This readme file is intended to be repository for comments and information regarding the related INI and HAL files, in order to avoid cluttering up those files with comments.  The config files are based on the output of running the pncconf wizard in 2.8.2 and looking at my old config files from 2.5.3 and the documentation for 2.8.2.

machine information
-------------------

-cnc table with 6' rails for 5' x 5' cutting area
-built with Plamsa Bot carriage plate kit and BOM from ShopDroids CNC (user tulsaturbo on cnczone.com forum)
-4X NEMA 23 steppers (1 X, 2 Y, 1 Z) with 1.8 degree step angle driven by Gecko G540 (10 microstep resolution)
-Mesa 5i25 card inside Dell Optiplex 980 with core i5-650 3.2 Ghz
-MDFLY MOL-DB2505 breakout board in between 5i25 and G540 to break out pins 18 (GND) and 14 (PWM) for laser
-laser is Kale CNC 1400 mW 445 nm module
-turning X, Y1, or Z motor CW when looking at shaft end (+ dir by right-hand rule) moves in positive linear direction
-turning Y2 motor (which is on right side of machine) CW moves it in the negative Y direction
-therefore, scale for Y2 joint needs to be negative
-Y2 motor is connected to 4th (A axis) driver of G540

INI file
--------

-keep [EMC]VERSION at 1.1 to avoid config updater script prompt (see 8.2.2.1 in documentation)
-linear velocities are in in./s (5 IPS = 300 IPM should be good max velocity)
-in [KINS] and [TRAJ], coordinates variable specified as XYZY for the following joint assignments:

X 		= 	joint 0
Y1 (left) 	= 	joint 1
Z 		= 	joint 2
Y2 (right)	= 	joint 3 

-scale factors = (steps/rev) x (microsteps/step) / (PD * pi)
-X and Y gears are 0.75" PD --> 848.826363 microsteps/in.
-make sure scale for Y2 is negative (see comment in machine information section above)
-Z gear is 0.625" PD --> 1018.591636 microsteps/in.
-went with defaults from pncconf for G540 DIRSETUP, DIRHOLD, STEPLEN, AND STEPSPACE
-values from 2.5.3 config were:

DIRSETUP   =              2000
DIRHOLD    =              2000
STEPLEN    =              4000
STEPSPACE  =              4000

-deleted PID-related stuff out of each [JOINT_#] section that pncconf stuck in there
-note that joint_3 (Y2) scale is negative (see comments in machine information section above)
-HOME_SEQUENCE values (in each [JOINT_#] section):

joint 0 (X) --> 0
joint 1 (Y1) --> -2
joint 2 (Z) --> 1
joint 3 (Y2) --> -2

-the negative values keep those joints from being able to be jogged independently (see 8.3.6.10 in documentation)


HAL file
--------

-deleted PDM and PID stuff
-use 1000 Hz for PWM freq
-stepgen assignments:
 
00 X motor
01 Y1 motor
02 Z motor
03 Y2 motor
04 chargepump

-pwmgen 00 for spindle
-not sure of "motion control signals" section is needed, but left in there for now