loadrt carousel pockets=10 dir=2 encoding=index
#loadrt conv_float_s32 (already loaded in sim_vmc.hal)
addf carousel.0 servo-thread
addf conv-float-s32.2 servo-thread # G-code analogue outputs are float-type

setp carousel.0.fwd-dc 0.002
setp carousel.0.rev-dc -0.002
setp carousel.0.decel-time 1
setp carousel.0.align-dc 0.0001
net car-enable motion.digital-out-00 carousel.0.enable
net car-ready carousel.0.ready motion.digital-in-00
net car-vel carousel.0.motor-vel
net car-pos-req motion.analog-out-00 conv-float-s32.2.in
net car-pos-s32 conv-float-s32.2.out carousel.0.pocket-number
net index carousel.0.sense-0
net pulse carousel.0.sense-1

net car-lock motion.digital-out-01
net car-locked motion.digital-in-01

net arm-act motion.digital-out-02
net arm-in motion.digital-in-02
net arm-out motion.digital-in-04

net tool-release motion.digital-out-03
net tool-released motion.digital-in-03

net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

loadusr sim_pin carousel.0.jog-fwd carousel.0.jog-rev