#*******************
#  AXIS A
#*******************

setp   pid.a.Pgain     [AXIS_3]P
setp   pid.a.Igain     [AXIS_3]I
setp   pid.a.Dgain     [AXIS_3]D
setp   pid.a.bias      [AXIS_3]BIAS
setp   pid.a.FF0       [AXIS_3]FF0
setp   pid.a.FF1       [AXIS_3]FF1
setp   pid.a.FF2       [AXIS_3]FF2
setp   pid.a.deadband  [AXIS_3]DEADBAND
setp   pid.a.maxoutput [AXIS_3]MAX_OUTPUT
setp   pid.a.error-previous-target true

net a-index-enable  <=> pid.a.index-enable
net a-enable        =>  pid.a.enable
net a-pos-cmd       =>  pid.a.command
net a-vel-cmd       =>  pid.a.command-deriv
net a-pos-fb        =>  pid.a.feedback
net a-output        =>  pid.a.output

# ---PWM Generator signals/setup---

setp   hm2_7i92.0.7i77.0.1.analogout3-scalemax  [AXIS_3]OUTPUT_SCALE
setp   hm2_7i92.0.7i77.0.1.analogout3-minlim    [AXIS_3]OUTPUT_MIN_LIMIT
setp   hm2_7i92.0.7i77.0.1.analogout3-maxlim    [AXIS_3]OUTPUT_MAX_LIMIT

net a-output                             => hm2_7i92.0.7i77.0.1.analogout3
net a-pos-cmd    axis.3.motor-pos-cmd
net a-enable     axis.3.amp-enable-out

# ---Encoder feedback signals/setup---

setp    hm2_7i92.0.encoder.06.counter-mode 0
setp    hm2_7i92.0.encoder.06.filter 1
setp    hm2_7i92.0.encoder.06.index-invert 0
setp    hm2_7i92.0.encoder.06.index-mask 0
setp    hm2_7i92.0.encoder.06.index-mask-invert 0
setp    hm2_7i92.0.encoder.06.scale  [AXIS_3]ENCODER_SCALE

net a-pos-fb               <=  hm2_7i92.0.encoder.06.position
net a-vel-fb               <=  hm2_7i92.0.encoder.06.velocity
net a-pos-fb               =>  axis.3.motor-pos-fb
net a-index-enable    axis.3.index-enable  <=>  hm2_7i92.0.encoder.06.index-enable
net a-pos-rawcounts        <=  hm2_7i92.0.encoder.06.rawcounts

# ---setup home / limit switch signals---

net home-a     =>  axis.3.home-sw-in
net a-neg-limit     =>  axis.3.neg-lim-sw-in
net a-pos-limit     =>  axis.3.pos-lim-sw-in

net A-axis-unlock <= axis.3.unlock => classicladder.0.in-29

net E14.1/58.7-A-AxisUnclamped     <=  hm2_7i92.0.7i77.0.3.input-21 =>  axis.3.is-unlocked

Then INI File:
#********************
# Axis A
#********************
[AXIS_3]
TYPE = ANGULAR
HOME = 0.0
FERROR = 0.5
MIN_FERROR = 1
MAX_VELOCITY = 3.80
MAX_ACCELERATION = 120.0
P = 10.0
I = 0.0
D = 0.0
FF0 = 0.0
FF1 = 0.0
FF2 = 0.0
BIAS = 0.0 
#0.6
DEADBAND = 0.0005
MAX_OUTPUT = 0.0
ENCODER_SCALE = -1000
OUTPUT_SCALE = 10.0
OUTPUT_MIN_LIMIT = -10.0
OUTPUT_MAX_LIMIT = 10.0
BACKLASH = 0.0
MIN_LIMIT = -190.0
MAX_LIMIT = 20
HOME_OFFSET = 0.000000
HOME_SEARCH_VEL = 3.333333
HOME_LATCH_VEL = -1.000000
HOME_FINAL_VEL = 3.666667
#HOME_USE_INDEX = YES
HOME_SEQUENCE = 2
LOCKING_INDEXER = 1