# This is the master configuration file for the 
# Motion Controller 6500-0656-01 motors/stages
#	tip - tilt - Z
# This was developed for a Industrial MESA SYSTEM using the 
#	tip tilt stages from a GPI
# Tested by Soobitsky 
#
# Version 3.6	- modified xy34.cfg 
#			pitch and roll are reversed
#			Z axis added
#			replaces xy35.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
Drive_rev	0
Home_dir	1
Prog_rev	1
#
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	# was 1
Man_ss_rate	6	# 12	# was 64
Mult		500	# was 10
Pd_time	5
Prog_rate	16383	
Prog_rev	1	# was 0
Steps_per_rev	25000			# want 50000
Pitch_gearratio	1870.0 Ratio	
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	# was 0	
Prog_rev	0	# was 1
Pitch_gearratio	2050.0 Ratio
#
Axis 		2	# Z Axis, almost the same as X
Copy		1	# copies X axis
Name		Z
Got_axis	1
Got_limits	0
Home_dir	1
Home_type	5
Drive_on	0
Drive_low	2
Drive_off	3
Drive_rev	1
Limit_pol	1
Limit_delay 	7
Man_accel	40	
Man_rev	1
Man_ss_rate	64	
Mult		8	
Prog_rev	0
Prog_accel	300
Prog_ss_rate	1
Prog_rate	8100
Stop_accel	200
Steps_per_rev	10000		
Pitch_gearratio	200 revs_per_in
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		3500	60	3	1
Config		xy.cfg	3	6