```# This config file was created 09-19-2019

[EMC]
# The version string for this INI file.
VERSION = 1.1
MACHINE = XK7130_INCH
DEBUG = 0

[DISPLAY]
DISPLAY = probe_basic
FULLSCREEN = True
POSITION_OFFSET = RELATIVE
POSITION_FEEDBACK = ACTUAL
MAX_FEED_OVERRIDE = 2.000000
MAX_SPINDLE_OVERRIDE = 2.000000
MIN_SPINDLE_OVERRIDE = 0.500000
DEFAULT_SPINDLE_SPEED = 1000
INTRO_GRAPHIC = linuxcnc.gif
INTRO_TIME = 1
PROGRAM_PREFIX = /home/chris/linuxcnc/nc_files
INCREMENTS = JOG .1in .01in .001in .0001in
DEFAULT_LINEAR_VELOCITY = 6.000000
MAX_LINEAR_VELOCITY = 11.800000
MIN_LINEAR_VELOCITY = 0.016670
DEFAULT_ANGULAR_VELOCITY = 12.000000
MAX_ANGULAR_VELOCITY = 180.000000
MIN_ANGULAR_VELOCITY = 1.666667
EDITOR = gedit
GEOMETRY = xyza

[VTK]
PROGRAM_BOUNDRY = False
PROGRAM_TICKS = False
PROGRAM_LABELS = False
MACHINE_BOUNDRY = False
MACHINE_TICKS = False
MACHINE_LABELS = False
GRID_LINES = False

[FILTER]
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

[PYTHON]
TOPLEVEL = /home/chris/linuxcnc/configs/probe_basic/python/toplevel.py
PATH_APPEND = /home/chris/linuxcnc/configs/probe_basic/python/
LOG_LEVEL = 8

[RS274NGC]
#BELOW IS THE STARTUP CODE FOR THE MACHINE, WILL BE IN THIS STATE AT STARTUP
RS274NGC_STARTUP_CODE = F10 S1000 G17 G20 G40 G43H0 G54 G64 P .0003 G80 G90 G94 G97 G98 M5 M9
PROGRAM_PREFIX = ~/linuxcnc/nc_files
PARAMETER_FILE = linuxcnc.var
FEATURES=30
SUBROUTINE_PATH = /home/chris/linuxcnc/configs/probe_basic/subroutines/
#BELOW ARE MY REMAPPED M CODES FOR TOOLCHANGES
REMAP=M6   modalgroup=6 prolog=change_prolog ngc=toolchange epilog=change_epilog
REMAP=M10  modalgroup=6 argspec=p ngc=m10
REMAP=M11  modalgroup=6 argspec=p ngc=m11
REMAP=M12  modalgroup=6 argspec=p ngc=m12
REMAP=M13  modalgroup=6 ngc=m13
REMAP=M14  modalgroup=6 ngc=m14
REMAP=M21  modalgroup=6 ngc=m21
REMAP=M22  modalgroup=6 ngc=m22
REMAP=M23  modalgroup=6 ngc=m23
REMAP=M24  modalgroup=6 ngc=m24
REMAP=M25  modalgroup=6 ngc=m25
REMAP=M26  modalgroup=6 ngc=m26

[EMCMOT]
EMCMOT = motmod
COMM_TIMEOUT = 1.0
COMM_WAIT = 0.010
SERVO_PERIOD = 1000000

[TASK]
TASK = milltask
CYCLE_TIME = 0.010

[HOSTMOT2]
# **** This is for info only ****
# DRIVER0=hm2_eth
# BOARD0=7i92

[HAL]
HALUI = halui
HALFILE = XK7130_INCH.hal
HALFILE = mpg.hal
POSTGUI_HALFILE = atc_motion.hal

[HALUI]

[TRAJ]
SPINDLES = 1
COORDINATES = X Y Z A
ARC_BLEND_ENABLE = 1
ARC_BLEND_FALLBACK_ENABLE = 0
ARC_BLEND_OPTIMIZATION_DEPTH = 50
ARC_BLEND_GAP_CYCLES = 4
ARC_BLEND_RAMP_FREQ = 100
MAX_ANGULAR_VELOCITY = 180.00
DEFAULT_ANGULAR_VELOCITY = 18.00
LINEAR_UNITS = in
ANGULAR_UNITS = degree
DEFAULT_LINEAR_VELOCITY = 1.18
MAX_LINEAR_VELOCITY = 11.80
NO_FORCE_HOMING = 0

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

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

#==================
#      X Axis
#==================

[AXIS_X]
MIN_LIMIT = 0.0000
MAX_LIMIT = 27.135
MAX_VELOCITY = 11.80
MAX_ACCELERATION = 75.00

[JOINT_0]
TYPE = LINEAR
HOME = 0.0
FERROR = 1.00
MIN_FERROR = 0.10
MAX_VELOCITY = 11.80
MAX_ACCELERATION = 75.00
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 14.75
STEPGEN_MAXACCEL = 150.00
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00037
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = -84666.6
# these are in nanoseconds
DIRSETUP   = 3000
DIRHOLD    = 6000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = -25400

MIN_LIMIT = 0
MAX_LIMIT = 27.135
HOME_OFFSET = .01
HOME_SEARCH_VEL = -3.00
HOME_LATCH_VEL = -.400
HOME_FINAL_VEL = 6.00
HOME_USE_INDEX = no
HOME_SEQUENCE = 1

#==================
#      Y Axis
#==================

[AXIS_Y]
MIN_LIMIT = -15.630
MAX_LIMIT = 0
MAX_VELOCITY = 11.8
MAX_ACCELERATION = 75.00

[JOINT_1]
TYPE = LINEAR
HOME = 0.0
FERROR = 1.00
MIN_FERROR = 0.10
MAX_VELOCITY = 11.8
MAX_ACCELERATION = 75.00
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 14.75
STEPGEN_MAXACCEL = 150.00
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00037
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = -84666.6
# these are in nanoseconds
DIRSETUP   = 3000
DIRHOLD    = 6000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = -25400

MIN_LIMIT = -15.630
MAX_LIMIT = 0
HOME_OFFSET = -.7086
HOME_SEARCH_VEL = 3.00
HOME_LATCH_VEL = .400
HOME_FINAL_VEL = .400
HOME_USE_INDEX = no
HOME_SEQUENCE = 1

#==================
#      Z Axis
#==================

[AXIS_Z]
MIN_LIMIT = -17.125
MAX_LIMIT = .118
MAX_VELOCITY = 5.90
MAX_ACCELERATION = 70.00

[JOINT_2]
TYPE = LINEAR
HOME = 0.0
FERROR = 1.00
MIN_FERROR = 0.10
MAX_VELOCITY = 5.90
MAX_ACCELERATION = 70.00
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 7.38
STEPGEN_MAXACCEL = 140.00
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0.00037
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = 84666.6

# these are in nanoseconds
DIRSETUP   = 3000
DIRHOLD    = 6000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = 25400

MIN_LIMIT = -17.125
MAX_LIMIT = .118
HOME_OFFSET = .078
HOME_SEARCH_VEL = 3.00
HOME_LATCH_VEL = .400
HOME_FINAL_VEL = .400
HOME_USE_INDEX = no
HOME_SEQUENCE = 0

#==================
#      A Axis
#==================

[AXIS_A]
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
MAX_VELOCITY = 25.00
MAX_ACCELERATION = 100

[JOINT_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 1.0
MIN_FERROR = 0.10
MAX_VELOCITY = 25.00
MAX_ACCELERATION = 100
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 31.25
STEPGEN_MAXACCEL = 200
P = 1000
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
MAX_OUTPUT = 0
ENCODER_SCALE = 1000
# these are in nanoseconds
DIRSETUP   = 3000
DIRHOLD    = 6000
STEPLEN    = 1000
STEPSPACE  = 1000
STEP_SCALE = -1000
MIN_LIMIT = -9999.0
MAX_LIMIT = 9999.0
HOME_OFFSET = 0.0
HOME_SEQUENCE = 2

#==================
#    SPINDLE
#==================

[SPINDLE_9]
P = 0.0
I = 0.0
D = 0.0
FF0 = 1.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 6225
ENCODER_SCALE = -4096
OUTPUT_SCALE = 6225
OUTPUT_MIN_LIMIT = -6225
OUTPUT_MAX_LIMIT = 6225