Help me setting up My LinuxCNC

# Basic LinuxCNC config for testing of Remora firmware [EMC] MACHINE = Remora-XY DEBUG = 5 VERSION = 1.1 [DISPLAY] DISPLAY = qtvcp qtdragon_hd #USER_COMMAND_FILE = usercommand_regularmac_800.py EDITOR = gedit POSITION_OFFSET = RELATIVE POSITION_FEEDBACK = ACTUAL ARCDIVISION = 64 GRIDS = 10mm 20mm 50mm 100mm MAX_FEED_OVERRIDE = 1.2 MIN_SPINDLE_0_OVERRIDE = 0.5 MAX_SPINDLE_0_OVERRIDE = 1.5 DEFAULT_SPINDLE_0_SPEED = 1200 SPINDLE_INCREMENT = 200 MIN_SPINDLE_0_SPEED = 200 MAX_SPINDLE_0_SPEED = 1200 MAX_SPINDLE_POWER = 500 DEFAULT_LINEAR_VELOCITY = 15.00 MIN_LINEAR_VELOCITY = 0 MAX_LINEAR_VELOCITY = 40.00 DEFAULT_ANGULAR_VELOCITY = 25.00 MIN_ANGULAR_VELOCITY = 0 MAX_ANGULAR_VELOCITY = 50.00 INTRO_GRAPHIC = linuxcnc.gif INTRO_TIME = 5 PROGRAM_PREFIX = ~/linuxcnc/nc_files INCREMENTS = Continuous, 50mm, 10mm, 5mm, 1mm, .5mm, .1mm, .05mm, .01mm #ANGULAR_INCREMENTS = 1,5,10,30,45,90 NGCGUI_SUBFILE_PATH = ~/linuxcnc/nc_files/examples/ngcgui_lib # pre selected programs tabs # specify filenames only, files must be in the NGCGUI_SUBFILE_PATH NGCGUI_SUBFILE = slot.ngc NGCGUI_SUBFILE = qpocket.ngc #EMBED_TAB_NAME = Vismach 5 Axis #EMBED_TAB_COMMAND = qtvcp vismach_5axis_gantry #EMBED_TAB_LOCATION = tabWidget_utilities [KINS] JOINTS = 5 #KINEMATICS =trivkins coordinates=XYZ kinstype=BOTH KINEMATICS =trivkins coordinates=XYZAC [FILTER] PROGRAM_EXTENSION = .py Python Script py = python [TASK] TASK = milltask CYCLE_TIME = 0.010 [RS274NGC] PARAMETER_FILE = linuxcnc.var SUBROUTINE_PATH = :~/linuxcnc/nc_files/examples/ngcgui_lib:~/linuxcnc/nc_files/examples/ngcgui_lib/utilitysubs; \ ~/linuxcnc/nc_files/examples/probe/basic_probe/macros:~/linuxcnc/nc_files/examples/remap-subroutines: \ ~/linuxcnc/nc_files/examples/ngcgui_lib/remap_lib ON_ABORT_COMMAND=O <on_abort> call RS274NGC_STARTUP_CODE = G17 G21 G40 G43H0 G54 G64P0.0005 G80 G90 G94 G97 M5 M9 [MDI_COMMAND_LIST] # for macro buttons MDI_COMMAND = G0 Z25;X0 Y0;Z0, Goto\nUser\nZero MDI_COMMAND = G53 G0 Z0;G53 G0 X0 Y0,Goto\nMachn\nZero [PROBE] #USE_PROBE = versaprobe USE_PROBE = basicprobe [EMCMOT] EMCMOT = motmod COMM_TIMEOUT = 1.0 COMM_WAIT = 0.010 BASE_PERIOD = 0 SERVO_PERIOD = 1000000 [HAL] HALFILE = remora-xyz.hal HALFILE = mpg.hal POSTGUI_HALFILE = qtdragon_hd_postgui.hal #POSTGUI_HALFILE = postgui_call_list.hal HALUI = halui [HALUI] [TRAJ] COORDINATES =  X Y Z A C LINEAR_UNITS = mm ANGULAR_UNITS = degree CYCLE_TIME = 0.010 DEFAULT_LINEAR_VELOCITY = 15.00 MAX_LINEAR_VELOCITY = 40.00 NO_FORCE_HOMING = 1  [EMCIO] EMCIO = io CYCLE_TIME = 0.100 TOOL_TABLE = tool.tbl [AXIS_X] MAX_VELOCITY = 40.00 MAX_ACCELERATION = 500.0 MIN_LIMIT = 0.0 MAX_LIMIT = 300.0 [JOINT_0] TYPE = LINEAR HOME = 0.0 MIN_LIMIT = 0.0 MAX_LIMIT = 300.0 MAX_VELOCITY = 40.0 MAX_ACCELERATION = 500.0 STEPGEN_MAXACCEL = 500.0 SCALE = 1600 FERROR = 2 MIN_FERROR = 2.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_SEQUENCE = 0 [AXIS_Y] MAX_VELOCITY = 40.0 MAX_ACCELERATION = 20.0 MIN_LIMIT = 0.0 MAX_LIMIT = 200.0 [JOINT_1] TYPE = LINEAR HOME = 0.0 MIN_LIMIT = 0.0 MAX_LIMIT = 200.0 MAX_VELOCITY = 40.0 MAX_ACCELERATION = 20.0 STEPGEN_MAXACCEL = 2000.0 SCALE = 1600.00 FERROR = 9.0 MIN_FERROR = 5.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_SEQUENCE = 0 [AXIS_Z] OFFSET_AV_RATIO = 0.2 MAX_VELOCITY = 40.0 MAX_ACCELERATION = 20.0 MIN_LIMIT = 0 MAX_LIMIT = 200 [JOINT_2] TYPE = LINEAR HOME = 0.0 MIN_LIMIT = 0 MAX_LIMIT = 200 MAX_VELOCITY = 40.0 MAX_ACCELERATION = 20.0 STEPGEN_MAXACCEL = 300.0 SCALE = 1200.00 FERROR = 5 MIN_FERROR = 1.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_SEQUENCE = 0 [AXIS_A] OFFSET_AV_RATIO = 0.2 MAX_VELOCITY = 50.0 MAX_ACCELERATION = 20.0 MIN_LIMIT = 0 MAX_LIMIT = 360 [JOINT_3] TYPE = ANGULAR HOME = 0.0 MIN_LIMIT = 0 MAX_LIMIT = 360 MAX_VELOCITY = 50.0 MAX_ACCELERATION = 20.0 STEPGEN_MAXACCEL = 300.0 SCALE = 71.111 FERROR = 5 MIN_FERROR = 1.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_SEQUENCE = 0 [AXIS_C] OFFSET_AV_RATIO = 0.2 MAX_VELOCITY = 50.0 MAX_ACCELERATION = 20.0 MIN_LIMIT = 0 MAX_LIMIT = 180 [JOINT_4] TYPE = ANGULAR HOME = 0.0 MIN_LIMIT = 0 MAX_LIMIT = 180 MAX_VELOCITY = 50.0 MAX_ACCELERATION = 20.0 STEPGEN_MAXACCEL = 300.0 SCALE = 71.111 FERROR = 5 MIN_FERROR = 1.0 HOME_OFFSET = 0.0 HOME_SEARCH_VEL = 0 HOME_LATCH_VEL = 0 HOME_SEQUENCE = 0

# load the realtime components     loadrt [KINS]KINEMATICS     loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS     #loadrt remora      loadrt remora chip_type=STM SPI_clk_div=32 PRU_base_freq=120000      #loadrt remora chip_type=LPC SPI_clk_div=64          # estop loopback, SPI comms enable and feedback     net user-enable-out    <= iocontrol.0.user-enable-out        => remora.SPI-enable      net user-request-enable  <= iocontrol.0.user-request-enable    => remora.SPI-reset     net remora-status     remora.SPI-status     => iocontrol.0.emc-enable-in          # add the remora and motion functions to threads     addf remora.read servo-thread     addf motion-command-handler servo-thread     addf motion-controller servo-thread     addf remora.update-freq servo-thread     addf remora.write servo-thread      # Joint 0 setup     setp remora.joint.0.scale         [JOINT_0]SCALE     setp remora.joint.0.maxaccel     [JOINT_0]STEPGEN_MAXACCEL     net xpos-cmd         <= joint.0.motor-pos-cmd     => remora.joint.0.pos-cmd       net j0pos-fb         <= remora.joint.0.pos-fb     => joint.0.motor-pos-fb     net j0enable         <= joint.0.amp-enable-out     => remora.joint.0.enable # Joint 1 setup     setp remora.joint.1.scale         [JOINT_1]SCALE     setp remora.joint.1.maxaccel     [JOINT_1]STEPGEN_MAXACCEL     net j1pos-cmd         <= joint.1.motor-pos-cmd     => remora.joint.1.pos-cmd     net j1pos-fb         <= remora.joint.1.pos-fb     => joint.1.motor-pos-fb      net j1enable         <= joint.1.amp-enable-out     => remora.joint.1.enable # Joint 2 setup     setp remora.joint.2.scale         [JOINT_2]SCALE     setp remora.joint.2.maxaccel     [JOINT_2]STEPGEN_MAXACCEL     net j2pos-cmd         <= joint.2.motor-pos-cmd     => remora.joint.2.pos-cmd     net j2pos-fb         <= remora.joint.2.pos-fb     => joint.2.motor-pos-fb     net j2enable         <= joint.2.amp-enable-out     => remora.joint.2.enable # Joint 3 setup     setp remora.joint.3.scale         [JOINT_3]SCALE     setp remora.joint.3.maxaccel     [JOINT_3]STEPGEN_MAXACCEL     net j3pos-cmd         <= joint.3.motor-pos-cmd     => remora.joint.3.pos-cmd     net j3pos-fb         <= remora.joint.3.pos-fb     => joint.3.motor-pos-fb     net j3enable         <= joint.3.amp-enable-out     => remora.joint.3.enable # Joint 4 setup     setp remora.joint.4.scale         [JOINT_4]SCALE     setp remora.joint.4.maxaccel     [JOINT_4]STEPGEN_MAXACCEL     net j4pos-cmd         <= joint.4.motor-pos-cmd     => remora.joint.4.pos-cmd     net j4pos-fb         <= remora.joint.4.pos-fb     => joint.4.motor-pos-fb     net j4enable         <= joint.4.amp-enable-out     => remora.joint.4.enable # end-stops     net X-min       remora.input.0         => joint.0.neg-lim-sw-in #    net X-max       remora.input.1         => joint.0.home-sw-in joint.0.pos-lim-sw-in     net Y-min       remora.input.2         => joint.1.neg-lim-sw-in #    net Y-max       remora.input.3         => joint.1.home-sw-in joint.1.pos-lim-sw-in          net Z-min       remora.input.4         => joint.2.neg-lim-sw-in #    net Z-max       remora.input.5         => joint.2.home-sw-in joint.2.pos-lim-sw-in      # Probe      net probe-input motion.probe-input <= remora.input.6 #    net probe-input => qtdragon.led-probe      # Spindle     loadrt pwmgen output_type=0     addf pwmgen.update servo-thread     addf pwmgen.make-pulses servo-thread     net spindle-speed-cmd spindle.0.speed-out => pwmgen.0.value     net spindle-on spindle.0.on => pwmgen.0.enable     net spindle-pwm pwmgen.0.pwm => remora.output.0 # Set the spindle's top speed in RPM     setp pwmgen.0.scale 12000 #    net spindle-speed-feedback spindle.0.speed-out-rps => spindle.0.speed-in

# Jog Pendant loadrt PRUencoder names=encoder.0 addf PRUencoder.capture-position servo-thread setp encoder.0.position-scale 400.0 # connect the hal encoder to linuxcnc net encoder-count <= remora.PV.0 => encoder.0.raw_count loadrt conv_float_s32 count=1 addf conv-float-s32.0 servo-thread loadrt mux4 count=1 addf mux4.0 servo-thread # If your MPG outputs a quadrature signal per click set x4 to 1 # If your MPG puts out 1 pulse per click set x4 to 0 #setp encoder.0.x4-mode 0 # For velocity mode, set to 1 # In velocity mode the axis stops when the dial is stopped # even if that means the commanded motion is not completed, # For position mode (the default), set to 0 # In position mode the axis will move exactly jog-scale # units for each count, regardless of how long that might take, setp joint.0.jog-vel-mode 1 setp joint.1.jog-vel-mode 1 setp joint.2.jog-vel-mode 1 setp joint.3.jog-vel-mode 1 setp joint.4.jog-vel-mode 1 # This sets the scale that will be used based on the input to the mux4 setp mux4.0.in0 0.1 setp mux4.0.in1 0.01 setp mux4.0.in2 0.001 # The inputs to the mux4 component net scale1 mux4.0.sel0 <= remora.input.10 net scale2 mux4.0.sel1 <= remora.input.9 # The output from the mux4 is sent to each axis jog scale net mpg-scale <= mux4.0.out net mpg-scale => joint.0.jog-scale axis.x.jog-scale net mpg-scale => joint.1.jog-scale axis.y.jog-scale net mpg-scale => joint.2.jog-scale axis.z.jog-scale net mpg-scale => joint.3.jog-scale axis.a.jog-scale net mpg-scale => joint.4.jog-scale axis.c.jog-scale # The MPG inputs #net mpg-a encoder.0.phase-A <= remora.input.7 #net mpg-b encoder.0.phase-B <= remora.input.8 # The Axis select inputs net mpg-x joint.0.jog-enable axis.x.jog-enable <= remora.input.11 net mpg-y joint.1.jog-enable axis.y.jog-enable <= remora.input.12 net mpg-z joint.2.jog-enable axis.z.jog-enable <= remora.input.13 net mpg-a joint.3.jog-enable axis.a.jog-enable <= remora.input.14 net mpg-c joint.4.jog-enable axis.c.jog-enable <= remora.input.15 # The encoder output counts to the axis. Only the selected axis will move. net encoder-count   conv-float-s32.0.in net encoder-counts  conv-float-s32.0.out #net encoder-counts  <= encoder.0.counts net encoder-counts => joint.0.jog-counts axis.x.jog-counts net encoder-counts => joint.1.jog-counts axis.y.jog-counts net encoder-counts => joint.2.jog-counts axis.z.jog-counts net encoder-counts => joint.3.jog-counts axis.a.jog-counts net encoder-counts => joint.4.jog-counts axis.c.jog-counts

# load components ######################################################################## loadrt logic names=logic-and personality=0x102 addf logic-and servo-thread # load a summing component for adding spindle lift and Z compensation loadrt scaled_s32_sums addf scaled-s32-sums.0 servo-thread loadusr -Wn z_level_compensation z_level_compensation # method parameter must be one of nearest(2), linear(1), cubic (0) setp z_level_compensation.fade-height 0.0 setp z_level_compensation.method 1 # connect signals ######################################################################## net spindle-speed-limited  =>  spindle.0.speed-out-rps => spindle.0.speed-in # the unlink pin commands are only used, because they are connected  # in core_sim.hal and we use this file to simulate unlinkp iocontrol.0.tool-change unlinkp iocontrol.0.tool-changed unlinkp iocontrol.0.tool-prep-number net tool-change      hal_manualtoolchange.change   <=  iocontrol.0.tool-change  net tool-changed     hal_manualtoolchange.changed  <=  iocontrol.0.tool-changed net tool-prep-number hal_manualtoolchange.number   <=  iocontrol.0.tool-prep-number net eoffset-clear    axis.z.eoffset-clear net eoffset-counts   axis.z.eoffset-counts setp axis.z.eoffset-scale .001 net eoffset-total          axis.z.eoffset net eoffset-total          qtdragon.eoffset-value setp axis.z.eoffset-enable True ## external offsets for spindle pause function ################################################## net eoffset-clear     qtdragon.eoffset-clear net eoffset-spindle-count   <= qtdragon.eoffset-spindle-count     net spindle-pause     qtdragon.spindle-inhibit spindle.0.inhibit net probe-input qtdragon.led-probe ## Z level compensation #################################################### net eoffset-clr2            z_level_compensation.clear      => logic-and.in-01 net xpos-cmd                z_level_compensation.x-pos      <= joint.0.motor-pos-cmd net ypos-cmd                z_level_compensation.y-pos      <= joint.1.pos-cmd net zpos-cmd                z_level_compensation.z-pos      <= joint.2.pos-cmd net z_compensation_on       z_level_compensation.enable-in  <= qtdragon.comp-on net eoffset-zlevel-count    z_level_compensation.counts     => qtdragon.eoffset-zlevel-count net eoffset-spindle-count   scaled-s32-sums.0.in0 net eoffset-zlevel-count    scaled-s32-sums.0.in1 setp scaled-s32-sums.0.scale0 1000 net eoffset-counts          scaled-s32-sums.0.out-s