# Motion Controller Configuration File
# for NewView Microscope with STEPNET drivers
#
# Created 30-NOV-2005
#
# Note: "YT" stands for "Y-Theta"
#
# This is a five axis configuration:
#
# 0  T theta rotary axis
# 1  Y linear horizontal axis
# 2  Z linear vertical axis
# 3  P pitch/tip axis (MOTOR AT REAR)
# 4  R roll/tilt axis (MOTOR AT RIGHT)
#
# Edit with NotePad (not WordPad).
# NotePad will use the right tab stops.
#
# As of MetroPro version 8.1.5, the YT stage configuration is not handled nicely.
# For compatibility with stage control patterns, the Y axis must be named lower-case 'r'
# (indicating a radius axis).
# The position readout will show this axis labeled 'X'.
#
Axis            1	# Y Axis
Name            r	# want 'Y' but MetroPro needs 'r'
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        1
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        1
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	1
#
Axis 		2	# Z axis
Name		Z
Got_axis	1
Avoid_hi	1
Avoid_lo	1
Backlash	15000
Drive_low	2
Drive_on	0
Drive_off	3
Drive_rev	0
Drive_vcc	1
Fine_rate	100
Got_encoder	0
Got_limits	0
Home_dir	1	
Home_loc	15000
Home_type	5
Limit_delay	0	
Limit_pol	0
Man_accel	30		
Man_rev		0 		
Man_ss_rate	6
Mult		13	
Pd_time		10
Prog_accel	30
Prog_rate	8100
Prog_rev	1	
Prog_ss_rate	1
Stick_cross	30
Stick_dead	10
Stick_k		3
Stop_accel	4
Steps_per_rev	20000	
Pitch_gearratio	2 revs_per_mm	
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	0	4	-1	# T  R  -
Vjoystick	1       3	-1	# r  P  -
#
Config		yt.cfg	0	1