Help needed to get my 7i76E + 7i85S + 7i73 on my mill going.

# Dateiname = 8AMP-Test-Spindel-vismach.hal
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#--- 8AMP-Test-Spindel-vismach.hal  ---Stand 2017-10-22 ---#
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# HAL config file for vismach simulation of vertical milling machine
# This file deomstrates closed-loop spindle control in both position and 
# Velocity modes. 

# see http://wiki.linuxcnc.org/cgi-bin/wiki.pl?SpindleOrient for a diagram

# Note that the connections of the signals to "hardware" are all in the 
# sim_vmc.hal file rather than here

# First load 2x pid components. These would normally have to be loaded at
# the same time as the Axis PID components

# Initialize the pwmgen ------ nachgetragen
loadrt pwmgen output_type=0
addf pwmgen.update servo-thread
addf pwmgen.make-pulses servo-thread
setp pwmgen.0.pwm-freq 100.0
#setp pwmgen.0.min-dc 0.18        
setp pwmgen.0.scale 400
#setp pwmgen.0.dither-pwm true

loadrt pid num_chan=2 
addf pid.0.do-pid-calcs servo-thread # Velocity
addf pid.1.do-pid-calcs servo-thread # Position

loadrt orient
addf orient.0 servo-thread

#loadrt mux2 -- This has already been loaded in the sim_vmc.hal
loadrt mux2
addf mux2.0 servo-thread # chooses which pid output goes to the spindle speed control

#Use this to detect that the spindle is oriented
#in the 2.8 release there will be a pin for this as an output of the orient comp
#and the edge-detector is not needed

#loadrt near count=1  (loaded in sim_vmc.hal)
loadrt near count=1
loadrt edge
addf near.0 		servo-thread
addf edge.0         servo-thread
setp edge.0.both 0
setp edge.0.in-edge 0
setp edge.0.out-width-ns 10000000

#----------nachgetragen
# connect the HAL encoder inputs to the real encoder.
net spindle-phase-a encoder.1.phase-A 	<= hm2_5i25.0.encoder.00.input-a
net spindle-phase-b encoder.1.phase-B 	<= hm2_5i25.0.encoder.00.input-b
net spindle-index encoder.1.phase-Z 	<= hm2_5i25.0.encoder.00.input-index


net spindle-pos pid.1.feedback orient.0.position

net spindle-vel 	pid.0.feedback hm2_5i25.0.encoder.00.velocity
net spindle-vel-cmd 	motion.spindle-speed-out pid.0.command
net spindle-vel-pid 	pid.0.output mux2.0.in0

net spindle-pos 	pid.1.feedback orient.0.position near.0.in1 hm2_5i25.0.encoder.00.position
net spindle-pos-cmd 	orient.0.command pid.1.command near.0.in2
net spindle-angle 	motion.spindle-orient-angle orient.0.angle
net spindle-pos-pid 	pid.1.output mux2.0.in1
setp near.0.difference  0.0005
net spindle-in-pos-raw near.0.out edge.0.in #not needed v2.8+, use orient.0.is-oriented
net spindle-in-pos 	edge.0.out motion.spindle-is-oriented

# this switches modes
net orient-mode 	motion.spindle-orient orient.0.enable pid.1.enable mux2.0.sel
net velocity-mode	motion.spindle-on pid.0.enable pwmgen.0.enable 
net orient-dir		motion.spindle-orient-mode orient.0.mode

# this is simple for the simulated spindle.
net spindle-cmd 	mux2.0.out

#for a real spindle run by a VFD
loadrt abs count=1
addf abs.0 servo-thread
net spindle-cmd 	mux2.0.out abs.0.in
net spindle-cmd-abs 	abs.0.out pwmgen.0.value
net spindle-pwm 	pwmgen.0.pwm hm2_5i25.0.7i76.0.0.spinout
net spindle-fwd 	abs.0.is-positive hm2_5i25.0.7i76.0.0.spindir

# Tune the PID from the INI values
setp pid.0.Pgain [SPINDLE_9]PGAIN_V
setp pid.0.Igain [SPINDLE_9]IGAIN_V
setp pid.0.Dgain [SPINDLE_9]DGAIN_V
setp pid.0.FF0	 [SPINDLE_9]FF0_V
setp pid.0.FF1   [SPINDLE_9]FF1_V
setp pid.1.Pgain [SPINDLE_9]PGAIN_P
setp pid.1.Igain [SPINDLE_9]IGAIN_P
setp pid.1.Dgain [SPINDLE_9]DGAIN_P
setp pid.1.FF0	 [SPINDLE_9]FF0_P
setp pid.1.FF1   [SPINDLE_9]FF1_P
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