4th Axis settings

*****    HAL SECTION

#========================================================================================

#	A AXIS

setp 	pid.a.Pgain 	[AXIS_3]P
setp 	pid.a.Igain 	[AXIS_3]I
setp   	pid.a.Dgain     [AXIS_3]D
setp   	pid.a.bias      [AXIS_3]BIAS
setp   	pid.a.FF0       [AXIS_3]FF0
setp   	pid.a.FF1       [AXIS_3]FF1
setp   	pid.a.FF2       [AXIS_3]FF2
setp   	pid.a.deadband  [AXIS_3]DEADBAND
setp   	pid.a.maxoutput [AXIS_3]MAX_OUTPUT

	net a-index-enable  	<=>  pid.a.index-enable
	net a-enable       	=> pid.a.enable
	net a-output       	=> pid.a.output
	net a-pos-cmd      	=> pid.a.command
	net a-pos-fb       	=> pid.a.feedback

#	PWM Generator signals/setup

setp   	hm2_7i80.0.pwmgen.03.output-type 2
setp   	hm2_7i80.0.pwmgen.03.scale [AXIS_3]OUTPUT_SCALE

	net a-output            => hm2_7i80.0.pwmgen.03.value
	net a-enable      	=> hm2_7i80.0.pwmgen.03.enable axis.3.amp-enable-out
	net a-pos-cmd    	<= axis.3.motor-pos-cmd

#	Encoder feedback signals/setup

setp   	hm2_7i80.0.encoder.01.scale [AXIS_3]ENCODER_SCALE

	net rotary-revs         	<= hm2_7i80.0.encoder.01.position
	net rotary-vel-fb  	     	<= hm2_7i80.0.encoder.01.velocity
	net a-index-enable     		<=> hm2_7i80.0.encoder.01.index-enable
	net rotary-revs          	=> axis.3.motor-pos-fb



*******   FROM INI


#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
WRAPPED_ROTARY = 1
#LOCKING_INDEXER = 1
FERROR = 10000
#MIN_FERROR = 10
BACKLASH = 0
MAX_VELOCITY = 5
MAX_ACCELERATION = 3
P = 0
I = 0
D = 0
FF0 = 0
FF1 = 1
FF2 = 0
BIAS = 0
DEADBAND = 0
ENCODER_SCALE = -5000
OUTPUT_SCALE = 1
MAX_OUTPUT = 3
MIN_LIMIT = -360.000
MAX_LIMIT = 360.000

#HOME = 0.000
HOME_OFFSET = -5
HOME_SEARCH_VEL = .5
HOME_LATCH_VEL = .2
#HOME_FINAL_VEL = .1
HOME_USE_INDEX = no
HOME_IGNORE_LIMITS = yes
HOME_IS_SHARED = no
HOME_SEQUENCE = 2
VOLATILE_HOME = 0