//Mot 1: Trinamic QBL 4208 motor
//Enc 1: Trinamic QBL 4208 hall sensor
//Enc 2: Incremental encoder mounted with motor 1

//Mot 5: Rotation stage
//Enc 5: Rotation stage

//Mot 6: Stage X
//Enc 6: Stage X

//Mot 7: Stage Y
//Enc 7: Stage Y

//JogSpeed=MotorUnits/millisecond
//encoder_sim units is 1 motor step (pole change)


//Trinamic
//--------

!encoder_sim(enc=1,tbl=1,mot=1)
!encoder_inc(enc=1,tbl=9,mot=9,encctrl=11) //encctrl=15 Hall sensor encoder
!encoder_inc(enc=2,tbl=10,mot=10,posSf=1.) // incremental encoder

//real limits in closed loop (does not work with simulated encoder)
//!motor(mot=1,dirCur=0,contCur=1790,peakCur=5400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
!motor(mot=1,dirCur=100,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=32.,numPhase=3)

//use e.g. #1out 10 to set speed of motor without using the PID loop
//check how current and switch speed correlates


//rot stage
//---------

!encoder_sim(enc=5,tbl=5,mot=5)
!encoder_biss(enc=5,tbl=13,mot=13,numBits=26,posSf=1.)
//real limits in closed loop (does not work with simulated encoder)
//!motor(mot=5,dirCur=0,contCur=1460,peakCur=4380,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
!motor(mot=5,dirCur=100,contCur=500,peakCur=1000,timeAtPeak=.5,JogSpeed=32.,numPhase=3)


//xy stage
//--------

!encoder_sim(enc=6,tbl=6,mot=6)
!encoder_inc(enc=6,tbl=14,mot=14,posSf=1.)
//!motor(mot=5,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
!motor(mot=5,dirCur=100,contCur=200,peakCur=400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)

!encoder_sim(enc=7,tbl=7,mot=7)
!encoder_inc(enc=7,tbl=15,mot=15,posSf=1.)
//!motor(mot=5,dirCur=0,contCur=800,peakCur=2400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)
!motor(mot=5,dirCur=100,contCur=200,peakCur=400,timeAtPeak=.5,JogSpeed=32.,numPhase=3)