VE MM4005 Controller Version  2.40
******     Parameters for axis #  1, *DEFAULT-CC-R     ******
    Units    :             Dg.
 Motion Type : REAL       
  HOME Type  : REAL       
Zero Top HOME: YES        
  Motor type : D.C.       
  Coder Type :             STANDARD  
Control Type : VELOCITY   
Anticipation : YES        
Control Loop : CLOSED     
 Profil Type : STANDARD      
  Polynomial : Order 11      
Motor Increm.: 0
 Encoder Res.: 0.001
Scaling Speed: 5.000000
Maximum Speed: 4.000000
Manual Speed : 2.000000
 HOME Speed  : 2.000000
Scaling Accel: 20.000000
Acceleration : 20.000000
 Acc. Profil : SCurve        
 Acc.Regular.: YES           
  Jerk Time  : 0.300000
Min. Position: -180.000000
Max. Position: 180.000000
 HOME Preset : 0.000000
     Kp      : 0.040000
     Ki      : 0.000001
     Kd      : 0.000120
     Ks      : 0.800000
  Gain de Kp : 0.000000
  Gain de Ki : 0.000000
  Gain de Kd : 0.000000
Coeff. forme : 50.000000
Maximum Error: 0.100000
   Backlash  : 0.000000
 Periodicity : NO         
 Displ.Resol.: 3
 Cmd.Out Type:             Sin/Cos
Magnet Period:             32.000000
 Offset Value:             0.000000
D Filter Freq: 1999.000000
I Effect.Time: 0.100000
  Base Mass  : 200.000000
 Moving Mass : 20.000000
  Frequency  : 4.000000
   Damping   : 0.300000
******     Parameters for axis #  2, *DEFAULT-CC-R     ******
    Units    :             Dg.
 Motion Type : REAL       
  HOME Type  : REAL       
Zero Top HOME: YES        
  Motor type : D.C.       
  Coder Type :             STANDARD  
Control Type : VELOCITY   
Anticipation : YES        
Control Loop : CLOSED     
 Profil Type : STANDARD      
  Polynomial : Order 11      
Motor Increm.: 0
 Encoder Res.: 0.0001
Scaling Speed: 9.600000
Maximum Speed: 8.000000
Manual Speed : 4.000000
 HOME Speed  : 4.000000
Scaling Accel: 8.000000
Acceleration : 8.000000
 Acc. Profil : SCurve        
 Acc.Regular.: YES           
  Jerk Time  : 0.300000
Min. Position: -180.000000
Max. Position: 180.000000
 HOME Preset : 0.640200
     Kp      : 0.018000
     Ki      : 0.000150
     Kd      : 0.020000
     Ks      : 0.800000
  Gain de Kp : 10.000000
  Gain de Ki : 3.000000
  Gain de Kd : 0.000000
Coeff. forme : 50.000000
Maximum Error: 0.100000
   Backlash  : 0.000000
 Periodicity : NO         
 Displ.Resol.: 4
 Cmd.Out Type:             Sin/Cos
Magnet Period:             32.000000
 Offset Value:             0.000000
D Filter Freq: 1999.000000
I Effect.Time: 0.200000
  Base Mass  : 200.000000
 Moving Mass : 20.000000
  Frequency  : 4.000000
   Damping   : 0.300000
******     Parameters for axis #  3, *DEFAULT-CC-R     ******
    Units    :             Dg.
 Motion Type : REAL       
  HOME Type  : REAL       
Zero Top HOME: YES        
  Motor type : D.C.       
  Coder Type :             STANDARD  
Control Type : VELOCITY   
Anticipation : YES        
Control Loop : CLOSED     
 Profil Type : STANDARD      
  Polynomial : Order 11      
Motor Increm.: 0
 Encoder Res.: 0.0001
Scaling Speed: 9.600000
Maximum Speed: 8.000000
Manual Speed : 4.000000
 HOME Speed  : 4.000000
Scaling Accel: 8.000000
Acceleration : 8.000000
 Acc. Profil : SCurve        
 Acc.Regular.: YES           
  Jerk Time  : 0.300000
Min. Position: -180.010000
Max. Position: 360.010000
 HOME Preset : 90.000000
     Kp      : 0.017000
     Ki      : 0.000200
     Kd      : 0.021000
     Ks      : 0.800000
  Gain de Kp : 1.000000
  Gain de Ki : 5.000000
  Gain de Kd : 5.000000
Coeff. forme : 200.000000
Maximum Error: 0.100000
   Backlash  : 0.000000
 Periodicity : NO         
 Displ.Resol.: 4
 Cmd.Out Type:             Sin/Cos
Magnet Period:             32.000000
 Offset Value:             0.000000
D Filter Freq: 1999.000000
I Effect.Time: 0.200000
  Base Mass  : 200.000000
 Moving Mass : 20.000000
  Frequency  : 4.000000
   Damping   : 0.300000
******     Parameters for axis #  4, *DEFAULT-CC-R     ******
    Units    :             Dg.
 Motion Type : REAL       
  HOME Type  : REAL       
Zero Top HOME: YES        
  Motor type : D.C.       
  Coder Type :             STANDARD  
Control Type : VELOCITY   
Anticipation : YES        
Control Loop : CLOSED     
 Profil Type : STANDARD      
  Polynomial : Order 11      
Motor Increm.: 0
 Encoder Res.: 0.00025
Scaling Speed: 9.600000
Maximum Speed: 4.000000
Manual Speed : 4.000000
 HOME Speed  : 4.000000
Scaling Accel: 8.000000
Acceleration : 8.000000
 Acc. Profil : SCurve        
 Acc.Regular.: YES           
  Jerk Time  : 0.300000
Min. Position: -240.000000
Max. Position: 240.000000
 HOME Preset : 0.000000
     Kp      : 0.012000
     Ki      : 0.000018
     Kd      : 0.900000
     Ks      : 0.800000
  Gain de Kp : 2.000000
  Gain de Ki : 1.000000
  Gain de Kd : 0.000000
Coeff. forme : 100.000000
Maximum Error: 0.100000
   Backlash  : 0.000000
 Periodicity : NO         
 Displ.Resol.: 5
 Cmd.Out Type:             Sin/Cos
Magnet Period:             32.000000
 Offset Value:             0.000000
D Filter Freq: 1999.000000
I Effect.Time: 0.250000
  Base Mass  : 200.000000
 Moving Mass : 20.000000
  Frequency  : 4.000000
   Damping   : 0.300000
******     Parameters for axis #  5, *DEFAULT-CC-R     ******
    Units    :             Dg.
 Motion Type : REAL       
  HOME Type  : REAL       
Zero Top HOME: YES        
  Motor type : D.C.       
  Coder Type :             STANDARD  
Control Type : VELOCITY   
Anticipation : YES        
Control Loop : CLOSED     
 Profil Type : STANDARD      
  Polynomial : Order 11      
Motor Increm.: 0
 Encoder Res.: 0.0001
Scaling Speed: 9.600000
Maximum Speed: 8.000000
Manual Speed : 4.000000
 HOME Speed  : 4.000000
Scaling Accel: 8.000000
Acceleration : 5.000000
 Acc. Profil : SCurve        
 Acc.Regular.: YES           
  Jerk Time  : 0.300000
Min. Position: -17.000000
Max. Position: 197.000000
 HOME Preset : 90.000000
     Kp      : 0.030000
     Ki      : 0.000080
     Kd      : 0.050000
     Ks      : 0.800000
  Gain de Kp : 5.000000
  Gain de Ki : 5.000000
  Gain de Kd : 1.000000
Coeff. forme : 100.000000
Maximum Error: 0.100000
   Backlash  : 0.000000
 Periodicity : NO         
 Displ.Resol.: 4
 Cmd.Out Type:             Sin/Cos
Magnet Period:             32.000000
 Offset Value:             0.000000
D Filter Freq: 1999.000000
I Effect.Time: 0.500000
  Base Mass  : 200.000000
 Moving Mass : 20.000000
  Frequency  : 4.000000
   Damping   : 0.300000
******     Parameters for axis #  6, *DEFAULT-CC-R     ******
    Units    :             Dg.
 Motion Type : REAL       
  HOME Type  : REAL       
Zero Top HOME: YES        
  Motor type : D.C.       
  Coder Type :             STANDARD  
Control Type : VELOCITY   
Anticipation : YES        
Control Loop : CLOSED     
 Profil Type : STANDARD      
  Polynomial : Order 11      
Motor Increm.: 0
 Encoder Res.: 0.00025
Scaling Speed: 9.600000
Maximum Speed: 4.000000
Manual Speed : 4.000000
 HOME Speed  : 4.000000
Scaling Accel: 8.000000
Acceleration : 8.000000
 Acc. Profil : SCurve        
 Acc.Regular.: YES           
  Jerk Time  : 0.300000
Min. Position: -180.000000
Max. Position: 180.000000
 HOME Preset : 0.000000
     Kp      : 0.038000
     Ki      : 0.000020
     Kd      : 0.400000
     Ks      : 0.800000
  Gain de Kp : 2.500000
  Gain de Ki : 1.500000
  Gain de Kd : 0.500000
Coeff. forme : 75.000000
Maximum Error: 0.100000
   Backlash  : 0.000000
 Periodicity : NO         
 Displ.Resol.: 5
 Cmd.Out Type:             Sin/Cos
Magnet Period:             32.000000
 Offset Value:             0.000000
D Filter Freq: 1999.000000
I Effect.Time: 0.250000
  Base Mass  : 200.000000
 Moving Mass : 20.000000
  Frequency  : 4.000000
   Damping   : 0.300000