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#Load Hostmot support
loadrt hostmot2
loadrt hm2_pci config="num_encoders=2 num_pwmgens=0"
loadrt mux8 names=mpg
loadrt abs count=1
addf hm2_5i24.0.read servo-thread
addf hm2_5i24.0.write servo-thread
addf mpg servo-thread
addf abs.0 servo-thread
#We have a 6i24 in emulation mode so all pin will be hm2_5i24.0.
####################################################################
#Spindle handling
####################################################################
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