    # Создан stepconf в Wed Dec 11 01:41:27 2002
    # Все изменения в этом файле будут перезаписаны
    # при следующем запуске stepconf

    loadrt trivkins
    loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
    loadrt probe_parport
    loadrt hal_parport cfg="0x378 out  "
    #setp parport.0.reset-time 1000
    loadrt encoder num_chan=1
    loadrt stepgen step_type=0,0,0 ctrl_type=v,v,v
    loadrt pid num_chan=3

    addf parport.0.read base-thread
    addf encoder.update-counters base-thread
    addf stepgen.make-pulses base-thread
    addf parport.0.write base-thread
    addf parport.0.reset base-thread

    addf encoder.capture-position servo-thread
    addf motion-command-handler servo-thread
    addf motion-controller servo-thread
    addf pid.0.do-pid-calcs servo-thread
    addf stepgen.update-freq servo-thread


    #-------- Encoder-X --------#
    setp encoder.0.position-scale 200.00
    net Xpos-phase-a encoder.0.phase-A
    net Xpos-phase-b encoder.0.phase-B
    net Xpos-phase-a <= parport.0.pin-2-in
    net Xpos-phase-b <= parport.0.pin-3-in
       # Add feedback to motion. This replaces sepgen.0.position-fb
    net Xpos-fb <= encoder.0.position
    net Xpos-fb => axis.0.motor-pos-fb
    #-------- Encoder-X --------#

    #-------- Reset Button --------#
    net reset-encoders parport.0.pin-13-in => encoder.0.reset
    #-------- Reset Button --------#

    #-------- PID-X --------#
    net Xpos-fb => pid.0.feedback
    net Xpos-cmd axis.0.motor-pos-cmd => pid.0.command
    net xenable <= axis.0.amp-enable-out => pid.0.enable
    net Xvel-cmd <= pid.0.output
    setp pid.0.Pgain 1
    setp pid.0.Igain 0
    setp pid.0.Dgain 0
    setp pid.0.bias 0
    setp pid.0.FF0 0
    setp pid.0.FF1 0
    setp pid.0.FF2 0
    setp pid.0.deadband 0
    #-------- PID-X --------#

    #-------- Stepgen-X --------#
    net xstep <= stepgen.0.step => parport.0.pin-01-out
    net xdir <= stepgen.0.dir => parport.0.pin-02-out
    net xenable => stepgen.0.enable
       # get-cmd from PID-X
    net Xvel-cmd => stepgen.0.velocity-cmd

    setp stepgen.0.position-scale [AXIS_0]SCALE
    setp stepgen.0.steplen 1
    setp stepgen.0.stepspace 0
    setp stepgen.0.dirhold 35000
    setp stepgen.0.dirsetup 35000
    setp stepgen.0.maxaccel [AXIS_0]STEPGEN_MAXACCEL
    #-------- Stepgen-X --------#

    #-------- EStop --------#
    net estop-out <= iocontrol.0.user-enable-out
    net estop-out => iocontrol.0.emc-enable-in
    #-------- EStop --------#

    loadusr -W hal_manualtoolchange
    net tool-change iocontrol.0.tool-change => hal_manualtoolchange.change
    net tool-changed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
    net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
    net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
