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loadrt hm2_pci config="num_encoders=2 num_pwmgens=1"
addf hm2_5i24.0.read servo-thread
addf hm2_5i24.0.write servo-thread
addf mpg servo-thread
setp hm2_5i24.0.pwmgen.pwm_frequency 24000
setp hm2_5i24.0.pwmgen.pdm_frequency 6000000
#We have a 6i24 in emulation mode so all pin will be hm2_5i24.0.
####################################################################
#Spindle handling
####################################################################
######
#net spindle-vel-cmd-rps spindle.0.speed-out-rps
#net spindle-vel-cmd-rps-abs spindle.0.speed-out-rps-abs
#net spindle-vel-cmd-rpm spindle.0.speed-out
#net spindle-vel-cmd-rpm-abs spindle.0.speed-out-abs
#net spindle-enable spindle.0.on
#net spindle-cw spindle.0.forward
#net spindle-ccw spindle.0.reverse
#net spindle-brake spindle.0.brake
#net spindle-revs spindle.0.revs
#net spindle-at-speed spindle.0.at-speed
#net spindle-vel-fb-rps spindle.0.speed-in
#net spindle-index-enable spindle.0.index-enable
######
#setp hm2_5i24.0.pwmgen.00.output-type 2
#setp hm2_5i24.0.pwmgen.00.scale 6000
#net spindle-vel-cmd-rpm hm2_5i24.0.pwmgen.00.value
#net spindle-enable hm2_5i24.0.pwmgen.00.enable
setp hm2_5i24.0.encoder.00.scale 4096
net spindle-revs hm2_5i24.0.encoder.00.position
net spindle-vel-fb-rps hm2_5i24.0.encoder.00.velocity
net spindle-vel-fb-rpm abs.0.in hm2_5i24.0.encoder.00.velocity-rpm
net spindle-vel-fb-rpm-abs abs.0.out
net spindle-index-enable hm2_5i24.0.encoder.00.index-enable
net spindle-vel-fb-rps atspeed.in1
net spindle-vel-cmd-rps atspeed.in2
net spindle-at-speed atspeed.out
setp atspeed.scale 1.05
####################################################################
#Jog Handling
####################################################################
net XSelect joint.0.jog-enable
net ZSelect joint.2.jog-enable
net ModeX1 mpg.sel2
net ModeX10 mpg.sel1
net ModeJ mpg.sel0
setp mpg.in1 0.00025
setp mpg.in2 0.0025
setp mpg.in4 0.025
net JogScale mpg.out
setp hm2_5i24.0.encoder.01.scale 4
net JogCount hm2_5i24.0.encoder.01.count
net JogScale joint.0.jog-scale joint.2.jog-scale
net JogCount joint.0.jog-counts joint.2.jog-counts