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<h1 id="legacy-controller">Legacy Controller</h1>
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<p>The Legacy Controller screen owns three settings that have no editor anywhere else in the
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application. It edits a different controller model from the General Setup page's Controller branch,
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and neither screen sees the other's edits: those three are edited here, and everything else on the
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branch.</p>
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<h2 id="where-it-is">Where it is</h2>
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<p>Its own page, reached from the menu bar's <strong>Page → Legacy-Controller</strong>, at <code>/controller/:tab?</code>. It is
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not a Control-Tree branch; nothing in a tree reaches it. The left pane is a strip of seven tabs, each
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addressable as the last URL segment: <strong>Coordinate Table</strong> (<code>coordinate-table</code>, which a bare
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<code>/controller</code> opens), <strong>Datum Preset</strong>, <strong>Datum Shift</strong>, <strong>Offset Table</strong>, <strong>Machine</strong>, <strong>Brand</strong> and
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<strong>Config</strong>; the two datum tab buttons are shown only while the brand reads Heidenhain. The right pane
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is a 3D view, described under <a href="#what-the-right-pane-draws">What the right pane draws</a> below.</p>
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<h2 id="which-face-to-edit">Which face to edit</h2>
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<p>Controller setup for a project belongs on the General Setup page's Controller branch —
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<a href="../setup/controller.html">Controller</a>. The brand, the stroke limits, the rapid feedrate, the
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tool-change time, the tool offset table, the work coordinates and the Heidenhain datum tables all
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have an editor there as well, and apart from one shared project flag — <strong>Set ideal offset dependent
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on tool house</strong>, which this screen's Offset Table tab and the branch's Tool Offsets leaf both write —
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the two screens edit different models. A value changed on one is not the value the other shows.</p>
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<h2 id="align-program-zero-onto-a-work-offset">Align program zero onto a work offset</h2>
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<p><strong>Align P0</strong> is on the <strong>Coordinate Table</strong> tab and nowhere else. The branch's Work Coordinates leaf
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carries <strong>P0</strong> and <strong>M0</strong> on every row too; the alignment is this screen's. Which direction an
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alignment runs — the work offset moved onto program zero, or program zero moved onto the offset as
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this button does — and where program zero sits on the workpiece in the first place, are both
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<a href="../setup/program-zero-alignment.html">Program Zero Alignment</a>.</p>
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<ol>
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<li>Find the row holding the work offset program zero should sit at. Ticking the table's selection
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column is not part of this — that only moves the viewer's coordinate marker onto the row, and
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that marker is not drawn until <strong>Show on Display</strong> in the tab's toolbar is on. It ships off, so
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on an untouched project the selection column appears to do nothing.</li>
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<li>Press <strong>Align P0</strong> in that row. It does not write the coordinate — it moves the workpiece and
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fixture together so that program zero lands on the offset the row already holds. The toast names
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the translation it assigned. It needs a workpiece, a fixture and a machine tool on the project —
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<a href="../setup/index.html">Setup</a> — and without them nothing is written and the button says so.</li>
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<li><strong>Undo Align</strong> and <strong>Redo Align</strong>, in the tab's toolbar, step back and forward through the
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alignments this screen has recorded.</li>
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</ol>
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<p>That history belongs to the screen rather than to the project: it holds 32 steps, survives a walk to
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another page and back, and is cleared when the project changes or the browser reloads the page. Each
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step restores the whole transform from a snapshot taken earlier, so if the fixture's placement was
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changed on another screen in between, an undo replaces that change rather than merging with it.</p>
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<p><img src="legacy-controller-img/coordinate-table.en.png" alt="The Legacy Controller on its Coordinate Table tab: five tab buttons, the ISO Coordinate Table with its Undo Align, Redo Align and Show on Display toolbar, and fifteen work-offset rows each carrying P0, M0 and Align P0 in an Actions column"></p>
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<p><em>At <code>/controller/coordinate-table</code>. <strong>Align P0 is a row action</strong> — every offset from G54 to G59.9
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has its own, and there is no single button for the table. The tab strip shows five buttons here
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rather than seven because this project's brand is not Heidenhain; the two datum tabs appear only
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under that brand, though their addresses stay valid under any of them.</em></p>
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<h2 id="the-two-switches-nothing-else-carries">The two switches nothing else carries</h2>
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<table>
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<thead>
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<tr>
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<th>Tab</th>
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<th>Setting</th>
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<th>What it is for</th>
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</tr>
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</thead>
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<tbody>
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<tr>
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<td><strong>Config</strong></td>
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<td><strong>Enable Shortest Rotary Path</strong></td>
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<td>Takes each rotary axis of a block to the equivalent angle nearest the previous block's, so an axis turns the short way round instead of unwinding a whole turn. It arrives on. Under Heidenhain the same normalisation runs whatever the box reads, so clearing it changes nothing there.</td>
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</tr>
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<tr>
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<td><strong>Brand</strong></td>
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<td><strong>Master-axis character</strong></td>
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<td>Which rotary axis — <code>A</code>, <code>B</code> or <code>C</code> — the Heidenhain <code>PLANE … SEQ</code> orientations are resolved against; what that dialect's words do is <a href="../../technique/nc-dialects/index.html">NC Dialects</a>. The card holding it is present only while the brand reads Heidenhain.</td>
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</tr>
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</tbody>
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</table>
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<p>Both commit on the click. If the master-axis write is refused a toast says so, but the select goes on
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showing the character that was picked, so a reload is what shows which one actually took — and a
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reloaded <code>A</code> settles nothing, because the Brand tab also falls back to <code>A</code>, silently, when the read
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itself fails.</p>
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<p><img src="legacy-controller-img/config-tab.en.png" alt="The Config tab: a single Options card holding the Enable Shortest Rotary Path switch, turned on, above an information banner restating what it does"></p>
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<p><em>At <code>/controller/config</code>. The whole tab is that one switch. The master-axis select is not beside it
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— it is on the <strong>Brand</strong> tab and, as the table above says, only while the brand reads Heidenhain,
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which is why it is absent here.</em></p>
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<h2 id="what-the-right-pane-draws">What the right pane draws</h2>
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<p>The 3D view beside the tabs draws the same scene as the <a href="../run/index.html">Execution page</a>, and
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its <strong>Scene</strong> dropdown writes the same switches — so what is ticked here is ticked there. It offers
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three groups: the machine tool, the cutter, the workpiece and the fixture; the program-zero and
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work-offset markers, the Heidenhain one appearing only under that brand; and the dimension bar and
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colour scale bar. Of those, only the <strong>workpiece, the fixture and the dimension bar arrive on</strong>. The
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machine tool and the cutter arrive off, and so do the coordinate markers — the work-offset one is
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exactly what <strong>Show on Display</strong> turns on for this screen's table. A freshly loaded project
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therefore opens this pane with little or nothing in it, and that is the shipped state rather than a
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failure to draw.</p>
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<h2 id="see-also">See Also</h2>
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<ul>
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<li><a href="index.html">Utilities</a> — the other screens the Page menu lists beside this one</li>
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<li><a href="mech-builder.html">Mechanism Builder</a> — another of the supporting screens the Page menu lists, for assembling a machine chain</li>
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<li><a href="../setup/controller.html">Controller</a> — the branch that owns controller setup for a project, and every setting this screen does not exclusively hold</li>
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<li><a href="../setup/program-zero-alignment.html">Program Zero Alignment</a> — which direction an alignment runs, where program zero sits on the workpiece, and why this screen's table is not the one a run reads</li>
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<li><a class="xref" href="../../anatomy/legacy-controller.html">Legacy Controller Page</a> — the component behind this page: its seven tabs, the model it edits and the one it does not</li>
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</ul>
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