[JOINT_0]
TYPE = LINEAR
HOME = 1
FERROR = 1.0
MIN_FERROR = 1.0
MAX_VELOCITY = 125.0
MAX_ACCELERATION = 1500.0
# 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 = 175	
STEPGEN_MAXACCEL = 2000.00
P = 1.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 1.0
FF2 = 0.0
BIAS = 0.0
DEADBAND = 0.0
MAX_OUTPUT = 0.0
# these are in nanoseconds
DIRSETUP   = 10000
DIRHOLD    = 10000
STEPLEN    = 4000
STEPSPACE  = 4000
STEP_SCALE = 640.0
MIN_LIMIT = -1
MAX_LIMIT = 660.0
HOME_OFFSET = 3
#******************************************
HOME_SEQUENCE = 1
HOME_SEARCH_VEL = -10
HOME_LATCH_VEL = -5
HOME_FINAL_VEL = -1
HOME_USE_INDEX = NO
HOME_IGNORE_LIMITS = NO
#******************************************