CyberX8/CyberX8_RT/Config/Devices/GalilControllerCfg-Simulator.xml

<?xml version="1.0" encoding="utf-8"?>
<GalilControllerConfig>
	<GalilDeviceConfig Module="PUF1" IpAddress="127.0.0.1" Port="58678" SendTimeout="2000" RecvTimeout="2000" GalilType="Galil40">
		<Dig_In>
			<DI Name="DI0" Address="0" Invert="false"/>
			<DI Name="DI1"  Address="1" Invert="false"/>
			<DI Name="DI2"  Address="2" Invert="false"/>
			<DI Name="DI3"  Address="3" Invert="false"/>
			<DI Name="DI4"  Address="4" Invert="false"/>
			<DI Name="DI5"  Address="5" Invert="false"/>
			<DI Name="DI6"  Address="6" Invert="false"/>
			<DI Name="DI7"  Address="7" Invert="false"/>
			<DI Name="DI8"  Address="8" Invert="false"/>
			<DI Name="DI9"  Address="9" Invert="false"/>
		</Dig_In>
		<GalilAxisConfig Name="PUF1.Flip" Index="0" Type="Galil" CNType="-1">
			<Speed>1000000</Speed>
			<Acceleration>2000000</Acceleration>
			<Deceleration>2000000</Deceleration>
			<HomingSpeed>16000</HomingSpeed>
			<HomingOffset>13000</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>2000000</HomingAcceleration>
			<HomingDeceleration>2000000</HomingDeceleration>
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="PUF1.Rotation" Index="1" Type="Galil" CNType="-1">
			<Speed>500000</Speed>
			<Acceleration>500000</Acceleration>
			<Deceleration>250000</Deceleration>
			<HomingSpeed>8000</HomingSpeed>
			<HomingOffset>0</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>500000</HomingAcceleration>
			<HomingDeceleration>250000</HomingDeceleration>
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
	</GalilDeviceConfig>
	<GalilDeviceConfig Module="Loader1" IpAddress="127.0.0.1" Port="58679" SendTimeout="2000" RecvTimeout="2000" GalilType="Galil21">
		<Dig_In>
			<DI Name="DI0" Address="0" Invert="false"/>
			<DI Name="DI1"  Address="1" Invert="false"/>
			<DI Name="DI2"  Address="2" Invert="false"/>
			<DI Name="DI3"  Address="3" Invert="false"/>
			<DI Name="DI4"  Address="4" Invert="false"/>
			<DI Name="DI5"  Address="5" Invert="false"/>
			<DI Name="DI6"  Address="6" Invert="false"/>
			<DI Name="DI7"  Address="7" Invert="false"/>
			<DI Name="DI8"  Address="8" Invert="false"/>
			<DI Name="DI9"  Address="9" Invert="false"/>
		</Dig_In>
		<GalilAxisConfig Name="Loader1.LSA" Index="4" Type="GalilLipsel" CNType="-1">
			<Speed>150000</Speed>
			<Acceleration>200000</Acceleration>
			<Deceleration>200000</Deceleration>
			<HomingSpeed>30000</HomingSpeed>
			<HomingOffset>0</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>200000</HomingAcceleration>
			<HomingDeceleration>60000000</HomingDeceleration>
			<ReverseSoftwareLimit>-48400</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>352000</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="Loader1.TiltA" Index="5" Type="Galil" CNType="-1">
			<Speed>150000</Speed>
			<Acceleration>200000</Acceleration>
			<Deceleration>200000</Deceleration>
			<HomingSpeed>30000</HomingSpeed>
			<HomingOffset>0</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>200000</HomingAcceleration>
			<HomingDeceleration>10000000</HomingDeceleration>
			<ReverseSoftwareLimit>-20000</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>236130</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="Loader1.ShuttleA" Index="6" Type="Galil" CNType="-1">
			<Speed>200000</Speed>
			<Acceleration>200000</Acceleration>
			<Deceleration>200000</Deceleration>
			<HomingSpeed>100000</HomingSpeed>
			<HomingOffset>0</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>200000</HomingAcceleration>
			<HomingDeceleration>10000000</HomingDeceleration>
			<ReverseSoftwareLimit>-160000</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>270000</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="Loader1.Rotation" Index="3" Type="Galil" CNType="-1">
			<Speed>100000</Speed>
			<Acceleration>50000</Acceleration>
			<Deceleration>50000</Deceleration>
			<HomingSpeed>20000</HomingSpeed>
			<HomingOffset>0</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>10000</HomingAcceleration>
			<HomingDeceleration>1000000</HomingDeceleration>
			<ReverseSoftwareLimit>-1600</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>162000</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="Loader1.LSB" Index="0" Type="GalilLipsel" CNType="-1">
			<Speed>150000</Speed>
			<Acceleration>200000</Acceleration>
			<Deceleration>200000</Deceleration>
			<HomingSpeed>30000</HomingSpeed>
			<HomingOffset>0</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>200000</HomingAcceleration>
			<HomingDeceleration>60000000</HomingDeceleration>
			<ReverseSoftwareLimit>-48400</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>352000</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="Loader1.TiltB" Index="1" Type="Galil" CNType="-1">
			<Speed>150000</Speed>
			<Acceleration>200000</Acceleration>
			<Deceleration>200000</Deceleration>
			<HomingSpeed>30000</HomingSpeed>
			<HomingOffset>0</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>200000</HomingAcceleration>
			<HomingDeceleration>10000000</HomingDeceleration>
			<ReverseSoftwareLimit>-20000</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>236130</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="Loader1.ShuttleB" Index="2" Type="Galil" CNType="-1">
			<Speed>200000</Speed>
			<Acceleration>200000</Acceleration>
			<Deceleration>200000</Deceleration>
			<HomingSpeed>100000</HomingSpeed>
			<HomingOffset>0</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>200000</HomingAcceleration>
			<HomingDeceleration>10000000</HomingDeceleration>
			<ReverseSoftwareLimit>-160000</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>270000</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
	</GalilDeviceConfig>
	<GalilDeviceConfig Module="Transporter1" IpAddress="127.0.0.1" Port="58680" SendTimeout="2000" RecvTimeout="2000" GalilType="Galil21">
		<Dig_In>
			<DI Name="r_TRANSPORT1_WS_HOLD_PRESENT"  Address="0" Invert="true" Bit="4"/>
		</Dig_In>
		<GalilAxisConfig Name="Transporter1.Elevator" Index="0" Type="Galil" CNType="-1">
			<Speed>200000</Speed>
			<Acceleration>200000</Acceleration>
			<Deceleration>200000</Deceleration>
			<HomingSpeed>10000</HomingSpeed>
			<HomingOffset>0</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>200000</HomingAcceleration>
			<HomingDeceleration>400000</HomingDeceleration>
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="Transporter1.Gantry" Index="1" Type="Galil" CNType="1">
			<Speed>400000</Speed>
			<Acceleration>400000</Acceleration>
			<Deceleration>400000</Deceleration>
			<HomingSpeed>10000</HomingSpeed>
			<HomingOffset>1242187</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>400000</HomingAcceleration>
			<HomingDeceleration>800000</HomingDeceleration>
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
	</GalilDeviceConfig>
	<GalilDeviceConfig Module="Transporter2" IpAddress="127.0.0.1" Port="58681" SendTimeout="2000" RecvTimeout="2000" GalilType="Galil21">
		<Dig_In>
			<DI Name="r_TRANSPORT2_WS_HOLD_PRESENT"  Address="0" Invert="true" Bit="4"/>
		</Dig_In>
		<GalilAxisConfig Name="Transporter2.Elevator" Index="0" Type="Galil" CNType="-1">
			<Speed>200000</Speed>
			<Acceleration>200000</Acceleration>
			<Deceleration>200000</Deceleration>
			<HomingSpeed>10000</HomingSpeed>
			<HomingOffset>0</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>200000</HomingAcceleration>
			<HomingDeceleration>400000</HomingDeceleration>
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="Transporter2.Gantry" Index="1" Type="Galil" CNType="-1">
			<Speed>400000</Speed>
			<Acceleration>400000</Acceleration>
			<Deceleration>400000</Deceleration>
			<HomingSpeed>10000</HomingSpeed>
			<HomingOffset>0</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>400000</HomingAcceleration>
			<HomingDeceleration>800000</HomingDeceleration>
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
	</GalilDeviceConfig>
	<GalilDeviceConfig Module="SRD1" IpAddress="127.0.0.1" Port="58682" SendTimeout="2000" RecvTimeout="2000" GalilType="Galil21">
		<Dig_In>
			<DI Name="DI0"  Address="0" Invert="false"/>
			<DI Name="DI1"  Address="1" Invert="false"/>
			<DI Name="DI2"  Address="2" Invert="false"/>
			<DI Name="DI3"  Address="3" Invert="false"/>
			<DI Name="D14"  Address="4" Invert="false"/>
			<DI Name="DI5"  Address="5" Invert="false"/>
			<DI Name="DI6"  Address="6" Invert="false"/>
			<DI Name="DI7"  Address="7" Invert="false"/>
			<DI Name="DI8"  Address="8" Invert="false"/>
			<DI Name="DI9"  Address="9" Invert="false"/>
		</Dig_In>
		<GalilAxisConfig Name="SRD1.Rotation" Index="0" Type="GalilRotation" CNType="-1">
			<Speed>529400</Speed>
			<Acceleration>84000</Acceleration>
			<Deceleration>84000</Deceleration>
			<HomingSpeed>2500</HomingSpeed>
			<HomingOffset>0</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>84000</HomingAcceleration>
			<HomingDeceleration>420000</HomingDeceleration>
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="SRD2.Rotation" Index="1" Type="GalilRotation" CNType="-1">
			<Speed>529400</Speed>
			<Acceleration>84000</Acceleration>
			<Deceleration>84000</Deceleration>
			<HomingSpeed>2500</HomingSpeed>
			<HomingOffset>0</HomingOffset>
			<HomingTimeOut>60000</HomingTimeOut>
			<HomingAcceleration>84000</HomingAcceleration>
			<HomingDeceleration>420000</HomingDeceleration>
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
	</GalilDeviceConfig>
</GalilControllerConfig>