Boxford 125 lathe Tool Changer Comp FERROR (SOLVED)

#
#  Boxford  ATC  Clive
#

[EMC]
MACHINE = Boxford
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = axis
EDITOR = gedit
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
ARCDIVISION = 64
GRIDS = 10mm 20mm 50mm 100mm 
MAX_FEED_OVERRIDE = 1.2

MIN_SPINDLE_OVERRIDE = 0.5
MAX_SPINDLE_OVERRIDE = 1.2

DEFAULT_LINEAR_VELOCITY = 15
MIN_LINEAR_VELOCITY = 5
MAX_LINEAR_VELOCITY = 20

#MAX_ANGULAR_VELOCITY = 1

INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm
PYVCP = custompanel.xml
LATHE = 1

[KINS]
JOINTS = 2
KINEMATICS = trivkins coordinates=XZ

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
PROGRAM_EXTENSION = .nc,.tap G-Code File
png = image-to-gcode
gif = image-to-gcode
jpg = image-to-gcode
py = python

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[RS274NGC]
PARAMETER_FILE = linuxcnc.var

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
BASE_PERIOD = 100000
SERVO_PERIOD = 1000000

[HAL]
HALFILE = Boxford.hal
HALFILE = custom.hal
POSTGUI_HALFILE = postgui_call_list.hal

[TRAJ]
COORDINATES =  X Z 
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 10
MAX_LINEAR_VELOCITY = 25.00

[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[AXIS_X]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.001
MAX_LIMIT = 200.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -0.001
MAX_LIMIT = 200.0
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 400
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0

[AXIS_Z]
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.001

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
MIN_LIMIT = -100.0
MAX_LIMIT = 0.001
MAX_VELOCITY = 25.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXACCEL = 937.5
SCALE = 400.0
FERROR = 1
MIN_FERROR = .25
HOME_OFFSET = 0.0

#################
#  ATC
#################

setp stepgen.2.position-scale 35
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 35000
setp stepgen.2.dirsetup 35000
setp stepgen.2.maxaccel 8

#net aenable joint.2.amp-enable-out => stepgen.2.enable


###########################################################
# loading the toolchange component in .hal file
###########################################################

loadrt toolchanger
addf toolchanger servo-thread

net tool-change iocontrol.0.tool-change => toolchanger.toolchange
net tool-changed iocontrol.0.tool-changed <= toolchanger.toolchanged
net tool-number iocontrol.0.tool-prep-number => toolchanger.toolnumber
net tool-oldnumber iocontrol.0.tool-number => toolchanger.currenttoolnumber

net apos-cmd toolchanger.position-cmd => stepgen.2.position-cmd
#net ahomed joint.2.homed => toolchanger.ishomed
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared


net estop-out <= iocontrol.0.user-enable-out 
net estop-ext => iocontrol.0.emc-enable-in => toolchanger.ishomed => stepgen.2.enable

param rw float odd_move = 44.4      "distance from odd tool station to even one";
param rw float even_move = 48       "distance from even tool station to odd one";

if(currenttoolnumber == 2 || currenttoolnumber == 4 || currenttoolnumber == 6 || currenttoolnumber == 8)
                                bEven = true;    
                            if(currenttoolnumber < toolnumber)
                                moves = toolnumber - currenttoolnumber;
                            else
                                moves = (8 - currenttoolnumber) + toolnumber;
    
                            bToggle = bEven;
                            
                            while(index < moves)
                                {
                                if(bToggle)
                                    position_req += even_move;
                                else
                                    position_req += odd_move;
                                index++;
                                bToggle = !bToggle;
                                }

net estop-ext => iocontrol.0.emc-enable-in => toolchanger.ishomed => stepgen.2.enable