# This file was updated with the Mesa Configuration Tool on Nov 19 2023 16:07:41
# Changes to most things are ok and will be read by the Configuration Tool

[MESA]
VERSION = 2.0.6
BOARD = 7i95
BOARD_NAME = 7i95
FIRMWARE = Select
CARD_0 = None
CARD_1 = None

[EMC]
VERSION = 1.1
MACHINE = Nov_23
DEBUG = None

[HM2]
DRIVER = hm2_eth
ADDRESS = 192.168.1.121
IPADDRESS = 192.168.1.121

[DISPLAY]
DISPLAY = axis
EDITOR = geany
PROGRAM_PREFIX = /home/cnc/linuxcnc/nc_files
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 1.2
MIN_LINEAR_VELOCITY = 0.0
DEFAULT_LINEAR_VELOCITY = 120.0
MAX_LINEAR_VELOCITY = 400.0
CYCLE_TIME = 0.1
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0
OPEN_FILE = ""

[KINS]
KINEMATICS = trivkins coordinates=ZZXY kinstype=BOTH
JOINTS = 4

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

[RS274NGC]
PARAMETER_FILE = parameters.var
SUBROUTINE_PATH = /home/cnc/linuxcnc/subroutines

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

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[TRAJ]
COORDINATES = ZZXY
LINEAR_UNITS = mm
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 99.0
NO_FORCE_HOMING = 1

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

[AXIS_Z]
MIN_LIMIT = -0.001
MAX_LIMIT = 100
MAX_VELOCITY = 40
MAX_ACCELERATION = 750

[JOINT_0]
CARD = 0
TAB = 0
AXIS = Z
MIN_LIMIT = -0.001
MAX_LIMIT = 100
MAX_VELOCITY = 40
MAX_ACCELERATION = 750
TYPE = LINEAR
SCALE = 1280
DRIVE = Custom
STEP_INVERT = False
DIR_INVERT = False
STEPGEN_MAX_VEL = 48.00
STEPGEN_MAX_ACC = 900.00
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 2500
STEPSPACE = 2500
FERROR = 0.1
MIN_FERROR = 0.01
DEADBAND = 0
P = 20
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 1
HOME = 0
HOME_OFFSET = -5
HOME_SEARCH_VEL = 3
HOME_LATCH_VEL = 0.1
HOME_FINAL_VEL = 3
HOME_SEQUENCE = -1
HOME_IGNORE_LIMITS = False
HOME_USE_INDEX = False
HOME_IS_SHARED = False

[JOINT_1]
CARD = 0
TAB = 1
AXIS = Z
MIN_LIMIT = -0.001
MAX_LIMIT = 100
MAX_VELOCITY = 40
MAX_ACCELERATION = 750
TYPE = LINEAR
SCALE = 1280
DRIVE = Custom
STEP_INVERT = False
DIR_INVERT = False
STEPGEN_MAX_VEL = 48.00
STEPGEN_MAX_ACC = 900.00
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 2500
STEPSPACE = 2500
FERROR = 0.1
MIN_FERROR = 0.01
DEADBAND = 0
P = 20
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 1
HOME = 0
HOME_OFFSET = -5
HOME_SEARCH_VEL = 3
HOME_LATCH_VEL = 0.1
HOME_FINAL_VEL = 3
HOME_SEQUENCE = -1
HOME_IGNORE_LIMITS = False
HOME_USE_INDEX = False
HOME_IS_SHARED = False

[AXIS_X]
MIN_LIMIT = -0.001
MAX_LIMIT = 100
MAX_VELOCITY = 40
MAX_ACCELERATION = 750

[JOINT_2]
CARD = 0
TAB = 2
AXIS = X
MIN_LIMIT = -0.001
MAX_LIMIT = 100
MAX_VELOCITY = 40
MAX_ACCELERATION = 750
TYPE = LINEAR
SCALE = 1280
DRIVE = Custom
STEP_INVERT = False
DIR_INVERT = False
STEPGEN_MAX_VEL = 48.00
STEPGEN_MAX_ACC = 900.00
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 2500
STEPSPACE = 2500
FERROR = 0.1
MIN_FERROR = 0.01
DEADBAND = 0
P = 20
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 1
HOME = 0
HOME_OFFSET = -5
HOME_SEARCH_VEL = 3
HOME_LATCH_VEL = 0.1
HOME_FINAL_VEL = 3
HOME_SEQUENCE = 2
HOME_IGNORE_LIMITS = False
HOME_USE_INDEX = False
HOME_IS_SHARED = False

[AXIS_Y]
MIN_LIMIT = -1e99
MAX_LIMIT = 1e99
MAX_VELOCITY = 7200
MAX_ACCELERATION = 750

[JOINT_3]
CARD = 0
TAB = 3
AXIS = Y
MIN_LIMIT = -1e99
MAX_LIMIT = 1e99
MAX_VELOCITY = 7200
MAX_ACCELERATION = 750
TYPE = LINEAR
SCALE = 44.44444444
DRIVE = Custom
STEP_INVERT = False
DIR_INVERT = False
STEPGEN_MAX_VEL = 8640.00
STEPGEN_MAX_ACC = 900.00
DIRSETUP = 10000
DIRHOLD = 10000
STEPLEN = 2500
STEPSPACE = 2500
FERROR = 0.1
MIN_FERROR = 0.01
DEADBAND = 0
P = 20
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
MAX_OUTPUT = 0
MAX_ERROR = 1
HOME = 
HOME_IGNORE_LIMITS = False
HOME_USE_INDEX = False
HOME_IS_SHARED = False
HOME_SEQUENCE = 3

[INPUTS]
# DO NOT change the inputs they are used by the configuration tool
INPUT_0_0 = E Stop 0
INPUT_INVERT_0_0 = True
INPUT_SLOW_0_0 = False
INPUT_0_1 = Joint 0 Plus
INPUT_INVERT_0_1 = True
INPUT_SLOW_0_1 = False
INPUT_0_2 = Joint 0 Minus
INPUT_INVERT_0_2 = True
INPUT_SLOW_0_2 = False
INPUT_0_10 = Joint 0 Home
INPUT_INVERT_0_10 = False
INPUT_SLOW_0_10 = False
INPUT_0_3 = Joint 1 Plus
INPUT_INVERT_0_3 = True
INPUT_SLOW_0_3 = False
INPUT_0_4 = Joint 1 Minus
INPUT_INVERT_0_4 = True
INPUT_SLOW_0_4 = False
INPUT_0_11 = Joint 1 Home
INPUT_INVERT_0_11 = False
INPUT_SLOW_0_11 = False
INPUT_0_5 = Joint 2 Plus
INPUT_INVERT_0_5 = True
INPUT_SLOW_0_5 = False
INPUT_0_6 = Joint 2 Minus
INPUT_INVERT_0_6 = True
INPUT_SLOW_0_6 = False
INPUT_0_12 = Joint 2 Home
INPUT_INVERT_0_12 = False
INPUT_SLOW_0_12 = 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 = True
POST_GUI_HAL = False
SHUTDOWN_HAL = False
HALUI = False
PYVCP = False
GLADEVCP = False
LADDER = False
BACKUP = False