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+#TC_iTomcat-ES2-Detector-Tower-FAT
+## Overview
+
+## Settings Vertical Axis (Twincat Axis Nr.2)   
+Spindle pitch : 2mm/rev   
+
+### Motor 
+Motor Type : Beckhoff AM8131-0F21-0000 
+Rotational Encoder in the Servo motor: 13 bit single turn, 12 bit multi turn
+INC @ negative Hard Stop: 4257241296
+INC @ positive Hard Stop: 72120760
+
+
+### Linear Encoder   
+Renishaw RL32BBS001C30A
+Resolution : 1 nm 32 bit
+INC @ negative Hard Stop: 18446744073490423421
+INC @ positive Hard Stop: 18446744073698842166
+
+
+
+
+
+## Settings Axis 2
+Linear position @ negative hard stop : 0.000 mm
+negative limit switch @ 19.3 mm
+
+Linear position @ positive hard stop : 209.47 mm
+positive limit switch @ 202.27 mm
+
+
+!(docu_images/Axis2-encoder-open-loop.png)
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