# Distances are in mm (XYZ) or degress (THETA), times are Durations,
# speeds are in axis units/sec.

Controller/configurationName = GANTRY

# The interval between periodic status updates.
Controller/statusUpdateInterval = PT1.000S
# The IP address of the motor controller.
Controller/IPv4Address = 192.168.10.40
# Air pressure limits in bars.
Controller/minAirPressure = 5.5
Controller/maxAirPressure = 6.5

# Speed limit imposed by software on moves.
Controller/XAxis/maxSpeed = 1.0
# An upper limit on the distance covered by any single move or homing operation.
# Used with maxSpeed to calculate timeouts.
Controller/XAxis/maxTravel = 2.2

Controller/YAxis/maxSpeed = 1.0
Controller/YAxis/maxTravel = 2.4

Controller/ThetaAxis/maxSpeed = 1.0
Controller/ThetaAxis/maxTravel = 2.8

Controller/ZAxis/maxSpeed = 2.00
Controller/ZAxis/maxTravel = 650.0
# Load cell thresholds for various regions of the Z axis. Interval coordinates
# are in mm and thresholds are in newtons. Threshold values apply after
# the raft weight has been subtracted.
Controller/ZAxis/downwardIntervalTable  = [ 1e9]
Controller/ZAxis/downwardThresholdTable = [-5.0]

Controller/ZAxis/upwardIntervalTable    = [ 39.0, 1e9]
Controller/ZAxis/upwardThresholdTable   = [150.0, 2.0]

# The conversion of load cell voltages to newtons.
# A +1V deviation from 5V indicates +100N.
Controller/ZAxis/LoadCell/voltageOrigin = 5.0
Controller/ZAxis/LoadCell/voltageScaleFactor = 100.0


# The conversion of air pressure sensor voltages to bars. 1V indicates 1 bar.
Controller/XAxis/AirPressure/voltageOrigin = 0.0
Controller/XAxis/AirPressure/voltageScaleFactor = 1.0
