# ################
# Z [2] Axis
# ################

# axis enable chain
newsig emcmot.02.enable bit
sets emcmot.02.enable FALSE
net emcmot.02.enable => pid.2.enable
net emcmot.02.enable <= axis.2.amp-enable-out

# encoder feedback
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.counter-mode 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.filter 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-invert 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask 0
setp hm2_[HOSTMOT2](BOARD).0.encoder.02.index-mask-invert 0

setp  hm2_[HOSTMOT2](BOARD).0.encoder.02.scale  [AXIS_2]INPUT_SCALE
net motor.02.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.02.position => pid.2.feedback
net motor.02.pos-fb => axis.2.motor-pos-fb #push copy back to Axis GUI

# set PID loop gains from inifile
setp pid.2.Pgain [AXIS_2]P
setp pid.2.Igain [AXIS_2]I
setp pid.2.Dgain [AXIS_2]D
setp pid.2.bias [AXIS_2]BIAS
setp pid.2.FF0 [AXIS_2]FF0
setp pid.2.FF1 [AXIS_2]FF1
setp pid.2.FF2 [AXIS_2]FF2
setp pid.2.deadband [AXIS_2]DEADBAND
setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT

# position command signals

#setp hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout2-scalemax [AXIS_2]OUTPUT_SCALE

net motor.02.command  pid.2.output  =>  hm2_[HOSTMOT2](BOARD).0.7i77.0.1.analogout2
net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command
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