXES =                  3
 COORDINATES =           X Y Z
 HOME =                  0 0 0
 LINEAR_UNITS =          mm
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
-DEFAULT_VELOCITY =      0.424
-MAX_VELOCITY =          30.48
-DEFAULT_ACCELERATION =  300.0
-MAX_ACCELERATION =      500.0
-
+DEFAULT_LINEAR_VELOCITY = 0.424
+MAX_LINEAR_VELOCITY = 30.48
+DEFAULT_LINEAR_ACCELERATION = 300.0
+MAX_LINEAR_ACCELERATION = 500.0
 ###############################################################################
 # Axes sections
 ###############################################################################
-
 #+ First axis
-[AXIS_0]
 
+[EMCIO]
+#- Name of IO controller program, e.g., io
+EMCIO = 		io
+#- cycle time, in seconds
+CYCLE_TIME =            0.100
+
+[KINS]
+KINEMATICS =  trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -191.0
+MAX_LIMIT = 0.0
+MAX_VELOCITY = 30.48
+MAX_ACCELERATION = 50.0
+
+[JOINT_0]
 TYPE =                          LINEAR
 HOME =                          0.000
 MAX_VELOCITY =                  30.48
@@ -131,7 +127,6 @@ HOME_LATCH_VEL =                 -2.0
 HOME_USE_INDEX =                 NO
 HOME_IGNORE_LIMITS =             NO
 HOME_SEQUENCE =                 1
-
 # PID tuning params
 DEADBAND =              0.0000
 P =                     10.0
@@ -141,10 +136,15 @@ FF0 =                   0.000
 FF1 =                   0.000
 FF2 =			0.0
 BIAS =                  0.000
-
 #+ Second axis
-[AXIS_1]
 
+[AXIS_Y]
+MIN_LIMIT = 0.0
+MAX_LIMIT = 270.0
+MAX_VELOCITY = 30.48
+MAX_ACCELERATION = 50.0
+
+[JOINT_1]
 TYPE =                          LINEAR
 HOME =                          0.000
 MAX_VELOCITY =                  30.48
@@ -164,7 +164,6 @@ HOME_LATCH_VEL =                 3.0
 HOME_USE_INDEX =                 NO
 HOME_IGNORE_LIMITS =             NO
 HOME_SEQUENCE =                 1
-
 # PID tuning params
 DEADBAND =              0.0000
 P =                     10.0
@@ -174,10 +173,15 @@ FF0 =                   0.000
 FF1 =                   0.000
 FF2 =			0.0
 BIAS =                  0.000
-
 #+ Third axis
-[AXIS_2]
 
+[AXIS_Z]
+MIN_LIMIT = -985.0
+MAX_LIMIT = 0.00
+MAX_VELOCITY = 30.48
+MAX_ACCELERATION = 50.0
+
+[JOINT_2]
 TYPE =                          LINEAR
 HOME =                          0.0
 MAX_VELOCITY =                  30.48
@@ -197,7 +201,6 @@ HOME_LATCH_VEL =                 3.0
 HOME_USE_INDEX =                 NO
 HOME_IGNORE_LIMITS =             NO
 HOME_SEQUENCE =                 0
-
 # PID tuning params
 DEADBAND =              0.0000
 P =                     10.0
@@ -207,14 +210,6 @@ FF0 =                   0.000
 FF1 =                   0.000
 FF2 =			0.0
 BIAS =                  0.000
-
 ###############################################################################
 # section for main IO controller parameters
 ###############################################################################
-[EMCIO]
-
-#- Name of IO controller program, e.g., io
-EMCIO = 		io
-
-#- cycle time, in seconds
-CYCLE_TIME =            0.100

configs/by_interface/general_mechatronics/GM6-PCI/3-axis-stepper.hal

@@ -3,9 +3,9 @@
 #      		Loading real-time modules setup				#
 #########################################################################
 
-loadrt trivkins
+loadrt [KINS]KINEMATICS
 loadrt hal_gm
-loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
 loadrt not
 loadusr halmeter
 #loadusr halscope -f
@@ -36,9 +36,9 @@ net hw_fault gm.0.power-fault => not.0.in
 net estop not.0.out => iocontrol.0.emc-enable-in
 
 # connect enable signals for step generators
-net Xen axis.0.amp-enable-out => gm.0.stepgen.0.enable
-net Yen axis.1.amp-enable-out => gm.0.stepgen.1.enable
-net Zen axis.2.amp-enable-out => gm.0.stepgen.2.enable
+net Xen joint.0.amp-enable-out => gm.0.stepgen.0.enable
+net Yen joint.1.amp-enable-out => gm.0.stepgen.1.enable
+net Zen joint.2.amp-enable-out => gm.0.stepgen.2.enable
 
 #########################################################################
 #				stepgen setup				#
@@ -52,9 +52,9 @@ setp gm.0.stepgen.0.invert-step2 	0
 setp gm.0.stepgen.0.step-type 		0 	#0:StepDir, 1: UpDown, 2: Quad
 setp gm.0.stepgen.0.control-type 	0 	#0:position control, 1:velocity control
 setp gm.0.stepgen.0.maxvel 		0	#do not use the maxvel parameter, let interpolator interpolate
-setp gm.0.stepgen.0.position-scale 	[AXIS_0]SCALE
-setp gm.0.stepgen.0.maxaccel 		[AXIS_0]STEPGEN_MAXACCEL
-setp gm.0.stepgen.0.maxvel 		[AXIS_0]STEPGEN_MAXVEL
+setp gm.0.stepgen.0.position-scale 	[JOINT_0]SCALE
+setp gm.0.stepgen.0.maxaccel 		[JOINT_0]STEPGEN_MAXACCEL
+setp gm.0.stepgen.0.maxvel 		[JOINT_0]STEPGEN_MAXVEL
 
 setp gm.0.stepgen.1.steplen 		5000	#5000 ns = 5 us
 setp gm.0.stepgen.1.stepspace 		5000	#5000 ns = 5 us
@@ -64,9 +64,9 @@ setp gm.0.stepgen.1.invert-step2 	0
 setp gm.0.stepgen.1.step-type 		0	#0:StepDir, 1: UpDown, 2: Quad
 setp gm.0.stepgen.1.control-type 	0	#0:position control, 1:velocity control
 setp gm.0.stepgen.1.maxvel 		0	#do not use the maxvel parameter, let interpolator interpolate
-setp gm.0.stepgen.1.position-scale 	[AXIS_1]SCALE
-setp gm.0.stepgen.1.maxaccel 		[AXIS_1]STEPGEN_MAXACCEL
-setp gm.0.stepgen.1.maxvel 		[AXIS_1]STEPGEN_MAXVEL
+setp gm.0.stepgen.1.position-scale 	[JOINT_1]SCALE
+setp gm.0.stepgen.1.maxaccel 		[JOINT_1]STEPGEN_MAXACCEL
+setp gm.0.stepgen.1.maxvel 		[JOINT_1]STEPGEN_MAXVEL
 
 setp gm.0.stepgen.2.steplen		5000	#5000 ns = 5 us
 setp gm.0.stepgen.2.stepspace		5000	#5000 ns = 5 us
@@ -76,36 +76,36 @@ setp gm.0.stepgen.2.invert-step2 	0
 setp gm.0.stepgen.2.step-type 		0	#0:StepDir, 1: UpDown, 2: Quad
 setp gm.0.stepgen.2.control-type	0	#0:position control, 1:velocity control
 setp gm.0.stepgen.2.maxvel		0	#do not use the maxvel parameter, let interpolator interpolate
-setp gm.0.stepgen.2.position-scale	[AXIS_2]SCALE
-setp gm.0.stepgen.2.maxaccel		[AXIS_2]STEPGEN_MAXACCEL
-setp gm.0.stepgen.2.maxvel		[AXIS_2]STEPGEN_MAXVEL
+setp gm.0.stepgen.2.position-scale	[JOINT_2]SCALE
+setp gm.0.stepgen.2.maxaccel		[JOINT_2]STEPGEN_MAXACCEL
+setp gm.0.stepgen.2.maxvel		[JOINT_2]STEPGEN_MAXVEL
 
 #########################################################################
 #        	 position reference and feedback			#
 #########################################################################
 
 # connect position commands from motion module to step generator
-net Xpos-cmd axis.0.motor-pos-cmd => gm.0.stepgen.0.position-cmd
-net Ypos-cmd axis.1.motor-pos-cmd => gm.0.stepgen.1.position-cmd
-net Zpos-cmd axis.2.motor-pos-cmd => gm.0.stepgen.2.position-cmd
+net Xpos-cmd joint.0.motor-pos-cmd => gm.0.stepgen.0.position-cmd
+net Ypos-cmd joint.1.motor-pos-cmd => gm.0.stepgen.1.position-cmd
+net Zpos-cmd joint.2.motor-pos-cmd => gm.0.stepgen.2.position-cmd
 
 # connect position feedback
-net Xpos-fb gm.0.stepgen.0.position-fb => axis.0.motor-pos-fb
-net Ypos-fb gm.0.stepgen.1.position-fb => axis.1.motor-pos-fb
-net Zpos-fb gm.0.stepgen.2.position-fb => axis.2.motor-pos-fb
+net Xpos-fb gm.0.stepgen.0.position-fb => joint.0.motor-pos-fb
+net Ypos-fb gm.0.stepgen.1.position-fb => joint.1.motor-pos-fb
+net Zpos-fb gm.0.stepgen.2.position-fb => joint.2.motor-pos-fb
 
 #########################################################################
 #		homing and limit switches				#
 #########################################################################
 
-net lim-sw-x-pos gm.0.axis.0.pos-lim-sw-in-not => axis.0.pos-lim-sw-in
-net lim-sw-x-neg gm.0.axis.0.neg-lim-sw-in-not => axis.0.neg-lim-sw-in
-net lim-sw-x-home gm.0.axis.0.home-sw-in-not => axis.0.home-sw-in
+net lim-sw-x-pos gm.0.joint.0.pos-lim-sw-in-not => joint.0.pos-lim-sw-in
+net lim-sw-x-neg gm.0.joint.0.neg-lim-sw-in-not => joint.0.neg-lim-sw-in
+net lim-sw-x-home gm.0.joint.0.home-sw-in-not => joint.0.home-sw-in
 
-net lim-sw-y-pos gm.0.axis.1.pos-lim-sw-in-not => axis.1.pos-lim-sw-in
-net lim-sw-y-neg gm.0.axis.1.neg-lim-sw-in-not => axis.1.neg-lim-sw-in
-net lim-sw-y-home gm.0.axis.1.home-sw-in-not => axis.1.home-sw-in
+net lim-sw-y-pos gm.0.joint.1.pos-lim-sw-in-not => joint.1.pos-lim-sw-in
+net lim-sw-y-neg gm.0.joint.1.neg-lim-sw-in-not => joint.1.neg-lim-sw-in
+net lim-sw-y-home gm.0.joint.1.home-sw-in-not => joint.1.home-sw-in
 
-net lim-sw-z-pos gm.0.axis.2.pos-lim-sw-in-not => axis.2.pos-lim-sw-in
-net lim-sw-z-neg gm.0.axis.2.neg-lim-sw-in-not => axis.2.neg-lim-sw-in
-net lim-sw-z-home gm.0.axis.2.home-sw-in-not => axis.2.home-sw-in
+net lim-sw-z-pos gm.0.joint.2.pos-lim-sw-in-not => joint.2.pos-lim-sw-in
+net lim-sw-z-neg gm.0.joint.2.neg-lim-sw-in-not => joint.2.neg-lim-sw-in
+net lim-sw-z-home gm.0.joint.2.home-sw-in-not => joint.2.home-sw-in

configs/by_interface/general_mechatronics/GM6-PCI/3-axis-stepper.ini

@@ -1,117 +1,113 @@
-
 ###############################################################################
 # General section
 ###############################################################################
+
 [EMC]
-
 #- Version of this INI file
-VERSION =               $Revision$
-
+VERSION = 1.1
 #+ Name of machine, for use with display, etc.
 MACHINE =               GM6-PCI-3-axis-stepper
-
 #+ Debug level, 0 means no messages. See src/emc/nml_int/emcglb.h for others
 DEBUG = 0
-
 ###############################################################################
 # Sections for display options
 ###############################################################################
-[DISPLAY]
 
-#+ Name of display program, e.g., xemc
+[DISPLAY]
+#+ Name of display program, e.g., axis
 DISPLAY =              axis
-# DISPLAY =              usrmot
-# DISPLAY =              mini
-# DISPLAY = 		 tkemc
+# DISPLAY = 		 tklinuxcnc
 # DISPLAY =              touchy
 # Cycle time, in seconds, that display will sleep between polls
 CYCLE_TIME =            0.200
-
 #- Path to help file
-HELP_FILE =             tkemc.txt
-
+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 =     1.2
-
 #- Prefix to be used
 #PROGRAM_PREFIX = /home/gm/emc2/nc_files
 PROGRAM_PREFIX = ../../nc_files/
-
 #- Introductory graphic
-INTRO_GRAPHIC =         emc2.gif
+INTRO_GRAPHIC =         linuxcnc.gif
 INTRO_TIME =            1
-
 ###############################################################################
 # Task controller 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
+[FILTER]
+#No Content
 
 [RS274NGC]
-
 #- File containing interpreter variables
 PARAMETER_FILE =        gm.var
-
 ###############################################################################
 # Motion control section
 ###############################################################################
-[EMCMOT]
 
+[EMCMOT]
 #- Name of the motion controller to use (only one exists for nontrivkins)
 EMCMOT =              motmod
-
 #- Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-#- Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 #- Servo task period, in nanosecs - will be rounded to an int multiple of BASE_PERIOD
 SERVO_PERIOD =               1000000
-
 ###############################################################################
 # Hardware Abstraction Layer section
 ###############################################################################
-[HAL]
 
+[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]
 # list of hal config files to run through halcmd
 #+ files are executed in the order in which they appear
 HALFILE =                    3-axis-stepper.hal
-
 ###############################################################################
 # Trajectory planner section
 ###############################################################################
+
+[HALUI]
+#No Content
+
 [TRAJ]
 #+ machine specific settings
-AXES =                  3
 COORDINATES =           X Y Z
 HOME =                  0 0 0
 LINEAR_UNITS =          mm
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
-DEFAULT_VELOCITY =      0.424
-MAX_VELOCITY =          30.48
-DEFAULT_ACCELERATION =  300.0
-MAX_ACCELERATION =      500.0
-
+DEFAULT_LINEAR_VELOCITY = 0.424
+MAX_LINEAR_VELOCITY = 30.48
+DEFAULT_LINEAR_ACCELERATION = 300.0
+MAX_LINEAR_ACCELERATION = 500.0
 ###############################################################################
 # Axes sections
 ###############################################################################
-
 #+ First axis
-[AXIS_0]
 
+[EMCIO]
+#- Name of IO controller program, e.g., io
+EMCIO = 		io
+#- cycle time, in seconds
+CYCLE_TIME =            0.100
+
+[KINS]
+KINEMATICS =  trivkins
+JOINTS = 3
+
+[AXIS_X]
+MIN_LIMIT = -191.0
+MAX_LIMIT = 0.0
+MAX_VELOCITY = 30.48
+MAX_ACCELERATION = 50.0
+
+[JOINT_0]
 TYPE =                          LINEAR
 HOME =                          -50.000
 MAX_VELOCITY =                  30.48
@@ -131,10 +127,15 @@ HOME_LATCH_VEL =                -2.0
 HOME_USE_INDEX =                NO
 HOME_IGNORE_LIMITS =            NO
 HOME_SEQUENCE =                 1
-
 #+ Second axis
-[AXIS_1]
 
+[AXIS_Y]
+MIN_LIMIT = -250.0
+MAX_LIMIT = 0.0
+MAX_VELOCITY = 30.48
+MAX_ACCELERATION = 50.0
+
+[JOINT_1]
 TYPE =                          LINEAR
 HOME =                          -40.000
 MAX_VELOCITY =                  30.48
@@ -154,10 +155,15 @@ HOME_LATCH_VEL =                -3.0
 HOME_USE_INDEX =                NO
 HOME_IGNORE_LIMITS =            NO
 HOME_SEQUENCE =                 1
-
 #+ Third axis
-[AXIS_2]
 
+[AXIS_Z]
+MIN_LIMIT = -985.0
+MAX_LIMIT = 0.00
+MAX_VELOCITY = 30.48
+MAX_ACCELERATION = 50.0
+
+[JOINT_2]
 TYPE =                          LINEAR
 HOME =                          -30.0
 MAX_VELOCITY =                  30.48
@@ -177,14 +183,6 @@ HOME_LATCH_VEL =                -3.0
 HOME_USE_INDEX =                NO
 HOME_IGNORE_LIMITS =            NO
 HOME_SEQUENCE =                 0
-
 ###############################################################################
 # section for main IO controller parameters
 ###############################################################################
-[EMCIO]
-
-#- Name of IO controller program, e.g., io
-EMCIO = 		io
-
-#- cycle time, in seconds
-CYCLE_TIME =            0.100

configs/by_interface/general_mechatronics/GM6-PCI/README_es

@@ -0,0 +1,12 @@
+Esta configuración utiliza la placa GM6-PCI de General Mechatronics, que puede controlar máquinas de hasta 6 ejes. Tiene una amplia capacidad de expansión de E/S: interruptores home aislados y finales para cada eje, E/S digital 4x8, módulos de E/S analógica y digital aislados para el bus de campo RS485.
+
+Para más información, lea la sección del driver GM6-PCI del Manual del integrador o visite:
+    www.generalmechatronics.com
+
+Descripción de las configuraciones de muestra:
+
+Servo de 3 ejes:
+Esta configuración muestra cómo configurar el DAC del codificador y del eje, y cómo conectarlos al módulo PID hal. Los 3 ejes utilizan un interruptor home y dos interruptores de límite. La entrada de fallo de alimentación está conectada al pin hal E-stop.
+
+3 ejes, de pasos:
+Esta configuración muestra cómo configurar el módulo stepgen. Los 3 ejes utilizan un interruptor home y dos interruptores de límite. La entrada de fallo de alimentación está conectada al pin hal E-stop.

configs/by_interface/general_mechatronics/README_es

@@ -0,0 +1,3 @@
+General Mechatronics
+
+www.generalmechatronics.com

configs/by_interface/mesa/README_es

@@ -0,0 +1,3 @@
+Mesa Electronics
+
+www.mesanet.com

configs/by_interface/mesa/hm2-servo/3x20-small.ini

@@ -1,53 +1,32 @@
-
-[HOSTMOT2]
-DRIVER=hm2_pci
-BOARD=3x20
-CONFIG="firmware=hm2/3x20-1/SV24.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
-
-
-
-
 [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., tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -56,91 +35,76 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE = hm2-servo.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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]
-
-AXES =                  3
 # COORDINATES =         X Y Z R P W
 COORDINATES =           X Y Z
 HOME =                  0 0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
-DEFAULT_VELOCITY =      3.0
-MAX_VELOCITY =          4.0
-DEFAULT_ACCELERATION =  6.0
-MAX_ACCELERATION =      7.0
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# 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
 
-[AXIS_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
@@ -151,7 +115,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -162,24 +125,23 @@ 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
 
-
-
-[AXIS_1]
-
+[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
@@ -190,7 +152,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        YES
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -201,24 +162,23 @@ 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
 
-
-
-[AXIS_2]
-
+[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
@@ -229,7 +189,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -240,17 +199,7 @@ FF1 =                   1.000
 FF2 =			0.0
 BIAS =                  0.000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE = tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=3x20
+CONFIG="firmware=hm2/3x20-1/SV24.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/4i65.ini

@@ -1,53 +1,32 @@
-
-[HOSTMOT2]
-DRIVER=hm2_pci
-BOARD=4i65
-CONFIG="firmware=hm2/4i65/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
-
-
-
-
 [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., tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -56,91 +35,76 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE = hm2-servo.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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]
-
-AXES =                  3
 # COORDINATES =         X Y Z R P W
 COORDINATES =           X Y Z
 HOME =                  0 0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
-DEFAULT_VELOCITY =      3.0
-MAX_VELOCITY =          4.0
-DEFAULT_ACCELERATION =  6.0
-MAX_ACCELERATION =      7.0
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# 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
 
-[AXIS_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
@@ -151,7 +115,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -162,24 +125,23 @@ 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
 
-
-
-[AXIS_1]
-
+[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
@@ -190,7 +152,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        YES
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -201,24 +162,23 @@ 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
 
-
-
-[AXIS_2]
-
+[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
@@ -229,7 +189,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -240,17 +199,7 @@ FF1 =                   1.000
 FF2 =			0.0
 BIAS =                  0.000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE = tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=4i65
+CONFIG="firmware=hm2/4i65/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/4i68.ini

@@ -1,53 +1,32 @@
-
-[HOSTMOT2]
-DRIVER=hm2_pci
-BOARD=4i68
-CONFIG="firmware=hm2/4i68/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
-
-
-
-
 [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., tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -56,91 +35,76 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE = hm2-servo.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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]
-
-AXES =                  3
 # COORDINATES =         X Y Z R P W
 COORDINATES =           X Y Z
 HOME =                  0 0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
-DEFAULT_VELOCITY =      3.0
-MAX_VELOCITY =          4.0
-DEFAULT_ACCELERATION =  6.0
-MAX_ACCELERATION =      7.0
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# 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
 
-[AXIS_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
@@ -151,7 +115,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -162,24 +125,23 @@ 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
 
-
-
-[AXIS_1]
-
+[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
@@ -190,7 +152,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        YES
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -201,24 +162,23 @@ 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
 
-
-
-[AXIS_2]
-
+[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
@@ -229,7 +189,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -240,17 +199,7 @@ FF1 =                   1.000
 FF2 =			0.0
 BIAS =                  0.000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE = tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=4i68
+CONFIG="firmware=hm2/4i68/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/5i20.ini

@@ -1,53 +1,32 @@
-
-[HOSTMOT2]
-DRIVER=hm2_pci
-BOARD=5i20
-CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
-
-
-
-
 [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., tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -56,91 +35,76 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE = hm2-servo.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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]
-
-AXES =                  3
 # COORDINATES =         X Y Z R P W
 COORDINATES =           X Y Z
 HOME =                  0 0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
-DEFAULT_VELOCITY =      3.0
-MAX_VELOCITY =          4.0
-DEFAULT_ACCELERATION =  6.0
-MAX_ACCELERATION =      7.0
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# 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
 
-[AXIS_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
@@ -151,7 +115,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -162,24 +125,23 @@ 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
 
-
-
-[AXIS_1]
-
+[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
@@ -190,7 +152,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        YES
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -201,24 +162,23 @@ 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
 
-
-
-[AXIS_2]
-
+[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
@@ -229,7 +189,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -240,17 +199,7 @@ FF1 =                   1.000
 FF2 =			0.0
 BIAS =                  0.000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE = tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=5i20
+CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/5i22-big.ini

@@ -1,53 +1,32 @@
-
-[HOSTMOT2]
-DRIVER=hm2_pci
-BOARD=5i22
-CONFIG="firmware=hm2/5i22-1.5/SVST8_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
-
-
-
-
 [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., tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -56,91 +35,76 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE = hm2-servo.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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]
-
-AXES =                  3
 # COORDINATES =         X Y Z R P W
 COORDINATES =           X Y Z
 HOME =                  0 0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
-DEFAULT_VELOCITY =      3.0
-MAX_VELOCITY =          4.0
-DEFAULT_ACCELERATION =  6.0
-MAX_ACCELERATION =      7.0
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# 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
 
-[AXIS_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
@@ -151,7 +115,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -162,24 +125,23 @@ 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
 
-
-
-[AXIS_1]
-
+[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
@@ -190,7 +152,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        YES
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -201,24 +162,23 @@ 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
 
-
-
-[AXIS_2]
-
+[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
@@ -229,7 +189,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -240,17 +199,7 @@ FF1 =                   1.000
 FF2 =			0.0
 BIAS =                  0.000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE = tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=5i22
+CONFIG="firmware=hm2/5i22-1.5/SVST8_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/5i22-small.ini

@@ -1,53 +1,32 @@
-
-[HOSTMOT2]
-DRIVER=hm2_pci
-BOARD=5i22
-CONFIG="firmware=hm2/5i22-1/SVST8_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
-
-
-
-
 [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., tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -56,91 +35,76 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE = hm2-servo.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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]
-
-AXES =                  3
 # COORDINATES =         X Y Z R P W
 COORDINATES =           X Y Z
 HOME =                  0 0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
-DEFAULT_VELOCITY =      3.0
-MAX_VELOCITY =          4.0
-DEFAULT_ACCELERATION =  6.0
-MAX_ACCELERATION =      7.0
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# 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
 
-[AXIS_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
@@ -151,7 +115,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -162,24 +125,23 @@ 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
 
-
-
-[AXIS_1]
-
+[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
@@ -190,7 +152,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        YES
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -201,24 +162,23 @@ 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
 
-
-
-[AXIS_2]
-
+[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
@@ -229,7 +189,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -240,17 +199,7 @@ FF1 =                   1.000
 FF2 =			0.0
 BIAS =                  0.000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE = tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=5i22
+CONFIG="firmware=hm2/5i22-1/SVST8_8.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/5i23.ini

@@ -1,53 +1,32 @@
-
-[HOSTMOT2]
-DRIVER=hm2_pci
-BOARD=5i23
-CONFIG="firmware=hm2/5i23/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
-
-
-
-
 [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., tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -56,91 +35,76 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE = hm2-servo.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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]
-
-AXES =                  3
 # COORDINATES =         X Y Z R P W
 COORDINATES =           X Y Z
 HOME =                  0 0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
-DEFAULT_VELOCITY =      3.0
-MAX_VELOCITY =          4.0
-DEFAULT_ACCELERATION =  6.0
-MAX_ACCELERATION =      7.0
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# 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
 
-[AXIS_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
@@ -151,7 +115,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -162,24 +125,23 @@ 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
 
-
-
-[AXIS_1]
-
+[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
@@ -190,7 +152,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        YES
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -201,24 +162,23 @@ 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
 
-
-
-[AXIS_2]
-
+[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
@@ -229,7 +189,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -240,17 +199,7 @@ FF1 =                   1.000
 FF2 =			0.0
 BIAS =                  0.000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE = tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=5i23
+CONFIG="firmware=hm2/5i23/SVST8_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/7i43-big.ini

@@ -1,53 +1,32 @@
-
-[HOSTMOT2]
-DRIVER=hm2_7i43
-BOARD=7i43
-CONFIG="firmware=hm2/7i43-4/SVST4_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
-
-
-
-
 [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., tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -56,91 +35,76 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE = hm2-servo.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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]
-
-AXES =                  3
 # COORDINATES =         X Y Z R P W
 COORDINATES =           X Y Z
 HOME =                  0 0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
-DEFAULT_VELOCITY =      3.0
-MAX_VELOCITY =          4.0
-DEFAULT_ACCELERATION =  6.0
-MAX_ACCELERATION =      7.0
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# 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
 
-[AXIS_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
@@ -151,7 +115,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -162,24 +125,23 @@ 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
 
-
-
-[AXIS_1]
-
+[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
@@ -190,7 +152,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        YES
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -201,24 +162,23 @@ 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
 
-
-
-[AXIS_2]
-
+[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
@@ -229,7 +189,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -240,17 +199,7 @@ FF1 =                   1.000
 FF2 =			0.0
 BIAS =                  0.000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE = tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_7i43
+BOARD=7i43
+CONFIG="firmware=hm2/7i43-4/SVST4_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/7i43-small.ini

@@ -1,53 +1,32 @@
-
-[HOSTMOT2]
-DRIVER=hm2_7i43
-BOARD=7i43
-CONFIG="firmware=hm2/7i43-2/SVST4_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"
-
-
-
-
 [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., tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -56,91 +35,76 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE = hm2-servo.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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]
-
-AXES =                  3
 # COORDINATES =         X Y Z R P W
 COORDINATES =           X Y Z
 HOME =                  0 0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
-DEFAULT_VELOCITY =      3.0
-MAX_VELOCITY =          4.0
-DEFAULT_ACCELERATION =  6.0
-MAX_ACCELERATION =      7.0
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# 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
 
-[AXIS_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
@@ -151,7 +115,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -162,24 +125,23 @@ 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
 
-
-
-[AXIS_1]
-
+[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
@@ -190,7 +152,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        YES
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -201,24 +162,23 @@ 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
 
-
-
-[AXIS_2]
-
+[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
@@ -229,7 +189,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -240,17 +199,7 @@ FF1 =                   1.000
 FF2 =			0.0
 BIAS =                  0.000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE = tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_7i43
+BOARD=7i43
+CONFIG="firmware=hm2/7i43-2/SVST4_4.BIT num_encoders=3 num_pwmgens=3 num_stepgens=0"

configs/by_interface/mesa/hm2-servo/7i90.ini

@@ -1,53 +1,32 @@
-
-[HOSTMOT2]
-DRIVER=hm2_7i90
-BOARD=7i90
-CONFIG=""
-
-
-
-
 [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., tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -56,91 +35,76 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE = hm2-servo.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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]
-
-AXES =                  3
 # COORDINATES =         X Y Z R P W
 COORDINATES =           X Y Z
 HOME =                  0 0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
-DEFAULT_VELOCITY =      3.0
-MAX_VELOCITY =          4.0
-DEFAULT_ACCELERATION =  6.0
-MAX_ACCELERATION =      7.0
+DEFAULT_LINEAR_VELOCITY = 3.0
+MAX_LINEAR_VELOCITY = 4.0
+DEFAULT_LINEAR_ACCELERATION = 6.0
+MAX_LINEAR_ACCELERATION = 7.0
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# 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
 
-[AXIS_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
@@ -151,7 +115,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -162,24 +125,23 @@ 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
 
-
-
-[AXIS_1]
-
+[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
@@ -190,7 +152,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        YES
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -201,24 +162,23 @@ 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
 
-
-
-[AXIS_2]
-
+[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
@@ -229,7 +189,6 @@ HOME_LATCH_VEL =        0.10
 HOME_USE_INDEX =        NO
 HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # PID tuning params
 DEADBAND =              0.000015
 P =                     100.0
@@ -240,17 +199,7 @@ FF1 =                   1.000
 FF2 =			0.0
 BIAS =                  0.000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE = tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_7i90
+BOARD=7i90
+CONFIG=""

configs/by_interface/mesa/hm2-servo/README

@@ -1,6 +1,6 @@
 This configuration drives a 3-axis servo machine using a Mesa AnythingIO board with the HostMot2 firmware.  The config will only run if you have the card installed and have installed the firmware.
 
-See the HostMot2 section of the Integrators manual for more information.
+See LinuxCNC_Documentation.pdf - 11.4 Mesa HostMot2 Driver section for more information.
 
 All 3 axes use a home switch.  All home switches are connected to a single shared input pin.  X and Z home without encoder index, Y homes with encoder index.
 

configs/by_interface/mesa/hm2-servo/README_es

@@ -0,0 +1,20 @@
+Esta configuración controla 3 servomotores en 3 ejes utilizando una placa Mesa AnythingIO con el firmware HostMot2.
+La configuración solo se ejecutará si tiene la tarjeta y el firmware instalados.
+
+Vea la sección LinuxCNC_Documentación.pdf - 11.4 Driver Mesa HostMot2 para más información.
+
+Los 3 ejes utilizan interruptor home. Todos los interruptores home están conectados a un solo pin de entrada compartido. home X e Z sin índice en codificador, home Y con índice en codificador.
+
+No se utilizan interruptores de límite.
+
+Estas configuraciones tienen 3 codificadores, 3 PWM y 0 StepGens
+
+5i22-big   Para la versión de 1.5M puertas
+
+5i22-small Para la versión de 1.0M puertas
+
+7i43-big   Para la versión de 400k puertas
+
+7i43-small Para la versión de 200k puertas
+
+3x20-small para la versión de 1.0M puertas

configs/by_interface/mesa/hm2-servo/hm2-servo.hal

@@ -26,10 +26,10 @@
 # ###################################
 
 # kinematics
-loadrt trivkins
+loadrt [KINS]KINEMATICS
 
 # motion controller, get name and thread periods from ini file
-loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
+loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
 
 # standard components
 loadrt pid num_chan=3 
@@ -75,7 +75,7 @@ newsig emcmot.00.enable bit
 sets emcmot.00.enable FALSE
 net emcmot.00.enable => pid.0.enable
 net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.00.enable
-net emcmot.00.enable <= axis.0.amp-enable-out 
+net emcmot.00.enable <= joint.0.amp-enable-out 
 
 # encoder feedback
 setp hm2_[HOSTMOT2](BOARD).0.encoder.00.counter-mode 0
@@ -84,26 +84,26 @@ setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-invert 0
 setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask 0
 setp hm2_[HOSTMOT2](BOARD).0.encoder.00.index-mask-invert 0
 
-setp  hm2_[HOSTMOT2](BOARD).0.encoder.00.scale  [AXIS_0]INPUT_SCALE
+setp  hm2_[HOSTMOT2](BOARD).0.encoder.00.scale  [JOINT_0]INPUT_SCALE
 net motor.00.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.00.position => pid.0.feedback
-net motor.00.pos-fb => axis.0.motor-pos-fb #push copy back to Axis GUI
+net motor.00.pos-fb => joint.0.motor-pos-fb #push copy back to Axis GUI
 
 # set PID loop gains from inifile
-setp pid.0.Pgain [AXIS_0]P
-setp pid.0.Igain [AXIS_0]I
-setp pid.0.Dgain [AXIS_0]D
-setp pid.0.bias [AXIS_0]BIAS
-setp pid.0.FF0 [AXIS_0]FF0
-setp pid.0.FF1 [AXIS_0]FF1
-setp pid.0.FF2 [AXIS_0]FF2
-setp pid.0.deadband [AXIS_0]DEADBAND
-setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT
+setp pid.0.Pgain [JOINT_0]P
+setp pid.0.Igain [JOINT_0]I
+setp pid.0.Dgain [JOINT_0]D
+setp pid.0.bias [JOINT_0]BIAS
+setp pid.0.FF0 [JOINT_0]FF0
+setp pid.0.FF1 [JOINT_0]FF1
+setp pid.0.FF2 [JOINT_0]FF2
+setp pid.0.deadband [JOINT_0]DEADBAND
+setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT
 
 # position command signals
 setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.output-type 1 #pwm on pin1, dir on pin2
-setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale  [AXIS_0]OUTPUT_SCALE
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.00.scale  [JOINT_0]OUTPUT_SCALE
 
-net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
+net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command
 net motor.00.command  pid.0.output  =>  hm2_[HOSTMOT2](BOARD).0.pwmgen.00.value
 
 
@@ -116,7 +116,7 @@ newsig emcmot.01.enable bit
 sets emcmot.01.enable FALSE
 net emcmot.01.enable => pid.1.enable
 net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.01.enable
-net emcmot.01.enable <= axis.1.amp-enable-out 
+net emcmot.01.enable <= joint.1.amp-enable-out 
 
 # encoder feedback
 setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
@@ -125,26 +125,26 @@ setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
 setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
 setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0
 
-setp  hm2_[HOSTMOT2](BOARD).0.encoder.01.scale  [AXIS_1]INPUT_SCALE
+setp  hm2_[HOSTMOT2](BOARD).0.encoder.01.scale  [JOINT_1]INPUT_SCALE
 net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
-net motor.01.pos-fb => axis.1.motor-pos-fb #push copy back to Axis GUI
+net motor.01.pos-fb => joint.1.motor-pos-fb #push copy back to Axis GUI
 
 # set PID loop gains from inifile
-setp pid.1.Pgain [AXIS_1]P
-setp pid.1.Igain [AXIS_1]I
-setp pid.1.Dgain [AXIS_1]D
-setp pid.1.bias [AXIS_1]BIAS
-setp pid.1.FF0 [AXIS_1]FF0
-setp pid.1.FF1 [AXIS_1]FF1
-setp pid.1.FF2 [AXIS_1]FF2
-setp pid.1.deadband [AXIS_1]DEADBAND
-setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT
+setp pid.1.Pgain [JOINT_1]P
+setp pid.1.Igain [JOINT_1]I
+setp pid.1.Dgain [JOINT_1]D
+setp pid.1.bias [JOINT_1]BIAS
+setp pid.1.FF0 [JOINT_1]FF0
+setp pid.1.FF1 [JOINT_1]FF1
+setp pid.1.FF2 [JOINT_1]FF2
+setp pid.1.deadband [JOINT_1]DEADBAND
+setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT
 
 # position command signals
 setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.output-type 1 #pwm on pin1, dir on pin2
-setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.scale [AXIS_1]OUTPUT_SCALE
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.01.scale [JOINT_1]OUTPUT_SCALE
 
-net emcmot.01.pos-cmd axis.1.motor-pos-cmd => pid.1.command
+net emcmot.01.pos-cmd joint.1.motor-pos-cmd => pid.1.command
 net motor.01.command  pid.1.output  =>  hm2_[HOSTMOT2](BOARD).0.pwmgen.01.value
 
 
@@ -157,7 +157,7 @@ newsig emcmot.02.enable bit
 sets emcmot.02.enable FALSE
 net emcmot.02.enable => pid.2.enable
 net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.enable
-net emcmot.02.enable <= axis.2.amp-enable-out 
+net emcmot.02.enable <= joint.2.amp-enable-out 
 
 # encoder feedback
 setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
@@ -166,26 +166,26 @@ setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
 setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
 setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0
 
-setp  hm2_[HOSTMOT2](BOARD).0.encoder.02.scale  [AXIS_2]INPUT_SCALE
+setp  hm2_[HOSTMOT2](BOARD).0.encoder.02.scale  [JOINT_2]INPUT_SCALE
 net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
-net motor.02.pos-fb => axis.2.motor-pos-fb #push copy back to Axis GUI
+net motor.02.pos-fb => joint.2.motor-pos-fb #push copy back to Axis GUI
 
 # set PID loop gains from inifile
-setp pid.2.Pgain [AXIS_2]P
-setp pid.2.Igain [AXIS_2]I
-setp pid.2.Dgain [AXIS_2]D
-setp pid.2.bias [AXIS_2]BIAS
-setp pid.2.FF0 [AXIS_2]FF0
-setp pid.2.FF1 [AXIS_2]FF1
-setp pid.2.FF2 [AXIS_2]FF2
-setp pid.2.deadband [AXIS_2]DEADBAND
-setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT
+setp pid.2.Pgain [JOINT_2]P
+setp pid.2.Igain [JOINT_2]I
+setp pid.2.Dgain [JOINT_2]D
+setp pid.2.bias [JOINT_2]BIAS
+setp pid.2.FF0 [JOINT_2]FF0
+setp pid.2.FF1 [JOINT_2]FF1
+setp pid.2.FF2 [JOINT_2]FF2
+setp pid.2.deadband [JOINT_2]DEADBAND
+setp pid.2.maxoutput [JOINT_2]MAX_OUTPUT
 
 # position command signals
 setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
-setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [AXIS_2]OUTPUT_SCALE
+setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [JOINT_2]OUTPUT_SCALE
 
-net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command
+net emcmot.02.pos-cmd joint.2.motor-pos-cmd => pid.2.command
 net motor.02.command  pid.2.output  =>  hm2_[HOSTMOT2](BOARD).0.pwmgen.02.value
 
 
@@ -221,10 +221,10 @@ net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed
 #
 
 net home-switch <= hm2_[HOSTMOT2](BOARD).0.gpio.025.in_not
-net home-switch => axis.0.home-sw-in
-net home-switch => axis.1.home-sw-in
-net home-switch => axis.2.home-sw-in
+net home-switch => joint.0.home-sw-in
+net home-switch => joint.1.home-sw-in
+net home-switch => joint.2.home-sw-in
 
 # only the Y servo has an index, X and Z home without using the index
-net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> axis.1.index-enable
+net y-index-enable hm2_[HOSTMOT2](BOARD).0.encoder.01.index-enable <=> joint.1.index-enable
 

configs/by_interface/mesa/hm2-stepper/3x20-small.ini

@@ -1,54 +1,33 @@
-
-[HOSTMOT2]
-DRIVER=hm2_pci
-BOARD=3x20
-CONFIG="firmware=hm2/3x20-1/SVST16_24.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
-
-
-
-
 [EMC]
-
+# The version string for this INI file.
+VERSION = 1.1
 # Name of machine, for use with display, etc.
 MACHINE =               HM2-Stepper
-
 # 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., tkemc
-#DISPLAY =               tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -57,104 +36,85 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE =        hm2-stepper.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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-stepper.hal
-
 # list of halcmd commands to execute
 # commands are executed in the order in which they appear
 #HALCMD =               save neta
 
-
-
+[HALUI]
+#No Content
 
 [TRAJ]
-
-AXES =                  3
 COORDINATES =           X Y Z
 #HOME =                  0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# tool table file
+TOOL_TABLE =            tool.tbl
 
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
 
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-[AXIS_0]
-
+[JOINT_0]
 # 
 # Step timing is 40 us steplen + 40 us stepspace
 # That gives 80 us step period = 12.5 KHz step freq
 #
-# Bah, even software stepping can handle that, hm2 doesnt buy you much with
+# Bah, even software stepping can handle that, hm2 doesn't buy you much with
 # such slow steppers.
 #
 # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
 #
 # This gives a maxvel of 12.5/1 = 12.5 ips
 #
-
-
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 # scale is 200 steps/rev * 5 revs/inch
 SCALE =           1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -162,35 +122,31 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-
-
-[AXIS_1]
-
+[JOINT_1]
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 SCALE = 1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -198,35 +154,31 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
+[AXIS_Z]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-
-
-[AXIS_2]
-
+[JOINT_2]
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 SCALE = 1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -234,24 +186,13 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE =            tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=3x20
+CONFIG="firmware=hm2/3x20-1/SVST16_24.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

configs/by_interface/mesa/hm2-stepper/4i65.ini

@@ -1,54 +1,33 @@
-
-[HOSTMOT2]
-DRIVER=hm2_pci
-BOARD=4i65
-CONFIG="firmware=hm2/4i65/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
-
-
-
-
 [EMC]
-
+# The version string for this INI file.
+VERSION = 1.1
 # Name of machine, for use with display, etc.
 MACHINE =               HM2-Stepper
-
 # 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., tkemc
-#DISPLAY =               tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -57,104 +36,85 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE =        hm2-stepper.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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-stepper.hal
-
 # list of halcmd commands to execute
 # commands are executed in the order in which they appear
 #HALCMD =               save neta
 
-
-
+[HALUI]
+#No Content
 
 [TRAJ]
-
-AXES =                  3
 COORDINATES =           X Y Z
 #HOME =                  0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# tool table file
+TOOL_TABLE =            tool.tbl
 
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
 
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-[AXIS_0]
-
+[JOINT_0]
 # 
 # Step timing is 40 us steplen + 40 us stepspace
 # That gives 80 us step period = 12.5 KHz step freq
 #
-# Bah, even software stepping can handle that, hm2 doesnt buy you much with
+# Bah, even software stepping can handle that, hm2 doesn't buy you much with
 # such slow steppers.
 #
 # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
 #
 # This gives a maxvel of 12.5/1 = 12.5 ips
 #
-
-
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 # scale is 200 steps/rev * 5 revs/inch
 SCALE =           1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -162,35 +122,31 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-
-
-[AXIS_1]
-
+[JOINT_1]
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 SCALE = 1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -198,35 +154,31 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
+[AXIS_Z]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-
-
-[AXIS_2]
-
+[JOINT_2]
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 SCALE = 1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -234,24 +186,13 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE =            tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=4i65
+CONFIG="firmware=hm2/4i65/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

configs/by_interface/mesa/hm2-stepper/4i68.ini

@@ -1,54 +1,33 @@
-
-[HOSTMOT2]
-DRIVER=hm2_pci
-BOARD=4i68
-CONFIG="firmware=hm2/4i68/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
-
-
-
-
 [EMC]
-
+# The version string for this INI file.
+VERSION = 1.1
 # Name of machine, for use with display, etc.
 MACHINE =               HM2-Stepper
-
 # 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., tkemc
-#DISPLAY =               tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -57,104 +36,85 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE =        hm2-stepper.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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-stepper.hal
-
 # list of halcmd commands to execute
 # commands are executed in the order in which they appear
 #HALCMD =               save neta
 
-
-
+[HALUI]
+#No Content
 
 [TRAJ]
-
-AXES =                  3
 COORDINATES =           X Y Z
 #HOME =                  0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# tool table file
+TOOL_TABLE =            tool.tbl
 
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
 
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-[AXIS_0]
-
+[JOINT_0]
 # 
 # Step timing is 40 us steplen + 40 us stepspace
 # That gives 80 us step period = 12.5 KHz step freq
 #
-# Bah, even software stepping can handle that, hm2 doesnt buy you much with
+# Bah, even software stepping can handle that, hm2 doesn't buy you much with
 # such slow steppers.
 #
 # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
 #
 # This gives a maxvel of 12.5/1 = 12.5 ips
 #
-
-
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 # scale is 200 steps/rev * 5 revs/inch
 SCALE =           1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -162,35 +122,31 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-
-
-[AXIS_1]
-
+[JOINT_1]
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 SCALE = 1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -198,35 +154,31 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
+[AXIS_Z]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-
-
-[AXIS_2]
-
+[JOINT_2]
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 SCALE = 1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -234,24 +186,13 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE =            tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=4i68
+CONFIG="firmware=hm2/4i68/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

configs/by_interface/mesa/hm2-stepper/5i20.ini

@@ -1,54 +1,33 @@
-
-[HOSTMOT2]
-DRIVER=hm2_pci
-BOARD=5i20
-CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
-
-
-
-
 [EMC]
-
+# The version string for this INI file.
+VERSION = 1.1
 # Name of machine, for use with display, etc.
 MACHINE =               HM2-Stepper
-
 # 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., tkemc
-#DISPLAY =               tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -57,104 +36,85 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE =        hm2-stepper.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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-stepper.hal
-
 # list of halcmd commands to execute
 # commands are executed in the order in which they appear
 #HALCMD =               save neta
 
-
-
+[HALUI]
+#No Content
 
 [TRAJ]
-
-AXES =                  3
 COORDINATES =           X Y Z
 #HOME =                  0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# tool table file
+TOOL_TABLE =            tool.tbl
 
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
 
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-[AXIS_0]
-
+[JOINT_0]
 # 
 # Step timing is 40 us steplen + 40 us stepspace
 # That gives 80 us step period = 12.5 KHz step freq
 #
-# Bah, even software stepping can handle that, hm2 doesnt buy you much with
+# Bah, even software stepping can handle that, hm2 doesn't buy you much with
 # such slow steppers.
 #
 # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
 #
 # This gives a maxvel of 12.5/1 = 12.5 ips
 #
-
-
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 # scale is 200 steps/rev * 5 revs/inch
 SCALE =           1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -162,35 +122,31 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-
-
-[AXIS_1]
-
+[JOINT_1]
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 SCALE = 1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -198,35 +154,31 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
+[AXIS_Z]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-
-
-[AXIS_2]
-
+[JOINT_2]
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 SCALE = 1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -234,24 +186,13 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE =            tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=5i20
+CONFIG="firmware=hm2/5i20/SVST8_4.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

configs/by_interface/mesa/hm2-stepper/5i22-big.ini

@@ -1,54 +1,33 @@
-
-[HOSTMOT2]
-DRIVER=hm2_pci
-BOARD=5i22
-CONFIG="firmware=hm2/5i22-1.5/SVST8_8.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
-
-
-
-
 [EMC]
-
+# The version string for this INI file.
+VERSION = 1.1
 # Name of machine, for use with display, etc.
 MACHINE =               HM2-Stepper
-
 # 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., tkemc
-#DISPLAY =               tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -57,104 +36,85 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE =        hm2-stepper.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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-stepper.hal
-
 # list of halcmd commands to execute
 # commands are executed in the order in which they appear
 #HALCMD =               save neta
 
-
-
+[HALUI]
+#No Content
 
 [TRAJ]
-
-AXES =                  3
 COORDINATES =           X Y Z
 #HOME =                  0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# tool table file
+TOOL_TABLE =            tool.tbl
 
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
 
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-[AXIS_0]
-
+[JOINT_0]
 # 
 # Step timing is 40 us steplen + 40 us stepspace
 # That gives 80 us step period = 12.5 KHz step freq
 #
-# Bah, even software stepping can handle that, hm2 doesnt buy you much with
+# Bah, even software stepping can handle that, hm2 doesn't buy you much with
 # such slow steppers.
 #
 # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
 #
 # This gives a maxvel of 12.5/1 = 12.5 ips
 #
-
-
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 # scale is 200 steps/rev * 5 revs/inch
 SCALE =           1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -162,35 +122,31 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-
-
-[AXIS_1]
-
+[JOINT_1]
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 SCALE = 1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -198,35 +154,31 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
+[AXIS_Z]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-
-
-[AXIS_2]
-
+[JOINT_2]
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 SCALE = 1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -234,24 +186,13 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE =            tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=5i22
+CONFIG="firmware=hm2/5i22-1.5/SVST8_8.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"

configs/by_interface/mesa/hm2-stepper/5i22-small.ini

@@ -1,54 +1,33 @@
-
-[HOSTMOT2]
-DRIVER=hm2_pci
-BOARD=5i22
-CONFIG="firmware=hm2/5i22-1/SVST8_8.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"
-
-
-
-
 [EMC]
-
+# The version string for this INI file.
+VERSION = 1.1
 # Name of machine, for use with display, etc.
 MACHINE =               HM2-Stepper
-
 # 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., tkemc
-#DISPLAY =               tkemc
+# 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 =             tklinucnc.txt
-
+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
@@ -57,104 +36,85 @@ gif = image-to-gcode
 jpg = image-to-gcode
 py = python
 
-
-[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
-
-
-
-
 [RS274NGC]
-
 # File containing interpreter variables
 PARAMETER_FILE =        hm2-stepper.var
 
-
-
-
 [EMCMOT]
-
 EMCMOT =                motmod
-
 # Timeout for comm to emcmot, in seconds
 COMM_TIMEOUT =          1.0
-
-# Interval between tries to emcmot, in seconds
-COMM_WAIT =             0.010
-
 # 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-stepper.hal
-
 # list of halcmd commands to execute
 # commands are executed in the order in which they appear
 #HALCMD =               save neta
 
-
-
+[HALUI]
+#No Content
 
 [TRAJ]
-
-AXES =                  3
 COORDINATES =           X Y Z
 #HOME =                  0 0 0
 LINEAR_UNITS =          inch
 ANGULAR_UNITS =         degree
-CYCLE_TIME =            0.010
 
+[EMCIO]
+# Name of IO controller program, e.g., io
+EMCIO =                 io
+# cycle time, in seconds
+CYCLE_TIME =            0.100
+# tool table file
+TOOL_TABLE =            tool.tbl
 
+[KINS]
+KINEMATICS = trivkins
+JOINTS = 3
 
+[AXIS_X]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-[AXIS_0]
-
+[JOINT_0]
 # 
 # Step timing is 40 us steplen + 40 us stepspace
 # That gives 80 us step period = 12.5 KHz step freq
 #
-# Bah, even software stepping can handle that, hm2 doesnt buy you much with
+# Bah, even software stepping can handle that, hm2 doesn't buy you much with
 # such slow steppers.
 #
 # Scale is 200 steps/rev * 5 revs/inch = 1000 steps/inch
 #
 # This gives a maxvel of 12.5/1 = 12.5 ips
 #
-
-
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 # scale is 200 steps/rev * 5 revs/inch
 SCALE =           1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -162,35 +122,31 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
+[AXIS_Y]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-
-
-[AXIS_1]
-
+[JOINT_1]
 TYPE =              LINEAR
 MAX_VELOCITY =       10
 MAX_ACCELERATION =   20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 SCALE = 1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -198,35 +154,31 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         1
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
+[AXIS_Z]
+MIN_LIMIT = -10.0
+MAX_LIMIT = 10.0
+MAX_VELOCITY = 10
+MAX_ACCELERATION = 20
 
-
-
-[AXIS_2]
-
+[JOINT_2]
 TYPE =              LINEAR
 MAX_VELOCITY =      10
 MAX_ACCELERATION =  20
 # Set Stepgen max 20% higher than the axis
 STEPGEN_MAX_VEL =    12
 STEPGEN_MAX_ACC =    24
-
 BACKLASH =           0.000
-
 SCALE = 1000
-
 MIN_LIMIT =             -10.0
 MAX_LIMIT =             10.0
-
 FERROR =     0.050
 MIN_FERROR = 0.005
-
 #HOME =                  0.000
 #HOME_OFFSET =           0.10
 #HOME_SEARCH_VEL =       0.10
@@ -234,24 +186,13 @@ MIN_FERROR = 0.005
 #HOME_USE_INDEX =        YES
 #HOME_IGNORE_LIMITS =    YES
 HOME_SEQUENCE =         0
-
 # these are in nanoseconds
 DIRSETUP   =              200
 DIRHOLD    =              200
 STEPLEN    =              40000
 STEPSPACE  =              40000
 
-
-
-
-[EMCIO]
-
-# Name of IO controller program, e.g., io
-EMCIO =                 io
-
-# cycle time, in seconds
-CYCLE_TIME =            0.100
-
-# tool table file
-TOOL_TABLE =            tool.tbl
-
+[HOSTMOT2]
+DRIVER=hm2_pci
+BOARD=5i22
+CONFIG="firmware=hm2/5i22-1/SVST8_8.BIT num_encoders=0 num_pwmgens=0 num_stepgens=3"