# Erstellt von stepconf am Tue Jun  2 10:11:42 2009
# nderungen an dieser Datei werden beim nchsten
# Aufruf von stepconf berschrieben.
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
loadrt hal-apci3501
loadrt hal-apci1710
loadrt pid num_chan=1
loadrt ddt count=2

# define the order of execution for RT code
# base-thread

# servo-thread
addf addi.1710.ssi-read		 			servo-thread
addf addi.1710.encoder-read				servo-thread

addf motion-command-handler    				servo-thread
addf motion-controller         				servo-thread

addf ddt.0						servo-thread
addf pid.0.do-pid-calcs        				servo-thread
addf addi.3501.dac-write   				servo-thread
addf addi.1710.digital-write				servo-thread


# Parameters
setp addi.3501.dac-00-gain 0.4
setp addi.3501.dac-00-offset 0

# Signals
net Xpos-fb addi.1710.ssi-00-position => pid.0.feedback axis.0.motor-pos-fb
net Xpos-cmd axis.0.motor-pos-cmd => pid.0.command ddt.0.in
net Xvel-cmd pid.0.output => addi.3501.dac-00-value
#net Xvel ddt.0.out => ddt.1.in
#net Xacc ddt.1.out


# machine ON
net Xenable axis.0.amp-enable-out => pid.0.enable addi.1710.out-00

net estop-loop iocontrol.0.user-enable-out iocontrol.0.emc-enable-in

#Messung Trigger -> Messwertbernahme 

#net messwert motion.in-position => addi.1710.out-00

# the values below come from the ini
setp pid.0.Pgain [AXIS_0]P
setp pid.0.Igain [AXIS_0]I
setp pid.0.Dgain [AXIS_0]D
setp pid.0.bias [AXIS_0]BIAS
setp pid.0.FF0 [AXIS_0]FF0
setp pid.0.FF1 [AXIS_0]FF1
setp pid.0.FF2 [AXIS_0]FF2
# deadband should be just over 1 count
setp pid.0.deadband [AXIS_0]DEADBAND