loadrt hostmot2
loadrt hm2_eth board_ip=192.168.1.121 config=" num_encoders=5 num_pwmgens=0 num_stepgens=5 sserial_port_0=0000xx"

loadrt pid names=pid.x,pid.y,pid.z,pid.a,pid.b

setp   hm2_7i80.0.stepgen.00.dirsetup        	[AXIS_0]DIRSETUP
setp   hm2_7i80.0.stepgen.00.dirhold         	[AXIS_0]DIRHOLD
setp   hm2_7i80.0.stepgen.00.steplen         	[AXIS_0]STEPLEN
setp   hm2_7i80.0.stepgen.00.stepspace       	[AXIS_0]STEPSPACE
setp   hm2_7i80.0.stepgen.00.position-scale  	[AXIS_0]STEP_SCALE
setp   hm2_7i80.0.stepgen.00.step_type     	0
setp   hm2_7i80.0.stepgen.00.control-type   	1
setp   hm2_7i80.0.stepgen.00.maxaccel       	[AXIS_0]STEPGEN_MAXACCEL
setp   hm2_7i80.0.stepgen.00.maxvel          	[AXIS_0]STEPGEN_MAXVEL


# Encoder setup
setp hm2_7i80.0.encoder.00.counter-mode 0
setp hm2_7i80.0.encoder.00.index-invert 0
setp hm2_7i80.0.encoder.00.scale [AXIS_0]ENCODER_SCALE


# ---closedloop stepper signals---

# PID component setup:

setp   pid.x.Pgain     [AXIS_0]P
setp   pid.x.Igain     [AXIS_0]I
setp   pid.x.Dgain     [AXIS_0]D
setp   pid.x.bias      [AXIS_0]BIAS
setp   pid.x.FF0       [AXIS_0]FF0
setp   pid.x.FF1       [AXIS_0]FF1
setp   pid.x.FF2       [AXIS_0]FF2
setp   pid.x.deadband  [AXIS_0]DEADBAND
setp   pid.x.maxoutput [AXIS_0]MAX_OUTPUT
setp   pid.x.error-previous-target true