loadrt trivkins
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt probe_parport
loadrt hostmot2
loadrt hm2_pci config="firmware=hm2/5i20/SVST2_4_7I47.BIT num_encoders=0 num_pwmgens=0 num_stepgens=4"
setp hm2_5i20.0.watchdog.timeout_ns 10000000

addf hm2_5i20.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf hm2_5i20.0.write         servo-thread
addf hm2_5i20.0.pet_watchdog  servo-thread

loadrt and2
addf and2.0 servo-thread
#*******************
#  AXIS X
#*******************
# Step Gen signals/setup

setp   hm2_5i20.0.stepgen.00.dirsetup        [AXIS_0]DIRSETUP
setp   hm2_5i20.0.stepgen.00.dirhold         [AXIS_0]DIRHOLD
setp   hm2_5i20.0.stepgen.00.steplen         [AXIS_0]STEPLEN
setp   hm2_5i20.0.stepgen.00.stepspace       [AXIS_0]STEPSPACE
setp   hm2_5i20.0.stepgen.00.position-scale  [AXIS_0]SCALE
setp   hm2_5i20.0.stepgen.00.maxaccel         0
setp   hm2_5i20.0.stepgen.00.maxvel           0
setp   hm2_5i20.0.stepgen.00.step_type        0

net xpos-fb     axis.0.motor-pos-fb   <=  hm2_5i20.0.stepgen.00.position-fb
net xpos-cmd    axis.0.motor-pos-cmd  =>  hm2_5i20.0.stepgen.00.position-cmd
net xenable     axis.0.amp-enable-out =>  hm2_5i20.0.stepgen.00.enable

# ---setup home switch signals---
net home-x axis.0.home-sw-in <=  hm2_5i20.0.gpio.036.in

#*******************
#  AXIS Z
#*******************
# Step Gen signals/setup

setp   hm2_5i20.0.stepgen.02.dirsetup        [AXIS_2]DIRSETUP
setp   hm2_5i20.0.stepgen.02.dirhold         [AXIS_2]DIRHOLD
setp   hm2_5i20.0.stepgen.02.steplen         [AXIS_2]STEPLEN
setp   hm2_5i20.0.stepgen.02.stepspace       [AXIS_2]STEPSPACE
setp   hm2_5i20.0.stepgen.02.position-scale  [AXIS_2]SCALE
setp   hm2_5i20.0.stepgen.02.maxaccel         0
setp   hm2_5i20.0.stepgen.02.maxvel           0
setp   hm2_5i20.0.stepgen.02.step_type        0

net zpos-fb     axis.2.motor-pos-fb   <=  hm2_5i20.0.stepgen.02.position-fb
net zpos-cmd    axis.2.motor-pos-cmd  =>  hm2_5i20.0.stepgen.02.position-cmd
net zenable     axis.2.amp-enable-out =>  hm2_5i20.0.stepgen.02.enable

# ---setup home switch signals---

net home-z axis.2.home-sw-in <=  hm2_5i20.0.gpio.032.in

#*******************
#  AXIS A
#*******************
# Step Gen signals/setup

setp   hm2_5i20.0.stepgen.01.dirsetup        [AXIS_3]DIRSETUP
setp   hm2_5i20.0.stepgen.01.dirhold         [AXIS_3]DIRHOLD
setp   hm2_5i20.0.stepgen.01.steplen         [AXIS_3]STEPLEN
setp   hm2_5i20.0.stepgen.01.stepspace       [AXIS_3]STEPSPACE
setp   hm2_5i20.0.stepgen.01.position-scale  [AXIS_3]SCALE
setp   hm2_5i20.0.stepgen.01.maxaccel         0
setp   hm2_5i20.0.stepgen.01.maxvel           0
setp   hm2_5i20.0.stepgen.01.step_type        0

net apos-fb     axis.3.motor-pos-fb   <=  hm2_5i20.0.stepgen.01.position-fb
net apos-cmd    axis.3.motor-pos-cmd  =>  hm2_5i20.0.stepgen.01.position-cmd
net aenable     axis.3.amp-enable-out =>  hm2_5i20.0.stepgen.01.enable

# ---setup home  switch signals---
net home-a axis.3.home-sw-in <=  hm2_5i20.0.gpio.034.in

#******************************
# connect miscellaneous signals
#******************************

#  ---digital in / out signals---
# External Program Run Button
net program-run-btn halui.mode.auto <= hm2_5i20.0.gpio.038.in_not
net program-run-btn and2.0.in0
net program-is-auto and2.0.in1 <= halui.mode.is-auto
net remote-prg-run halui.program.run <= and2.0.out

# External Home All Button
# once homing is verified un-comment
net home-machine halui.home-all <= hm2_5i20.0.gpio.030.in_not

# External Move to Load Position Button
# once load location is established un-comment
net load-machine halui.mdi-command-00 <=  hm2_5i20.0.gpio.028.in_not

#  ---estop signals---

net estop-out     <=  iocontrol.0.user-enable-out
net estop-out     =>  iocontrol.0.emc-enable-in

#  ---toolchange signals for custom tool changer---
net tool-number             <=  iocontrol.0.tool-prep-number
net tool-change-request     <=  iocontrol.0.tool-change
net tool-change-confirmed   =>  iocontrol.0.tool-changed
net tool-prepare-request    <=  iocontrol.0.tool-prepare
net tool-prepare-confirmed  =>  iocontrol.0.tool-prepared