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[MESA]
VERSION = 2.1.7
BOARD = 7i97
BOARD_NAME = 7i97t
FIRMWARE = 7i97t_d.bin
CARD_0 = None
CARD_1 = None

[EMC]
VERSION = 1.1
MACHINE = FIRST_SETUP
DEBUG = 0x00000000

[HM2]
DRIVER = hm2_eth
ADDRESS = 10.10.10.10

[DISPLAY]
DISPLAY = gmoccapy
EDITOR = geany
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
POSITION_OFFSET = MACHINE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MIN_LINEAR_VELOCITY = 0.0
DEFAULT_LINEAR_VELOCITY = 2.0
MAX_LINEAR_VELOCITY = 5.0
CYCLE_TIME = 0.1
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0
OPEN_FILE = ""

[KINS]
KINEMATICS = trivkins coordinates=XYZ
JOINTS = 3

[EMCIO]
EMCIO = iov2
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[RS274NGC]
PARAMETER_FILE = parameters.var
SUBROUTINE_PATH = /home/cnc/linuxcnc/subroutines

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

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 33.0
NO_FORCE_HOMING = 1

[HAL]
HALFILE = main.hal
HALFILE = io.hal
HALUI = halui

[HALUI]

[AXIS_X]
MIN_LIMIT = 0
MAX_LIMIT = 490
MAX_VELOCITY = 66
MAX_ACCELERATION = 75

[JOINT_0]
CARD = 0
TAB = 0
AXIS = X
MIN_LIMIT = 0
MAX_LIMIT = 490
MAX_VELOCITY = 66
MAX_ACCELERATION = 75
TYPE = LINEAR
SCALE = -1
ANALOG_SCALE_MAX = 10
ANALOG_MIN_LIMIT = -10
ANALOG_MAX_LIMIT = 10
ENCODER_SCALE = -2000
FERROR = 3
MIN_FERROR = 1
DEADBAND = 0.00025
P = 0.45
I = 0
D = 0
FF0 = 0
FF1 = 0.0134
FF2 = 0.0001
BIAS = 0
MAX_OUTPUT = 10
MAX_ERROR = 25
HOME_SEARCH_VEL = -8
HOME_LATCH_VEL = -1
HOME_FINAL_VEL = 3
HOME_SEQUENCE = 0
HOME_USE_INDEX = True

[AXIS_Y]
MIN_LIMIT = 0
MAX_LIMIT = 335
MAX_VELOCITY = 66
MAX_ACCELERATION = 75

[JOINT_1]
CARD = 0
TAB = 1
AXIS = Y
MIN_LIMIT = 0
MAX_LIMIT = 335
MAX_VELOCITY = 66
MAX_ACCELERATION = 75
TYPE = LINEAR
SCALE = 1
ANALOG_SCALE_MAX = 10
ANALOG_MIN_LIMIT = -10
ANALOG_MAX_LIMIT = 10
ENCODER_SCALE = 2000
FERROR = 3
MIN_FERROR = 1
DEADBAND = 0.00025
P = 0.45
I = 0
D = 0
FF0 = 0
FF1 = 0.0134
FF2 = 0.0001
BIAS = 0
MAX_OUTPUT = 10
MAX_ERROR = 25
HOME_SEARCH_VEL = -8
HOME_LATCH_VEL = -1
HOME_FINAL_VEL = 3
HOME_SEQUENCE = 1
HOME_USE_INDEX = True

[AXIS_Z]
MIN_LIMIT = -320
MAX_LIMIT = 0
MAX_VELOCITY = 33
MAX_ACCELERATION = 75

[JOINT_2]
CARD = 0
TAB = 2
AXIS = Z
MIN_LIMIT = -320
MAX_LIMIT = 0
MAX_VELOCITY = 33
MAX_ACCELERATION = 75
TYPE = LINEAR
SCALE = 0.5
ANALOG_SCALE_MAX = 10
ANALOG_MIN_LIMIT = -10
ANALOG_MAX_LIMIT = 10
ENCODER_SCALE = 2000
FERROR = 3
MIN_FERROR = 1
DEADBAND = 0.00025
P = 0.45
I = 0
D = 0
FF0 = 0
FF1 = 0.0134
FF2 = 0.0001
BIAS = 0
MAX_OUTPUT = 10
MAX_ERROR = 25
HOME_SEARCH_VEL = 6
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 3
HOME_SEQUENCE = 2
HOME_USE_INDEX = True

[INPUTS]
# DO NOT change the inputs they are used by the configuration tool
INPUT_0_0 = E Stop 0
INPUT_INVERT_0_0 = False
INPUT_SLOW_0_0 = False

[OUTPUTS]
# DO NOT change the outputs they are used by the configuration tool
OUTPUT_0_1 = Spindle CW
OUTPUT_INVERT_0_1 = False
OUTPUT_0_2 = Spindle CCW
OUTPUT_INVERT_0_2 = False
OUTPUT_0_3 = Coolant Flood
OUTPUT_INVERT_0_3 = False
OUTPUT_0_4 = Tool Change
OUTPUT_INVERT_0_4 = False
OUTPUT_0_0 = E-Stop Out
OUTPUT_INVERT_0_0 = False

[OPTIONS]
# DO NOT change the options they are used by the configuration tool
LOAD_CONFIG = True
INTRO_GRAPHIC = emc2.gif
INTRO_GRAPHIC_TIME = 0
MANUAL_TOOL_CHANGE = True
CUSTOM_HAL = False
POST_GUI_HAL = False
SHUTDOWN_HAL = False

io.hal
[code]# Inputs

# E-Stop Chain
loadrt estop_latch count=1
addf estop-latch.0 servo-thread

# E-Stop Loop
net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
net estop-loopout estop-latch.0.ok-out => iocontrol.0.emc-enable-in

# E-Stop Reset
net estop-reset iocontrol.0.user-request-enable
net estop-reset => estop-latch.0.reset
net remote-estop0 estop-latch.0.fault-in <= hm2_7i97.0.inmux.00.input-00

# Outputs
net estop-loopback => hm2_7i97.0.ssr.00.out-00
net spindle-cw spindle.0.forward => hm2_7i97.0.ssr.00.out-01
net spindle-ccw spindle.0.reverse => hm2_7i97.0.ssr.00.out-02
net flood-output iocontrol.0.coolant-flood => hm2_7i97.0.ssr.00.out-03


/Hampus