# This is the master configuration file for the 
# DVD-400 Motion Controller with PI motor mic. assemblies.
#	x - y - z 
#			Created and tested by Mike Pickett
#
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	5
Limit_delay	0	
Limit_pol	0
Man_accel	50	
Man_rev	0		
Man_ss_rate	32
Mult		24
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	21485			# Should be	174760.  Divided by 8 due to value range limits in Nova controller
Pitch_gearratio	20 revs_per_mm	# Should be 2.5 revs_per_mm.  Multiplied by 8 to reduce steps_per_rev value	
Travel	.236	-.196	 .196		# 8mm of travel
#
Axis 		0	# Y Axis, same as X
Copy		1
Name		Y
Drive_rev	0
Home_dir	0
#
Axis 		3	# P (Pitch - tip) Axis
Copy		1	# copy X
Name		P
Got_axis	0
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	64
Mult		10
Pd_time		5
Prog_rate	16383	
Prog_rev	1	
Steps_per_rev	25000
Pitch_gearratio	1176.0	Ratio
Travel		0.0  0.0  0.0
#
Axis 		4	# R (Roll - tilt) Axis, same as P
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
Drive_rev	0
Home_dir	1
Home_type	5
Prog_rev	1
Travel	0.0  0.0  0.0
Z_range	4
Divisors	4000	600	30	1
#
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, -
Config	xy.cfg	7	0