# ################
# Joint [1] 
# ################

# axis enable chain
# position command and feedback

# axis enable chain
	newsig emcmot.01.enable bit 
	sets emcmot.01.enable FALSE
	net emcmot.01.enable => pid.1.enable
	net emcmot.01.enable <= joint.1.amp-enable-out
	net emcmot.01.enable => hm2_[HOSTMOT2](BOARD).0.7i83.0.2.analogena1	

#encoder feedback
	setp hm2_[HOSTMOT2](BOARD).0.encoder.01.counter-mode 0
	setp hm2_[HOSTMOT2](BOARD).0.encoder.01.filter 1
	setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-invert 0
	setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask 0
	setp hm2_[HOSTMOT2](BOARD).0.encoder.01.index-mask-invert 0
	setp hm2_[HOSTMOT2](BOARD).0.encoder.01.scale  [JOINT_1]INPUT_SCALE



# position command and feedback
	net motor.01.pos-fb hm2_[HOSTMOT2](BOARD).0.encoder.01.position => pid.1.feedback
	net motor.01.pos-fb => joint.1.motor-pos-fb #push copy back to Axis GUI

# position command signals
	setp hm2_[HOSTMOT2](BOARD).0.7i83.0.2.analogout1-scalemax [JOINT_1]OUTPUT_SCALE
	setp hm2_[HOSTMOT2](BOARD).0.7i83.0.2.analogout1-maxlim [JOINT_1]OUTPUT_MAX_LIMIT
	setp hm2_[HOSTMOT2](BOARD).0.7i83.0.2.analogout1-minlim [JOINT_1]OUTPUT_MIN_LIMIT
	net emcmot.01.pos-cmd joint.1.motor-pos-cmd => pid.1.command
	net motor.01.command  pid.1.output  =>  hm2_[HOSTMOT2](BOARD).0.7i83.0.2.analogout1
# set PID loop gains from inifile
	setp pid.1.Pgain [JOINT_1]P
	setp pid.1.Igain [JOINT_1]I
	setp pid.1.Dgain [JOINT_1]D
	setp pid.1.bias [JOINT_1]BIAS
	setp pid.1.FF0 [JOINT_1]FF0
	setp pid.1.FF1 [JOINT_1]FF1
	setp pid.1.FF2 [JOINT_1]FF2
	setp pid.1.deadband [JOINT_1]DEADBAND
	setp pid.1.maxoutput [JOINT_1]MAX_OUTPUT