Some misconfiguration #4
Description
Hello, I have some misconfiguration and i hardly guess what is wrong
I can run accelstepper example on 2,3,4,5 pin with a stepper motor and a 4 input l298n controller.
But the linuxcnc cant move my motor. Am I miss something?
I connected only one stepper motor, but i defined 3 axis. First I defined one axis (X) but I can't run example file on it.
I modified modAccelstepper accordingly my motor pins: .
#define useAccelStepper true
// Requires the AccelStepper Library 1.31 or higher.
// Available at http://www.open.com.au/mikem/arduino/AccelStepper
#if useAccelStepper
#include <AccelStepper.h> // load the library, if needed.
#define numAxises 3 // How many axises do you have?
// (Too intensive for slower 8/16bit MCUs like Mega2560/UNO/etc.)
// Automatically set max speed, based on input vectors.
//Use only with: Arduino Due, ChipKit 32, Maple or other high-speed 32bit MCUs.
#define autoSpeedAdjust false
#define enablePins false // Some drivers have dedicated 'enable' pins.
//If you don't need any, set to false and skip the enablePins section.
#define pinInversion false // If NONE are needed, set to false and skip the pinInversion section.
#define stepperX true // enable to bind this stepper to axis0 (X axis).
#define stepperY true // enable to bind this stepper to axis1 (Y axis).
#define stepperZ true // enable to bind this stepper to axis2 (Z axis).
#define stepperA false // enable to bind this stepper to axis3 (A axis).
#define stepperB false // enable to bind this stepper to axis4 (B axis).
#define stepperC false // enable to bind this stepper to axis5 (C axis).
#define stepperU false // enable to bind this stepper to axis6 (U axis).
#define stepperV false // enable to bind this stepper to axis7 (V axis).
#define stepperW false // enable to bind this stepper to axis8 (W axis).
// Set your steps per unit of measure, inch/mm. (labels just say Inch, but it really should say 'Unit')
#define stepsPerInchX 10
#define stepsPerInchY 10
#define stepsPerInchZ 10
#define stepsPerInchA 200
#define stepsPerInchB 200
#define stepsPerInchC 200
#define stepsPerInchU 200
#define stepsPerInchV 200
#define stepsPerInchW 200
// Define some steppers and the pins they will use.
// Read http://www.open.com.au/mikem/arduino/AccelStepper/
// for documentation on how to setup different kinds of steppers.
#if stepperX
AccelStepper stprX(AccelStepper::FULL4WIRE, 2, 3, 4, 5); //type, stepPin, dirPin
#endif
#if stepperY
AccelStepper stprY(AccelStepper::FULL4WIRE, 6, 7, 8, 9); //type, stepPin, dirPin
#endif
#if stepperZ
AccelStepper stprZ(AccelStepper::FULL4WIRE, 10, 11, 12, 13); //type, stepPin, dirPin
#endif
#if stepperA
AccelStepper stprA(1, 34, 32);
#endif
#if stepperB
AccelStepper stprB(1, 99, 99);
#endif
#if stepperC
AccelStepper stprC(1, 99, 99);
#endif
#if stepperU
AccelStepper stprU(1, 99, 99);
#endif
#if stepperV
AccelStepper stprV(1, 99, 99);
#endif
#if stepperW
AccelStepper stprW(1, 99, 99);
#endif
///Doing some math here. Just skip past it.
#if stepperX
float stpsPrInX=10000.0/stepsPerInchX;
#endif
#if stepperY
float stpsPrInY=10000.0/stepsPerInchY;
#endif
#if stepperZ
float stpsPrInZ=10000.0/stepsPerInchZ;
#endif
#if stepperA
float stpsPrInA=10000.0/stepsPerInchA;
#endif
#if stepperB
float stpsPrInB=10000.0/stepsPerInchB;
#endif
#if stepperC
float stpsPrInC=10000.0/stepsPerInchC;
#endif
#if stepperU
float stpsPrInU=10000.0/stepsPerInchU;
#endif
#if stepperV
float stpsPrInV=10000.0/stepsPerInchV;
#endif
#if stepperW
float stpsPrInW=10000.0/stepsPerInchW;
#endif
unsigned long deltaTimeOld[10];
long deltaPosOld[10];
void stepperSetup(){
for(int i=36;i<40;i++){
pinMode(i,OUTPUT);
digitalWrite(i,LOW);
}
for(int i=0;i<10;i++){
deltaPosOld[i]=0;
deltaTimeOld[i]=millis();
}
///// pinInversion section /////
#if pinInversion
// example: stepper#.setPinsInverted(step, direction, enable);
#if stepperX
stprX.setPinsInverted(false, false, true);
#endif
#if stepperY
stprY.setPinsInverted(false, false, true);
#endif
#if stepperZ
stprZ.setPinsInverted(false, false, true);
#endif
#if stepperA
stprA.setPinsInverted(false, false, true);
#endif
#if stepperB
stprB.setPinsInverted(false, false, false);
#endif
#if stepperC
stprC.setPinsInverted(false, false, false);
#endif
#if stepperU
stprU.setPinsInverted(false, false, false);
#endif
#if stepperV
stprV.setPinsInverted(false, false, false);
#endif
#if stepperW
stprW.setPinsInverted(false, false, false);
#endif
#endif
///// enablePins section /////
#if enablePins
// example: stepper#.setEnablePin(q); change 'q' to the enable pin for this axis.
#if stepperX
stprX.setEnablePin(39);
#endif
#if stepperY
stprY.setEnablePin(38);
#endif
#if stepperZ
stprZ.setEnablePin(37);
#endif
#if stepperA
stprA.setEnablePin(36);
#endif
#if stepperB
stprB.setEnablePin(0);
#endif
#if stepperC
stprC.setEnablePin(0);
#endif
#if stepperU
stprU.setEnablePin(0);
#endif
#if stepperV
stprV.setEnablePin(0);
#endif
#if stepperW
stprW.setEnablePin(0);
#endif
#endif
#if stepperX
stprX.setMaxSpeed(3.1333*stepsPerInchX);
stprX.setAcceleration(10.0*stepsPerInchX);
#endif
#if stepperY
stprY.setMaxSpeed(3.1333*stepsPerInchY);
stprY.setAcceleration(10.0*stepsPerInchY);
#endif
#if stepperZ
stprZ.setMaxSpeed(3.1333*stepsPerInchZ);
stprZ.setAcceleration(10.0*stepsPerInchZ);
#endif
#if stepperA
stprA.setMaxSpeed(3.1333*stepsPerInchA);
stprA.setAcceleration(10.0*stpsPrInA);
#endif
#if stepperB
stprB.setMaxSpeed(3.1333*stepsPerInchB);
stprB.setAcceleration(10.0*stepsPerInchB);
#endif
#if stepperC
stprC.setMaxSpeed(3.1333*stepsPerInchC);
stprC.setAcceleration(10.0*stepsPerInchC);
#endif
#if stepperU
stprU.setMaxSpeed(3.1333*stpsPrInU);
stprU.setAcceleration(10.0*stepsPerInchU);
#endif
#if stepperV
stprV.setMaxSpeed(3.1333*stpsPrInV);
stprV.setAcceleration(10.0*stepsPerInchV);
#endif
#if stepperW
stprW.setMaxSpeed(3.1333*stpsPrInW);
stprW.setAcceleration(10.0*stepsPerInchW);
#endif
#define enableSlpRstMicroStepCode true
#if enableSlpRstMicroStepCode
//Sparkfun's Quadstepper Specific settings.
// (Ie: header pins used to directly plug a quadstepper into Mega2560 pins 22~35, 40~53)
//set SLP/RST pins
for(int i=22;i<26;i++){
pinMode(i,OUTPUT);
digitalWrite(i,HIGH);
pinMode(i+28,OUTPUT);
digitalWrite(i+28,HIGH);
}
//set MS1,MS2,MS3 pins (set stepping mode)
for(int i=26;i<32;i++){
pinMode(i,OUTPUT);
digitalWrite(i,LOW);
pinMode(i+18,OUTPUT);
digitalWrite(i+18,LOW);
}
//end of////////TEMPORARY CODE
#endif
}
void runSteppers(){
if(canMove){
#if stepperX
stprX.run();
#endif
#if stepperY
stprY.run();
#endif
#if stepperZ
stprZ.run();
#endif
#if stepperA
stprA.run();
#endif
#if stepperB
stprB.run();
#endif
#if stepperC
stprC.run();
#endif
#if stepperU
stprU.run();
#endif
#if stepperV
stprV.run();
#endif
#if stepperW
stprW.run();
#endif
}
}
#if autoSpeedAdjust
float deltaOld[9];
unsigned long getDelta(int axis,long pos)
{
unsigned long time=millis();
unsigned long deltaTime=time-deltaTimeOld[axis];
long delta;
if(pos<deltaPosOld[axis]){delta=deltaPosOld[axis]-pos;}else{delta=pos-deltaPosOld[axis];}
if(delta<0){delta*=-1;}
if(pos==deltaPosOld[axis]){delta=0;}
deltaTimeOld[axis]=time;
deltaPosOld[axis]=pos;
long deltaRet=(delta/deltaTime)*1000;
if(deltaRet>0){
return deltaRet; // rate of change per second.
}else{
return 1;
}
}
#endif
#endif
This is my custom.hal :
#First load the Python user module named /user/bin/9axis_Hal2Arduino with the name 'Hal2Arduino'
loadusr -Wn Hal2Arduino /home/g1ra/linuxcnc/configs/my-mill/HAL2Arduino-0.5.py
#Second 'unlinkp' our pins to make them available for use.
# Then use 'net' to recreate/hook into them.
# Comment out any sections that your machine doesn't have.
unlinkp axis.0.motor-pos-cmd
#net xpos-cmd axis.0.motor-pos-cmd Hal2Arduino.axis_0_motor-pos-cmd
unlinkp axis.1.motor-pos-cmd
#net ypos-cmd axis.1.motor-pos-cmd Hal2Arduino.axis_1_motor-pos-cmd
unlinkp axis.2.motor-pos-cmd
#net zpos-cmd axis.2.motor-pos-cmd Hal2Arduino.axis_2_motor-pos-cmd
unlinkp axis.0.joint-pos-cmd
unlinkp axis.1.joint-pos-cmd
unlinkp axis.2.joint-pos-cmd
net xpos-cmd Hal2Arduino.axis_0_joint-pos-cmd
net ypos-cmd Hal2Arduino.axis_1_joint-pos-cmd
net zpos-cmd Hal2Arduino.axis_2_joint-pos-cmd
unlinkp axis.0.home-sw-in
net home-X Hal2Arduino.axis_0_home-sw-in axis.0.home-sw-in
unlinkp axis.1.home-sw-in
net home-Y Hal2Arduino.axis_1_home-sw-in axis.1.home-sw-in
unlinkp axis.2.home-sw-in
net home-Z Hal2Arduino.axis_2_home-sw-in axis.2.home-sw-in
unlinkp axis.0.neg-lim-sw-in
unlinkp axis.1.neg-lim-sw-in
unlinkp axis.2.neg-lim-sw-in
net min-X Hal2Arduino.axis_0_neg-lim-sw-in axis.0.neg-lim-sw-in
net min-Y Hal2Arduino.axis_1_neg-lim-sw-in axis.1.neg-lim-sw-in
net min-Z Hal2Arduino.axis_2_neg-lim-sw-in axis.2.neg-lim-sw-in
unlinkp axis.0.pos-lim-sw-in
unlinkp axis.1.pos-lim-sw-in
unlinkp axis.2.pos-lim-sw-in
net max-X Hal2Arduino.axis_0_pos-lim-sw-in axis.0.pos-lim-sw-in
net max-Y Hal2Arduino.axis_1_pos-lim-sw-in axis.1.pos-lim-sw-in
net max-Z Hal2Arduino.axis_2_pos-lim-sw-in axis.2.pos-lim-sw-in
unlinkp axis.0.joint-vel-cmd
unlinkp axis.1.joint-vel-cmd
unlinkp axis.2.joint-vel-cmd
#net getXspeed Hal2Arduino.axis_0_joint-vel-cmd
#net getXspeed Hal2Arduino.axis_1_joint-vel-cmd
#net getXspeed Hal2Arduino.axis_2_joint-vel-cmd
This is my-mill.hal :
# Generated by stepconf at Sun Mar 18 14:52:32 2012
# If you make changes to this file, they will be
# overwritten when you run stepconf again
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
#loadrt probe_parport
#loadrt hal_parport cfg="0x378 out "
#setp parport.0.reset-time 2000
loadrt stepgen step_type=0,0,0,0
loadrt pwmgen output_type=0
#addf parport.0.read base-thread
addf stepgen.make-pulses base-thread
addf pwmgen.make-pulses base-thread
#addf parport.0.write base-thread
#addf parport.0.reset base-thread
addf stepgen.capture-position servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf stepgen.update-freq servo-thread
addf pwmgen.update servo-thread
net spindle-cmd <= motion.spindle-speed-out => pwmgen.0.value
net spindle-enable <= motion.spindle-on => pwmgen.0.enable
net spindle-pwm <= pwmgen.0.pwm
setp pwmgen.0.pwm-freq 0.0
setp pwmgen.0.scale 1166.66666667
setp pwmgen.0.offset 0.114285714286
setp pwmgen.0.dither-pwm true
#net spindle-on <= motion.spindle-on
net spindle-cw <= motion.spindle-forward
net spindle-ccw <= motion.spindle-reverse
net spindle-brake <= motion.spindle-brake
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
net probe-in => motion.probe-input
net dout-00 <= motion.digital-out-00
#net spindle-on => parport.0.pin-01-out
#net spindle-cw => parport.0.pin-02-out
#net spindle-ccw => parport.0.pin-03-out
#net spindle-pwm => parport.0.pin-04-out
#net spindle-brake => parport.0.pin-05-out
#net coolant-mist => parport.0.pin-06-out
#net coolant-flood => parport.0.pin-07-out
#net estop-out => parport.0.pin-08-out
#net dout-00 => parport.0.pin-09-out
#net spindle-cw => parport.0.pin-14-out
#net spindle-pwm => parport.0.pin-16-out
#net xenable => parport.0.pin-17-out
#net home-x <= parport.0.pin-10-in
#net home-y <= parport.0.pin-11-in
#net home-z <= parport.0.pin-12-in
#net home-a <= parport.0.pin-13-in
#net probe-in <= parport.0.pin-15-in
setp stepgen.0.position-scale [AXIS_0]SCALE
setp stepgen.0.steplen 1
setp stepgen.0.stepspace 0
setp stepgen.0.dirhold 17000
setp stepgen.0.dirsetup 17000
setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
net xpos-cmd axis.0.motor-pos-cmd => stepgen.0.position-cmd
net xpos-fb stepgen.0.position-fb => axis.0.motor-pos-fb
net xstep <= stepgen.0.step
net xdir <= stepgen.0.dir
net xenable axis.0.amp-enable-out => stepgen.0.enable
net home-x => axis.0.home-sw-in
setp stepgen.1.position-scale [AXIS_1]SCALE
setp stepgen.1.steplen 1
setp stepgen.1.stepspace 0
setp stepgen.1.dirhold 17000
setp stepgen.1.dirsetup 17000
setp stepgen.1.maxaccel [AXIS_1]STEPGEN_MAXACCEL
net ypos-cmd axis.1.motor-pos-cmd => stepgen.1.position-cmd
net ypos-fb stepgen.1.position-fb => axis.1.motor-pos-fb
net ystep <= stepgen.1.step
net ydir <= stepgen.1.dir
net yenable axis.1.amp-enable-out => stepgen.1.enable
net home-y => axis.1.home-sw-in
setp stepgen.2.position-scale [AXIS_2]SCALE
setp stepgen.2.steplen 1
setp stepgen.2.stepspace 0
setp stepgen.2.dirhold 17000
setp stepgen.2.dirsetup 17000
setp stepgen.2.maxaccel [AXIS_2]STEPGEN_MAXACCEL
net zpos-cmd axis.2.motor-pos-cmd => stepgen.2.position-cmd
net zpos-fb stepgen.2.position-fb => axis.2.motor-pos-fb
net zstep <= stepgen.2.step
net zdir <= stepgen.2.dir
net zenable axis.2.amp-enable-out => stepgen.2.enable
net home-z => axis.2.home-sw-in
#setp stepgen.3.position-scale [AXIS_3]SCALE
#setp stepgen.3.steplen 1
#setp stepgen.3.stepspace 0
#setp stepgen.3.dirhold 17000
#setp stepgen.3.dirsetup 17000
#setp stepgen.3.maxaccel [AXIS_3]STEPGEN_MAXACCEL
#net apos-cmd axis.3.motor-pos-cmd => stepgen.3.position-cmd
#net apos-fb stepgen.3.position-fb => axis.3.motor-pos-fb
#net astep <= stepgen.3.step
#net adir <= stepgen.3.dir
#net aenable axis.3.amp-enable-out => stepgen.3.enable
#net home-a => axis.3.home-sw-in
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
loadusr -W hal_manualtoolchange
net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
This is stepconf:
<?xml version="1.0" ?>
<stepconf>
<property name="ahomepos" type="int" value="0"/>
<property name="ahomesw" type="int" value="0"/>
<property name="ahomevel" type="float" value="0.05"/>
<property name="alatchdir" type="int" value="0"/>
<property name="aleadscrew" type="int" value="8"/>
<property name="amaxacc" type="int" value="1200"/>
<property name="amaxlim" type="int" value="9999"/>
<property name="amaxvel" type="int" value="360"/>
<property name="amicrostep" type="int" value="2"/>
<property name="aminlim" type="int" value="-9999"/>
<property name="apulleyden" type="int" value="1"/>
<property name="apulleynum" type="int" value="1"/>
<property name="ascale" type="int" value="0"/>
<property name="asteprev" type="int" value="200"/>
<property name="axes" type="int" value="0"/>
<property name="classicladder" type="bool" value="False"/>
<property name="createshortcut" type="bool" value="True"/>
<property name="createsymlink" type="bool" value="True"/>
<property name="customhal" type="int" value="1"/>
<property name="digitsin" type="float" value="15.0"/>
<property name="digitsout" type="float" value="15.0"/>
<property name="dirhold" type="float" value="20000.0"/>
<property name="dirsetup" type="float" value="20000.0"/>
<property name="drivertype" type="string" value="other"/>
<property name="floatsin" type="float" value="10.0"/>
<property name="floatsout" type="float" value="10.0"/>
<property name="halui" type="bool" value="False"/>
<property name="ioaddr" type="string" value="0x378"/>
<property name="ioaddr2" type="string" value="Enter Address"/>
<property name="ioaddr3" type="string" value="Enter Address"/>
<property name="ladderconnect" type="bool" value="True"/>
<property name="ladderhaltype" type="int" value="0"/>
<property name="laddername" type="string" value="custom.clp"/>
<property name="latency" type="float" value="15000.0"/>
<property name="machinename" type="string" value="my-mill"/>
<property name="manualtoolchange" type="bool" value="True"/>
<property name="md5sums" type="eval" value="[('/home/g1ra/linuxcnc/configs/my-mill/README', '90801d5712c655a42bedd285be380e25'), ('/home/g1ra/linuxcnc/configs/my-mill/my-mill.ini', 'b20f4c7eeefb5dceb610e12ec1b2afc0'), ('/home/g1ra/linuxcnc/configs/my-mill/my-mill.hal', '2f33f6ead38f6cb401b59c7338d4ee07')]"/>
<property name="modbus" type="bool" value="False"/>
<property name="number_pports" type="int" value="1"/>
<property name="period" type="int" value="25000"/>
<property name="pin1" type="string" value="estop-out"/>
<property name="pin10" type="string" value="unused-input"/>
<property name="pin10inv" type="bool" value="False"/>
<property name="pin11" type="string" value="unused-input"/>
<property name="pin11inv" type="bool" value="False"/>
<property name="pin12" type="string" value="unused-input"/>
<property name="pin12inv" type="bool" value="False"/>
<property name="pin13" type="string" value="unused-input"/>
<property name="pin13inv" type="bool" value="False"/>
<property name="pin14" type="string" value="spindle-cw"/>
<property name="pin14inv" type="bool" value="False"/>
<property name="pin15" type="string" value="unused-input"/>
<property name="pin15inv" type="bool" value="False"/>
<property name="pin16" type="string" value="spindle-pwm"/>
<property name="pin16inv" type="bool" value="False"/>
<property name="pin17" type="string" value="xenable"/>
<property name="pin17inv" type="bool" value="False"/>
<property name="pin1inv" type="bool" value="False"/>
<property name="pin2" type="string" value="xstep"/>
<property name="pin2inv" type="bool" value="False"/>
<property name="pin3" type="string" value="xdir"/>
<property name="pin3inv" type="bool" value="False"/>
<property name="pin4" type="string" value="ystep"/>
<property name="pin4inv" type="bool" value="False"/>
<property name="pin5" type="string" value="ydir"/>
<property name="pin5inv" type="bool" value="False"/>
<property name="pin6" type="string" value="zstep"/>
<property name="pin6inv" type="bool" value="False"/>
<property name="pin7" type="string" value="zdir"/>
<property name="pin7inv" type="bool" value="False"/>
<property name="pin8" type="string" value="astep"/>
<property name="pin8inv" type="bool" value="False"/>
<property name="pin9" type="string" value="adir"/>
<property name="pin9inv" type="bool" value="False"/>
<property name="pp2_direction" type="int" value="0"/>
<property name="pp3_direction" type="int" value="0"/>
<property name="pyvcp" type="bool" value="False"/>
<property name="pyvcpconnect" type="bool" value="True"/>
<property name="pyvcphaltype" type="int" value="0"/>
<property name="pyvcpname" type="string" value="custom.xml"/>
<property name="s32in" type="float" value="10.0"/>
<property name="s32out" type="float" value="10.0"/>
<property name="spindlecarrier" type="float" value="100.0"/>
<property name="spindlecpr" type="float" value="100.0"/>
<property name="spindlefiltergain" type="float" value="0.01"/>
<property name="spindlenearscale" type="float" value="1.5"/>
<property name="spindlepwm1" type="float" value="0.2"/>
<property name="spindlepwm2" type="float" value="0.8"/>
<property name="spindlespeed1" type="float" value="100.0"/>
<property name="spindlespeed2" type="float" value="800.0"/>
<property name="stepspace" type="float" value="5000.0"/>
<property name="steptime" type="float" value="5000.0"/>
<property name="tempexists" type="int" value="0"/>
<property name="units" type="int" value="0"/>
<property name="usespindleatspeed" type="bool" value="False"/>
<property name="xhomepos" type="float" value="0.0"/>
<property name="xhomesw" type="float" value="0.0"/>
<property name="xhomevel" type="float" value="0.05"/>
<property name="xlatchdir" type="int" value="0"/>
<property name="xleadscrew" type="float" value="20.0"/>
<property name="xmaxacc" type="float" value="1.0"/>
<property name="xmaxlim" type="float" value="8.0"/>
<property name="xmaxvel" type="float" value="0.1"/>
<property name="xmicrostep" type="float" value="1.0"/>
<property name="xminlim" type="float" value="0.0"/>
<property name="xpulleyden" type="float" value="1.0"/>
<property name="xpulleynum" type="float" value="1.0"/>
<property name="xscale" type="float" value="1920.0"/>
<property name="xsteprev" type="float" value="96.0"/>
<property name="yhomepos" type="float" value="0.0"/>
<property name="yhomesw" type="float" value="0.0"/>
<property name="yhomevel" type="float" value="0.05"/>
<property name="ylatchdir" type="int" value="0"/>
<property name="yleadscrew" type="float" value="20.0"/>
<property name="ymaxacc" type="float" value="30.0"/>
<property name="ymaxlim" type="float" value="8.0"/>
<property name="ymaxvel" type="float" value="1.0"/>
<property name="ymicrostep" type="float" value="2.0"/>
<property name="yminlim" type="float" value="0.0"/>
<property name="ypulleyden" type="float" value="1.0"/>
<property name="ypulleynum" type="float" value="1.0"/>
<property name="yscale" type="float" value="8000.0"/>
<property name="ysteprev" type="float" value="200.0"/>
<property name="zhomepos" type="float" value="0.0"/>
<property name="zhomesw" type="float" value="0.0"/>
<property name="zhomevel" type="float" value="0.05"/>
<property name="zlatchdir" type="int" value="0"/>
<property name="zleadscrew" type="float" value="20.0"/>
<property name="zmaxacc" type="float" value="30.0"/>
<property name="zmaxlim" type="float" value="8.0"/>
<property name="zmaxvel" type="float" value="1.0"/>
<property name="zmicrostep" type="float" value="2.0"/>
<property name="zminlim" type="float" value="-4.0"/>
<property name="zpulleyden" type="float" value="1.0"/>
<property name="zpulleynum" type="float" value="1.0"/>
<property name="zscale" type="float" value="8000.0"/>
<property name="zsteprev" type="float" value="200.0"/>
</stepconf>