<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE properties SYSTEM "cpf.dtd">
%comment%  Properties of the Position-Generator component  %%
<properties>

  <simple name="num_axes" type="long"><description></description><value>7</value></simple>

  <struct name="max_vel" type="array"><description>The maximum velocity in trajectory</description>
    <simple name="Element0" type="double"><description>Axis 1</description><value>0.1</value></simple>
    <simple name="Element1" type="double"><description>Axis 2</description><value>0.1</value></simple>
    <simple name="Element2" type="double"><description>Axis 3</description><value>0.1</value></simple>
    <simple name="Element3" type="double"><description>Axis 4</description><value>0.1</value></simple>
    <simple name="Element4" type="double"><description>Axis 5</description><value>0.1</value></simple>
    <simple name="Element5" type="double"><description>Axis 6</description><value>0.1</value></simple>
    <simple name="Element6" type="double"><description>Axis 7</description><value>0.1</value></simple>
  </struct>

  <struct name="max_acc" type="array"><description>The maximum acceleration in trajectory</description>
    <simple name="Element0" type="double"><description>Axis 1</description><value>1.0</value></simple>
    <simple name="Element1" type="double"><description>Axis 2</description><value>1.0</value></simple>
    <simple name="Element2" type="double"><description>Axis 3</description><value>1.0</value></simple>
    <simple name="Element3" type="double"><description>Axis 4</description><value>1.0</value></simple>
    <simple name="Element4" type="double"><description>Axis 5</description><value>1.0</value></simple>
    <simple name="Element5" type="double"><description>Axis 6</description><value>1.0</value></simple>
    <simple name="Element6" type="double"><description>Axis 7</description><value>1.0</value></simple>    
  </struct>

  <simple name="movingTimeOnPort" type="double"><description>Moving time for desired positions on port.</description><value>0</value></simple>

  <struct name="delayTimes" type="array"><description>Delay times for each joint.</description>
    <simple name="Element0" type="double"><description>Axis 1</description><value>0</value></simple>
    <simple name="Element1" type="double"><description>Axis 2</description><value>0</value></simple>
    <simple name="Element2" type="double"><description>Axis 3</description><value>0</value></simple>
    <simple name="Element3" type="double"><description>Axis 4</description><value>0</value></simple>
    <simple name="Element4" type="double"><description>Axis 5</description><value>0</value></simple>
    <simple name="Element5" type="double"><description>Axis 6</description><value>0</value></simple>
    <simple name="Element6" type="double"><description>Axis 7</description><value>0</value></simple>    
  </struct>

</properties>