# Motion Controller Configuration File
# Modified for Schneeberger Z stage 1-24-07
#
# Note: "xt" stands for "X-Theta"
#
# This is a five axis configuration:
#
# 0  T theta rotary axis
# 1  X linear horizontal axis
# 2  Z linear vertical axis
# 3  P pitch/tip axis (MOTOR AT FRONT)
# 4  R roll/tilt axis (MOTOR AT LEFT)
#
# Edit with NotePad (not WordPad).
# NotePad will use the right tab stops.
#
Axis            1	# X Axis
Name            X
Got_axis        1
Avoid_hi        1
Avoid_lo        1
Backlash        15000
Drive_low       1
Drive_on        3
Drive_off       0
Drive_rev       0
Drive_vcc       1
Fine_rate       100
Got_encoder     0
Got_limits      1
Home_dir        0
Home_loc        15000
Home_type       1
Limit_delay     0       
Limit_pol       0
Man_accel       100      
Man_rev         0
Man_ss_rate     32
Mult            24
Pd_time         10
Prog_accel      90
Prog_rate       9000
Prog_rev        1
Prog_ss_rate    10
Stick_cross     30
Stick_dead      10
Stick_k         3
Stop_accel      4
Steps_per_rev   20000   
Pitch_gearratio .5 revs_per_mm  
Travel          -3.0 -2.875 2.875
#
Axis            0	# Theta Axis
Name		T
Got_axis	1
Avoid_hi	1
Avoid_lo	1
Backlash	0
Drive_low	1
Drive_on	3
Drive_off	0
Drive_rev	0
Drive_vcc	1
Fine_rate	100
Got_encoder	0
Got_limits	0
Home_dir	1	
Home_loc	15000
Home_type	4
Limit_delay	0	
Limit_pol	0
Man_accel	100		
Man_rev		0 		
Man_ss_rate	32
Mult		24	
Pd_time		10
Prog_accel	90
Prog_rate	9000
Prog_rev	1	
Prog_ss_rate	10
Stick_cross	30
Stick_dead	10
Stick_k		3
Stop_accel	4
Steps_per_rev   20000   
Pitch_gearratio 5.333333 ratio  
Travel          0.0  0.0  0.0
#
Axis            3	# P (pitch/tip) Axis
Name            P
Got_axis        1
Avoid_hi        1
Avoid_lo        1
Backlash        15000
Drive_low       0
Drive_on        0
Drive_off       3
Drive_rev       0
Drive_vcc       1
Fine_rate       100
Got_encoder     0
Got_limits      0
Home_dir        0
Home_loc        15000
Home_type       5
Limit_delay     0       
Limit_pol       1
Man_accel       50      
Man_rev         0
Man_ss_rate     64
Mult            16
Pd_time         5
Prog_accel      90
Prog_rate       16383
Prog_rev        0
Prog_ss_rate    10
Stick_cross     30
Stick_dead      10
Stick_k         3
Stop_accel      4
Steps_per_rev   20000   
Pitch_gearratio	1176.0	Ratio
Travel		0.0  0.0  0.0
#
Axis 		4	# R (roll/tilt) Axis
Copy		3	# Copy pitch
Name		R
Prog_rev	0
#
Axis 			2	# Z Axis, almost the same as X
Copy			1	# copies X axis
Name			Z
Got_axis		1
Got_limits		0
Home_dir		1
Home_type		5
Drive_on		0
Drive_low		2
Drive_off		3
Drive_rev		1
Limit_pol		1
Fine_rate		100	
Man_accel		30		
Man_rev		0
Man_ss_rate		6	
Mult			13	
Prog_accel		30	
Prog_ss_rate	1
Prog_rate		8100
Prog_rev		1			
Steps_per_rev	20000			# 80000 is what we want here, but cant - too big a number	
Pitch_gearratio	2 revs_per_mm	# .5 revs_per_mm is what we want here but cant - see above
Travel			0.0  0.0  0.0
Z_range			4
Divisors		4000	600	10	1
#
# These lines must appear after all the axis info
Hjoystick	1	4	-1	# X  R  -
Vjoystick	0       3	-1	# T  P  -
#
Config		xt.cfg	0	3