#*******************
#  AXIS Y
#*******************

# Step Gen signals/setup
setp   hm2_7i43.0.stepgen.01.dirsetup        [AXIS_1]DIRSETUP
setp   hm2_7i43.0.stepgen.01.dirhold         [AXIS_1]DIRHOLD
setp   hm2_7i43.0.stepgen.01.steplen         [AXIS_1]STEPLEN
setp   hm2_7i43.0.stepgen.01.stepspace       [AXIS_1]STEPSPACE
setp   hm2_7i43.0.stepgen.01.position-scale  [AXIS_1]SCALE
setp   hm2_7i43.0.stepgen.01.maxaccel        [AXIS_1]MMAX_ACCELERATION
setp   hm2_7i43.0.stepgen.01.maxvel          [AXIS_1]MMAX_VELOCITY
setp   hm2_7i43.0.stepgen.01.step_type        0
setp   hm2_7i43.0.stepgen.01.control-type     1

# ---PID signals/setup---
setp pid.1.Pgain [AXIS_1]P
setp pid.1.Igain [AXIS_1]I
setp pid.1.Dgain [AXIS_1]D
setp pid.1.bias [AXIS_1]BIAS
setp pid.1.FF0 [AXIS_1]FF0
setp pid.1.FF1 [AXIS_1]FF1
setp pid.1.FF2 [AXIS_1]FF2
setp pid.1.deadband [AXIS_1]DEADBAND
setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT

# ---Encoder feedback signals/setup---
setp    hm2_7i43.0.encoder.01.counter-mode 0
setp    hm2_7i43.0.encoder.01.filter 1
setp    hm2_7i43.0.encoder.01.index-invert 0
setp    hm2_7i43.0.encoder.01.index-mask 0
setp    hm2_7i43.0.encoder.01.index-mask-invert 0
setp    hm2_7i43.0.encoder.01.scale  [AXIS_1]INPUT_SCALE

net Y.pos-fb axis.1.motor-pos-fb <= hm2_7i43.0.encoder.01.position => pid.1.feedback
net Y.pos-cmd axis.1.motor-pos-cmd => pid.1.command
net Y.enable axis.1.amp-enable-out => hm2_7i43.0.stepgen.01.enable => pid.1.enable
net Y.pos-out pid.1.output => hm2_7i43.0.stepgen.01.velocity-cmd
net y-index-enable    axis.1.index-enable  <=>  hm2_7i43.0.encoder.01.index-enable

#*******************
#  AXIS Y2
#*******************

# Step Gen signals/setup
setp   hm2_7i43.0.stepgen.03.dirsetup        [AXIS_3]DIRSETUP
setp   hm2_7i43.0.stepgen.03.dirhold         [AXIS_3]DIRHOLD
setp   hm2_7i43.0.stepgen.03.steplen         [AXIS_3]STEPLEN
setp   hm2_7i43.0.stepgen.03.stepspace       [AXIS_3]STEPSPACE
setp   hm2_7i43.0.stepgen.03.position-scale  [AXIS_3]SCALE
setp   hm2_7i43.0.stepgen.03.maxaccel        [AXIS_3]MMAX_ACCELERATION
setp   hm2_7i43.0.stepgen.03.maxvel          [AXIS_3]MMAX_VELOCITY
setp   hm2_7i43.0.stepgen.03.step_type        0
setp   hm2_7i43.0.stepgen.03.control-type     1

# ---PID signals/setup---
setp pid.3.Pgain [AXIS_3]P
setp pid.3.Igain [AXIS_3]I
setp pid.3.Dgain [AXIS_3]D
setp pid.3.bias [AXIS_3]BIAS
setp pid.3.FF0 [AXIS_3]FF0
setp pid.3.FF1 [AXIS_3]FF1
setp pid.3.FF2 [AXIS_3]FF2
setp pid.3.deadband [AXIS_3]DEADBAND
setp pid.3.maxoutput [AXIS_3]MAX_OUTPUT


# ---Encoder feedback signals/setup---
setp    hm2_7i43.0.encoder.03.counter-mode 0
setp    hm2_7i43.0.encoder.03.filter 1
setp    hm2_7i43.0.encoder.03.index-invert 0
setp    hm2_7i43.0.encoder.03.index-mask 0
setp    hm2_7i43.0.encoder.03.index-mask-invert 0
setp    hm2_7i43.0.encoder.03.scale  [AXIS_3]INPUT_SCALE

#Mod to try to slave Y(1) and Y2:
net A.pos-fb axis.3.motor-pos-fb <= hm2_7i43.0.encoder.03.position => pid.3.feedback
net Y.pos-cmd axis.1.motor-pos-cmd => pid.3.command
net A.enable axis.3.amp-enable-out => hm2_7i43.0.stepgen.03.enable => pid.3.enable
net A.pos-out pid.3.output => hm2_7i43.0.stepgen.03.velocity-cmd
net a-index-enable    axis.3.index-enable  <=>  hm2_7i43.0.encoder.03.index-enable