Yes, that hardware is supported by emc 2.1 using the "hal_m5i20" driver.
The driver is described in our documentation:
http://linuxcnc.org/docs/2.1/HAL_User_Manual.pdf
http://linuxcnc.org/docs/2.1/html/hal/drivers/index.html#SECTION00150000000000000000
There is also a sample configuration, but it must be changed to suit
your particular system:
http://cvs.linuxcnc.org/cgi-bin/cvsweb.cgi/emc2/configs/m5i20/
Jeff
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