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- # axis enable chain
- newsig emcmot.02.enable bit
- sets emcmot.02.enable FALSE
- net emcmot.02.enable => pid.2.enable
- net emcmot.02.enable => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.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 1
- 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.pwmgen.02.output-type 1 #pwm on pin1, dir on pin2
- setp hm2_[HOSTMOT2](BOARD).0.pwmgen.02.scale [AXIS_2]OUTPUT_SCALE
- net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command
- net motor.02.command pid.2.output => hm2_[HOSTMOT2](BOARD).0.pwmgen.02.value
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