CyberX8/CyberX8_RT/Config/Devices/GalilControllerCfg.xml

<?xml version="1.0" encoding="utf-8"?>
<GalilControllerConfig>
  <GalilDeviceConfig Module="PUF1" IpAddress="127.0.0.1" Port="58678" SendTimeout="2000" RecvTimeout="2000">
	<GalilAxisConfig Name="Flip" Index="0" Type="Galil">
		<Speed>100</Speed>
		<Acceleration>100</Acceleration>
		<Deceleration>100</Deceleration>
		<HomingSpeed>100</HomingSpeed>
		<HomingOffset>0</HomingOffset>
		<HomingTimeOut>20000</HomingTimeOut>
		<HomingAcceleration>100</HomingAcceleration>
		<HomingDeceleration>100</HomingDeceleration>
		<ReverseSoftwareLimit>-1190000</ReverseSoftwareLimit>
		<ForwardSoftwareLimit>28000000</ForwardSoftwareLimit>
		<NegativeTorqueLimit>130</NegativeTorqueLimit>
		<PositiveTorqueLimit>20</PositiveTorqueLimit>
	</GalilAxisConfig>
	<GalilAxisConfig Name="Rotation" Index="1" Type="Galil">
		<Speed>100</Speed>
		<Acceleration>100</Acceleration>
		<Deceleration>100</Deceleration>
		<HomingSpeed>100</HomingSpeed>
		<HomingOffset>0</HomingOffset>
		<HomingTimeOut>20000</HomingTimeOut>
		<HomingAcceleration>100</HomingAcceleration>
		<HomingDeceleration>100</HomingDeceleration>
		<ReverseSoftwareLimit>-1190000</ReverseSoftwareLimit>
		<ForwardSoftwareLimit>28000000</ForwardSoftwareLimit>
		<NegativeTorqueLimit>130</NegativeTorqueLimit>
		<PositiveTorqueLimit>20</PositiveTorqueLimit>
	</GalilAxisConfig>
	<GalilAxisConfig Name="Vertical" Index="2" Type="Galil">
		<Speed>100</Speed>
		<Acceleration>100</Acceleration>
		<Deceleration>100</Deceleration>
		<HomingSpeed>100</HomingSpeed>
		<HomingOffset>0</HomingOffset>
		<HomingTimeOut>20000</HomingTimeOut>
		<HomingAcceleration>100</HomingAcceleration>
		<HomingDeceleration>100</HomingDeceleration>
		<ReverseSoftwareLimit>-1190000</ReverseSoftwareLimit>
		<ForwardSoftwareLimit>28000000</ForwardSoftwareLimit>
		<NegativeTorqueLimit>130</NegativeTorqueLimit>
		<PositiveTorqueLimit>20</PositiveTorqueLimit>
	</GalilAxisConfig>
  </GalilDeviceConfig>
	<GalilDeviceConfig Module="Loader1" IpAddress="10.0.0.20" Port="58678" SendTimeout="2000" RecvTimeout="2000">
		<GalilAxisConfig Name="LSA" Index="0" Type="GalilLipsel">
			<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>-100</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>100</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="TiltA" Index="1" Type="Galil">
			<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>-100</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>100</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="ShuttleA" Index="2" Type="Galil">
			<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>-100</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>100</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="Rotation" Index="3" Type="Galil">
			<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>-100</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>100</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="LSB" Index="4" Type="GalilLipsel">
			<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>-100</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>100</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="TiltB" Index="5" Type="Galil">
			<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>-100</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>100</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
		<GalilAxisConfig Name="ShuttleB" Index="6" Type="Galil">
			<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>-100</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>100</ForwardSoftwareLimit>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</GalilAxisConfig>
	</GalilDeviceConfig>
</GalilControllerConfig>