//5 simulated cam movers


!encoder_sim(enc=1,tbl=1,mot=1)
!motor(mot=1,dirCur=0,contCur=100,peakCur=100,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
Motor[1].pLimits=0;Motor[1].AmpFaultLevel=0;Motor[1].pAmpEnable=0;Motor[1].pAmpFault=0

!encoder_sim(enc=2,tbl=2,mot=2)
!motor(mot=2,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
Motor[2].pLimits=0;Motor[2].AmpFaultLevel=0;Motor[2].pAmpEnable=0;Motor[2].pAmpFault=0

!encoder_sim(enc=3,tbl=3,mot=3)
!motor(mot=3,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
Motor[3].pLimits=0;Motor[3].AmpFaultLevel=0;Motor[3].pAmpEnable=0;Motor[3].pAmpFault=0

!encoder_sim(enc=4,tbl=4,mot=4)
!motor(mot=4,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
Motor[4].pLimits=0;Motor[4].AmpFaultLevel=0;Motor[4].pAmpEnable=0;Motor[4].pAmpFault=0

!encoder_sim(enc=5,tbl=5,mot=5)
!motor(mot=5,dirCur=0,contCur=100,peakCur=1000,timeAtPeak=1,JogSpeed=8.,numPhase=3,invDir=True)
Motor[5].pLimits=0;Motor[5].AmpFaultLevel=0;Motor[5].pAmpEnable=0;Motor[5].pAmpFault=0


//  //NEW:
//  //the motor has 512*200*100 usteps per revolution (512 uystep/step, 200 steps/rev 1:100 gear)
//  //the ssi-encoder has 2**18=262144 steps per revolution
//  //motor_u_steps/inc_enc_step=39.0625
//  //JogSpeed=102.4 ustep/ms=102400ustep/s = 512*200= 1 rev/sec
//    posSf        : position scale factor: encoder position to motor u-steps,  1 motor step is 512 motor u-steps
//                   motor_u_steps=posSf*encoder_steps -> posSf = motor_u_steps/encoder_steps
//                   default is 1.0 (1 motor_u_steps = 1 encoder_steps)

//  !encoder_ssi(enc=1,numBits=18,posSf=39.0625)
//  !encoder_ssi(enc=2,numBits=18,posSf=39.0625)
//  !encoder_ssi(enc=3,numBits=18,posSf=39.0625)
//  !encoder_ssi(enc=4,numBits=18,posSf=39.0625)
//  !encoder_ssi(enc=5,numBits=18,posSf=39.0625)

//  !motor(mot=1,dirCur=600,JogSpeed=102.4)
//  !motor(mot=2,dirCur=600,JogSpeed=102.4)
//  !motor(mot=3,dirCur=600,JogSpeed=102.4)
//  !motor(mot=4,dirCur=600,JogSpeed=102.4)
//  !motor(mot=5,dirCur=600,JogSpeed=102.4)

//  !cm_brake(mot=1,curOn=600,cs=1,delay=200,gpio=16)
//  !cm_brake(mot=2,curOn=600,cs=1,delay=200,gpio=17)
//  !cm_brake(mot=3,curOn=600,cs=1,delay=200,gpio=18)
//  !cm_brake(mot=4,curOn=600,cs=1,delay=200,gpio=19)
//  !cm_brake(mot=5,curOn=600,cs=1,delay=200,gpio=20)