[AXIS_X]
HOME = 0.0
MIN_LIMIT = -200.0
MAX_LIMIT = 1030.0
MAX_VELOCITY = 5400.0
MAX_ACCELERATION = 10800.0

[JOINT_0]

TYPE = ANGULAR
HOME = 0.0
FERROR = 10.5
MIN_FERROR = 10.05
MAX_VELOCITY = 720.0
MAX_ACCELERATION = 1500.0
BACKLASH = -0.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 970.00
STEPGEN_MAXACCEL = 1950.00
P = 1800.0
I = 1.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 500.0
# these are in nanoseconds
DIRSETUP   = 500
DIRHOLD    = 500
STEPLEN    = 500
STEPSPACE  = 500
STEP_SCALE = 111.111111112
MIN_LIMIT = -120.0
MAX_LIMIT = 120.0
HOME_OFFSET = -11.0
HOME_SEARCH_VEL = 12.000000
HOME_LATCH_VEL = -2.500000
HOME_FINAL_VEL = 5.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 1

#********************
# Axis Y
#********************
[AXIS_Y]
HOME = 0.0
MIN_LIMIT = -1030.0
MAX_LIMIT = 1030.0
MAX_VELOCITY = 5400.0
MAX_ACCELERATION = 10800.0

[JOINT_1]

TYPE = ANGULAR
HOME = 0.0
FERROR = 10.5
MIN_FERROR = 10.05
MAX_VELOCITY = 720.0
MAX_ACCELERATION = 1500.0
BACKLASH = -0.0
# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
STEPGEN_MAXVEL = 2500.00
STEPGEN_MAXACCEL = 4500.00
P = 1800.0
I = 1.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 500.0
# these are in nanoseconds
DIRSETUP   = 500
DIRHOLD    = 500
STEPLEN    = 500
STEPSPACE  = 500
STEP_SCALE = 230.000000024
MIN_LIMIT = -360.0
MAX_LIMIT = 360.0
HOME_OFFSET = -14.9
HOME_SEARCH_VEL = -12.000000
HOME_LATCH_VEL = 2.500000
HOME_FINAL_VEL = 5.000000
HOME_USE_INDEX = NO
HOME_SEQUENCE = 2