loadrt trivkins

loadrt motmod servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

loadrt hostmot2

loadrt hm2_pci config=[HOSTMOT2]CONFIG
loadrt bldc cfg=q
loadrt pid num_chan=1
loadrt lowpass count=1

setp hm2_5i23.0.watchdog.timeout_ns 10000000

addf hm2_5i23.0.read         servo-thread
addf motion-command-handler               servo-thread
addf motion-controller                    servo-thread
addf pid.0.do-pid-calcs                     servo-thread
addf hm2_5i23.0.write        servo-thread
addf hm2_5i23.0.pet_watchdog servo-thread
addf bldc.0 servo-thread
addf lowpass.0 servo-thread

show pin

net enc1 hm2_5i23.0.encoder.04.rawcounts => bldc.0.rawcounts
#net home-index hm2_5i23.0.encoder.04.index-enable <=> bldc.0.index-enable
setp lowpass.0.gain 10
net meas-angle bldc.0.rotor-angle => hm2_5i23.0.8i20.0.7.angle
setp bldc.0.scale 1024
setp bldc.0.poles 6
setp bldc.0.lead-angle 0
setp bldc.0.initvalue 1
#setp bldc.0.encoder-offset 0
setp hm2_5i23.0.8i20.0.7.max_current .5
net posx axis.0.motor-pos-cmd => axis.0.motor-pos-fb
net posy axis.1.motor-pos-cmd => axis.1.motor-pos-fb
net posz axis.2.motor-pos-cmd => pid.0.command axis.2.motor-pos-fb
net posa axis.3.motor-pos-cmd => axis.3.motor-pos-fb

net fb hm2_5i23.0.encoder.04.position => pid.0.feedback
#1024 counts, 12T motor 40T nut, 5tpi
setp hm2_5i23.0.encoder.04.scale 1560.576
net pid-out pid.0.output => bldc.0.value
net bldc-current bldc.0.out => hm2_5i23.0.8i20.0.7.current

setp pid.0.Pgain 3
setp pid.0.Igain 1
setp pid.0.Dgain 0.005
setp pid.0.deadband .005
setp pid.0.maxoutput 1

net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in
net amp-enable axis.0.amp-enable-out hm2_5i23.0.8i20.0.7.amp_enable bldc.0.init
net inited bldc.0.init-done => pid.0.enable

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

net dummy motion.spindle-brake

#enable resolver
setp hm2_5i23.0.gpio.006.is_output 1
setp hm2_5i23.0.gpio.006.out 0