# This is the master configuration file for the 
# Nova Motion Controller 
#	tip - tilt
# This is the standard tip/tilt cfg file for
# the GPI and MPT with IMS805 drivers and
# Lin stepper motors
#
# Version 6.0	modified xy40.cfg 
#
Axis 		1	# X axis
Name		X
Got_axis	0
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	0
Limit_delay	0	
Limit_pol	0
Man_accel	50	
Man_rev	0		
Man_ss_rate	32
Mult		12
Pd_time	10
Prog_accel	90
Prog_rate	9000
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	.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
#
Axis 		3	# P (Pitch - tip) Axis
Copy		1	# copy X
Name		P
Got_axis	1
Got_limits	0
Home_type	5
Drive_low	0
Drive_on	0
Drive_off	3
Drive_rev	0
Limit_pol	1
Man_accel	50
Man_rev	0	
Man_ss_rate	6
Mult		500
Pd_time	5
Prog_rate	16383	
Prog_rev	0
Steps_per_rev	25000		# want 51200
Pitch_gearratio	3830 Ratio	# should be 1870.0	
Travel		0.0  0.0  0.0
#
Axis 		4	# R (Roll - tilt) Axis, same as P
Copy		3	# copy pitch
Name		R
Man_rev	0	
Prog_rev	1
Pitch_gearratio	4198.0 Ratio	# should be 2050.0
#
Axis 		2	# Z Axis, almost the same as X
Copy		1	# copies X axis
Name		Z
Got_axis	0
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	4000	600	30	1
Config	xy.cfg	6	0