CyberX8/CyberX8_RT/Config/Devices/AxisProviderCfg.xml

<?xml version="1.0" encoding="utf-8" ?>
<Axes>
  <Axis Name="Loader1.TiltA">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>deg</Units>
	<!-- 1048576 cnts/rev 100:1 gearbox, 1 degree = 1048576*100 cnts/360 = 291271.1 cnts -->
    <ScaleFactor>2778</ScaleFactor>
    <JogLimit>5</JogLimit>
	<MinMoveTime>0.5</MinMoveTime>
	<MotorPositionRate>31.25</MotorPositionRate>
  </Axis>
  <Axis Name="Loader1.TiltB">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>deg</Units>
    <ScaleFactor>2778</ScaleFactor>
    <JogLimit>5</JogLimit>
	<MinMoveTime>0.5</MinMoveTime>
	<MotorPositionRate>31.25</MotorPositionRate>
  </Axis>
  <Axis Name="Loader1.ShuttleA">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>deg</Units>
    <ScaleFactor>3900</ScaleFactor>
    <JogLimit>5</JogLimit>
	<MinMoveTime>0.5</MinMoveTime>
	<MotorPositionRate>31.25</MotorPositionRate>
  </Axis>
  <Axis Name="Loader1.ShuttleB">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>deg</Units>
    <ScaleFactor>3900</ScaleFactor>
    <JogLimit>5</JogLimit>
	<MinMoveTime>0.5</MinMoveTime>
	<MotorPositionRate>31.25</MotorPositionRate>
  </Axis>
  <Axis Name="Loader1.LSA">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>deg</Units>
    <ScaleFactor>44000</ScaleFactor>
    <JogLimit>720</JogLimit>
	<MinMoveTime>0.5</MinMoveTime>
	<MotorPositionRate>31.25</MotorPositionRate>
  </Axis>
  <Axis Name="Loader1.LSB">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>deg</Units>
    <ScaleFactor>44000</ScaleFactor>
    <JogLimit>720</JogLimit>
	<MinMoveTime>0.5</MinMoveTime>
	<MotorPositionRate>31.25</MotorPositionRate>
  </Axis>
  <Axis Name="Loader1.Rotation">
	<Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>deg</Units>
    <ScaleFactor>806.77</ScaleFactor>
    <JogLimit>5</JogLimit>
	<MinMoveTime>0.5</MinMoveTime>
	<MotorPositionRate>31.25</MotorPositionRate>
  </Axis>
  <Axis Name="Transporter1.Gantry">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>mm</Units>
    <ScaleFactor>321.5</ScaleFactor>
    <JogLimit>25</JogLimit>
	<MinMoveTime>1.0</MinMoveTime>
	<MotorPositionRate>1</MotorPositionRate>
  </Axis>
  <Axis Name="Transporter1.Elevator">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>mm</Units>
	<ScaleFactor>454.545</ScaleFactor>
    <JogLimit>25</JogLimit>
	<MinMoveTime>1.0</MinMoveTime>
	<MotorPositionRate>1</MotorPositionRate>
  </Axis>
  <Axis Name="Transporter2.Gantry">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>mm</Units>
	  <ScaleFactor>321.5</ScaleFactor>
    <JogLimit>25</JogLimit>
	<MinMoveTime>1.0</MinMoveTime>
	<MotorPositionRate>1</MotorPositionRate>
  </Axis>
  <Axis Name="Transporter2.Elevator">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>mm</Units>
    <!-- Old gear head ScaleFactor>47784.1</ScaleFactor-->
    <ScaleFactor>454.545</ScaleFactor>
    <JogLimit>25</JogLimit>
	<MinMoveTime>1.0</MinMoveTime>
	<MotorPositionRate>1</MotorPositionRate>
  </Axis>
  <Axis Name="PUF1.Rotation">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>deg</Units>
    <!-- 2222.2222 counts/degree -->
    <ScaleFactor>1146.93</ScaleFactor>
    <JogLimit>5</JogLimit>
	<MinMoveTime>0.5</MinMoveTime>
	<MotorPositionRate>1</MotorPositionRate>
  </Axis>
  <Axis Name="PUF1.Flip">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>deg</Units>
    <!-- 2222.2222 counts/degree -->
    <ScaleFactor>1150</ScaleFactor>
    <JogLimit>5</JogLimit>
	<MinMoveTime>0.5</MinMoveTime>
	<MotorPositionRate>1</MotorPositionRate>
  </Axis>
  <Axis Name="SRD1.Arm">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>deg</Units>
	<!-- 512 X 4 counts/rev * 128:1 gearbox * 3:1 gear, 786432 counts/rev * 1/360 rev/deg = 2184.533333 counts/degree -->
    <ScaleFactor>2184.533333</ScaleFactor>
    <JogLimit>5</JogLimit>
	<MinMoveTime>0.5</MinMoveTime>
	<MotorPositionRate>1</MotorPositionRate>
  </Axis>
  <Axis Name="SRD1.Rotation">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>deg</Units>
	<!-- 5294 X 4 counts/rev * 1/360 rev/deg = 58.822222 counts/deg -->
    <ScaleFactor>58.822222</ScaleFactor>
    <JogLimit>5</JogLimit>
    <!--Units>rev</Units-->
	<!-- 5294 X 4 counts/rev = 21176 counts/rev -->
    <!--ScaleFactor>21176</ScaleFactor-->
	<MinMoveTime>0.5</MinMoveTime>
	<MotorPositionRate>1</MotorPositionRate>
  </Axis>
  <Axis Name="SRD2.Arm">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>deg</Units>
    <JogLimit>5</JogLimit>
	<!-- 512 X 4 counts/rev * 128:1 gearbox * 3:1 gear, 786432 counts/rev * 1/360 rev/deg = 2184.533333 counts/degree -->
    <ScaleFactor>2184.533333</ScaleFactor>
	<MinMoveTime>0.5</MinMoveTime>
	<MotorPositionRate>1</MotorPositionRate>
  </Axis>
  <Axis Name="SRD2.Rotation">
    <Driver>Beckhoff</Driver>
    <!-- <Driver>Sim</Driver> -->
    <Units>deg</Units>
	<!-- 5294 X 4 counts/rev * 1/360 rev/deg = 58.822222 counts/deg -->
    <ScaleFactor>58.822222</ScaleFactor>
    <JogLimit>5</JogLimit>
    <!--Units>rev</Units-->
	<!-- 5294 X 4 counts/rev = 21176 counts/rev -->
    <!--ScaleFactor>21176</ScaleFactor-->
	<MinMoveTime>0.5</MinMoveTime>
	<MotorPositionRate>1</MotorPositionRate>
  </Axis>
</Axes>