# This is the master configuration file for a 
#
# DOWNWARD LOOKING GPI Vertical Workstation
# Two Sphere workstation - originally for SER1415
#	x - y - z 
#
# Version 3.9	- modified xy32.cfg 
#				x & y have 1/2" travel
# 				Z acts like microscope Z - home is AWAY from instrument 
#				CREATED for SER 1451
#
Axis 		1	# X axis
Name		X
Got_axis	1
Avoid_hi	1
Avoid_lo	1
Backlash	6000
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	1	
Home_loc	5500
Home_type	1
Limit_delay	0	
Limit_pol	1
Man_accel	10  	
Man_rev	0		
Man_ss_rate	6  
Mult		20
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	6
Steps_per_rev	25600	
Pitch_gearratio	64 revs_per_in	
Travel		0.24	-0.23	0.23		# 0.5" of travel
#
Axis 		0	# Y Axis, same as X
Copy		1
Name		Y
Drive_rev	0	
#
Axis 		3	# P (Pitch - tip) Axis
Name		P
Got_axis	0
Travel		0.0  0.0  0.0	
#
Axis 		4	# R (Roll - tilt) Axis, same as P
Copy		3	# copy pitch
Name		R
#
Axis 		2	# Z Axis, almost the same as X
Copy		1	# copies X axis
Name		Z
Backlash	1000
Got_axis	1
Got_limits	1
Home_dir	1	
Home_loc	15000	
Home_type	1	
Drive_on	0
Drive_low	2
Drive_off	3
Drive_rev	0	
Limit_pol	1	
Man_accel	25  
Man_rev	1
Man_ss_rate	6
Mult		20	
Prog_accel	30
Prog_ss_rate	1	
Prog_rate	8100
Prog_rev	1
Stop_accel	4	
Steps_per_rev	12800			#25600 is what we want here, but cant - too big a number	
Pitch_gearratio	20 revs_per_in	# 10 revs_per_in is what we want here but cant - see above
Travel		0.0  0.0  0.0
Z_range		4
#
Axis 		5	# T (theta) Axis
Copy		1	# copies X axis
Name		T
Got_axis	0
Travel		0.0  0.0  0.0
# These lines come after the axis info because of the way 
# 	mc_read_config is written
Hjoystick	1	4	5	# X, R, t
Vjoystick	0	3	-1	# Y, P, -
Divisors	1000	150	3	1
Config		xy.cfg	3	9