0	POS_WG					deg
0	POS_FS					deg
0	POS_CS					deg
0	POS_TOOTH_BASE				deg
0	POS_ERR					deg
0	POS_TOOTH_TIP				deg
0	POS_WG_SURFACE				deg
0	POS_TOOTH_SURFACE			deg
0	POS_WG_RELATIVE				deg
0	POS_K					deg
0	POS_N_WG				deg
0	POS_N_FS				deg
0	POS_N_CS				deg
0	VEL_WG					deg/sec
0	VEL_FS					deg/sec
0	VEL_CS					deg/sec
0	VEL_TOOTH_BASE				deg/sec
0	VEL_ERR					deg/sec
0	VEL_TOOTH_TIP				deg/sec
0	VEL_WG_SURFACE				deg/sec
0	VEL_TOOTH_SURFACE			deg/sec
0	VEL_WG_RELATIVE				deg/sec
0	VEL_K					deg/sec
0	VEL_N_WG				deg/sec
0	VEL_N_FS				deg/sec
0	VEL_N_CS				deg/sec
0	VEL_HD_FRICTION				deg/sec
0	TORQUE_WG				N*m
0	TORQUE_FS				N*m
0	TORQUE_CS				N*m
0	TORQUE_INPUT_NORMAL			N*m
0	TORQUE_CYCLIC				N*m
0	TORQUE_WG_NORMAL			N*m
0	TORQUE_WG_FRICTION			N*m
0	TORQUE_ERR_IN				N*m
0	TORQUE_K				N*m
0	TORQUE_TOOTH_TIP_NORMAL			N*m
0	TORQUE_TOOTH_TIP_FRICTION		N*m
0	TORQUE_TOOTH_SURFACE_NORMAL		N*m
0	TORQUE_TOOTH_SURFACE_TOTAL_LOSS		N*m
0	TORQUE_TOOTH_SURFACE_COULOMB		N*m
0	TORQUE_TOOTH_SURFACE_FRICTION		N*m
0	TORQUE_CYCLIC_FRICTION			N*m
0	TORQUE_OUTPUT_NORMAL			N*m
0	TORQUE_N_WG				N*m
0	TORQUE_N_FS				N*m
0	TORQUE_N_CS				N*m
0	TORQUE_HD_FRICTION			N*m
0	POS_IN					deg
0	POS_OUT					deg
1	VEL_IN					deg/sec
1	VEL_OUT					deg/sec
0	TORQUE_MOTOR				N*m
0	TORQUE_B_IN				N*m
0	TORQUE_B_OUT				N*m
0	INPUT_POSITION_SENSOR			deg
0	OUTPUT_POSITION_SENSOR			deg
0	INPUT_VELOCITY_SENSOR			deg/sec
0	OUTPUT_VELOCITY_SENSOR			deg/sec
0	CURRENT_SENSOR				amps
1	TORQUE_SENSOR				N*m
0	POSITION_ERROR				deg
0	K1					N*m/deg
0	K2					N*m/deg^3
0	ERFN					deg
0	DERF					deg/sec
0	TOTAL_ENERGY				N*m
0	TOTAL_KINETIC_ENERGY			N*m
0	TOTAL_POTENTIAL_ENERGY			N*m
0	TOTAL_INPUT_ENERGY			N*m
0	TOTAL_LOST_ENERGY			N*m
0	MOTOR_ENERGY				N*m
0	KINETIC_ENERGY_IN			N*m
0	KINETIC_ENERGY_OUT			N*m
0	SPRING_ENERGY				N*m
0	CYCLIC_ENERGY				N*m
0	INPUT_DAMPING_ENERGY			N*m
0	WG_FRICTION_ENERGY			N*m
0	TOOTH_TIP_FRICTION_ENERGY		N*m
0	TOOTH_SURFACE_TOTAL_LOSS_ENERGY		N*m
0	TOOTH_SURFACE_COULOMB_ENERGY		N*m
0	TOOTH_SURFACE_FRICTION_ENERGY		N*m
0	HD_FRICTION_ENERGY			N*m
0	OUTPUT_DAMPING_ENERGY			N*m