CyberX8/CyberX8_RT/Config/Devices/GalilControllerCfg.xml

<?xml version="1.0" encoding="utf-8"?>
<GalilControllerConfig>
  <GalilDeviceConfig Module="PUF1" IpAddress="10.0.0.22" Port="58678" SendTimeout="2000" RecvTimeout="2000" GalilType="Galil40">
	  <GalilAxisConfig Name="Flip" Index="0" Type="Galil">
		  <Speed>1000000</Speed>
		  <Acceleration>2000000</Acceleration>
		  <Deceleration>2000000</Deceleration>
		  <HomingSpeed>16000</HomingSpeed>
		  <HomingOffset>13000</HomingOffset>
		  <HomingTimeOut>20000</HomingTimeOut>
		  <HomingAcceleration>2000000</HomingAcceleration>
		  <HomingDeceleration>2000000</HomingDeceleration>
		  <ReverseSoftwareLimit>0</ReverseSoftwareLimit>
		  <ForwardSoftwareLimit>0</ForwardSoftwareLimit>
		  <NegativeTorqueLimit>130</NegativeTorqueLimit>
		  <PositiveTorqueLimit>20</PositiveTorqueLimit>
	  </GalilAxisConfig>
	  <GalilAxisConfig Name="Rotation" Index="1" Type="Galil">
		  <Speed>500000</Speed>
		  <Acceleration>500000</Acceleration>
		  <Deceleration>250000</Deceleration>
		  <HomingSpeed>8000</HomingSpeed>
		  <HomingOffset>0</HomingOffset>
		  <HomingTimeOut>20000</HomingTimeOut>
		  <HomingAcceleration>500000</HomingAcceleration>
		  <HomingDeceleration>250000</HomingDeceleration>
		  <ReverseSoftwareLimit>0</ReverseSoftwareLimit>
		  <ForwardSoftwareLimit>0</ForwardSoftwareLimit>
		  <NegativeTorqueLimit>130</NegativeTorqueLimit>
		  <PositiveTorqueLimit>20</PositiveTorqueLimit>
	  </GalilAxisConfig>
  </GalilDeviceConfig>
</GalilControllerConfig>