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">
		<GalilAxisConfig Name="Flip" Index="0" Type="Galil"  CNType="-1">
			<Speed>1000000</Speed>
			<Acceleration>2000000</Acceleration>
			<Deceleration>2000000</Deceleration>
			<HomingSpeed>16000</HomingSpeed>
			<HomingOffset>495</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"  CNType="-1">
			<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>
	<GalilDeviceConfig Module="Loader1" IpAddress="127.0.0.2" Port="58679" SendTimeout="2000" RecvTimeout="2000"  GalilType="Galil21">
		<GalilAxisConfig Name="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="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="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>-25000</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>270000</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="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="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="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="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>-25000</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>270000</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
	</GalilDeviceConfig>
</GalilControllerConfig>