# This file was created with the Mesa Configuration Tool on Mar 16 2024 07:56:27
# Changes to most things are ok and will be read by the Configuration Tool

[MESA]
VERSION = 2.1.3
BOARD = 7i95
BOARD_NAME = 7i95t
FIRMWARE = None

[EMC]
VERSION = 1.1
MACHINE = linux_config
DEBUG = 0x00000000

[HM2]
DRIVER = hm2_eth
ADDRESS = 10.10.10.10

[DISPLAY]
#DISPLAY = axis
DISPLAY = qtvcp qtdragon
#DISPLAY = probe_basic
PROGRAM_PREFIX = /home/mkni/linuxcnc/nc_files
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = COMMANDED
MAX_FEED_OVERRIDE = 1.2
MIN_LINEAR_VELOCITY = 0.0
DEFAULT_LINEAR_VELOCITY = 10.5
MAX_LINEAR_VELOCITY = 30.0
CYCLE_TIME = 0.1
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0
OPEN_FILE = ""

[KINS]
KINEMATICS = trivkins coordinates=XYZ
JOINTS = 3

[EMCIO]
EMCIO = iov2
CYCLE_TIME = 0.100
TOOL_TABLE = tool.tbl

[RS274NGC]
PARAMETER_FILE = parameters.var

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

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[TRAJ]
COORDINATES = XYZ
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 0.0
NO_FORCE_HOMING = 1

[HAL]
HALUI 	= halui
HALFILE = main.hal
HALFILE = io.hal
HALFILE = custom.hal

[AXIS_X]
MIN_LIMIT = -500
MAX_LIMIT = 500
MAX_VELOCITY = 30
MAX_ACCELERATION = 30

[JOINT_0]
CARD = 0
TAB = 0
AXIS = X
MIN_LIMIT = -500
MAX_LIMIT = 500
MAX_VELOCITY = 30
MAX_ACCELERATION = 30
TYPE = LINEAR
SCALE = 1280
DRIVE = Custom
STEP_INVERT = False
DIR_INVERT = False
STEPGEN_MAX_VEL = 36.00
STEPGEN_MAX_ACC = 36.00
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 5000
STEPSPACE = 5000
ENCODER_SCALE = 
FERROR = 0.005
MIN_FERROR = 0.0025
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127
HOME_SEQUENCE = 0

[AXIS_Y]
MIN_LIMIT = -500
MAX_LIMIT = 500
MAX_VELOCITY = 30
MAX_ACCELERATION = 30

[JOINT_1]
CARD = 0
TAB = 1
AXIS = Y
MIN_LIMIT = -500
MAX_LIMIT = 500
MAX_VELOCITY = 30
MAX_ACCELERATION = 30
TYPE = LINEAR
SCALE = 1280
DRIVE = Custom
STEP_INVERT = False
DIR_INVERT = False
STEPGEN_MAX_VEL = 36.00
STEPGEN_MAX_ACC = 36.00
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 5000
STEPSPACE = 5000
ENCODER_SCALE = 
FERROR = 0.005
MIN_FERROR = 0.0025
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127

[AXIS_Z]
MIN_LIMIT = -500
MAX_LIMIT = 500
MAX_VELOCITY = 30
MAX_ACCELERATION = 30

[JOINT_2]
CARD = 0
TAB = 2
AXIS = Z
MIN_LIMIT = -500
MAX_LIMIT = 500
MAX_VELOCITY = 30
MAX_ACCELERATION = 30
TYPE = LINEAR
SCALE = 1280
DRIVE = Custom
STEP_INVERT = False
DIR_INVERT = False
STEPGEN_MAX_VEL = 36.00
STEPGEN_MAX_ACC = 36.00
DIRSETUP = 200
DIRHOLD = 200
STEPLEN = 5000
STEPSPACE = 5000
ENCODER_SCALE = 
FERROR = 0.005
MIN_FERROR = 0.0025
DEADBAND = 0
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 0.0127

[INPUTS]
# DO NOT change the inputs they are used by the configuration tool
INPUT_0_16 = Probe Input
INPUT_INVERT_0_16 = False
INPUT_SLOW_0_16 = False

INPUT_0_18 = E Stop 0
INPUT_INVERT_0_18 = True
INPUT_SLOW_0_18 = 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 = main_postgui.hal
SHUTDOWN_HAL = False
HALUI = False
PYVCP = False
GLADEVCP = False
LADDER = False
BACKUP = False

[PROBE]
#USE_PROBE = versaprobe
USE_PROBE = basicprobe