<?xml version="1.0" ?>
<kApi>
    <kMotion>   
        <Workstations>
            <Workstation>
                <Name>Null_Positioner</Name>
                <Actuators>
                    <Actuator>
                        <Model>0</Model>
                        <Port>0</Port>
                        <BaudRate>0</BaudRate>
                        <Axes>
                            <Axis>
                                <AxisIndex>0</AxisIndex>
                            </Axis>
                            <Axis>
                                <AxisIndex>1</AxisIndex>
                            </Axis>
                        </Axes>
                    </Actuator>
                </Actuators>
            </Workstation>
            <Workstation>
                <Name>VAN_002</Name>
                <Actuators>
                    <Actuator>    
                        <Model>5</Model>
                        <Port>1</Port>
                        <BaudRate>9600</BaudRate>
                        <Axes>
                            <Axis>
                                <AxisIndex>0</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>157.48031496</StepResolution>
                                <MaxSpeed>31.75</MaxSpeed>       
                                <InitSpeed>31.75</InitSpeed>
                                <Acceleration>7</Acceleration>
                                <LimitApproachSpeed>6.35</LimitApproachSpeed>
                                <HomePattern>2</HomePattern>
                            </Axis>
                        </Axes>
                    </Actuator>                      
                </Actuators>
            </Workstation>
            <Workstation>
                <Name>VAN_003</Name>
                <Actuators>
                    <Actuator>    
                        <Model>5</Model>
                        <Port>1</Port>
                        <BaudRate>9600</BaudRate>
                        <Axes>
                            <Axis>
                                <AxisIndex>0</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>157.48031496</StepResolution>
                                <MaxSpeed>31.75</MaxSpeed>       
                                <InitSpeed>31.75</InitSpeed>
                                <Acceleration>7</Acceleration>
                                <LimitApproachSpeed>6.35</LimitApproachSpeed>
                                <HomePattern>2</HomePattern>
                            </Axis>
                        </Axes>
                    </Actuator>                      
                </Actuators>
            </Workstation>            
            <Workstation>
                <Name>VAN_004</Name>         
                <Actuators>          
                    <Actuator>              
                        <Model>6</Model>
                        <Port>2</Port>
                        <BaudRate>19200</BaudRate>
                        <Axes>              
                            <Axis>
                                <AxisIndex>0</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>200</StepResolution>
                                <InitSpeed>125</InitSpeed>
                                <MaxSpeed>250</MaxSpeed>               
                                <Acceleration>125</Acceleration>
                                <LimitApproachSpeed>25</LimitApproachSpeed>
                                <MarkCoarseStepSize>600</MarkCoarseStepSize>
                                <MarkApproachSpeed>2</MarkApproachSpeed>
                                <HomePattern>4</HomePattern>
                                <HomePolarity>1</HomePolarity>
                                <LimitPolarity>-1</LimitPolarity>
                                <NotchBandwidth>21</NotchBandwidth>
                                <NotchFrequency>42</NotchFrequency>
                                <NotchZero>2</NotchZero>
                                <FinePGain>50</FinePGain>
                                <CoarsePGain>10</CoarsePGain>                                
                                <FineIGain>5</FineIGain>
                                <CoarseIGain>0</CoarseIGain>
                                <FineDGain>500</FineDGain>  
                                <CoarseDGain>500</CoarseDGain>
                                <HuntingTime>1000000</HuntingTime>
                            </Axis>
                            <Axis>
                                <AxisIndex>1</AxisIndex>
                                <ChannelIndex>1</ChannelIndex>
                                <StepResolution>200</StepResolution>
                                <InitSpeed>25</InitSpeed>
                                <MaxSpeed>50</MaxSpeed>               
                                <Acceleration>62.5</Acceleration>
                                <LimitApproachSpeed>25</LimitApproachSpeed>
                                <MarkCoarseStepSize>170</MarkCoarseStepSize>
                                <MarkApproachSpeed>2</MarkApproachSpeed>
                                <HomePattern>4</HomePattern>
                                <HomePolarity>1</HomePolarity>
                                <LimitPolarity>-1</LimitPolarity>                               
                                <NotchBandwidth>0</NotchBandwidth>
                                <NotchFrequency>0</NotchFrequency>
                                <NotchZero>0</NotchZero>
                                <FinePGain>200</FinePGain>
                                <CoarsePGain>200</CoarsePGain>                                   
                                <FineIGain>20</FineIGain>
                                <CoarseIGain>20</CoarseIGain>
                                 <FineDGain>400</FineDGain>  
                                <CoarseDGain>400</CoarseDGain>
                                <HuntingTime>1000000</HuntingTime>
                            </Axis>                                
                        </Axes>                
                    </Actuator>                         
                </Actuators>
            </Workstation>        
            <Workstation>
                <Name>VAN_005</Name>         
                <Actuators>          
                    <Actuator>              
                        <Model>4</Model>
                        <Port>1</Port>
                        <BaudRate>9600</BaudRate>
                        <Axes>              
                            <Axis>
                                <AxisIndex>0</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>157.48031496</StepResolution>
                                <InitSpeed>19.05</InitSpeed>
                                <MaxSpeed>50.800</MaxSpeed>               
                                <Acceleration>2</Acceleration>
                                <LimitApproachSpeed>6.35</LimitApproachSpeed>
                                <HomePattern>1</HomePattern>
                            </Axis>
                        </Axes>                
                    </Actuator>                         
                </Actuators>
            </Workstation>
            <Workstation>
                <Name>VAN_010</Name>
                <Actuators>
                    <Actuator>
                        <Model>8</Model>
                        <Port>1</Port>
                        <BaudRate>19200</BaudRate>
                        <Axes>              
                            <Axis>
                                <AxisIndex>0</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>200</StepResolution>
                                <InitSpeed>40</InitSpeed>
                                <MaxSpeed>60</MaxSpeed>    
                                <LimitApproachSpeed>25</LimitApproachSpeed>
                                <MarkCoarseStepSize>17.5</MarkCoarseStepSize>
                                <MarkApproachSpeed>-2.0</MarkApproachSpeed>   
                                <Acceleration>150</Acceleration>
                                <HomePattern>4</HomePattern>
                                <HomePolarity>-1</HomePolarity>
                                <LimitPolarity>1</LimitPolarity>
                                <NotchBandwidth>0.5</NotchBandwidth>
                                <NotchFrequency>0</NotchFrequency>
                                <NotchZero>0</NotchZero>  
                                <FinePGain>20</FinePGain>
                                <CoarsePGain>20</CoarsePGain>                                
                                <FineIGain>0</FineIGain>
                                <CoarseIGain>0</CoarseIGain>
                                <FineDGain>200</FineDGain>  
                                <CoarseDGain>200</CoarseDGain>
                                <HuntingTime>1000000</HuntingTime>
                            </Axis>
                            <Axis>
                                <AxisIndex>1</AxisIndex>
                                <ChannelIndex>1</ChannelIndex>
                                <StepResolution>400</StepResolution>
                                <InitSpeed>20</InitSpeed>
                                <MaxSpeed>30</MaxSpeed>    
                                <LimitApproachSpeed>12.5</LimitApproachSpeed>
                                <MarkCoarseStepSize>7.5</MarkCoarseStepSize>
                                <MarkApproachSpeed>-1.0</MarkApproachSpeed>   
                                <Acceleration>250</Acceleration>
                                <HomePattern>4</HomePattern>
                                <HomePolarity>-1</HomePolarity>
                                <LimitPolarity>1</LimitPolarity>
                                <NotchBandwidth>0.5</NotchBandwidth>
                                <NotchFrequency>0</NotchFrequency>
                                <NotchZero>0</NotchZero>
                                <FinePGain>50</FinePGain>
                                <CoarsePGain>50</CoarsePGain>                                
                                <FineIGain>1</FineIGain>
                                <CoarseIGain>1</CoarseIGain>
                                <FineDGain>200</FineDGain>  
                                <CoarseDGain>200</CoarseDGain>
                                <HuntingTime>1000000</HuntingTime>
                            </Axis>                            
                        </Axes>  
                    </Actuator>
                </Actuators>
            </Workstation>
            <Workstation>
                <Name>VAN_011</Name>
                <Actuators>
                    <Actuator>              
                        <Model>7</Model>
                        <Port>1</Port>
                        <BaudRate>19200</BaudRate>
                        <Axes>              
                            <Axis>
                                <AxisIndex>0</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>-200</StepResolution>
                                <InitSpeed>50</InitSpeed>
                                <MaxSpeed>50</MaxSpeed>               
                                <Acceleration>300</Acceleration>
                                <LimitApproachSpeed>50</LimitApproachSpeed>
                                <MarkCoarseStepSize>60</MarkCoarseStepSize>
                                <MarkApproachSpeed>-1</MarkApproachSpeed>
                                <HomePattern>4</HomePattern>
                                <HomePolarity>0</HomePolarity>
                                <LimitPolarity>1</LimitPolarity>
                                <NotchBandwidth>0.5</NotchBandwidth>
                                <NotchFrequency>0</NotchFrequency>
                                <NotchZero>0</NotchZero>
                                <FinePGain>12</FinePGain>
                                <CoarsePGain>12</CoarsePGain>        
                                <FineIGain>2</FineIGain>
                                <CoarseIGain>2</CoarseIGain>                                
                                <FineDGain>200</FineDGain>  
                                <CoarseDGain>200</CoarseDGain>
                                <HuntingTime>1000000</HuntingTime>
                            </Axis>
                        </Axes>
                    </Actuator>
                </Actuators>
            </Workstation>            
            <Workstation>
                <Name>VAN_012</Name>
                <Actuators>
                    <Actuator>              
                        <Model>7</Model>
                        <Port>5</Port>
                        <BaudRate>19200</BaudRate>
                        <Axes>              
                            <Axis>
                                <AxisIndex>0</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>-200</StepResolution>
                                <InitSpeed>50</InitSpeed>
                                <MaxSpeed>50</MaxSpeed>               
                                <Acceleration>300</Acceleration>
                                <LimitApproachSpeed>50</LimitApproachSpeed>
                                <MarkCoarseStepSize>95</MarkCoarseStepSize>
                                <MarkApproachSpeed>-1</MarkApproachSpeed>
                                <HomePattern>4</HomePattern>
                                <HomePolarity>0</HomePolarity>
                                <LimitPolarity>1</LimitPolarity>
                                <NotchBandwidth>0.5</NotchBandwidth>
                                <NotchFrequency>0</NotchFrequency>
                                <NotchZero>0</NotchZero>
                                <FinePGain>12</FinePGain>
                                <CoarsePGain>12</CoarsePGain>                                
                                <FineIGain>2</FineIGain>
                                <CoarseIGain>2</CoarseIGain>
                                <FineDGain>200</FineDGain>  
                                <CoarseDGain>200</CoarseDGain>
                                <HuntingTime>1000000</HuntingTime>
                            </Axis>
                        </Axes>
                    </Actuator>
                    <Actuator>    
                        <Model>5</Model>
                        <Port>6</Port>
                        <BaudRate>9600</BaudRate>
                        <Axes>
                            <Axis>
                                <AxisIndex>1</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>200</StepResolution>
                                <MaxSpeed>30.0</MaxSpeed>       
                                <InitSpeed>15.0</InitSpeed>
                                <Acceleration>15</Acceleration>
                                <LimitApproachSpeed>5.0</LimitApproachSpeed>
                                <HomePattern>1</HomePattern>
                            </Axis>
                        </Axes>
                    </Actuator>
                </Actuators>
            </Workstation>
            <Workstation>
                <Name>VAN_013</Name>
                <Actuators>
                    <Actuator>              
                        <Model>7</Model>
                        <Port>1</Port>
                        <BaudRate>19200</BaudRate>
                        <Axes>              
                            <Axis>
                                <AxisIndex>0</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>-200</StepResolution>
                                <InitSpeed>50</InitSpeed>
                                <MaxSpeed>50</MaxSpeed>               
                                <Acceleration>300</Acceleration>
                                <LimitApproachSpeed>50</LimitApproachSpeed>
                                <MarkCoarseStepSize>60</MarkCoarseStepSize>
                                <MarkApproachSpeed>-1</MarkApproachSpeed>
                                <HomePattern>4</HomePattern>
                                <HomePolarity>0</HomePolarity>
                                <LimitPolarity>1</LimitPolarity>
                                <NotchBandwidth>0.5</NotchBandwidth>
                                <NotchFrequency>0</NotchFrequency>
                                <NotchZero>0</NotchZero>
                                <FinePGain>6</FinePGain>
                                <CoarsePGain>6</CoarsePGain>        
                                <FineIGain>0</FineIGain>
                                <CoarseIGain>0</CoarseIGain>                                
                                <FineDGain>64</FineDGain>  
                                <CoarseDGain>64</CoarseDGain>
                                <HuntingTime>1000000</HuntingTime>
                            </Axis>
                        </Axes>
                    </Actuator>
                </Actuators>
            </Workstation>
            <Workstation>
                <Name>VAN_014</Name>
                <Actuators>
                    <Actuator>              
                        <Model>7</Model>
                        <Port>1</Port>
                        <BaudRate>19200</BaudRate>
                        <Axes>              
                            <Axis>
                                <AxisIndex>0</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>-200</StepResolution>
                                <InitSpeed>50</InitSpeed>
                                <MaxSpeed>50</MaxSpeed>               
                                <Acceleration>300</Acceleration>
                                <LimitApproachSpeed>50</LimitApproachSpeed>
                                <MarkCoarseStepSize>60</MarkCoarseStepSize>
                                <MarkApproachSpeed>-1</MarkApproachSpeed>
                                <HomePattern>4</HomePattern>
                                <HomePolarity>0</HomePolarity>
                                <LimitPolarity>1</LimitPolarity>
                                <NotchBandwidth>0.5</NotchBandwidth>
                                <NotchFrequency>0</NotchFrequency>
                                <NotchZero>0</NotchZero>
                                <FinePGain>6</FinePGain>
                                <CoarsePGain>6</CoarsePGain>        
                                <FineIGain>0</FineIGain>
                                <CoarseIGain>0</CoarseIGain>                                
                                <FineDGain>64</FineDGain>  
                                <CoarseDGain>64</CoarseDGain>
                                <HuntingTime>1000000</HuntingTime>
                            </Axis>
                        </Axes>
                    </Actuator>
                </Actuators>
            </Workstation>                      
            <Workstation>
                <Name>VAN_015</Name>
                <Actuators>       
                    <Actuator>              
                        <Model>7</Model>
                        <Port>3</Port>
                        <BaudRate>19200</BaudRate>
                        <Axes>              
                            <Axis>
                                <AxisIndex>0</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>-25000</StepResolution>
                                <InitSpeed>2</InitSpeed>
                                <MaxSpeed>8</MaxSpeed>    
                                <LimitApproachSpeed>5</LimitApproachSpeed>
                                <MarkCoarseStepSize>13</MarkCoarseStepSize>
                                <MarkApproachSpeed>1</MarkApproachSpeed>   
                                <Acceleration>20</Acceleration>
                                <HomePattern>2</HomePattern>
                                <HomePolarity>-1</HomePolarity>
                                <LimitPolarity>-1</LimitPolarity>
                                <NotchBandwidth>0.5</NotchBandwidth>
                                <NotchFrequency>0</NotchFrequency>
                                <NotchZero>0</NotchZero>  
                                <FinePGain>12</FinePGain>
                                <CoarsePGain>12</CoarsePGain>
                                <FineIGain>1.203</FineIGain>
                                <CoarseIGain>1.203</CoarseIGain>
                                <FineDGain>100</FineDGain>
                                <CoarseDGain>100</CoarseDGain>            
                                <HuntingTime>1000000</HuntingTime>                                 
                            </Axis>
                        </Axes>                
                    </Actuator>                  
                    <Actuator>    
                        <Model>5</Model>
                        <Port>4</Port>
                        <BaudRate>9600</BaudRate>
                        <Axes>
                            <Axis>
                                <AxisIndex>1</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>629.9212598</StepResolution>
                                <MaxSpeed>10.0</MaxSpeed>       
                                <InitSpeed>10.0</InitSpeed>
                                <Acceleration>2</Acceleration>
                                <LimitApproachSpeed>1.0</LimitApproachSpeed>
                                <HomePattern>1</HomePattern>
                            </Axis>
                        </Axes>
                    </Actuator>               
                </Actuators>
            </Workstation>           
            <Workstation>
                <Name>HER_101</Name>
                <Actuators>
                    <Actuator>              
                        <Model>7</Model>
                        <IpAddress>10.0.0.3</IpAddress>
                        <Port>8080</Port>
                        <Axes>              
                            <Axis>
                                <AxisIndex>0</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>-25000</StepResolution>
                                <InitSpeed>5</InitSpeed>
                                <MaxSpeed>10</MaxSpeed>               
                                <Acceleration>10</Acceleration>
                                <LimitApproachSpeed>0.5</LimitApproachSpeed>
                                <MarkCoarseStepSize>60</MarkCoarseStepSize>
                                <MarkApproachSpeed>-1</MarkApproachSpeed>
                                <HomePattern>2</HomePattern>
                                <HomePolarity>0</HomePolarity>
                                <LimitPolarity>1</LimitPolarity>
                                <NotchBandwidth>0.5</NotchBandwidth>
                                <NotchFrequency>0</NotchFrequency>
                                <NotchZero>0</NotchZero>
                                <FinePGain>25</FinePGain>
                                <CoarsePGain>25</CoarsePGain>        
                                <FineIGain>2</FineIGain>
                                <CoarseIGain>2</CoarseIGain>                                
                                <FineDGain>35</FineDGain>  
                                <CoarseDGain>35</CoarseDGain>
                                <HuntingTime>1000000</HuntingTime>
                            </Axis>
                        </Axes>
                    </Actuator>
                </Actuators>
            </Workstation>
            <Workstation>
                <Name>VAN_RD</Name>
                <Actuators>       
                    <Actuator>              
                        <Model>7</Model>
                        <Port>8080</Port>
                        <IpAddress>10.0.0.251</IpAddress>
                        <Axes>              
                            <Axis>
                                <AxisIndex>0</AxisIndex>
                                <ChannelIndex>0</ChannelIndex>
                                <StepResolution>-25000</StepResolution>
                                <InitSpeed>5</InitSpeed>
                                <MaxSpeed>8</MaxSpeed>    
                                <LimitApproachSpeed>5</LimitApproachSpeed>
                                <MarkCoarseStepSize>13</MarkCoarseStepSize>
                                <MarkApproachSpeed>1</MarkApproachSpeed>   
                                <Acceleration>20</Acceleration>
                                <HomePattern>2</HomePattern>
                                <HomePolarity>-1</HomePolarity>
                                <LimitPolarity>-1</LimitPolarity>
                                <NotchBandwidth>0.5</NotchBandwidth>
                                <NotchFrequency>0</NotchFrequency>
                                <NotchZero>0</NotchZero>  
                                <FinePGain>12</FinePGain>
                                <CoarsePGain>12</CoarsePGain>
                                <FineIGain>1.203</FineIGain>
                                <CoarseIGain>1.203</CoarseIGain>
                                <FineDGain>100</FineDGain>
                                <CoarseDGain>100</CoarseDGain>            
                                <HuntingTime>1000000</HuntingTime>                                 
                            </Axis>
                        </Axes>                
                    </Actuator>
                </Actuators>
            </Workstation>
        </Workstations>
    </kMotion>
</kApi>
