//$$$***
//!common()
//!common(PhaseFreq=20000,PhasePerServo=4)
//!common(PhaseFreq=20000,PhasePerServo=1)
//!common(PhaseFreq=40000)

!torqueCtrl()
!init()


&1
//#1-> 0.00001X+ 0.00001Y +   A
//#2->   +1. X    + .5Y + 0.01A
//#3->   + .5X    +1. Y + 0.01A

#1->   A
#2->   X
#3->   Y

Coord[1].AltFeedRate=0
Coord[1].Tm=1  //1ms time
Coord[1].Ta=1
Coord[1].Td=1
Coord[1].Ts=0

//Parker: Continous Force 4N -> assume 1kg load -> acceleration=a=F/m=4m/s^2
//do not use time to accelerate but acceleration
//4m/s^2=4um/(ms)^2 Motor units=um -> JogTa= -1ms^2/4mu -2.5-> 4m/s^2 -25->0.4m/s^2
Motor[2].JogTs=0
Motor[2].JogTa=-2.5
Motor[3].JogTs=0
Motor[3].JogTa=-2.5


Motor[1].MaxSpeed=360
Motor[2].MaxSpeed=50
Motor[3].MaxSpeed=50

open prog 1
  //this uses jogspeed
  rapid abs
  X(10000)  Y(0)  A(0)
  X(0)  Y(10000)  A(0)
  X(0)  Y(0)  A(36000)
  X(0)  Y(0)  A(0)
close

open prog 2
  //this uses Coord[1].Tm and limits with MaxSpeed
  linear abs
  X(10000)  Y(0)  A(0)
  X(0)  Y(10000)  A(0)
  X(0)  Y(0)  A(0)
  X(0)  Y(0)  A(36000)
  X(0)  Y(0)  A(0)
close