PunkHPX8/PunkHPX8_RT/Config/Devices/GalilControllerCfg.xml

<?xml version="1.0" encoding="utf-8"?>
<GalilControllerConfig>  
	<GalilDeviceConfig Module="SRD" IpAddress="10.0.0.24" Port="58678" 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>4000000</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>4000000</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>