# axis enable chain
newsig emcmot.00.enable bit
sets emcmot.00.enable FALSE

net emcmot.00.enable <= axis.0.amp-enable-out
net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.stepgen.00.enable pid.0.enable


# position command and feedback
net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command
net emcmot.00.vel-cmd axis.0.joint-vel-cmd => pid.0.command-deriv
net motor.00.pos-fb <= hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-fb axis.0.motor-pos-fb pid.0.feedback
net motor.00.command pid.0.output hm2_[HOSTMOT2](BOARD).0.stepgen.00.velocity-cmd
setp pid.0.error-previous-target true



# timing parameters
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirsetup        [AXIS_0]DIRSETUP
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.dirhold         [AXIS_0]DIRHOLD

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.steplen         [AXIS_0]STEPLEN
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.stepspace       [AXIS_0]STEPSPACE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.position-scale  [AXIS_0]SCALE

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxvel          [AXIS_0]STEPGEN_MAX_VEL
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.maxaccel        [AXIS_0]STEPGEN_MAX_ACC

setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.step_type       0
setp hm2_[HOSTMOT2](BOARD).0.stepgen.00.control-type    1

# set PID loop gains from inifile
setp pid.0.Pgain [AXIS_0]P
setp pid.0.Igain [AXIS_0]I
setp pid.0.Dgain [AXIS_0]D
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
setp pid.0.deadband [AXIS_0]DEADBAND
setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT
setp pid.0.maxerror [AXIS_0]MAX_ERROR