# This is the master configuration file for a 
#
# UPWARD LOOKING GPI Vertical Workstation (METROCELL)
#	Z-axis ONLY with Linear Encoder
#
# Version 0.7  	- modified z04.cfg 
#				Revised 08-02-06 (M.Pickett): 
#				Pitch_gearratio for Z-axis changed from 19.988 to 20.
#
Axis 		1	# X axis
Name		X
Got_axis	0
Avoid_hi	1
Avoid_lo	1
Backlash	10000
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	6900	
Home_type	1
Limit_delay	0	
Limit_pol	1
Man_accel	10  	
Man_rev		1			
Man_ss_rate	6  
Mult		20
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	6
Steps_per_rev	25600	
Pitch_gearratio	80 revs_per_in 
Travel		0.25	-0.25	0.25		# 0.5" of travel
#
Axis 		0	# Y Axis, same as X
Copy		1
Name		Y
Drive_rev	0	
Home_dir	1
Home_loc	5500
Man_rev		0	
Prog_rev	1	
Pitch_gearratio	64 revs_per_in # did not exist
Travel		0.25	-0.25	0.25		# 0.5" of travel
#
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	6	
Mult		500
Pd_time		5
Prog_rate	16383	
Prog_rev	0	
Steps_per_rev	25600			# want 51200
Pitch_gearratio	3740.0 Ratio	# want 1870
Travel		0.0  0.0  0.0
#
Axis 		4	# R (Roll - tilt) Axis, same as P
Copy		3	# copy pitch
Name		R
Man_rev		1	
Prog_rev	0
Pitch_gearratio	4100.0 Ratio	# want 2050
#
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	0	#M Dilling channged from 1 to 0 4-14-04	
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		0	#M Dilling changed 1 to 0 4-14-04
Man_ss_rate	6
Mult		25	
Prog_accel	30
Prog_ss_rate	1	
Prog_rate	8100
Prog_rev	0	#M Dilling changed 1 to 0 4-14-04
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
#
# 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
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         1	#M Dilling changed from 0 to 1 4-15-04               
Man_ss_rate     64
Mult            20
Pd_time         10
Prog_accel      10
Prog_rate       8100
Prog_rev        1	#M Dilling changed from 0 to 1 4-15-04
Prog_ss_rate    10
Stick_cross     30
Stick_dead      10
Stick_k         3
Stop_accel      4
Steps_per_rev   200   			# The product of these two variables is 25,400 steps per in.
Pitch_gearratio 254 revs_per_in	# This corresponds to "measuring step" of 1 micron.
Travel          0.0  0.0  0.0
Got_encoder     1
Enc_steps       2 microinches		# What is this for?
Enc_rev	    	1
#
# These lines come after the axis info because of the way 
# 	mc_read_config is written
Hjoystick	1	4	-1	# X, R, -
Vjoystick	0	3	-1	# Y, P, -
Divisors	1000	150		3	1
Config		z.cfg	0	7