# This file was updated with the Mesa Configuration Tool on Sep 07 2026 15:39:56
# Changes to most things are ok and will be read by the Configuration Tool

[MESA]
VERSION = 2.1.8
BOARD = 7i97
BOARD_NAME = 7i97t
FIRMWARE = 7i97t_d.bin
CARD_0 = None
CARD_1 = None

[EMC]
VERSION = 1.1
MACHINE = my mill
DEBUG = 0x00000000

[HM2]
DRIVER = hm2_eth
ADDRESS = 10.10.10.10

[DISPLAY]
DISPLAY = axis
PROGRAM_PREFIX = /home/kris/linuxcnc/nc_files
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.0
MIN_LINEAR_VELOCITY = 0.0
DEFAULT_LINEAR_VELOCITY = 0.1
MAX_LINEAR_VELOCITY = 3.4
MIN_ANGULAR_VELOCITY = 0.1
DEFAULT_ANGULAR_VELOCITY = 0.1
MAX_ANGULAR_VELOCITY = 12.0
INCREMENTS = .01,.001,.0001in
CYCLE_TIME = 0.1
INTRO_GRAPHIC = emc2.gif
INTRO_TIME = 0
OPEN_FILE = ""

[KINS]
KINEMATICS = trivkins coordinates=XYZA
JOINTS = 4

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

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

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
SERVO_PERIOD = 1500000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[TRAJ]
COORDINATES = XYZA
LINEAR_UNITS = inch
ANGULAR_UNITS = degree
MAX_LINEAR_VELOCITY = 10.1
NO_FORCE_HOMING = 1

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

[AXIS_X]
MIN_LIMIT = -14
MAX_LIMIT = 14
MAX_VELOCITY = 3.4
MAX_ACCELERATION = 4

[JOINT_0]
CARD = 0
TAB = 0
AXIS = X
MIN_LIMIT = -14
MAX_LIMIT = 14
MAX_VELOCITY = 3.4
MAX_ACCELERATION = 4
TYPE = LINEAR
SCALE = 4
ANALOG_SCALE_MAX = 10
ANALOG_MIN_LIMIT = -10
ANALOG_MAX_LIMIT = 10
ENCODER_SCALE = -40000
FERROR = .050
MIN_FERROR = .002
DEADBAND = 0
P = 175
I = 0
D = 0
FF0 = 0
FF1 = .0525
FF2 = .00875
BIAS = 0
MAX_OUTPUT = 100
MAX_ERROR = 25
HOME = 0
HOME_OFFSET = 14
HOME_SEARCH_VEL = 1
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 2

[AXIS_Y]
MIN_LIMIT = -9
MAX_LIMIT = 9
MAX_VELOCITY = 3.4
MAX_ACCELERATION = 4

[JOINT_1]
CARD = 0
TAB = 1
AXIS = Y
MIN_LIMIT = -9
MAX_LIMIT = 9
MAX_VELOCITY = 3.4
MAX_ACCELERATION = 4
TYPE = LINEAR
SCALE = 4
ANALOG_SCALE_MAX = 10
ANALOG_MIN_LIMIT = -10
ANALOG_MAX_LIMIT = 10
ENCODER_SCALE = -40000
FERROR = .050
MIN_FERROR = .002
DEADBAND = 0
P = 180
I = 0
D = 0
FF0 = 0
FF1 = .0525
FF2 = .00800
BIAS = 0
MAX_OUTPUT = 100
MAX_ERROR = 25
HOME = 0
HOME_OFFSET = 7
HOME_SEARCH_VEL = 1
HOME_LATCH_VEL = 1
HOME_FINAL_VEL = 2
HOME_IGNORE_LIMITS = True

[AXIS_Z]
MIN_LIMIT = -17
MAX_LIMIT = 0
MAX_VELOCITY = 3.4
MAX_ACCELERATION = 4

[JOINT_2]
CARD = 0
TAB = 2
AXIS = Z
MIN_LIMIT = -17
MAX_LIMIT = 0
MAX_VELOCITY = 3.4
MAX_ACCELERATION = 4
TYPE = LINEAR
SCALE = 4
ANALOG_SCALE_MAX = 10
ANALOG_MIN_LIMIT = -10
ANALOG_MAX_LIMIT = 10
ENCODER_SCALE = 40000
FERROR = .100
MIN_FERROR = .002
DEADBAND = 0
P = 175
I = 0
D = 0
FF0 = 0
FF1 = .0525
FF2 = .00875
BIAS = 0
MAX_OUTPUT = 100
MAX_ERROR = 25
HOME = 0
HOME_OFFSET = -1
HOME_SEARCH_VEL = .5
HOME_LATCH_VEL = .5
HOME_FINAL_VEL = .5
HOME_IGNORE_LIMITS = True
HOME_IS_SHARED = True

[AXIS_A]
MIN_LIMIT = -1e99
MAX_LIMIT = 1e99
MAX_VELOCITY = 1000
MAX_ACCELERATION = 1200

[JOINT_3]
CARD = 0
TAB = 3
AXIS = A
MIN_LIMIT = -1e99
MAX_LIMIT = 1e99
MAX_VELOCITY = 1000
MAX_ACCELERATION = 1200
TYPE = ANGULAR
SCALE = 1
ANALOG_SCALE_MAX = 10
ANALOG_MIN_LIMIT = -10
ANALOG_MAX_LIMIT = 10
ENCODER_SCALE = -360
FERROR = 110
MIN_FERROR = 100
DEADBAND = 0
P = 175
I = 0
D = 0
FF0 = 0
FF1 = .0052
FF2 = .00875
BIAS = 0
MAX_OUTPUT = 100
MAX_ERROR = 25
HOME = 0
HOME_OFFSET = 0.0
HOME_SEARCH_VEL = 0.0
HOME_LATCH_VEL = 0.0
HOME_FINAL_VEL = 0.0
HOME_IGNORE_LIMITS = True
HOME_IS_SHARED = True

[INPUTS]
# DO NOT change the inputs they are used by the configuration tool
INPUT_0_0 = Probe Input
INPUT_INVERT_0_0 = True
INPUT_SLOW_0_0 = False
INPUT_0_8 = Joint 0 Plus Minus Home
INPUT_INVERT_0_8 = True
INPUT_SLOW_0_8 = False
INPUT_0_9 = Joint 1 Minus Home
INPUT_INVERT_0_9 = True
INPUT_SLOW_0_9 = False
INPUT_0_10 = Joint 1 Plus
INPUT_INVERT_0_10 = True
INPUT_SLOW_0_10 = False
INPUT_0_11 = Joint 2 Plus Home
INPUT_INVERT_0_11 = True
INPUT_SLOW_0_11 = False
INPUT_0_12 = Joint 2 Minus
INPUT_INVERT_0_12 = True
INPUT_SLOW_0_12 = False
INPUT_0_14 = Lube Level
INPUT_INVERT_0_14 = False
INPUT_SLOW_0_14 = False

[OUTPUTS]
# DO NOT change the outputs they are used by the configuration tool
OUTPUT_0_0 = Spindle CW
OUTPUT_INVERT_0_0 = False
OUTPUT_0_1 = Spindle CCW
OUTPUT_INVERT_0_1 = False
OUTPUT_0_2 = Coolant Flood
OUTPUT_INVERT_0_2 = False
OUTPUT_0_3 = Lube Pump
OUTPUT_INVERT_0_3 = False

[OPTIONS]
# DO NOT change the options they are used by the configuration tool
LOAD_CONFIG = True
INTRO_GRAPHIC = emc2.gif
INTRO_GRAPHIC_TIME = 0
MANUAL_TOOL_CHANGE = True
CUSTOM_HAL = False
POST_GUI_HAL = False
SHUTDOWN_HAL = False
HALUI = False
PYVCP = False
GLADEVCP = False
LADDER = False
BACKUP = True