ch0->InputMode=ENCODER_MODE;
	ch0->OutputMode=DAC_SERVO_MODE;
	ch0->Vel=38000;
	ch0->Accel=74000;
	ch0->Jerk=3.33333e+006;
	ch0->P=15;
	ch0->I=0.001;
	ch0->D=0;
	ch0->FFAccel=0.001;
	ch0->FFVel=0.05;
	ch0->MaxI=2000;
	ch0->MaxErr=200;
	ch0->MaxOutput=2024;
	ch0->DeadBandGain=0.001;
	ch0->DeadBandRange=1;
	ch0->InputChan0=0;
	ch0->InputChan1=0;
	ch0->OutputChan0=0;
	ch0->OutputChan1=0;
	ch0->MasterAxis=-1;
	ch0->LimitSwitchOptions=0x8c8c002f;
	ch0->InputGain0=1;
	ch0->InputGain1=1;
	ch0->InputOffset0=0;
	ch0->InputOffset1=0;
	ch0->OutputGain=1;
	ch0->OutputOffset=0;
	ch0->SlaveGain=1;
	ch0->BacklashMode=BACKLASH_LINEAR;
	ch0->BacklashAmount=50;
	ch0->BacklashRate=600;
	ch0->invDistPerCycle=1;
	ch0->Lead=0;
	ch0->MaxFollowingError=200;
	ch0->StepperAmplitude=20;

	ch0->iir[0].B0=3.93343;
	ch0->iir[0].B1=-7.73427;
	ch0->iir[0].B2=3.80196;
	ch0->iir[0].A1=1.93315;
	ch0->iir[0].A2=-0.934266;

	ch0->iir[1].B0=1;
	ch0->iir[1].B1=0;
	ch0->iir[1].B2=0;
	ch0->iir[1].A1=0;
	ch0->iir[1].A2=0;

	ch0->iir[2].B0=0.038507;
	ch0->iir[2].B1=0.077013;
	ch0->iir[2].B2=0.038507;
	ch0->iir[2].A1=1.37713;
	ch0->iir[2].A2=-0.53116;