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

setp   pid.a.Pgain     [JOINT_3]P
setp   pid.a.Igain     [JOINT_3]I
setp   pid.a.Dgain     [JOINT_3]D
setp   pid.a.bias      [JOINT_3]BIAS
setp   pid.a.FF0       [JOINT_3]FF0
setp   pid.a.FF1       [JOINT_3]FF1
setp   pid.a.FF2       [JOINT_3]FF2
setp   pid.a.deadband  [JOINT_3]DEADBAND
setp   pid.a.maxoutput [JOINT_3]MAX_OUTPUT
setp   pid.a.error-previous-target true
#setp   pid.a.maxerror .0005

net a-index-enable  <=> pid.a.index-enable
net a-enable        =>  pid.a.enable
net a-pos-cmd       =>  pid.a.command  offset.0.offset
.....
.....





#*******************
#  AXIS B
#*******************

setp   pid.b.Pgain     [JOINT_4]P
setp   pid.b.Igain     [JOINT_4]I
setp   pid.b.Dgain     [JOINT_4]D
setp   pid.b.bias      [JOINT_4]BIAS
setp   pid.b.FF0       [JOINT_4]FF0
setp   pid.b.FF1       [JOINT_4]FF1
setp   pid.b.FF2       [JOINT_4]FF2
setp   pid.b.deadband  [JOINT_4]DEADBAND
setp   pid.b.maxoutput [JOINT_4]MAX_OUTPUT
setp   pid.b.error-previous-target true
#setp   pid.b.maxerror .0005

net b-index-enable  <=> pid.b.index-enable
net b-enable        =>  pid.b.enable
net b-pos-cmd       =>  offset.0.in
net b-pos-cmd-off   offset.0.out   => pid.b.command
net b-vel-cmd       =>  pid.b.command-deriv
#net b-pos-fb        =>  pid.b.feedback
net b-output        =>  pid.b.output

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

setp   hm2_5i25.0.7i77.0.1.analogout4-scalemax  [JOINT_4]OUTPUT_SCALE
setp   hm2_5i25.0.7i77.0.1.analogout4-minlim    [JOINT_4]OUTPUT_MIN_LIMIT
setp   hm2_5i25.0.7i77.0.1.analogout4-maxlim    [JOINT_4]OUTPUT_MAX_LIMIT

net b-output                             => hm2_5i25.0.7i77.0.1.analogout4
#net b-sum        joint.4.motor-pos-cmd   
net b-pos-cmd    joint.4.motor-pos-cmd
net b-enable     joint.4.amp-enable-out

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

setp    hm2_5i25.0.encoder.04.counter-mode 0
setp    hm2_5i25.0.encoder.04.filter 1
setp    hm2_5i25.0.encoder.04.index-invert 0
setp    hm2_5i25.0.encoder.04.index-mask 0
setp    hm2_5i25.0.encoder.04.index-mask-invert 0
setp    hm2_5i25.0.encoder.04.scale  [JOINT_4]ENCODER_SCALE


net b-enc-offset offset.0.fb-in   pid.b.feedback       <=  hm2_5i25.0.encoder.04.position
net b-pos-fb          <=  offset.0.fb-out  #hm2_5i25.0.encoder.04.position 
net b-vel-fb          <=  hm2_5i25.0.encoder.04.velocity
net b-pos-fb          =>  joint.4.motor-pos-fb
net b-index-enable    joint.4.index-enable  <=>  hm2_5i25.0.encoder.04.index-enable
net b-pos-rawcounts        <=  hm2_5i25.0.encoder.04.rawcounts

....
....