//对于普通用户，本初始化文件除控制卡基地址([Initial]中的Address)以外的所有设置最好不要更改。
//对于高级用户，需确认对该文件设置的更改的正确性，否则XY(z)平台工作可能不正常。


[Reference Point]
x=0
y=0
z=0
a=0

[Map Axes]
x=1
y=2
z=3
a=4



[Default Parameters]

//unit in mm/min
Rapid Speed=6000

//unit in mm/min
Cut Speed=2000

//unit in us
Servo Cycle=200

[Initial]
Address=768
//irq=0 is recemended
Irq=0
//cardtype 1: SV 2:SG 3:SP
Card Type=2
Limit Sense=0
Encoder Sense=0

//unit in mm/min/min
Motion Acceleration=6000000
Servo Cycle=200


[Axis 1]
//pulses each mm
Map_a=40
Map_b=0
Map_c=0
Map_d=0
Equivalent=0.01

Kp=20
Ki=10
Kd=10
Integral Limit=30000
Speed Feedforward=0
Acceleration Feedforward=0
Motor Limit=30000
Motor Bias=0
Position Error Limit=30000

//unit for items below is in pulse and ST
Velocity=1.88
Acceleration=0.0076
Acceleration Limit=1
Jerk=0.0025
Max Acceleration=0.1
Position=0
Machine Coord=0
Reference Coord=0.000

[Axis 2]
Map_a=0
//pulses each mm
Map_b=40
Map_c=0
Map_d=0
Equivalent=0.01

Kp=20
Ki=10
Kd=10
Integral Limit=30000
Speed Feedforward=0
Acceleration Feedforward=0
Motor Limit=30000
Motor Bias=0
Position Error Limit=30000

//unit for items below is in pulse and ST
Velocity=1.88
Acceleration=0.0076
Acceleration Limit=1
Jerk=0.0025
Max Acceleration=0.1
Position=0
Machine Coord=0
Reference Coord=0.00

[Axis 3]
Map_a=0
Map_b=0
//pulses each mm
Map_c=40
Map_d=0
Equivalent=0.01

Kp=20
Ki=10
Kd=10
Integral Limit=30000
Speed Feedforward=0
Acceleration Feedforward=0
Motor Limit=30000
Motor Bias=0
Position Error Limit=30000

//unit for items below is in pulse and ST
Velocity=1.88
Acceleration=0.0076
Acceleration Limit=1
Jerk=0.0025
Max Acceleration=0.1
Position=0
Machine Coord=0
Reference Coord=0.00000

[Axis 4]
Map_a=0
Map_b=0
Map_c=0
//pulses each mm
Map_d=40
Equivalent=0.01

Kp=11
Ki=11
Kd=11
Integral Limit=10000
Speed Feedforward=0
Acceleration Feedforward=0
Motor Limit=20000
Motor Bias=0
Position Error Limit=100

//unit for items below is in pulse and ST
Velocity=1.88
Acceleration=0.0076
Acceleration Limit=0.08
Jerk=0.0025
Max Acceleration=0.08
Position=0
Machine Coord=0
Reference Coord=0.00000

[XYZorXY]
//specify your table is XY table or XYZ table
//2: XY Table   3:XYZ Table
TableAxes=2
