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# Erstellt von PNCconf am Mon May  1 19:24:03 2023
# Verwendete LinuxCNC version:  Master (2.9)
# Änderungen an dieser Datei werden beim nächsten
# wird überschrieben sobald Sie PNCconf erneut ausführen

#2.8.4

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_pci config="num_encoders=5 num_pwmgens=1 num_stepgens=4 sserial_port_0=0xxxxxxx" 
#loadrt hm2_pci config="num_encoders=5 num_pwmgens=1 num_stepgens=3 sserial_port_0=0xxxxxxx" 

# firmware=hm2/Discovered:6i25/~/mesa0_discovered.xml.BIT 
setp    hm2_6i25.0.pwmgen.pwm_frequency 1000
setp    hm2_6i25.0.pwmgen.pdm_frequency 6000000
setp    hm2_6i25.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.s

# lut5: look up table für all-limit-home (because of problem with linit stop detection by other axes when homing)
loadrt lut5 names=lut_homing
addf lut_homing servo-thread
setp lut_homing.function 0x10000
net all-limit-home => lut_homing.in-4
net all-limit <= lut_homing.out
net homing-x <= joint.0.homing => lut_homing.in-0
net homing-y <= joint.1.homing => lut_homing.in-1
net homing-z <= joint.2.homing => lut_homing.in-2
##setp lut_homing.in-3  0
##net homing-a <= joint.2.homing => lut_homing.in-3





addf hm2_6i25.0.read          servo-thread
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread
addf pid.x.do-pid-calcs       servo-thread
addf pid.y.do-pid-calcs       servo-thread
addf pid.z.do-pid-calcs       servo-thread
addf pid.a.do-pid-calcs       servo-thread
addf pid.s.do-pid-calcs       servo-thread
addf hm2_6i25.0.write         servo-thread
setp hm2_6i25.0.dpll.01.timer-us -50
setp hm2_6i25.0.stepgen.timer-number 1

# extern signal input

# --- MACHINE-IS-ENABLED ---
#gpio.001 MESA DB25 PIN PIN 14
setp hm2_6i25.0.gpio.001.is_output true
net machine-is-enabled  =>     hm2_6i25.0.gpio.001.out

# --- COOLANT-MIST ---
#gpio.005 MESA DB25 PIN PIN 16
setp hm2_6i25.0.gpio.005.is_output true
#net coolant-mist  =>     hm2_6i25.0.gpio.005.out

# externe signal output

# --- ESTOP-EXT ---
#gpio.013 MESA DB25 PIN PIN 10
# .in_not for NC / .in for NO Limit Switch
net estop-ext     <=  hm2_6i25.0.gpio.013.in_not
#net estop-ext     <=  hm2_6i25.0.gpio.013.in

# --- PROBE-IN ---
# -wird in Probe_postgui.hal verwendet / definiert -
#gpio.014 MESA DB25 PIN PIN 11
#net probe-in     <=  hm2_6i25.0.gpio.014.in

# --- ALL-LIMIT-HOME ---
# gpio.015 MESA DB25 PIN PIN 12
# .in_not for NO / .in for NC Limit Switch
net all-limit-home     <=  hm2_6i25.0.gpio.015.in_not
#net all-limit-home     <=  hm2_6i25.0.gpio.015.in

# --- CYCLE-START ---
#gpio.016 MESA DB25 PIN PIN 13
#net cycle-start     <=  hm2_6i25.0.gpio.016.in

#*******************
#  AXIS X JOINT 0
#*******************

setp   pid.x.Pgain     [JOINT_0]P
setp   pid.x.Igain     [JOINT_0]I
setp   pid.x.Dgain     [JOINT_0]D
setp   pid.x.bias      [JOINT_0]BIAS
setp   pid.x.FF0       [JOINT_0]FF0
setp   pid.x.FF1       [JOINT_0]FF1
setp   pid.x.FF2       [JOINT_0]FF2
setp   pid.x.deadband  [JOINT_0]DEADBAND
setp   pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp   pid.x.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.x.maxerror 0.012700

#net x-index-enable  =>  pid.x.index-enable
#net x-enable        =>  pid.x.enable
#net x-pos-cmd       =>  pid.x.command
#net x-pos-fb        =>  pid.x.feedback
#net x-output        <=  pid.x.output

# Step-Gen Signal/Setup

setp   hm2_6i25.0.stepgen.00.dirsetup        [JOINT_0]DIRSETUP
setp   hm2_6i25.0.stepgen.00.dirhold         [JOINT_0]DIRHOLD
setp   hm2_6i25.0.stepgen.00.steplen         [JOINT_0]STEPLEN
setp   hm2_6i25.0.stepgen.00.stepspace       [JOINT_0]STEPSPACE
setp   hm2_6i25.0.stepgen.00.position-scale  [JOINT_0]STEP_SCALE
setp   hm2_6i25.0.stepgen.00.step_type        0
#setp   hm2_6i25.0.stepgen.00.control-type     1
setp   hm2_6i25.0.stepgen.00.control-type     0
setp   hm2_6i25.0.stepgen.00.maxaccel         [JOINT_0]STEPGEN_MAXACCEL
setp   hm2_6i25.0.stepgen.00.maxvel           [JOINT_0]STEPGEN_MAXVEL

#-closed loop umgehen (von sim-maschine)
net x-pos-fb     joint.0.motor-pos-fb   <=  hm2_6i25.0.stepgen.00.position-fb
net x-pos-cmd    joint.0.motor-pos-cmd  =>  hm2_6i25.0.stepgen.00.position-cmd
net x-enable     joint.0.amp-enable-out =>  hm2_6i25.0.stepgen.00.enable


# ---Closed-Loop Schrittmotor-Signale---

#net x-pos-cmd    <= joint.0.motor-pos-cmd
#net x-vel-cmd    <= joint.0.vel-cmd
#net x-output     => hm2_6i25.0.stepgen.00.velocity-cmd
#net x-pos-fb     <= hm2_6i25.0.stepgen.00.position-fb
#net x-pos-fb     => joint.0.motor-pos-fb
#net x-enable     <= joint.0.amp-enable-out
#net x-enable     => hm2_6i25.0.stepgen.00.enable

# ---Einrichtung Referenzfahrt / Signale der Endschalter---

net all-limit-home     =>  joint.0.home-sw-in
net all-limit    =>  joint.0.neg-lim-sw-in
net all-limit     =>  joint.0.pos-lim-sw-in



#*******************
#  AXIS Y JOINT 1
#*******************

setp   pid.y.Pgain     [JOINT_1]P
setp   pid.y.Igain     [JOINT_1]I
setp   pid.y.Dgain     [JOINT_1]D
setp   pid.y.bias      [JOINT_1]BIAS
setp   pid.y.FF0       [JOINT_1]FF0
setp   pid.y.FF1       [JOINT_1]FF1
setp   pid.y.FF2       [JOINT_1]FF2
setp   pid.y.deadband  [JOINT_1]DEADBAND
setp   pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp   pid.y.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.y.maxerror 0.012700

#net y-index-enable  =>  pid.y.index-enable
#net y-enable        =>  pid.y.enable
#net y-pos-cmd       =>  pid.y.command
#net y-pos-fb        =>  pid.y.feedback
#net y-output        <=  pid.y.output

# Schritt-Gen Signale/Setup
#setp hm2_6i25.0.gpio.003.invert_output true

setp   hm2_6i25.0.stepgen.01.dirsetup        [JOINT_1]DIRSETUP
setp   hm2_6i25.0.stepgen.01.dirhold         [JOINT_1]DIRHOLD
setp   hm2_6i25.0.stepgen.01.steplen         [JOINT_1]STEPLEN
setp   hm2_6i25.0.stepgen.01.stepspace       [JOINT_1]STEPSPACE
setp   hm2_6i25.0.stepgen.01.position-scale  [JOINT_1]STEP_SCALE
setp   hm2_6i25.0.stepgen.01.step_type        0
#setp   hm2_6i25.0.stepgen.01.control-type     1
setp   hm2_6i25.0.stepgen.01.control-type     0
setp   hm2_6i25.0.stepgen.01.maxaccel         [JOINT_1]STEPGEN_MAXACCEL
setp   hm2_6i25.0.stepgen.01.maxvel           [JOINT_1]STEPGEN_MAXVEL

#-closed loop umgehen (von sim-maschine)
net y-pos-fb     joint.1.motor-pos-fb   <=  hm2_6i25.0.stepgen.01.position-fb
net y-pos-cmd    joint.1.motor-pos-cmd  =>  hm2_6i25.0.stepgen.01.position-cmd
net y-enable     joint.1.amp-enable-out =>  hm2_6i25.0.stepgen.01.enable


# ---Closed-Loop Schrittmotor-Signale---

#net y-pos-cmd    <= joint.1.motor-pos-cmd
#net y-vel-cmd    <= joint.1.vel-cmd
#net y-output     => hm2_6i25.0.stepgen.01.velocity-cmd
#net y-pos-fb     <= hm2_6i25.0.stepgen.01.position-fb
#net y-pos-fb     => joint.1.motor-pos-fb
#net y-enable     <= joint.1.amp-enable-out
#net y-enable     => hm2_6i25.0.stepgen.01.enable

# ---Einrichtung Referenzfahrt / Signale der Endschalter---

net all-limit-home     =>  joint.1.home-sw-in
net all-limit     =>  joint.1.neg-lim-sw-in
net all-limit     =>  joint.1.pos-lim-sw-in

#*******************
#  AXIS Z JOINT 2
#*******************

setp   pid.z.Pgain     [JOINT_2]P
setp   pid.z.Igain     [JOINT_2]I
setp   pid.z.Dgain     [JOINT_2]D
setp   pid.z.bias      [JOINT_2]BIAS
setp   pid.z.FF0       [JOINT_2]FF0
setp   pid.z.FF1       [JOINT_2]FF1
setp   pid.z.FF2       [JOINT_2]FF2
setp   pid.z.deadband  [JOINT_2]DEADBAND
setp   pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp   pid.z.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp   pid.z.maxerror 0.012700

#net z-index-enable  =>  pid.z.index-enable
#net z-enable        =>  pid.z.enable
#net z-pos-cmd       =>  pid.z.command
#net z-pos-fb        =>  pid.z.feedback
#net z-output        <=  pid.z.output

# Schritt-Gen Signale/Setup
setp hm2_6i25.0.gpio.003.invert_output true

setp   hm2_6i25.0.stepgen.02.dirsetup        [JOINT_2]DIRSETUP
setp   hm2_6i25.0.stepgen.02.dirhold         [JOINT_2]DIRHOLD
setp   hm2_6i25.0.stepgen.02.steplen         [JOINT_2]STEPLEN
setp   hm2_6i25.0.stepgen.02.stepspace       [JOINT_2]STEPSPACE
setp   hm2_6i25.0.stepgen.02.position-scale  [JOINT_2]STEP_SCALE
setp   hm2_6i25.0.stepgen.02.step_type        0
#setp   hm2_6i25.0.stepgen.02.control-type     1
setp   hm2_6i25.0.stepgen.02.control-type     0
setp   hm2_6i25.0.stepgen.02.maxaccel         [JOINT_2]STEPGEN_MAXACCEL
setp   hm2_6i25.0.stepgen.02.maxvel           [JOINT_2]STEPGEN_MAXVEL

#-closed loop umgehen (von sim-maschine)
net z-pos-fb     joint.2.motor-pos-fb   <=  hm2_6i25.0.stepgen.02.position-fb
net z-pos-cmd    joint.2.motor-pos-cmd  =>  hm2_6i25.0.stepgen.02.position-cmd
net z-enable     joint.2.amp-enable-out =>  hm2_6i25.0.stepgen.02.enable


# ---Closed-Loop Schrittmotor-Signale---

#net z-pos-cmd    <= joint.2.motor-pos-cmd
#net z-vel-cmd    <= joint.2.vel-cmd
#net z-output     => hm2_6i25.0.stepgen.02.velocity-cmd
#net z-pos-fb     <= hm2_6i25.0.stepgen.02.position-fb
#net z-pos-fb     => joint.2.motor-pos-fb
#net z-enable     <= joint.2.amp-enable-out
#net z-enable     => hm2_6i25.0.stepgen.02.enable

# ---Einrichtung Referenzfahrt / Signale der Endschalter---

net all-limit-home     =>  joint.2.home-sw-in
net all-limit     =>  joint.2.neg-lim-sw-in
net all-limit     =>  joint.2.pos-lim-sw-in


#*******************
#  AXIS A JOINT 3
#*******************

#*******************
#  SPINDEL
#*******************
setp   pid.s.Pgain     [SPINDLE_0]P
setp   pid.s.Igain     [SPINDLE_0]I
setp   pid.s.Dgain     [SPINDLE_0]D
setp   pid.s.bias      [SPINDLE_0]BIAS
setp   pid.s.FF0       [SPINDLE_0]FF0
setp   pid.s.FF1       [SPINDLE_0]FF1
setp   pid.s.FF2       [SPINDLE_0]FF2
setp   pid.s.deadband  [SPINDLE_0]DEADBAND
setp   pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp   pid.s.error-previous-target true

#net spindle-index-enable  =>  pid.s.index-enable
#net spindle-enable        =>  pid.s.enable
#net spindle-vel-cmd-rpm-abs     => pid.s.command
#net spindle-vel-fb-rpm-abs      => pid.s.feedback
#net spindle-output        <=  pid.s.output

# ---PWM Generator Signale/Setup---
setp   hm2_6i25.0.pwmgen.00.output-type 1
setp   hm2_6i25.0.pwmgen.00.scale  [SPINDLE_0]OUTPUT_SCALE

# Invert the DIR signal
#setp   hm2_6i25.0.gpio.007.invert_output true


# invert the PWM signal
setp   hm2_6i25.0.gpio.000.invert_output true

#--- SPINDLE-ENABLE ---

net spindle-vel-cmd-rpm     => hm2_6i25.0.pwmgen.00.value
net spindle-enable      => hm2_6i25.0.pwmgen.00.enable

net spindle-enable      => hm2_6i25.0.gpio.005.out



# ---Setup Spindel Steuerungs-Signale---

net spindle-vel-cmd-rps        <=  spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs    <=  spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm        <=  spindle.0.speed-out
net spindle-vel-cmd-rpm-abs    <=  spindle.0.speed-out-abs
net spindle-enable             <=  spindle.0.on
net spindle-cw                 <=  spindle.0.forward
net spindle-ccw                <=  spindle.0.reverse
net spindle-brake              <=  spindle.0.brake
net spindle-revs               =>  spindle.0.revs
net spindle-at-speed           =>  spindle.0.at-speed
net spindle-vel-fb-rps         =>  spindle.0.speed-in
net spindle-index-enable      <=>  spindle.0.index-enable

# ---Einrichtung der Signale zur Spindel-Geschwindigkeits-Steuerung---

sets spindle-at-speed true


#******************************
# Verbinden verschiedener Signale
#******************************

#  ---HALUI Signale---

# xhc: net axis-select-x  halui.axis.x.select
# net jog-x-pos      halui.axis.x.plus
# net jog-x-neg      halui.axis.x.minus
net jog-x-analog   halui.axis.x.analog
# xhc: net x-is-homed     halui.joint.0.is-homed
# xhc: net axis-select-y  halui.axis.y.select
# net jog-y-pos      halui.axis.y.plus
# net jog-y-neg      halui.axis.y.minus
net jog-y-analog   halui.axis.y.analog
#net y-is-homed     halui.joint.1.is-homed
# xhc: net axis-select-z  halui.axis.z.select
# net jog-z-pos      halui.axis.z.plus
# net jog-z-neg      halui.axis.z.minus
net jog-z-analog   halui.axis.z.analog
#net z-is-homed     halui.joint.2.is-homed
net axis-select-a  halui.axis.a.select
net jog-a-pos      halui.axis.a.plus
net jog-a-neg      halui.axis.a.minus
net jog-a-analog   halui.axis.a.analog
#net a-is-homed     halui.joint.3.is-homed
net jog-selected-pos      halui.axis.selected.plus
net jog-selected-neg      halui.axis.selected.minus
net spindle-manual-cw     halui.spindle.0.forward
net spindle-manual-ccw    halui.spindle.0.reverse
net spindle-manual-stop   halui.spindle.0.stop
# xhc: net machine-is-on         halui.machine.is-on
# net jog-speed             halui.axis.jog-speed
# xhc: net MDI-mode              halui.mode.is-mdi
# xhc: net cycle-start           halui.program.run
# net abort                 halui.abort

#  ---Kühlmittel-Signale---

net coolant-mist      <=  iocontrol.0.coolant-mist
net coolant-flood     <=  iocontrol.0.coolant-flood

#  ---Sonde/Taster Signal (probe signal)---

# easyprobe net probe-in     =>  motion.probe-input

#  ---Signale zur Bewegungs-Steuerung---

net in-position               <=  motion.in-position
net machine-is-enabled        <=  motion.motion-enabled

#  ---Digitale ein-/ausgehende-Signale---

#  ---E-Stop--

net estop-out     <=  iocontrol.0.user-enable-out
net estop-ext     =>  iocontrol.0.emc-enable-in


#  ---signal  manual toolchange---

net tool-change-request    <= iocontrol.0.tool-change
net tool-change-confirmed  => iocontrol.0.tool-changed
net tool-number            <= iocontrol.0.tool-prep-number

#  ---use extern dialog for toolchange---

loadusr -W hal_manualtoolchange
net tool-change-request    =>  hal_manualtoolchange.change
net tool-change-confirmed  <=  hal_manualtoolchange.changed
net tool-number            =>  hal_manualtoolchange.number

#  ---ignoriere Anfragen zu Werkzeug-Vorbereitungen---
net tool-prepare-loopback   iocontrol.0.tool-prepare      =>  iocontrol.0.tool-prepared

# Erstellt von PNCconf am Mon May  1 19:24:03 2023
# Verwendete LinuxCNC version:  Master (2.9)
#2.8.4
# reduced to bare minimum 2025-08-10 #aa

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

[DISPLAY]
DISPLAY = axis
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 3.000000
MAX_SPINDLE_OVERRIDE = 1.500000
MIN_SPINDLE_OVERRIDE = 0.500000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 5
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files/ngc
OPEN_FILE=""
INCREMENTS = .1mm .05mm .01mm .005mm
#POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 8.3333
MAX_LINEAR_VELOCITY = 90
MIN_LINEAR_VELOCITY = 0.100000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = geany
#GEOMETRY = xyza
GEOMETRY = xyz
PYVCP = custompanel.xml

[FILTER]
PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
PROGRAM_EXTENSION = .py Python Script
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
RS274NGC_STARTUP_CODE = G21 G40 G90 G94 G97 G64 P0.025
#SUBROUTINE_PATH = /home/cnc/linuxcnc/nc_files/ngc/sub
SUBROUTINE_PATH = ./sub


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

[HMOT]
# **** Nur zur Information ****
CARD0=hm2_6i25.0

[HAL]
HALUI = halui
HALFILE = ttm_a.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
SHUTDOWN = shutdown.hal
[HALUI]
# midi 0-->26 (27)
#custom_postgui.hal
# midi 0-->26
MDI_COMMAND = m3 s2000
MDI_COMMAND = m3 s3000
MDI_COMMAND = m3 s4000
MDI_COMMAND = m3 s5000
MDI_COMMAND = m3 s6000
MDI_COMMAND = m3 s7000
MDI_COMMAND = m3 s8000
MDI_COMMAND = m3 s9000
MDI_COMMAND = m3 s10000
MDI_COMMAND = m3 s11000
MDI_COMMAND = m3 s12000
MDI_COMMAND = m3 s13000
MDI_COMMAND = m3 s14000
MDI_COMMAND = m3 s16000
MDI_COMMAND = m3 s18000
MDI_COMMAND = m3 s20000
MDI_COMMAND = m3 s22000
MDI_COMMAND = m3 s24000
# midi 18-28
MDI_COMMAND = g0 x0 y0
MDI_COMMAND = O<midi_com1> CALL
MDI_COMMAND = O<midi_com2> CALL
MDI_COMMAND = O<midi_com3> CALL
MDI_COMMAND = O<midi_com4> CALL
MDI_COMMAND = O<midi_com5> CALL
MDI_COMMAND = O<midi_go_tool_probe> CALL
MDI_COMMAND = O<midi_go_tool_change_pos> CALL
MDI_COMMAND = O<midi_set_tool_length> CALL
MDI_COMMAND = O<midi_load_tool> CALL
MDI_COMMAND = M5 M9
#29
#/custom_postgui.hal

[KINS]
#JOINTS = 4
JOINTS = 3
#KINEMATICS = trivkins coordinates=XYZA
KINEMATICS = trivkins coordinates=XYZ


[TRAJ]
#COORDINATES =  XYZA
COORDINATES =  XYZ

MAX_ANGULAR_VELOCITY = 360.00
DEFAULT_ANGULAR_VELOCITY = 36.00
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 2.50
MAX_LINEAR_VELOCITY = 90
[EMCIO]
EMCIO = io
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

#******************************************
[AXIS_X]
MAX_VELOCITY = 50
MAX_ACCELERATION = 1500
#MIN_LIMIT =-255
MIN_LIMIT =-190
MAX_LIMIT =0

[JOINT_0]
TYPE = LINEAR
HOME = -1
FERROR = 0.01
MIN_FERROR = 10
MAX_VELOCITY =50
MAX_ACCELERATION = 1500
# Die folgenden Werte sollten 25% größer sein als MAX_VELOCITY und MAX_ACCELERATION
# Bei Verwendung der UMKEHRSPIEL-Kompensation sollte STEPGEN_MAXACCEL um 100% größer sein.
#STEPGEN_MAXVEL = 62.5
#STEPGEN_MAXACCEL = 187.5
STEPGEN_MAXVEL = 200
STEPGEN_MAXACCEL = 1875

P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
# diese sind in Nanosekunden
DIRSETUP   = 3000
DIRHOLD    = 3000
STEPLEN    = 2000
STEPSPACE  = 1000
#STEP_SCALE = 160
STEP_SCALE = 250
MIN_LIMIT = -190
MAX_LIMIT = 0
#HOME_OFFSET = 3
#HOME_SEARCH_VEL =30
#HOME_LATCH_VEL = 5
HOME_FINAL_VEL = 0
#HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED = 1
#HOME_SEQUENCE = 2



#4.5.6.14 Immediate Homing
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_OFFSET = 0 
HOME_SEQUENCE = 0 

#******************************************
[AXIS_Y]
MAX_VELOCITY = 50
MAX_ACCELERATION = 1500
MIN_LIMIT =0
MAX_LIMIT =120

[JOINT_1]
TYPE = LINEAR
HOME = 1
FERROR = 0.01
MIN_FERROR = 10
MAX_VELOCITY =50
MAX_ACCELERATION = 1500
# Die folgenden Werte sollten 25% größer sein als MAX_VELOCITY und MAX_ACCELERATION
# Bei Verwendung der UMKEHRSPIEL-Kompensation sollte STEPGEN_MAXACCEL um 100% größer sein.
STEPGEN_MAXVEL = 200
STEPGEN_MAXACCEL = 1875
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# diese sind in Nanosekunden
DIRSETUP   = 3000
DIRHOLD    = 3000
STEPLEN    = 2000
STEPSPACE  = 1000
# original: STEP_SCALE = -160
STEP_SCALE = -160

MIN_LIMIT = 0
MAX_LIMIT = 120
# HOME_OFFSET = -3
#HOME_OFFSET = -1
# HOME_SEARCH_VEL = -5
#HOME_SEARCH_VEL = -20
#HOME_LATCH_VEL = -5
HOME_FINAL_VEL = 0
#HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED = 1
#HOME_SEQUENCE = 3

#4.5.6.14 Immediate Homing
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_OFFSET = 0 
HOME_SEQUENCE = 0 

#******************************************
[AXIS_Z]
MAX_VELOCITY = 50
MAX_ACCELERATION = 1500
MIN_LIMIT =-210
MAX_LIMIT =0

[JOINT_2]
TYPE = LINEAR
HOME = -2
FERROR = 0.01
MIN_FERROR = 10
MAX_VELOCITY =50
MAX_ACCELERATION = 1500
# Die folgenden Werte sollten 25% größer sein als MAX_VELOCITY und MAX_ACCELERATION
# Bei Verwendung der UMKEHRSPIEL-Kompensation sollte STEPGEN_MAXACCEL um 100% größer sein.
STEPGEN_MAXVEL = 100
STEPGEN_MAXACCEL = 1875
P = 1000.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# diese sind in Nanosekunden
DIRSETUP   = 3000
DIRHOLD    = 3000
STEPLEN    = 2000
STEPSPACE  = 1000
STEP_SCALE = 160
MIN_LIMIT = -210
#HOME_OFFSET = 2
#HOME_SEARCH_VEL =40
#HOME_LATCH_VEL = 5
HOME_FINAL_VEL = 0
#HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = YES
HOME_IS_SHARED = 1
#HOME_SEQUENCE = 1

#4.5.6.14 Immediate Homing
HOME_SEARCH_VEL = 0
HOME_LATCH_VEL = 0
HOME_USE_INDEX = NO
HOME_OFFSET = 0 
HOME_SEQUENCE = 0 

#******************************************
[SPINDLE_0]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 24000
OUTPUT_SCALE = 24000
OUTPUT_MIN_LIMIT = 0
OUTPUT_MAX_LIMIT = 24000
MAX_VELOCITY = 24000
MIN_VELOCITY = 0
INCREMENT = 1000
DEFAULT_SPINDLE_0_SPEED = 1000
#MAX_REVERSE_VELOCITY = 2400
#MIN_REVERSE_VELOCITY = 100
#******************************************

Configuration Name: HOSTMOT2

General configuration information:

  BoardName : MESA6I25
  FPGA Size: 9 KGates
  FPGA Pins: 144
  Number of IO Ports: 2
  Width of one I/O port: 17
  Clock Low frequency: 66.6667 MHz
  Clock High frequency: 200.0000 MHz
  IDROM Type: 3
  Instance Stride 0: 4
  Instance Stride 1: 64
  Register Stride 0: 256
  Register Stride 1: 256

Modules in configuration:

  Module: DPLL
  There are 1 of DPLL in configuration
  Version: 0
  Registers: 7
  BaseAddress: 7000
  ClockFrequency: 66.667 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: WatchDog
  There are 1 of WatchDog in configuration
  Version: 0
  Registers: 3
  BaseAddress: 0C00
  ClockFrequency: 66.667 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: IOPort
  There are 2 of IOPort in configuration
  Version: 0
  Registers: 5
  BaseAddress: 1000
  ClockFrequency: 66.667 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: PWM
  There are 1 of PWM in configuration
  Version: 0
  Registers: 5
  BaseAddress: 4100
  ClockFrequency: 200.000 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: QCount
  There are 5 of QCount in configuration
  Version: 2
  Registers: 5
  BaseAddress: 3000
  ClockFrequency: 66.667 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: SSerial
  There are 1 of SSerial in configuration
  Version: 0
  Registers: 6
  BaseAddress: 5B00
  ClockFrequency: 66.667 MHz
  Register Stride: 256 bytes
  Instance Stride: 64 bytes

  Module: StepGen
  There are 4 of StepGen in configuration
  Version: 2
  Registers: 10
  BaseAddress: 2000
  ClockFrequency: 66.667 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

  Module: LED
  There are 1 of LED in configuration
  Version: 0
  Registers: 1
  BaseAddress: 0200
  ClockFrequency: 66.667 MHz
  Register Stride: 256 bytes
  Instance Stride: 4 bytes

Configuration pin-out:

IO Connections for P3
Pin#                  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir

 1                      0   IOPort       PWM              0        PWM             (Out)
14                      1   IOPort       None           
 2                      2   IOPort       StepGen          0        Step/Table1     (Out)
15                      3   IOPort       None           
 3                      4   IOPort       StepGen          0        Dir/Table2      (Out)
16                      5   IOPort       None           
 4                      6   IOPort       StepGen          1        Step/Table1     (Out)
17                      7   IOPort       PWM              0        Dir             (Out)
 5                      8   IOPort       StepGen          1        Dir/Table2      (Out)
 6                      9   IOPort       StepGen          2        Step/Table1     (Out)
 7                     10   IOPort       StepGen          2        Dir/Table2      (Out)
 8                     11   IOPort       StepGen          3        Step/Table1     (Out)
 9                     12   IOPort       StepGen          3        Dir/Table2      (Out)
10                     13   IOPort       None           
11                     14   IOPort       None           
12                     15   IOPort       None           
13                     16   IOPort       None           

IO Connections for P2
Pin#                  I/O   Pri. func    Sec. func       Chan      Pin func        Pin Dir

 1                     17   IOPort       QCount           0        Quad-A          (In)
14                     18   IOPort       QCount           4        Quad-B          (In)
 2                     19   IOPort       QCount           0        Quad-B          (In)
15                     20   IOPort       QCount           4        Quad-IDX        (In)
 3                     21   IOPort       QCount           0        Quad-IDX        (In)
16                     22   IOPort       SSerial          0        TXData0         (Out)
 4                     23   IOPort       QCount           1        Quad-A          (In)
17                     24   IOPort       SSerial          0        RXData0         (In)
 5                     25   IOPort       QCount           1        Quad-B          (In)
 6                     26   IOPort       QCount           1        Quad-IDX        (In)
 7                     27   IOPort       QCount           2        Quad-A          (In)
 8                     28   IOPort       QCount           2        Quad-B          (In)
 9                     29   IOPort       QCount           2        Quad-IDX        (In)
10                     30   IOPort       QCount           3        Quad-A          (In)
11                     31   IOPort       QCount           3        Quad-B          (In)
12                     32   IOPort       QCount           3        Quad-IDX        (In)
13                     33   IOPort       QCount           4        Quad-A          (In)