[JOINT_0]
# 
# Step timing is 2 us steplen + 2 us stepspace
# That gives 4 us step period = 250 KHz step freq
#
# Bah, even software stepping can handle that, hm2 doesnt buy you much with
# such slow steppers.
#
# Scale is 5000 steps/rev * 0.1 revs/mm = 500 steps/mm
#
# This gives a maxvel of 12.5/1 = 12.5 ips
#
TYPE =              ANGULAR
MAX_VELOCITY =       95
MAX_ACCELERATION =   190
# Set Stepgen max 20% higher than the axis
STEPGEN_MAX_VEL =    100
STEPGEN_MAX_ACC =    200
BACKLASH =           0.000
# scale is 5000 steps/rev * 0.1 revs/mm
INPUT_SCALE =           -4000
OUTPUT_SCALE =    	10
MAX_OUTPUT =            10

MIN_LIMIT =             -180.0
MAX_LIMIT =             180.0
FERROR =     10
MIN_FERROR = 10
HOME =                  0.000
HOME_OFFSET =           0.0
#HOME_SEARCH_VEL =       0.10
#HOME_LATCH_VEL =        -0.01
#HOME_USE_INDEX =        YES
#HOME_IGNORE_LIMITS =    YES
HOME_SEQUENCE =         1
# these are in nanoseconds
DIRSETUP   =              3000
DIRHOLD    =              3000
STEPLEN    =              2000
STEPSPACE  =              2000
#pid tuning param
DEADBAND =              0.000015
P =                     1
I =                     0
D =                     0
FF0 =                   0
FF1 =                   0
FF2 =			0
BIAS =                  0


# ################
# Joint [0] 
# ################

# axis enable chain
	newsig emcmot.00.enable bit 
	sets emcmot.00.enable FALSE
	net emcmot.00.enable => pid.0.enable
	net emcmot.00.enable <= joint.0.amp-enable-out
	net emcmot.00.enable => hm2_[HOSTMOT2](BOARD).0.7i83.0.6.analogena0	

#encoder feedback
	setp hm2_[HOSTMOT2](BOARD).1.encoder.00.counter-mode 0
	setp hm2_[HOSTMOT2](BOARD).1.encoder.00.filter 1
	setp hm2_[HOSTMOT2](BOARD).1.encoder.00.index-invert 0
	setp hm2_[HOSTMOT2](BOARD).1.encoder.00.index-mask 0
	setp hm2_[HOSTMOT2](BOARD).1.encoder.00.index-mask-invert 0
	setp hm2_[HOSTMOT2](BOARD).1.encoder.00.scale  [JOINT_0]INPUT_SCALE

#summary position
	net j0-abs-encoder sum2.0.in0  hm2_5i25.1.uart.0.abs-pos
	net j0-inc-encoder sum2.0.in1  hm2_5i25.1.encoder.00.position

# position command and feedback
	net motor.00.pos-fb sum2.0.out => pid.0.feedback
	net motor.00.pos-fb => joint.0.motor-pos-fb #push copy back to Axis GUI

# position command signals
	setp hm2_[HOSTMOT2](BOARD).0.7i83.0.6.analogout0-scalemax [JOINT_0]OUTPUT_SCALE
	net emcmot.00.pos-cmd joint.0.motor-pos-cmd => pid.0.command
	net motor.00.command  pid.0.output  =>  hm2_[HOSTMOT2](BOARD).0.7i83.0.6.analogout0
# set PID loop gains from inifile
	setp pid.0.Pgain [JOINT_0]P
	setp pid.0.Igain [JOINT_0]I
	setp pid.0.Dgain [JOINT_0]D
	setp pid.0.bias [JOINT_0]BIAS
	setp pid.0.FF0 [JOINT_0]FF0
	setp pid.0.FF1 [JOINT_0]FF1
	setp pid.0.FF2 [JOINT_0]FF2
	setp pid.0.deadband [JOINT_0]DEADBAND
	setp pid.0.maxoutput [JOINT_0]MAX_OUTPUT