# This is the master configuration file for the 
# MicroLupi NEAT motors/stages
#	x - y - tip - tilt - z
#
# with z-stage with inverter board and z-axis encoder. 
#
# Version 5.2	- modified xy51.cfg
# Changed z-axis drive_rev and backlash values.			
#
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	# was 1
Home_loc	15000
Home_type	1
Limit_delay	0	
Limit_pol	0
Man_accel	50	# was 25	
Man_rev	0		
Man_ss_rate	32
Mult		12
Pd_time	10
Prog_accel	90
Prog_rate	9000
Prog_rev	0	# was 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	# 6.0" of travel - 1/8"
#
Axis 		0	# Y Axis, same as X
Copy		1
Name		Y
Drive_rev	0
Home_dir	1
Prog_rev	1
#
Axis 		2	# Z Axis, almost the same as X
Copy		1	# copies X axis
Name		Z	
Got_limits	1	# must have limits to home
Home_dir	1
Home_type	1	# limit home
Backlash	30000	# ALD - was 16000, trying this for homing
Home_loc	16000
Fine_rate	1500
Drive_on	0
Drive_rev	0
Drive_low	2
Drive_off	3
Limit_pol	1
Man_accel	30		
Man_rev	0
Man_ss_rate	6	
Mult		75	# for NEAT, resulting in 0.1"/sec rate
Prog_accel	30	
Prog_ss_rate	1	
Prog_rate	8100
Steps_per_rev	18000	
Pitch_gearratio	20 revs_per_in
Travel		0.0  0.0  0.0
Z_range		4
#
Axis 		3	# Slated for use as Elevator Axis for transmitted systems
Name		B
Got_axis	0	# not present
#
Axis 		4	# R (Roll - tilt) Axis
Name		R
Got_axis	0	# not present
#
# this is not an axis/motor - it is the output from the Z-axis encoder
Axis            5 # This has an encoder on it
Name            A # Encoder output for Z axis
Got_axis        1
Avoid_hi        1
Avoid_lo        1
Backlash        0
Drive_low       2
Drive_on        0
Drive_off       3
Drive_rev       0
Drive_vcc       1
Fine_rate       1
Got_limits      0	   # was 1 dkent 5-24-00
Home_dir        1
Home_loc        1    # must be for encoder input
Home_type       5    # must be virtual for encoder
Limit_delay     0       
Limit_pol       1
Man_accel       25      
Man_rev         0               
Man_ss_rate     64
Mult            20
Pd_time         10
Prog_accel      10
Prog_rate       8100
Prog_rev        0
Prog_ss_rate    10
Stick_cross     30
Stick_dead      10
Stick_k         3
Stop_accel      4
Steps_per_rev   25000   
Pitch_gearratio 5 revs_per_in
Travel          0.0  0.0  0.0
Got_encoder     1
Enc_steps       19.685 microinches
# These lines come after the axis info because of the way 
# 	mc_read_config is written
# Right joystick only (left is fixed to Z)
Hjoystick	1	-1	-1	# X, -, -
Vjoystick	0	3	-1	# Y, B, -
Divisors	4000	600	30	1
Config	xy.cfg	5	2