add stepconf

author: Jeff Epler <jepler@unpythonic.net> 2007-09-16 16:50:12 +0000
committer: Jeff Epler <jepler@unpythonic.net> 2007-09-16 16:50:12 +0000
commit: f37e7389f027c0b843dcf88aed59eb3b96e55ce4 (patch)
tree: 45511671319a19d1dac566422a64d20bfa6df5df
parent: 712b55341e056aecc6a96861c896128a30576c78 (diff)
download: linuxcnc-f37e7389f027c0b843dcf88aed59eb3b96e55ce4.tar.gz
linuxcnc-f37e7389f027c0b843dcf88aed59eb3b96e55ce4.zip
22 files changed, 21971 insertions, 2 deletions
diff --git a/bin/.cvsignore b/bin/.cvsignore
index 08249477b..e225d3e28 100644
--- a/bin/.cvsignore
+++ b/bin/.cvsignore
@@ -33,6 +33,7 @@ keystick
 lintini
 pumagui
 scaragui
+stepconf
 m5i20cfg
 mdi
 milltask
diff --git a/debian/control.in b/debian/control.in
index 621540bfc..06dd97d86 100644
--- a/debian/control.in
+++ b/debian/control.in
@@ -11,7 +11,7 @@ Conflicts: emc2, emc2-axis
 Provides: emc2, emc2-axis
 Architecture: any
 Suggests: pdf-viewer
-Depends: ${shlibs:Depends},@KERNEL_DEPENDS@,tcl8.4,tk8.4,libreadline5, python2.4-numarray | python-numarray , python2.4-imaging, python2.4-imaging-tk | python-imaging-tk, python (>= 2.4), python (<< 2.5), emc2, ${python:Depends}, bwidget (>= 1.7), bwidget (<<1.8), python2.4-tk,python2.4-xml
+Depends: ${shlibs:Depends},@KERNEL_DEPENDS@,tcl8.4,tk8.4,libreadline5, python2.4-numarray | python-numarray , python2.4-imaging, python2.4-imaging-tk | python-imaging-tk, python (>= 2.4), python (<< 2.5), emc2, ${python:Depends}, bwidget (>= 1.7), bwidget (<<1.8), python2.4-tk,python2.4-xml, python2.4-gnome2
 Description: PC based motion controller for real-time Linux.
  EMC2 is the next-generation Enhanced Machine Controller which
  provides motion control for CNC machine tools and robotic 
diff --git a/debian/emc2.files.in b/debian/emc2.files.in
index 942df7c14..b03f3c4ba 100644
--- a/debian/emc2.files.in
+++ b/debian/emc2.files.in
@@ -3,6 +3,7 @@ etc/init.d/realtime
 etc/emc2/rtapi.conf
 usr/bin/emc
 usr/bin/emcmkdesktop
+usr/bin/stepconf
 usr/bin/halcmd
 usr/bin/halrun
 usr/bin/halrmt
diff --git a/docs/man/man9/.cvsignore b/docs/man/man9/.cvsignore
index c0ec8db5d..1bc7d686b 100644
--- a/docs/man/man9/.cvsignore
+++ b/docs/man/man9/.cvsignore
@@ -68,6 +68,7 @@ sample_hold.9
 scale.9
 select8.9
 serport.9
+steptest.9
 sum2.9
 threadtest.9
 timedelta.9
diff --git a/docs/src/Master_User.lyx b/docs/src/Master_User.lyx
index e5c8d900d..16a7b773b 100644
--- a/docs/src/Master_User.lyx
+++ b/docs/src/Master_User.lyx
@@ -132,6 +132,15 @@ preview false
 \layout Standard
 
 
+\begin_inset Include \include{config/stepconf.lyx}
+preview false
+
+\end_inset 
+
+
+\layout Standard
+
+
 \begin_inset Include \include{config/stepper.lyx}
 preview false
 
diff --git a/docs/src/Submakefile b/docs/src/Submakefile
index 2c4d1e3e4..e93fe8f42 100644
--- a/docs/src/Submakefile
+++ b/docs/src/Submakefile
@@ -36,6 +36,7 @@ DOC_SRCS := \
 	config/ini_homing.lyx \
 	config/emc2hal.lyx \
 	config/stepper.lyx \
+	config/stepconf.lyx \
 	gcode/coordinates.lyx \
 	gcode/main.lyx \
 	gcode/mill_canned.lyx \
diff --git a/docs/src/config/.cvsignore b/docs/src/config/.cvsignore
index c15fff603..ce833e612 100644
--- a/docs/src/config/.cvsignore
+++ b/docs/src/config/.cvsignore
@@ -1,3 +1,5 @@
+stepconf
+stepconf.lyx
 emc2hal
 emc2hal.tex
 ini_config
diff --git a/docs/src/config/latency.png b/docs/src/config/latency.png
new file mode 100644
index 000000000..c50524f64
--- /dev/null
+++ b/docs/src/config/latency.png
diff --git a/docs/src/config/stepconf.lyx b/docs/src/config/stepconf.lyx
new file mode 100644
index 000000000..8c475c4e5
--- /dev/null
+++ b/docs/src/config/stepconf.lyx
@@ -0,0 +1,1226 @@
+#LyX 1.3 created this file. For more info see http://www.lyx.org/
+\lyxformat 221
+\textclass book
+\begin_preamble
+\usepackage[plainpages=false,pdfpagelabels,colorlinks=true,linkcolor=blue]{hyperref}
+\end_preamble
+\language english
+\inputencoding auto
+\fontscheme pslatex
+\graphics default
+\paperfontsize default
+\spacing single 
+\papersize Default
+\paperpackage a4
+\use_geometry 0
+\use_amsmath 0
+\use_natbib 0
+\use_numerical_citations 0
+\paperorientation portrait
+\secnumdepth 3
+\tocdepth 3
+\paragraph_separation indent
+\defskip medskip
+\quotes_language english
+\quotes_times 2
+\papercolumns 1
+\papersides 1
+\paperpagestyle default
+
+\layout Chapter
+
+Stepconf: Configure EMC2 for Step & Direction CNC Machines
+\layout Standard
+
+EMC2 is capable of controlling a wide range of machinery using many different
+ hardware interfaces.
+ Stepconf is a program which generates EMC configuration files for a specific
+ class of CNC machine: those connected to the PC using a standard 
+\series bold 
+parallel port
+\series default 
+ and controlled with 
+\series bold 
+step & direction
+\series default 
+ signals.
+\layout Section
+
+Step by Step Instructions
+\layout Subsection
+
+Basic Information
+\layout Description
+
+Machine\SpecialChar ~
+Name Choose a name for your machine.
+ Use only uppercase letters, lowercase letters, digits, 
+\begin_inset Quotes eld
+\end_inset 
+
+-
+\begin_inset Quotes erd
+\end_inset 
+
+ and 
+\begin_inset Quotes eld
+\end_inset 
+
+_
+\begin_inset Quotes erd
+\end_inset 
+
+.
+\layout Description
+
+Axis\SpecialChar ~
+Configuration Choose XYZ (Mill), XYZA (4-axis mill) or XZ (Lathe).
+\layout Description
+
+Machine\SpecialChar ~
+Units Choose Inch or mm.
+ All subsequent questions (such as machine travel, leadscrew pitch, etc)
+ will be answered in the chosen units
+\layout Description
+
+Driver\SpecialChar ~
+Characteristics If you have one of the stepper drivers listed in the
+ pulldown box, choose it.
+ Otherwise, find the 4 timing values in your driver's datasheet and enter
+ them.
+ If the datasheet gives a value in microseconds, multiply by 1000.
+ For example, enter 4.5us as 4500.
+\layout Description
+
+Latency\SpecialChar ~
+Test\SpecialChar ~
+Result Enter the result of the Latency Test here.
+ (see section 
+\begin_inset LatexCommand \ref{sec:Latency-Test}
+
+\end_inset 
+
+)
+\layout Description
+
+Max\SpecialChar ~
+Step\SpecialChar ~
+Rate
+\layout Description
+
+Min\SpecialChar ~
+Base\SpecialChar ~
+Period Based on the Driver Characteristics and Latency Test Result,
+ Stepconf automatically determines the minimum usable BASE_PERIOD, and the
+ step rate that is possible at that BASE_PERIOD.
+ 
+\layout Description
+
+Onscreen\SpecialChar ~
+Prompt\SpecialChar ~
+For\SpecialChar ~
+Tool\SpecialChar ~
+Change If this box is checked, EMC will pause and prompt
+ you to change the tool when 
+\series bold 
+M6
+\series default 
+ is encountered.
+ Leave this box checked unless you plan to add support for an automatic
+ tool changer in a custom hal file
+\layout Subsection
+
+Parallel Port Setup
+\layout Standard
+
+For each pin, choose the signal which matches your parallel port pinout.
+ Turn on the 
+\begin_inset Quotes eld
+\end_inset 
+
+invert
+\begin_inset Quotes erd
+\end_inset 
+
+ checkbox if the signal is inverted (0V for true/active, 5V for false/inactive).
+\layout Description
+
+Output\SpecialChar ~
+pinout\SpecialChar ~
+presets Automatically set pins 2 through 9 according to the
+ Sherline standard (Direction on pins 2, 4, 6, 8) or the Xylotex standard
+ (Direction on pins 3, 5, 7, 9).
+\layout Description
+
+Include\SpecialChar ~
+custom\SpecialChar ~
+HAL\SpecialChar ~
+configuration Allows you to add additional hal customizations
+ in the file 
+\family typewriter 
+custom.hal
+\family default 
+ after running Stepconf.
+\layout Standard
+
+
+\series bold 
+Include\SpecialChar ~
+custom\SpecialChar ~
+PyVCP\SpecialChar ~
+Panel
+\series default 
+ If selected, the PyVCP control panel 
+\family typewriter 
+panel.xml
+\family default 
+ will be displayed on the right-hand side of the main AXIS window.
+\layout Subsection
+
+Axis Configuration
+\layout Description
+
+Motor\SpecialChar ~
+Steps\SpecialChar ~
+Per\SpecialChar ~
+Revolution The number of full steps per motor revolution.
+ If you know how many degrees the motor is (e.g., 1.2 degree), then divide
+ 360 by the degrees to find the number of steps per motor revolution.
+\layout Description
+
+Driver\SpecialChar ~
+Microstepping The amount of microstepping performed by the driver.
+ Enter 
+\begin_inset Quotes eld
+\end_inset 
+
+2
+\begin_inset Quotes erd
+\end_inset 
+
+ for half-stepping.
+\layout Description
+
+Pulley\SpecialChar ~
+Ratio If your machine has pulleys between the motor and leadscrew,
+ enter the ratio here.
+ If not, enter 
+\begin_inset Quotes eld
+\end_inset 
+
+1:1
+\begin_inset Quotes erd
+\end_inset 
+
+.
+\layout Description
+
+Leadscrew\SpecialChar ~
+Pitch Enter the pitch of the leadscrew here.
+ If you chose 
+\begin_inset Quotes eld
+\end_inset 
+
+Inch
+\begin_inset Quotes erd
+\end_inset 
+
+ units, enter the number of threads per inch here (e.g., enter 8 for 8TPI).
+ If you chose 
+\begin_inset Quotes eld
+\end_inset 
+
+mm
+\begin_inset Quotes erd
+\end_inset 
+
+ units, enter the number of millimeters per thread here (e.g., enter 2 for
+ 2mm/rev).
+ If the machine travels in the wrong direction, enter a negative number
+ here instead of a positive number.
+\layout Description
+
+Maximum\SpecialChar ~
+Velocity
+\layout Description
+
+Maximum\SpecialChar ~
+Acceleration The correct values for these items can only be determined
+ through experimentation.
+ See 
+\begin_inset Quotes eld
+\end_inset 
+
+Finding Velocity and Acceleration
+\begin_inset Quotes erd
+\end_inset 
+
+ below.
+\layout Description
+
+Home\SpecialChar ~
+Location The position the machine moves to after completing the homing
+ procedure for this axis.
+ For machines without home switches, this is the location the operator manually
+ moves the machine to before pressing the Home button.
+\layout Description
+
+Table\SpecialChar ~
+Travel The range of travel that gcode programs must not exceed.
+ The home location must be inside the Table Travel.
+ In particular, having Home Location exactly equal to one of the Tabel Travel
+ values is incorrect configuration
+\layout Description
+
+Home\SpecialChar ~
+Switch\SpecialChar ~
+Location The location at which the home switch trips or releases
+ during the homing process.
+ This item and the two below only appear when Home Switches were chosen
+ in the Parallel Port Pinout.
+\layout Description
+
+Home\SpecialChar ~
+Search\SpecialChar ~
+Velocity The velocity to use when moving towards the switch.
+ If the switch is near the end of travel, this velocity must be chosen so
+ that the axis can decelerate to a stop before hitting the end of travel.
+ If the switch is only closed for a short range of travel (instead of being
+ closed from its trip point to one end of travel), this velocity must be
+ chosen so that the axis can decelerate to a stop before the switch opens
+ again, and homing must always be started from the same side of the switch.
+\newline 
+If the machine moves the wrong direction at the beginning of the homing
+ procedure, negate the value of 
+\series bold 
+Home Search Velocity
+\series default 
+.
+\layout Description
+
+Home\SpecialChar ~
+Latch\SpecialChar ~
+Direction Choose 
+\begin_inset Quotes eld
+\end_inset 
+
+Same
+\begin_inset Quotes erd
+\end_inset 
+
+ to have homing back off the switch, then approach it again at a very low
+ speed.
+ The second time the switch closes, the home position is set.
+\newline 
+Choose 
+\begin_inset Quotes eld
+\end_inset 
+
+Opposite
+\begin_inset Quotes erd
+\end_inset 
+
+ to have homing slowly back off the switch.
+ When the switch opens, the home position is set.
+\layout Description
+
+Time\SpecialChar ~
+to\SpecialChar ~
+accelerate\SpecialChar ~
+to\SpecialChar ~
+max\SpecialChar ~
+speed
+\layout Description
+
+Distance\SpecialChar ~
+to\SpecialChar ~
+accelerate\SpecialChar ~
+to\SpecialChar ~
+max\SpecialChar ~
+speed
+\layout Description
+
+Pulse\SpecialChar ~
+rate\SpecialChar ~
+at\SpecialChar ~
+max\SpecialChar ~
+speed Information computed based on the values entered above.
+ The greatest 
+\series bold 
+Pulse rate at max speed
+\series default 
+ determines the 
+\series bold 
+BASE_PERIOD
+\series default 
+, and values above 20000Hz may lead to slow response time or even lockups
+ (the fastest usable pulse rate varies from computer to computer)
+\layout Subsection
+
+Spindle Configuration
+\layout Standard
+
+These options only appear when 
+\begin_inset Quotes eld
+\end_inset 
+
+Spindle PWM
+\begin_inset Quotes erd
+\end_inset 
+
+, 
+\begin_inset Quotes eld
+\end_inset 
+
+Spindle A
+\begin_inset Quotes erd
+\end_inset 
+
+ or 
+\begin_inset Quotes eld
+\end_inset 
+
+Spindle PPR
+\begin_inset Quotes erd
+\end_inset 
+
+ are chosen in the 
+\series bold 
+Parallel port pinout
+\series default 
+.
+\layout Subsubsection
+
+Spindle Speed Control
+\layout Standard
+
+If 
+\begin_inset Quotes eld
+\end_inset 
+
+Spindle PWM
+\begin_inset Quotes erd
+\end_inset 
+
+ appears on the pinout, the following information should be entered:
+\layout Description
+
+PWM\SpecialChar ~
+Rate The 
+\begin_inset Quotes eld
+\end_inset 
+
+carrier frequency
+\begin_inset Quotes erd
+\end_inset 
+
+ of the PWM signal to the spindle.
+ Enter 
+\begin_inset Quotes eld
+\end_inset 
+
+0
+\begin_inset Quotes erd
+\end_inset 
+
+ for PDM mode, which is useful for generating an analog control voltage.
+ Refer to the documentation for your spindle controller for the appropriate
+ value.
+\layout Description
+
+Speed\SpecialChar ~
+1\SpecialChar ~
+and\SpecialChar ~
+2,\SpecialChar ~
+PWM\SpecialChar ~
+1\SpecialChar ~
+and\SpecialChar ~
+2 The generated configuration file uses a simple linear
+ relationship to determine the PWM value for a given RPM value.
+ If the values are not known, they can be determined.
+ See the section 
+\begin_inset Quotes eld
+\end_inset 
+
+Determining Spindle Calibration
+\begin_inset Quotes erd
+\end_inset 
+
+ below.
+\layout Subsubsection
+
+Spindle-synchronized motion (lathe threading)
+\layout Standard
+
+When the appropriate signals from a spindle encoder are connected to the
+ parallel port, EMC supports lathe threading.
+ These signals are:
+\layout Description
+
+Spindle\SpecialChar ~
+PPR Also called 
+\begin_inset Quotes eld
+\end_inset 
+
+Index pulse
+\begin_inset Quotes erd
+\end_inset 
+
+, this is a pulse that occurs once per revolution of the spindle.
+\layout Description
+
+Spindle\SpecialChar ~
+A This is a pulse that occurs in multiple equally-spaced locations
+ as the spindle turns.
+\layout Description
+
+Spindle\SpecialChar ~
+B (optional) This is a second pulse that occurs, but with an offset
+ from 
+\series bold 
+Spindle A
+\series default 
+.
+ The advantages to using both 
+\series bold 
+A
+\series default 
+ and 
+\series bold 
+B
+\series default 
+ are increased noise immunity and increased resolution.
+\layout Standard
+
+If 
+\begin_inset Quotes eld
+\end_inset 
+
+Spindle A
+\begin_inset Quotes erd
+\end_inset 
+
+ and 
+\begin_inset Quotes eld
+\end_inset 
+
+Spindle PPR
+\begin_inset Quotes erd
+\end_inset 
+
+ appear on the pinout, the following information should be entered:
+\layout Description
+
+Cycles\SpecialChar ~
+per\SpecialChar ~
+revolution The number of cycles of the 
+\series bold 
+Spindle A
+\series default 
+ signal during one revolution of the spindle
+\layout Description
+
+
+\begin_inset Note
+collapsed false
+
+\layout Description
+
+Maximum\SpecialChar ~
+threading\SpecialChar ~
+speed The maximum spindle speed at which threading will
+ be used.
+ Like high motor speeds in Hz, high 
+\series bold 
+SPINDLE A
+\series default 
+ speeds require a low 
+\series bold 
+BASE_PERIOD
+\series default 
+ setting (TODO)
+\end_inset 
+
+
+\layout Subsection
+
+Machine Configuration Complete
+\layout Standard
+
+Click 
+\begin_inset Quotes eld
+\end_inset 
+
+Apply
+\begin_inset Quotes erd
+\end_inset 
+
+ to write the configuration files.
+ Later, you can re-run this program and tweak the settings you entered before.
+\layout Section
+
+Finding Velocity and Acceleration
+\layout Standard
+
+With Stepconf it is easy to try different values for acceleration and velocity.
+ First, enter the correct figures for 
+\series bold 
+Steps per Revolution
+\series default 
+, 
+\series bold 
+Microstepping
+\series default 
+, 
+\series bold 
+Pulley
+\series default 
+, and 
+\series bold 
+Leadscrew
+\series default 
+.
+ Then enter a provisional value for 
+\series bold 
+Velocity
+\series default 
+.
+
+\series bold 
+ Next
+\series default 
+, click 
+\series bold 
+Test this axis
+\series default 
+.
+\layout Subsection
+
+Finding Maximum Velocity
+\layout Standard
+
+Begin with a low Acceleration (e.g., 2 in/s^2 or 50mm/s^2) and the velocity
+ you hope to attain.
+ Using the buttons provided, jog the axis to near the center of travel.
+ Take care because with a low acceleration value, it can take a surprising
+ distance for the axis to decelerate to a stop.
+\layout Standard
+
+After gauging the amount of travel available, enter a safe distance in Test
+ Area, keeping in mind that after a stall the motor may next start to move
+ in an unexpected direction.
+ Then click Run.
+ The machine will begin to move back and forth along this axis.
+ In this test, it is important that the combination of Acceleration and
+ Test Area allow the machine to reach the selected Velocity and 
+\begin_inset Quotes eld
+\end_inset 
+
+cruise
+\begin_inset Quotes erd
+\end_inset 
+
+ for at least a short distance--the more distance, the better this test
+ is.
+ The formula d=.5*v*v/a gives the minimum distance required reach the specified
+ velocity with the given acceleration.
+ If it is convenient and safe to do so, push the table against the direction
+ of motion to simulate cutting forces.
+ If the machine stalls, reduce the speed and start the test again.
+\layout Standard
+
+If the machine did not obviously stall, click the 
+\begin_inset Quotes eld
+\end_inset 
+
+Run
+\begin_inset Quotes erd
+\end_inset 
+
+ button off.
+ The axis now returns to the position where it started.
+ If the position is incorrect, then the axis stalled or lost steps during
+ the test.
+ Reduce Velocity and start the test again.
+\layout Standard
+
+If the machine doesn't move, stalls, or loses steps no matter how low you
+ turn Velocity, verify the following:
+\layout Itemize
+
+Correct step waveform timings
+\layout Itemize
+
+Correct pinout, including 
+\begin_inset Quotes eld
+\end_inset 
+
+Invert
+\begin_inset Quotes erd
+\end_inset 
+
+ on step pins
+\layout Itemize
+
+Correct, well-shielded cabling
+\layout Itemize
+
+Physical problems with the motor, motor coupling, leadscrew, etc.
+\layout Standard
+
+Once you have found a speed at which the axis does not stall or lose steps
+ during this testing procedure, reduce it by 10% and use that as the axis
+ Maximum Velocity.
+\layout Subsection
+
+Finding Maximum Acceleration
+\layout Standard
+
+With the Maximum Velocity you found in the previous step, enter the acceleration
+ value to test.
+ procedure as above, adjusting the Acceleration value up or down as necessary.
+ In this test, it is important that the combination of Acceleration and
+ Test Area allow the machine to reach the selected Velocity.
+ Once you have found a value at which the axis does not stall or lose steps
+ during this testing procedure, reduce it by 10% and use that as the axis
+ Maximum Acceleration.
+\layout Section
+
+Determining Spindle Calibration
+\layout Standard
+
+Enter the following values in the Spindle Configuration page:
+\layout Standard
+
+
+\begin_inset  Tabular
+<lyxtabular version="3" rows="2" columns="4">
+<features>
+<column alignment="center" valignment="top" leftline="true" width="0">
+<column alignment="center" valignment="top" leftline="true" width="0">
+<column alignment="center" valignment="top" leftline="true" width="0">
+<column alignment="center" valignment="top" leftline="true" rightline="true" width="0">
+<row topline="true">
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\layout Standard
+
+Speed 1:
+\end_inset 
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\layout Standard
+
+
+\series bold 
+0
+\end_inset 
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\layout Standard
+
+PWM 1:
+\end_inset 
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\layout Standard
+
+
+\series bold 
+0
+\end_inset 
+</cell>
+</row>
+<row topline="true" bottomline="true">
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\layout Standard
+
+Speed 2:
+\end_inset 
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\layout Standard
+
+
+\series bold 
+1000
+\end_inset 
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" usebox="none">
+\begin_inset Text
+
+\layout Standard
+
+PWM 1:
+\end_inset 
+</cell>
+<cell alignment="center" valignment="top" topline="true" leftline="true" rightline="true" usebox="none">
+\begin_inset Text
+
+\layout Standard
+
+
+\series bold 
+1
+\end_inset 
+</cell>
+</row>
+</lyxtabular>
+
+\end_inset 
+
+
+\layout Standard
+
+Finish the remaining steps of the configuration process, then launch EMC
+ with your configuration.
+ Turn the machine on and select the MDI tab.
+ Start the spindle turning by entering: 
+\family typewriter 
+M3 S100
+\family default 
+.
+ Change the spindle speed by entering a different S-number: 
+\family typewriter 
+S800
+\family default 
+.
+ Valid numbers range from 0 to 1000.
+\layout Standard
+
+For two different S-numbers, measure the actual spindle speed in RPM.
+ Record the S-numbers and actual spindle speeds.
+ Run Stepconf again.
+ For 
+\begin_inset Quotes eld
+\end_inset 
+
+Speed
+\begin_inset Quotes erd
+\end_inset 
+
+ enter the measured speed, and for 
+\begin_inset Quotes eld
+\end_inset 
+
+PWM
+\begin_inset Quotes erd
+\end_inset 
+
+ enter the S-number divided by 1000.
+\layout Standard
+
+Because most spindle drivers are somewhat nonlinear in their response curves,
+ it is best to:
+\layout Itemize
+
+Make sure the two calibration speeds are not too close together in RPM
+\layout Itemize
+
+Make sure the two calibration speeds are in the range of speeds you will
+ typically use while milling
+\layout Standard
+
+For instance, if your spindle will go from 0RPM to 8000RPM, but you generally
+ use speeds from 400RPM to 4000RPM, then find the PWM values that give 1600RPM
+ and 2800RPM.
+\layout Standard
+
+Axis Travel, Home Location, and Home Switch Location
+\layout Standard
+
+For each axis, there is a limited range of travel.
+ The physical end of travel is called the 
+\series bold 
+hard stop
+\series default 
+.
+ 
+\layout Standard
+
+Before the 
+\series bold 
+hard stop
+\series default 
+ there is a 
+\series bold 
+limit switch
+\series default 
+.
+ If the limit switch is encountered during normal operation, EMC shuts down
+ the motor amplifier.
+ The distance between the 
+\series bold 
+hard stop
+\series default 
+ and 
+\series bold 
+limit switch
+\series default 
+ must be long enough to allow an unpowered motor to coast to a stop.
+ 
+\layout Standard
+
+Before the 
+\series bold 
+limit switch
+\series default 
+ there is a 
+\series bold 
+soft limit
+\series default 
+.
+ This is a limit enforced in software after homing.
+ If a MDI command, or gcode program would pass the soft limit, it is not
+ executed.
+ If a jog would pass the soft limit, it is terminated at the soft limit.
+\layout Standard
+
+The 
+\series bold 
+home switch
+\series default 
+ can be placed anywhere within the travel (between hard stops).
+ As long as external hardware does not deactivate the motor amplifiers with
+ the limit switch is reached, one of the limit switches can be used as a
+ home switch.
+\layout Standard
+
+The 
+\series bold 
+zero position
+\series default 
+ is the location on the axis that is 0 in the machine coordinate system.
+ Usually the 
+\series bold 
+zero position
+\series default 
+ will be within the 
+\series bold 
+soft limits
+\series default 
+.
+ On lathes, constant surface speed mode requires that machine 
+\series bold 
+X=0
+\series default 
+ correspond to the center of spindle rotation when no tool offset is in
+ effect.
+\layout Standard
+
+The 
+\series bold 
+home position
+\series default 
+ is the location within travel that the axis will be moved to at the end
+ of the homing sequence.
+ This value must be within the 
+\series bold 
+soft limits
+\series default 
+.
+ In particular, the 
+\series bold 
+home position
+\series default 
+ should never be exactly equal to a 
+\series bold 
+soft limit
+\series default 
+.
+\layout Standard
+
+
+\begin_inset Note
+collapsed false
+
+\layout Standard
+
+a diagram of all these limits would be nice
+\end_inset 
+
+
+\layout Subsection
+
+Operating without Limit Switches
+\layout Standard
+
+A machine can be operated without limit switches.
+ In this case, only the 
+\series bold 
+soft limits
+\series default 
+ stop the machine from reaching the 
+\series bold 
+hard stop
+\series default 
+.
+ 
+\series bold 
+Soft limits
+\series default 
+ only operate after the machine has been homed.
+\layout Subsection
+
+Operating without Home Switches
+\layout Standard
+
+A machine can be operated without home switches.
+ If the machine has limit switches, but no home switches, it is best to
+ use a limit switch as the home switch (e.g., choose 
+\series bold 
+Minimum Limit + Home X
+\series default 
+ in the pinout).
+ If the machine has no home switches, or the limit switches cannot be used
+ as home switches for another reason, then the machine must be homed 
+\begin_inset Quotes eld
+\end_inset 
+
+by eye
+\begin_inset Quotes erd
+\end_inset 
+
+.
+ Homing by eye is not as repeatable as homing to switches, but it still
+ allows the 
+\series bold 
+soft limits
+\series default 
+ to be useful.
+\layout Section
+
+Latency Test
+\begin_inset LatexCommand \label{sec:Latency-Test}
+
+\end_inset 
+
+
+\layout Standard
+
+Generating step pulses in software has one very big advantage - it's free.
+ Just about every PC has a parallel port that is capable of outputting step
+ pulses that are generated by the software.
+ However, software step pulses also have some disadvantages:
+\layout Itemize
+
+limited maximum step rate 
+\layout Itemize
+
+jitter in the generated pulses
+\layout Itemize
+
+loads the CPU
+\layout Standard
+
+Latency is how long it takes the PC to stop what it is doing and respond
+ to an external request.
+ In our case, the request is the periodic "heartbeat" that serves as a timing
+ reference for the step pulses.
+ The lower the latency, the faster you can run the heartbeat, and the faster
+ and smoother the step pulses will be.
+\layout Standard
+
+Latency is far more important than CPU speed.
+ A lowly Pentium II that responds to interrupts within 10 microseconds each
+ and every time can give better results than the latest and fastest P4 Hyperthre
+ading beast.
+\layout Standard
+
+The CPU isn't the only factor in determining latency.
+ Motherboards, video cards, USB ports, and a number of other things can
+ hurt the latency.
+ The best way to find out what you are dealing with is to run the HAL latency
+ test.
+\layout Standard
+
+To run the test, simply open a shell and type 
+\family typewriter 
+latency-test
+\family default 
+.
+ You should see something like this:
+\layout Standard
+\align center 
+
+\begin_inset Graphics
+	filename latency.png
+
+\end_inset 
+
+
+\layout Standard
+
+While the test is running, you should "abuse" the computer.
+ Move windows around on the screen.
+ Surf the web.
+ Copy some large files around on the disk.
+ Play some music.
+ Run an OpenGL program such as glxgears.
+ The idea is to put the PC through its paces while the latency test checks
+ to see what the worst case numbers are.
+ 
+\series bold 
+Do not run EMC2 or Stepconf while the latency test is running.
+\layout Standard
+
+The important numbers are the 
+\begin_inset Quotes eld
+\end_inset 
+
+max jitter
+\begin_inset Quotes erd
+\end_inset 
+
+.
+ In the example above, that is 17894 nanoseconds, or 17.9 microseconds.
+ Record this number, and enter it in Stepconf when it is requested.
+\layout Standard
+
+In the example above, latency-test only ran for a few seconds.
+ You should run the test for at least several minutes; sometimes the worst
+ case latency doesn't happen very often, or only happens when you do some
+ particular action.
+ For instance, one Intel motherboard worked pretty well most of the time,
+ but every 64 seconds it had a very bad 300uS latency.
+ Fortunately that was fixable (see 
+\begin_inset LatexCommand \htmlurl["Fixing Dapper SMI Issues"]{http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?FixingDapperSMIIssues}
+
+\end_inset 
+
+)
+\layout Standard
+
+So, what do the results mean? If your Max Jitter number is less than about
+ 15-20 microseconds (15000-20000 nanoseconds), the computer should give
+ very nice results with software stepping.
+ If the max latency is more like 30-50 microseconds, you can still get good
+ results, but your maximum step rate might be a little disappointing, especially
+ if you use microstepping or have very fine pitch leadscrews.
+ If the numbers are 100uS or more (100,000 nanoseconds), then the PC is
+ not a good candidate for software stepping.
+ Numbers over 1 millisecond (1,000,000 nanoseconds) mean the PC is not a
+ good candidate for EMC, regardless of whether you use software stepping
+ or not.
+\layout Standard
+
+Note that if you get high numbers, there may be ways to improve them.
+ Another PC had very bad latency (several milliseconds) when using the onboard
+ video.
+ But a $5 used Matrox video card solved the problem - EMC does not require
+ bleeding edge hardware.
+\layout Section
+
+Home and Limit Switch wiring options
+\layout Standard
+
+The ideal wiring for external switches would be one input per switch.
+ However, the PC parallel port only offers a total of 5 inputs, while there
+ are as many as 9 switches on a 3-axis machine.
+ Instead, multiple switches are wired together in various ways so that a
+ smaller number of inputs are required.
+\layout Standard
+
+The figures below show the general idea of wiring multiple switches to a
+ single input pin.
+ In each case, when one switch is actuated, the value seen on INPUT goes
+ from logic HIGH to LOW.
+ However, EMC expects a TRUE value when a switch is closed, so the corresponding
+ 
+\begin_inset Quotes eld
+\end_inset 
+
+Invert
+\begin_inset Quotes erd
+\end_inset 
+
+ box must be checked on the pinout configuration page.
+\layout Standard
+
+
+\begin_inset Float figure
+wide false
+collapsed false
+
+\layout Standard
+\align center 
+
+\begin_inset Graphics
+	filename switch-nc-series.eps
+	width 50page%
+	keepAspectRatio
+
+\end_inset 
+
+
+\layout Caption
+
+Wiring Normally Closed switches in series (simplified diagram)
+\end_inset 
+
+
+\layout Standard
+
+
+\begin_inset Float figure
+wide false
+collapsed false
+
+\layout Standard
+\align center 
+
+\begin_inset Graphics
+	filename switch-no-parallel.eps
+	width 50page%
+	keepAspectRatio
+
+\end_inset 
+
+
+\layout Caption
+
+Wiring Normally Open switches in parallel (simplified diagram)
+\end_inset 
+
+
+\layout Standard
+
+The following combinations of switches are permitted in Stepconf:
+\layout Itemize
+
+Combine home switches for all axes
+\layout Itemize
+
+Combine limit switches for all axes
+\layout Itemize
+
+Combine both limit switches for one axis
+\layout Itemize
+
+Combine both limit switches and the home switch for one axis
+\layout Itemize
+
+Combine one limit switch and the home switch for one axis
+\layout Standard
+
+The last two combinations are also appropriate when a 
+\begin_inset Quotes eld
+\end_inset 
+
+home to limit
+\begin_inset Quotes erd
+\end_inset 
+
+ is used.
+\the_end
diff --git a/docs/src/config/switch-nc-series.dxf b/docs/src/config/switch-nc-series.dxf
new file mode 100644
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+%%EndImage
+%%EndPreview
+save countdictstack mark newpath /showpage {} def /setpagedevice {pop} def
+%%EndProlog
+%%Page: 1 1
+%%BeginDocument: xfer.ps
+%%DocumentFonts:
+
+% Prolog copyright 1994-2005 Trolltech. You may copy this prolog in any way
+% that is directly related to this document. For other use of this prolog,
+% see your licensing agreement for Qt.
+/d/def load def/D{bind d}bind d/d2{dup dup}D/B{0 d2}D/W{255 d2}D/ED{exch d}D
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+/CP{closepath}D/RL{rlineto}D/NP{newpath}D/CM{currentmatrix}D/SM{setmatrix}D
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+false d/OMo false d/BCol[1 1 1]d/PCol[0 0 0]d/BkCol[1 1 1]d/BDArr[0.94 0.88
+0.63 0.50 0.37 0.12 0.06]d/defM matrix d/nS 0 d/GPS{PSt 1 ge PSt 5 le and{{
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+QS
+
+QP
+%%DocumentFonts:
+%%EndDocument
+%%Trailer
+cleartomark countdictstack exch sub { end } repeat restore
+%%EOF
diff --git a/docs/src/index.tmpl b/docs/src/index.tmpl
index 10cee831f..6a9c61d52 100644
--- a/docs/src/index.tmpl
+++ b/docs/src/index.tmpl
@@ -24,6 +24,7 @@ URLs are subject to change.  This documentation refers to emc2 @VERSION@.
     </UL>
 <LI> Configuration
     <UL>
+    <LI><A HREF="./config/stepgen/index.html">Configuration Wizard for Stepper-Based Machines</A>
     <LI><A HREF="./config/ini_config/index.html">Basic Configuration</A>
     <LI><A HREF="./config/stepper/index.html">Stepper Configuration</A>
     <LI><A HREF="./config/ini_homing/index.html">Homing Configuration</A>
diff --git a/share/.cvsignore b/share/.cvsignore
index 193b759b5..109ad35f3 100644
--- a/share/.cvsignore
+++ b/share/.cvsignore
@@ -1 +1,2 @@
 locale
+emc
diff --git a/src/Makefile b/src/Makefile
index e79ebf3aa..ea93adca7 100644
--- a/src/Makefile
+++ b/src/Makefile
@@ -78,7 +78,7 @@ SUBDIRS := \
     hal/components hal/drivers hal/user_comps/vcp hal/user_comps/devices \
     hal/user_comps hal/classicladder hal/utils hal \
     \
-    emc/usr_intf/axis \
+    emc/usr_intf/axis emc/usr_intf/stepconf \
     emc/usr_intf emc/nml_intf emc/task emc/iotask emc/kinematics emc/canterp \
     emc/motion emc/ini emc/rs274ngc emc/sai emc \
     \
diff --git a/src/emc/usr_intf/stepconf/Submakefile b/src/emc/usr_intf/stepconf/Submakefile
new file mode 100644
index 000000000..df5058e6e
--- /dev/null
+++ b/src/emc/usr_intf/stepconf/Submakefile
@@ -0,0 +1,12 @@
+../bin/stepconf: emc/usr_intf/stepconf/stepconf.py
+	@$(ECHO) Syntax checking python script $(notdir $@)
+	@$(PYTHON) -c 'import sys; compile(open(sys.argv[1]).read(), sys.argv[1], "exec")' $<
+	$(ECHO) Copying python script $(notdir $@)
+	@(echo '#!$(PYTHON)'; sed '1 { /^#!/d; }' $<) > $@.tmp && chmod +x $@.tmp && mv -f $@.tmp $@
+
+../share/emc/stepconf.glade: emc/usr_intf/stepconf/stepconf.glade
+	mkdir -p ../share/emc/
+	cp -f $< $@
+
+PYTARGETS += ../bin/stepconf ../share/emc/stepconf.glade
+PYI18NSRCS += emc/usr_intf/stepconf/stepconf.py emc/usr_intf/stepconf/stepconf.glade
diff --git a/src/emc/usr_intf/stepconf/TODO b/src/emc/usr_intf/stepconf/TODO
new file mode 100644
index 000000000..e18b8475f
--- /dev/null
+++ b/src/emc/usr_intf/stepconf/TODO
@@ -0,0 +1,6 @@
+* need to actually test some generated configs (max, zen, and maybe hermes?)
+* what about following error -- appropriate values?
+* how does estop chain work?
+* last page information
+* run latency test concurrently with configurator (or not)
+* flesh out "test an axis" dialog
diff --git a/src/emc/usr_intf/stepconf/stepconf.glade b/src/emc/usr_intf/stepconf/stepconf.glade
new file mode 100644
index 000000000..9d1cf117f
--- /dev/null
+++ b/src/emc/usr_intf/stepconf/stepconf.glade
@@ -0,0 +1,5151 @@
+<?xml version="1.0" standalone="no"?> <!--*- mode: xml -*-->
+<!DOCTYPE glade-interface SYSTEM "http://glade.gnome.org/glade-2.0.dtd">
+
+<glade-interface>
+<requires lib="gnome"/>
+
+<widget class="GtkWindow" id="window1">
+  <property name="visible">True</property>
+  <property name="title" translatable="yes">EMC2 Stepper Mill Configuration</property>
+  <property name="type">GTK_WINDOW_TOPLEVEL</property>
+  <property name="window_position">GTK_WIN_POS_NONE</property>
+  <property name="modal">False</property>
+  <property name="resizable">False</property>
+  <property name="destroy_with_parent">False</property>
+  <property name="decorated">True</property>
+  <property name="skip_taskbar_hint">False</property>
+  <property name="skip_pager_hint">False</property>
+  <property name="type_hint">GDK_WINDOW_TYPE_HINT_NORMAL</property>
+  <property name="gravity">GDK_GRAVITY_NORTH_WEST</property>
+  <property name="focus_on_map">True</property>
+  <property name="urgency_hint">False</property>
+  <signal name="delete_event" handler="on_window1_delete_event" last_modification_time="Sat, 16 Jun 2007 13:34:15 GMT"/>
+  <signal name="destroy_event" handler="gtk_main_quit" last_modification_time="Sun, 17 Jun 2007 13:10:14 GMT"/>
+
+  <child>
+    <widget class="GnomeDruid" id="druid1">
+      <property name="border_width">4</property>
+      <property name="visible">True</property>
+      <property name="show_help">False</property>
+      <signal name="cancel" handler="on_druid1_cancel" last_modification_time="Sat, 28 Jul 2007 22:31:27 GMT"/>
+
+      <child>
+	<widget class="GnomeDruidPageEdge" id="druidpagestart1">
+	  <property name="visible">True</property>
+	  <property name="position">GNOME_EDGE_START</property>
+	  <property name="title" translatable="yes">EMC2 Stepper Mill Configuration</property>
+	  <property name="text" translatable="yes">This program creates configuration files (.ini and .hal) for &quot;step and direction&quot; milling machines and lathes connected to the PC parallel port.</property>
+	  <property name="watermark">emc2-wizard.gif</property>
+	</widget>
+      </child>
+
+      <child>
+	<widget class="GnomeDruidPageStandard" id="page_newormodify">
+	  <property name="visible">True</property>
+	  <property name="title" translatable="yes"></property>
+	  <signal name="next" handler="on_page_newormodify_next" last_modification_time="Sat, 28 Jul 2007 22:28:11 GMT"/>
+
+	  <child internal-child="vbox">
+	    <widget class="GtkVBox" id="druid-vbox17">
+	      <property name="border_width">16</property>
+	      <property name="visible">True</property>
+	      <property name="homogeneous">False</property>
+	      <property name="spacing">6</property>
+
+	      <child>
+		<widget class="GtkTable" id="table12">
+		  <property name="visible">True</property>
+		  <property name="n_rows">4</property>
+		  <property name="n_columns">2</property>
+		  <property name="homogeneous">False</property>
+		  <property name="row_spacing">0</property>
+		  <property name="column_spacing">0</property>
+
+		  <child>
+		    <widget class="GtkRadioButton" id="createconfig">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes">Create a _new configuration</property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">True</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">1</property>
+		      <property name="bottom_attach">2</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkRadioButton" id="modifyconfig">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes">_Modify a configuration already created with this program</property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		      <property name="group">createconfig</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label171">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Do you wish to:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label172">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">        </property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">1</property>
+		      <property name="bottom_attach">2</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label173">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">If you have made modifications to this configuration outside this program, theey will be lost when you select &quot;Modify a configuration&quot;</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">True</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkImage" id="image1">
+		      <property name="visible">True</property>
+		      <property name="stock">gtk-info</property>
+		      <property name="icon_size">4</property>
+		      <property name="xalign">0.5</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">12</property>
+		      <property name="ypad">12</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+		</widget>
+		<packing>
+		  <property name="padding">0</property>
+		  <property name="expand">True</property>
+		  <property name="fill">True</property>
+		</packing>
+	      </child>
+	    </widget>
+	  </child>
+	</widget>
+      </child>
+
+      <child>
+	<widget class="GnomeDruidPageStandard" id="basicinfo">
+	  <property name="visible">True</property>
+	  <property name="title" translatable="yes">Basic machine information</property>
+	  <signal name="prepare" handler="on_basicinfo_prepare" last_modification_time="Sat, 28 Jul 2007 23:03:28 GMT"/>
+	  <signal name="next" handler="on_basicinfo_next" last_modification_time="Sat, 28 Jul 2007 23:08:33 GMT"/>
+
+	  <child internal-child="vbox">
+	    <widget class="GtkVBox" id="druid-vbox8">
+	      <property name="border_width">16</property>
+	      <property name="visible">True</property>
+	      <property name="homogeneous">False</property>
+	      <property name="spacing">6</property>
+
+	      <child>
+		<widget class="GtkTable" id="table1">
+		  <property name="visible">True</property>
+		  <property name="n_rows">15</property>
+		  <property name="n_columns">6</property>
+		  <property name="homogeneous">False</property>
+		  <property name="row_spacing">0</property>
+		  <property name="column_spacing">0</property>
+
+		  <child>
+		    <widget class="GtkLabel" id="label1">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Machine _Name:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">machinename</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label2">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">_Axis configuration:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label3">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Machine _units:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label4">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Step _Time:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">steptime</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">7</property>
+		      <property name="bottom_attach">8</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label6">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Step _Space:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">stepspace</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">8</property>
+		      <property name="bottom_attach">9</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label7">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Direction _Hold:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">dirhold</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">9</property>
+		      <property name="bottom_attach">10</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label8">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">_Direction Setup:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">dirsetup</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">10</property>
+		      <property name="bottom_attach">11</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label85">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">ns</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">7</property>
+		      <property name="bottom_attach">8</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label86">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">ns</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">8</property>
+		      <property name="bottom_attach">9</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label87">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">ns</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">9</property>
+		      <property name="bottom_attach">10</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label88">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">ns</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">10</property>
+		      <property name="bottom_attach">11</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label169">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Configuration directory:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">1</property>
+		      <property name="bottom_attach">2</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label177">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">D_river type</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">6</property>
+		      <property name="bottom_attach">7</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label204">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">_Latency test result:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">latency</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">13</property>
+		      <property name="bottom_attach">14</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label205">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">ns</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">13</property>
+		      <property name="bottom_attach">14</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="manualtoolchange">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes">Onscreen _prompt for tool change</property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">14</property>
+		      <property name="bottom_attach">15</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="drivertype">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">Gecko
+L297
+PMDX-150
+Sherline
+Xylotex
+Other</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		      <signal name="changed" handler="on_drivertype_changed" last_modification_time="Sat, 28 Jul 2007 22:59:04 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">6</property>
+		      <property name="bottom_attach">7</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="units">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">Inch
+Millimeter</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="axes">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">XYZ
+XYZA
+XZ (Lathe)</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="confdir">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">confdir</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">1</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">1</property>
+		      <property name="bottom_attach">2</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="machinename">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		      <signal name="changed" handler="on_machinename_changed" last_modification_time="Sat, 28 Jul 2007 22:58:49 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label207">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Parport Base Address:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">12</property>
+		      <property name="bottom_attach">13</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="ioaddr">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">12</property>
+		      <property name="bottom_attach">13</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkSpinButton" id="steptime">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="climb_rate">100</property>
+		      <property name="digits">0</property>
+		      <property name="numeric">True</property>
+		      <property name="update_policy">GTK_UPDATE_ALWAYS</property>
+		      <property name="snap_to_ticks">False</property>
+		      <property name="wrap">False</property>
+		      <property name="adjustment">1000 0 50000 100 1000 1000</property>
+		      <signal name="value_changed" handler="on_calculate_ideal_period" last_modification_time="Mon, 10 Sep 2007 16:07:23 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">7</property>
+		      <property name="bottom_attach">8</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkSpinButton" id="stepspace">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="climb_rate">100</property>
+		      <property name="digits">0</property>
+		      <property name="numeric">True</property>
+		      <property name="update_policy">GTK_UPDATE_ALWAYS</property>
+		      <property name="snap_to_ticks">False</property>
+		      <property name="wrap">False</property>
+		      <property name="adjustment">1000 0 50000 100 1000 1000</property>
+		      <signal name="value_changed" handler="on_calculate_ideal_period" last_modification_time="Mon, 10 Sep 2007 16:07:33 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">8</property>
+		      <property name="bottom_attach">9</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkSpinButton" id="dirhold">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="climb_rate">100</property>
+		      <property name="digits">0</property>
+		      <property name="numeric">True</property>
+		      <property name="update_policy">GTK_UPDATE_ALWAYS</property>
+		      <property name="snap_to_ticks">False</property>
+		      <property name="wrap">False</property>
+		      <property name="adjustment">1000 0 50000 100 1000 1000</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">9</property>
+		      <property name="bottom_attach">10</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkSpinButton" id="dirsetup">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="climb_rate">100</property>
+		      <property name="digits">0</property>
+		      <property name="numeric">True</property>
+		      <property name="update_policy">GTK_UPDATE_ALWAYS</property>
+		      <property name="snap_to_ticks">False</property>
+		      <property name="wrap">False</property>
+		      <property name="adjustment">1000 0 50000 100 1000 1000</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">10</property>
+		      <property name="bottom_attach">11</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkSpinButton" id="latency">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="climb_rate">100</property>
+		      <property name="digits">0</property>
+		      <property name="numeric">True</property>
+		      <property name="update_policy">GTK_UPDATE_ALWAYS</property>
+		      <property name="snap_to_ticks">False</property>
+		      <property name="wrap">False</property>
+		      <property name="adjustment">20000 0 50000 100 1000 1000</property>
+		      <signal name="value_changed" handler="on_calculate_ideal_period" last_modification_time="Mon, 10 Sep 2007 16:07:47 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">13</property>
+		      <property name="bottom_attach">14</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label208">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Min Base Period:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">4</property>
+		      <property name="right_attach">5</property>
+		      <property name="top_attach">12</property>
+		      <property name="bottom_attach">13</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label209">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Max step rate:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">4</property>
+		      <property name="right_attach">5</property>
+		      <property name="top_attach">13</property>
+		      <property name="bottom_attach">14</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label5">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Driver characteristics: (Multiply by 1000 for times specified in µs or microseconds)</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">5</property>
+		      <property name="bottom_attach">6</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label210">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">   </property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">3</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">12</property>
+		      <property name="bottom_attach">13</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="baseperiod">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">x0000 ns</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">5</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">12</property>
+		      <property name="bottom_attach">13</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="maxsteprate">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">yyyyy Hz</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">5</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">13</property>
+		      <property name="bottom_attach">14</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkHSeparator" id="hseparator1">
+		      <property name="height_request">17</property>
+		      <property name="visible">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">4</property>
+		      <property name="bottom_attach">5</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkHSeparator" id="hseparator21">
+		      <property name="height_request">17</property>
+		      <property name="visible">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">11</property>
+		      <property name="bottom_attach">12</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+		</widget>
+		<packing>
+		  <property name="padding">0</property>
+		  <property name="expand">True</property>
+		  <property name="fill">True</property>
+		  <property name="pack_type">GTK_PACK_END</property>
+		</packing>
+	      </child>
+	    </widget>
+	  </child>
+	</widget>
+      </child>
+
+      <child>
+	<widget class="GnomeDruidPageStandard" id="pport">
+	  <property name="visible">True</property>
+	  <property name="title" translatable="yes">Parallel Port Setup</property>
+	  <signal name="next" handler="on_pport_next" last_modification_time="Sat, 28 Jul 2007 23:15:56 GMT"/>
+	  <signal name="prepare" handler="on_pport_prepare" last_modification_time="Sat, 28 Jul 2007 23:16:01 GMT"/>
+	  <signal name="back" handler="on_pport_back" last_modification_time="Sun, 29 Jul 2007 15:00:53 GMT"/>
+
+	  <child internal-child="vbox">
+	    <widget class="GtkVBox" id="druid-vbox10">
+	      <property name="border_width">16</property>
+	      <property name="visible">True</property>
+	      <property name="homogeneous">False</property>
+	      <property name="spacing">6</property>
+
+	      <child>
+		<widget class="GtkTable" id="table2">
+		  <property name="visible">True</property>
+		  <property name="n_rows">13</property>
+		  <property name="n_columns">7</property>
+		  <property name="homogeneous">False</property>
+		  <property name="row_spacing">0</property>
+		  <property name="column_spacing">0</property>
+
+		  <child>
+		    <widget class="GtkLabel" id="label13">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin _1:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">1</property>
+		      <property name="bottom_attach">2</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label14">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin _2:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label15">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin _3:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label16">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin _4:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">4</property>
+		      <property name="bottom_attach">5</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label17">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin _5:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">5</property>
+		      <property name="bottom_attach">6</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label18">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin _6:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">6</property>
+		      <property name="bottom_attach">7</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label19">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin _7:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">7</property>
+		      <property name="bottom_attach">8</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label20">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin _8:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">8</property>
+		      <property name="bottom_attach">9</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label21">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin _9:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">9</property>
+		      <property name="bottom_attach">10</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label22">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">_Pin 14:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">10</property>
+		      <property name="bottom_attach">11</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label23">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">P_in 16:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">11</property>
+		      <property name="bottom_attach">12</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label24">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pi_n 17:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">12</property>
+		      <property name="bottom_attach">13</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin2">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">X Step
+X Direction
+Y Step
+Y Direction
+Z Step
+Z Direction
+A Step
+A Direction
+Spindle CW
+Spindle CCW
+Spindle PWM
+Coolant Mist
+Coolant Flood
+ESTOP Request
+Amplifier Enable
+Charge Pump</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin3">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">X Step
+X Direction
+Y Step
+Y Direction
+Z Step
+Z Direction
+A Step
+A Direction
+Spindle CW
+Spindle CCW
+Spindle PWM
+Coolant Mist
+Coolant Flood
+ESTOP Request
+Amplifier Enable
+Charge Pump</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin4">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">X Step
+X Direction
+Y Step
+Y Direction
+Z Step
+Z Direction
+A Step
+A Direction
+Spindle CW
+Spindle CCW
+Spindle PWM
+Coolant Mist
+Coolant Flood
+ESTOP Request
+Amplifier Enable
+Charge Pump</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">4</property>
+		      <property name="bottom_attach">5</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin5">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">X Step
+X Direction
+Y Step
+Y Direction
+Z Step
+Z Direction
+A Step
+A Direction
+Spindle CW
+Spindle CCW
+Spindle PWM
+Coolant Mist
+Coolant Flood
+ESTOP Request
+Amplifier Enable
+Charge Pump</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">5</property>
+		      <property name="bottom_attach">6</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin6">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">X Step
+X Direction
+Y Step
+Y Direction
+Z Step
+Z Direction
+A Step
+A Direction
+Spindle CW
+Spindle CCW
+Spindle PWM
+Coolant Mist
+Coolant Flood
+ESTOP Request
+Amplifier Enable
+Charge Pump</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">6</property>
+		      <property name="bottom_attach">7</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin7">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">X Step
+X Direction
+Y Step
+Y Direction
+Z Step
+Z Direction
+A Step
+A Direction
+Spindle CW
+Spindle CCW
+Spindle PWM
+Coolant Mist
+Coolant Flood
+ESTOP Request
+Amplifier Enable
+Charge Pump</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">7</property>
+		      <property name="bottom_attach">8</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin8">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">X Step
+X Direction
+Y Step
+Y Direction
+Z Step
+Z Direction
+A Step
+A Direction
+Spindle CW
+Spindle CCW
+Spindle PWM
+Coolant Mist
+Coolant Flood
+ESTOP Request
+Amplifier Enable
+Charge Pump</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">8</property>
+		      <property name="bottom_attach">9</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin9">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">X Step
+X Direction
+Y Step
+Y Direction
+Z Step
+Z Direction
+A Step
+A Direction
+Spindle CW
+Spindle CCW
+Spindle PWM
+Coolant Mist
+Coolant Flood
+ESTOP Request
+Amplifier Enable
+Charge Pump</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">9</property>
+		      <property name="bottom_attach">10</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin14">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">X Step
+X Direction
+Y Step
+Y Direction
+Z Step
+Z Direction
+A Step
+A Direction
+Spindle CW
+Spindle CCW
+Spindle PWM
+Coolant Mist
+Coolant Flood
+ESTOP Request
+Amplifier Enable
+Charge Pump</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">10</property>
+		      <property name="bottom_attach">11</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin16">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">X Step
+X Direction
+Y Step
+Y Direction
+Z Step
+Z Direction
+A Step
+A Direction
+Spindle CW
+Spindle CCW
+Spindle PWM
+Coolant Mist
+Coolant Flood
+ESTOP Request
+Amplifier Enable
+Charge Pump</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">11</property>
+		      <property name="bottom_attach">12</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin17">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">X Step
+X Direction
+Y Step
+Y Direction
+Z Step
+Z Direction
+A Step
+A Direction
+Spindle CW
+Spindle CCW
+Spindle PWM
+Coolant Mist
+Coolant Flood
+ESTOP Request
+Amplifier Enable
+Charge Pump</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">12</property>
+		      <property name="bottom_attach">13</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label162">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Outputs (PC to Mill):</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label163">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin 1_0:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">4</property>
+		      <property name="right_attach">5</property>
+		      <property name="top_attach">1</property>
+		      <property name="bottom_attach">2</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label164">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin 1_1:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">4</property>
+		      <property name="right_attach">5</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label165">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin 1_2:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">4</property>
+		      <property name="right_attach">5</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label166">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin 1_3:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">4</property>
+		      <property name="right_attach">5</property>
+		      <property name="top_attach">4</property>
+		      <property name="bottom_attach">5</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label167">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pin 1_5:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">4</property>
+		      <property name="right_attach">5</property>
+		      <property name="top_attach">5</property>
+		      <property name="bottom_attach">6</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin11">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">ESTOP IN
+Spindle PPR
+Spindle A 
+Spindle B 
+Home X 
+Home Y 
+Home Z
+Home A
+Minimum Limit + Home X 
+Minimum Limit + Home Y 
+Minimum Limit + Home Z 
+Minimum Limit + Home A
+Maximum Limit + Home X 
+Maximum Limit + Home Y 
+Maximum Limit + Home Z 
+Maximum Limit + Home A
+Both Limit + Home X 
+Both Limit + Home Y 
+Both Limit + Home Z 
+Both Limit + Home A
+Minimum Limit X 
+Minimum Limit Y 
+Minimum Limit Z 
+Minimum Limit A
+Maximum Limit X 
+Maximum Limit Y 
+Maximum Limit Z 
+Maximum Limit A
+Both Limit X 
+Both Limit Y 
+Both Limit Z 
+Both Limit A
+All limits
+All home
+Unused</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		      <signal name="changed" handler="on_pin11_changed" last_modification_time="Sat, 28 Jul 2007 23:19:28 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">5</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label168">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Inputs (Mill to PC):</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">4</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label174">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">        </property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">3</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label175">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Invert</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label176">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Invert</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">6</property>
+		      <property name="right_attach">7</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin1inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">1</property>
+		      <property name="bottom_attach">2</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin2inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin3inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin4inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">4</property>
+		      <property name="bottom_attach">5</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin5inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">5</property>
+		      <property name="bottom_attach">6</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin6inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">6</property>
+		      <property name="bottom_attach">7</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin7inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">7</property>
+		      <property name="bottom_attach">8</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin8inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">8</property>
+		      <property name="bottom_attach">9</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin9inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">9</property>
+		      <property name="bottom_attach">10</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin14inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">10</property>
+		      <property name="bottom_attach">11</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin16inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">11</property>
+		      <property name="bottom_attach">12</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin17inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">12</property>
+		      <property name="bottom_attach">13</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin10inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">6</property>
+		      <property name="right_attach">7</property>
+		      <property name="top_attach">1</property>
+		      <property name="bottom_attach">2</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin11inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">6</property>
+		      <property name="right_attach">7</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin12inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">6</property>
+		      <property name="right_attach">7</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin13inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">6</property>
+		      <property name="right_attach">7</property>
+		      <property name="top_attach">4</property>
+		      <property name="bottom_attach">5</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pin15inv">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes"></property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">6</property>
+		      <property name="right_attach">7</property>
+		      <property name="top_attach">5</property>
+		      <property name="bottom_attach">6</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin12">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">ESTOP IN
+Spindle PPR
+Spindle A 
+Spindle B 
+Home X 
+Home Y 
+Home Z
+Home A
+Minimum Limit + Home X 
+Minimum Limit + Home Y 
+Minimum Limit + Home Z 
+Minimum Limit + Home A
+Maximum Limit + Home X 
+Maximum Limit + Home Y 
+Maximum Limit + Home Z 
+Maximum Limit + Home A
+Both Limit + Home X 
+Both Limit + Home Y 
+Both Limit + Home Z 
+Both Limit + Home A
+Minimum Limit X 
+Minimum Limit Y 
+Minimum Limit Z 
+Minimum Limit A
+Maximum Limit X 
+Maximum Limit Y 
+Maximum Limit Z 
+Maximum Limit A
+Both Limit X 
+Both Limit Y 
+Both Limit Z 
+Both Limit A
+All limits
+All home
+Unused</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		      <signal name="changed" handler="on_pin12_changed" last_modification_time="Sat, 28 Jul 2007 23:52:02 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">5</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin13">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">ESTOP IN
+Spindle PPR
+Spindle A 
+Spindle B 
+Home X 
+Home Y 
+Home Z
+Home A
+Minimum Limit + Home X 
+Minimum Limit + Home Y 
+Minimum Limit + Home Z 
+Minimum Limit + Home A
+Maximum Limit + Home X 
+Maximum Limit + Home Y 
+Maximum Limit + Home Z 
+Maximum Limit + Home A
+Both Limit + Home X 
+Both Limit + Home Y 
+Both Limit + Home Z 
+Both Limit + Home A
+Minimum Limit X 
+Minimum Limit Y 
+Minimum Limit Z 
+Minimum Limit A
+Maximum Limit X 
+Maximum Limit Y 
+Maximum Limit Z 
+Maximum Limit A
+Both Limit X 
+Both Limit Y 
+Both Limit Z 
+Both Limit A
+All limits
+All home
+Unused</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		      <signal name="changed" handler="on_pin13_changed" last_modification_time="Sat, 28 Jul 2007 23:52:12 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">5</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">4</property>
+		      <property name="bottom_attach">5</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin15">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">ESTOP IN
+Spindle PPR
+Spindle A 
+Spindle B 
+Home X 
+Home Y 
+Home Z
+Home A
+Minimum Limit + Home X 
+Minimum Limit + Home Y 
+Minimum Limit + Home Z 
+Minimum Limit + Home A
+Maximum Limit + Home X 
+Maximum Limit + Home Y 
+Maximum Limit + Home Z 
+Maximum Limit + Home A
+Both Limit + Home X 
+Both Limit + Home Y 
+Both Limit + Home Z 
+Both Limit + Home A
+Minimum Limit X 
+Minimum Limit Y 
+Minimum Limit Z 
+Minimum Limit A
+Maximum Limit X 
+Maximum Limit Y 
+Maximum Limit Z 
+Maximum Limit A
+Both Limit X 
+Both Limit Y 
+Both Limit Z 
+Both Limit A
+All limits
+All home
+Unused</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		      <signal name="changed" handler="on_pin15_changed" last_modification_time="Sat, 28 Jul 2007 23:52:23 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">5</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">5</property>
+		      <property name="bottom_attach">6</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkButton" id="sherlinedefault">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes">_Sherline Outputs</property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <signal name="clicked" handler="on_sherlinedefault_clicked" last_modification_time="Sun, 29 Jul 2007 00:08:19 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">5</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">11</property>
+		      <property name="bottom_attach">12</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkButton" id="xylotexdefault">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes">_Xylotex Outputs</property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <signal name="clicked" handler="on_xylotexdefault_clicked" last_modification_time="Sun, 29 Jul 2007 12:40:47 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">5</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">12</property>
+		      <property name="bottom_attach">13</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label178">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Output pinout presets:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">4</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">10</property>
+		      <property name="bottom_attach">11</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin10">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">ESTOP IN
+Spindle PPR
+Spindle A 
+Spindle B 
+Home X 
+Home Y 
+Home Z
+Home A
+Minimum Limit + Home X 
+Minimum Limit + Home Y 
+Minimum Limit + Home Z 
+Minimum Limit + Home A
+Maximum Limit + Home X 
+Maximum Limit + Home Y 
+Maximum Limit + Home Z 
+Maximum Limit + Home A
+Both Limit + Home X 
+Both Limit + Home Y 
+Both Limit + Home Z 
+Both Limit + Home A
+Minimum Limit X 
+Minimum Limit Y 
+Minimum Limit Z 
+Minimum Limit A
+Maximum Limit X 
+Maximum Limit Y 
+Maximum Limit Z 
+Maximum Limit A
+Both Limit X 
+Both Limit Y 
+Both Limit Z 
+Both Limit A
+All limits
+All home
+Unused</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		      <signal name="changed" handler="on_pin10_changed" last_modification_time="Sat, 28 Jul 2007 23:19:22 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">5</property>
+		      <property name="right_attach">6</property>
+		      <property name="top_attach">1</property>
+		      <property name="bottom_attach">2</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="pin1">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">X Step
+X Direction
+Y Step
+Y Direction
+Z Step
+Z Direction
+A Step
+A Direction
+Spindle CW
+Spindle CCW
+Spindle PWM
+Coolant Mist
+Coolant Flood
+ESTOP Request
+Amplifier Enable
+Charge Pump</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">1</property>
+		      <property name="bottom_attach">2</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="customhal">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes">Include custom _HAL configuration</property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">4</property>
+		      <property name="right_attach">7</property>
+		      <property name="top_attach">8</property>
+		      <property name="bottom_attach">9</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkCheckButton" id="pyvcp">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="label" translatable="yes">Include custom Py_VCP Panel</property>
+		      <property name="use_underline">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <property name="active">False</property>
+		      <property name="inconsistent">False</property>
+		      <property name="draw_indicator">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">4</property>
+		      <property name="right_attach">7</property>
+		      <property name="top_attach">7</property>
+		      <property name="bottom_attach">8</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+		</widget>
+		<packing>
+		  <property name="padding">0</property>
+		  <property name="expand">True</property>
+		  <property name="fill">True</property>
+		</packing>
+	      </child>
+	    </widget>
+	  </child>
+	</widget>
+      </child>
+
+      <child>
+	<widget class="GnomeDruidPageStandard" id="xaxis">
+	  <property name="visible">True</property>
+	  <property name="title" translatable="yes">X Axis Configuration</property>
+	  <signal name="prepare" handler="on_xaxis_prepare" last_modification_time="Sun, 29 Jul 2007 12:54:56 GMT"/>
+	  <signal name="next" handler="on_xaxis_next" last_modification_time="Sun, 29 Jul 2007 12:55:03 GMT"/>
+	  <signal name="back" handler="on_xaxis_back" last_modification_time="Sun, 29 Jul 2007 15:00:41 GMT"/>
+
+	  <child internal-child="vbox">
+	    <widget class="GtkVBox" id="druid-vbox12">
+	      <property name="border_width">16</property>
+	      <property name="visible">True</property>
+	      <property name="homogeneous">False</property>
+	      <property name="spacing">6</property>
+
+	      <child>
+		<widget class="GtkTable" id="table8">
+		  <property name="visible">True</property>
+		  <property name="n_rows">16</property>
+		  <property name="n_columns">4</property>
+		  <property name="homogeneous">False</property>
+		  <property name="row_spacing">0</property>
+		  <property name="column_spacing">0</property>
+
+		  <child>
+		    <widget class="GtkLabel" id="label97">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">_Motor steps per revolution:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">xsteprev</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label98">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">_Driver Microstepping</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">xmicrostep</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">1</property>
+		      <property name="bottom_attach">2</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label99">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">_Pulley ratio (Motor:Leadscrew):</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">xpulleynum</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label100">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">_Leadscrew Pitch:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">xleadscrew</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label101">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Maximum _Velocity:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">xmaxvel</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">4</property>
+		      <property name="bottom_attach">5</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label102">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Maximum _Acceleration:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">xmaxacc</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">5</property>
+		      <property name="bottom_attach">6</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label103">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Time to accelerate to max speed:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">13</property>
+		      <property name="bottom_attach">14</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label104">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Distance to accelerate to max speed:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">14</property>
+		      <property name="bottom_attach">15</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="xmicrostep">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		      <signal name="changed" handler="on_xmicrostep_changed" last_modification_time="Sun, 29 Jul 2007 13:10:08 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">1</property>
+		      <property name="bottom_attach">2</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="xpulleynum">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		      <signal name="changed" handler="on_xpulleynum_changed" last_modification_time="Sun, 29 Jul 2007 13:10:15 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="xpulleyden">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		      <signal name="changed" handler="on_xpulleyden_changed" last_modification_time="Sun, 29 Jul 2007 13:10:21 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">3</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="xleadscrew">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		      <signal name="changed" handler="on_xleadscrew_changed" last_modification_time="Sun, 29 Jul 2007 13:10:28 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="xmaxvel">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		      <signal name="changed" handler="on_xmaxvel_changed" last_modification_time="Sun, 29 Jul 2007 13:10:35 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">4</property>
+		      <property name="bottom_attach">5</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="xmaxacc">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		      <signal name="changed" handler="on_xmaxacc_changed" last_modification_time="Sun, 29 Jul 2007 13:10:43 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">5</property>
+		      <property name="bottom_attach">6</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label105">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Pulse rate at max speed:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">15</property>
+		      <property name="bottom_attach">16</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="xacctime">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">label42</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_RIGHT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">1</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">13</property>
+		      <property name="bottom_attach">14</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="xaccdist">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">label42</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_RIGHT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">1</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">14</property>
+		      <property name="bottom_attach">15</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="xhz">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">label42</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_RIGHT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">1</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">15</property>
+		      <property name="bottom_attach">16</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label109">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">_Home location:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">xhomepos</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">7</property>
+		      <property name="bottom_attach">8</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label110">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Home _Switch location:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">xhomesw</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">9</property>
+		      <property name="bottom_attach">10</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label111">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Home Sear_ch velocity:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">xhomevel</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">10</property>
+		      <property name="bottom_attach">11</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label112">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Home La_tch direction:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">11</property>
+		      <property name="bottom_attach">12</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label113">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">_:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_CENTER</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0.5</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">xpulleyden</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkComboBoxEntry" id="xlatchdir">
+		      <property name="visible">True</property>
+		      <property name="items" translatable="yes">Same
+Opposite</property>
+		      <property name="add_tearoffs">False</property>
+		      <property name="has_frame">True</property>
+		      <property name="focus_on_click">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">11</property>
+		      <property name="bottom_attach">12</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="xhomepos">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">7</property>
+		      <property name="bottom_attach">8</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="xhomesw">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">9</property>
+		      <property name="bottom_attach">10</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="xhomevel">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">10</property>
+		      <property name="bottom_attach">11</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label114">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Tab_le travel:</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">xminlim</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">8</property>
+		      <property name="bottom_attach">9</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="xminlim">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">8</property>
+		      <property name="bottom_attach">9</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label115">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">t_o</property>
+		      <property name="use_underline">True</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_CENTER</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0.5</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="mnemonic_widget">xmaxlim</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">8</property>
+		      <property name="bottom_attach">9</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="xmaxlim">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">3</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">8</property>
+		      <property name="bottom_attach">9</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="xsteprev">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		      <signal name="changed" handler="on_xsteprev_changed" last_modification_time="Sun, 29 Jul 2007 13:09:59 GMT"/>
+		      <signal name="insert_text" handler="numeric_entry" last_modification_time="Mon, 10 Sep 2007 14:20:59 GMT"/>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkHSeparator" id="hseparator7">
+		      <property name="height_request">17</property>
+		      <property name="visible">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">6</property>
+		      <property name="bottom_attach">7</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkHSeparator" id="hseparator8">
+		      <property name="height_request">17</property>
+		      <property name="visible">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">12</property>
+		      <property name="bottom_attach">13</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="xscrewunits">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">mm / rev</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="xvelunits">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">mm / s</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">4</property>
+		      <property name="bottom_attach">5</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="xaccunits">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">mm / s^2	</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">5</property>
+		      <property name="bottom_attach">6</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="xaccdistunits">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">label193</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">14</property>
+		      <property name="bottom_attach">15</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label191">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">s</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">13</property>
+		      <property name="bottom_attach">14</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label192">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Hz</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">15</property>
+		      <property name="bottom_attach">16</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkButton" id="xaxistest">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="relief">GTK_RELIEF_NORMAL</property>
+		      <property name="focus_on_click">True</property>
+		      <signal name="clicked" handler="on_xaxistest_clicked" last_modification_time="Tue, 11 Sep 2007 00:14:00 GMT"/>
+
+		      <child>
+			<widget class="GtkAlignment" id="alignment5">
+			  <property name="visible">True</property>
+			  <property name="xalign">0.5</property>
+			  <property name="yalign">0.5</property>
+			  <property name="xscale">0</property>
+			  <property name="yscale">0</property>
+			  <property name="top_padding">0</property>
+			  <property name="bottom_padding">0</property>
+			  <property name="left_padding">0</property>
+			  <property name="right_padding">0</property>
+
+			  <child>
+			    <widget class="GtkHBox" id="hbox9">
+			      <property name="visible">True</property>
+			      <property name="homogeneous">False</property>
+			      <property name="spacing">2</property>
+
+			      <child>
+				<widget class="GtkImage" id="image9">
+				  <property name="visible">True</property>
+				  <property name="stock">gtk-execute</property>
+				  <property name="icon_size">4</property>
+				  <property name="xalign">0.5</property>
+				  <property name="yalign">0.5</property>
+				  <property name="xpad">0</property>
+				  <property name="ypad">0</property>
+				</widget>
+				<packing>
+				  <property name="padding">0</property>
+				  <property name="expand">False</property>
+				  <property name="fill">False</property>
+				</packing>
+			      </child>
+
+			      <child>
+				<widget class="GtkLabel" id="label228">
+				  <property name="visible">True</property>
+				  <property name="label" translatable="yes">Test this axis</property>
+				  <property name="use_underline">True</property>
+				  <property name="use_markup">False</property>
+				  <property name="justify">GTK_JUSTIFY_LEFT</property>
+				  <property name="wrap">False</property>
+				  <property name="selectable">False</property>
+				  <property name="xalign">0.5</property>
+				  <property name="yalign">0.5</property>
+				  <property name="xpad">0</property>
+				  <property name="ypad">0</property>
+				  <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+				  <property name="width_chars">-1</property>
+				  <property name="single_line_mode">False</property>
+				  <property name="angle">0</property>
+				</widget>
+				<packing>
+				  <property name="padding">0</property>
+				  <property name="expand">False</property>
+				  <property name="fill">False</property>
+				</packing>
+			      </child>
+			    </widget>
+			  </child>
+			</widget>
+		      </child>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">3</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="x_options"></property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+		</widget>
+		<packing>
+		  <property name="padding">0</property>
+		  <property name="expand">True</property>
+		  <property name="fill">True</property>
+		</packing>
+	      </child>
+	    </widget>
+	  </child>
+	</widget>
+      </child>
+
+      <child>
+	<widget class="GnomeDruidPageStandard" id="spindle">
+	  <property name="visible">True</property>
+	  <property name="title" translatable="yes">Spindle Configuration</property>
+	  <signal name="back" handler="on_spindle_back" last_modification_time="Sun, 29 Jul 2007 14:59:30 GMT"/>
+	  <signal name="next" handler="on_spindle_next" last_modification_time="Sun, 29 Jul 2007 14:59:49 GMT"/>
+	  <signal name="prepare" handler="on_spindle_prepare" last_modification_time="Sun, 29 Jul 2007 14:59:56 GMT"/>
+
+	  <child internal-child="vbox">
+	    <widget class="GtkVBox" id="druid-vbox16">
+	      <property name="border_width">16</property>
+	      <property name="visible">True</property>
+	      <property name="homogeneous">False</property>
+	      <property name="spacing">6</property>
+
+	      <child>
+		<widget class="GtkTable" id="table11">
+		  <property name="visible">True</property>
+		  <property name="n_rows">6</property>
+		  <property name="n_columns">4</property>
+		  <property name="homogeneous">False</property>
+		  <property name="row_spacing">0</property>
+		  <property name="column_spacing">0</property>
+
+		  <child>
+		    <widget class="GtkLabel" id="label154">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Calibration:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">1</property>
+		      <property name="bottom_attach">2</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label155">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Speed 1:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label156">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">PWM 1:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label157">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Speed 2:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label158">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">PWM 2:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label159">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">PWM Rate:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="spindlecarrier">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="spindlespeed1">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="spindlespeed2">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="spindlepwm1">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">3</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">2</property>
+		      <property name="bottom_attach">3</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="spindlepwm2">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">3</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">3</property>
+		      <property name="bottom_attach">4</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label160">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Cycles per revolution:</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">1</property>
+		      <property name="top_attach">5</property>
+		      <property name="bottom_attach">6</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label161">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Hz</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">2</property>
+		      <property name="right_attach">3</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkEntry" id="spindlecpr">
+		      <property name="visible">True</property>
+		      <property name="can_focus">True</property>
+		      <property name="editable">True</property>
+		      <property name="visibility">True</property>
+		      <property name="max_length">0</property>
+		      <property name="text" translatable="yes"></property>
+		      <property name="has_frame">True</property>
+		      <property name="invisible_char">●</property>
+		      <property name="activates_default">False</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">1</property>
+		      <property name="right_attach">2</property>
+		      <property name="top_attach">5</property>
+		      <property name="bottom_attach">6</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkHSeparator" id="hseparator20">
+		      <property name="height_request">17</property>
+		      <property name="visible">True</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">0</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">4</property>
+		      <property name="bottom_attach">5</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options">fill</property>
+		    </packing>
+		  </child>
+
+		  <child>
+		    <widget class="GtkLabel" id="label203">
+		      <property name="visible">True</property>
+		      <property name="label" translatable="yes">Enter 0 Hz for &quot;PDM&quot; mode</property>
+		      <property name="use_underline">False</property>
+		      <property name="use_markup">False</property>
+		      <property name="justify">GTK_JUSTIFY_LEFT</property>
+		      <property name="wrap">False</property>
+		      <property name="selectable">False</property>
+		      <property name="xalign">0</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		      <property name="width_chars">-1</property>
+		      <property name="single_line_mode">False</property>
+		      <property name="angle">0</property>
+		    </widget>
+		    <packing>
+		      <property name="left_attach">3</property>
+		      <property name="right_attach">4</property>
+		      <property name="top_attach">0</property>
+		      <property name="bottom_attach">1</property>
+		      <property name="x_options">fill</property>
+		      <property name="y_options"></property>
+		    </packing>
+		  </child>
+		</widget>
+		<packing>
+		  <property name="padding">0</property>
+		  <property name="expand">True</property>
+		  <property name="fill">True</property>
+		</packing>
+	      </child>
+	    </widget>
+	  </child>
+	</widget>
+      </child>
+
+      <child>
+	<widget class="GnomeDruidPageEdge" id="complete">
+	  <property name="visible">True</property>
+	  <property name="position">GNOME_EDGE_FINISH</property>
+	  <property name="title" translatable="yes">Machine configuration complete</property>
+	  <property name="text" translatable="yes">All the necessary information has now been gathered.  Click &quot;Apply&quot; to write your configuration files to disk.
+If you experience lockups while running emc, you will need to decrease the maximum velocity which will have the effect of increasing BASE_PERIOD.
+
+If you experience lost steps while running emc, first verify that you entered the proper timings for your stepper drivers.  If that does not fix the problem, then run a more thorough latency test as described on the linuxcnc.org wiki:
+ http;//wiki.linuxcnc.org/cgi-bin/emcinfo.pl?TroubleShooting
+
+If you experience the &quot;Unexpected Realtime Delay&quot; message, run a more thorough latency test as described on the linuxcnc.org wiki: 
+ http://wiki.linuxcnc.org/cgi-bin/emcinfo.pl?TroubleShooting</property>
+	  <property name="watermark">emc2-wizard.gif</property>
+	  <signal name="finish" handler="on_complete_finish" last_modification_time="Sun, 29 Jul 2007 15:20:47 GMT"/>
+	  <signal name="back" handler="on_complete_back" last_modification_time="Sun, 09 Sep 2007 21:25:00 GMT"/>
+	</widget>
+      </child>
+    </widget>
+  </child>
+</widget>
+
+<widget class="GtkDialog" id="dialog1">
+  <property name="title" translatable="yes">dialog1</property>
+  <property name="type">GTK_WINDOW_TOPLEVEL</property>
+  <property name="window_position">GTK_WIN_POS_CENTER_ON_PARENT</property>
+  <property name="modal">True</property>
+  <property name="resizable">False</property>
+  <property name="destroy_with_parent">False</property>
+  <property name="decorated">True</property>
+  <property name="skip_taskbar_hint">False</property>
+  <property name="skip_pager_hint">False</property>
+  <property name="type_hint">GDK_WINDOW_TYPE_HINT_DIALOG</property>
+  <property name="gravity">GDK_GRAVITY_NORTH_WEST</property>
+  <property name="focus_on_map">True</property>
+  <property name="urgency_hint">False</property>
+  <property name="has_separator">True</property>
+
+  <child internal-child="vbox">
+    <widget class="GtkVBox" id="dialog-vbox1">
+      <property name="visible">True</property>
+      <property name="homogeneous">False</property>
+      <property name="spacing">0</property>
+
+      <child internal-child="action_area">
+	<widget class="GtkHButtonBox" id="dialog-action_area1">
+	  <property name="visible">True</property>
+	  <property name="layout_style">GTK_BUTTONBOX_END</property>
+
+	  <child>
+	    <widget class="GtkButton" id="cancelbutton1">
+	      <property name="visible">True</property>
+	      <property name="can_default">True</property>
+	      <property name="can_focus">True</property>
+	      <property name="label">gtk-cancel</property>
+	      <property name="use_stock">True</property>
+	      <property name="relief">GTK_RELIEF_NORMAL</property>
+	      <property name="focus_on_click">True</property>
+	      <property name="response_id">-6</property>
+	    </widget>
+	  </child>
+
+	  <child>
+	    <widget class="GtkButton" id="okbutton1">
+	      <property name="visible">True</property>
+	      <property name="can_default">True</property>
+	      <property name="can_focus">True</property>
+	      <property name="label">gtk-ok</property>
+	      <property name="use_stock">True</property>
+	      <property name="relief">GTK_RELIEF_NORMAL</property>
+	      <property name="focus_on_click">True</property>
+	      <property name="response_id">-5</property>
+	    </widget>
+	  </child>
+	</widget>
+	<packing>
+	  <property name="padding">0</property>
+	  <property name="expand">False</property>
+	  <property name="fill">False</property>
+	  <property name="pack_type">GTK_PACK_END</property>
+	</packing>
+      </child>
+
+      <child>
+	<widget class="GtkTable" id="table13">
+	  <property name="visible">True</property>
+	  <property name="n_rows">4</property>
+	  <property name="n_columns">2</property>
+	  <property name="homogeneous">False</property>
+	  <property name="row_spacing">0</property>
+	  <property name="column_spacing">0</property>
+
+	  <child>
+	    <widget class="GtkLabel" id="label214">
+	      <property name="visible">True</property>
+	      <property name="label" translatable="yes">Velocity:</property>
+	      <property name="use_underline">False</property>
+	      <property name="use_markup">False</property>
+	      <property name="justify">GTK_JUSTIFY_LEFT</property>
+	      <property name="wrap">False</property>
+	      <property name="selectable">False</property>
+	      <property name="xalign">0</property>
+	      <property name="yalign">0.5</property>
+	      <property name="xpad">0</property>
+	      <property name="ypad">0</property>
+	      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+	      <property name="width_chars">-1</property>
+	      <property name="single_line_mode">False</property>
+	      <property name="angle">0</property>
+	    </widget>
+	    <packing>
+	      <property name="left_attach">0</property>
+	      <property name="right_attach">1</property>
+	      <property name="top_attach">0</property>
+	      <property name="bottom_attach">1</property>
+	      <property name="y_padding">10</property>
+	      <property name="x_options">fill</property>
+	      <property name="y_options"></property>
+	    </packing>
+	  </child>
+
+	  <child>
+	    <widget class="GtkLabel" id="label215">
+	      <property name="visible">True</property>
+	      <property name="label" translatable="yes">Acceleration:</property>
+	      <property name="use_underline">False</property>
+	      <property name="use_markup">False</property>
+	      <property name="justify">GTK_JUSTIFY_LEFT</property>
+	      <property name="wrap">False</property>
+	      <property name="selectable">False</property>
+	      <property name="xalign">0</property>
+	      <property name="yalign">0.5</property>
+	      <property name="xpad">0</property>
+	      <property name="ypad">0</property>
+	      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+	      <property name="width_chars">-1</property>
+	      <property name="single_line_mode">False</property>
+	      <property name="angle">0</property>
+	    </widget>
+	    <packing>
+	      <property name="left_attach">0</property>
+	      <property name="right_attach">1</property>
+	      <property name="top_attach">1</property>
+	      <property name="bottom_attach">2</property>
+	      <property name="y_padding">10</property>
+	      <property name="x_options">fill</property>
+	      <property name="y_options"></property>
+	    </packing>
+	  </child>
+
+	  <child>
+	    <widget class="GtkLabel" id="label216">
+	      <property name="visible">True</property>
+	      <property name="label" translatable="yes">Jog:</property>
+	      <property name="use_underline">False</property>
+	      <property name="use_markup">False</property>
+	      <property name="justify">GTK_JUSTIFY_LEFT</property>
+	      <property name="wrap">False</property>
+	      <property name="selectable">False</property>
+	      <property name="xalign">0</property>
+	      <property name="yalign">0.5</property>
+	      <property name="xpad">0</property>
+	      <property name="ypad">0</property>
+	      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+	      <property name="width_chars">-1</property>
+	      <property name="single_line_mode">False</property>
+	      <property name="angle">0</property>
+	    </widget>
+	    <packing>
+	      <property name="left_attach">0</property>
+	      <property name="right_attach">1</property>
+	      <property name="top_attach">2</property>
+	      <property name="bottom_attach">3</property>
+	      <property name="y_padding">10</property>
+	      <property name="x_options">fill</property>
+	      <property name="y_options"></property>
+	    </packing>
+	  </child>
+
+	  <child>
+	    <widget class="GtkLabel" id="label217">
+	      <property name="visible">True</property>
+	      <property name="label" translatable="yes">Test Area:</property>
+	      <property name="use_underline">False</property>
+	      <property name="use_markup">False</property>
+	      <property name="justify">GTK_JUSTIFY_LEFT</property>
+	      <property name="wrap">False</property>
+	      <property name="selectable">False</property>
+	      <property name="xalign">0</property>
+	      <property name="yalign">0.5</property>
+	      <property name="xpad">0</property>
+	      <property name="ypad">0</property>
+	      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+	      <property name="width_chars">-1</property>
+	      <property name="single_line_mode">False</property>
+	      <property name="angle">0</property>
+	    </widget>
+	    <packing>
+	      <property name="left_attach">0</property>
+	      <property name="right_attach">1</property>
+	      <property name="top_attach">3</property>
+	      <property name="bottom_attach">4</property>
+	      <property name="y_padding">10</property>
+	      <property name="x_options">fill</property>
+	      <property name="y_options"></property>
+	    </packing>
+	  </child>
+
+	  <child>
+	    <widget class="GtkHBox" id="hbox3">
+	      <property name="visible">True</property>
+	      <property name="homogeneous">False</property>
+	      <property name="spacing">0</property>
+
+	      <child>
+		<widget class="GtkSpinButton" id="testacc">
+		  <property name="visible">True</property>
+		  <property name="can_focus">True</property>
+		  <property name="climb_rate">1</property>
+		  <property name="digits">0</property>
+		  <property name="numeric">False</property>
+		  <property name="update_policy">GTK_UPDATE_ALWAYS</property>
+		  <property name="snap_to_ticks">False</property>
+		  <property name="wrap">False</property>
+		  <property name="adjustment">1 0 100 1 10 10</property>
+		  <signal name="value_changed" handler="update_axis_params" last_modification_time="Mon, 10 Sep 2007 23:53:45 GMT"/>
+		</widget>
+		<packing>
+		  <property name="padding">0</property>
+		  <property name="expand">False</property>
+		  <property name="fill">True</property>
+		</packing>
+	      </child>
+
+	      <child>
+		<widget class="GtkLabel" id="testaccunit">
+		  <property name="visible">True</property>
+		  <property name="label" translatable="yes">mm/s^2</property>
+		  <property name="use_underline">False</property>
+		  <property name="use_markup">False</property>
+		  <property name="justify">GTK_JUSTIFY_LEFT</property>
+		  <property name="wrap">False</property>
+		  <property name="selectable">False</property>
+		  <property name="xalign">0</property>
+		  <property name="yalign">0.5</property>
+		  <property name="xpad">0</property>
+		  <property name="ypad">0</property>
+		  <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		  <property name="width_chars">-1</property>
+		  <property name="single_line_mode">False</property>
+		  <property name="angle">0</property>
+		</widget>
+		<packing>
+		  <property name="padding">0</property>
+		  <property name="expand">True</property>
+		  <property name="fill">True</property>
+		</packing>
+	      </child>
+	    </widget>
+	    <packing>
+	      <property name="left_attach">1</property>
+	      <property name="right_attach">2</property>
+	      <property name="top_attach">1</property>
+	      <property name="bottom_attach">2</property>
+	      <property name="y_padding">5</property>
+	      <property name="x_options">fill</property>
+	      <property name="y_options">fill</property>
+	    </packing>
+	  </child>
+
+	  <child>
+	    <widget class="GtkHBox" id="hbox4">
+	      <property name="visible">True</property>
+	      <property name="homogeneous">False</property>
+	      <property name="spacing">0</property>
+
+	      <child>
+		<widget class="GtkSpinButton" id="testvel">
+		  <property name="visible">True</property>
+		  <property name="can_focus">True</property>
+		  <property name="climb_rate">1</property>
+		  <property name="digits">0</property>
+		  <property name="numeric">False</property>
+		  <property name="update_policy">GTK_UPDATE_ALWAYS</property>
+		  <property name="snap_to_ticks">False</property>
+		  <property name="wrap">False</property>
+		  <property name="adjustment">1 0 100 1 10 10</property>
+		  <signal name="value_changed" handler="update_axis_params" last_modification_time="Mon, 10 Sep 2007 23:52:01 GMT"/>
+		</widget>
+		<packing>
+		  <property name="padding">0</property>
+		  <property name="expand">False</property>
+		  <property name="fill">True</property>
+		</packing>
+	      </child>
+
+	      <child>
+		<widget class="GtkLabel" id="testvelunit">
+		  <property name="visible">True</property>
+		  <property name="label" translatable="yes">mm/s</property>
+		  <property name="use_underline">False</property>
+		  <property name="use_markup">False</property>
+		  <property name="justify">GTK_JUSTIFY_LEFT</property>
+		  <property name="wrap">False</property>
+		  <property name="selectable">False</property>
+		  <property name="xalign">0</property>
+		  <property name="yalign">0.5</property>
+		  <property name="xpad">0</property>
+		  <property name="ypad">0</property>
+		  <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		  <property name="width_chars">-1</property>
+		  <property name="single_line_mode">False</property>
+		  <property name="angle">0</property>
+		</widget>
+		<packing>
+		  <property name="padding">0</property>
+		  <property name="expand">True</property>
+		  <property name="fill">True</property>
+		</packing>
+	      </child>
+	    </widget>
+	    <packing>
+	      <property name="left_attach">1</property>
+	      <property name="right_attach">2</property>
+	      <property name="top_attach">0</property>
+	      <property name="bottom_attach">1</property>
+	      <property name="y_padding">5</property>
+	      <property name="x_options">fill</property>
+	      <property name="y_options">fill</property>
+	    </packing>
+	  </child>
+
+	  <child>
+	    <widget class="GtkHBox" id="hbox2">
+	      <property name="visible">True</property>
+	      <property name="homogeneous">False</property>
+	      <property name="spacing">0</property>
+
+	      <child>
+		<widget class="GtkButton" id="jogminus">
+		  <property name="visible">True</property>
+		  <property name="can_focus">True</property>
+		  <property name="relief">GTK_RELIEF_NORMAL</property>
+		  <property name="focus_on_click">True</property>
+		  <signal name="pressed" handler="on_jogminus_pressed" last_modification_time="Mon, 10 Sep 2007 23:52:52 GMT"/>
+		  <signal name="released" handler="on_jogminus_released" last_modification_time="Mon, 10 Sep 2007 23:53:04 GMT"/>
+
+		  <child>
+		    <widget class="GtkImage" id="image3">
+		      <property name="visible">True</property>
+		      <property name="stock">gtk-go-back</property>
+		      <property name="icon_size">4</property>
+		      <property name="xalign">0.5</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		    </widget>
+		  </child>
+		</widget>
+		<packing>
+		  <property name="padding">5</property>
+		  <property name="expand">False</property>
+		  <property name="fill">False</property>
+		</packing>
+	      </child>
+
+	      <child>
+		<widget class="GtkButton" id="jogplus">
+		  <property name="visible">True</property>
+		  <property name="can_focus">True</property>
+		  <property name="relief">GTK_RELIEF_NORMAL</property>
+		  <property name="focus_on_click">True</property>
+		  <signal name="pressed" handler="on_jogplus_pressed" last_modification_time="Mon, 10 Sep 2007 23:53:14 GMT"/>
+		  <signal name="released" handler="on_jogplus_released" last_modification_time="Mon, 10 Sep 2007 23:53:20 GMT"/>
+
+		  <child>
+		    <widget class="GtkImage" id="image4">
+		      <property name="visible">True</property>
+		      <property name="stock">gtk-go-forward</property>
+		      <property name="icon_size">4</property>
+		      <property name="xalign">0.5</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xpad">0</property>
+		      <property name="ypad">0</property>
+		    </widget>
+		  </child>
+		</widget>
+		<packing>
+		  <property name="padding">5</property>
+		  <property name="expand">False</property>
+		  <property name="fill">False</property>
+		</packing>
+	      </child>
+	    </widget>
+	    <packing>
+	      <property name="left_attach">1</property>
+	      <property name="right_attach">2</property>
+	      <property name="top_attach">2</property>
+	      <property name="bottom_attach">3</property>
+	      <property name="y_padding">5</property>
+	      <property name="x_options">fill</property>
+	      <property name="y_options">fill</property>
+	    </packing>
+	  </child>
+
+	  <child>
+	    <widget class="GtkHBox" id="hbox1">
+	      <property name="visible">True</property>
+	      <property name="homogeneous">False</property>
+	      <property name="spacing">0</property>
+
+	      <child>
+		<widget class="GtkLabel" id="label218">
+		  <property name="visible">True</property>
+		  <property name="label" translatable="yes">±</property>
+		  <property name="use_underline">False</property>
+		  <property name="use_markup">False</property>
+		  <property name="justify">GTK_JUSTIFY_LEFT</property>
+		  <property name="wrap">False</property>
+		  <property name="selectable">False</property>
+		  <property name="xalign">0.5</property>
+		  <property name="yalign">0.5</property>
+		  <property name="xpad">0</property>
+		  <property name="ypad">0</property>
+		  <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		  <property name="width_chars">-1</property>
+		  <property name="single_line_mode">False</property>
+		  <property name="angle">0</property>
+		</widget>
+		<packing>
+		  <property name="padding">0</property>
+		  <property name="expand">False</property>
+		  <property name="fill">False</property>
+		</packing>
+	      </child>
+
+	      <child>
+		<widget class="GtkSpinButton" id="testamplitude">
+		  <property name="visible">True</property>
+		  <property name="can_focus">True</property>
+		  <property name="climb_rate">1</property>
+		  <property name="digits">0</property>
+		  <property name="numeric">False</property>
+		  <property name="update_policy">GTK_UPDATE_ALWAYS</property>
+		  <property name="snap_to_ticks">False</property>
+		  <property name="wrap">False</property>
+		  <property name="adjustment">2 0 100 1 10 10</property>
+		  <signal name="value_changed" handler="update_axis_params" last_modification_time="Mon, 10 Sep 2007 23:53:32 GMT"/>
+		</widget>
+		<packing>
+		  <property name="padding">0</property>
+		  <property name="expand">False</property>
+		  <property name="fill">False</property>
+		</packing>
+	      </child>
+
+	      <child>
+		<widget class="GtkLabel" id="testampunit">
+		  <property name="visible">True</property>
+		  <property name="label" translatable="yes">mm</property>
+		  <property name="use_underline">False</property>
+		  <property name="use_markup">False</property>
+		  <property name="justify">GTK_JUSTIFY_LEFT</property>
+		  <property name="wrap">False</property>
+		  <property name="selectable">False</property>
+		  <property name="xalign">0.5</property>
+		  <property name="yalign">0.5</property>
+		  <property name="xpad">0</property>
+		  <property name="ypad">0</property>
+		  <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		  <property name="width_chars">-1</property>
+		  <property name="single_line_mode">False</property>
+		  <property name="angle">0</property>
+		</widget>
+		<packing>
+		  <property name="padding">0</property>
+		  <property name="expand">False</property>
+		  <property name="fill">False</property>
+		</packing>
+	      </child>
+
+	      <child>
+		<widget class="GtkLabel" id="label226">
+		  <property name="visible">True</property>
+		  <property name="label" translatable="yes"></property>
+		  <property name="use_underline">False</property>
+		  <property name="use_markup">False</property>
+		  <property name="justify">GTK_JUSTIFY_LEFT</property>
+		  <property name="wrap">False</property>
+		  <property name="selectable">False</property>
+		  <property name="xalign">0.5</property>
+		  <property name="yalign">0.5</property>
+		  <property name="xpad">0</property>
+		  <property name="ypad">0</property>
+		  <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+		  <property name="width_chars">-1</property>
+		  <property name="single_line_mode">False</property>
+		  <property name="angle">0</property>
+		</widget>
+		<packing>
+		  <property name="padding">0</property>
+		  <property name="expand">False</property>
+		  <property name="fill">False</property>
+		</packing>
+	      </child>
+
+	      <child>
+		<widget class="GtkToggleButton" id="run">
+		  <property name="visible">True</property>
+		  <property name="can_focus">True</property>
+		  <property name="relief">GTK_RELIEF_NORMAL</property>
+		  <property name="focus_on_click">True</property>
+		  <property name="active">False</property>
+		  <property name="inconsistent">False</property>
+		  <signal name="toggled" handler="update_axis_params" last_modification_time="Mon, 10 Sep 2007 23:54:02 GMT"/>
+
+		  <child>
+		    <widget class="GtkAlignment" id="alignment4">
+		      <property name="visible">True</property>
+		      <property name="xalign">0.5</property>
+		      <property name="yalign">0.5</property>
+		      <property name="xscale">0</property>
+		      <property name="yscale">0</property>
+		      <property name="top_padding">0</property>
+		      <property name="bottom_padding">0</property>
+		      <property name="left_padding">0</property>
+		      <property name="right_padding">0</property>
+
+		      <child>
+			<widget class="GtkHBox" id="hbox8">
+			  <property name="visible">True</property>
+			  <property name="homogeneous">False</property>
+			  <property name="spacing">2</property>
+
+			  <child>
+			    <widget class="GtkImage" id="image8">
+			      <property name="visible">True</property>
+			      <property name="stock">gtk-execute</property>
+			      <property name="icon_size">4</property>
+			      <property name="xalign">0.5</property>
+			      <property name="yalign">0.5</property>
+			      <property name="xpad">0</property>
+			      <property name="ypad">0</property>
+			    </widget>
+			    <packing>
+			      <property name="padding">0</property>
+			      <property name="expand">False</property>
+			      <property name="fill">False</property>
+			    </packing>
+			  </child>
+
+			  <child>
+			    <widget class="GtkLabel" id="label227">
+			      <property name="visible">True</property>
+			      <property name="label" translatable="yes">Run</property>
+			      <property name="use_underline">True</property>
+			      <property name="use_markup">False</property>
+			      <property name="justify">GTK_JUSTIFY_LEFT</property>
+			      <property name="wrap">False</property>
+			      <property name="selectable">False</property>
+			      <property name="xalign">0.5</property>
+			      <property name="yalign">0.5</property>
+			      <property name="xpad">0</property>
+			      <property name="ypad">0</property>
+			      <property name="ellipsize">PANGO_ELLIPSIZE_NONE</property>
+			      <property name="width_chars">-1</property>
+			      <property name="single_line_mode">False</property>
+			      <property name="angle">0</property>
+			    </widget>
+			    <packing>
+			      <property name="padding">0</property>
+			      <property name="expand">False</property>
+			      <property name="fill">False</property>
+			    </packing>
+			  </child>
+			</widget>
+		      </child>
+		    </widget>
+		  </child>
+		</widget>
+		<packing>
+		  <property name="padding">6</property>
+		  <property name="expand">False</property>
+		  <property name="fill">False</property>
+		</packing>
+	      </child>
+	    </widget>
+	    <packing>
+	      <property name="left_attach">1</property>
+	      <property name="right_attach">2</property>
+	      <property name="top_attach">3</property>
+	      <property name="bottom_attach">4</property>
+	      <property name="y_padding">5</property>
+	      <property name="y_options">fill</property>
+	    </packing>
+	  </child>
+	</widget>
+	<packing>
+	  <property name="padding">0</property>
+	  <property name="expand">True</property>
+	  <property name="fill">True</property>
+	</packing>
+      </child>
+    </widget>
+  </child>
+</widget>
+
+</glade-interface>
diff --git a/src/emc/usr_intf/stepconf/stepconf.gladep b/src/emc/usr_intf/stepconf/stepconf.gladep
new file mode 100644
index 000000000..b23e5f6d3
--- /dev/null
+++ b/src/emc/usr_intf/stepconf/stepconf.gladep
@@ -0,0 +1,7 @@
+<?xml version="1.0" standalone="no"?> <!--*- mode: xml -*-->
+<!DOCTYPE glade-project SYSTEM "http://glade.gnome.org/glade-project-2.0.dtd">
+
+<glade-project>
+  <name>Stepconf</name>
+  <program_name>stepconf</program_name>
+</glade-project>
diff --git a/src/emc/usr_intf/stepconf/stepconf.py b/src/emc/usr_intf/stepconf/stepconf.py
new file mode 100755
index 000000000..2c5e3865a
--- /dev/null
+++ b/src/emc/usr_intf/stepconf/stepconf.py
@@ -0,0 +1,1488 @@
+#!/usr/bin/python2.4
+# -*- encoding: utf-8 -*-
+#    This is stepconf, a graphical configuration editor for emc2
+#    Copyright 2007 Jeff Epler <jepler@unpythonic.net>
+#
+#    This program is free software; you can redistribute it and/or modify
+#    it under the terms of the GNU General Public License as published by
+#    the Free Software Foundation; either version 2 of the License, or
+#    (at your option) any later version.
+#
+#    This program is distributed in the hope that it will be useful,
+#    but WITHOUT ANY WARRANTY; without even the implied warranty of
+#    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+#    GNU General Public License for more details.
+#
+#    You should have received a copy of the GNU General Public License
+#    along with this program; if not, write to the Free Software
+#    Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
+import sys
+import os
+import pwd
+import errno
+import time
+import md5
+import pickle
+import shutil
+import math
+import getopt
+import textwrap
+
+import gtk
+import gtk.glade
+import gnome.ui
+
+import xml.dom.minidom
+
+def iceil(x):
+    if isinstance(x, (int, long)): return x
+    if isinstance(x, basestring): x = float(x)
+    return int(math.ceil(x))
+
+datadir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "..", "share", "emc")
+
+wizard = os.path.join(datadir, "emc2-wizard.gif")
+if not os.path.isfile(wizard):
+    wizard = os.path.join("/etc/emc2/emc2-wizard.gif")
+
+distdir = os.path.join(os.path.abspath(os.path.dirname(__file__)), "configs", "common")
+if not os.path.isdir(distdir):
+    distdir = "/etc/emc2/sample-configs/common"
+
+
+(ESTOP, PROBE, PPR, PHA, PHB,
+HOME_X, HOME_Y, HOME_Z, HOME_A,
+MIN_HOME_X, MIN_HOME_Y, MIN_HOME_Z, MIN_HOME_A,
+MAX_HOME_X, MAX_HOME_Y, MAX_HOME_Z, MAX_HOME_A,
+BOTH_HOME_X, BOTH_HOME_Y, BOTH_HOME_Z, BOTH_HOME_A,
+MIN_X, MIN_Y, MIN_Z, MIN_A,
+MAX_X, MAX_Y, MAX_Z, MAX_A,
+BOTH_X, BOTH_Y, BOTH_Z, BOTH_A,
+ALL_LIMIT, ALL_HOME, UNUSED_INPUT) = range(36)
+
+(XSTEP, XDIR, YSTEP, YDIR,
+ZSTEP, ZDIR, ASTEP, ADIR, CW, CCW, PWM,
+MIST, FLOOD, ESTOP, AMP, PUMP, UNUSED_OUTPUT) = range(17)
+
+hal_output_names = ("xstep", "xdir", "ystep", "ydir",
+"zstep", "zdir", "astep", "adir",
+"spindle-cw", "spindle-ccw", "spindle-pwm",
+"coolant-mist", "coolant-flood", "estop-out", "amplifier-enable",
+"charge-pump")
+
+hal_input_names = ("estop-ext", "probe-in",
+"spindle-index", "spindle-phase-a", "spindle-phase-b",
+"home-x", "home-y", "home-z", "home-a",
+"min-home-x", "min-home-y", "min-home-z", "min-home-a",
+"max-home-x", "max-home-y", "max-home-z", "max-home-a",
+"both-home-x", "both-home-y", "both-home-z", "both-home-a",
+"min-x", "min-y", "min-z", "min-a",
+"max-x", "max-y", "max-z", "max-a",
+"both-x", "both-y", "both-z", "both-a",
+"all-limit", "all-home")
+
+human_output_names = ("X Step", "X Direction", "Y Step", "Y Direction",
+"Z Step", "Z Direction", "A Step", "A Direction",
+"Spindle CW", "Spindle CCW", "Spindle PWM",
+"Coolant Mist", "Coolant Flood", "ESTOP Out", "Amplifier Enable",
+"Charge Pump", "Unused")
+
+human_input_names = ("ESTOP In", "Probe In",
+"Spindle Index", "Spindle Phase A", "Spindle Phase B",
+"Home X", "Home Y", "Home Z", "Home A",
+"Minimum Limit + Home X", "Minimum Limit + Home Y",
+"Minimum Limit + Home Z", "Minimum Limit + Home A",
+"Maximum Limit + Home X", "Maximum Limit + Home Y",
+"Maximum Limit + Home Z", "Maximum Limit + Home A",
+"Both Limit + Home X", "Both Limit + Home Y",
+"Both Limit + Home Z", "Both Limit + Home A",
+"Minimum Limit X", "Minimum Limit Y", "Minimum Limit Z", "Minimum Limit A",
+"Maximum Limit X", "Maximum Limit Y", "Maximum Limit Z", "Maximum Limit A",
+"Both Limit X", "Both Limit Y", "Both Limit Z", "Both Limit A",
+"All limits", "All home", "Unused")
+
+def md5sum(filename):
+    try:
+	f = open(filename, "rb")
+    except IOError:
+	return None
+    else:
+	return md5.new(f.read()).hexdigest()
+
+class Widgets:
+    def __init__(self, xml):
+	self._xml = xml
+    def __getattr__(self, attr):
+	r = self._xml.get_widget(attr)
+	if r is None: raise AttributeError, "No widget %r" % attr
+	return r
+    def __getitem__(self, attr):
+	r = self._xml.get_widget(attr)
+	if r is None: raise IndexError, "No widget %r" % attr
+	return r
+
+class Data:
+    def __init__(self):
+	pw = pwd.getpwuid(os.getuid())
+	self.machinename = "my-mill"
+	self.axes = 0 # XYZ
+	self.units = 0 # inch
+	self.drivertype = 5 # Other
+	self.steptime = self.stepspace = 5000
+	self.dirhold = self.dirsetup = 20000
+        self.latency = 15000
+        self.period = 25000
+
+        self.ioaddr = "0x378"
+
+	self.manualtoolchange = 1
+	self.customhal = 1
+	self.pyvcp = 0
+
+	self.pin1inv = 0
+	self.pin2inv = 0
+	self.pin3inv = 0
+	self.pin4inv = 0
+	self.pin5inv = 0
+	self.pin6inv = 0
+	self.pin7inv = 0
+	self.pin8inv = 0
+	self.pin9inv = 0
+	self.pin10inv = 0
+	self.pin11inv = 0
+	self.pin12inv = 0
+	self.pin13inv = 0
+	self.pin14inv = 0
+	self.pin15inv = 0
+	self.pin16inv = 0
+	self.pin17inv = 0
+
+	self.pin1 = ESTOP
+	self.pin2 = XSTEP
+	self.pin3 = XDIR
+	self.pin4 = YSTEP
+	self.pin5 = YDIR
+	self.pin6 = ZSTEP
+	self.pin7 = ZDIR
+	self.pin8 = ASTEP
+	self.pin9 = ADIR
+	self.pin14 = CW
+	self.pin16 = PWM
+	self.pin17 = AMP
+
+	self.pin10 = BOTH_HOME_X
+	self.pin11 = BOTH_HOME_Y
+	self.pin12 = BOTH_HOME_Z
+	self.pin13 = BOTH_HOME_A
+	self.pin15 = PROBE
+
+	self.xsteprev = 200
+	self.xmicrostep = 2
+	self.xpulleynum = 1
+	self.xpulleyden = 1
+	self.xleadscrew = 20
+	self.xmaxvel = 1
+	self.xmaxacc = 30
+
+	self.xhomepos = 0
+	self.xminlim =  0
+	self.xmaxlim =  8
+	self.xhomesw = -4.5
+	self.xhomevel = .05
+	self.xlatchdir = 0
+	self.xscale = 0
+
+	self.ysteprev = 200
+	self.ymicrostep = 2
+	self.ypulleynum = 1
+	self.ypulleyden = 1
+	self.yleadscrew = 20
+	self.ymaxvel = 1
+	self.ymaxacc = 30
+
+	self.yhomepos = 0
+	self.yminlim =  0
+	self.ymaxlim =  8
+	self.yhomesw = -4.5
+	self.yhomevel = .05
+	self.ylatchdir = 0
+	self.yscale = 0
+
+
+	self.zsteprev = 200
+	self.zmicrostep = 2
+	self.zpulleynum = 1
+	self.zpulleyden = 1
+	self.zleadscrew = 20
+	self.zmaxvel = 1
+	self.zmaxacc = 30
+
+	self.zhomepos = 0
+	self.zminlim = -4
+	self.zmaxlim =  0
+	self.zhomesw = -4.5
+	self.zhomevel = .05
+	self.zlatchdir = 0
+	self.zscale = 0
+
+
+	self.asteprev = 200
+	self.amicrostep = 2
+	self.apulleynum = 1
+	self.apulleyden = 1
+	self.aleadscrew = 8
+	self.amaxvel = 360
+	self.amaxacc = 1200
+
+	self.ahomepos = 0
+	self.aminlim = -4
+	self.amaxlim =  4
+	self.ahomesw = -4.5
+	self.ahomevel = .05
+	self.alatchdir = 0
+	self.ascale = 0
+
+	self.spindlecarrier = 100
+	self.spindlecpr = 100
+	self.spindlespeed1 = 100
+	self.spindlespeed2 = 800
+	self.spindlepwm1 = .2
+	self.spindlepwm2 = .8
+
+    def load(self, filename, app=None, force=False):
+	def str2bool(s):
+	    return s == 'True'
+
+        converters = {'string': str, 'float': float, 'int': int, 'bool': str2bool, 'eval': eval}
+
+        d = xml.dom.minidom.parse(open(filename, "r"))
+        for n in d.getElementsByTagName("property"):
+            name = n.getAttribute("name")
+            conv = converters[n.getAttribute('type')]
+            text = n.getAttribute('value')
+            setattr(self, name, conv(text))
+
+	warnings = []
+	for f, m in self.md5sums:
+	    m1 = md5sum(f)
+	    if m != m1:
+		warnings.append("File %r was modified since it was written by stepconf" % f)
+	if not warnings: return
+
+        warnings.append("")
+        warnings.append("Saving this configuration file will discard configuration changes made outside stepconf.")
+        if app:
+            dialog = gtk.MessageDialog(app.widgets.window1,
+                gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT,
+                gtk.MESSAGE_WARNING, gtk.BUTTONS_OK,
+                     "\n".join(warnings))
+            dialog.show_all()
+            dialog.run()
+            dialog.destroy()
+        else:
+            for para in warnings:
+                for line in textwrap.wrap(para, 78): print line
+                print
+            print
+            if force: return
+            response = raw_input("Continue? ")
+            if response[0] not in "yY": raise SystemExit, 1
+
+    def add_md5sum(self, filename, mode="r"):
+	self.md5sums.append((filename, md5sum(filename)))
+
+    def write_inifile(self, base):
+	filename = os.path.join(base, self.machinename + ".ini")
+	file = open(filename, "w")
+	print >>file, "# Generated by stepconf at", time.asctime()
+	print >>file, "# If you make changes to this file, they will be"
+	print >>file, "# overwritten when you run stepconf again"
+
+	print >>file
+	print >>file, "[EMC]"
+	print >>file, "MACHINE = %s" % self.machinename
+	print >>file, "NML_FILE = emc.nml"
+	print >>file, "DEBUG = 0"
+
+	print >>file
+	print >>file, "[DISPLAY]"
+	print >>file, "DISPLAY = axis"
+	print >>file, "POSITION_OFFSET = RELATIVE"
+	print >>file, "POSITION_FEEDBACK = ACTUAL"
+	print >>file, "MAX_FEED_OVERRIDE = 1.2"
+	print >>file, "INTRO_GRAPHIC = emc2.gif"
+	print >>file, "INTRO_TIME = 5"
+        print >>file, "PROGRAM_PREFIX = %s" % \
+                                    os.path.expanduser("~/emc2/nc_files")
+	if self.units:
+	    print >>file, "INCREMENTS = 5mm 1mm .5mm .1mm .05mm .01mm .005mm"
+	else:
+	    print >>file, "INCREMENTS = .1in .05in .01in .005in .001in .0005in .0001in"
+        if self.pyvcp:
+            print >>file, "PYVCP = panel.xml"
+
+	print >>file
+	print >>file, "[TASK]"
+	print >>file, "TASK = milltask"
+	print >>file, "CYCLE_TIME = 0.010"
+
+	print >>file
+	print >>file, "[RS274NGC]"
+	print >>file, "PARAMETER_FILE = emc.var"
+
+        base_period = self.ideal_period()
+
+	print >>file
+	print >>file, "[EMCMOT]"
+	print >>file, "EMCMOT = motmod"
+	print >>file, "SHMEM_KEY = 111"
+	print >>file, "COMM_TIMEOUT = 1.0"
+	print >>file, "COMM_WAIT = 0.010"
+	print >>file, "BASE_PERIOD = %d" % base_period
+	print >>file, "SERVO_PERIOD = 1000000"
+
+	print >>file
+	print >>file, "[HAL]"
+	print >>file, "HALFILE = %s.hal" % self.machinename
+	if self.customhal:
+	    print >>file, "HALFILE = custom.hal"
+	    print >>file, "POSTGUI_HALFILE = custom_postgui.hal"
+
+	print >>file
+	print >>file, "[TRAJ]"
+	if self.axes == 1:
+	    print >>file, "AXES = 4"
+	    print >>file, "COORDINATES = X Y Z A"
+	    print >>file, "ANGULAR_UNITS = degrees"
+	    print >>file, "MAX_ANGULAR_VELOCITY = %.2f" % self.amaxvel
+	    defvel = min(60, self.amaxvel/10.)
+	    print >>file, "DEFAULT_ANGULAR_VELOCITY = %.2f" % defvel
+	elif self.axes == 0:
+	    print >>file, "AXES = 3"
+	    print >>file, "COORDINATES = X Y Z"
+	else:
+	    print >>file, "AXES = 3"
+	    print >>file, "COORDINATES = X Z"
+	if self.units:
+	    print >>file, "LINEAR_UNITS = mm"
+	else:
+	    print >>file, "LINEAR_UNITS = inch"
+	print >>file, "ANGULAR_UNITS = degree"
+	print >>file, "CYCLE_TIME = 0.010"
+	maxvel = max(self.xmaxvel, self.ymaxvel, self.zmaxvel)	
+	hypotvel = (self.xmaxvel**2 + self.ymaxvel**2 + self.zmaxvel**2) **.5
+	defvel = min(maxvel, max(.1, maxvel/10.))
+	print >>file, "DEFAULT_VELOCITY = %.2f" % defvel
+	print >>file, "MAX_VELOCITY = %.2f" % hypotvel
+	print >>file, "MAX_LINEAR_VELOCITY = %.2f" % maxvel
+
+	print >>file
+	print >>file, "[EMCIO]"
+	print >>file, "EMCIO = io"
+	print >>file, "CYCLE_TIME = 0.100"
+	print >>file, "TOOL_TABLE = tool.tbl"
+
+	self.write_one_axis(file, 0, "x", "LINEAR")
+	if self.axes != 2:
+	    self.write_one_axis(file, 1, "y", "LINEAR")
+	self.write_one_axis(file, 2, "z", "LINEAR")
+	if self.axes == 1:
+	    self.write_one_axis(file, 3, "a", "ANGULAR")
+
+	file.close()
+	self.add_md5sum(filename)
+
+    def hz(self, axname):
+        steprev = getattr(self, axname+"steprev")
+        microstep = getattr(self, axname+"microstep")
+        pulleynum = getattr(self, axname+"pulleynum")
+        pulleyden = getattr(self, axname+"pulleyden")
+        leadscrew = getattr(self, axname+"leadscrew")
+        maxvel = getattr(self, axname+"maxvel")
+        if self.units: leadscrew = 1/leadscrew
+        pps = leadscrew * steprev * microstep * (pulleynum/pulleyden) * maxvel
+        return pps
+
+    def minperiod(self):
+        return self.latency + self.steptime + self.stepspace + 5000
+    def maxhz(self):
+        return 1e9 / self.minperiod()
+
+    def ideal_period(self):
+        xhz = self.hz('x')
+        yhz = self.hz('y')
+        zhz = self.hz('z')
+        ahz = self.hz('a')
+	if self.axes == 1:
+            pps = max(xhz, yhz, zhz, ahz)
+        elif self.axes == 0:
+            pps = max(xhz, yhz, zhz)
+        else:
+            pps = max(xhz, zhz)
+	base_period = 1e9 / pps
+	print "ideal_period", xhz, yhz, zhz, ahz, base_period
+	if base_period > 100000: base_period = 100000
+        if base_period < self.minperiod(): base_period = self.minperiod()
+        return int(base_period)
+
+    def write_one_axis(self, file, num, letter, type):
+	order = "1203"
+	def get(s): return self[letter + s]
+	print >>file
+	print >>file, "[AXIS_%d]" % num
+	print >>file, "TYPE = %s" % type
+	print >>file, "HOME = %s" % get("homepos")
+	print >>file, "MAX_VELOCITY = %s" % get("maxvel")
+	print >>file, "MAX_ACCELERATION = %s" % get("maxacc")
+	print >>file, "STEPGEN_MAXACCEL = %s" % (1.05 * get("maxacc"))
+	print >>file, "SCALE = %s" % get("scale")
+	if self.units:
+	    print >>file, "FERROR = 1"
+	    print >>file, "MIN_FERROR = .25"
+	else:
+	    print >>file, "FERROR = 0.05"
+	    print >>file, "MIN_FERROR = 0.01"
+
+	# emc2 doesn't like having home right on an end of travel,
+	# so extend the travel limit by up to .01in or .1mm
+	minlim = get("minlim")
+	maxlim = get("maxlim")
+	home = get("homepos")
+	if self.units: extend = .001
+	else: extend = .01
+	minlim = min(minlim, home - extend)
+	maxlim = max(maxlim, home + extend)
+	print >>file, "MIN_LIMIT = %s" % minlim
+	print >>file, "MAX_LIMIT = %s" % maxlim
+
+	inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15))
+	thisaxishome = set((ALL_HOME, HOME_X + num, MIN_HOME_X + num,
+			    MAX_HOME_X + num, BOTH_HOME_X + num))
+	ignore = set((MIN_HOME_X + num, MAX_HOME_X + num, BOTH_HOME_X + num))
+	homes = bool(inputs & thisaxishome)
+    
+	if homes:
+	    print >>file, "HOME_OFFSET = %f" % get("homesw")
+	    print >>file, "SEARCH_VEL = %f" % get("homevel")
+	    latchvel = get("homevel") / abs(get("homevel"))
+	    if get("latchdir"): latchvel = -latchvel
+	    latchvel = latchvel * 1000 / get("scale")
+	    print >>file, "LATCH_VEL = %f" % latchvel
+	    if inputs & ignore:
+		print >>file, "HOME_IGNORE_LIMITS = YES"
+	    print >>file, "HOME_SEQUENCE = %s" % order[num]
+	else:
+	    print >>file, "HOME_OFFSET = %s" % get("homepos")
+
+    def home_sig(self, axnum):
+	inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15))
+	thisaxishome = set((ALL_HOME, HOME_X + axnum, MIN_HOME_X + axnum,
+			    MAX_HOME_X + axnum, BOTH_HOME_X + axnum))
+	for i in inputs:
+	    if i in thisaxishome: return hal_input_names[i]
+
+    def min_lim_sig(self, axnum):
+   	inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15))
+	thisaxishome = set((ALL_LIMIT, MIN_X + axnum, MIN_HOME_X + axnum,
+			    BOTH_HOME_X + axnum))
+	for i in inputs:
+	    if i in thisaxishome: return hal_input_names[i]
+
+    def max_lim_sig(self, axnum):
+   	inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15))
+	thisaxishome = set((ALL_LIMIT, MAX_X + axnum, MAX_HOME_X + axnum,
+			    BOTH_HOME_X + axnum))
+	for i in inputs:
+	    if i in thisaxishome: return hal_input_names[i]
+ 
+    def connect_axis(self, file, num, let):
+	axnum = "xyza".index(let)
+        lat = self.latency
+	print >>file
+	print >>file, "setp stepgen.%d.position-scale [AXIS_%d]SCALE" % (num, axnum)
+	print >>file, "setp stepgen.%d.steplen 1" % num
+	print >>file, "setp stepgen.%d.stepspace 0" % num
+	print >>file, "setp stepgen.%d.dirhold %d" % (num, self.dirhold + lat)
+	print >>file, "setp stepgen.%d.dirsetup %d" % (num, self.dirsetup + lat)
+	print >>file, "setp stepgen.%d.maxaccel [AXIS_%d]STEPGEN_MAXACCEL" % (num, axnum)
+	print >>file, "net %spos-cmd axis.%d.motor-pos-cmd => stepgen.%d.position-cmd" % (let, axnum, num)
+	print >>file, "net %spos-fb stepgen.%d.position-fb => axis.%d.motor-pos-fb" % (let, num, axnum)
+	print >>file, "net %sstep <= stepgen.%d.step" % (let, num)
+	print >>file, "net %sdir <= stepgen.%d.dir" % (let, num)
+	print >>file, "net %senable axis.%d.amp-enable-out => stepgen.%d.enable" % (let, axnum, num)
+	homesig = self.home_sig(axnum)
+	if homesig:
+	    print >>file, "net %s => axis.0.home-sw-in" % homesig
+	min_limsig = self.min_lim_sig(axnum)
+	if min_limsig:
+	    print >>file, "net %s => axis.0.neg-lim-sw-in" % min_limsig
+	max_limsig = self.max_lim_sig(axnum)
+	if max_limsig:
+	    print >>file, "net %s => axis.0.pos-lim-sw-in" % max_limsig
+
+    def connect_input(self, file, num):
+	p = self['pin%d' % num]
+	i = self['pin%dinv' % num]
+	if p == UNUSED_INPUT: return
+
+	if i:
+	    print >>file, "net %s <= parport.0.pin-%02d-in-not" \
+		% (hal_input_names[p], num)
+	else:
+	    print >>file, "net %s <= parport.0.pin-%02d-in" \
+		% (hal_input_names[p], num)
+
+    def find_input(self, input):
+	inputs = set((10, 11, 12, 13, 15))
+	for i in inputs:
+	    pin = getattr(self, "pin%d" % i)
+	    inv = getattr(self, "pin%dinv" % i)
+	    if pin == input: return i, inv
+	return None, None
+
+    def find_output(self, output):
+	outputs = set((1, 2, 3, 4, 5, 6, 7, 8, 9, 14, 16, 17))
+	for i in outputs:
+	    pin = getattr(self, "pin%d" % i)
+	    inv = getattr(self, "pin%dinv" % i)
+	    if pin == output: return i, inv
+	return None, None
+
+    def connect_output(self, file, num):
+	p = self['pin%d' % num]
+	i = self['pin%dinv' % num]
+	if p == UNUSED_OUTPUT: return
+	if i: print >>file, "setp parport.0.pin-%02d-out-invert 1" % num
+	print >>file, "net %s => parport.0.pin-%02d-out" % (hal_output_names[p], num)
+        if p in (XSTEP, YSTEP, ZSTEP, ASTEP):
+            print >>file, "setp parport.0.pin-%02d-out-reset 1" % num
+
+    def write_halfile(self, base):
+	inputs = set((self.pin10,self.pin11,self.pin12,self.pin13,self.pin15))
+	outputs = set((self.pin1, self.pin2, self.pin3, self.pin4, self.pin5,
+	    self.pin6, self.pin7, self.pin8, self.pin9, self.pin14, self.pin16,
+	    self.pin17))
+
+	filename = os.path.join(base, self.machinename + ".hal")
+	file = open(filename, "w")
+	print >>file, "# Generated by stepconf at", time.asctime()
+	print >>file, "# If you make changes to this file, they will be"
+	print >>file, "# overwritten when you run stepconf again"
+
+	print >>file, "loadrt trivkins"
+	print >>file, "loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]SERVO_PERIOD key=[EMCMOT]SHMEM_KEY num_joints=[TRAJ]AXES"
+	print >>file, "loadrt probe_parport"
+	print >>file, "loadrt hal_parport cfg=%s" % self.ioaddr
+        print >>file, "setp parport.0.reset-time %d" % self.steptime
+	encoder = PHA in inputs
+	counter = PHB not in inputs
+	probe = PROBE in inputs
+	pwm = PWM in outputs
+	pump = PUMP in outputs
+
+	if self.axes == 2:
+	    print >>file, "loadrt stepgen step_type=0,0"
+	elif self.axes == 1:
+	    print >>file, "loadrt stepgen step_type=0,0,0,0"
+	else:
+	    print >>file, "loadrt stepgen step_type=0,0,0"
+
+	if encoder:
+	    print >>file, "loadrt encoder num_chan=1"
+
+	if pump:
+	    print >>file, "loadrt charge_pump"
+	    print >>file, "net estop-out charge-pump.enable <= iocontrol.0.user-enable-out"
+
+	if pwm:
+	    print >>file, "loadrt pwmgen chan_type=0"
+
+	print >>file
+	print >>file, "addf parport.0.read base-thread"
+	print >>file, "addf stepgen.make-pulses base-thread"
+	if encoder: print >>file, "addf encoder.update-counters base-thread"
+	if pump: print >>file, "addf charge-pump base-thread"
+	if pwm: print >>file, "addf pwmgen.make-pulses base-thread"
+	print >>file, "addf parport.0.write base-thread"
+	print >>file, "addf parport.0.reset base-thread"
+
+	print >>file
+	print >>file, "addf stepgen.capture-position servo-thread"
+	if encoder: print >>file, "addf encoder.capture-position servo-thread"
+	print >>file, "addf motion-command-handler servo-thread"
+	print >>file, "addf motion-controller servo-thread"
+	print >>file, "addf stepgen.update-freq servo-thread"
+	if pwm: print >>file, "addf pwmgen.update servo-thread"
+
+	if pwm:
+	    x1 = self.spindlepwm1
+	    x2 = self.spindlepwm2
+	    y1 = self.spindlespeed1
+	    y2 = self.spindlespeed2
+	    scale = (y2-y1) / (x2-x1)
+	    offset = y1 - x1 * scale
+	    print >>file
+	    print >>file, "net spindle-cmd <= motion.spindle-speed-in => pwmgen.0.value"
+	    print >>file, "net spindle-enable <= motion.spindle-on => pwmgen.0.enable"
+	    print >>file, "net spindle-pwm <= pwmgen.0.pwm"
+	    print >>file, "setp pwmgen.0.pwm-freq %s" % self.spindlecarrier	
+	    print >>file, "setp pwmgen.0.scale %s" % scale
+	    print >>file, "setp pwmgen.0.offset %s" % offset
+
+	if encoder:
+	    print >>file
+	    if PHB not in inputs:
+		print >>file, "setp encoder.0.position-scale %f"\
+		     % (1. / 2 / int(self.spindlecpr))
+		print >>file, "setp encoder.0.counter-mode 1"
+	    else:
+		print >>file, "setp encoder.0.position-scale %f" \
+		    % (1. / 4 / int(self.spindlecpr))
+	    print >>file, "net spindle-position encoder.0.position => motion.spindle-revs"
+	    print >>file, "net spindle-velocity encoder.0.velocity => motion.spindle-speed-in"
+	    print >>file, "net spindle-index-enable encoder.0.index-enable <=> motion.spindle-index-enable"
+
+	if probe:
+	    print >>file
+	    print >>file, "net probe-in => motion.probe-input"
+
+	print >>file
+	for o in (1,2,3,4,5,6,7,8,9,14,16,17): self.connect_output(file, o)
+
+	print >>file
+	for i in (10,11,12,13,15): self.connect_input(file, i)
+
+	if self.axes == 2:
+	    self.connect_axis(file, 0, 'x')
+	    self.connect_axis(file, 1, 'z')
+	elif self.axes == 0:
+	    self.connect_axis(file, 0, 'x')
+	    self.connect_axis(file, 1, 'y')
+	    self.connect_axis(file, 2, 'z')
+	elif self.axes == 1:
+	    self.connect_axis(file, 0, 'x')
+	    self.connect_axis(file, 1, 'y')
+	    self.connect_axis(file, 2, 'z')
+	    self.connect_axis(file, 3, 'a')
+
+	print >>file
+	print >>file, "net estop-out <= iocontrol.0.user-enable-out"
+	if ESTOP in inputs:
+	    print >>file, "net estop-in => iocontrol.0.emc-enable-in"
+	else:
+	    print >>file, "net estop-out => iocontrol.0.emc-enable-in"
+
+	print >>file
+	if self.manualtoolchange:
+	    print >>file, "loadusr -W hal_manualtoolchange"
+	    print >>file, "net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change"
+	    print >>file, "net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed"
+	    print >>file, "net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number"
+
+	else:
+	    print >>file, "net tool-change-loopback iocontrol.0.tool-change => icontrol.0.tool-changed"
+	print >>file, "net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared"
+
+        if self.pyvcp:
+	    vcp = os.path.join(base, "panel.xml")
+            if not os.path.exists(vcp):
+                f1 = open(vcp, "w")
+
+                print >>f1, "<?xml version='1.0' encoding='UTF-8'?>"
+
+                print >>f1, "<!-- "
+                print >>f1, "Include your PyVCP panel here.\nThe contents of this file will not be overwritten when you run stepconf again."
+                print >>f1, "-->"
+                print >>f1, "<pyvcp>"
+                print >>f1, "</pyvcp>"
+        if self.pyvcp or self.customhal:
+	    custom = os.path.join(base, "postconfig_custom.hal")
+	    if not os.path.exists(custom):
+		f1 = open(custom, "w")
+		print >>f1, "# Include your customized HAL commands here"
+                print >>f1, """\
+# The commands in this file are run after the AXIS GUI (including PyVCP panel)
+# starts
+# This file will not be overwritten when you run stepconf again"""
+	if self.customhal:
+	    custom = os.path.join(base, "custom.hal")
+	    if not os.path.exists(custom):
+		f1 = open(custom, "w")
+		print >>f1, "# Include your customized HAL commands here"
+		print >>f1, "# This file will not be overwritten when you run stepconf again" 
+	file.close()
+	self.add_md5sum(filename)
+
+    def write_readme(self, base):
+	filename = os.path.join(base, "README")
+	file = open(filename, "w")
+	print >>file, "Generated by stepconf at", time.asctime()
+	file.close()
+	self.add_md5sum(filename)
+
+    def copy(self, base, filename):
+	dest = os.path.join(base, filename)
+	if not os.path.exists(dest):
+	    shutil.copy(os.path.join(distdir, filename), dest)
+
+    def save(self):
+	base = os.path.expanduser("~/emc2/configs/%s" % self.machinename)
+	makedirs(base)
+
+	self.md5sums = []
+	self.write_readme(base)
+	self.write_inifile(base)
+	self.write_halfile(base)
+	self.copy(base, "emc.nml")
+	self.copy(base, "tool.tbl")
+	self.copy(base, "emc.var")
+
+	filename = "%s.stepconf" % base
+
+	d = xml.dom.minidom.getDOMImplementation().createDocument(
+                            None, "stepconf", None)
+        e = d.documentElement
+
+	for k, v in sorted(self.__dict__.iteritems()):
+	    if k.startswith("_"): continue
+            n = d.createElement('property')
+            e.appendChild(n)
+
+            if isinstance(v, float): n.setAttribute('type', 'float')
+            elif isinstance(v, bool): n.setAttribute('type', 'bool')
+            elif isinstance(v, int): n.setAttribute('type', 'int')
+            elif isinstance(v, list): n.setAttribute('type', 'eval')
+            else: n.setAttribute('type', 'string')
+
+            n.setAttribute('name', k)
+            n.setAttribute('value', str(v))
+
+        d.writexml(open(filename, "wb"), addindent="  ", newl="\n")
+
+    def __getitem__(self, item):
+	return getattr(self, item)
+    def __setitem__(self, item, value):
+	return setattr(self, item, value)
+
+class App:
+    fname = 'stepconf.glade'  # XXX search path
+
+    def _getwidget(self, doc, id):
+	for i in doc.getElementsByTagName('widget'):
+	    if i.getAttribute('id') == id: return i
+
+    def make_axispage(self, doc, axisname):
+	axispage = self._getwidget(doc, 'xaxis').parentNode.cloneNode(True)
+	nextpage = self._getwidget(doc, 'spindle').parentNode
+	widget = self._getwidget(axispage, "xaxis")
+	for node in widget.childNodes:
+	    if (node.nodeType == xml.dom.Node.ELEMENT_NODE
+		    and node.tagName == "property"
+		    and node.getAttribute('name') == "title"):
+		node.childNodes[0].data = "%s Axis Configuration" % axisname.upper()
+	for node in axispage.getElementsByTagName("widget"):
+	    id = node.getAttribute('id')
+	    if id.startswith("x"):
+		node.setAttribute('id', axisname + id[1:])
+	    else:
+		node.setAttribute('id', axisname + id)
+	for node in axispage.getElementsByTagName("signal"):
+	    handler = node.getAttribute('handler')
+	    node.setAttribute('handler', handler.replace("on_x", "on_" + axisname))
+	for node in axispage.getElementsByTagName("property"):
+	    name = node.getAttribute('name')
+	    if name == "mnemonic_widget":
+		node.childNodes[0].data = axisname + node.childNodes[0].data[1:]
+	nextpage.parentNode.insertBefore(axispage, nextpage)
+
+    def __init__(self):
+	gnome.init("stepconf", "0.6") 
+	print "glade", os.path.join(datadir, self.fname)
+	glade = xml.dom.minidom.parse(os.path.join(datadir, self.fname))
+        print "glade", glade
+	self.make_axispage(glade, 'y')
+	self.make_axispage(glade, 'z')
+	self.make_axispage(glade, 'a')
+	doc = glade.toxml().encode("utf-8")
+
+	self.xml = gtk.glade.xml_new_from_buffer(doc, len(doc))
+	self.widgets = Widgets(self.xml)
+
+        self.watermark = gtk.gdk.pixbuf_new_from_file(wizard)
+	self.widgets.dialog1.hide()
+	self.widgets.druidpagestart1.show()
+        self.widgets.druidpagestart1.set_watermark(self.watermark)
+	self.widgets.complete.show()
+        self.widgets.complete.set_watermark(self.watermark)
+	
+	self.xml.signal_autoconnect(self)
+
+	self.in_pport_prepare = False
+	self.axis_under_test = False
+        self.jogminus = self.jogplus = 0
+
+	self.data = Data()
+
+    def gtk_main_quit(self, *args):
+	gtk.main_quit()
+
+    def on_window1_delete_event(self, *args):
+        dialog = gtk.MessageDialog(self.widgets.window1,
+	    gtk.DIALOG_MODAL | gtk.DIALOG_DESTROY_WITH_PARENT,
+	    gtk.MESSAGE_QUESTION, gtk.BUTTONS_YES_NO,
+		 "Quit Stepconf and discard changes?")
+	dialog.show_all()
+	result = dialog.run()
+	dialog.destroy()
+	if result == gtk.RESPONSE_YES:
+	    gtk.main_quit()
+	    return False
+	else:
+	    return True
+    on_druid1_cancel = on_window1_delete_event
+
+    def on_page_newormodify_next(self, *args):
+	if not self.widgets.createconfig.get_active():
+	    filter = gtk.FileFilter()
+	    filter.add_pattern("*.stepconf")
+	    filter.set_name("EMC2 'stepconf' configuration files")
+	    dialog = gtk.FileChooserDialog("Modify Existing Configuration",
+		self.widgets.window1, gtk.FILE_CHOOSER_ACTION_OPEN,
+		(gtk.STOCK_CANCEL, gtk.RESPONSE_CANCEL,
+		 gtk.STOCK_OPEN, gtk.RESPONSE_OK))
+	    dialog.set_default_response(gtk.RESPONSE_OK)
+	    dialog.add_filter(filter) 
+	    dialog.add_shortcut_folder(os.path.expanduser("~/emc2/configs"))
+	    dialog.set_current_folder(os.path.expanduser("~/emc2/configs"))
+	    dialog.show_all()
+	    result = dialog.run()
+	    if result == gtk.RESPONSE_OK:
+		filename = dialog.get_filename()
+		dialog.destroy()
+		self.data.load(filename, self)
+	    else:
+		dialog.destroy()
+		return True
+
+    def on_basicinfo_prepare(self, *args):
+	self.widgets.machinename.set_text(self.data.machinename)
+	self.widgets.axes.set_active(self.data.axes)
+	self.widgets.units.set_active(self.data.units)
+	self.widgets.latency.set_value(self.data.latency)
+	self.widgets.steptime.set_value(self.data.steptime)
+	self.widgets.stepspace.set_value(self.data.stepspace)
+	self.widgets.dirsetup.set_value(self.data.dirsetup)
+	self.widgets.dirhold.set_value(self.data.dirhold)
+	self.widgets.drivertype.set_active(self.data.drivertype)
+	self.widgets.manualtoolchange.set_active(self.data.manualtoolchange)
+	self.widgets.ioaddr.set_text(self.data.ioaddr)
+	self.widgets.machinename.grab_focus()
+
+    def on_basicinfo_next(self, *args):
+	self.data.machinename = self.widgets.machinename.get_text()
+	self.data.axes = self.widgets.axes.get_active()
+	self.data.units = self.widgets.units.get_active()
+	self.data.drivertype = self.widgets.drivertype.get_active()
+	self.data.steptime = self.widgets.steptime.get_value()
+	self.data.stepspace = self.widgets.stepspace.get_value()
+	self.data.dirsetup = self.widgets.dirsetup.get_value()
+	self.data.dirhold = self.widgets.dirhold.get_value()
+	self.data.latency = self.widgets.latency.get_value()
+	self.data.manualtoolchange = self.widgets.manualtoolchange.get_active()
+	self.data.ioaddr = self.widgets.ioaddr.get_text()
+
+    def on_machinename_changed(self, *args):
+	self.widgets.confdir.set_text(
+	    "~/emc2/configs/%s" % self.widgets.machinename.get_text())
+
+    def on_drivertype_changed(self, *args):
+	drive_characteristics = [
+	    [4000, 500, 20000, 1000],     # Gecko
+	    [500,  4000, 4000, 1000],     # L297   XXX active low
+	    [1000, 2000, 1000, 1000],     # PMDX-150
+	    [1000, 6000, 24000, 20000],   # Sherline  XXX find proper values
+	    [1000, 2000, 200, 200],       # Xylotex
+	]
+	v = self.widgets.drivertype.get_active()
+	if v < len(drive_characteristics):
+	    d = drive_characteristics[v]
+	    self.widgets.steptime.set_value(d[0])
+	    self.widgets.stepspace.set_value(d[1])
+	    self.widgets.dirhold.set_value(d[2])
+	    self.widgets.dirsetup.set_value(d[3])
+
+	    self.widgets.steptime.set_sensitive(0)
+	    self.widgets.stepspace.set_sensitive(0)
+	    self.widgets.dirhold.set_sensitive(0)
+	    self.widgets.dirsetup.set_sensitive(0)
+	else:
+	    self.widgets.steptime.set_sensitive(1)
+	    self.widgets.stepspace.set_sensitive(1)
+	    self.widgets.dirhold.set_sensitive(1)
+	    self.widgets.dirsetup.set_sensitive(1)
+
+    def do_exclusive_inputs(self, pin):
+	if self.in_pport_prepare: return
+	exclusive = {
+	    HOME_X: (MAX_HOME_X, MIN_HOME_X, BOTH_HOME_X, ALL_HOME),
+	    HOME_Y: (MAX_HOME_Y, MIN_HOME_Y, BOTH_HOME_Y, ALL_HOME),
+	    HOME_Z: (MAX_HOME_Z, MIN_HOME_Z, BOTH_HOME_Z, ALL_HOME),
+	    HOME_A: (MAX_HOME_A, MIN_HOME_A, BOTH_HOME_A, ALL_HOME),
+
+	    MAX_HOME_X: (HOME_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT, ALL_HOME),
+	    MAX_HOME_Y: (HOME_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT, ALL_HOME),
+	    MAX_HOME_Z: (HOME_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT, ALL_HOME),
+	    MAX_HOME_A: (HOME_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT, ALL_HOME),
+
+	    MIN_HOME_X: (HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT, ALL_HOME),
+	    MIN_HOME_Y: (HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT, ALL_HOME),
+	    MIN_HOME_Z: (HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT, ALL_HOME),
+	    MIN_HOME_A: (HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT, ALL_HOME),
+
+	    BOTH_HOME_X: (HOME_X, MAX_HOME_X, MIN_HOME_X, ALL_LIMIT, ALL_HOME),
+	    BOTH_HOME_Y: (HOME_Y, MAX_HOME_Y, MIN_HOME_Y, ALL_LIMIT, ALL_HOME),
+	    BOTH_HOME_Z: (HOME_Z, MAX_HOME_Z, MIN_HOME_Z, ALL_LIMIT, ALL_HOME),
+	    BOTH_HOME_A: (HOME_A, MAX_HOME_A, MIN_HOME_A, ALL_LIMIT, ALL_HOME),
+
+	    MIN_X: (BOTH_X, BOTH_HOME_X, MIN_HOME_X, ALL_LIMIT),
+	    MIN_Y: (BOTH_Y, BOTH_HOME_Y, MIN_HOME_Y, ALL_LIMIT),
+	    MIN_Z: (BOTH_Z, BOTH_HOME_Z, MIN_HOME_Z, ALL_LIMIT),
+	    MIN_A: (BOTH_A, BOTH_HOME_A, MIN_HOME_A, ALL_LIMIT),
+
+	    MAX_X: (BOTH_X, BOTH_HOME_X, MIN_HOME_X, ALL_LIMIT),
+	    MAX_Y: (BOTH_Y, BOTH_HOME_Y, MIN_HOME_Y, ALL_LIMIT),
+	    MAX_Z: (BOTH_Z, BOTH_HOME_Z, MIN_HOME_Z, ALL_LIMIT),
+	    MAX_A: (BOTH_A, BOTH_HOME_A, MIN_HOME_A, ALL_LIMIT),
+
+	    BOTH_X: (MIN_X, MAX_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X, ALL_LIMIT),
+	    BOTH_Y: (MIN_Y, MAX_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y, ALL_LIMIT),
+	    BOTH_Z: (MIN_Z, MAX_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z, ALL_LIMIT),
+	    BOTH_A: (MIN_A, MAX_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A, ALL_LIMIT),
+
+	    ALL_LIMIT: (
+		MIN_X, MAX_X, BOTH_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X,
+		MIN_Y, MAX_Y, BOTH_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y,
+		MIN_Z, MAX_Z, BOTH_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z,
+		MIN_A, MAX_A, BOTH_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A),
+	    ALL_HOME: (
+		HOME_X, MIN_HOME_X, MAX_HOME_X, BOTH_HOME_X,
+		HOME_Y, MIN_HOME_Y, MAX_HOME_Y, BOTH_HOME_Y,
+		HOME_Z, MIN_HOME_Z, MAX_HOME_Z, BOTH_HOME_Z,
+		HOME_A, MIN_HOME_A, MAX_HOME_A, BOTH_HOME_A),
+	} 
+
+	p = 'pin%d' % pin
+	v = self.widgets[p].get_active()
+	ex = exclusive.get(v, ())
+	for pin1 in (10,11,12,13,15):
+	    if pin1 == pin: continue
+	    p = 'pin%d' % pin1
+	    v1 = self.widgets[p].get_active()
+	    if v1 in ex or v1 == v:
+		self.widgets[p].set_active(UNUSED_INPUT)
+
+    def on_pin10_changed(self, *args):
+	self.do_exclusive_inputs(10)
+    def on_pin11_changed(self, *args):
+	self.do_exclusive_inputs(11)
+    def on_pin12_changed(self, *args):
+	self.do_exclusive_inputs(12)
+    def on_pin13_changed(self, *args):
+	self.do_exclusive_inputs(13)
+    def on_pin15_changed(self, *args):
+	self.do_exclusive_inputs(15)
+	   
+    def on_pport_prepare(self, *args):
+	self.in_pport_prepare = True
+	for pin in (1,2,3,4,5,6,7,8,9,14,16,17):
+	    p = 'pin%d' % pin
+	    model = self.widgets[p].get_model()
+	    model.clear()
+	    for name in human_output_names: model.append((name,))
+	for pin in (10,11,12,13,15):
+	    p = 'pin%d' % pin
+	    model = self.widgets[p].get_model()
+	    model.clear()
+	    for name in human_input_names: model.append((name,))
+	for pin in (1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17):
+	    p = 'pin%d' % pin
+	    self.widgets[p].set_active(self.data[p])
+	    p = 'pin%dinv' % pin
+	    self.widgets[p].set_active(self.data[p])
+	self.widgets.customhal.set_active(self.data.customhal)
+	self.widgets.pyvcp.set_active(self.data.pyvcp)
+	self.widgets.pin1.grab_focus()
+	self.in_pport_prepare = False
+ 
+    def on_pport_next(self, *args):
+	for pin in (1,2,3,4,5,6,7,8,9,10,11,12,13,14,15,16,17):
+	    p = 'pin%d' % pin
+	    self.data[p] = self.widgets[p].get_active()
+	    p = 'pin%dinv' % pin
+	    self.data[p] = self.widgets[p].get_active()
+	self.data.customhal = self.widgets.customhal.get_active()
+	self.data.pyvcp = self.widgets.pyvcp.get_active()
+    on_pport_back = on_pport_next
+
+    def on_sherlinedefault_clicked(self, *args):
+	self.widgets.pin2.set_active(1)
+	self.widgets.pin3.set_active(0)
+	self.widgets.pin4.set_active(3)
+	self.widgets.pin5.set_active(2)
+	self.widgets.pin6.set_active(5)
+	self.widgets.pin7.set_active(4)
+	self.widgets.pin8.set_active(7)
+	self.widgets.pin9.set_active(6)
+
+    def on_xylotexdefault_clicked(self, *args):
+	self.widgets.pin2.set_active(0)
+	self.widgets.pin3.set_active(1)
+	self.widgets.pin4.set_active(2)
+	self.widgets.pin5.set_active(3)
+	self.widgets.pin6.set_active(4)
+	self.widgets.pin7.set_active(5)
+	self.widgets.pin8.set_active(6)
+	self.widgets.pin9.set_active(7)
+
+    def axis_prepare(self, axis):
+	d = self.data
+	w = self.widgets
+	def set_text(n): w[axis + n].set_text("%s" % d[axis + n])
+	def set_active(n): w[axis + n].set_active(d[axis + n])
+	set_text("steprev")
+	set_text("microstep")
+	set_text("pulleynum")
+	set_text("pulleyden")
+	set_text("leadscrew")
+	set_text("maxvel")
+	set_text("maxacc")
+	set_text("homepos")
+	set_text("minlim")
+	set_text("maxlim")
+	set_text("homesw")
+	set_text("homevel")
+	set_active("latchdir")
+
+	if axis == "a":
+	    w[axis + "screwunits"].set_text("rev / degree")
+	    w[axis + "velunits"].set_text("deg / s")
+	    w[axis + "accunits"].set_text("deg / s²")
+	    w[axis + "accdistunits"].set_text("deg")
+	elif d.units:
+	    w[axis + "screwunits"].set_text("mm / rev")
+	    w[axis + "velunits"].set_text("mm / s")
+	    w[axis + "accunits"].set_text("mm / s²")
+	    w[axis + "accdistunits"].set_text("mm")
+	else:
+	    w[axis + "screwunits"].set_text("rev / in")
+	    w[axis + "velunits"].set_text("in / s")
+	    w[axis + "accunits"].set_text("in / s²")
+	    w[axis + "accdistunits"].set_text("in")
+
+	n = "xyza".index(axis)
+
+	inputs = set((d.pin10, d.pin11, d.pin12, d.pin13, d.pin15))
+	thisaxishome = set((ALL_HOME, HOME_X + n, MIN_HOME_X + n,
+			    MAX_HOME_X + n, BOTH_HOME_X + n))
+	homes = bool(inputs & thisaxishome)
+	w[axis + "homesw"].set_sensitive(homes)
+	w[axis + "homevel"].set_sensitive(homes)
+	w[axis + "latchdir"].set_sensitive(homes)
+
+	w[axis + "steprev"].grab_focus()
+
+    def axis_done(self, axis):
+	d = self.data
+	w = self.widgets
+	def get_text(n): d[axis + n] = float(w[axis + n].get_text())
+	def get_active(n): d[axis + n] = w[axis + n].get_active()
+	get_text("steprev")
+	get_text("microstep")
+	get_text("pulleynum")
+	get_text("pulleyden")
+	get_text("leadscrew")
+	get_text("maxvel")
+	get_text("maxacc")
+	get_text("homepos")
+	get_text("minlim")
+	get_text("maxlim")
+	get_text("homesw")
+	get_text("homevel")
+	get_active("latchdir")
+	
+    def on_xaxis_prepare(self, *args): self.axis_prepare('x')
+    def on_yaxis_prepare(self, *args): self.axis_prepare('y')
+    def on_zaxis_prepare(self, *args): self.axis_prepare('z')
+    def on_aaxis_prepare(self, *args): self.axis_prepare('a')
+
+    def on_xaxis_back(self, *args): self.axis_done('x')
+    def on_yaxis_back(self, *args): self.axis_done('y')
+    def on_zaxis_back(self, *args):
+	self.axis_done('z')
+	if self.data.axes == 2:
+	    self.widgets.druid1.set_page(self.widgets.xaxis)
+	    return True
+    def on_aaxis_back(self, *args): self.axis_done('a')
+
+    def on_xaxistest_clicked(self, *args): self.test_axis('x')
+    def on_yaxistest_clicked(self, *args): self.test_axis('y')
+    def on_zaxistest_clicked(self, *args): self.test_axis('z')
+    def on_aaxistest_clicked(self, *args): self.test_axis('a')
+
+    def on_spindle_prepare(self, *args):
+	self.widgets['spindlecarrier'].set_text("%s" % self.data.spindlecarrier)
+	self.widgets['spindlespeed1'].set_text("%s" % self.data.spindlespeed1)
+	self.widgets['spindlespeed2'].set_text("%s" % self.data.spindlespeed2)
+	self.widgets['spindlepwm1'].set_text("%s" % self.data.spindlepwm1)
+	self.widgets['spindlepwm2'].set_text("%s" % self.data.spindlepwm2)
+	self.widgets['spindlecpr'].set_text("%s" % self.data.spindlecpr)
+
+	data = self.data
+	if PHA in (data.pin10, data.pin11, data.pin12, data.pin13, data.pin15):
+	    self.widgets.spindlecpr.set_sensitive(1)
+	else:
+	    self.widgets.spindlecpr.set_sensitive(0)
+
+    def on_spindle_next(self, *args):
+	self.data.spindlecarrier = float(self.widgets.spindlecarrier.get_text())
+	self.data.spindlespeed1 = float(self.widgets.spindlespeed1.get_text())
+	self.data.spindlespeed2 = float(self.widgets.spindlespeed2.get_text())
+	self.data.spindlepwm1 = float(self.widgets.spindlepwm1.get_text())
+	self.data.spindlepwm2 = float(self.widgets.spindlepwm2.get_text())
+	self.data.spindlecpr = float(self.widgets.spindlecpr.get_text())
+
+    def on_spindle_back(self, *args):
+	self.on_spindle_next()
+	if self.data.axes != 1:
+	    self.widgets.druid1.set_page(self.widgets.zaxis)
+	else:
+	    self.widgets.druid1.set_page(self.widgets.aaxis)
+	return True
+
+    def on_complete_back(self, *args):
+	if self.has_spindle_speed_control():
+	    self.widgets.druid1.set_page(self.widgets.spindle)
+	elif self.data.axes != 1:
+	    self.widgets.druid1.set_page(self.widgets.zaxis)
+	else:
+	    self.widgets.druid1.set_page(self.widgets.aaxis)
+	return True
+
+    def on_xaxis_next(self, *args):
+	self.axis_done('x')
+	if self.data.axes == 2:
+	    self.widgets.druid1.set_page(self.widgets.zaxis)
+	    return True
+
+    def on_yaxis_next(self, *args): self.axis_done('y')
+    def on_zaxis_next(self, *args):
+	self.axis_done('z')
+	if self.data.axes != 1:
+	    if self.has_spindle_speed_control():
+		self.widgets.druid1.set_page(self.widgets.spindle)
+	    else:
+		self.widgets.druid1.set_page(self.widgets.complete)
+	    return True
+    def on_aaxis_next(self, *args):
+	self.axis_done('a')
+	if self.has_spindle_speed_control():
+	    self.widgets.druid1.set_page(self.widgets.spindle)
+	else:
+	    self.widgets.druid1.set_page(self.widgets.complete)
+	return True
+
+    def has_spindle_speed_control(self):
+	d = self.data
+	return PWM in (d.pin1, d.pin2, d.pin3, d.pin4, d.pin5, d.pin6, d.pin7,
+	    d.pin8, d.pin9, d.pin14, d.pin16) or \
+		PPR in (d.pin10, d.pin11, d.pin12, d.pin13, d.pin15) or \
+		PHA in (d.pin10, d.pin11, d.pin12, d.pin13, d.pin15) \
+
+    def update_pps(self, axis):
+	w = self.widgets
+	d = self.data
+	def get(n): return float(w[axis + n].get_text())
+
+	try:
+	    pitch = get("leadscrew")
+	    if d.units == 1: pitch = 1/pitch
+	    pps = (pitch * get("steprev") * get("microstep") *
+		(get("pulleynum") / get("pulleyden")) * get("maxvel"))
+	    acctime = get("maxvel") / get("maxacc")
+	    accdist = acctime * .5 * get("maxvel")
+	    w[axis + "acctime"].set_text("%.4f" % acctime)
+	    w[axis + "accdist"].set_text("%.4f" % accdist)
+	    w[axis + "hz"].set_text("%.1f" % pps)
+	    self.data[axis + "scale"] = (pitch * get("steprev")
+		* get("microstep") * (get("pulleynum") / get("pulleyden")))
+            self.widgets.druid1.set_buttons_sensitive(1,1,1,1)
+	except ValueError: # Some entries not numbers
+	    w[axis + "acctime"].set_text("")
+	    w[axis + "accdist"].set_text("")
+	    w[axis + "hz"].set_text("")
+            self.widgets.druid1.set_buttons_sensitive(1,0,1,1)
+
+    def on_xsteprev_changed(self, *args): self.update_pps('x')
+    def on_ysteprev_changed(self, *args): self.update_pps('y')
+    def on_zsteprev_changed(self, *args): self.update_pps('z')
+    def on_asteprev_changed(self, *args): self.update_pps('a')
+
+    def on_xmicrostep_changed(self, *args): self.update_pps('x')
+    def on_ymicrostep_changed(self, *args): self.update_pps('y')
+    def on_zmicrostep_changed(self, *args): self.update_pps('z')
+    def on_amicrostep_changed(self, *args): self.update_pps('a')
+
+    def on_xpulleynum_changed(self, *args): self.update_pps('x')
+    def on_ypulleynum_changed(self, *args): self.update_pps('y')
+    def on_zpulleynum_changed(self, *args): self.update_pps('z')
+    def on_apulleynum_changed(self, *args): self.update_pps('a')
+
+    def on_xpulleyden_changed(self, *args): self.update_pps('x')
+    def on_ypulleyden_changed(self, *args): self.update_pps('y')
+    def on_zpulleyden_changed(self, *args): self.update_pps('z')
+    def on_apulleyden_changed(self, *args): self.update_pps('a')
+
+    def on_xleadscrew_changed(self, *args): self.update_pps('x')
+    def on_yleadscrew_changed(self, *args): self.update_pps('y')
+    def on_zleadscrew_changed(self, *args): self.update_pps('z')
+    def on_aleadscrew_changed(self, *args): self.update_pps('a')
+
+    def on_xmaxvel_changed(self, *args): self.update_pps('x')
+    def on_ymaxvel_changed(self, *args): self.update_pps('y')
+    def on_zmaxvel_changed(self, *args): self.update_pps('z')
+    def on_amaxvel_changed(self, *args): self.update_pps('a')
+
+    def on_xmaxacc_changed(self, *args): self.update_pps('x')
+    def on_ymaxacc_changed(self, *args): self.update_pps('y')
+    def on_zmaxacc_changed(self, *args): self.update_pps('z')
+    def on_amaxacc_changed(self, *args): self.update_pps('a')
+
+    def on_complete_finish(self, *args):
+	self.data.save()
+	gtk.main_quit()
+
+    def on_calculate_ideal_period(self, *args):
+        steptime = self.widgets.steptime.get_value()
+        stepspace = self.widgets.stepspace.get_value()
+        latency = self.widgets.latency.get_value()
+        minperiod = int(latency + steptime + stepspace + 5000)
+        maxhz = int(1e9 / minperiod)
+
+        self.widgets.baseperiod.set_text("%s ns" % minperiod)
+        self.widgets.maxsteprate.set_text("%s Hz" % maxhz)
+
+    def update_axis_params(self, *args):
+	axis = self.axis_under_test
+	if axis is None: return
+	halrun = self.halrun
+	halrun.write("""
+	    setp stepgen.0.maxaccel %(accel)f
+	    setp stepgen.0.maxvel %(vel)f
+	    setp steptest.0.jog-minus %(jogminus)s
+	    setp steptest.0.jog-plus %(jogplus)s
+	    setp steptest.0.run %(run)s
+	    setp steptest.0.amplitude %(amplitude)s
+	    setp steptest.0.maxvel %(vel)s
+	""" % {
+	    'jogminus': self.jogminus,
+	    'jogplus': self.jogplus,
+	    'run': self.widgets.run.get_active(),
+	    'amplitude': self.widgets.testamplitude.get_value(),
+	    'accel': self.widgets.testacc.get_value(),
+	    'vel': self.widgets.testvel.get_value(),
+	})
+	halrun.flush()
+
+    def on_jogminus_pressed(self, w):
+	self.jogminus = 1
+	self.update_axis_params()
+    def on_jogminus_released(self, w):
+	self.jogminus = 0
+	self.update_axis_params()
+
+    def on_jogplus_pressed(self, w):
+	self.jogplus = 1
+	self.update_axis_params()
+    def on_jogplus_released(self, w):
+	self.jogplus = 0
+	self.update_axis_params()
+
+    def test_axis(self, axis):
+	data = self.data
+	widgets = self.widgets
+
+	vel = float(widgets[axis + "maxvel"].get_text())
+	acc = float(widgets[axis + "maxacc"].get_text())
+
+        scale = data[axis + "scale"]
+        maxvel = 1.5 * vel
+        period = int(1e9 / maxvel / scale)
+
+        steptime = self.widgets.steptime.get_value()
+        stepspace = self.widgets.stepspace.get_value()
+        latency = self.widgets.latency.get_value()
+        minperiod = int(latency + steptime + stepspace + 5000)
+
+        if period < minperiod:
+            period = minperiod
+            maxvel = 1e9 / minperiod / scale
+        print "Using period %d\n", period
+
+	self.halrun = halrun = os.popen("halrun", "w")
+	axnum = "xyza".index(axis)
+	step = XSTEP + 2 * axnum
+	dir = XDIR + 2 * axnum
+	halrun.write("""
+	    loadrt steptest
+	    loadrt stepgen step_type=0
+	    loadrt hal_parport cfg=%(ioaddr)s
+	    loadrt threads period1=%(period)d name1=fast fp1=0 period2=1000000 name2=slow\n
+
+	    addf stepgen.make-pulses fast
+	    addf parport.0.write fast
+	    addf parport.0.reset fast
+
+	    addf stepgen.capture-position slow
+	    addf steptest.0 slow
+	    addf stepgen.update-freq slow
+
+	    net step stepgen.0.step => parport.0.pin-%(steppin)02d-out
+	    net dir stepgen.0.dir => parport.0.pin-%(dirpin)02d-out
+	    net cmd steptest.0.position-cmd => stepgen.0.position-cmd
+	    net fb stepgen.0.position-fb => steptest.0.position-fb
+
+	    setp parport.0.pin-%(steppin)02d-out-reset 1
+	    setp stepgen.0.stepspace 0
+	    setp stepgen.0.steplen 1
+	    setp stepgen.0.dirhold %(dirhold)d
+	    setp stepgen.0.dirsetup %(dirsetup)d
+	    setp stepgen.0.position-scale %(scale)d
+	    setp steptest.0.epsilon %(onestep)f
+	    setp parport.0.pin-%(steppin)02d-out-invert %(stepinvert)d
+
+	    setp stepgen.0.enable 1
+	""" % {
+	    'period': period,
+	    'ioaddr': data.ioaddr,
+	    'steppin': data.find_output(step)[0],
+	    'dirpin': data.find_output(dir)[0],
+	    'stepinvert': data.find_output(step)[1],
+	    'dirinvert': data.find_output(dir)[1],
+	    'dirhold': data.dirhold + data.latency,
+	    'dirsetup': data.dirsetup + data.latency,
+            'onestep': 1. / data[axis + "scale"],
+	    'scale': data[axis + "scale"],
+	})
+	amp, inv = data.find_output(AMP)
+	if amp:
+	    halrun.write("""
+	    setp parport.0.pin-%(enablepin)02d-out 1
+	    setp parport.0.pin-%(enablepin)02d-out-invert %(enableinvert)d"""
+		% {'enablepin': amp, 'enableinvert': inv})
+
+	estop, inv = data.find_output(ESTOP)
+	if estop:
+	    halrun.write("""
+	    setp parport.0.pin-%(estoppin)02d-out 1
+	    setp parport.0.pin-%(estoppin)02d-out-invert %(estopinvert)d"""
+		% {'estoppin': estop, 'estopinvert': inv})
+
+	widgets.dialog1.set_title("%s Axis Test" % axis.upper())
+
+	if axis == "a":
+	    widgets.testvelunit.set_text("deg / s")
+	    widgets.testaccunit.set_text("deg / s²")
+	    widgets.testampunit.set_text("deg")
+	    widgets.testvel.set_increments(1,5)
+	    widgets.testacc.set_increments(1,5)
+	    widgets.testamplitude.set_increments(1,5)
+	    widgets.testvel.set_range(0, maxvel)
+	    widgets.testacc.set_range(0, 360000)
+	    widgets.testamplitude.set_range(0, 1440)
+	    widgets.testvel.set_digits(1)
+	    widgets.testacc.set_digits(1)
+	    widgets.testamplitude.set_digits(1)
+	elif data.units:
+	    widgets.testvelunit.set_text("mm / s")
+	    widgets.testaccunit.set_text("mm / s²")
+	    widgets.testampunit.set_text("mm")
+	    widgets.testvel.set_increments(1,5)
+	    widgets.testacc.set_increments(1,5)
+	    widgets.testamplitude.set_increments(1,5)
+	    widgets.testvel.set_range(0, maxvel)
+	    widgets.testacc.set_range(0, 100000)
+	    widgets.testamplitude.set_range(0, 1000)
+	    widgets.testvel.set_digits(2)
+	    widgets.testacc.set_digits(2)
+	    widgets.testamplitude.set_digits(2)
+	else:
+	    widgets.testvelunit.set_text("in / s")
+	    widgets.testaccunit.set_text("in / s²")
+	    widgets.testampunit.set_text("in")
+	    widgets.testvel.set_increments(.1,5)
+	    widgets.testacc.set_increments(1,5)
+	    widgets.testamplitude.set_increments(.1,5)
+	    widgets.testvel.set_range(0, maxvel)
+	    widgets.testacc.set_range(0, 3600)
+	    widgets.testamplitude.set_range(0, 36)
+	    widgets.testvel.set_digits(1)
+	    widgets.testacc.set_digits(1)
+	    widgets.testamplitude.set_digits(1)
+
+	self.jogplus = self.jogminus = 0
+	self.widgets.run.set_active(0)
+	self.widgets.testacc.set_value(acc)
+	self.widgets.testvel.set_value(vel)
+	self.axis_under_test = axis
+	self.update_axis_params()
+
+	halrun.write("start"); halrun.flush()
+	widgets.dialog1.show_all()
+	result = widgets.dialog1.run()
+	widgets.dialog1.hide()
+	
+	if amp:
+	    halrun.write("""setp parport.0.pin-%02d-out 0""" % amp)
+	if estop:
+	    halrun.write("""setp parport.0.pin-%02d-out 0""" % estop)
+
+	time.sleep(.001)
+
+	halrun.close()	
+
+	if result == gtk.RESPONSE_OK:
+	    widgets[axis+"maxacc"].set_text("%s" % widgets.testacc.get_value())
+	    widgets[axis+"maxvel"].set_text("%s" % widgets.testvel.get_value())
+	self.axis_under_test = None
+
+    def run(self, filename=None):
+	if filename is not None:
+	    self.data.load(filename, self)
+	    self.widgets.druid1.set_page(self.widgets.basicinfo)
+	gtk.main()
+
+def makedirs(d):
+    try:
+	os.makedirs(d)
+    except os.error, detail:
+	if detail.errno != errno.EEXIST: raise
+makedirs(os.path.expanduser("~/emc2/configs"))
+
+opts, args = getopt.getopt(sys.argv[1:], "fr")
+mode = 0
+force = 0
+for k, v in opts:
+    if k == "-r": mode = 1
+    if k == "-f": force = 1
+
+if mode:
+    filename = args[0]
+    data = Data()
+    data.load(filename, None, force)
+    data.save()
+elif args:
+    app = App()
+    app.run(args[0])
+else:
+    app = App()
+    app.run()
diff --git a/src/hal/components/steptest.comp b/src/hal/components/steptest.comp
new file mode 100644
index 000000000..bb6b0fe54
--- /dev/null
+++ b/src/hal/components/steptest.comp
@@ -0,0 +1,47 @@
+component steptest """\
+This component is used by Stepconf to allow testing of acceleration and
+velocity values for an axis.""";
+pin in bit jog-minus "Drive TRUE to jog the axis in its minus direction";
+pin in bit jog-plus "Drive TRUE to jog the axis in its positive direction";
+pin in bit run "Drive TRUE to run the axis near its current position_fb with a trapezoidal velocity profile";
+pin in float maxvel "Maximum velocity";
+pin in float maxaccel "Permitted Acceleration";
+pin in float amplitude "Approximate amplitude of positions to command during 'run'";
+pin out float position-cmd;
+pin in float position-fb;
+pin out bit running;
+pin out float run-target;
+pin out float run-start;
+param rw float epsilon = .001;
+function _;
+;;
+extern double fabs(double);
+
+if(run) {
+    if(!running) {
+        running = 1;
+        run_start = position_fb;
+        position_cmd = run_start + amplitude;
+    }
+
+    if(fabs(position_fb - position_cmd) < epsilon) {
+        if(position_cmd > run_start) {
+            position_cmd = run_start - amplitude;
+        } else {
+            position_cmd = run_start + amplitude;
+        }
+    }
+} else if(running) {
+    position_cmd = run_start;
+    if(fabs(position_fb - run_start) < epsilon) {
+        running = 0;
+    }
+} else {
+    if(jog_minus) {
+        position_cmd = position_fb - maxvel * fperiod;
+    } else if(jog_plus) {
+        position_cmd = position_fb + maxvel * fperiod;
+    } else {
+        position_cmd = position_fb;
+    }
+}
author	Jeff Epler <jepler@unpythonic.net>	2007-09-16 16:50:12 +0000
committer	Jeff Epler <jepler@unpythonic.net>	2007-09-16 16:50:12 +0000
commit	f37e7389f027c0b843dcf88aed59eb3b96e55ce4 (patch)
tree	45511671319a19d1dac566422a64d20bfa6df5df
parent	712b55341e056aecc6a96861c896128a30576c78 (diff)
download	linuxcnc-f37e7389f027c0b843dcf88aed59eb3b96e55ce4.tar.gz linuxcnc-f37e7389f027c0b843dcf88aed59eb3b96e55ce4.zip