loadrt carousel pockets=15 dir=2 encoding=gray num_sense=4
loadrt conv_float_s32	

addf conv-float-s32.0	      servo-thread 
addf carousel.0               servo-thread

setp carousel.0.fwd-dc 0.025
setp carousel.0.rev-dc 0.025

net car-enable    motion.digital-out-10     hm2_7i76e.0.7i84.0.1.output-13      
net car-enable    carousel.0.enable         

net car-pos-req   motion.analog-out-00      conv-float-s32.0.in                                           
net car-pos-s32   conv-float-s32.0.out      carousel.0.pocket-number
#net car_rev      carousel.0.motor-rev      hm2_7i76e.0.7i84.0.1.output-14

net car-ready     carousel.0.ready          motion.digital-in-04
net car-vel       carousel.0.motor-vel


#assign to turret rotate motor relay
net car-fwd      carousel.0.motor-fwd =>    hm2_7i76e.0.7i84.0.1.output-14


#digital inputs assign BCD switches
net bit0         carousel.0.sense-0        hm2_7i76e.0.7i84.0.1.input-19-not
net bit1         carousel.0.sense-1        hm2_7i76e.0.7i84.0.1.input-20-not
net bit2         carousel.0.sense-2        hm2_7i76e.0.7i84.0.1.input-21-not
net bit3         carousel.0.sense-3        hm2_7i76e.0.7i84.0.1.input-23-not

#Strobe input
net car_rad      carousel.0.strobe   <=    hm2_7i76e.0.7i84.0.1.input-22-not 

net car-in      motion.digital-out-12       hm2_7i76e.0.7i84.0.1.output-12
net car-in-in   motion.digital-in-05        hm2_7i76e.0.7i84.0.1.input-17
net car-in-out  motion.digital-in-06        hm2_7i76e.0.7i84.0.1.input-16


net T-loop      iocontrol.0.tool-prepare        => iocontrol.0.tool-prepared
#net tool-change-finished      carousel.0.ready => iocontrol.0.tool-changed

#net tool-change-loop   iocontrol.0.tool-change    iocontrol.0.tool-changed
#net start-tool-change  iocontrol.0.tool-change => carousel.0.enable