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  InvariantConstants	  off
  WideVectorLines	  off
  ShowLineWidths	  off
  ShowPortDataTypes	  off
  StartTime		  "0.0"
  StopTime		  "500"
  SolverMode		  "SingleTasking"
  Solver		  "ode1"
  RelTol		  "1e-3"
  AbsTol		  "1e-3"
  Refine		  "1"
  MaxStep		  "10"
  InitialStep		  "auto"
  FixedStep		  ".001"
  MaxOrder		  5
  OutputOption		  "RefineOutputTimes"
  OutputTimes		  "[]"
  LoadExternalInput	  off
  ExternalInput		  "[t, u]"
  SaveTime		  off
  TimeSaveName		  "tout"
  SaveState		  off
  StateSaveName		  "xout"
  SaveOutput		  off
  OutputSaveName	  "yout"
  LoadInitialState	  off
  InitialState		  "xInitial"
  SaveFinalState	  off
  FinalStateName	  "xFinal"
  SaveFormat		  "Matrix"
  LimitMaxRows		  off
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  AlgebraicLoopMsg	  "warning"
  MinStepSizeMsg	  "warning"
  UnconnectedInputMsg	  "warning"
  UnconnectedOutputMsg	  "warning"
  UnconnectedLineMsg	  "warning"
  InheritedTsInSrcMsg	  "warning"
  IntegerOverflowMsg	  "warning"
  UnnecessaryDatatypeConvMsg "none"
  Int32ToFloatConvMsg	  "warning"
  SignalLabelMismatchMsg  "none"
  ConsistencyChecking	  "off"
  ZeroCross		  on
  SimulationMode	  "external"
  BlockDataTips		  on
  BlockParametersDataTip  on
  BlockAttributesDataTip  off
  BlockPortWidthsDataTip  off
  BlockDescriptionStringDataTip	off
  BlockMaskParametersDataTip off
  ToolBar		  on
  StatusBar		  off
  BrowserShowLibraryLinks off
  BrowserLookUnderMasks	  off
  OptimizeBlockIOStorage  off
  BufferReuse		  on
  BooleanDataType	  off
  RTWSystemTargetFile	  "wincon.tlc"
  RTWOptions		  " -aAllSignals=1 -aAllParameters=1 -aRollThreshold=5"
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  RTWInlineParameters	  off
  RTWRetainRTWFile	  off
  RTWTemplateMakefile	  "wc95_msvc6.tmf"
  RTWMakeCommand	  "make_wc"
  RTWGenerateCodeOnly	  off
  ExtModeMexFile	  "wc_comm"
  ExtModeBatchMode	  off
  ExtModeTrigType	  "manual"
  ExtModeTrigMode	  "oneshot"
  ExtModeTrigPort	  "1"
  ExtModeTrigElement	  "any"
  ExtModeTrigDuration	  1000
  ExtModeTrigHoldOff	  0
  ExtModeTrigDelay	  0
  ExtModeTrigDirection	  "rising"
  ExtModeTrigLevel	  0
  ExtModeArchiveMode	  "off"
  ExtModeAutoIncOneShot	  off
  ExtModeIncDirWhenArm	  off
  ExtModeAddSuffixToVar	  off
  ExtModeWriteAllDataToWs off
  ExtModeArmWhenConnect	  off
  Created		  "Wed Mar 08 09:43:14 2000"
  UpdateHistory		  "UpdateHistoryNever"
  ModifiedByFormat	  "%<Auto>"
  ModifiedDateFormat	  "%<Auto>"
  LastModifiedDate	  "Wed Apr 11 14:47:00 2001"
  ModelVersionFormat	  "1.%<AutoIncrement:72>"
  ConfigurationManager	  "none"
  BlockDefaults {
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    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    NamePlacement	    "normal"
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
    ShowName		    on
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  AnnotationDefaults {
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    VerticalAlignment	    "middle"
    ForegroundColor	    "black"
    BackgroundColor	    "white"
    DropShadow		    off
    FontName		    "Helvetica"
    FontSize		    10
    FontWeight		    "normal"
    FontAngle		    "normal"
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  LineDefaults {
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    FontSize		    9
    FontWeight		    "normal"
    FontAngle		    "normal"
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  System {
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    Location		    [99, 289, 963, 699]
    Open		    on
    ModelBrowserVisibility  off
    ModelBrowserWidth	    200
    ScreenColor		    "white"
    PaperOrientation	    "landscape"
    PaperPositionMode	    "auto"
    PaperType		    "usletter"
    PaperUnits		    "inches"
    ZoomFactor		    "100"
    AutoZoom		    on
    ReportName		    "simulink-default.rpt"
    Block {
      BlockType		      Reference
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      Ports		      [0, 1, 0, 0, 0]
      Position		      [85, 355, 130, 415]
      SourceBlock	      "simulink3/Sources/Band-Limited\nWhite Noise"
      SourceType	      "Continuous White Noise."
      Cov		      "[0.1]"
      Ts		      ".002"
      seed		      "[23341]"
    }
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      BlockType		      Reference
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      ForegroundColor	      "blue"
      BackgroundColor	      "yellow"
      SourceBlock	      "shaker_l/Enable Shaker amp"
      SourceType	      "SubSystem"
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      FontSize		      14
      Floating		      off
      Location		      [188, 365, 512, 604]
      Open		      off
      NumInputPorts	      "1"
      TickLabels	      "on"
      ZoomMode		      "on"
      List {
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      Grid		      "on"
      TimeRange		      "auto"
      YMin		      "-5"
      YMax		      "5"
      SaveToWorkspace	      off
      SaveName		      "ScopeData"
      DataFormat	      "Matrix"
      LimitMaxRows	      on
      MaxRows		      "5000"
      Decimation	      "1"
      SampleInput	      off
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      Grid		      "on"
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      BackgroundColor	      "red"
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      ShowPortLabels	      on
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	  DataType		  "auto"
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	  Floating		  off
	  Location		  [188, 365, 512, 604]
	  Open			  off
	  NumInputPorts		  "1"
	  TickLabels		  "on"
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	  YMax			  "5"
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	  DataFormat		  "Matrix"
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	Block {
	  BlockType		  Saturate
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	Block {
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	  BlockType		  TransferFcn
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	  BlockType		  SubSystem
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	  ShowPortLabels	  on
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	      Location		      [188, 365, 512, 604]
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	      IconShape		      "rectangular"
	      Inputs		      "++"
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	    Block {
	      BlockType		      SubSystem
	      Name		      "Analog Output"
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	      Position		      [140, 144, 245, 216]
	      ShowPortLabels	      on
	      MaskType		      "Analog Output Module"
	      MaskDescription	      "Device Driver for the Analog Output sec"
"tion of the Quanser Consulting MQ3 Series I/O Boards"
	      MaskHelp		      "The Analog Output Module for the Quanse"
"r Consulting <em>MQ3</em> series of I/O cards provides a mechanism for settin"
"g the voltage levels of any analog output on an installed <em>MQ3</em> I/O ca"
"rd. The block can take a scalar or vector input.\n<hr>\n\n<h3>Base Address:</"
"h3>\n\nThe base address of the I/O card. Preceed with <em>0x</em> to enter a "
" hexadecimal address. For example, <b>0x320</b> indicates the hexadecimal add"
"ress 320h.\n<p>\n\n<h3>Channel(s) to Use:</h3>\n\nThe channel numbers corresp"
"onding to each input. For example, if there are 3 inputs, then the entry <b>["
"4,2,0]</b> assigns input 1 to D/A output 4, input 2 to D/A output 2 and input"
" 3 to D/A output 0. The channel numbers may range from 0 to 7, since there ar"
"e 8 D/A channels on the MQ3 I/O boards.\n<p>\n\n<h3>Initial Output(s):</h3>\n"
"\nInitial value for each output channel specified in the Channel(s) to Use pa"
"rameter. If Channel(s) to Use is [4,2,0] as above, then an entry of <b>[0,2.5"
",0]</b> for the Initial Output(s) will set D/A channels 4 and 0 to 0V, and D/"
"A channel 2 to 2.5V when the simulation is initiated. A scalar value applies "
"to all channels.\n<p>\n\n<h3>Final Output(s):</h3>\n\nFinal value for each ou"
"tput channel specified in the Channel(s) to Use parameter. If Channel(s) to U"
"se is [4,2,0] as above, then an entry of <b>[0,2.5,0]</b> for the Final Outpu"
"t(s) will set D/A channels 4 and 0 to 0V, and D/A channel 2 to 2.5V when the "
"simulation is terminated. A scalar value applies to all channels.\n<p>\n\n<h3"
">Sample Time (sec):</h3>\n\nA sample time must be specified for all discrete "
"blocks. The default value extracts the sample time from the RTW Options dialo"
"g, under Solver/Fixed step size. A numeric value rather than 'auto' should be"
" specified in this dialog field for this default to make sense.\n<p>         "
"                "
	      MaskPromptString	      "Base I/O Address:|Channel(s) to Use:|In"
"itial Output(s):|Final Output(s):|Sample Time (sec):"
	      MaskStyleString	      "edit,edit,edit,edit,edit"
	      MaskTunableValueString  "on,on,on,on,on"
	      MaskCallbackString      "||||"
	      MaskEnableString	      "on,on,on,on,on"
	      MaskVisibilityString    "on,on,on,on,on"
	      MaskVariables	      "baseAddr=&1;channels=@2;initialOutputs="
"@3;finalOutputs=@4;sampleTime=@5;"
	      MaskInitialization      "if isunix,\n  devicedir = '/rtw/c/dos/d"
"evices';\nelse,\n  devicedir = '\\rtw\\c\\dos\\devices';\nend;\nif isempty(ge"
"tenv('TMW_V5_SANDBOX')),\n   addpath([matlabroot devicedir]);\nelse,\n   addp"
"ath([getenv('TMW_V5_SANDBOX') devicedir]);\nend"
	      MaskDisplay	      "disp('Quanser Consulting\\nMQ3 DAC')"
	      MaskIconFrame	      on
	      MaskIconOpaque	      on
	      MaskIconRotate	      "none"
	      MaskIconUnits	      "autoscale"
	      MaskValueString	      "0x320|0|0|0|str2num(get_param(bdroot, '"
"FixedStep'))"
	      System {
		Name			"Analog Output"
		Location		[79, 419, 289, 501]
		Open			off
		ModelBrowserVisibility	off
		ModelBrowserWidth	200
		ScreenColor		"white"
		PaperOrientation	"landscape"
		PaperPositionMode	"auto"
		PaperType		"usletter"
		PaperUnits		"inches"
		ZoomFactor		"100"
		AutoZoom		on
		Block {
		  BlockType		  Inport
		  Name			  "In"
		  Position		  [25, 30, 45, 50]
		  Port			  "1"
		  PortWidth		  "-1"
		  SampleTime		  "-1"
		  DataType		  "auto"
		  SignalType		  "auto"
		  Interpolate		  on
		}
		Block {
		  BlockType		  "S-Function"
		  Name			  "S-function"
		  Ports			  [1, 1, 0, 0, 0]
		  Position		  [75, 25, 135, 55]
		  FunctionName		  "multiqda"
		  Parameters		  "baseAddr, channels, initialOutputs,"
" finalOutputs, sampleTime"
		  PortCounts		  "[]"
		  SFunctionModules	  "''"
		}
		Block {
		  BlockType		  Terminator
		  Name			  "Terminator"
		  Position		  [165, 30, 185, 50]
		}
		Line {
		  SrcBlock		  "In"
		  SrcPort		  1
		  DstBlock		  "S-function"
		  DstPort		  1
		}
		Line {
		  SrcBlock		  "S-function"
		  SrcPort		  1
		  DstBlock		  "Terminator"
		  DstPort		  1
		}
	      }
	    }
	    Block {
	      BlockType		      Scope
	      Name		      "Deg"
	      Ports		      [1, 0, 0, 0, 0]
	      Position		      [330, 120, 360, 150]
	      Floating		      off
	      Location		      [188, 365, 512, 604]
	      Open		      off
	      NumInputPorts	      "1"
	      TickLabels	      "on"
	      ZoomMode		      "on"
	      List {
		ListType		AxesTitles
		axes1			"%<SignalLabel>"
	      }
	      Grid		      "on"
	      TimeRange		      "auto"
	      YMin		      "-5"
	      YMax		      "5"
	      SaveToWorkspace	      off
	      SaveName		      "ScopeData"
	      DataFormat	      "Matrix"
	      LimitMaxRows	      on
	      MaxRows		      "5000"
	      Decimation	      "1"
	      SampleInput	      off
	      SampleTime	      "0"
	    }
	    Block {
	      BlockType		      SubSystem
	      Name		      "Encoder Input"
	      Ports		      [0, 1, 0, 0, 0]
	      Position		      [80, 29, 185, 101]
	      ShowPortLabels	      on
	      MaskType		      "Encoder Input Module"
	      MaskDescription	      "Device Driver for the Encoder Input sec"
"tion of the Quanser Consulting MQ3 Series I/O Boards"
	      MaskHelp		      "The Encoder Input Module for the Quanse"
"r Consulting <em>MQ3</em> series of I/O cards provides a mechanism for readin"
"g the encoder counts of any encoder input on an installed <em>MQ3</em> I/O ca"
"rd. The block can provide a scalar or vector output.\n<p>\n<hr>\n\n<h3>Base A"
"ddress:</h3>\n\nThe base address of the I/O card. Preceed with <em>0x</em> to"
" enter a  hexadecimal address. For example, <b>0x320</b> indicates the hexade"
"cimal address 320h.\n<p>\n\n<h3>Channel(s) to Use:</h3>\n\nThe channel number"
"s corresponding to each output. For example, if there are 3 outputs, then the"
" entry <b>[4,2,0]</b> assigns output 1 to encoder input 4, output 2 to encode"
"r input 2 and output 3 to encoder input 0. The channel numbers may range from"
" 0 to 7, since there are up to 8  channels on the MQ3 I/O boards.\n<p>\n\n<h3"
">Sample Time (sec):</h3>\n\nA sample time must be specified for all discrete "
"blocks. The default value extracts the sample time from the RTW Options dialo"
"g, under Solver/Fixed step size. A numeric value rather than 'auto' should be"
" specified in this dialog field for this default to make sense.\n<p>         "
"                "
	      MaskPromptString	      "Base I/O Address:|Channel(s) to Use:|Sa"
"mple Time (sec):"
	      MaskStyleString	      "edit,edit,edit"
	      MaskTunableValueString  "on,on,on"
	      MaskCallbackString      "||"
	      MaskEnableString	      "on,on,on"
	      MaskVisibilityString    "on,on,on"
	      MaskVariables	      "baseAddr=&1;channels=@2;sampleTime=@3;"
	      MaskInitialization      "if isunix,\n  devicedir = '/rtw/c/dos/d"
"evices';\nelse,\n  devicedir = '\\rtw\\c\\dos\\devices';\nend;\nif isempty(ge"
"tenv('TMW_V5_SANDBOX')),\n   addpath([matlabroot devicedir]);\nelse,\n   addp"
"ath([getenv('TMW_V5_SANDBOX') devicedir]);\nend"
	      MaskDisplay	      "disp('Quanser Consulting\\nMQ3 ENC')"
	      MaskIconFrame	      on
	      MaskIconOpaque	      on
	      MaskIconRotate	      "none"
	      MaskIconUnits	      "autoscale"
	      MaskValueString	      "0x320|0|str2num(get_param(bdroot, 'Fixe"
"dStep'))"
	      System {
		Name			"Encoder Input"
		Location		[79, 401, 289, 483]
		Open			off
		ModelBrowserVisibility	off
		ModelBrowserWidth	200
		ScreenColor		"white"
		PaperOrientation	"landscape"
		PaperPositionMode	"auto"
		PaperType		"usletter"
		PaperUnits		"inches"
		ZoomFactor		"100"
		AutoZoom		on
		Block {
		  BlockType		  "S-Function"
		  Name			  "S-function"
		  Ports			  [0, 1, 0, 0, 0]
		  Position		  [75, 25, 135, 55]
		  FunctionName		  "mq3en"
		  Parameters		  "baseAddr, channels, sampleTime"
		  PortCounts		  "[]"
		  SFunctionModules	  "''"
		}
		Block {
		  BlockType		  Outport
		  Name			  "Out"
		  Position		  [165, 30, 185, 50]
		  Port			  "1"
		  OutputWhenDisabled	  "held"
		  InitialOutput		  "0"
		}
		Line {
		  SrcBlock		  "S-function"
		  SrcPort		  1
		  DstBlock		  "Out"
		  DstPort		  1
		}
	      }
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Inches"
	      Position		      [425, 50, 455, 80]
	      Gain		      "-.5"
	      SaturateOnIntegerOverflow	on
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Travel"
	      Position		      [210, 49, 265, 81]
	      Gain		      "-360/4000"
	      SaturateOnIntegerOverflow	on
	    }
	    Block {
	      BlockType		      Gain
	      Name		      "Turns"
	      Position		      [350, 50, 380, 80]
	      Gain		      "1/360"
	      SaturateOnIntegerOverflow	on
	    }
	    Block {
	      BlockType		      Outport
	      Name		      "Inch"
	      Position		      [485, 58, 515, 72]
	      Port		      "1"
	      OutputWhenDisabled      "held"
	      InitialOutput	      "0"
	    }
	    Line {
	      SrcBlock		      "Encoder Input"
	      SrcPort		      1
	      DstBlock		      "Travel"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Travel"
	      SrcPort		      1
	      Points		      [10, 0]
	      Branch {
		Points			[0, 70]
		DstBlock		"Deg"
		DstPort			1
	      }
	      Branch {
		DstBlock		"Turns"
		DstPort			1
	      }
	    }
	    Line {
	      SrcBlock		      "Current"
	      SrcPort		      1
	      DstBlock		      "1/Curr Gain"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "1/Curr Gain"
	      SrcPort		      1
	      DstBlock		      "Analog Output"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Turns"
	      SrcPort		      1
	      DstBlock		      "Inches"
	      DstPort		      1
	    }
	    Line {
	      SrcBlock		      "Inches"
	      SrcPort		      1
	      DstBlock		      "Inch"
	      DstPort		      1
	    }
	  }
	}
	Block {
	  BlockType		  Outport
	  Name			  "Inches"
	  Position		  [570, 268, 600, 282]
	  Port			  "1"
	  OutputWhenDisabled	  "held"
	  InitialOutput		  "0"
	}
	Line {
	  SrcBlock		  "Command\nInches"
	  SrcPort		  1
	  DstBlock		  "Low pass"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Shaker"
	  SrcPort		  1
	  Points		  [-10, 0]
	  Branch {
	    Points		    [130, 0]
	    DstBlock		    "PD Controller"
	    DstPort		    2
	  }
	  Branch {
	    Points		    [55, 0; 0, 60]
	    DstBlock		    "Inches"
	    DstPort		    1
	  }
	}
	Line {
	  SrcBlock		  "Limiter"
	  SrcPort		  1
	  Points		  [10, 0; 0, 80]
	  DstBlock		  "PD Controller"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Low pass"
	  SrcPort		  1
	  DstBlock		  "Limiter"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "PD Controller"
	  SrcPort		  1
	  DstBlock		  "Limiter1"
	  DstPort		  1
	}
	Line {
	  SrcBlock		  "Limiter1"
	  SrcPort		  1
	  Points		  [0, 10; 65, 0]
	  Branch {
	    DstBlock		    "Current Command"
	    DstPort		    1
	  }
	  Branch {
	    Points		    [0, -145; -545, 0]
	    DstBlock		    "Shaker"
	    DstPort		    1
	  }
	}
      }
    }
    Block {
      BlockType		      Reference
      Name		      "Slider\nGain"
      Ports		      [1, 1, 0, 0, 0]
      Position		      [285, 370, 315, 400]
      SourceBlock	      "simulink3/Math/Slider\nGain"
      SourceType	      "Slider Gain"
      low		      "0"
      gain		      "0.0032"
      high		      "0.1"
    }
    Block {
      BlockType		      StateSpace
      Name		      "State-Space"
      Position		      [180, 368, 240, 402]
      A			      "Af"
      B			      "Bf"
      C			      "Cf"
      D			      "Df"
      X0		      "0"
    }
    Block {
      BlockType		      Terminator
      Name		      "Terminator"
      Position		      [185, 520, 205, 540]
    }
    Block {
      BlockType		      Reference
      Name		      "Time-Base"
      Ports		      [0, 1, 0, 0, 0]
      Position		      [40, 494, 145, 566]
      SourceBlock	      "winlib/Quanser Consulting\nMultiQ Series/Time-B"
"ase"
      SourceType	      "Timer Module"
      baseAddr		      "0x320"
      irqLevel		      "5"
      clockSource	      "1"
    }
    Line {
      SrcBlock		      "Shaker Table"
      SrcPort		      1
      Points		      [20, 0]
      Branch {
	Points			[0, -95]
	DstBlock		"Inch A"
	DstPort			1
      }
      Branch {
	Points			[0, 130]
	DstBlock		"STOP RUN"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Band-Limited\nWhite Noise"
      SrcPort		      1
      DstBlock		      "State-Space"
      DstPort		      1
    }
    Line {
      SrcBlock		      "State-Space"
      SrcPort		      1
      DstBlock		      "Slider\nGain"
      DstPort		      1
    }
    Line {
      SrcBlock		      "Slider\nGain"
      SrcPort		      1
      Points		      [75, 0]
      Branch {
	Points			[0, -50]
	DstBlock		"Inch D"
	DstPort			1
      }
      Branch {
	DstBlock		"Shaker Table"
	DstPort			1
      }
    }
    Line {
      SrcBlock		      "Time-Base"
      SrcPort		      1
      DstBlock		      "Terminator"
      DstPort		      1
    }
    Annotation {
      Position		      [541, 604]
      Text		      "Always start with table in Central Position"
      FontName		      "Arial"
      FontSize		      20
    }
  }
}