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\f0\fs24 \cf0 # This file was updated with the Mesa Configuration Tool on Mar 08 2025 10:40:46\
# Changes to most things are ok and will be read by the Configuration Tool\
\
[MESA]\
VERSION = 2.1.7\
BOARD = 7i95\
BOARD_NAME = 7i95t\
FIRMWARE = 7i95t_pwmd.bin\
CARD_0 = None\
CARD_1 = None\
\
[EMC]\
VERSION = 1.1\
MACHINE = K2CNC Test 1\
DEBUG = 0x00000000\
\
[HM2]\
DRIVER = hm2_eth\
ADDRESS = 10.10.10.10\
\
[DISPLAY]\
DISPLAY = qtvcp qtdragon\
PROGRAM_PREFIX = /home/k2/linuxcnc/nc_files\
POSITION_OFFSET = MACHINE\
POSITION_FEEDBACK = ACTUAL\
MAX_FEED_OVERRIDE = 1.2\
MIN_LINEAR_VELOCITY = 0.0\
DEFAULT_LINEAR_VELOCITY = 25.0\
MAX_LINEAR_VELOCITY = 127.0\
CYCLE_TIME = 0.1\
INTRO_GRAPHIC = emc2.gif\
INTRO_TIME = 0\
OPEN_FILE = ""\
\
[EMCIO]\
EMCIO = iov2\
CYCLE_TIME = 0.100\
TOOL_TABLE = tool.tbl\
\
[RS274NGC]\
PARAMETER_FILE = parameters.var\
SUBROUTINE_PATH = /home/k2/linuxcnc/subroutines\
\
[EMCMOT]\
EMCMOT = motmod\
COMM_TIMEOUT = 1.0\
SERVO_PERIOD = 1800000\
\
[TASK]\
TASK = milltask\
CYCLE_TIME = 0.010\
\
[KINS]\
KINEMATICS = trivkins coordinates=XYYZ kinstype=BOTH\
JOINTS = 4\
\
[TRAJ]\
COORDINATES = X Y Y Z\
LINEAR_UNITS = mm\
ANGULAR_UNITS = degree\
MAX_LINEAR_VELOCITY = 137\
NO_FORCE_HOMING = 1\
\
[HAL]\
HALFILE = main.hal\
HALFILE = io.hal\
\
[SPINDLE_0]\
PWM_TYPE = 1\
PWM_FREQUENCY = 3000\
SCALE = 24000\
\
[AXIS_X]\
MIN_LIMIT = -1219\
MAX_LIMIT = 5\
MAX_VELOCITY = 137\
MAX_ACCELERATION = 127\
\
[JOINT_0]\
CARD = 0\
TAB = 0\
AXIS = X\
\
HOME = -25.4\
HOME_SEQUENCE = 1\
#HOME_IS_SHARED = 1\
HOME_OFFSET = -25.4\
HOME_SEARCH_VEL = -10\
HOME_LATCH_VEL = 0.15\
HOME_IGNORE_LIMITS = YES\
\
MIN_LIMIT = -1219\
MAX_LIMIT = 5\
MAX_VELOCITY = 117\
MAX_ACCELERATION = 120\
TYPE = LINEAR\
SCALE = 2800\
ENCODER_SCALE = 3276.8\
FERROR = 1000\
MIN_FERROR =\
DEADBAND = 0.001\
P = 60\
I = 0\
D = 0.1\
FF0 = 0\
FF1 = 0.043\
FF2 = 0\
BIAS = 0\
MAX_OUTPUT = 0\
MAX_ERROR = 100\
\
[AXIS_Y]\
MIN_LIMIT = -1219\
MAX_LIMIT = 5\
MAX_VELOCITY = 137\
MAX_ACCELERATION = 127\
\
[JOINT_1]\
CARD = 0\
TAB = 1\
AXIS = Y\
\
HOME = -25.4\
HOME_SEQUENCE = -2\
#HOME_IS_SHARED = 1\
HOME_OFFSET = -25.4\
HOME_SEARCH_VEL = -10\
HOME_LATCH_VEL = 0.15\
HOME_IGNORE_LIMITS = YES\
\
MIN_LIMIT = -1219\
MAX_LIMIT = 5\
MAX_VELOCITY = 117\
MAX_ACCELERATION = 120\
TYPE = LINEAR\
SCALE = 2800\
ENCODER_SCALE = 3276.8\
FERROR = 1000\
MIN_FERROR =\
DEADBAND = 0.001\
P = 60\
I = 0\
D = 0.1\
FF0 = 0\
FF1 = 0.043\
FF2 = 0\
BIAS = 0\
MAX_OUTPUT = 2800\
MAX_ERROR = 100\
\
[JOINT_2]\
CARD = 0\
TAB = 2\
AXIS = Y\
\
HOME = -25.4\
HOME_SEQUENCE = -2\
#HOME_IS_SHARED = 1\
HOME_OFFSET = -25.4\
HOME_SEARCH_VEL = -10\
HOME_LATCH_VEL = 0.15\
HOME_IGNORE_LIMITS = YES\
\
MIN_LIMIT = -1219\
MAX_LIMIT = 5\
MAX_VELOCITY = 117\
MAX_ACCELERATION = 120\
TYPE = LINEAR\
SCALE = 2800\
ENCODER_SCALE = 3276.8\
FERROR = 1000\
MIN_FERROR =\
DEADBAND = 0.001\
P = 60\
I = 0\
D = 0.1\
FF0 = 0\
FF1 = 0.043\
FF2 = 0\
BIAS = 0\
MAX_OUTPUT = 0\
MAX_ERROR = 100\
\
[AXIS_Z]\
MIN_LIMIT = -330\
MAX_LIMIT = 5\
MAX_VELOCITY = 137\
MAX_ACCELERATION = 127\
\
[JOINT_3]\
CARD = 0\
TAB = 3\
AXIS = Z\
\
HOME = -25.4\
HOME_SEQUENCE = 0\
#HOME_IS_SHARED = 1\
HOME_OFFSET = -25.4\
HOME_SEARCH_VEL = 10\
HOME_LATCH_VEL = 0.15\
HOME_IGNORE_LIMITS = YES\
\
MIN_LIMIT = -330\
MAX_LIMIT = 5\
MAX_VELOCITY = 60\
MAX_ACCELERATION = 30\
TYPE = LINEAR\
SCALE = -8000\
ENCODER_SCALE = -6553.6\
FERROR = 10\
MIN_FERROR = 5\
DEADBAND = 0.00006\
P = 395\
I = 0.01\
D = 0.58\
FF0 = 0\
FF1 = 1.65\
FF2 = 0.18\
BIAS = 0.45\
MAX_OUTPUT = 8000\
MAX_ERROR = 100\
\
[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\
INPUT_0_2 = Joint 0 Minus\
INPUT_INVERT_0_2 = False\
INPUT_SLOW_0_2 = False\
INPUT_0_3 = Joint 1 Minus\
INPUT_INVERT_0_3 = False\
INPUT_SLOW_0_3 = False\
INPUT_0_4 = Joint 2 Minus\
INPUT_INVERT_0_4 = False\
INPUT_SLOW_0_4 = False\
INPUT_0_5 = Joint 3 Minus\
INPUT_INVERT_0_5 = False\
INPUT_SLOW_0_5 = False\
\
[OUTPUTS]\
# DO NOT change the outputs they are used by the configuration tool\
\
[OPTIONS]\
# DO NOT change the options they are used by the configuration tool\
LOAD_CONFIG = False\
INTRO_GRAPHIC = emc2.gif\
INTRO_GRAPHIC_TIME = 0\
MANUAL_TOOL_CHANGE = False\
CUSTOM_HAL = False\
POST_GUI_HAL = False\
SHUTDOWN_HAL = False\
HALUI = False\
PYVCP = False\
GLADEVCP = False\
LADDER = False\
BACKUP = False\
}