;StageDataBase V2.7.1 [BGM@BGM50CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM50CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 123 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1831.05 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM80CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM80CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 123 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1831.05 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM120PE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM120PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 182 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM120PEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM120PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 182 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM120PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM120PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1.5 ;--- A StandbyPeakCurrentPerPhase = 0.75 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 20 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM160PE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM160PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 182 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM160PEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM160PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 182 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM160PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM160PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 20 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM200PE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM200PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 182 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM200PEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM200PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 182 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM200PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM200PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 20 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM50PE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM50PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 182 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM50PEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM50PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 182 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM50PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM50PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 20 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM80PE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM80PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 182 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM80PEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM80PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 182 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM80PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM80PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 20 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM120CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM120CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 44 ;--- units / s VelocityLimit = 44 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 20 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM160CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM160CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 44 ;--- units / s VelocityLimit = 44 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 20 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM200CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM200CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 44 ;--- units / s VelocityLimit = 44 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 20 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM120PEBV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM120PEBV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 182 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGM@BGM160PEBV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGM160PEBV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 182 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGS@BGS80CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGS80CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 12.7 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 3.41E+02 KI = 1.95E+04 KD = 1.34E+00 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.00E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.370786517 KFeedForwardAcceleration = 0.000353643 KFeedForwardVelocityOpenLoop = 0.370786517 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGS@BGS80CC@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGS80CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 0.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 1.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 12.7 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 3.41E+02 KI = 1.95E+04 KD = 1.34E+00 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.00E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.370786517 KFeedForwardAcceleration = 0.000353643 KFeedForwardVelocityOpenLoop = 0.370786517 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGS@BGS80PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGS80PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -45 ;--- units MaximumTargetPosition = 45 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGS@BGS50CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGS50CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 22.7 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0000698 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -30 ;--- units MaximumTargetPosition = 30 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 10 ;--- units / s MaximumAcceleration = 40 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 50 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 5 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 24 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 1.92E+03 KI = 1.10E+05 KD = 8.46E+00 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.00E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.160220994 KFeedForwardAcceleration = 0.000311407 KFeedForwardVelocityOpenLoop = 1.160220994 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGS@BGS50CC@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGS50CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 0.15 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 22.7 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0000698 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -30 ;--- units MaximumTargetPosition = 30 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 10 ;--- units / s MaximumAcceleration = 40 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 50 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 5 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 24 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 1.92E+03 KI = 1.10E+05 KD = 8.46E+00 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.00E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.160220994 KFeedForwardAcceleration = 0.000311407 KFeedForwardVelocityOpenLoop = 1.160220994 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [BGS@BGS50PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = BGS50PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001938 ;--- units PeakCurrentPerPhase = 0.35 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -30 ;--- units MaximumTargetPosition = 30 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 60 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [CMA@CMA-12CCCL@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = CMA-12CCCL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.1 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000048828 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.4 ;--- units / s MaximumAcceleration = 1.6 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.2 ;--- units / s HomeSearchMaximumAcceleration = 0.8 ;--- units / sē HomeSearchTimeOut = 127 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 5440 KI = 130000 KD = 41.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 60 KFeedForwardAcceleration = 0.3 KFeedForwardVelocityOpenLoop = 60 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [CMA@CMA-25CCCL@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = CMA-25CCCL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.1 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000048828 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.4 ;--- units / s MaximumAcceleration = 1.6 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.2 ;--- units / s HomeSearchMaximumAcceleration = 0.8 ;--- units / sē HomeSearchTimeOut = 253 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 5440 KI = 130000 KD = 41.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 60 KFeedForwardAcceleration = 0.3 KFeedForwardVelocityOpenLoop = 60 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [CMA@CMA-12PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = CMA-12PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.00009765625 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.4 ;--- units / s MaximumAcceleration = 1.6 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.2 ;--- units / s HomeSearchMaximumAcceleration = 0.8 ;--- units / sē HomeSearchTimeOut = 126 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [CMA@CMA-25PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = CMA-25PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.00009765625 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.4 ;--- units / s MaximumAcceleration = 1.6 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.2 ;--- units / s HomeSearchMaximumAcceleration = 0.8 ;--- units / sē HomeSearchTimeOut = 252 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [FMS@FMS300CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = FMS300CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 104 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -10.5 ;--- units MaximumTargetPosition = 289.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 60 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 400 KI = 10000 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.17 KFeedForwardAcceleration = 0.0005 KFeedForwardVelocityOpenLoop = 0.17 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [FMS@FMS100CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = FMS100CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 104 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -10.5 ;--- units MaximumTargetPosition = 89.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 60 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 400 KI = 10000 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.17 KFeedForwardAcceleration = 0.0005 KFeedForwardVelocityOpenLoop = 0.17 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [FMS@FMS200CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = FMS200CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 104 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -10.5 ;--- units MaximumTargetPosition = 189.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 60 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 400 KI = 10000 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.17 KFeedForwardAcceleration = 0.0005 KFeedForwardVelocityOpenLoop = 0.17 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [FMS@FMS100PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = FMS100PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 54 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -9.5 ;--- units MaximumTargetPosition = 90.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 60 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [FMS@FMS200PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = FMS200PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 54 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -9.5 ;--- units MaximumTargetPosition = 190.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 60 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [FMS@FMS300PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = FMS300PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 54 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -9.5 ;--- units MaximumTargetPosition = 290.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 60 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [GTS@GTS70@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = GTS70 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.6 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 36 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -35 ;--- units MaximumTargetPosition = 35 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 50 ;--- units / s MaximumAcceleration = 200 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 25 ;--- units / s HomeSearchMaximumAcceleration = 100 ;--- units / sē HomeSearchTimeOut = 60 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 10000 KD = 0.1 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1e99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.465 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.465 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [GTS@GTS150@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = GTS150 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.6 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 36 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 50 ;--- units / s MaximumAcceleration = 200 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 25 ;--- units / s HomeSearchMaximumAcceleration = 100 ;--- units / sē HomeSearchTimeOut = 60 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 10000 KD = 0.1 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1e99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.465 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.465 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [GTS@GTS30V@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = GTS30V ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -5 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 10 ;--- units / s MaximumAcceleration = 40 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 5 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 60 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 1800 KI = 20000 KD = 1 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 50 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.68 KFeedForwardAcceleration = 8.1e-4 KFeedForwardVelocityOpenLoop = 1.68 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [GTS@GTS30V@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = GTS30V ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 0.5 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 1 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -5 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 10 ;--- units / s MaximumAcceleration = 40 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 5 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 60 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 1800 KI = 20000 KD = 1 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 50 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.68 KFeedForwardAcceleration = 8.1e-4 KFeedForwardVelocityOpenLoop = 1.68 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS100CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS100CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2.2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 549.32 KI = 10986.33 KD = 0.88 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.15 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.15 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS150CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS150CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2.2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 17 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 549.32 KI = 10986.33 KD = 0.88 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.15 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.15 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS200CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS200CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2.2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 23 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 549.32 KI = 10986.33 KD = 0.88 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.15 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.15 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS250CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS250CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2.2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 27 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 549.32 KI = 10986.33 KD = 0.88 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.15 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.15 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS50CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS50CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2.2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 7 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 549.32 KI = 10986.33 KD = 0.88 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.15 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.15 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS100PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS100PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 50 ;--- units / s MaximumAcceleration = 200 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 100 ;--- units / sē HomeSearchTimeOut = 12 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS150PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS150PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 50 ;--- units / s MaximumAcceleration = 200 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 100 ;--- units / sē HomeSearchTimeOut = 16 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS200PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS200PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 50 ;--- units / s MaximumAcceleration = 200 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 100 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS250PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS250PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 50 ;--- units / s MaximumAcceleration = 200 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 100 ;--- units / sē HomeSearchTimeOut = 26 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS50PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS50PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 50 ;--- units / s MaximumAcceleration = 200 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 100 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS100CCHA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS100CCHA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 75 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 140 ;--- units / s VelocityLimit = 140 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.64 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 25 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120 KI = 30000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS150CCHA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS150CCHA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 75 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 140 ;--- units / s VelocityLimit = 140 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.64 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 25 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120 KI = 30000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS200CCHA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS200CCHA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 75 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 140 ;--- units / s VelocityLimit = 140 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.64 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 25 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120 KI = 30000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS250CCHA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS250CCHA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 75 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 140 ;--- units / s VelocityLimit = 140 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.64 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 25 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120 KI = 30000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS50CCHA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS50CCHA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 75 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 140 ;--- units / s VelocityLimit = 140 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.64 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 25 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120 KI = 30000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS50CCHA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS50CCHA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.96 ;--- Ohms DriverMotorInductance = 4.3e-4 ;--- H DriverCurrentCutOffFrequency = 1000 ;--- Hz DriverMaximumRMSCurrent = 1.8 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 30 ;--- V DriverVelocityCutOffFrequency = 250 ;--- Hz DriverMotorVoltageConstant = 5.8e-3 ;--- V/rpm DriverTachoGeneratorVoltage = 3e-3 ;--- V/rpm DriverStageInertia = 1.21e-5 ;--- kg.mē DriverGearRatio = 0.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 120 ;--- units / s VelocityLimit = 120 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.6 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 7 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0.1 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1e99 ;--- s DerivativeFilterCutOffFrequency = 500 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS100CCHA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS100CCHA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.96 ;--- Ohms DriverMotorInductance = 4.3e-4 ;--- H DriverCurrentCutOffFrequency = 1000 ;--- Hz DriverMaximumRMSCurrent = 1.8 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 30 ;--- V DriverVelocityCutOffFrequency = 250 ;--- Hz DriverMotorVoltageConstant = 5.8e-3 ;--- V/rpm DriverTachoGeneratorVoltage = 3e-3 ;--- V/rpm DriverStageInertia = 1.29e-5 ;--- kg.mē DriverGearRatio = 0.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 120 ;--- units / s VelocityLimit = 120 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.6 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0.1 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1e99 ;--- s DerivativeFilterCutOffFrequency = 500 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS150CCHA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS150CCHA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.96 ;--- Ohms DriverMotorInductance = 4.3e-4 ;--- H DriverCurrentCutOffFrequency = 1000 ;--- Hz DriverMaximumRMSCurrent = 1.8 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 30 ;--- V DriverVelocityCutOffFrequency = 250 ;--- Hz DriverMotorVoltageConstant = 5.8e-3 ;--- V/rpm DriverTachoGeneratorVoltage = 3e-3 ;--- V/rpm DriverStageInertia = 1.37e-5 ;--- kg.mē DriverGearRatio = 0.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 120 ;--- units / s VelocityLimit = 120 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.6 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0.1 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1e99 ;--- s DerivativeFilterCutOffFrequency = 500 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS200CCHA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS200CCHA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.96 ;--- Ohms DriverMotorInductance = 4.3e-4 ;--- H DriverCurrentCutOffFrequency = 1000 ;--- Hz DriverMaximumRMSCurrent = 1.8 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 30 ;--- V DriverVelocityCutOffFrequency = 250 ;--- Hz DriverMotorVoltageConstant = 5.8e-3 ;--- V/rpm DriverTachoGeneratorVoltage = 3e-3 ;--- V/rpm DriverStageInertia = 1.45e-5 ;--- kg.mē DriverGearRatio = 0.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 120 ;--- units / s VelocityLimit = 120 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.6 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0.1 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1e99 ;--- s DerivativeFilterCutOffFrequency = 500 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS250CCHA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS250CCHA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.96 ;--- Ohms DriverMotorInductance = 4.3e-4 ;--- H DriverCurrentCutOffFrequency = 1000 ;--- Hz DriverMaximumRMSCurrent = 1.8 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 30 ;--- V DriverVelocityCutOffFrequency = 250 ;--- Hz DriverMotorVoltageConstant = 5.8e-3 ;--- V/rpm DriverTachoGeneratorVoltage = 3e-3 ;--- V/rpm DriverStageInertia = 1.53e-5 ;--- kg.mē DriverGearRatio = 0.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 120 ;--- units / s VelocityLimit = 120 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.6 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0.1 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1e99 ;--- s DerivativeFilterCutOffFrequency = 500 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS200LM@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS200LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.4 ;--- Ohms DriverMotorInductance = 0.00038 ;--- H DriverMaximumPeakCurrent = 3.9 ;--- A DriverMaximumRMSCurrent = 1.32 ;--- A DriverRMSIntegrationTime = 10 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 200 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 40000 ;--- units / sē AccelerationLimit = 39000 ;--- units / sē MagneticTrackPeriod = 16.5 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.02 ;--- s MaximumJerkTime = 0.02 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 400 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 40000 KI = 2000000 KD = 400 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.0E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS100LM@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS100LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.4 ;--- Ohms DriverMotorInductance = 0.00038 ;--- H DriverMaximumPeakCurrent = 3.9 ;--- A DriverMaximumRMSCurrent = 1.32 ;--- A DriverRMSIntegrationTime = 10 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 200 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 40000 ;--- units / sē AccelerationLimit = 39000 ;--- units / sē MagneticTrackPeriod = 16.5 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.02 ;--- s MaximumJerkTime = 0.02 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 400 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 40000 KI = 2000000 KD = 400 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.0E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS300LM@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS300LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.4 ;--- Ohms DriverMotorInductance = 0.00038 ;--- H DriverMaximumPeakCurrent = 3.9 ;--- A DriverMaximumRMSCurrent = 1.32 ;--- A DriverRMSIntegrationTime = 10 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 200 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 40000 ;--- units / sē AccelerationLimit = 39000 ;--- units / sē MagneticTrackPeriod = 16.5 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.02 ;--- s MaximumJerkTime = 0.02 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 400 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 40000 KI = 2000000 KD = 400 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.0E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS150HA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS150HA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 2 ;--- A DriverRMSIntegrationTime = 10 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 150 KI = 15000 KD = 0.25 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.0E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.19 KFeedForwardAcceleration = 0.0008 KFeedForwardVelocityOpenLoop = 0.19 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS50HA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS50HA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 2 ;--- A DriverRMSIntegrationTime = 10 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 150 KI = 15000 KD = 0.25 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.0E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.19 KFeedForwardAcceleration = 0.0008 KFeedForwardVelocityOpenLoop = 0.19 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS100HA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS100HA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 2 ;--- A DriverRMSIntegrationTime = 10 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 150 KI = 15000 KD = 0.25 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.0E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.19 KFeedForwardAcceleration = 0.0008 KFeedForwardVelocityOpenLoop = 0.19 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS200HA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS200HA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 2 ;--- A DriverRMSIntegrationTime = 10 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 150 KI = 15000 KD = 0.25 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.0E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.19 KFeedForwardAcceleration = 0.0008 KFeedForwardVelocityOpenLoop = 0.19 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS250HA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS250HA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 2 ;--- A DriverRMSIntegrationTime = 10 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 150 KI = 15000 KD = 0.25 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.0E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.19 KFeedForwardAcceleration = 0.0008 KFeedForwardVelocityOpenLoop = 0.19 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS50HA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS50HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 300 KI = 25000 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.0E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.19 KFeedForwardAcceleration = 0.0008 KFeedForwardVelocityOpenLoop = 0.19 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS100HA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS100HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 300 KI = 25000 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.0E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.19 KFeedForwardAcceleration = 0.0008 KFeedForwardVelocityOpenLoop = 0.19 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS150HA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS150HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 300 KI = 25000 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.0E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.19 KFeedForwardAcceleration = 0.0008 KFeedForwardVelocityOpenLoop = 0.19 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS200HA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS200HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 300 KI = 25000 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.0E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.19 KFeedForwardAcceleration = 0.0008 KFeedForwardVelocityOpenLoop = 0.19 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ILS@ILS250HA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ILS250HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 30 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 300 KI = 25000 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1.0E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.19 KFeedForwardAcceleration = 0.0008 KFeedForwardVelocityOpenLoop = 0.19 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS100V@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS100V ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -8 ;--- units MaximumTargetPosition = 92 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 5 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.5 ;--- s MaximumJerkTime = 0.5 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 4 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 53 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 800 KI = 50000 KD = 0 KS = 0.8 GKP = 7.5 GKD = 0 GKI = 0 KForm = 0.0004 ;--- units IntegrationTime = 1 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.641 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 1.641 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS300V@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS300V ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -8 ;--- units MaximumTargetPosition = 292 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 5 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.5 ;--- s MaximumJerkTime = 0.5 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 4 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 153 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 800 KI = 50000 KD = 0 KS = 0.8 GKP = 7.5 GKD = 0 GKI = 0 KForm = 0.0004 ;--- units IntegrationTime = 1 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.641 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 1.641 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS300PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS300PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.025 ;--- units PeakCurrentPerPhase = 2.2 ;--- A StandbyPeakCurrentPerPhase = 1.1 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00125 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -8 ;--- units MaximumTargetPosition = 292 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 32 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.25 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS400PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS400PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.025 ;--- units PeakCurrentPerPhase = 2.2 ;--- A StandbyPeakCurrentPerPhase = 1.1 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00125 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -8 ;--- units MaximumTargetPosition = 392 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 42 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.25 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS500PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS500PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.025 ;--- units PeakCurrentPerPhase = 2.2 ;--- A StandbyPeakCurrentPerPhase = 1.1 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00125 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -8 ;--- units MaximumTargetPosition = 492 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 52 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.25 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS600PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS600PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.025 ;--- units PeakCurrentPerPhase = 2.2 ;--- A StandbyPeakCurrentPerPhase = 1.1 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00125 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -8 ;--- units MaximumTargetPosition = 592 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 100 ;--- units / s MaximumAcceleration = 400 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 200 ;--- units / sē HomeSearchTimeOut = 62 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.25 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS300CC@XPS-DRVM1] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS300CC ;--- Motor driver model parameters DriverName = XPS-DRVM1 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 240 ;--- units / s VelocityLimit = 240 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00125 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 300 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1.25 ;--- units KP = 200 KI = 2000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS300CCHA@XPS-DRVM1] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS300CCHA ;--- Motor driver model parameters DriverName = XPS-DRVM1 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 240 ;--- units / s VelocityLimit = 240 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 300 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 2000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS400CC@XPS-DRVM1] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS400CC ;--- Motor driver model parameters DriverName = XPS-DRVM1 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 240 ;--- units / s VelocityLimit = 240 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00125 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 400 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1.25 ;--- units KP = 200 KI = 2000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS400CCHA@XPS-DRVM1] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS400CCHA ;--- Motor driver model parameters DriverName = XPS-DRVM1 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 240 ;--- units / s VelocityLimit = 240 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 400 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 2000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS500CC@XPS-DRVM1] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS500CC ;--- Motor driver model parameters DriverName = XPS-DRVM1 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 240 ;--- units / s VelocityLimit = 240 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00125 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 500 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1.25 ;--- units KP = 200 KI = 2000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS500CCHA@XPS-DRVM1] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS500CCHA ;--- Motor driver model parameters DriverName = XPS-DRVM1 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 240 ;--- units / s VelocityLimit = 240 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 500 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 2000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS600CC@XPS-DRVM1] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS600CC ;--- Motor driver model parameters DriverName = XPS-DRVM1 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 240 ;--- units / s VelocityLimit = 240 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00125 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 600 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 26 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1.25 ;--- units KP = 200 KI = 2000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS600CCHA@XPS-DRVM1] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS600CCHA ;--- Motor driver model parameters DriverName = XPS-DRVM1 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 240 ;--- units / s VelocityLimit = 240 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 600 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 26 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 2000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS300CC@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS300CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.97 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.41 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00125 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 300 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1.25 ;--- units KP = 47 KI = 1260 KD = 0.357 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.1452 KFeedForwardAcceleration = 0.00124269 KFeedForwardVelocityOpenLoop = 0.1452 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS300CCHA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS300CCHA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.97 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.41 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 300 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 14 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 47 KI = 1260 KD = 0.357 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.1452 KFeedForwardAcceleration = 0.00124269 KFeedForwardVelocityOpenLoop = 0.1452 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS400CC@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS400CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.97 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.41 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00125 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 400 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1.25 ;--- units KP = 47 KI = 1260 KD = 0.357 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.1452 KFeedForwardAcceleration = 0.00124269 KFeedForwardVelocityOpenLoop = 0.1452 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS400CCHA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS400CCHA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.97 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.41 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 400 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 47 KI = 1260 KD = 0.357 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.1452 KFeedForwardAcceleration = 0.00124269 KFeedForwardVelocityOpenLoop = 0.1452 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS500CC@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS500CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.97 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.41 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00125 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 500 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1.25 ;--- units KP = 47 KI = 1260 KD = 0.357 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.1452 KFeedForwardAcceleration = 0.00124269 KFeedForwardVelocityOpenLoop = 0.1452 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS500CCHA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS500CCHA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.97 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.41 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 500 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 47 KI = 1260 KD = 0.357 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.1452 KFeedForwardAcceleration = 0.00124269 KFeedForwardVelocityOpenLoop = 0.1452 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS600CC@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS600CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.97 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.41 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00125 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 600 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 26 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1.25 ;--- units KP = 47 KI = 1260 KD = 0.357 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.1452 KFeedForwardAcceleration = 0.00124269 KFeedForwardVelocityOpenLoop = 0.1452 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS600CCHA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = IMS600CCHA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.97 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.41 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 600 ;--- units HomePreset = 8 ;--- units MaximumVelocity = 200 ;--- units / s MaximumAcceleration = 600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 50 ;--- units / s HomeSearchMaximumAcceleration = 300 ;--- units / sē HomeSearchTimeOut = 26 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 47 KI = 1260 KD = 0.357 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.1452 KFeedForwardAcceleration = 0.00124269 KFeedForwardVelocityOpenLoop = 0.1452 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS300LM@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS300LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 7 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS400LM@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS400LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -200 ;--- units MaximumTargetPosition = 200 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 9 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS500LM@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS500LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -250 ;--- units MaximumTargetPosition = 250 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 11 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS600LM@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS600LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -300 ;--- units MaximumTargetPosition = 300 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS300LM@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS300LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 7 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS400LM@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS400LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -200 ;--- units MaximumTargetPosition = 200 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 9 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS500LM@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS500LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -250 ;--- units MaximumTargetPosition = 250 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 11 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS600LM@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS600LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -300 ;--- units MaximumTargetPosition = 300 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS800LM-SA@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS800LM-SA ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -400 ;--- units MaximumTargetPosition = 400 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS800LM@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS800LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -400 ;--- units MaximumTargetPosition = 400 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS1000LM@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS1000LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -500 ;--- units MaximumTargetPosition = 500 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS1000LM-SA@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS1000LM-SA ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -500 ;--- units MaximumTargetPosition = 500 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS1200LM@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS1200LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -600 ;--- units MaximumTargetPosition = 600 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS1000LM@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS1000LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -500 ;--- units MaximumTargetPosition = 500 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS1200LM-SA@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS1200LM-SA ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -600 ;--- units MaximumTargetPosition = 600 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS800LM@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS800LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -400 ;--- units MaximumTargetPosition = 400 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS800LM-SA@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS800LM-SA ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -400 ;--- units MaximumTargetPosition = 400 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS1000LM-SA@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS1000LM-SA ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -500 ;--- units MaximumTargetPosition = 500 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS1200LM@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS1200LM ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -600 ;--- units MaximumTargetPosition = 600 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [IMS@IMS1200LM-SA@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = IMS1200LM-SA ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.8 ;--- Ohms DriverMotorInductance = 0.018 ;--- H DriverMaximumPeakCurrent = 5 ;--- A DriverMaximumRMSCurrent = 2.5 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 100 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 30641 ;--- units / sē AccelerationLimit = 27856 ;--- units / sē MagneticTrackPeriod = 24 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.02 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -600 ;--- units MaximumTargetPosition = 600 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 500 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 13 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 120000 KI = 15000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [LTA@LTA-HL@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = LTA-HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.213 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00000737358 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 2 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.5 ;--- units / s HomeSearchMaximumAcceleration = 1 ;--- units / sē HomeSearchTimeOut = 100 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 29799.17 KI = 993305.66 KD = 29.8 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 13.91 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 13.91 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [LTA@LTA-HLV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = LTA-HLV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.106 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00000737358 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.5 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.25 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 200 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 29799.17 KI = 993305.66 KD = 29.8 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 14.9 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 14.9 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [LTA@LTA-HS@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = LTA-HS ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.213 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00003539317 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 5 ;--- units / s MaximumAcceleration = 20 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 2.5 ;--- units / s HomeSearchMaximumAcceleration = 10 ;--- units / sē HomeSearchTimeOut = 40 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 6208.16 KI = 206938.76 KD = 6.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 2.9 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 2.9 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [LTA@LTA-HSV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = LTA-HSV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.106 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00003539317 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 1.25 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 80 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 6208.16 KI = 206938.76 KD = 6.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 3.1 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 3.1 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [LTA@LTAPPV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = LTAPPV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.000631313 ;--- units PeakCurrentPerPhase = 0.250 ;--- A StandbyPeakCurrentPerPhase = 0.125 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.5 ;--- units / s MaximumAcceleration = 2 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.25 ;--- units / s HomeSearchMaximumAcceleration = 1 ;--- units / sē HomeSearchTimeOut = 400 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [LTA@LTA-HXP100@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = LTA-HXP100 ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 0.15 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 0.213 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000005898864 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -1.6 ;--- units MaximumTargetPosition = 24.4 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 5 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.5 ;--- units / s HomeSearchMaximumAcceleration = 1 ;--- units / sē HomeSearchTimeOut = 100 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 29799.17 KI = 993305.66 KD = 29.8 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 13.91 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 13.91 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [LTA@LTAHLPPV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = LTAHLPPV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.000296014 ;--- units PeakCurrentPerPhase = 0.250 ;--- A StandbyPeakCurrentPerPhase = 0.125 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000148006921 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.125 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 400 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 0 KI = 10 IntegrationTime = 1E99 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [LTA@LTAHSPPV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = LTAHSPPV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.000629212 ;--- units PeakCurrentPerPhase = 0.250 ;--- A StandbyPeakCurrentPerPhase = 0.125 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000314605934 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.5 ;--- units / s MaximumAcceleration = 2 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.25 ;--- units / s HomeSearchMaximumAcceleration = 1 ;--- units / sē HomeSearchTimeOut = 400 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 0 KI = 10 IntegrationTime = 1E99 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MFA@MFA-PPD@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MFA-PPD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.000484496 ;--- units PeakCurrentPerPhase = 0.350 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.5 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 130 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MFA@MFA-CC@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MFA-CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 0.105 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.213 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 24 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0000176994 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 1.25 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 50 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 2000 KI = 71600 KD = 1.14 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 4.64 KFeedForwardAcceleration = 0.0002 KFeedForwardVelocityOpenLoop = 4.64 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MFA@MFA-CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MFA-CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.213 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 24 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0000176994 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 1.25 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 50 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 2000 KI = 71600 KD = 1.14 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 4.64 KFeedForwardAcceleration = 0.0002 KFeedForwardVelocityOpenLoop = 4.64 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MFA@MFA-CCV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MFA-CCV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.213 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 24 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0000176994 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1.25 ;--- units / s MaximumAcceleration = 5 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.75 ;--- units / s HomeSearchMaximumAcceleration = 2.5 ;--- units / sē HomeSearchTimeOut = 100 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 2000 KI = 71600 KD = 1.14 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 4.64 KFeedForwardAcceleration = 0.0002 KFeedForwardVelocityOpenLoop = 4.64 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MFA@MFA-CCV6@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MFA-CCV6 ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 0.105 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.213 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 24 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0000176994 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1.25 ;--- units / s MaximumAcceleration = 5 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.75 ;--- units / s HomeSearchMaximumAcceleration = 2.5 ;--- units / sē HomeSearchTimeOut = 100 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 2000 KI = 71600 KD = 1.14 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 4.64 KFeedForwardAcceleration = 0.0002 KFeedForwardVelocityOpenLoop = 4.64 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -90 ;--- units MaximumTargetPosition = 10 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -10 ;--- units MaximumTargetPosition = 90 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE.1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE.1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -90 ;--- units MaximumTargetPosition = 10 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE.1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -10 ;--- units MaximumTargetPosition = 90 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -90 ;--- units MaximumTargetPosition = 10 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -10 ;--- units MaximumTargetPosition = 90 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -90 ;--- units MaximumTargetPosition = 10 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -10 ;--- units MaximumTargetPosition = 90 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PP.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PP.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -90 ;--- units MaximumTargetPosition = 10 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PP.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -10 ;--- units MaximumTargetPosition = 90 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PP1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PP1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PP1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PP1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -90 ;--- units MaximumTargetPosition = 10 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PP1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PP1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -10 ;--- units MaximumTargetPosition = 90 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 3002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -139 ;--- units MaximumTargetPosition = 11 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 3002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -11 ;--- units MaximumTargetPosition = 139 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 3002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE.1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 3002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE.1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -139 ;--- units MaximumTargetPosition = 11 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 3002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE.1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -11 ;--- units MaximumTargetPosition = 139 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 3002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -139 ;--- units MaximumTargetPosition = 11 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -11 ;--- units MaximumTargetPosition = 139 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -139 ;--- units MaximumTargetPosition = 11 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -11 ;--- units MaximumTargetPosition = 139 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PP.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PP.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -139 ;--- units MaximumTargetPosition = 11 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PP.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -11 ;--- units MaximumTargetPosition = 139 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PP1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PP1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 32 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PP1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PP1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -139 ;--- units MaximumTargetPosition = 11 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 32 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PP1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PP1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -11 ;--- units MaximumTargetPosition = 139 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 32 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 4002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -188 ;--- units MaximumTargetPosition = 12 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 4002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12 ;--- units MaximumTargetPosition = 188 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 4002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE.1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 4002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE.1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -188 ;--- units MaximumTargetPosition = 12 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 4002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE.1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12 ;--- units MaximumTargetPosition = 188 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 4002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 402 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -188 ;--- units MaximumTargetPosition = 12 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 402 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12 ;--- units MaximumTargetPosition = 188 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 402 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 402 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -188 ;--- units MaximumTargetPosition = 12 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 402 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12 ;--- units MaximumTargetPosition = 188 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 402 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PP.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 402 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PP.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -188 ;--- units MaximumTargetPosition = 12 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 402 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PP.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12 ;--- units MaximumTargetPosition = 188 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 402 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PP1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PP1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 42 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PP1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PP1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -188 ;--- units MaximumTargetPosition = 12 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 42 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PP1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PP1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12 ;--- units MaximumTargetPosition = 188 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 42 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 5002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -237 ;--- units MaximumTargetPosition = 13 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 5002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -13 ;--- units MaximumTargetPosition = 237 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 5002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE.1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 5002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE.1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -237 ;--- units MaximumTargetPosition = 13 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 5002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE.1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -13 ;--- units MaximumTargetPosition = 237 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 5002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -237 ;--- units MaximumTargetPosition = 13 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -13 ;--- units MaximumTargetPosition = 237 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -237 ;--- units MaximumTargetPosition = 13 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -13 ;--- units MaximumTargetPosition = 237 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PP.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PP.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -237 ;--- units MaximumTargetPosition = 13 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PP.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -13 ;--- units MaximumTargetPosition = 237 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PP1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PP1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 52 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PP1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PP1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -237 ;--- units MaximumTargetPosition = 13 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 52 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PP1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PP1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -13 ;--- units MaximumTargetPosition = 237 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 52 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100CC.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19 ;--- units / s VelocityLimit = 19 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 102 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100CC.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19 ;--- units / s VelocityLimit = 19 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -90 ;--- units MaximumTargetPosition = 10 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 102 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100CC.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19 ;--- units / s VelocityLimit = 19 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -10 ;--- units MaximumTargetPosition = 90 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 102 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100CC1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100CC1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 88 ;--- units / s VelocityLimit = 88 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 12 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100CC1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100CC1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 88 ;--- units / s VelocityLimit = 88 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -90 ;--- units MaximumTargetPosition = 10 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 12 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100CC1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100CC1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 88 ;--- units / s VelocityLimit = 88 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -10 ;--- units MaximumTargetPosition = 90 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 12 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150CC.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19 ;--- units / s VelocityLimit = 19 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 152 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150CC.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19 ;--- units / s VelocityLimit = 19 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -139 ;--- units MaximumTargetPosition = 11 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 152 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150CC.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19 ;--- units / s VelocityLimit = 19 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -11 ;--- units MaximumTargetPosition = 139 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 152 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150CC1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150CC1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 88 ;--- units / s VelocityLimit = 88 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 16 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150CC1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150CC1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 88 ;--- units / s VelocityLimit = 88 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -139 ;--- units MaximumTargetPosition = 11 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 16 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150CC1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150CC1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 88 ;--- units / s VelocityLimit = 88 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -11 ;--- units MaximumTargetPosition = 139 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 16 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200CC.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19 ;--- units / s VelocityLimit = 19 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200CC.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19 ;--- units / s VelocityLimit = 19 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -188 ;--- units MaximumTargetPosition = 12 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200CC.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19 ;--- units / s VelocityLimit = 19 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12 ;--- units MaximumTargetPosition = 188 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200CC1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200CC1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 88 ;--- units / s VelocityLimit = 88 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200CC1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200CC1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 88 ;--- units / s VelocityLimit = 88 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -188 ;--- units MaximumTargetPosition = 12 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200CC1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200CC1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 88 ;--- units / s VelocityLimit = 88 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12 ;--- units MaximumTargetPosition = 188 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250CC.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19 ;--- units / s VelocityLimit = 19 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 252 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250CC.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19 ;--- units / s VelocityLimit = 19 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -237 ;--- units MaximumTargetPosition = 13 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 252 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250CC.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19 ;--- units / s VelocityLimit = 19 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -13 ;--- units MaximumTargetPosition = 237 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 252 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250CC1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250CC1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 88 ;--- units / s VelocityLimit = 88 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 26 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250CC1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250CC1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 88 ;--- units / s VelocityLimit = 88 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -237 ;--- units MaximumTargetPosition = 13 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 26 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250CC1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250CC1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 88 ;--- units / s VelocityLimit = 88 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.52 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -13 ;--- units MaximumTargetPosition = 237 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 26 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE1BV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE1BV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE1BV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE1BV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE1BV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE1BV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE1BV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE1BV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM150PE.1BV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM150PE.1BV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM100PE.1BV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM100PE.1BV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM200PE.1BV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM200PE.1BV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [MTM@MTM250PE.1BV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = MTM250PE.1BV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -125 ;--- units MaximumTargetPosition = 125 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [NPA@NPA100SG-D@XPS-DRVP1] ;--- Unit = ĩm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = NPA100SG-D ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 181 ;--- Hz DriverKI = 114 DriverFatalFollowingError = 32 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 3600 ;--- units / s MaximumAcceleration = 332800 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.011 ;--- s MaximumJerkTime = 0.011 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 1800 ;--- units / s HomeSearchMaximumAcceleration = 166400 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [NPA@NPA25SG-D@XPS-DRVP1] ;--- Unit = ĩm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = NPA25SG-D ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 400 ;--- Hz DriverKI = 251 DriverFatalFollowingError = 4 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 2000 ;--- units / s MaximumAcceleration = 390600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.005 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 1000 ;--- units / s HomeSearchMaximumAcceleration = 195300 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [NPO@NPO250SG-D@XPS-DRVP1] ;--- Unit = ĩm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = NPO250SG-D ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 76 ;--- Hz DriverKI = 48 DriverFatalFollowingError = 80 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 3900 ;--- units / s MaximumAcceleration = 148700 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.026 ;--- s MaximumJerkTime = 0.026 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 1950 ;--- units / s HomeSearchMaximumAcceleration = 74350 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [NPX@NPX400-D@XPS-DRVP1] ;--- Unit = ĩm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = NPX400-D ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 0 ;--- Hz DriverKI = 0 DriverFatalFollowingError = 160 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 4000 ;--- units / s MaximumAcceleration = 99700 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 2000 ;--- units / s HomeSearchMaximumAcceleration = 49850 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [NPX@NPX200SG-D@XPS-DRVP1] ;--- Unit = ĩm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = NPX200SG-D ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 43 ;--- Hz DriverKI = 27 DriverFatalFollowingError = 32 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 1700 ;--- units / s MaximumAcceleration = 37900 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.046 ;--- s MaximumJerkTime = 0.046 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 850 ;--- units / s HomeSearchMaximumAcceleration = 18950 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [NPX@NPX400SG-D@XPS-DRVP1] ;--- Unit = ĩm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = NPX400SG-D ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 50 ;--- Hz DriverKI = 31 DriverFatalFollowingError = 64 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 4000 ;--- units / s MaximumAcceleration = 99700 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.04 ;--- s MaximumJerkTime = 0.04 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 2000 ;--- units / s HomeSearchMaximumAcceleration = 49850 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [NPXYZ@NPXYZ100SG-D-X@XPS-DRVP1] ;--- Unit = ĩm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = NPXYZ100SG-D-X ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 111 ;--- Hz DriverKI = 69 DriverFatalFollowingError = 32 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 2200 ;--- units / s MaximumAcceleration = 124600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.018 ;--- s MaximumJerkTime = 0.018 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 1100 ;--- units / s HomeSearchMaximumAcceleration = 62300 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [NPXYZ@NPXYZ100SG-D-Y@XPS-DRVP1] ;--- Unit = ĩm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = NPXYZ100SG-D-Y ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 111 ;--- Hz DriverKI = 69 DriverFatalFollowingError = 32 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 2200 ;--- units / s MaximumAcceleration = 124600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.018 ;--- s MaximumJerkTime = 0.018 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 1100 ;--- units / s HomeSearchMaximumAcceleration = 62300 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [NPXYZ@NPXYZ100SG-D-Z@XPS-DRVP1] ;--- Unit = ĩm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = NPXYZ100SG-D-Z ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 111 ;--- Hz DriverKI = 69 DriverFatalFollowingError = 32 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 2200 ;--- units / s MaximumAcceleration = 124600 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.018 ;--- s MaximumJerkTime = 0.018 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 1100 ;--- units / s HomeSearchMaximumAcceleration = 62300 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [NSA@NSA12@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = NSA12 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.006384880603 ;--- units PeakCurrentPerPhase = 0.2 ;--- A StandbyPeakCurrentPerPhase = 0.1 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = 0 ;--- units MaximumTargetPosition = 11.9 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 1 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 126 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [PR@PR50CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = PR50CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.010034190 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -1000000 ;--- units MaximumTargetPosition = 1000000 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 40 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 109.86 KI = 732.42 KD = 0.07 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.73 KFeedForwardAcceleration = 0.01 KFeedForwardVelocityOpenLoop = 0.73 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [PR@PR50CC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = PR50CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.2 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.010034283803 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 40 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 109.86 KI = 732.42 KD = 0.07 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.73 KFeedForwardAcceleration = 0.01 KFeedForwardVelocityOpenLoop = 0.73 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [PR@PR50PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = PR50PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02006838 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -1000000 ;--- units MaximumTargetPosition = 1000000 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 74 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [PR@PR50PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = PR50PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0200680082502 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 74 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [PSM@@XPS-DRVP1] ;--- Unit = ĩrad ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = PSM2-G-X ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 0 ;--- Hz DriverKI = 0 DriverFatalFollowingError = 10 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 250000 ;--- units / s MaximumAcceleration = 62500000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.004 ;--- s MaximumJerkTime = 0.004 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 125000 ;--- units / s HomeSearchMaximumAcceleration = 31250000 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [PSM@PSM2-D-Y@XPS-DRVP1] ;--- Unit = ĩrad ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = PSM2-D-Y ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 0 ;--- Hz DriverKI = 0 DriverFatalFollowingError = 10 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 250000 ;--- units / s MaximumAcceleration = 62500000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.004 ;--- s MaximumJerkTime = 0.004 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 125000 ;--- units / s HomeSearchMaximumAcceleration = 31250000 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [PSM@@XPS-DRVP1] ;--- Unit = ĩrad ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = PSM2-G-Y ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 0 ;--- Hz DriverKI = 0 DriverFatalFollowingError = 10 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 250000 ;--- units / s MaximumAcceleration = 62500000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.004 ;--- s MaximumJerkTime = 0.004 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 125000 ;--- units / s HomeSearchMaximumAcceleration = 31250000 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [PSM@@XPS-DRVP1] ;--- Unit = ĩrad ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = PSM2-G-Z ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 0 ;--- Hz DriverKI = 0 DriverFatalFollowingError = 10 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 2000 ;--- units / s MaximumAcceleration = 500000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.004 ;--- s MaximumJerkTime = 0.004 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 1000 ;--- units / s HomeSearchMaximumAcceleration = 250000 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [PSM@PSM2-D-X@XPS-DRVP1] ;--- Unit = ĩrad ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = PSM2-D-X ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 0 ;--- Hz DriverKI = 0 DriverFatalFollowingError = 10 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 250000 ;--- units / s MaximumAcceleration = 62500000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.004 ;--- s MaximumJerkTime = 0.004 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 125000 ;--- units / s HomeSearchMaximumAcceleration = 31250000 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [PSM@PSM2-D-Z@XPS-DRVP1] ;--- Unit = ĩm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = PSM2-D-Z ;--- Motor driver model parameters DriverName = XPS-DRVP1 DriverNotchFrequency = 1000 ;--- Hz DriverNotchBandwidth = 10 ;--- Hz DriverNotchGain = 1 DriverLowpassFrequency = 0 ;--- Hz DriverKI = 0 DriverFatalFollowingError = 10 ;--- units DriverStagePositionOffset = 0 ;--- units DriverTravelCorrection = 0 ;--- ppm ;--- Driver command interface parameters MotorDriverInterface = AnalogPositionPiezo ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Piezo MaximumVelocity = 2000 ;--- units / s MaximumAcceleration = 500000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.004 ;--- s MaximumJerkTime = 0.004 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = CurrentPositionAsHome HomeSearchMaximumVelocity = 1000 ;--- units / s HomeSearchMaximumAcceleration = 250000 ;--- units / sē HomeSearchTimeOut = 1 ;--- s ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RGV@RGV100@XPS-DRVM4] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RGV100 ;--- Motor driver model parameters DriverName = XPS-DRVM4 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogAcceleration ScalingAcceleration = 50000 ;--- units / sē AccelerationLimit = 50000 ;--- units / sē InitializationAccelerationLevel = 40 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -180 ;--- units MaximumTargetPosition = 180 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 720 ;--- units / s MaximumAcceleration = 500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 250 ;--- units / sē HomeSearchTimeOut = 8 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 80000 KI = 8000000 KD = 600 KS = 0.5 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RGV@RGV100@XPS-DRVM4-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RGV100 ;--- Motor driver model parameters DriverName = XPS-DRVM4 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogAcceleration ScalingAcceleration = 50000 ;--- units / sē AccelerationLimit = 50000 ;--- units / sē InitializationAccelerationLevel = 40 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 720 ;--- units / s MaximumAcceleration = 500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 250 ;--- units / sē HomeSearchTimeOut = 8 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 80000 KI = 8000000 KD = 600 KS = 0.5 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RGV@RGV100@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RGV100 ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 16.4 ;--- Ohms DriverMotorInductance = 5.5e-3 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumPeakCurrent = 1.48 ;--- A DriverMaximumRMSCurrent = 0.68 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V ;--- Driver command interface parameters MotorDriverInterface = AnalogAcceleration ScalingAcceleration = 119020 ;--- units / sē AccelerationLimit = 31996 ;--- units / sē InitializationAccelerationLevel = 40 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -360 ;--- units MaximumTargetPosition = 360 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 720 ;--- units / s MaximumAcceleration = 500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 250 ;--- units / sē HomeSearchTimeOut = 8 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 140000 KI = 8000000 KD = 700 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RGV@RGV100@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RGV100 ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 16.4 ;--- Ohms DriverMotorInductance = 5.5e-3 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumPeakCurrent = 1.48 ;--- A DriverMaximumRMSCurrent = 0.68 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V ;--- Driver command interface parameters MotorDriverInterface = AnalogAcceleration ScalingAcceleration = 119020 ;--- units / sē AccelerationLimit = 31996 ;--- units / sē InitializationAccelerationLevel = 40 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 720 ;--- units / s MaximumAcceleration = 500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 250 ;--- units / sē HomeSearchTimeOut = 8 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 140000 KI = 8000000 KD = 700 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RGV@RGV100BL@XPS-DRV02-Spindle] ;--- Unit = deg ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = RGV100BL ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 4.89 ;--- Ohms DriverMotorInductance = 0.00476 ;--- H DriverMaximumPeakCurrent = 3.0 ;--- A DriverMaximumRMSCurrent = 1.4 ;--- A DriverRMSIntegrationTime = 3.3 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 1000 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 70000 ;--- units / sē AccelerationLimit = 38600 ;--- units / sē MagneticTrackPeriod = 60 ;--- units InitializationAccelerationLevel = 20 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 2400 EncoderScalePitch = 0.024 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 50 ;--- Hz CurrentAccelerationCutOffFrequency = 50 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 720 ;--- units / s MaximumAcceleration = 1000 ;--- units / sē EmergencyDecelerationMultiplier = 1.1 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 360 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 2.19E+5 KI = 1.56E+7 KD = 875 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RGV@RGV100BL@XPS-DRV02-LMI] ;--- Unit = deg ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = RGV100BL ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 4.89 ;--- Ohms DriverMotorInductance = 0.00476 ;--- H DriverMaximumPeakCurrent = 3 ;--- A DriverMaximumRMSCurrent = 1.4 ;--- A DriverRMSIntegrationTime = 3.3 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 1000 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 70000 ;--- units / sē AccelerationLimit = 38600 ;--- units / sē MagneticTrackPeriod = 60 ;--- units InitializationAccelerationLevel = 20 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 2400 EncoderScalePitch = 0.024 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 50 ;--- Hz CurrentAccelerationCutOffFrequency = 50 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 720 ;--- units / s MaximumAcceleration = 1000 ;--- units / sē EmergencyDecelerationMultiplier = 1.1 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 360 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 2.19E+5 KI = 1.56E+7 KD = 875 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RGV@RGV100BL@XPS-DRV02-Spindle-LMI] ;--- Unit = deg ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = RGV100BL ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 4.89 ;--- Ohms DriverMotorInductance = 0.00476 ;--- H DriverMaximumPeakCurrent = 3.0 ;--- A DriverMaximumRMSCurrent = 1.4 ;--- A DriverRMSIntegrationTime = 3.3 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 1000 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 70000 ;--- units / sē AccelerationLimit = 38600 ;--- units / sē MagneticTrackPeriod = 60 ;--- units InitializationAccelerationLevel = 20 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 2400 EncoderScalePitch = 0.024 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 50 ;--- Hz CurrentAccelerationCutOffFrequency = 50 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 720 ;--- units / s MaximumAcceleration = 1000 ;--- units / sē EmergencyDecelerationMultiplier = 1.1 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 360 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 2.19E+5 KI = 1.56E+7 KD = 875 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RGV@RGV100BL@XPS-DRV02] ;--- Unit = deg ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = RGV100BL ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 4.89 ;--- Ohms DriverMotorInductance = 0.00476 ;--- H DriverMaximumPeakCurrent = 3 ;--- A DriverMaximumRMSCurrent = 1.4 ;--- A DriverRMSIntegrationTime = 3.3 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 1000 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 70000 ;--- units / sē AccelerationLimit = 38600 ;--- units / sē MagneticTrackPeriod = 60 ;--- units InitializationAccelerationLevel = 20 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 2400 EncoderScalePitch = 0.024 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 50 ;--- Hz CurrentAccelerationCutOffFrequency = 50 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 720 ;--- units / s MaximumAcceleration = 1000 ;--- units / sē EmergencyDecelerationMultiplier = 1.1 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 360 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 2.19E+5 KI = 1.56E+7 KD = 875 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CCHL@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2.7 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 87 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 366.21 KI = 1831.05 KD = 0.59 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.59 KFeedForwardAcceleration = 0.06 KFeedForwardVelocityOpenLoop = 0.59 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CCHL-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2.7 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 87 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 366.21 KI = 1831.05 KD = 0.59 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.59 KFeedForwardAcceleration = 0.06 KFeedForwardVelocityOpenLoop = 0.59 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2.7 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 439.45 KI = 2197.27 KD = 0.88 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80CC-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80CC-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2.7 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 439.45 KI = 2197.27 KD = 0.88 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80CCHL@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80CCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.25 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 547 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 732.42 KI = 7324.22 KD = 0.29 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 2.93 KFeedForwardAcceleration = 0.01 KFeedForwardVelocityOpenLoop = 2.93 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80CCHL-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.25 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 547 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 732.42 KI = 7324.22 KD = 0.29 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 2.93 KFeedForwardAcceleration = 0.01 KFeedForwardVelocityOpenLoop = 2.93 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CCHL@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2.7 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 87 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 366.21 KI = 1831.05 KD = 0.59 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.59 KFeedForwardAcceleration = 0.06 KFeedForwardVelocityOpenLoop = 0.59 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CCHL-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2.7 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 87 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 366.21 KI = 1831.05 KD = 0.59 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.59 KFeedForwardAcceleration = 0.06 KFeedForwardVelocityOpenLoop = 0.59 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80CC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2.7 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 439.45 KI = 2197.27 KD = 0.88 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80CC-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80CC-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 2.7 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 439.45 KI = 2197.27 KD = 0.88 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80CCHL@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80CCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.25 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 547 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 732.42 KI = 7324.22 KD = 0.29 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 2.93 KFeedForwardAcceleration = 0.01 KFeedForwardVelocityOpenLoop = 2.93 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80CCHL-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.25 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 547 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 732.42 KI = 7324.22 KD = 0.29 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 2.93 KFeedForwardAcceleration = 0.01 KFeedForwardVelocityOpenLoop = 2.93 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PE-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PE-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.69 ;--- A StandbyPeakCurrentPerPhase = 0.345 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PEV6-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PEV6-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.69 ;--- A StandbyPeakCurrentPerPhase = 0.345 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PP-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PP-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160PE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160PE-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160PE-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160PEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160PEV6-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160PEV6-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160PP-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160PP-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240PE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.03 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240PE-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240PE-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.03 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240PEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.03 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240PEV6-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240PEV6-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.03 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.3 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240PP-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240PP-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.3 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350PE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.03 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350PE-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350PE-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.03 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350PEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.03 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350PEV6-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350PEV6-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.03 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.3 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350PP-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350PP-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.3 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80PE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80PE-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80PE-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80PEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80PEV6-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80PEV6-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80PP-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80PP-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PE@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PE-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PE-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PEV6@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.69 ;--- A StandbyPeakCurrentPerPhase = 0.345 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PEV6-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PEV6-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.69 ;--- A StandbyPeakCurrentPerPhase = 0.345 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PP-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PP-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160PE@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160PE-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160PE-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160PEV6@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160PEV6-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160PEV6-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160PP-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160PP-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240PE@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240PE-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240PE-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240PEV6@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240PEV6-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240PEV6-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240PP-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240PP-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350PE@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350PE-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350PE-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350PEV6@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350PEV6-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350PEV6-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350PP-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350PP-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 2.21 ;--- A StandbyPeakCurrentPerPhase = 1.105 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80PE@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80PE-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80PE-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80PEV6@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80PEV6-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80PEV6-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV80PP-F@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV80PP-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120HAHLT@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120HAHLT ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 20 ;--- units / s VelocityLimit = 20 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.94 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120HAHLT-F@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120HAHLT-F ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 5 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 20 ;--- units / s VelocityLimit = 20 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 2.94 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CC@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CC ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 220 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CC-F@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CC-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 220 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120HAT@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120HAT ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 200 KI = 400 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120HAT-F@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120HAT-F ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 200 KI = 400 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CC@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CC ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CC-F@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CC-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CCHL@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CCHL ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 20 KI = 400 KD = 0.01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CCHL-F@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 20 KI = 400 KD = 0.01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160HAT@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160HAT ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000075 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 200 KI = 400 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160HAT-F@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160HAT-F ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000075 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 200 KI = 400 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160HAHLT@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160HAHLT ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000075 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 140 KI = 400 KD = 0.005 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160HAHLT-F@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160HAHLT-F ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000075 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 140 KI = 400 KD = 0.005 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CC@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CC ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CC-F@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CC-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CCHL@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CCHL ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 20 KI = 400 KD = 0.01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CCHL-F@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 20 KI = 400 KD = 0.01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240HAT@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240HAT ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 200 KI = 400 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240HAT-F@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240HAT-F ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 200 KI = 400 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240HAHLT@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240HAHLT ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 140 KI = 400 KD = 0.005 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240HAHLT-F@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240HAHLT-F ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 140 KI = 400 KD = 0.005 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CC@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CC ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CC-F@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CC-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CCHL@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CCHL ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 20 KI = 400 KD = 0.01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CCHL-F@XPS-DRVM2] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 20 KI = 400 KD = 0.01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350HAT@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350HAT ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000035 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 200 KI = 400 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350HAT-F@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350HAT-F ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000035 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 200 KI = 400 KD = 0.5 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350HAHLT@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350HAHLT ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000035 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 140 KI = 400 KD = 0.005 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350HAHLT-F@XPS-DRVM3] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350HAHLT-F ;--- Motor driver model parameters DriverName = XPS-DRVM3 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000035 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 140 KI = 400 KD = 0.005 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CC@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CC ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 220 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CC-F@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CC-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 220 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CC@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CC ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CC-F@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CC-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CCHL@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CCHL ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 20 KI = 400 KD = 0.01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CCHL-F@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 20 KI = 400 KD = 0.01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CC@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CC ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CC-F@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CC-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CCHL@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CCHL ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 20 KI = 400 KD = 0.01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CCHL-F@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 20 KI = 400 KD = 0.01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CC@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CC ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CC-F@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CC-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 96 ;--- units / s VelocityLimit = 96 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 0.05 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CCHL@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CCHL ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 20 KI = 400 KD = 0.01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CCHL-F@XPS-DRVM2-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRVM2 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.2 ;--- units / s VelocityLimit = 19.2 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.75 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 20 KI = 400 KD = 0.01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CC@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CC-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CC-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CC@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CC-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CC-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CC@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CC-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CC-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CC@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 1 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CC-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CC-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 2000 KD = 1 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CC@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CC-F@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CC-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CC@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CC-F@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CC-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CC@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CC-F@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CC-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CC@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CC-F@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CC-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 200 KI = 3300 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.363 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 0.363 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CCHL@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CCHL ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 36 KI = 650 KD = 0.279 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.815 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 1.815 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CCHL-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 36 KI = 650 KD = 0.279 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.815 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 1.815 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CCHL@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CCHL ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 36 KI = 650 KD = 0.279 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.815 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 1.815 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CCHL-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 36 KI = 650 KD = 0.279 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.815 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 1.815 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CCHL@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CCHL ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 36 KI = 650 KD = 0.279 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.815 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 1.815 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CCHL-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 36 KI = 650 KD = 0.279 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.815 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 1.815 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CCHL@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CCHL ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 36 KI = 650 KD = 0.279 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.815 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 1.815 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160CCHL-F@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 36 KI = 650 KD = 0.279 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.815 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 1.815 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CCHL@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CCHL ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 36 KI = 650 KD = 0.279 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.815 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 1.815 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240CCHL-F@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 36 KI = 650 KD = 0.279 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.815 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 1.815 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CCHL@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CCHL ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 36 KI = 650 KD = 0.279 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.815 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 1.815 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350CCHL-F@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 45.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 36 KI = 650 KD = 0.279 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.815 KFeedForwardAcceleration = 0.0010378 KFeedForwardVelocityOpenLoop = 1.815 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CCHL@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CCHL ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.35 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 2.7 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 87 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 366.21 KI = 1831.05 KD = 0.59 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.59 KFeedForwardAcceleration = 0.06 KFeedForwardVelocityOpenLoop = 0.59 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CCHL@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CCHL ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.35 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 2.7 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 87 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 366.21 KI = 1831.05 KD = 0.59 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.59 KFeedForwardAcceleration = 0.06 KFeedForwardVelocityOpenLoop = 0.59 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CCHL-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.35 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 2.7 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 87 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 366.21 KI = 1831.05 KD = 0.59 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.59 KFeedForwardAcceleration = 0.06 KFeedForwardVelocityOpenLoop = 0.59 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120CCHL-F@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120CCHL-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1.35 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 2.7 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 87 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 366.21 KI = 1831.05 KD = 0.59 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.59 KFeedForwardAcceleration = 0.06 KFeedForwardVelocityOpenLoop = 0.59 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120HAT@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120HAT ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 0.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 120 ;--- units / s VelocityLimit = 120 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 50 KI = 500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120HAT-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120HAT-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 0.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 120 ;--- units / s VelocityLimit = 120 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 156 KI = 3910 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160HAT-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160HAT-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 0.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 120 ;--- units / s VelocityLimit = 120 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000075 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 50 KI = 500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160HAT@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160HAT ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 0.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 120 ;--- units / s VelocityLimit = 120 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000075 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 50 KI = 500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240HAT@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240HAT ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 0.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 120 ;--- units / s VelocityLimit = 120 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 50 KI = 500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240HAT-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240HAT-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 0.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 120 ;--- units / s VelocityLimit = 120 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 50 KI = 500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350HAT@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350HAT ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 0.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 120 ;--- units / s VelocityLimit = 120 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000035 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 50 KI = 500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350HAT-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350HAT-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.99 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 0.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 120 ;--- units / s VelocityLimit = 120 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000035 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 50 KI = 500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160HAHLT@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160HAHLT ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 2.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.3 ;--- units / s VelocityLimit = 19.3 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000075 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 50 KI = 500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV160HAHLT-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV160HAHLT-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 2.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.3 ;--- units / s VelocityLimit = 19.3 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000075 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 50 KI = 500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240HAHLT@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240HAHLT ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 2.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.3 ;--- units / s VelocityLimit = 19.3 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 50 KI = 500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV240HAHLT-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV240HAHLT-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 2.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.3 ;--- units / s VelocityLimit = 19.3 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 50 KI = 500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350HAHLT@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350HAHLT ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 10 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 2.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.3 ;--- units / s VelocityLimit = 19.3 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000035 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 50 KI = 500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV350HAHLT-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV350HAHLT-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.57 ;--- Ohms DriverMotorInductance = 0.00104 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 1.98 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 10 ;--- Hz DriverMotorVoltageConstant = 0.0121 ;--- V/rpm DriverTachoGeneratorVoltage = 0.007 ;--- V/rpm DriverStageInertia = 0.000078 ;--- kg.mē DriverGearRatio = 2.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 19.3 ;--- units / s VelocityLimit = 19.3 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 3.96 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000035 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 50 KI = 500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120HAHLT@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120HAHLT ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.96 ;--- Ohms DriverMotorInductance = 0.000434 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 2.9 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 24 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0058 ;--- V/rpm DriverTachoGeneratorVoltage = 0.003 ;--- V/rpm DriverStageInertia = 0.00001 ;--- kg.mē DriverGearRatio = 2.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 26 ;--- units / s VelocityLimit = 26 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 156 KI = 3910 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120HAHLT-F@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120HAHLT-F ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 1.96 ;--- Ohms DriverMotorInductance = 0.000434 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 2.9 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 24 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.0058 ;--- V/rpm DriverTachoGeneratorVoltage = 0.003 ;--- V/rpm DriverStageInertia = 0.00001 ;--- kg.mē DriverGearRatio = 2.5 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 26 ;--- units / s VelocityLimit = 26 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 4 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 16 ;--- units / s MaximumAcceleration = 64 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 8 ;--- units / s HomeSearchMaximumAcceleration = 32 ;--- units / sē HomeSearchTimeOut = 86 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 156 KI = 3910 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 3 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PEBV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PEBV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PE-FBV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PE-FBV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PE-FBV6@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PE-FBV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RV@RV120PEBV6@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RV120PEBV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RVS@RVS80CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RVS80CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.9 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 28.5 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00025 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 427 KI = 24400 KD = 1.67 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.463483146 KFeedForwardAcceleration = 0.000353643 KFeedForwardVelocityOpenLoop = 0.463483146 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RVS@RVS80CC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RVS80CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.9 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 28.5 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00025 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 427 KI = 24400 KD = 1.67 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.463483146 KFeedForwardAcceleration = 0.000353643 KFeedForwardVelocityOpenLoop = 0.463483146 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RVS@RVS80CC@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RVS80CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 0.95 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 1.9 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 28.5 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00025 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 427 KI = 24400 KD = 1.67 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.463483146 KFeedForwardAcceleration = 0.000353643 KFeedForwardVelocityOpenLoop = 0.463483146 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RVS@RVS80CC@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RVS80CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 0.95 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 1.9 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 28.5 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00025 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 427 KI = 24400 KD = 1.67 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.463483146 KFeedForwardAcceleration = 0.000353643 KFeedForwardVelocityOpenLoop = 0.463483146 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RVS@RVS80PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RVS80PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -169 ;--- units MaximumTargetPosition = 171 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [RVS@RVS80PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = RVS80PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [SR@SR50CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = SR50CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.1 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000999995 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -1000000 ;--- units MaximumTargetPosition = 1000000 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 363 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 1098.64 KI = 3662.13 KD = 1.46 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.46 KFeedForwardAcceleration = 0.15 KFeedForwardVelocityOpenLoop = 1.46 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [SR@SR50CC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = SR50CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.1 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 363 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 1098.64 KI = 3662.13 KD = 1.46 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1.46 KFeedForwardAcceleration = 0.15 KFeedForwardVelocityOpenLoop = 1.46 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [SR@SR50PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = SR50PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.00199999 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -1000000 ;--- units MaximumTargetPosition = 1000000 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 362 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [SR@SR50PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = SR50PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.002 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 362 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [TRA@TRA6CC@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = TRA6CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 0.15 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 25 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000030517578 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 6 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.4 ;--- units / s MaximumAcceleration = 1.6 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.2 ;--- units / s HomeSearchMaximumAcceleration = 0.8 ;--- units / sē HomeSearchTimeOut = 100 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 11330 KI = 451000 KD = 81.2 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 30.72 KFeedForwardAcceleration = 8.37e-5 KFeedForwardVelocityOpenLoop = 30.72 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [TRA@TRA6CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = TRA6CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 25 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000030517578 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 6 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.4 ;--- units / s MaximumAcceleration = 1.6 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.2 ;--- units / s HomeSearchMaximumAcceleration = 0.8 ;--- units / sē HomeSearchTimeOut = 100 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 11330 KI = 451000 KD = 81.2 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 30.72 KFeedForwardAcceleration = 8.37e-5 KFeedForwardVelocityOpenLoop = 30.72 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [TRA@TRA25CC@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = TRA25CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 0.15 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 25 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000030517578 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.4 ;--- units / s MaximumAcceleration = 1.6 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.2 ;--- units / s HomeSearchMaximumAcceleration = 0.8 ;--- units / sē HomeSearchTimeOut = 300 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 11330 KI = 451000 KD = 81.2 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 30.72 KFeedForwardAcceleration = 8.37e-5 KFeedForwardVelocityOpenLoop = 30.72 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [TRA@TRA25CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = TRA25CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 25 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000030517578 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.4 ;--- units / s MaximumAcceleration = 1.6 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.2 ;--- units / s HomeSearchMaximumAcceleration = 0.8 ;--- units / sē HomeSearchTimeOut = 300 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 11330 KI = 451000 KD = 81.2 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 30.72 KFeedForwardAcceleration = 8.37e-5 KFeedForwardVelocityOpenLoop = 30.72 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [TRA@TRA25PPD@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = TRA25PPD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.00009765625 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.4 ;--- units / s MaximumAcceleration = 1.6 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.2 ;--- units / s HomeSearchMaximumAcceleration = 0.8 ;--- units / sē HomeSearchTimeOut = 300 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [TRA@TRA6PPD@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = TRA6PPD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.00009765625 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 6 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.4 ;--- units / s MaximumAcceleration = 1.6 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.2 ;--- units / s HomeSearchMaximumAcceleration = 0.8 ;--- units / sē HomeSearchTimeOut = 100 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [TRA@TRA6PPV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = TRA6PPV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.00009765625 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 6 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 200 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [TRA@TRA25PPV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = TRA25PPV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.00009765625 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 600 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [TRA@TRA12PPD@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = TRA12PPD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.00009765625 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 12 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.4 ;--- units / s MaximumAcceleration = 1.6 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.2 ;--- units / s HomeSearchMaximumAcceleration = 0.8 ;--- units / sē HomeSearchTimeOut = 200 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [TRA@TRA12CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = TRA12CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 25 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000030517578 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 12 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.4 ;--- units / s MaximumAcceleration = 1.6 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.2 ;--- units / s HomeSearchMaximumAcceleration = 0.8 ;--- units / sē HomeSearchTimeOut = 200 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 11330 KI = 451000 KD = 81.2 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 30.72 KFeedForwardAcceleration = 8.37e-5 KFeedForwardVelocityOpenLoop = 30.72 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [TRA@TRA12PPV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = TRA12PPV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.00009765625 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 12 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 200 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [TRA@TRA12CC@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = TRA12CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 0.15 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 25 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000030517578 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 12 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.4 ;--- units / s MaximumAcceleration = 1.6 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MinusEndOfRunHomeSearch HomeSearchMaximumVelocity = 0.2 ;--- units / s HomeSearchMaximumAcceleration = 0.8 ;--- units / sē HomeSearchTimeOut = 100 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 11330 KI = 451000 KD = 81.2 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 30.72 KFeedForwardAcceleration = 8.37e-5 KFeedForwardVelocityOpenLoop = 30.72 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URB@URB100CC@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = URB100CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 0.965490277 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 1.930980554 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 14.56771355 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.01 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 720 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 360 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 30 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 10 KI = 100 KD = 0.25 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 50 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.025 KFeedForwardAcceleration = 0.003 KFeedForwardVelocityOpenLoop = 0.025 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URB@URB100CC@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = URB100CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 0.965490277 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 1.930980554 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 14.56771355 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.01 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 720 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 360 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 30 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 10 KI = 100 KD = 0.25 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 50 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.025 KFeedForwardAcceleration = 0.003 KFeedForwardVelocityOpenLoop = 0.025 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URB@URB100CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = URB100CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 104 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 14.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.01 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 720 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 360 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 30 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 10 KI = 100 KD = 0.25 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 50 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.025 KFeedForwardAcceleration = 0.000 KFeedForwardVelocityOpenLoop = 0.025 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URB@URB100CC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = URB100CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 104 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 14.56 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.01 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 720 ;--- units / s MaximumAcceleration = 2000 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 360 ;--- units / s HomeSearchMaximumAcceleration = 1000 ;--- units / sē HomeSearchTimeOut = 30 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 10 KI = 100 KD = 0.25 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 50 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.025 KFeedForwardAcceleration = 0.000 KFeedForwardVelocityOpenLoop = 0.025 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100ACC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100ACC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 455 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 219.73 KI = 1281.74 KD = 0.09 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 455 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 219.73 KI = 1281.74 KD = 0.09 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80ACC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80ACC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 455 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 219.73 KI = 1281.74 KD = 0.09 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 455 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 219.73 KI = 1281.74 KD = 0.09 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100ACC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100ACC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 455 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 219.73 KI = 1281.74 KD = 0.09 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100CC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 455 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 219.73 KI = 1281.74 KD = 0.09 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80ACC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80ACC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 455 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 219.73 KI = 1281.74 KD = 0.09 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80CC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 455 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 219.73 KI = 1281.74 KD = 0.09 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100APE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100APE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100APEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100APEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100APP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100APP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100PE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100PEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM150PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM150PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80APE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80APE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80APEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80APEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80APP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80APP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80PE@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80PEV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100APE@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100APE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100APEV6@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100APEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100APP@XPS-DRV01-Spindle] ;--- Unit = ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100APP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100PE@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100PEV6@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM150PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM150PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80APE@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80APE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80APEV6@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80APEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80APP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80APP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80PE@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80PE ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80PEV6@XPS-DRV01-Spindle] ;--- Unit = ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80PEV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 682 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100ACCHL@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100ACCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100CCHL@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100CCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM150CCHL@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM150CCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80ACCHL@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80ACCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80CCHL@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80CCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -170 ;--- units MaximumTargetPosition = 170 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100ACCHL@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100ACCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM100CCHL@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM100CCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM150CCHL@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM150CCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80ACCHL@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80ACCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URM@URM80CCHL@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URM80CCHL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 70 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS75CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS75CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS150CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS150CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS75CC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS75CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS150CC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS150CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS75PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS75PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS100PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS100PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS150PP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS150PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS75PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS75PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS100PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS100PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS150PP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS150PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS75BCC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS75BCC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS100BCC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS100BCC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS150BCC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS150BCC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS75BCC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS75BCC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS100BCC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS100BCC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS150BCC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS150BCC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS75BPP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS75BPP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS100BPP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS100BPP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS150BPP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS150BPP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS75BPP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS75BPP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS100BPP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS100BPP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS150BPP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS150BPP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS75BPPV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS75BPPV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 66 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS75BPPV6@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS75BPPV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 0.3 ;--- A StandbyPeakCurrentPerPhase = 0.15 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 72 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS75BCC@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS75BCC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS100BCC@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS100BCC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS150BCC@XPS-DRV03] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS150BCC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS75BCC@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS75BCC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS100BCC@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS100BCC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS150BCC@XPS-DRV03-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS150BCC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS50BCC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS50BCC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 104 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.150 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 24 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000159269253883136 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -180 ;--- units MaximumTargetPosition = 180 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 40 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.05 ;--- units KP = 500 KI = 10000 KD = 1 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.508 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.508 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS50BCC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS50BCC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 104 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.150 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 24 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.000159269253883136 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -180 ;--- units MaximumTargetPosition = 180 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 40 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.05 ;--- units KP = 500 KI = 10000 KD = 1 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 100 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.508 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.508 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS50BPP@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS50BPP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0225 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -180 ;--- units MaximumTargetPosition = 180 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 40 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS50BPP@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS50BPP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0225 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -180 ;--- units MaximumTargetPosition = 180 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 40 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS50BPPV6@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS50BPPV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.00284091 ;--- units PeakCurrentPerPhase = 0.25 ;--- A StandbyPeakCurrentPerPhase = 0.125 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00141572670118343 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 200 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 0 KI = 10 IntegrationTime = 1E99 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS100CC@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS100CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [URS@URS100CC@XPS-DRV01-Spindle] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = URS100CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.8 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = Spindle HomePreset = 0 ;--- units SpindlePeriod = 360 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 203 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 915.53 KI = 7324.22 KD = 0.37 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 203 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 915.53 KI = 7324.22 KD = 0.37 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 203 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 915.53 KI = 7324.22 KD = 0.37 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC.1DD@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC.1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.15 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 1335 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 2929.69 KI = 7324.22 KD = 1.17 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC.1DD/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC.1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.15 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 1335 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 2929.69 KI = 7324.22 KD = 1.17 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC.1DD/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC.1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.15 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 1335 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 2929.69 KI = 7324.22 KD = 1.17 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC1DD@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 135 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1098.63 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC1DD/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 135 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1098.63 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC1DD/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 135 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1098.63 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 303 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 915.53 KI = 7324.22 KD = 0.37 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 303 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 915.53 KI = 7324.22 KD = 0.37 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 303 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 915.53 KI = 7324.22 KD = 0.37 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC.1DD@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC.1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.15 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 2003 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 2929.69 KI = 7324.22 KD = 1.17 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC.1DD/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC.1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.15 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 2003 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 2929.69 KI = 7324.22 KD = 1.17 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC.1DD/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC.1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.15 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 2003 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 2929.69 KI = 7324.22 KD = 1.17 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC1DD@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 203 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1098.63 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC1DD/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 203 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1098.63 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC1DD/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 203 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1098.63 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25CC.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 53 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 915.53 KI = 7324.22 KD = 0.37 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25CC.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 53 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 915.53 KI = 7324.22 KD = 0.37 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25CC.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 53 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 915.53 KI = 7324.22 KD = 0.37 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25CC.1DD@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25CC.1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.15 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 335 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 2929.69 KI = 7324.22 KD = 1.17 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25CC.1DD/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25CC.1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.15 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 335 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 2929.69 KI = 7324.22 KD = 1.17 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25CC.1DD/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25CC.1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.15 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 335 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 2929.69 KI = 7324.22 KD = 1.17 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25CC1DD@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25CC1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 35 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1098.63 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25CC1DD/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25CC1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 35 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1098.63 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25CC1DD/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25CC1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 35 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1098.63 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 103 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 915.53 KI = 7324.22 KD = 0.37 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 103 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 915.53 KI = 7324.22 KD = 0.37 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.3 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 103 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 915.53 KI = 7324.22 KD = 0.37 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC.1DD@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC.1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.15 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 669 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 2929.69 KI = 7324.22 KD = 1.17 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC.1DD/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC.1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.15 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 669 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 2929.69 KI = 7324.22 KD = 1.17 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC.1DD/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC.1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.15 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 669 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 2929.69 KI = 7324.22 KD = 1.17 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC1DD@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 69 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1098.63 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC1DD/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 69 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1098.63 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC1DD/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC1DD ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2.5 ;--- units / s MaximumAcceleration = 10 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1.5 ;--- units / s HomeSearchMaximumAcceleration = 5 ;--- units / sē HomeSearchTimeOut = 69 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 329.59 KI = 1098.63 KD = 0.13 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PE.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PE.1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PE1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PE1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PP.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PP1HL@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PP1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PE.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 3002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PE.1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 3002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PE1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PE1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PP.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PP1HL@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PP1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 32 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PE.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PE.1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PE1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 52 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PE1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 52 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PP.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 52 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PP1HL@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PP1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PE.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 1002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PE.1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 1002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PE1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 102 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PE1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 102 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PP.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 102 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PP1HL@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PP1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 12 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PE.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PE.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PE.1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PE.1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 2002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PE1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PE1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PE1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PE1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PP.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PP.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 202 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PP1HL/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PP1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100PP1HL/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100PP1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PE.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 3002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PE.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 3002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PE.1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 3002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PE.1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 3002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PE1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PE1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PE1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PE1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PP.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PP.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 302 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PP1HL/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PP1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 32 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150PP1HL/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150PP1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 32 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PE.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PE.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PE.1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PE.1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 502 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PE1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 52 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PE1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 52 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PE1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 52 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PE1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 52 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PP.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 52 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PP.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 52 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PP1HL/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PP1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25PP1HL/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25PP1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PE.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 1002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PE.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 1002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PE.1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 1002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PE.1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 1002 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PE1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 102 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PE1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PE1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 102 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PE1V6/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 102 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PE1V6/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PE1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 102 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PP.1/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 102 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PP.1/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 102 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PP1HL/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PP1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 12 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50PP1HL/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50PP1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 12 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC.5HA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC.5HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.5 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC.5HA/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC.5HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.5 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC.5HA/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC.5HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.5 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC1HL@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC1HL/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -100 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM100CC1HL/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM100CC1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 100 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 22 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC.5HA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC.5HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 32 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.5 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC.5HA/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC.5HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 32 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.5 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC.5HA/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC.5HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 32 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.5 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC1HL@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 32 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC1HL/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -150 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 32 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM150CC1HL/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM150CC1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 150 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 32 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25CC1HL@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25CC1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25CC1HL/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25CC1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM25CC1HL/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM25CC1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC.5HA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC.5HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 12 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.5 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC.5HA/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC.5HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 12 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.5 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC.5HA/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC.5HA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 12 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.5 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC1HL@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 12 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC1HL/1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 0 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 12 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTM@UTM50CC1HL/-1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTM50CC1HL ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 97 ;--- units / s VelocityLimit = 97 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -0.0001 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 12 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTS@UTS50CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTS50CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.9 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 32 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 50 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 5 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 427 KI = 24400 KD = 1.67 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1e99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.463 KFeedForwardAcceleration = 0.000354 KFeedForwardVelocityOpenLoop = 0.463 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTS@UTS100CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTS100CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.9 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 32 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 50 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 427 KI = 24400 KD = 1.67 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1e99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.463 KFeedForwardAcceleration = 0.000354 KFeedForwardVelocityOpenLoop = 0.463 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTS@UTS150CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTS150CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.9 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 32 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -75 ;--- units MaximumTargetPosition = 75 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 50 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 15 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 427 KI = 24400 KD = 1.67 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1e99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.463 KFeedForwardAcceleration = 0.000354 KFeedForwardVelocityOpenLoop = 0.463 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTS@UTS50PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTS50PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -24 ;--- units MaximumTargetPosition = 26 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTS@UTS100PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTS100PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -49 ;--- units MaximumTargetPosition = 51 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTS@UTS150PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTS150PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -74 ;--- units MaximumTargetPosition = 76 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 20 ;--- units / s MaximumAcceleration = 80 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 40 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTS@UTS50PPV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTS50PPV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.35 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -24 ;--- units MaximumTargetPosition = 26 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 10 ;--- units / s MaximumAcceleration = 40 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 5 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTS@UTS100PPV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTS100PPV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.35 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -49 ;--- units MaximumTargetPosition = 51 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 10 ;--- units / s MaximumAcceleration = 40 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 5 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UTS@UTS150PPV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UTS150PPV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.01 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.35 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -74 ;--- units MaximumTargetPosition = 76 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 10 ;--- units / s MaximumAcceleration = 40 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 5 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UZM@UZM80CC.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UZM80CC.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 0.15 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -2 ;--- units MaximumTargetPosition = 2 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.25 ;--- units / s MaximumAcceleration = 1 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.15 ;--- units / s HomeSearchMaximumAcceleration = 0.5 ;--- units / sē HomeSearchTimeOut = 55 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 2929.69 KI = 14648.44 KD = 1.46 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UZM@UZM160PE.05@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UZM160PE.05 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.00005 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -4.5 ;--- units MaximumTargetPosition = 4.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.05 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 362 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.0005 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UZM@UZM160PE.05V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UZM160PE.05V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.00005 ;--- units PeakCurrentPerPhase = 0.47 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -4.5 ;--- units MaximumTargetPosition = 4.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.05 ;--- units / s MaximumAcceleration = 0.2 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.05 ;--- units / s HomeSearchMaximumAcceleration = 0.1 ;--- units / sē HomeSearchTimeOut = 362 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.0005 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UZM@UZM160PP.05@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UZM160PP.05 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0005 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -4.5 ;--- units MaximumTargetPosition = 4.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.5 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 38 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.005 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UZM@UZM80PE.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UZM80PE.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -2 ;--- units MaximumTargetPosition = 2 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.2 ;--- units / s MaximumAcceleration = 0.8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.4 ;--- units / sē HomeSearchTimeOut = 82 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UZM@UZM80PE.1V6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UZM80PE.1V6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.0001 ;--- units PeakCurrentPerPhase = 0.4 ;--- A StandbyPeakCurrentPerPhase = 0.2 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -2 ;--- units MaximumTargetPosition = 2 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.1 ;--- units / s MaximumAcceleration = 0.4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.1 ;--- units / s HomeSearchMaximumAcceleration = 0.2 ;--- units / sē HomeSearchTimeOut = 82 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.001 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UZM@UZM80PP.1@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UZM80PP.1 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Half ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 0.86 ;--- A StandbyPeakCurrentPerPhase = 0.43 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -2 ;--- units MaximumTargetPosition = 2 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.01 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UZM@UZM160CC.05@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UZM160CC.05 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 4.9 ;--- units / s VelocityLimit = 4.9 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1.2 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -4.5 ;--- units MaximumTargetPosition = 4.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 1 ;--- units / s MaximumAcceleration = 4 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 2 ;--- units / sē HomeSearchTimeOut = 20 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 0.1 ;--- units KP = 60 KI = 3500 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UZM@UZM160PE.05BV6@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UZM160PE.05BV6 ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.00005 ;--- units PeakCurrentPerPhase = 0.33 ;--- A StandbyPeakCurrentPerPhase = 0.235 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -4.5 ;--- units MaximumTargetPosition = 4.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 0.05 ;--- units / s MaximumAcceleration = 0.2 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 0.05 ;--- units / s HomeSearchMaximumAcceleration = 0.1 ;--- units / sē HomeSearchTimeOut = 362 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIPosition ClosedLoopStatus = Closed FatalFollowingError = 0.0005 ;--- units KP = 0 KI = 10 IntegrationTime = 1000000 ;--- s DeadBandThreshold = 0 ;--- units NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UZS@UZS80CC@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UZS80CC ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 24.6 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -2.26 ;--- units MaximumTargetPosition = 2.26 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 20 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 2.37E+03 KI = 8.48E+04 KD = 1.53E+01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1.00E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 3.707865169 KFeedForwardAcceleration = 0.00063 KFeedForwardVelocityOpenLoop = 3.707865169 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UZS@UZS80CC@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UZS80CC ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMaximumRMSCurrent = 1 ;--- A DriverRMSIntegrationTime = 3 ;--- s ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 5 ;--- A CurrentLimit = 1.96 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 24.6 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.00005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -2.25 ;--- units MaximumTargetPosition = 2.25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 4 ;--- units / s MaximumAcceleration = 16 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 8 ;--- units / sē HomeSearchTimeOut = 20 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 2.37E+03 KI = 8.48E+04 KD = 1.53E+01 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 1 ;--- units IntegrationTime = 1.00E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 3.707865169 KFeedForwardAcceleration = 0.00063 KFeedForwardVelocityOpenLoop = 3.707865169 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [UZS@UZS80PP@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = UZS80PP ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.001 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -2.26 ;--- units MaximumTargetPosition = 2.26 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 2 ;--- units / s MaximumAcceleration = 8 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 1 ;--- units / s HomeSearchMaximumAcceleration = 4 ;--- units / sē HomeSearchTimeOut = 18 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [VP@VP-25AA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = VP-25AA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 133 ;--- units / s VelocityLimit = 133 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 0.84 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 25 ;--- units / s MaximumAcceleration = 100 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 50 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [VP@VP-25XA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = VP-25XA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 133 ;--- units / s VelocityLimit = 133 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 0.84 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 25 ;--- units / s MaximumAcceleration = 100 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 50 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [VP@VP-5ZA@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = VP-5ZA ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverErrorAmplifierGain = 9 DriverTachometerGain = 100 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 27 ;--- units / s VelocityLimit = 27 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 0.84 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0000196 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -2.4 ;--- units MaximumTargetPosition = 2.4 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 5 ;--- units / s MaximumAcceleration = 40 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [VP@VP-25XL@XPS-DRVM5] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = VP-25XL ;--- Motor driver model parameters DriverName = XPS-DRVM5 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 30 ;--- units / s VelocityLimit = 30 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1 ;--- A ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 20e-3 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 25 ;--- units / s MaximumAcceleration = 100 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 100 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 150 KI = 15000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [VP@VP-25XL@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = VP-25XL ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 7.96 ;--- Ohms DriverMotorInductance = 0.83e-3 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 0.37 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.004545 ;--- V/rpm DriverTachoGeneratorVoltage = 5.2e-4 ;--- V/rpm DriverStageInertia = 1.1e-6 ;--- kg.mē DriverGearRatio = 2 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 38 ;--- units / s VelocityLimit = 38 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 0.74 ;--- A ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Driver EncoderInterpolationFactor = 4000 EncoderScalePitch = 20e-3 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 25 ;--- units / s MaximumAcceleration = 100 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 100 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 156 KI = 3910 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [VP@VP-25AA@XPS-DRVM5] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = VP-25AA ;--- Motor driver model parameters DriverName = XPS-DRVM5 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 133 ;--- units / s VelocityLimit = 133 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 25 ;--- units / s MaximumAcceleration = 100 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 50 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [VP@VP-25XA@XPS-DRVM5] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = VP-25XA ;--- Motor driver model parameters DriverName = XPS-DRVM5 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 133 ;--- units / s VelocityLimit = 133 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 25 ;--- units / s MaximumAcceleration = 100 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 50 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [VP@VP-5ZA@XPS-DRVM5] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = VP-5ZA ;--- Motor driver model parameters DriverName = XPS-DRVM5 DriverBridgeFreeWheel = 1 DriverBrake = 0 ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 27 ;--- units / s VelocityLimit = 27 ;--- units / s ScalingCurrent = 3 ;--- A CurrentLimit = 1 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0000196 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -2.4 ;--- units MaximumTargetPosition = 2.4 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 5 ;--- units / s MaximumAcceleration = 40 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [VP@VP-25AA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = VP-25AA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 7.96 ;--- Ohms DriverMotorInductance = 0.83e-3 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 0.37 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.004545 ;--- V/rpm DriverTachoGeneratorVoltage = 5.2e-4 ;--- V/rpm DriverStageInertia = 1.1e-6 ;--- kg.mē DriverGearRatio = 2 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 38 ;--- units / s VelocityLimit = 38 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 0.84 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 25 ;--- units / s MaximumAcceleration = 100 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 50 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [VP@VP-25XA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = VP-25XA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 7.96 ;--- Ohms DriverMotorInductance = 0.83e-3 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 0.37 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.004545 ;--- V/rpm DriverTachoGeneratorVoltage = 5.2e-4 ;--- V/rpm DriverStageInertia = 1.1e-6 ;--- kg.mē DriverGearRatio = 2 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 38 ;--- units / s VelocityLimit = 38 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 0.84 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0001 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -12.5 ;--- units MaximumTargetPosition = 12.5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 25 ;--- units / s MaximumAcceleration = 100 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 10 ;--- units / s HomeSearchMaximumAcceleration = 50 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [VP@VP-5ZA@XPS-DRV03] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = VP-5ZA ;--- Motor driver model parameters DriverName = XPS-DRV03 DriverMotorResistance = 7.96 ;--- Ohms DriverMotorInductance = 0.83e-3 ;--- H DriverCurrentCutOffFrequency = 500 ;--- Hz DriverMaximumRMSCurrent = 0.37 ;--- A DriverRMSIntegrationTime = 3 ;--- s DriverMaximumMotorVoltage = 48 ;--- V DriverVelocityCutOffFrequency = 100 ;--- Hz DriverMotorVoltageConstant = 0.004545 ;--- V/rpm DriverTachoGeneratorVoltage = 5.2e-4 ;--- V/rpm DriverStageInertia = 1.1e-6 ;--- kg.mē DriverGearRatio = 10 ;--- revolution/units ;--- Driver command interface parameters MotorDriverInterface = AnalogVelocity ScalingVelocity = 8 ;--- units / s VelocityLimit = 8 ;--- units / s ScalingCurrent = 5 ;--- A CurrentLimit = 0.84 ;--- A ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0000196 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -2.4 ;--- units MaximumTargetPosition = 2.4 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 5 ;--- units / s MaximumAcceleration = 40 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 6 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFVelocity ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 100 KI = 5000 KD = 0 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [XM@XMS50@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = XMS50 ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 5.5 ;--- Ohms DriverMotorInductance = 0.0018 ;--- H DriverMaximumPeakCurrent = 2.51 ;--- A DriverMaximumRMSCurrent = 1.14 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 400 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 56740 ;--- units / sē AccelerationLimit = 25894 ;--- units / sē MagneticTrackPeriod = 30 ;--- units InitializationAccelerationLevel = 5 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Encoder EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.004 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEOREncoderPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 300 ;--- units / s MaximumAcceleration = 2500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.02 ;--- s MaximumJerkTime = 0.02 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 5 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 300000 KI = 10000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [XM@XMS100@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = XMS100 ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 5.5 ;--- Ohms DriverMotorInductance = 0.0018 ;--- H DriverMaximumPeakCurrent = 2.51 ;--- A DriverMaximumRMSCurrent = 1.14 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 400 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 39087 ;--- units / sē AccelerationLimit = 17838 ;--- units / sē MagneticTrackPeriod = 30 ;--- units InitializationAccelerationLevel = 5 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Encoder EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.004 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEOREncoderPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 300 ;--- units / s MaximumAcceleration = 2500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.02 ;--- s MaximumJerkTime = 0.02 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 5 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 300000 KI = 10000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [XM@XMS160@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = XMS160 ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 5.5 ;--- Ohms DriverMotorInductance = 0.0018 ;--- H DriverMaximumPeakCurrent = 2.51 ;--- A DriverMaximumRMSCurrent = 1.14 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 400 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 30590 ;--- units / sē AccelerationLimit = 13960 ;--- units / sē MagneticTrackPeriod = 30 ;--- units InitializationAccelerationLevel = 7 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Encoder EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.004 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEOREncoderPlug MinimumTargetPosition = -80 ;--- units MaximumTargetPosition = 80 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 300 ;--- units / s MaximumAcceleration = 2500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.02 ;--- s MaximumJerkTime = 0.02 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 7 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 300000 KI = 10000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [XM@XML210@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = XML210 ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.6 ;--- Ohms DriverMotorInductance = 0.002 ;--- H DriverMaximumPeakCurrent = 4.18 ;--- A DriverMaximumRMSCurrent = 1.9 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 400 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 12793 ;--- units / sē AccelerationLimit = 9723 ;--- units / sē MagneticTrackPeriod = 42 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Encoder EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.004 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEOREncoderPlug MinimumTargetPosition = -105 ;--- units MaximumTargetPosition = 105 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 300 ;--- units / s MaximumAcceleration = 2500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.02 ;--- s MaximumJerkTime = 0.02 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 7 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 300000 KI = 10000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [XM@XML350@XPS-DRV02] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = XML350 ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.6 ;--- Ohms DriverMotorInductance = 0.002 ;--- H DriverMaximumPeakCurrent = 4.18 ;--- A DriverMaximumRMSCurrent = 1.9 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 400 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120Acceleration ScalingAcceleration = 8240 ;--- units / sē AccelerationLimit = 6262 ;--- units / sē MagneticTrackPeriod = 42 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Encoder EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.004 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEOREncoderPlug MinimumTargetPosition = -175 ;--- units MaximumTargetPosition = 175 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 300 ;--- units / s MaximumAcceleration = 2500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.02 ;--- s MaximumJerkTime = 0.02 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 300000 KI = 10000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [XM@XML210@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = XML210 ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.6 ;--- Ohms DriverMotorInductance = 0.002 ;--- H DriverMaximumPeakCurrent = 4.18 ;--- A DriverMaximumRMSCurrent = 1.9 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 400 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 12793 ;--- units / sē AccelerationLimit = 9723 ;--- units / sē MagneticTrackPeriod = 42 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Encoder EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.004 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEOREncoderPlug MinimumTargetPosition = -105 ;--- units MaximumTargetPosition = 105 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 300 ;--- units / s MaximumAcceleration = 2500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.02 ;--- s MaximumJerkTime = 0.02 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 7 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 300000 KI = 10000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [XM@XML350@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = XML350 ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 2.6 ;--- Ohms DriverMotorInductance = 0.002 ;--- H DriverMaximumPeakCurrent = 4.18 ;--- A DriverMaximumRMSCurrent = 1.9 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 400 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 8240 ;--- units / sē AccelerationLimit = 6262 ;--- units / sē MagneticTrackPeriod = 42 ;--- units InitializationAccelerationLevel = 15 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Encoder EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.004 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEOREncoderPlug MinimumTargetPosition = -175 ;--- units MaximumTargetPosition = 175 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 300 ;--- units / s MaximumAcceleration = 2500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.02 ;--- s MaximumJerkTime = 0.02 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 10 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 300000 KI = 10000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [XM@XMS100@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = XMS100 ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 5.5 ;--- Ohms DriverMotorInductance = 0.0018 ;--- H DriverMaximumPeakCurrent = 2.51 ;--- A DriverMaximumRMSCurrent = 1.14 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 400 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 39087 ;--- units / sē AccelerationLimit = 17838 ;--- units / sē MagneticTrackPeriod = 30 ;--- units InitializationAccelerationLevel = 5 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Encoder EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.004 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEOREncoderPlug MinimumTargetPosition = -50 ;--- units MaximumTargetPosition = 50 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 300 ;--- units / s MaximumAcceleration = 2500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.02 ;--- s MaximumJerkTime = 0.02 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 5 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 300000 KI = 10000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [XM@XMS160@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = XMS160 ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 5.5 ;--- Ohms DriverMotorInductance = 0.0018 ;--- H DriverMaximumPeakCurrent = 2.51 ;--- A DriverMaximumRMSCurrent = 1.14 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 400 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 30590 ;--- units / sē AccelerationLimit = 13960 ;--- units / sē MagneticTrackPeriod = 30 ;--- units InitializationAccelerationLevel = 7 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Encoder EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.004 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEOREncoderPlug MinimumTargetPosition = -80 ;--- units MaximumTargetPosition = 80 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 300 ;--- units / s MaximumAcceleration = 2500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.02 ;--- s MaximumJerkTime = 0.02 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 7 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 300000 KI = 10000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [XM@XMS50@XPS-DRV02-LMI] ;--- Unit = mm ;--- Configuration_Comment = No load ;--- Smart stage name SmartStageName = XMS50 ;--- Motor driver model parameters DriverName = XPS-DRV02 DriverMotorResistance = 5.5 ;--- Ohms DriverMotorInductance = 0.0018 ;--- H DriverMaximumPeakCurrent = 2.51 ;--- A DriverMaximumRMSCurrent = 1.14 ;--- A DriverRMSIntegrationTime = 15 ;--- s DriverThermistanceThreshold = 1000 ;--- Ohms DriverCutOffFrequency = 400 ;--- Hz ;--- Driver command interface parameters MotorDriverInterface = AnalogSin120AccelerationLMI ScalingAcceleration = 56740 ;--- units / sē AccelerationLimit = 25894 ;--- units / sē MagneticTrackPeriod = 30 ;--- units InitializationAccelerationLevel = 5 ;--- Pourcentage InitializationCycleDuration = 5 ;--- s ;--- Position encoder interface parameters EncoderType = AnalogInterpolated LinearEncoderCorrection = 0 ;--- ppm EncoderZMPlug = Encoder EncoderInterpolationFactor = 4000 EncoderScalePitch = 0.004 ;--- units EncoderSinusOffset = 0 ;--- V EncoderCosinusOffset = 0 ;--- V EncoderPhaseCompensation = 0 ;--- deg EncoderDifferentialGain = 0 Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units EncoderHardInterpolatorErrorCheck = Enabled ;--- Limit sensor input plug parameters ServitudesType = StandardEOREncoderPlug MinimumTargetPosition = -25 ;--- units MaximumTargetPosition = 25 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 300 ;--- units / s MaximumAcceleration = 2500 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.02 ;--- s MaximumJerkTime = 0.02 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 100 ;--- units / s HomeSearchMaximumAcceleration = 500 ;--- units / sē HomeSearchTimeOut = 5 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDFFAcceleration ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 300000 KI = 10000000 KD = 800 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardAcceleration = 1 NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 KFeedForwardJerk = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ZVR@ZVR-PP-Z@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ZVR-PP-Z ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.005 ;--- units PeakCurrentPerPhase = 0.7 ;--- A StandbyPeakCurrentPerPhase = 0.35 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -5 ;--- units MaximumTargetPosition = 5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 10 ;--- units / s MaximumAcceleration = 40 ;--- units / sē EmergencyDecelerationMultiplier = 1 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ZVR@ZVR-PP-T@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ZVR-PP-T ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.02 ;--- units PeakCurrentPerPhase = 1 ;--- A StandbyPeakCurrentPerPhase = 0.5 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 40 ;--- units / s MaximumAcceleration = 160 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 20 ;--- units / s HomeSearchMaximumAcceleration = 80 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ZVR@ZVR-PC-T@XPS-DRV01] ;--- Unit = deg ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ZVR-PC-T ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz ;--- Driver command interface parameters MotorDriverInterface = AnalogVoltage ScalingCurrent = 3 ;--- A CurrentLimit = 1.5 ;--- A ScalingVoltage = 48 ;--- V VoltageLimit = 48 ;--- V ;--- Position encoder interface parameters EncoderType = AquadB EncoderResolution = 0.0005 ;--- units LinearEncoderCorrection = 0 ;--- ppm Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz PositionerMappingFileName = PositionerMappingLineNumber = PositionerMappingMaxPositionError = ;--- units EncoderIndexOffset = 0 ;--- units ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -165 ;--- units MaximumTargetPosition = 165 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 80 ;--- units / s MaximumAcceleration = 320 ;--- units / sē EmergencyDecelerationMultiplier = 4 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroAndIndexHomeSearch HomeSearchMaximumVelocity = 40 ;--- units / s HomeSearchMaximumAcceleration = 160 ;--- units / sē HomeSearchTimeOut = 19 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = PIDDualFFVoltage ClosedLoopStatus = Closed FatalFollowingError = 1 ;--- units KP = 292.97 KI = 7324.22 KD = 0.21 KS = 0.8 GKP = 0 GKD = 0 GKI = 0 KForm = 0 ;--- units IntegrationTime = 1E+99 ;--- s DerivativeFilterCutOffFrequency = 5000 ;--- Hz DeadBandThreshold = 0 ;--- units KFeedForwardVelocity = 0.25 KFeedForwardAcceleration = 0 KFeedForwardVelocityOpenLoop = 0.25 Friction = 0 ;--- V NotchFrequency1 = 0 ;--- Hz NotchBandwidth1 = 0 ;--- Hz NotchGain1 = 0 NotchFrequency2 = 0 ;--- Hz NotchBandwidth2 = 0 ;--- Hz NotchGain2 = 0 ;--- Motion done condition mode parameters MotionDoneMode = Theoretical [ZVR@ZVR-PC-Z@XPS-DRV01] ;--- Unit = mm ;--- Configuration_Comment = ;--- Smart stage name SmartStageName = ZVR-PC-Z ;--- Motor driver model parameters DriverName = XPS-DRV01 DriverPWMFrequency = 50 ;--- kHz DriverStepperWinding = Full ;--- Driver command interface parameters MotorDriverInterface = AnalogStepperPosition ScalingCurrent = 3 ;--- A DisplacementPerFullStep = 0.005 ;--- units PeakCurrentPerPhase = 0.7 ;--- A StandbyPeakCurrentPerPhase = 0.35 ;--- A BaseVelocity = 0 ;--- units / s ;--- Position encoder interface parameters EncoderType = NoEncoder Backlash = 0 ;--- units CurrentVelocityCutOffFrequency = 100 ;--- Hz CurrentAccelerationCutOffFrequency = 100 ;--- Hz ;--- Limit sensor input plug parameters ServitudesType = StandardEORDriverPlug MinimumTargetPosition = -5 ;--- units MaximumTargetPosition = 5 ;--- units HomePreset = 0 ;--- units MaximumVelocity = 10 ;--- units / s MaximumAcceleration = 40 ;--- units / sē EmergencyDecelerationMultiplier = 1 MinimumJerkTime = 0.005 ;--- s MaximumJerkTime = 0.05 ;--- s TrackingCutOffFrequency = 25 ;--- Hz ;--- Home search process parameters HomeSearchSequenceType = MechanicalZeroHomeSearch HomeSearchMaximumVelocity = 2 ;--- units / s HomeSearchMaximumAcceleration = 20 ;--- units / sē HomeSearchTimeOut = 34 ;--- s HomingSensorOffset = 0 ;--- units ;--- Position servo loop type parameters CorrectorType = NoEncoderPosition ;--- Motion done condition mode parameters MotionDoneMode = Theoretical