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<?xml version="1.0" ?>
<components arch="linux-x86_64">
<!--Giles Test Power Clipper-->
<pmac.pmacAsynSSHPort IP="172.23.240.160" SSHPORT="22" name="BRICK1port"/>
<!--Lab Power Brick-->
<!--<pmac.pmacAsynSSHPort IP="172.23.247.1" name="BRICK1port"/>-->
<!--<EPICS_BASE.dbpf pv="BRICK1:FEEDRATE" value="100"/>-->
<!--<EPICS_BASE.dbpf pv="BRICK1:FEEDRATE_LIMIT" value="0"/>-->
<pmac.PowerPMAC P="BRICK1" Port="BRICK1port" name="Brick"/>
<pmac.dls_pmac_asyn_motor ADDR="1" DESC="Motor 1->A" DHLM="10000" DLLM="-10000" EGU="mm" M=":MOTOR1" MRES="1" P="PMAC_BRICK_TEST" PORT="Brick" PREC="3" SPORT="BRICK1port" TWV="50" VELO="20" name="M1"/>
<pmac.dls_pmac_asyn_motor ADDR="2" DESC="Motor 2->B" DHLM="10000" DLLM="-10000" EGU="mm" M=":MOTOR2" MRES="1" P="PMAC_BRICK_TEST" PORT="Brick" PREC="3" SPORT="BRICK1port" TWV="50" VELO="20" name="M2"/>
<pmac.dls_pmac_asyn_motor ADDR="3" DESC="Motor 3->I JACK 1" DHLM="10000" DLLM="-10000" EGU="mm" M=":MOTOR3" MRES="0.001" P="PMAC_BRICK_TEST" PORT="Brick" PREC="3" SPORT="BRICK1port" TWV="50" VELO="20" name="M3"/>
<pmac.dls_pmac_asyn_motor ADDR="4" DESC="Motor 4->I- JACK 2" DHLM="10000" DLLM="-10000" EGU="mm" M=":MOTOR4" MRES="0.001" P="PMAC_BRICK_TEST" PORT="Brick" PREC="3" SPORT="BRICK1port" TWV="50" VELO="20" name="M4"/>
<pmac.dls_pmac_asyn_motor ADDR="5" DESC="Motor 5" DHLM="10000" DLLM="-10000" EGU="mm" M=":MOTOR5" MRES="0.001" P="PMAC_BRICK_TEST" PORT="Brick" PREC="3" SPORT="BRICK1port" TWV="10" VELO="20" name="M5"/>
<pmac.dls_pmac_asyn_motor ADDR="6" DESC="Motor 6" DHLM="10000" DLLM="-10000" EGU="mm" M=":MOTOR6" MRES="0.001" P="PMAC_BRICK_TEST" PORT="Brick" PREC="3" SPORT="BRICK1port" TWV="10" VELO="20" name="M6"/>
<pmac.dls_pmac_asyn_motor ADDR="7" DESC="Motor 7" DHLM="10000" DLLM="-10000" EGU="mm" M=":MOTOR7" MRES="0.001" P="PMAC_BRICK_TEST" PORT="Brick" PREC="3" SPORT="BRICK1port" TWV="10" VELO="20" name="M7"/>
<pmac.dls_pmac_asyn_motor ADDR="8" DESC="Motor 8" DHLM="10000" DLLM="-10000" EGU="mm" M=":MOTOR8" MRES="0.001" P="PMAC_BRICK_TEST" PORT="Brick" PREC="3" SPORT="BRICK1port" TWV="10" VELO="20" name="M8"/>
<pmac.CS CS="1" Controller="Brick" IdlePoll="1000" name="CS1"/>
<pmac.CS CS="2" Controller="Brick" IdlePoll="1000" name="CS2"/>
<pmac.CS CS="3" Controller="Brick" IdlePoll="1000" name="CS3"/>
<pmac.dls_pmac_cs_asyn_motor ADDR="1" DESC="CS2 1->A" DHLM="10000" DLLM="-10000" EGU="mm" M=":A" MRES="0.0001" P="BRICK1CS2" PORT="CS2" PREC="3" TWV="1" VELO="20" name="X2"/>
<pmac.dls_pmac_cs_asyn_motor ADDR="2" DESC="CS2 2->B" DHLM="10000" DLLM="-10000" EGU="mm" M=":B" MRES="0.0001" P="BRICK1CS2" PORT="CS2" PREC="3" TWV="1" VELO="20" name="Y2"/>
<pmac.dls_pmac_cs_asyn_motor ADDR="1" DESC="CS3 1->A" DHLM="10000" DLLM="-10000" EGU="mm" M=":A" MRES="0.0001" P="BRICK1CS3" PORT="CS3" PREC="3" TWV="1" VELO="20" name="A3"/>
<pmac.dls_pmac_cs_asyn_motor ADDR="2" DESC="CS3 2->B" DHLM="10000" DLLM="-10000" EGU="mm" M=":B" MRES="0.0001" P="BRICK1CS3" PORT="CS3" PREC="3" TWV="1" VELO="20" name="B3"/>
<pmac.dls_pmac_cs_asyn_motor ADDR="7" DESC="CS3 HEIGHT" DHLM="10000" DLLM="-10000" EGU="mm" M=":X" MRES="0.0001" P="BRICK1CS3" PORT="CS3" PREC="3" TWV="1" VELO="20" name="X3"/>
<pmac.dls_pmac_cs_asyn_motor ADDR="8" DESC="CS3 ANGLE" DHLM="10000" DLLM="-10000" EGU="deg" M=":Y" MRES="0.0001" P="BRICK1CS3" PORT="CS3" PREC="3" TWV="1" VELO="20" name="Y3"/>
<pmac.dls_pmac_cs_asyn_motor ADDR="2" DESC="GAP CS1" DHLM="10000" DLLM="-10000" EGU="mm" M=":GAP" MRES="0.0001" P="BRICK1CS1" PORT="CS1" PREC="3" TWV="1" VELO="20" name="GAP"/>
<pmac.dls_pmac_cs_asyn_motor ADDR="1" DESC="CENTRE CS1" DHLM="10000" DLLM="-10000" EGU="mm" M=":CENTRE" MRES="0.0001" P="BRICK1CS1" PORT="CS1" PREC="3" TWV="1" VELO="20" name="CENTRE"/>
<pmac.pmacCreateCsGroup AxisCount="2" Controller="Brick" GroupName="1,2->A,B" GroupNumber="0"/>
<pmac.pmacCreateCsGroup AxisCount="2" Controller="Brick" GroupName="3,4->I" GroupNumber="1"/>
<pmac.pmacCreateCsGroup AxisCount="8" Controller="Brick" GroupName="MIXED CS3" GroupNumber="2"/>
<pmac.pmacCreateCsGroup AxisCount="8" Controller="Brick" GroupName="MIXED CS2" GroupNumber="3"/>
<pmac.pmacCsGroupAddAxis AxisDef="A" AxisNumber="1" Controller="Brick" CoordSysNumber="2" GroupNumber="0"/>
<pmac.pmacCsGroupAddAxis AxisDef="B" AxisNumber="2" Controller="Brick" CoordSysNumber="2" GroupNumber="0"/>
<pmac.pmacCsGroupAddAxis AxisDef="C" AxisNumber="3" Controller="Brick" CoordSysNumber="2" GroupNumber="0"/>
<pmac.pmacCsGroupAddAxis AxisDef="U" AxisNumber="4" Controller="Brick" CoordSysNumber="2" GroupNumber="0"/>
<pmac.pmacCsGroupAddAxis AxisDef="V" AxisNumber="5" Controller="Brick" CoordSysNumber="2" GroupNumber="0"/>
<pmac.pmacCsGroupAddAxis AxisDef="W" AxisNumber="6" Controller="Brick" CoordSysNumber="2" GroupNumber="0"/>
<pmac.pmacCsGroupAddAxis AxisDef="X" AxisNumber="7" Controller="Brick" CoordSysNumber="2" GroupNumber="0"/>
<pmac.pmacCsGroupAddAxis AxisDef="Y" AxisNumber="8" Controller="Brick" CoordSysNumber="2" GroupNumber="0"/>
<pmac.pmacCsGroupAddAxis AxisDef="I" AxisNumber="3" Controller="Brick" CoordSysNumber="3" GroupNumber="1"/>
<pmac.pmacCsGroupAddAxis AxisDef="I" AxisNumber="4" Controller="Brick" CoordSysNumber="3" GroupNumber="1"/>
<pmac.pmacCsGroupAddAxis AxisDef="A" AxisNumber="1" Controller="Brick" CoordSysNumber="3" GroupNumber="2"/>
<pmac.pmacCsGroupAddAxis AxisDef="B" AxisNumber="2" Controller="Brick" CoordSysNumber="3" GroupNumber="2"/>
<pmac.pmacCsGroupAddAxis AxisDef="I" AxisNumber="3" Controller="Brick" CoordSysNumber="3" GroupNumber="2"/>
<pmac.pmacCsGroupAddAxis AxisDef="I" AxisNumber="4" Controller="Brick" CoordSysNumber="3" GroupNumber="2"/>
<pmac.pmacCsGroupAddAxis AxisDef="A" AxisNumber="1" Controller="Brick" CoordSysNumber="2" GroupNumber="3"/>
<pmac.pmacCsGroupAddAxis AxisDef="B" AxisNumber="2" Controller="Brick" CoordSysNumber="2" GroupNumber="3"/>
<pmac.pmacCsGroupAddAxis AxisDef="I" AxisNumber="3" Controller="Brick" CoordSysNumber="2" GroupNumber="3"/>
<pmac.pmacCsGroupAddAxis AxisDef="I" AxisNumber="4" Controller="Brick" CoordSysNumber="2" GroupNumber="3"/>
<pmac.GeoBrickTrajectoryControlT NPOINTS="10000" PORT="Brick" name="TRAJ"/>
<pmac.pmacDisableLimitsCheck Axis="1" Controller="Brick"/>
<pmac.pmacDisableLimitsCheck Axis="2" Controller="Brick"/>
<pmac.pmacDisableLimitsCheck Axis="3" Controller="Brick"/>
<pmac.pmacDisableLimitsCheck Axis="4" Controller="Brick"/>
<pmac.pmacDisableLimitsCheck Axis="5" Controller="Brick"/>
<pmac.pmacDisableLimitsCheck Axis="6" Controller="Brick"/>
<pmac.pmacDisableLimitsCheck Axis="7" Controller="Brick"/>
<pmac.pmacDisableLimitsCheck Axis="8" Controller="Brick"/>
<pmac.autohome GRP2="Axis1" GRP3="Axis2" GRP4="Axis3" GRP5="Axes4-8" P="PMAC_BRICK_TEST" PLC="10" PORT="Brick" name="HOME"/>
<!--This home is deliberately incorrect - it works agains a non existent PLC and will always try to home indefinitely - used for testing.-->
<pmac.autohome GRP2="Axis1" GRP3="Axis2" GRP4="Axis3" GRP5="Axes4-8" P="PMAC_BRICK_TESTX" PLC="11" PORT="Brick" name="HOMEX"/>
<pmac.pmacSetCoordStepsPerUnit Axis="1" CS="CS2" Scale="1000"/>
<pmac.pmacSetCoordStepsPerUnit Axis="2" CS="CS2" Scale="100"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q1" SCAN="I/O Intr" record="BRICK1:CS3:Q1"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q2" SCAN="I/O Intr" record="BRICK1:CS3:Q2"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q3" SCAN="I/O Intr" record="BRICK1:CS3:Q3"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q4" SCAN="I/O Intr" record="BRICK1:CS3:Q4"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q5" SCAN="I/O Intr" record="BRICK1:CS3:Q5"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q6" SCAN="I/O Intr" record="BRICK1:CS3:Q6"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q7" SCAN="I/O Intr" record="BRICK1:CS3:Q7"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q8" SCAN="I/O Intr" record="BRICK1:CS3:Q8"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q9" SCAN="I/O Intr" record="BRICK1:CS3:Q9"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q70" SCAN="I/O Intr" record="BRICK1:CS3:Q70"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q71" SCAN="I/O Intr" record="BRICK1:CS3:Q71"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q72" SCAN="I/O Intr" record="BRICK1:CS3:Q72"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q73" SCAN="I/O Intr" record="BRICK1:CS3:Q73"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q74" SCAN="I/O Intr" record="BRICK1:CS3:Q74"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q75" SCAN="I/O Intr" record="BRICK1:CS3:Q75"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q76" SCAN="I/O Intr" record="BRICK1:CS3:Q76"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q77" SCAN="I/O Intr" record="BRICK1:CS3:Q77"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q78" SCAN="I/O Intr" record="BRICK1:CS3:Q78"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q79" SCAN="I/O Intr" record="BRICK1:CS3:Q79"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q80" SCAN="I/O Intr" record="BRICK1:CS3:Q80"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q81" SCAN="I/O Intr" record="BRICK1:CS3:Q81"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q82" SCAN="I/O Intr" record="BRICK1:CS3:Q82"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q83" SCAN="I/O Intr" record="BRICK1:CS3:Q83"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q84" SCAN="I/O Intr" record="BRICK1:CS3:Q84"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q85" SCAN="I/O Intr" record="BRICK1:CS3:Q85"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q86" SCAN="I/O Intr" record="BRICK1:CS3:Q86"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q87" SCAN="I/O Intr" record="BRICK1:CS3:Q87"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q88" SCAN="I/O Intr" record="BRICK1:CS3:Q88"/>
<records.ai DTYP="asynFloat64" INP="@asyn(Brick,0,1)PMAC_VDF_&1Q89" SCAN="I/O Intr" record="BRICK1:CS3:Q89"/>
</components>