 How to Create Geometry Files		BKT  16-Nov-03
 
Use a text editor to define the locations of all swivel pins
relative to the crosshead origin located at the bottom center
of the crosshead.  This file is read by the controller software
and is used for coordinate tranformation.  The file can have
any name, but must have a ".dat" file extension.  A file with
the specific name "Geometry.dat", if it exists, will automatically
be read by the controller software when starting up.  If a file
of that name does not exist, you will be prompted a file.

Here is a sample geometry file for the case of no struts:

Note:	You must begin the file with "(Table" (without quotes)
	and end it with ")".

(Table
	x1Tx	-47.50
	x1Ty	-90.00
	x1Tz	16.25
	x1Bx	-204.88
	x1By	-90.00
	x1Bz	16.25
	x1Len	157.38

	x2Tx	-47.50
	x2Ty	90.00
	x2Tz	16.25
	x2Bx	-204.88
	x2By	90.00
	x2Bz	16.25
	x2Len	157.38

	y3Tx	90.00
	y3Ty	-47.50
	y3Tz	48.25
	y3Bx	90.00
	y3By	-204.88
	y3Bz	48.25
	y3Len	157.38

	y4Tx	-90.00
	y4Ty	-47.50
	y4Tz	48.25
	y4Bx	-90.00
	y4By	-204.88
	y4Bz	48.25
	y4Len	157.38

	z1Tx	0.0
	z1Ty	-162.00
	z1Tz	-26.50
	z1Bx	0.0
	z1By	-162.00
	z1Bz	-200.62
	z1Len	174.12

	z2Tx	0.0
	z2Ty	162.00
	z2Tz	-26.50
	z2Bx	0.0
	z2By	162.00
	z2Bz	-200.62
	z2Len	174.12

	z3Tx	162.00
	z3Ty	0.0
	z3Tz	-26.50
	z3Bx	162.00
	z3By	0.0
	z3Bz	-200.62
	z3Len	174.12

	z4Tx	-162.00
	z4Ty	0.0
	z4Tz	-26.50
	z4Bx	-162.00
	z4By	0.0
	z4Bz	-200.62
	z4Len	174.12

	totalWate	153.5
	horizWate	13.5
)

----- Definitions of geometry file parameters -----

Notes:	All dimensions are in inches and are measured relative
	to the crosshead origin located at the bottom center
	of the crosshead.
	
	The naming convention code for coordinate parameters is:

		Characters 1&2:	actuator id
				(see actuator constellation below:)

			  +X --  (+Z: up)
			       |
			      +Y

			    y3          y4
			    |   _____   |
			    |  |  .  |------x1
			    |  |  z1 |  |
			   _|__|     |__|_
			  |               |
			  | .z3        z4.|
			  |____       ____|
			       |     |
			       |  z2 |
			       |__.__|------x2

		Character 3:	T for Table (crosshead) swivel pin,
				B for Base swivel pin
		
		Character 4:	Cartesian coordinate (x, y, or z)


	Actuator length:
			Defined as the pin-to-pin combined length of
			actuator at midstroke position plus the strut
			length, if any.

	Total weight:	Total weight of table plus actuators.

	Horiz weight:	The weight of a single horizontal actuator
			plus its strut, if any.


Parameter descriptions:

	x1Tx		x1 actuator table swivel pin location
	x1Ty
	x1Tz
	x1Bx		x1 actuator base swivel pin location
	x1By
	x1Bz
	x1Len		x1 actuator+strut pin-to-pin length

	x2Tx		x2 actuator table swivel pin location
	x2Ty
	x2Tz
	x2Bx		x2 actuator base swivel pin location
	x2By
	x2Bz
	x2Len		x2 actuator+strut pin-to-pin length

	y3Tx		y3 actuator table swivel pin location
	y3Ty
	y3Tz
	y3Bx		y3 actuator base swivel pin location
	y3By
	y3Bz
	y3Len		y3 actuator+strut pin-to-pin length

	y4Tx		y4 actuator table swivel pin location
	y4Ty
	y4Tz
	y4Bx		y4 actuator base swivel pin location
	y4By
	y4Bz
	y4Len		y4 actuator+strut pin-to-pin length

	z1Tx		z1 actuator table swivel pin location
	z1Ty
	z1Tz
	z1Bx		z1 actuator base swivel pin location
	z1By
	z1Bz
	z1Len		z1 actuator+strut pin-to-pin length

	z2Tx		z2 actuator table swivel pin location
	z2Ty
	z2Tz
	z2Bx		z2 actuator base swivel pin location
	z2By
	z2Bz
	z2Len		z2 actuator+strut pin-to-pin length

	z3Tx		z3 actuator table swivel pin location
	z3Ty
	z3Tz
	z3Bx		z3 actuator base swivel pin location
	z3By
	z3Bz
	z3Len		z3 actuator+strut pin-to-pin length

	z4Tx		z4 actuator table swivel pin location
	z4Ty
	z4Tz
	z4Bx		z4 actuator base swivel pin location
	z4By
	z4Bz
	z4Len		z4 actuator+strut pin-to-pin length

	totalWate	total weight (table plus actuators)
	horizWate	horizontal actuator weight

