#*******************
#  AXIS Z
#*******************

setp   pid.z.Pgain     [AXIS_2]P
setp   pid.z.Igain     [AXIS_2]I
setp   pid.z.Dgain     [AXIS_2]D
setp   pid.z.bias      [AXIS_2]BIAS
setp   pid.z.FF0       [AXIS_2]FF0
setp   pid.z.FF1       [AXIS_2]FF1
setp   pid.z.FF2       [AXIS_2]FF2
setp   pid.z.deadband  [AXIS_2]DEADBAND
setp   pid.z.maxoutput [AXIS_2]MAX_OUTPUT
setp   pid.z.error-previous-target true

net z-index-enable  <=> pid.z.index-enable
net z-enable        =>  pid.z.enable

#net z-pos-cmd       =>  pid.z.command
net z-pos-cmd        => offset.0.in
net out-z offset.0.out      =>  pid.z.command
net z-vel-cmd       =>  pid.z.command-deriv

#net z-pos-fb        =>  pid.z.feedback
net z-pos-fb         => offset.0.fb-in
net out-z-fb offset.0.fb-out  =>  pid.z.feedback

net z-output        =>  pid.z.output
net z-vel-fb        =>  pid.z.feedback-deriv

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

setp   hm2_7i80.0.pwmgen.03.output-type 1
setp   hm2_7i80.0.pwmgen.03.scale  [AXIS_2]OUTPUT_SCALE

net z-output                             => hm2_7i80.0.pwmgen.03.value
net z-pos-cmd    axis.2.motor-pos-cmd
net z-enable     axis.2.amp-enable-out  => hm2_7i80.0.pwmgen.03.enable

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

setp    hm2_7i80.0.encoder.03.counter-mode 0
setp    hm2_7i80.0.encoder.03.filter 1
setp    hm2_7i80.0.encoder.03.index-invert 0
setp    hm2_7i80.0.encoder.03.index-mask 0
setp    hm2_7i80.0.encoder.03.index-mask-invert 0
setp    hm2_7i80.0.encoder.03.scale  [AXIS_2]ENCODER_SCALE

net z-pos-fb               <=  hm2_7i80.0.encoder.03.position
net z-vel-fb               <=  hm2_7i80.0.encoder.03.velocity
net z-pos-fb               =>  axis.2.motor-pos-fb
net z-index-enable axis.2.index-enable  <=>  hm2_7i80.0.encoder.03.index-enable
net z-pos-rawcounts        <=  hm2_7i80.0.encoder.03.rawcounts

#-----encoder regolazione z
net trim-z-a encoder.0.phase-A  <=  hm2_7i80.0.gpio.038.in_not
net trim-z-b encoder.0.phase-B  <=  hm2_7i80.0.gpio.040.in_not
net trimz      offset.0.offset  <= encoder.0.position

setp encoder.0.position-scale 1900
setp encoder.0.x4-mode false