# MPCNC XYZB 4-axis configuration for Probe Basic 0.6.6
# LinuxCNC 2.9.8 | Mesa 7I76E | trivkins XXYYZB | 6 joints

[EMC]
MACHINE = MPCNC Probebasic XYZB
DEBUG = 0
VERSION = 1.1

[DISPLAY]
DISPLAY = probe_basic
OPEN_FILE = ~/linuxcnc/nc_files/pb_examples/blank.ngc
CONFIG_FILE = custom_config.yml

POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000

MAX_SPINDLE_0_OVERRIDE = 1.5
MIN_SPINDLE_0_OVERRIDE = .5
DEFAULT_SPINDLE_SPEED = 12000
SPINDLE_INCREMENT = 200
MIN_SPINDLE_SPEED = 1000
MAX_SPINDLE_SPEED = 20000
MAX_SPINDLE_POWER = 2000
MAX_SPINDLE_OVERRIDE = 1.000000
MIN_SPINDLE_OVERRIDE = 0.500000

INTRO_GRAPHIC = pbsplash.png
INTRO_TIME = 3

PROGRAM_PREFIX = /home/user/cnc-programs
INCREMENTS = JOG 5mm 1mm .5mm .1mm .01mm
ANGULAR_INCREMENTS = 1, 5, 10, 30, 45, 90, 180, 360
POSITION_FEEDBACK = ACTUAL
DEFAULT_LINEAR_VELOCITY = 40.000000
MAX_LINEAR_VELOCITY = 100.000000
MIN_LINEAR_VELOCITY = 0.500000
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit

# B axis rotates around Y. "!" enables G5x offset awareness for liveplot.
GEOMETRY = BXYZ
CYCLE_TIME = 100

USER_TABS_PATH = user_tabs/
USER_BUTTONS_PATH = user_buttons/
USER_DROS_PATH = user_dro_display/

# XYZAB used as closest available option — A axis is unused on this machine
DRO_DISPLAY = user
OFFSET_COLUMNS = XYZB
TOOL_TABLE_COLUMNS = TZDR
KEYBOARD_JOG = true
KEYBOARD_JOG_SAFETY_OFF = true
ATC_TAB_DISPLAY = 0


[FILTER]
PROGRAM_EXTENSION = .ngc,.nc,.NGC,.NC G-Code Files
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
OWORD_NARGS = 1
NO_DOWNCASE_OWORD = 1
SUBROUTINE_PATH = subroutines
ON_ABORT_COMMAND = O<on_abort> CALL

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

[HMOT]
CARD0=hm2_7i76e.0

[HAL]
HALUI = halui
HALFILE = probebasic_4b.hal
HALFILE = custom.hal
POSTGUI_HALFILE = custom_postgui.hal
TWOPASS = on

[HALUI]

[PROBE]
USE_PROBE = basicprobe

[KINS]
JOINTS = 6
KINEMATICS = trivkins coordinates=XXYYZB kinstype=BOTH

[TRAJ]
AXES = 4
SPINDLES = 1
COORDINATES = XXYYZB
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 10.00
MAX_LINEAR_VELOCITY = 100.00

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

#------------------------------------------
[AXIS_X]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.01
MAX_LIMIT = 315.0

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXVEL = 125
STEPGEN_MAXACCEL = 937.5
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 80
MIN_LIMIT = -0.01
MAX_LIMIT = 315.0
HOME_OFFSET = -1.000000
HOME_SEARCH_VEL = 20.000000
HOME_LATCH_VEL = 3
HOME_FINAL_VEL = 5.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = -2

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXVEL = 125
STEPGEN_MAXACCEL = 937.5
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 80
MIN_LIMIT = -0.01
MAX_LIMIT = 315.0
HOME_OFFSET = -1.000000
HOME_SEARCH_VEL = 20.000000
HOME_LATCH_VEL = 3
HOME_FINAL_VEL = 5.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = -2
#------------------------------------------

#------------------------------------------
[AXIS_Y]
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
MIN_LIMIT = -0.01
MAX_LIMIT = 720.0

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXVEL = 125
STEPGEN_MAXACCEL = 937.5
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 80
MIN_LIMIT = -0.01
MAX_LIMIT = 720.0
HOME_OFFSET = -1.000000
HOME_SEARCH_VEL = 30.000000
HOME_LATCH_VEL = 2
HOME_FINAL_VEL = 5.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = -3

[JOINT_3]
TYPE = LINEAR
HOME = 0.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 100.0
MAX_ACCELERATION = 750.0
STEPGEN_MAXVEL = 125
STEPGEN_MAXACCEL = 937.5
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 80
MIN_LIMIT = -0.01
MAX_LIMIT = 720.0
HOME_OFFSET = -1.000000
HOME_SEARCH_VEL = 30.000000
HOME_LATCH_VEL = 2
HOME_FINAL_VEL = 5.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = -3
#------------------------------------------

#------------------------------------------
[AXIS_Z]
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 300.0
MIN_LIMIT = -0.0
MAX_LIMIT = 75.01

[JOINT_4]
TYPE = LINEAR
HOME = 75.0
FERROR = 10.0
MIN_FERROR = 1.0
MAX_VELOCITY = 10.0
MAX_ACCELERATION = 300.0
STEPGEN_MAXVEL = 12.5
STEPGEN_MAXACCEL = 375
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 1600
MIN_LIMIT = -0.0
MAX_LIMIT = 75.01
HOME_OFFSET = 75.000000
HOME_SEARCH_VEL = -5.00000
HOME_LATCH_VEL = -1.00000
HOME_FINAL_VEL = -1.00000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1
#------------------------------------------

#------------------------------------------
# B axis — rotary chuck, rotation around Y
# Fixed position at Y=700mm (end of table)
[AXIS_B]
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1200.0
MIN_LIMIT = -1e99
MAX_LIMIT =  1e99


[JOINT_5]
TYPE = ANGULAR
HOME = 0.0
FERROR = 5.0
MIN_FERROR = 1.0
MAX_VELOCITY = 360.0
MAX_ACCELERATION = 1200.0
STEPGEN_MAXVEL = 450
STEPGEN_MAXACCEL = 1500
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
DIRSETUP   = 5000
DIRHOLD    = 5000
STEPLEN    = 5000
STEPSPACE  = 5000
STEP_SCALE = 35.5556
MIN_LIMIT = -1e99
MAX_LIMIT =  1e99
HOME_OFFSET = 0.0
HOME_SEQUENCE = 4
#------------------------------------------

[SPINDLE_0]
P = 0
I = 0
D = 0
FF0 = 1
FF1 = 0
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 2000