4ca1f6e110
Change the CRLF strategie: All (nearly all) files have LF in the repo, and CRLF in the working tree. When we started, all files had been commited "as is". Now it is more and more disturbing that Git shows "^M" in git diff when a line was added or chenged. To avoid this, store all files in the repo with LF. To normalzie existing repos for a crate, run: Step 1) (unless you have done that already) git remote add tc_generic_structure https://bitbucket.org/europeanspallationsource/tc_generic_structure.git Step 2) git fetch tc_generic_structure Step 3) (master below may be integration) git merge tc_generic_structure/master -X renormalize
3 lines
5.9 KiB
XML
3 lines
5.9 KiB
XML
<?xml version="1.0" encoding="ISO-8859-1"?>
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<TreeItem><NcAxisDef><AxisType>1</AxisType><AxisParam><Unit>mm</Unit><Dynamic><Acceleration>1500</Acceleration><Deceleration>1500</Deceleration><Jerk>2250</Jerk><AccelerationMaximum>15000</AccelerationMaximum><DecelerationMaximum>15000</DecelerationMaximum><DelayTime>0</DelayTime><SetpointGeneratorType>1</SetpointGeneratorType><OverrideType>3</OverrideType><VeloJumpFactor>0</VeloJumpFactor><ToleranceBallAuxAxis>0</ToleranceBallAuxAxis><MaxPosDeviationAuxAxis>0</MaxPosDeviationAuxAxis><FastAxisStopSignalType>0</FastAxisStopSignalType><FastAcceleration>0</FastAcceleration><FastDeceleration>0</FastDeceleration><FastJerk>0</FastJerk></Dynamic><Velo><RefSearch>30</RefSearch><RefSync>30</RefSync><SlowManual>100</SlowManual><FastManual>600</FastManual><Fast>2000</Fast><Maximum>2000</Maximum></Velo><PositionAreaControl><Enable>true</Enable><Range>5</Range></PositionAreaControl><MotionControl><Enable>false</Enable><Range>0.1</Range><Time>0.5</Time></MotionControl><Loop><Enable>false</Enable><Range>100</Range></Loop><TargetPosControl><Enable>true</Enable><Range>2</Range><Time>0.02</Time></TargetPosControl><PEHControl><Enable>false</Enable><Time>5</Time></PEHControl><BacklashCompensation><Enable>false</Enable><Range>0</Range></BacklashCompensation><OtherSettings><ErrorReactionMode>0</ErrorReactionMode><ErrorReactionDelay>0</ErrorReactionDelay><SwitchToActValuesIfDisabled>false</SwitchToActValuesIfDisabled><NoMotionWindow>1</NoMotionWindow><NoMotionFilterTime>0.01</NoMotionFilterTime><EncGrpDeadTimeComp>0</EncGrpDeadTimeComp><AllowMotionCmdToSlave>true</AllowMotionCmdToSlave><AllowMotionCmdToExtSetGenAxis>false</AllowMotionCmdToExtSetGenAxis></OtherSettings><DataPersistence>false</DataPersistence><PulseDistancePos>5</PulseDistancePos><PulseDistanceNeg>5</PulseDistanceNeg></AxisParam><Encoder><EncType>1</EncType><EncParam><ScaleFactorNumerator>0.0001</ScaleFactorNumerator><ScaleFactorDenominator>1</ScaleFactorDenominator><Offset>0</Offset><ModuloFactor>360</ModuloFactor><ToleranceWndModuloStart>0</ToleranceWndModuloStart><Inverse>false</Inverse><EncMode>2</EncMode><MaxCount>16777215</MaxCount><FilterTime><TPos>0</TPos><TVelo>0.01</TVelo><TAcc>0.1</TAcc></FilterTime><SoftEndMinControl><Enable>false</Enable><Range>0</Range></SoftEndMinControl><SoftEndMaxControl><Enable>false</Enable><Range>0</Range></SoftEndMaxControl><ActPosCorrection><Enable>false</Enable><Time>0</Time></ActPosCorrection><RejectionFilterMask>0</RejectionFilterMask><ReferenceSystem>0</ReferenceSystem><EvaluationDirection>0</EvaluationDirection><Inc><RefSearchInverse>false</RefSearchInverse><RefSyncInverse>true</RefSyncInverse><RefPosition>0</RefPosition><RefDistSearchToSyncEnabled>false</RefDistSearchToSyncEnabled><RefDistanceSearchToSync>0</RefDistanceSearchToSync><RefExternSync>false</RefExternSync><RefMode>0</RefMode><RefSoftSyncMask>1048575</RefSoftSyncMask></Inc><Sim><RandScale>0</RandScale></Sim><TimeComp><TimeCompMode>0</TimeCompMode><IoTimeAbsolute>false</IoTimeAbsolute><EncDelayCycles>0</EncDelayCycles><AdditionalTimeShift>0</AdditionalTimeShift></TimeComp></EncParam></Encoder><Drive><DrvType>5</DrvType><DrvParam><Inverse>false</Inverse><DrvMode>1</DrvMode><MinOutputLimit>-1</MinOutputLimit><MaxOutputLimit>1</MaxOutputLimit><MaxCount>65535</MaxCount><DriveControlDWord>#x00000000</DriveControlDWord><InputScalingFactorActTorque>0.1</InputScalingFactorActTorque><InputFilterTimeActTorque>0</InputFilterTimeActTorque><InputFilterTimeActTorqueDerivative>0</InputFilterTimeActTorqueDerivative><Analog><VeloReferenz>2200</VeloReferenz><OutputReferenz>1</OutputReferenz><VeloOffset>0</VeloOffset><VeloScale>1</VeloScale><PosScale>1</PosScale><AccScale>0</AccScale><TorqueScale>0</TorqueScale><PosOutputDelay>0</PosOutputDelay><VeloOutputDelay>0</VeloOutputDelay><AccOutputDelay>0</AccOutputDelay><TorqueOutputDelay>0</TorqueOutputDelay><OutputSmoothingFilterType>0</OutputSmoothingFilterType><OutputSmoothingFilterTime>0.01</OutputSmoothingFilterTime><OutputSmoothingFilterOrder>2</OutputSmoothingFilterOrder><QuadrantCompensation>1</QuadrantCompensation><VeloBendPoint>1</VeloBendPoint><OutputBendPoint>1</OutputBendPoint><ProfiDrivePosKpc>0</ProfiDrivePosKpc><TabId>0</TabId><TabIpolType>0</TabIpolType><OutputOffsetPercent>0</OutputOffsetPercent><ProfiDriveScaleXerr>1</ProfiDriveScaleXerr></Analog><Stepper><BitMaskCycle1>3</BitMaskCycle1><BitMaskCycle2>6</BitMaskCycle2><BitMaskCycle3>12</BitMaskCycle3><BitMaskCycle4>9</BitMaskCycle4><BitMaskHoldingLoad>133</BitMaskHoldingLoad></Stepper><TimeComp><TimeCompMode>0</TimeCompMode><IoTimeAbsolute>false</IoTimeAbsolute><DriveDelayCycles>1</DriveDelayCycles><TaskDelayCycles>1</TaskDelayCycles><AdditionalTimeShift>0</AdditionalTimeShift></TimeComp></DrvParam></Drive><Controller><CtrType>1</CtrType><CtrParam><CtrMode>1</CtrMode><PriorControlFactor>1</PriorControlFactor><PosDiffControl><Enable>true</Enable><Range>5</Range><Time>0.02</Time></PosDiffControl><VeloDiffControl><Enable>false</Enable><Range>0</Range><Time>0</Time></VeloDiffControl><PID><PosKp>1</PosKp><PosTn>0</PosTn><PosTv>0</PosTv><PosTd>0</PosTd><PosIOutputLimit>0.1</PosIOutputLimit><PosDOutputLimit>0.1</PosDOutputLimit><PosIDisableWhenMoving>false</PosIDisableWhenMoving><PosExtKp>0.1</PosExtKp><PosExtVelo>0.5</PosExtVelo><VeloKp>0.1</VeloKp><VeloTn>0</VeloTn><VeloTv>0</VeloTv><VeloTd>0</VeloTd><VeloIOutputLimit>0.1</VeloIOutputLimit><VeloDOutputLimit>0.1</VeloDOutputLimit><AccKa>0</AccKa><CtrlOutputLimit>0.5</CtrlOutputLimit><DeadBandPosition>0</DeadBandPosition><DeadBandVelocity>0</DeadBandVelocity><PosDiffCoupleKcp>0</PosDiffCoupleKcp><VeloPT2FilterTime>0</VeloPT2FilterTime><AutoOffset><Enable>false</Enable><Range>0.01</Range><Time>1</Time></AutoOffset></PID><Observer><ObserverMode>0</ObserverMode><MotorTorqueConstant>1</MotorTorqueConstant><MotorMomentOfInertia>1</MotorMomentOfInertia><BandWidth>20</BandWidth><CorrectionFactor>1</CorrectionFactor><Order1FilterTimeConstant>0.001</Order1FilterTimeConstant></Observer></CtrParam></Controller></NcAxisDef></TreeItem>
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