                                     extern
                                     const
                                     char
                                     VersionAndBuildTime
                                     [
                                     ]
                                     ;
                                     typedef
                                     int
                                     BOOL
                                     ;
                                     typedef
                                     unsigned
                                     int
                                     size_t
                                     ;
                                     typedef
                                     struct
                                     {
                                     int
                                     VersionAndSize
                                     ;
                                     int
                                     ADC
                                     [
                                     8
                                     +
                                     2
                                     *
                                     8
                                     ]
                                     ;
                                     int
                                     DAC
                                     [
                                     8
                                     ]
                                     ;
                                     int
                                     PWM
                                     [
                                     8
                                     +
                                     2
                                     *
                                     4
                                     ]
                                     ;
                                     double
                                     Position
                                     [
                                     16
                                     ]
                                     ;
                                     double
                                     Dest
                                     [
                                     16
                                     ]
                                     ;
                                     unsigned
                                     char
                                     OutputChan0
                                     [
                                     16
                                     ]
                                     ;
                                     int
                                     InputModes
                                     ;
                                     int
                                     InputModes2
                                     ;
                                     int
                                     InputModes3
                                     ;
                                     int
                                     InputModes4
                                     ;
                                     int
                                     OutputModes
                                     ;
                                     int
                                     OutputModes2
                                     ;
                                     int
                                     OutputModes3
                                     ;
                                     int
                                     OutputModes4
                                     ;
                                     int
                                     Enables
                                     ;
                                     int
                                     AxisDone
                                     ;
                                     int
                                     BitsDirection
                                     [
                                     2
                                     ]
                                     ;
                                     int
                                     BitsDirection200
                                     ;
                                     int
                                     BitsDirection280
                                     ;
                                     int
                                     BitsState
                                     [
                                     2
                                     ]
                                     ;
                                     int
                                     BitsState200
                                     [
                                     3
                                     ]
                                     ;
                                     int
                                     PinMuxModes
                                     ;
                                     short
                                     int
                                     Kogna_ADC
                                     [
                                     4
                                     ]
                                     ;
                                     short
                                     int
                                     Kogna_DAC
                                     [
                                     8
                                     ]
                                     ;
                                     unsigned
                                     char
                                     Kogna_PWM_Prescale
                                     ;
                                     unsigned
                                     char
                                     Kogna_PWM
                                     [
                                     8
                                     ]
                                     ;
                                     unsigned
                                     char
                                     Kogna_PWM_Enables
                                     [
                                     8
                                     ]
                                     ;
                                     unsigned
                                     short
                                     int
                                     HRPWMPeriod01
                                     ;
                                     unsigned
                                     short
                                     int
                                     HRPWMPeriod2
                                     ;
                                     unsigned
                                     short
                                     int
                                     HRPWMPeriod3
                                     ;
                                     unsigned
                                     short
                                     int
                                     HRPWM
                                     [
                                     4
                                     ]
                                     ;
                                     int
                                     SnapBitsDirection0
                                     ;
                                     int
                                     SnapBitsDirection1
                                     ;
                                     int
                                     SnapBitsState0
                                     ;
                                     int
                                     SnapBitsState1
                                     ;
                                     int
                                     KanalogBitsStateInputs
                                     ;
                                     int
                                     KanalogBitsStateOutputs
                                     ;
                                     int
                                     RunOnStartUp
                                     ;
                                     int
                                     ThreadActive
                                     ;
                                     int
                                     StopImmediateState
                                     ;
                                     double
                                     TimeStamp
                                     ;
                                     int
                                     PC_comm
                                     [
                                     8
                                     ]
                                     ;
                                     int
                                     VirtualBits
                                     ;
                                     int
                                     VirtualBitsEx0
                                     ;
                                     }
                                     MAIN_STATUS
                                     ;
                                     extern
                                     unsigned
                                     int
                                     Kogna_ipAddr
                                     ;
                                     extern
                                     int
                                     volatile
                                     HostStatus
                                     ;
                                     extern
                                     int
                                     volatile
                                     EditChangeCount
                                     ;
                                     extern
                                     BOOL
                                     StandardDerivativeMethod
                                     ;
                                     extern
                                     float
                                     sqrtf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     rsqrtf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     expf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     exp2f
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     exp10f
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     logf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     log10f
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     log2f
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     powf
                                     (
                                     float
                                     x
                                     ,
                                     float
                                     y
                                     )
                                     ;
                                     extern
                                     float
                                     sinf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     cosf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     tanf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     asinf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     acosf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     atanf
                                     (
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     atan2f
                                     (
                                     float
                                     y
                                     ,
                                     float
                                     x
                                     )
                                     ;
                                     extern
                                     float
                                     fast_fabsf
                                     (
                                     float
                                     y
                                     )
                                     ;
                                     extern
                                     double
                                     sqrt
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     rsqrt
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     exp
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     exp2
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     exp10
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     log
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     log10
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     log2
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     pow
                                     (
                                     double
                                     x
                                     ,
                                     double
                                     y
                                     )
                                     ;
                                     extern
                                     double
                                     sin
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     cos
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     tan
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     asin
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     acos
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     atan
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     atan2
                                     (
                                     double
                                     y
                                     ,
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     fast_fabs
                                     (
                                     double
                                     y
                                     )
                                     ;
                                     extern
                                     double
                                     CubeRoot
                                     (
                                     double
                                     v
                                     )
                                     ;
                                     extern
                                     double
                                     modf
                                     (
                                     double
                                     ,
                                     double
                                     *
                                     )
                                     ;
                                     extern
                                     double
                                     floor
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     double
                                     ceil
                                     (
                                     double
                                     x
                                     )
                                     ;
                                     extern
                                     size_t
                                     strlen
                                     (
                                     const
                                     char
                                     *
                                     _string
                                     )
                                     ;
                                     extern
                                     char
                                     *
                                     strcpy
                                     (
                                     char
                                     *
                                     _dest
                                     ,
                                     const
                                     char
                                     *
                                     _src
                                     )
                                     ;
                                     extern
                                     char
                                     *
                                     strncpy
                                     (
                                     char
                                     *
                                     _to
                                     ,
                                     const
                                     char
                                     *
                                     _from
                                     ,
                                     size_t
                                     _n
                                     )
                                     ;
                                     extern
                                     char
                                     *
                                     strcat
                                     (
                                     char
                                     *
                                     _string1
                                     ,
                                     const
                                     char
                                     *
                                     _string2
                                     )
                                     ;
                                     extern
                                     char
                                     *
                                     strncat
                                     (
                                     char
                                     *
                                     _to
                                     ,
                                     const
                                     char
                                     *
                                     _from
                                     ,
                                     size_t
                                     _n
                                     )
                                     ;
                                     extern
                                     char
                                     *
                                     strchr
                                     (
                                     const
                                     char
                                     *
                                     _string
                                     ,
                                     int
                                     _c
                                     )
                                     ;
                                     extern
                                     char
                                     *
                                     strrchr
                                     (
                                     const
                                     char
                                     *
                                     _string
                                     ,
                                     int
                                     _c
                                     )
                                     ;
                                     extern
                                     int
                                     strcmp
                                     (
                                     const
                                     char
                                     *
                                     _string1
                                     ,
                                     const
                                     char
                                     *
                                     _string2
                                     )
                                     ;
                                     extern
                                     int
                                     strncmp
                                     (
                                     const
                                     char
                                     *
                                     _string1
                                     ,
                                     const
                                     char
                                     *
                                     _string2
                                     ,
                                     size_t
                                     _n
                                     )
                                     ;
                                     extern
                                     int
                                     strcoll
                                     (
                                     const
                                     char
                                     *
                                     _string1
                                     ,
                                     const
                                     char
                                     *
                                     _string2
                                     )
                                     ;
                                     extern
                                     size_t
                                     strxfrm
                                     (
                                     char
                                     *
                                     _to
                                     ,
                                     const
                                     char
                                     *
                                     _from
                                     ,
                                     size_t
                                     _n
                                     )
                                     ;
                                     extern
                                     char
                                     *
                                     strpbrk
                                     (
                                     const
                                     char
                                     *
                                     _string
                                     ,
                                     const
                                     char
                                     *
                                     _chs
                                     )
                                     ;
                                     extern
                                     size_t
                                     strspn
                                     (
                                     const
                                     char
                                     *
                                     _string
                                     ,
                                     const
                                     char
                                     *
                                     _chs
                                     )
                                     ;
                                     extern
                                     size_t
                                     strcspn
                                     (
                                     const
                                     char
                                     *
                                     _string
                                     ,
                                     const
                                     char
                                     *
                                     _chs
                                     )
                                     ;
                                     extern
                                     char
                                     *
                                     strstr
                                     (
                                     const
                                     char
                                     *
                                     _string1
                                     ,
                                     const
                                     char
                                     *
                                     _string2
                                     )
                                     ;
                                     extern
                                     char
                                     *
                                     strtok
                                     (
                                     char
                                     *
                                     _str1
                                     ,
                                     const
                                     char
                                     *
                                     _str2
                                     )
                                     ;
                                     extern
                                     char
                                     *
                                     strerror
                                     (
                                     int
                                     _errno
                                     )
                                     ;
                                     extern
                                     void
                                     *
                                     memmove
                                     (
                                     void
                                     *
                                     _s1
                                     ,
                                     const
                                     void
                                     *
                                     _s2
                                     ,
                                     size_t
                                     _n
                                     )
                                     ;
                                     extern
                                     void
                                     *
                                     memcpy
                                     (
                                     void
                                     *
                                     _s1
                                     ,
                                     const
                                     void
                                     *
                                     _s2
                                     ,
                                     size_t
                                     _n
                                     )
                                     ;
                                     extern
                                     int
                                     memcmp
                                     (
                                     const
                                     void
                                     *
                                     _cs
                                     ,
                                     const
                                     void
                                     *
                                     _ct
                                     ,
                                     size_t
                                     _n
                                     )
                                     ;
                                     extern
                                     void
                                     *
                                     memchr
                                     (
                                     const
                                     void
                                     *
                                     _cs
                                     ,
                                     int
                                     _c
                                     ,
                                     size_t
                                     _n
                                     )
                                     ;
                                     extern
                                     void
                                     *
                                     memset
                                     (
                                     void
                                     *
                                     _mem
                                     ,
                                     int
                                     _ch
                                     ,
                                     size_t
                                     _n
                                     )
                                     ;
                                     typedef
                                     struct
                                     {
                                     int
                                     RunOnStartUp
                                     ;
                                     unsigned
                                     int
                                     EntryPoints
                                     [
                                     7
                                     ]
                                     ;
                                     int
                                     UserData
                                     [
                                     200
                                     ]
                                     ;
                                     }
                                     PERSIST
                                     ;
                                     extern
                                     PERSIST
                                     persist
                                     ;
                                     extern
                                     int
                                     StatusRequestCounter
                                     ;
                                     typedef
                                     struct
                                     {
                                     int
                                     type
                                     ;
                                     void
                                     *
                                     addr
                                     ;
                                     }
                                     GATHER_VALUE_DEF
                                     ;
                                     typedef
                                     struct
                                     {
                                     double
                                     *
                                     bufptr
                                     ;
                                     double
                                     *
                                     endptr
                                     ;
                                     double
                                     Dest
                                     ;
                                     int
                                     Inject
                                     ;
                                     GATHER_VALUE_DEF
                                     list
                                     [
                                     32
                                     ]
                                     ;
                                     }
                                     GATHER
                                     ;
                                     extern
                                     GATHER
                                     gather
                                     ;
                                     extern
                                     double
                                     *
                                     gather_buffer
                                     ;
                                     extern
                                     float
                                     *
                                     input
                                     ;
                                     void
                                     SetupGatherAllOnAxis
                                     (
                                     int
                                     c
                                     ,
                                     int
                                     n_Samples
                                     )
                                     ;
                                     void
                                     TriggerGather
                                     (
                                     )
                                     ;
                                     typedef
                                     struct
                                     {
                                     double
                                     a
                                     ;
                                     double
                                     b
                                     ;
                                     double
                                     c
                                     ;
                                     double
                                     d
                                     ;
                                     }
                                     TRIP_CIRCLE_LINEAR
                                     ;
                                     typedef
                                     struct
                                     {
                                     double
                                     c
                                     ;
                                     double
                                     d
                                     ;
                                     }
                                     TRIP_LINEAR
                                     ;
                                     typedef
                                     struct
                                     {
                                     char
                                     trajectory_mode
                                     ;
                                     unsigned
                                     char
                                     x_axis
                                     ;
                                     unsigned
                                     char
                                     y_axis
                                     ;
                                     unsigned
                                     char
                                     z_axis
                                     ;
                                     unsigned
                                     char
                                     a_axis
                                     ;
                                     unsigned
                                     char
                                     b_axis
                                     ;
                                     unsigned
                                     char
                                     c_axis
                                     ;
                                     unsigned
                                     char
                                     u_axis
                                     ;
                                     unsigned
                                     char
                                     v_axis
                                     ;
                                     unsigned
                                     char
                                     xp_axis
                                     ;
                                     unsigned
                                     char
                                     yp_axis
                                     ;
                                     unsigned
                                     char
                                     zp_axis
                                     ;
                                     unsigned
                                     char
                                     ap_axis
                                     ;
                                     unsigned
                                     char
                                     bp_axis
                                     ;
                                     unsigned
                                     char
                                     cp_axis
                                     ;
                                     unsigned
                                     char
                                     up_axis
                                     ;
                                     unsigned
                                     char
                                     vp_axis
                                     ;
                                     short
                                     int
                                     special_param
                                     ;
                                     double
                                     t
                                     ;
                                     double
                                     a
                                     ;
                                     double
                                     b
                                     ;
                                     double
                                     c
                                     ;
                                     double
                                     d
                                     ;
                                     TRIP_CIRCLE_LINEAR
                                     X
                                     ,
                                     Y
                                     ;
                                     TRIP_LINEAR
                                     Z
                                     ,
                                     A
                                     ,
                                     B
                                     ,
                                     C
                                     ,
                                     U
                                     ,
                                     V
                                     ,
                                     XP
                                     ,
                                     YP
                                     ,
                                     ZP
                                     ,
                                     AP
                                     ,
                                     BP
                                     ,
                                     CP
                                     ,
                                     UP
                                     ,
                                     VP
                                     ;
                                     }
                                     PARAMETRIC_COEFF
                                     ;
                                     typedef
                                     struct
                                     {
                                     int
                                     trajectory_mode
                                     ;
                                     double
                                     t
                                     ;
                                     double
                                     a
                                     ;
                                     double
                                     b
                                     ;
                                     double
                                     c
                                     ;
                                     double
                                     d
                                     ;
                                     }
                                     TRIP_COEFF
                                     ;
                                     typedef
                                     struct
                                     {
                                     float
                                     A1
                                     ;
                                     float
                                     A2
                                     ;
                                     float
                                     B0
                                     ;
                                     float
                                     B1
                                     ;
                                     float
                                     B2
                                     ;
                                     float
                                     d0
                                     ,
                                     d1
                                     ;
                                     }
                                     IIR
                                     ;
                                     extern
                                     double
                                     CS0_t
                                     ;
                                     extern
                                     double
                                     CS0_TimeExecuted
                                     ;
                                     extern
                                     double
                                     CS0_TimeDownloaded
                                     ;
                                     extern
                                     double
                                     CS0_TimeLost
                                     ;
                                     extern
                                     double
                                     CS0_TimeBase
                                     ;
                                     extern
                                     double
                                     CS0_TimeBaseDelta
                                     ;
                                     extern
                                     float
                                     CS0_DecelTime
                                     ;
                                     extern
                                     double
                                     CS0_TimeBaseDesired
                                     ;
                                     extern
                                     BOOL
                                     CS0_DoingRapid
                                     ;
                                     extern
                                     BOOL
                                     CS0_Flushed
                                     ;
                                     extern
                                     BOOL
                                     CS0_HoldAtEnd
                                     ;
                                     extern
                                     float
                                     CS0_NomDecel2TB2
                                     ;
                                     extern
                                     int
                                     CS0_StoppingState
                                     ;
                                     extern
                                     PARAMETRIC_COEFF
                                     *
                                     CoordSystem0
                                     ;
                                     extern
                                     int
                                     ParametricIndex
                                     ;
                                     extern
                                     BOOL
                                     ParametricIndexWrapped
                                     ;
                                     extern
                                     PARAMETRIC_COEFF
                                     *
                                     ParametricCoeffs
                                     ;
                                     extern
                                     PARAMETRIC_COEFF
                                     *
                                     ParametricCoeffsEnd
                                     ;
                                     extern
                                     PARAMETRIC_COEFF
                                     *
                                     LastCoordSystem0
                                     ;
                                     extern
                                     PARAMETRIC_COEFF
                                     *
                                     LastValidTrajSegment
                                     ;
                                     void
                                     StopCoordinatedMotion
                                     (
                                     void
                                     )
                                     ;
                                     void
                                     ResumeCoordinatedMotion
                                     (
                                     void
                                     )
                                     ;
                                     void
                                     ClearStopImmediately
                                     (
                                     void
                                     )
                                     ;
                                     void
                                     UpdateStoppingState
                                     (
                                     void
                                     )
                                     ;
                                     float
                                     GetNominalFROChangeTime
                                     (
                                     void
                                     )
                                     ;
                                     void
                                     SetFRO
                                     (
                                     float
                                     FRO
                                     )
                                     ;
                                     void
                                     SetRapidFRO
                                     (
                                     float
                                     FRO
                                     )
                                     ;
                                     void
                                     SetFROTemp
                                     (
                                     float
                                     FRO
                                     )
                                     ;
                                     void
                                     SetFROwRate
                                     (
                                     float
                                     FRO
                                     ,
                                     float
                                     DecelTime
                                     )
                                     ;
                                     void
                                     SetRapidFROwRate
                                     (
                                     float
                                     FRO
                                     ,
                                     float
                                     DecelTime
                                     )
                                     ;
                                     void
                                     SetFROwRateTemp
                                     (
                                     float
                                     FRO
                                     ,
                                     float
                                     DecelTime
                                     )
                                     ;
                                     extern
                                     float
                                     CS0_LastFRO
                                     ;
                                     extern
                                     float
                                     CS0_LastRapidFRO
                                     ;
                                     void
                                     iOpenBuf
                                     (
                                     void
                                     )
                                     ;
                                     void
                                     iExecBuf
                                     (
                                     void
                                     )
                                     ;
                                     void
                                     IncParametricIndex
                                     (
                                     void
                                     )
                                     ;
                                     extern
                                     TRIP_COEFF
                                     TripCoeffs
                                     [
                                     16
                                     ]
                                     [
                                     20
                                     ]
                                     ;
                                     typedef
                                     struct
                                     {
                                     int
                                     ChanNumber
                                     ;
                                     int
                                     Enable
                                     ;
                                     int
                                     InputMode
                                     ;
                                     int
                                     OutputMode
                                     ;
                                     int
                                     LimitSwitchOptions
                                     ;
                                     int
                                     LimitSwitchNegBit
                                     ;
                                     int
                                     LimitSwitchPosBit
                                     ;
                                     int
                                     MasterAxis
                                     ;
                                     double
                                     SlaveGain
                                     ;
                                     double
                                     MaxFollowingError
                                     ;
                                     double
                                     LastFollowingError
                                     ;
                                     double
                                     t
                                     ;
                                     double
                                     Dest
                                     ;
                                     double
                                     UnfilteredDest
                                     ;
                                     double
                                     DestOffset
                                     ;
                                     float
                                     Vel
                                     ;
                                     float
                                     Accel
                                     ;
                                     float
                                     Jerk
                                     ;
                                     float
                                     FFAccel
                                     ;
                                     float
                                     FFVel
                                     ;
                                     double
                                     Position
                                     ;
                                     double
                                     invDistPerCycle
                                     ;
                                     float
                                     StepperAmplitude
                                     ;
                                     float
                                     Output
                                     ;
                                     float
                                     prev_output
                                     ;
                                     float
                                     Lead
                                     ;
                                     TRIP_COEFF
                                     *
                                     pcoeff
                                     ;
                                     double
                                     last_position
                                     ;
                                     double
                                     last_dest
                                     ;
                                     double
                                     prev_dest
                                     ;
                                     int
                                     LastNonZeroDir
                                     ;
                                     int
                                     DirectionOfMotion
                                     ;
                                     float
                                     last_vel
                                     ;
                                     float
                                     x1last
                                     ,
                                     x2last
                                     ;
                                     int
                                     OutputChan0
                                     ,
                                     OutputChan1
                                     ;
                                     int
                                     InputChan0
                                     ,
                                     InputChan1
                                     ;
                                     float
                                     InputOffset0
                                     ,
                                     InputGain0
                                     ;
                                     float
                                     InputOffset1
                                     ,
                                     InputGain1
                                     ;
                                     float
                                     OutputGain
                                     ;
                                     float
                                     OutputOffset
                                     ;
                                     float
                                     CommutationOffset
                                     ;
                                     float
                                     last_theta
                                     ;
                                     float
                                     theta_correction
                                     ;
                                     signed
                                     int
                                     last_enc
                                     ;
                                     float
                                     P
                                     ,
                                     I
                                     ,
                                     D
                                     ;
                                     float
                                     MaxI
                                     ;
                                     float
                                     MaxErr
                                     ;
                                     float
                                     integrator
                                     ;
                                     float
                                     MaxOutput
                                     ;
                                     float
                                     DeadBandRange
                                     ;
                                     float
                                     DeadBandGain
                                     ;
                                     int
                                     LastMotionType
                                     ;
                                     double
                                     LastMotionDest
                                     ;
                                     float
                                     ExpMotionVc
                                     ;
                                     float
                                     ExpMotionXc
                                     ;
                                     float
                                     SoftLimitNeg
                                     ;
                                     float
                                     SoftLimitPos
                                     ;
                                     int
                                     BacklashMode
                                     ;
                                     float
                                     BacklashAmount
                                     ;
                                     float
                                     BacklashRate
                                     ;
                                     int
                                     BacklashDirection
                                     ;
                                     float
                                     PrevBacklashDest
                                     ;
                                     float
                                     Backlash
                                     ;
                                     TRIP_COEFF
                                     *
                                     c
                                     ;
                                     IIR
                                     iir
                                     [
                                     3
                                     ]
                                     ;
                                     }
                                     CHAN
                                     ;
                                     extern
                                     short
                                     int
                                     DAC_Buffer
                                     [
                                     8
                                     ]
                                     ;
                                     extern
                                     short
                                     int
                                     ADC_BufferIn
                                     [
                                     8
                                     ]
                                     ;
                                     extern
                                     short
                                     int
                                     Kogna_DAC_Buffer
                                     [
                                     8
                                     ]
                                     ;
                                     extern
                                     short
                                     int
                                     Kogna_ADC_Buffer
                                     [
                                     4
                                     ]
                                     ;
                                     extern
                                     int
                                     ADC_BufferInSnap
                                     [
                                     2
                                     *
                                     8
                                     ]
                                     ;
                                     void
                                     WritePWMR
                                     (
                                     int
                                     ch
                                     ,
                                     int
                                     v
                                     )
                                     ;
                                     void
                                     WritePWM
                                     (
                                     int
                                     ch
                                     ,
                                     int
                                     v
                                     )
                                     ;
                                     void
                                     WritePWMC
                                     (
                                     int
                                     ch
                                     ,
                                     int
                                     v
                                     )
                                     ;
                                     extern
                                     int
                                     SnapAmpPresent
                                     ;
                                     extern
                                     int
                                     DisableSnapAmpDetectOnBoot
                                     ;
                                     void
                                     WriteSnapAmp
                                     (
                                     int
                                     add
                                     ,
                                     int
                                     data
                                     )
                                     ;
                                     int
                                     ReadSnapAmp
                                     (
                                     int
                                     add
                                     )
                                     ;
                                     extern
                                     int
                                     KanalogPresent
                                     ;
                                     extern
                                     int
                                     DisableKanalogDetectOnBoot
                                     ;
                                     extern
                                     int
                                     KStepPresent
                                     ;
                                     void
                                     Write3PH
                                     (
                                     CHAN
                                     *
                                     ch0
                                     ,
                                     float
                                     v
                                     ,
                                     double
                                     angle_in_cycles
                                     )
                                     ;
                                     void
                                     Write4PH
                                     (
                                     CHAN
                                     *
                                     ch0
                                     ,
                                     float
                                     v
                                     ,
                                     double
                                     angle_in_cycles
                                     )
                                     ;
                                     extern
                                     int
                                     LastPWM
                                     [
                                     8
                                     +
                                     2
                                     *
                                     4
                                     ]
                                     ;
                                     int
                                     ReadADC
                                     (
                                     int
                                     ch
                                     )
                                     ;
                                     void
                                     WriteDAC
                                     (
                                     int
                                     ch
                                     ,
                                     int
                                     v
                                     )
                                     ;
                                     typedef
                                     struct
                                     {
                                     double
                                     Position
                                     ;
                                     double
                                     StartPosition
                                     ;
                                     double
                                     LastUpdatePosition
                                     ;
                                     double
                                     RevsPerCount
                                     ;
                                     double
                                     UpdateTick
                                     ;
                                     double
                                     DeltaTicks
                                     ;
                                     double
                                     AdjTimeFilt
                                     ;
                                     double
                                     LastCSTime
                                     ;
                                     double
                                     *
                                     pEncoderPos
                                     ;
                                     double
                                     K
                                     ;
                                     double
                                     SyncFactor
                                     ;
                                     float
                                     TrueSpeedRPS
                                     ;
                                     float
                                     InvBaseSpeedRPS
                                     ;
                                     double
                                     InvBaseSpeedRPSK1
                                     ;
                                     float
                                     InvUpdateTime
                                     ;
                                     float
                                     Tau
                                     ;
                                     int
                                     Type
                                     ;
                                     int
                                     ThreadingActive
                                     ;
                                     }
                                     SPINDLE
                                     ;
                                     extern
                                     SPINDLE
                                     Spindle
                                     ;
                                     void
                                     ConfigureSpindle
                                     (
                                     int
                                     Type
                                     ,
                                     int
                                     Axis
                                     ,
                                     float
                                     UpdateTimeSecs
                                     ,
                                     float
                                     Tau
                                     ,
                                     float
                                     CountsPerRev
                                     )
                                     ;
                                     void
                                     TrigThreading
                                     (
                                     float
                                     BaseSpeedRPS
                                     )
                                     ;
                                     double
                                     Time_sec
                                     (
                                     )
                                     ;
                                     void
                                     WaitUntil
                                     (
                                     double
                                     time_sec
                                     )
                                     ;
                                     void
                                     Delay_sec
                                     (
                                     double
                                     sec
                                     )
                                     ;
                                     double
                                     WaitNextTimeSlice
                                     (
                                     void
                                     )
                                     ;
                                     extern
                                     volatile
                                     double
                                     ServoTick
                                     ;
                                     extern
                                     volatile
                                     unsigned
                                     int
                                     LastTimer0
                                     ;
                                     extern
                                     CHAN
                                     chan
                                     [
                                     16
                                     ]
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch0
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch1
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch2
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch3
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch4
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch5
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch6
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch7
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch8
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch9
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch10
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch11
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch12
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch13
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch14
                                     ;
                                     extern
                                     CHAN
                                     *
                                     ch15
                                     ;
                                     extern
                                     MAIN_STATUS
                                     MainStatus
                                     ;
                                     void
                                     DisableAxis
                                     (
                                     int
                                     ch
                                     )
                                     ;
                                     void
                                     EnableAxisDest
                                     (
                                     int
                                     ch
                                     ,
                                     double
                                     Dest
                                     )
                                     ;
                                     void
                                     EnableAxis
                                     (
                                     int
                                     ch
                                     )
                                     ;
                                     void
                                     ResetFilters
                                     (
                                     int
                                     ch
                                     )
                                     ;
                                     void
                                     Zero
                                     (
                                     int
                                     ch
                                     )
                                     ;
                                     void
                                     Move
                                     (
                                     int
                                     ch
                                     ,
                                     double
                                     x
                                     )
                                     ;
                                     void
                                     MoveAtVel
                                     (
                                     int
                                     chno
                                     ,
                                     double
                                     x
                                     ,
                                     float
                                     MaxVel
                                     )
                                     ;
                                     void
                                     MoveAtVelAccel
                                     (
                                     int
                                     chno
                                     ,
                                     double
                                     x
                                     ,
                                     float
                                     MaxVel
                                     ,
                                     float
                                     MaxAccel
                                     )
                                     ;
                                     void
                                     MoveAtVelAccelDecel
                                     (
                                     int
                                     chno
                                     ,
                                     double
                                     x
                                     ,
                                     float
                                     MaxVel
                                     ,
                                     float
                                     MaxAccel
                                     ,
                                     float
                                     MaxDecel
                                     )
                                     ;
                                     void
                                     MoveRel
                                     (
                                     int
                                     ch
                                     ,
                                     double
                                     dx
                                     )
                                     ;
                                     void
                                     MoveRelAtVel
                                     (
                                     int
                                     chno
                                     ,
                                     double
                                     x
                                     ,
                                     float
                                     MaxVel
                                     )
                                     ;
                                     void
                                     MoveRelAtVelAccel
                                     (
                                     int
                                     chno
                                     ,
                                     double
                                     x
                                     ,
                                     float
                                     MaxVel
                                     ,
                                     float
                                     Accel
                                     )
                                     ;
                                     void
                                     MoveRelAtVelAccelDecel
                                     (
                                     int
                                     chno
                                     ,
                                     double
                                     x
                                     ,
                                     float
                                     MaxVel
                                     ,
                                     float
                                     Accel
                                     ,
                                     float
                                     MaxDecel
                                     )
                                     ;
                                     void
                                     MoveRelAtVelAccelDecelSoft
                                     (
                                     int
                                     chno
                                     ,
                                     double
                                     x
                                     ,
                                     float
                                     MaxVel
                                     ,
                                     float
                                     MaxAccel
                                     ,
                                     float
                                     MaxDecel
                                     )
                                     ;
                                     void
                                     Jog
                                     (
                                     int
                                     ch
                                     ,
                                     double
                                     vel
                                     )
                                     ;
                                     void
                                     JogAtAccel
                                     (
                                     int
                                     ch
                                     ,
                                     double
                                     vel
                                     ,
                                     double
                                     MaxAccel
                                     )
                                     ;
                                     void
                                     MoveExp
                                     (
                                     int
                                     chno
                                     ,
                                     double
                                     x
                                     ,
                                     double
                                     Tau
                                     )
                                     ;
                                     typedef
                                     enum
                                     {
                                     INVALID
                                     =
                                     0
                                     ,
                                     INVALID_ZERO_NEG_CONSTRAINT
                                     ,
                                     ZERO_DISTANCE_FROM_STOP
                                     ,
                                     DOUBLE_DECEL_TRI_TRI
                                     ,
                                     DOUBLE_DECEL_TRI_TRAP
                                     ,
                                     DOUBLE_DECEL_TRAP_TRI
                                     ,
                                     DOUBLE_DECEL_TRAP_TRAP
                                     ,
                                     TRI_TRI
                                     ,
                                     TRI_TRAP
                                     ,
                                     TRAP_TRI
                                     ,
                                     TRAP_TRAP
                                     ,
                                     ACCEL_CRUZE_DECEL
                                     ,
                                     CANT_STOP
                                     ,
                                     N_MOVE_TYPES
                                     }
                                     MOVE_TYPE
                                     ;
                                     extern
                                     const
                                     char
                                     *
                                     MoveTypeNames
                                     [
                                     N_MOVE_TYPES
                                     ]
                                     ;
                                     int
                                     MoveEx
                                     (
                                     double
                                     x1
                                     ,
                                     TRIP_COEFF
                                     *
                                     Trips
                                     ,
                                     double
                                     a0
                                     ,
                                     double
                                     v0
                                     ,
                                     double
                                     x0
                                     ,
                                     double
                                     Amax
                                     ,
                                     double
                                     Dmax
                                     ,
                                     double
                                     Vmaxp
                                     ,
                                     double
                                     J
                                     ,
                                     int
                                     *
                                     MoveType
                                     ,
                                     int
                                     *
                                     Nstates
                                     ,
                                     CHAN
                                     *
                                     ch
                                     )
                                     ;
                                     int
                                     CheckDone
                                     (
                                     int
                                     ch
                                     )
                                     ;
                                     void
                                     MoveXYZABC
                                     (
                                     double
                                     x
                                     ,
                                     double
                                     y
                                     ,
                                     double
                                     z
                                     ,
                                     double
                                     a
                                     ,
                                     double
                                     b
                                     ,
                                     double
                                     c
                                     )
                                     ;
                                     int
                                     CheckDoneXYZABC
                                     (
                                     )
                                     ;
                                     int
                                     CheckDoneBuf
                                     (
                                     )
                                     ;
                                     int
                                     CheckDoneGather
                                     (
                                     )
                                     ;
                                     void
                                     StartMove
                                     (
                                     int
                                     ch
                                     )
                                     ;
                                     void
                                     SetupForMove
                                     (
                                     double
                                     From
                                     ,
                                     double
                                     To
                                     ,
                                     float
                                     MaxVel
                                     ,
                                     CHAN
                                     *
                                     ch
                                     ,
                                     int
                                     CoeffOffset
                                     ,
                                     int
                                     NoJerkControlAtStart
                                     ,
                                     int
                                     NoJerkControlAtEnd
                                     ,
                                     int
                                     Start
                                     ,
                                     int
                                     *
                                     Nstates
                                     )
                                     ;
                                     void
                                     SetupForMoveAccel
                                     (
                                     double
                                     From
                                     ,
                                     double
                                     To
                                     ,
                                     float
                                     MaxVel
                                     ,
                                     float
                                     MaxAccel
                                     ,
                                     CHAN
                                     *
                                     ch
                                     ,
                                     int
                                     CoeffOffset
                                     ,
                                     int
                                     NoJerkControlAtStart
                                     ,
                                     int
                                     NoJerkControlAtEnd
                                     ,
                                     int
                                     Start
                                     ,
                                     int
                                     *
                                     Nstates
                                     )
                                     ;
                                     void
                                     SetupForMotionPause
                                     (
                                     double
                                     x
                                     ,
                                     CHAN
                                     *
                                     ch
                                     ,
                                     int
                                     CoeffOffset
                                     ,
                                     double
                                     time
                                     )
                                     ;
                                     extern
                                     int
                                     CS0_axis_x
                                     ;
                                     extern
                                     int
                                     CS0_axis_y
                                     ;
                                     extern
                                     int
                                     CS0_axis_z
                                     ;
                                     extern
                                     int
                                     CS0_axis_a
                                     ;
                                     extern
                                     int
                                     CS0_axis_b
                                     ;
                                     extern
                                     int
                                     CS0_axis_c
                                     ;
                                     extern
                                     int
                                     CS0_axis_u
                                     ;
                                     extern
                                     int
                                     CS0_axis_v
                                     ;
                                     extern
                                     int
                                     CS0_axis_xp
                                     ;
                                     extern
                                     int
                                     CS0_axis_yp
                                     ;
                                     extern
                                     int
                                     CS0_axis_zp
                                     ;
                                     extern
                                     int
                                     CS0_axis_ap
                                     ;
                                     extern
                                     int
                                     CS0_axis_bp
                                     ;
                                     extern
                                     int
                                     CS0_axis_cp
                                     ;
                                     extern
                                     int
                                     CS0_axis_up
                                     ;
                                     extern
                                     int
                                     CS0_axis_vp
                                     ;
                                     void
                                     DefineCoordSystem
                                     (
                                     int
                                     axisx
                                     ,
                                     int
                                     axisy
                                     ,
                                     int
                                     axisz
                                     ,
                                     int
                                     axisa
                                     )
                                     ;
                                     void
                                     DefineCoordSystem6
                                     (
                                     int
                                     axisx
                                     ,
                                     int
                                     axisy
                                     ,
                                     int
                                     axisz
                                     ,
                                     int
                                     axisa
                                     ,
                                     int
                                     axisb
                                     ,
                                     int
                                     axisc
                                     )
                                     ;
                                     void
                                     DefineCoordSystem8
                                     (
                                     int
                                     axisx
                                     ,
                                     int
                                     axisy
                                     ,
                                     int
                                     axisz
                                     ,
                                     int
                                     axisa
                                     ,
                                     int
                                     axisb
                                     ,
                                     int
                                     axisc
                                     ,
                                     int
                                     axisu
                                     ,
                                     int
                                     axisv
                                     )
                                     ;
                                     void
                                     DefineCoordSystem8P
                                     (
                                     int
                                     axisxp
                                     ,
                                     int
                                     axisyp
                                     ,
                                     int
                                     axiszp
                                     ,
                                     int
                                     axisap
                                     ,
                                     int
                                     axisbp
                                     ,
                                     int
                                     axiscp
                                     ,
                                     int
                                     axisup
                                     ,
                                     int
                                     axisvp
                                     )
                                     ;
                                     extern
                                     double
                                     KLP
                                     ;
                                     extern
                                     float
                                     TauKLP
                                     ;
                                     extern
                                     float
                                     SplineTauFactor
                                     ;
                                     void
                                     StopMotion
                                     (
                                     CHAN
                                     *
                                     ch
                                     )
                                     ;
                                     void
                                     SetupForMotionEnd
                                     (
                                     CHAN
                                     *
                                     ch
                                     ,
                                     int
                                     CoeffOffset
                                     )
                                     ;
                                     extern
                                     int
                                     VirtualBits
                                     ;
                                     extern
                                     int
                                     VirtualBitsEx
                                     [
                                     1024
                                     /
                                     32
                                     ]
                                     ;
                                     extern
                                     int
                                     BitDirShadow
                                     [
                                     2
                                     ]
                                     ;
                                     extern
                                     int
                                     BitDirShadowAUX2_EXIO
                                     ;
                                     extern
                                     int
                                     BitDirShadowSnap0
                                     ;
                                     extern
                                     int
                                     BitDirShadowSnap1
                                     ;
                                     void
                                     SetBitDirection
                                     (
                                     int
                                     bit
                                     ,
                                     int
                                     dir
                                     )
                                     ;
                                     int
                                     GetBitDirection
                                     (
                                     int
                                     bit
                                     )
                                     ;
                                     void
                                     SetBit
                                     (
                                     int
                                     bit
                                     )
                                     ;
                                     void
                                     ClearBit
                                     (
                                     int
                                     bit
                                     )
                                     ;
                                     void
                                     SetStateBit
                                     (
                                     int
                                     bit
                                     ,
                                     int
                                     state
                                     )
                                     ;
                                     int
                                     ReadBit
                                     (
                                     int
                                     bit
                                     )
                                     ;
                                     void
                                     HRPWM_SetMode
                                     (
                                     int
                                     chan
                                     ,
                                     int
                                     GPIO
                                     )
                                     ;
                                     int
                                     HRPWM_GetMode
                                     (
                                     int
                                     chan
                                     )
                                     ;
                                     void
                                     HRPWM_GPIO_SetDir
                                     (
                                     int
                                     chan
                                     ,
                                     int
                                     dir
                                     )
                                     ;
                                     int
                                     HRPWM_GPIO_GetDir
                                     (
                                     int
                                     chan
                                     )
                                     ;
                                     void
                                     HRPWM_GPIO_SetBit
                                     (
                                     int
                                     chan
                                     )
                                     ;
                                     void
                                     HRPWM_GPIO_ClearBit
                                     (
                                     int
                                     chan
                                     )
                                     ;
                                     int
                                     HRPWM_GPIO_ReadBit
                                     (
                                     int
                                     chan
                                     )
                                     ;
                                     void
                                     SPI_SetMode
                                     (
                                     int
                                     chan
                                     ,
                                     int
                                     GPIO
                                     )
                                     ;
                                     int
                                     SPI_GetMode
                                     (
                                     int
                                     chan
                                     )
                                     ;
                                     void
                                     SPI_GPIO_SetDir
                                     (
                                     int
                                     chan
                                     ,
                                     int
                                     dir
                                     )
                                     ;
                                     int
                                     SPI_GPIO_GetDir
                                     (
                                     int
                                     chan
                                     )
                                     ;
                                     void
                                     SPI_GPIO_SetBit
                                     (
                                     int
                                     chan
                                     )
                                     ;
                                     void
                                     SPI_GPIO_ClearBit
                                     (
                                     int
                                     chan
                                     )
                                     ;
                                     int
                                     SPI_GPIO_ReadBit
                                     (
                                     int
                                     chan
                                     )
                                     ;
                                     int
                                     NandWriteBlocks
                                     (
                                     int
                                     blkNum
                                     ,
                                     unsigned
                                     char
                                     *
                                     data
                                     ,
                                     int
                                     length
                                     )
                                     ;
                                     int
                                     NandReadBlocks
                                     (
                                     int
                                     blkNum
                                     ,
                                     int
                                     pageNum
                                     ,
                                     unsigned
                                     char
                                     *
                                     data
                                     ,
                                     int
                                     length
                                     )
                                     ;
                                     void
                                     InitAux
                                     (
                                     void
                                     )
                                     ;
                                     void
                                     AddKonnect
                                     (
                                     int
                                     BoardAddress
                                     ,
                                     int
                                     *
                                     OutputAddress
                                     ,
                                     int
                                     *
                                     InputAddress
                                     )
                                     ;
                                     void
                                     AddKonnect_Aux0
                                     (
                                     int
                                     BoardAddress
                                     ,
                                     int
                                     *
                                     OutputAddress
                                     ,
                                     int
                                     *
                                     InputAddress
                                     )
                                     ;
                                     extern
                                     volatile
                                     int
                                     NextAvailIn
                                     ;
                                     extern
                                     volatile
                                     int
                                     NextAvailOut
                                     ;
                                     int
                                     printf
                                     (
                                     const
                                     char
                                     *
                                     format
                                     ,
                                     
                                     )
                                     ;
                                     int
                                     sprintf
                                     (
                                     char
                                     *
                                     s
                                     ,
                                     const
                                     char
                                     *
                                     format
                                     ,
                                     
                                     )
                                     ;
                                     typedef
                                     int
                                     FILE
                                     ;
                                     FILE
                                     *
                                     fopen
                                     (
                                     const
                                     char
                                     *
                                     ,
                                     const
                                     char
                                     *
                                     )
                                     ;
                                     int
                                     fprintf
                                     (
                                     FILE
                                     *
                                     f
                                     ,
                                     const
                                     char
                                     *
                                     format
                                     ,
                                     
                                     )
                                     ;
                                     int
                                     fclose
                                     (
                                     FILE
                                     *
                                     f
                                     )
                                     ;
                                     int
                                     Print
                                     (
                                     char
                                     *
                                     s
                                     )
                                     ;
                                     int
                                     PrintFloat
                                     (
                                     char
                                     *
                                     Format
                                     ,
                                     double
                                     v
                                     )
                                     ;
                                     int
                                     PrintInt
                                     (
                                     char
                                     *
                                     Format
                                     ,
                                     int
                                     v
                                     )
                                     ;
                                     int
                                     sscanf
                                     (
                                     const
                                     char
                                     *
                                     _str
                                     ,
                                     const
                                     char
                                     *
                                     _fmt
                                     ,
                                     
                                     )
                                     ;
                                     extern
                                     volatile
                                     int
                                     read_disk_buffer_status
                                     ;
                                     extern
                                     char
                                     read_disk_buffer
                                     [
                                     1024
                                     +
                                     1
                                     ]
                                     ;
                                     char
                                     *
                                     fgets
                                     (
                                     char
                                     *
                                     str
                                     ,
                                     int
                                     n
                                     ,
                                     FILE
                                     *
                                     file
                                     )
                                     ;
                                     int
                                     fscanf
                                     (
                                     FILE
                                     *
                                     f
                                     ,
                                     const
                                     char
                                     *
                                     format
                                     ,
                                     
                                     )
                                     ;
                                     int
                                     feof
                                     (
                                     FILE
                                     *
                                     f
                                     )
                                     ;
                                     void
                                     *
                                     memcpy
                                     (
                                     void
                                     *
                                     s1
                                     ,
                                     const
                                     void
                                     *
                                     s2
                                     ,
                                     size_t
                                     n
                                     )
                                     ;
                                     void
                                     *
                                     memset
                                     (
                                     void
                                     *
                                     mem
                                     ,
                                     int
                                     ch
                                     ,
                                     size_t
                                     n
                                     )
                                     ;
                                     void
                                     DoResolverInput2
                                     (
                                     CHAN
                                     *
                                     chx
                                     ,
                                     float
                                     x
                                     ,
                                     float
                                     y
                                     )
                                     ;
                                     extern
                                     double
                                     ResolverFactor
                                     ;
                                     void
                                     StartThread
                                     (
                                     int
                                     thread
                                     )
                                     ;
                                     void
                                     PauseThread
                                     (
                                     int
                                     thread
                                     )
                                     ;
                                     int
                                     ResumeThread
                                     (
                                     int
                                     thread
                                     )
                                     ;
                                     void
                                     ThreadDone
                                     (
                                     void
                                     )
                                     ;
                                     extern
                                     int
                                     volatile
                                     CurrentThread
                                     ;
                                     typedef
                                     void
                                     USERCALLBACK
                                     (
                                     void
                                     )
                                     ;
                                     extern
                                     USERCALLBACK
                                     *
                                     UserCallBack
                                     ;
                                     void
                                     MutexLock
                                     (
                                     int
                                     *
                                     mutex
                                     )
                                     ;
                                     void
                                     MutexUnlock
                                     (
                                     int
                                     *
                                     mutex
                                     )
                                     ;
                                     void
                                     AtomicSet
                                     (
                                     int
                                     *
                                     p
                                     ,
                                     int
                                     mask
                                     )
                                     ;
                                     void
                                     AtomicClear
                                     (
                                     int
                                     *
                                     p
                                     ,
                                     int
                                     mask
                                     )
                                     ;
                                     void
                                     AtomicSet16
                                     (
                                     unsigned
                                     short
                                     int
                                     *
                                     p
                                     ,
                                     int
                                     mask
                                     )
                                     ;
                                     void
                                     AtomicClear16
                                     (
                                     unsigned
                                     short
                                     int
                                     *
                                     p
                                     ,
                                     int
                                     mask
                                     )
                                     ;
                                     int
                                     TestAndSet
                                     (
                                     int
                                     *
                                     mutex
                                     ,
                                     int
                                     value
                                     )
                                     ;
                                     void
                                     InitRS232
                                     (
                                     int
                                     baud
                                     )
                                     ;
                                     void
                                     EnableRS232Cmds
                                     (
                                     int
                                     baud
                                     )
                                     ;
                                     extern
                                     char
                                     *
                                     volatile
                                     pRS232RecIn
                                     ;
                                     extern
                                     char
                                     *
                                     pRS232RecOut
                                     ;
                                     extern
                                     char
                                     *
                                     pRS232TxIn
                                     ;
                                     extern
                                     char
                                     *
                                     volatile
                                     pRS232TxOut
                                     ;
                                     extern
                                     int
                                     volatile
                                     DoRS232Cmds
                                     ;
                                     extern
                                     char
                                     RS232RecBuf
                                     [
                                     1000
                                     ]
                                     ;
                                     extern
                                     char
                                     RS232TxBuf
                                     [
                                     1000
                                     ]
                                     ;
                                     char
                                     RS232_GetChar
                                     (
                                     void
                                     )
                                     ;
                                     void
                                     RS232_PutChar
                                     (
                                     char
                                     c
                                     )
                                     ;
                                     void
                                     EnableRS422Cmds
                                     (
                                     int
                                     baud
                                     )
                                     ;
                                     void
                                     RS422_SetBaudRate
                                     (
                                     int
                                     Rate
                                     ,
                                     int
                                     nBits
                                     ,
                                     int
                                     EnableParity
                                     ,
                                     int
                                     ParityOdd
                                     ,
                                     int
                                     RS485_Mode
                                     )
                                     ;
                                     extern
                                     char
                                     *
                                     volatile
                                     pRS422RecIn
                                     ;
                                     extern
                                     char
                                     *
                                     pRS422RecOut
                                     ;
                                     extern
                                     char
                                     *
                                     pRS422TxIn
                                     ;
                                     extern
                                     char
                                     *
                                     volatile
                                     pRS422TxOut
                                     ;
                                     extern
                                     int
                                     volatile
                                     DoRS422Cmds
                                     ;
                                     extern
                                     char
                                     RS422RecBuf
                                     [
                                     1000
                                     ]
                                     ;
                                     extern
                                     char
                                     RS422TxBuf
                                     [
                                     1000
                                     ]
                                     ;
                                     char
                                     RS422_GetChar
                                     (
                                     void
                                     )
                                     ;
                                     void
                                     RS422_PutChar
                                     (
                                     char
                                     c
                                     )
                                     ;
                                     int
                                     main
                                     (
                                     )
                                     {
0000  003C0058 MV.L 0 108 105
0004  07BC1058 MV.L 0 106 108
0008  07800052 ADDK 0 106 0
000C  003C54F4 STW.D SP POST DEC 105 0 0
0010  01BC54F6 STW.D SP POST DEC 107 0 0
                                     double
                                     Tau
                                     ,
                                     T0
                                     ,
                                     LastX
                                     =
                                     0
                                     ,
0014  00000028 MVKL. 0 105 0
0018  00000068 MVKH. 0 105 0
001C  01000364 LDDW.D * 105 0 0
0020  00008000 NOP 5 0 0
0024  007FFE28 MVKL. -4 105 0
0028  007FFFE8 MVKH. -4 105 0
002C  013C0A74 STW.D *+SP[A0] 0 0 0
0030  000000D0 ADDK 1 105 0
0034  01BC0A74 STW.D *+SP[A0] 1 0 0
                                     LastY
                                     =
                                     0
                                     ,
0038  00000028 MVKL. 0 105 0
003C  00000068 MVKH. 0 105 0
0040  01000364 LDDW.D * 105 0 0
0044  00008000 NOP 5 0 0
0048  007FFD28 MVKL. -6 105 0
004C  007FFFE8 MVKH. -6 105 0
0050  013C0A74 STW.D *+SP[A0] 0 0 0
0054  000000D0 ADDK 1 105 0
0058  01BC0A74 STW.D *+SP[A0] 1 0 0
                                     LastZ
                                     =
                                     0
                                     ;
005C  00000028 MVKL. 0 105 0
0060  00000068 MVKH. 0 105 0
0064  01000364 LDDW.D * 105 0 0
0068  00008000 NOP 5 0 0
006C  007FFC28 MVKL. -8 105 0
0070  007FFFE8 MVKH. -8 105 0
0074  013C0A74 STW.D *+SP[A0] 0 0 0
0078  000000D0 ADDK 1 105 0
007C  01BC0A74 STW.D *+SP[A0] 1 0 0
                                     KStepPresent
                                     =
                                     =
                                     1
                                     ;
0080  010000A8 MVKL. 1 0 0
0084  01000068 MVKH. 1 0 0
0088  00000028 MVKL. 0 105 0
008C  00000068 MVKH. 0 105 0
0090  01000274 STW.D * 0 105 0
                                     (
                                     (
                                     (
                                     volatile
                                     unsigned
                                     char
                                     *
                                     )
                                     1610612736
                                     )
                                     [
                                     (
                                     160
                                     )
                                     *
                                     2
                                     ]
                                     )
                                     =
                                     4
                                     ;
0094  01000228 MVKL. 4 0 0
0098  01000068 MVKH. 4 0 0
009C  0000A028 MVKL. 1610613056 105 0
00A0  00300068 MVKH. 1610613056 105 0
00A4  01000234 STB.D * 0 105 0
                                     (
                                     (
                                     (
                                     volatile
                                     unsigned
                                     char
                                     *
                                     )
                                     1610612736
                                     )
                                     [
                                     (
                                     6
                                     )
                                     *
                                     2
                                     ]
                                     )
                                     =
                                     63
                                     +
                                     128
                                     ;
00A8  01005FA8 MVKL. 191 0 0
00AC  01000068 MVKH. 191 0 0
00B0  00000628 MVKL. 1610612748 105 0
00B4  00300068 MVKH. 1610612748 105 0
00B8  01000234 STB.D * 0 105 0
                                     ch0
                                     ->
                                     ->
00BC  00000028 MVKL. 0 105 0
00C0  00000068 MVKH. 0 105 0
00C4  01000264 LDW.D * 105 0 0
00C8  00006000 NOP 4 0 0
                                     InputMode
00CC  01800428 MVKL. 8 1 0
00D0  01800068 MVKH. 8 1 0
00D4  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
00D8  01800028 MVKL. 0 1 0
00DC  01800068 MVKH. 0 1 0
00E0  01880274 STW.D * 1 0 0
                                     ch0
                                     ->
                                     ->
00E4  00000028 MVKL. 0 105 0
00E8  00000068 MVKH. 0 105 0
00EC  01000264 LDW.D * 105 0 0
00F0  00006000 NOP 4 0 0
                                     OutputMode
00F4  01800628 MVKL. 12 1 0
00F8  01800068 MVKH. 12 1 0
00FC  010C4078 ADD.L 0 1 0
                                     =
                                     6
                                     ;
0100  01800328 MVKL. 6 1 0
0104  01800068 MVKH. 6 1 0
0108  01880274 STW.D * 1 0 0
                                     ch0
                                     ->
                                     ->
010C  00000028 MVKL. 0 105 0
0110  00000068 MVKH. 0 105 0
0114  01000264 LDW.D * 105 0 0
0118  00006000 NOP 4 0 0
                                     Vel
011C  01802C28 MVKL. 88 1 0
0120  01800068 MVKH. 88 1 0
0124  010C4078 ADD.L 0 1 0
                                     =
                                     40000
                                     ;
0128  00000028 MVKL. 0 105 0
012C  00000068 MVKH. 0 105 0
0130  00000266 LDW.D * 105 2 0
0134  00006000 NOP 4 0 0
0138  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
013C  00000028 MVKL. 0 105 0
0140  00000068 MVKH. 0 105 0
0144  01000264 LDW.D * 105 0 0
0148  00006000 NOP 4 0 0
                                     Accel
014C  01802E28 MVKL. 92 1 0
0150  01800068 MVKH. 92 1 0
0154  010C4078 ADD.L 0 1 0
                                     =
                                     200000
                                     ;
0158  00000028 MVKL. 0 105 0
015C  00000068 MVKH. 0 105 0
0160  00000266 LDW.D * 105 2 0
0164  00006000 NOP 4 0 0
0168  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
016C  00000028 MVKL. 0 105 0
0170  00000068 MVKH. 0 105 0
0174  01000264 LDW.D * 105 0 0
0178  00006000 NOP 4 0 0
                                     Jerk
017C  01803028 MVKL. 96 1 0
0180  01800068 MVKH. 96 1 0
0184  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
0188  00000028 MVKL. 0 105 0
018C  00000068 MVKH. 0 105 0
0190  00000266 LDW.D * 105 2 0
0194  00006000 NOP 4 0 0
0198  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
019C  00000028 MVKL. 0 105 0
01A0  00000068 MVKH. 0 105 0
01A4  01000264 LDW.D * 105 0 0
01A8  00006000 NOP 4 0 0
                                     P
01AC  01807E28 MVKL. 252 1 0
01B0  01800068 MVKH. 252 1 0
01B4  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
01B8  00000028 MVKL. 0 105 0
01BC  00000068 MVKH. 0 105 0
01C0  00000266 LDW.D * 105 2 0
01C4  00006000 NOP 4 0 0
01C8  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
01CC  00000028 MVKL. 0 105 0
01D0  00000068 MVKH. 0 105 0
01D4  01000264 LDW.D * 105 0 0
01D8  00006000 NOP 4 0 0
                                     I
01DC  01808028 MVKL. 256 1 0
01E0  01800068 MVKH. 256 1 0
01E4  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
01E8  00000028 MVKL. 0 105 0
01EC  00000068 MVKH. 0 105 0
01F0  00000266 LDW.D * 105 2 0
01F4  00006000 NOP 4 0 0
01F8  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
01FC  00000028 MVKL. 0 105 0
0200  00000068 MVKH. 0 105 0
0204  01000264 LDW.D * 105 0 0
0208  00006000 NOP 4 0 0
                                     D
020C  01808228 MVKL. 260 1 0
0210  01800068 MVKH. 260 1 0
0214  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0218  00000028 MVKL. 0 105 0
021C  00000068 MVKH. 0 105 0
0220  00000266 LDW.D * 105 2 0
0224  00006000 NOP 4 0 0
0228  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
022C  00000028 MVKL. 0 105 0
0230  00000068 MVKH. 0 105 0
0234  01000264 LDW.D * 105 0 0
0238  00006000 NOP 4 0 0
                                     FFAccel
023C  01803228 MVKL. 100 1 0
0240  01800068 MVKH. 100 1 0
0244  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0248  00000028 MVKL. 0 105 0
024C  00000068 MVKH. 0 105 0
0250  00000266 LDW.D * 105 2 0
0254  00006000 NOP 4 0 0
0258  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
025C  00000028 MVKL. 0 105 0
0260  00000068 MVKH. 0 105 0
0264  01000264 LDW.D * 105 0 0
0268  00006000 NOP 4 0 0
                                     FFVel
026C  01803428 MVKL. 104 1 0
0270  01800068 MVKH. 104 1 0
0274  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0278  00000028 MVKL. 0 105 0
027C  00000068 MVKH. 0 105 0
0280  00000266 LDW.D * 105 2 0
0284  00006000 NOP 4 0 0
0288  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
028C  00000028 MVKL. 0 105 0
0290  00000068 MVKH. 0 105 0
0294  01000264 LDW.D * 105 0 0
0298  00006000 NOP 4 0 0
                                     MaxI
029C  01808428 MVKL. 264 1 0
02A0  01800068 MVKH. 264 1 0
02A4  010C4078 ADD.L 0 1 0
                                     =
                                     200
                                     ;
02A8  00000028 MVKL. 0 105 0
02AC  00000068 MVKH. 0 105 0
02B0  00000266 LDW.D * 105 2 0
02B4  00006000 NOP 4 0 0
02B8  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
02BC  00000028 MVKL. 0 105 0
02C0  00000068 MVKH. 0 105 0
02C4  01000264 LDW.D * 105 0 0
02C8  00006000 NOP 4 0 0
                                     MaxErr
02CC  01808628 MVKL. 268 1 0
02D0  01800068 MVKH. 268 1 0
02D4  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
02D8  00000028 MVKL. 0 105 0
02DC  00000068 MVKH. 0 105 0
02E0  00000266 LDW.D * 105 2 0
02E4  00006000 NOP 4 0 0
02E8  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
02EC  00000028 MVKL. 0 105 0
02F0  00000068 MVKH. 0 105 0
02F4  01000264 LDW.D * 105 0 0
02F8  00006000 NOP 4 0 0
                                     MaxOutput
02FC  01808A28 MVKL. 276 1 0
0300  01800068 MVKH. 276 1 0
0304  010C4078 ADD.L 0 1 0
                                     =
                                     200
                                     ;
0308  00000028 MVKL. 0 105 0
030C  00000068 MVKH. 0 105 0
0310  00000266 LDW.D * 105 2 0
0314  00006000 NOP 4 0 0
0318  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
031C  00000028 MVKL. 0 105 0
0320  00000068 MVKH. 0 105 0
0324  01000264 LDW.D * 105 0 0
0328  00006000 NOP 4 0 0
                                     DeadBandGain
032C  01808E28 MVKL. 284 1 0
0330  01800068 MVKH. 284 1 0
0334  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
0338  00000028 MVKL. 0 105 0
033C  00000068 MVKH. 0 105 0
0340  00000266 LDW.D * 105 2 0
0344  00006000 NOP 4 0 0
0348  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
034C  00000028 MVKL. 0 105 0
0350  00000068 MVKH. 0 105 0
0354  01000264 LDW.D * 105 0 0
0358  00006000 NOP 4 0 0
                                     DeadBandRange
035C  01808C28 MVKL. 280 1 0
0360  01800068 MVKH. 280 1 0
0364  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0368  00000028 MVKL. 0 105 0
036C  00000068 MVKH. 0 105 0
0370  00000266 LDW.D * 105 2 0
0374  00006000 NOP 4 0 0
0378  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
037C  00000028 MVKL. 0 105 0
0380  00000068 MVKH. 0 105 0
0384  01000264 LDW.D * 105 0 0
0388  00006000 NOP 4 0 0
                                     InputChan0
038C  01806628 MVKL. 204 1 0
0390  01800068 MVKH. 204 1 0
0394  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0398  01800028 MVKL. 0 1 0
039C  01800068 MVKH. 0 1 0
03A0  01880274 STW.D * 1 0 0
                                     ch0
                                     ->
                                     ->
03A4  00000028 MVKL. 0 105 0
03A8  00000068 MVKH. 0 105 0
03AC  01000264 LDW.D * 105 0 0
03B0  00006000 NOP 4 0 0
                                     InputChan1
03B4  01806828 MVKL. 208 1 0
03B8  01800068 MVKH. 208 1 0
03BC  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
03C0  01800028 MVKL. 0 1 0
03C4  01800068 MVKH. 0 1 0
03C8  01880274 STW.D * 1 0 0
                                     ch0
                                     ->
                                     ->
03CC  00000028 MVKL. 0 105 0
03D0  00000068 MVKH. 0 105 0
03D4  01000264 LDW.D * 105 0 0
03D8  00006000 NOP 4 0 0
                                     OutputChan0
03DC  01806228 MVKL. 196 1 0
03E0  01800068 MVKH. 196 1 0
03E4  010C4078 ADD.L 0 1 0
                                     =
                                     8
                                     ;
03E8  01800428 MVKL. 8 1 0
03EC  01800068 MVKH. 8 1 0
03F0  01880274 STW.D * 1 0 0
                                     ch0
                                     ->
                                     ->
03F4  00000028 MVKL. 0 105 0
03F8  00000068 MVKH. 0 105 0
03FC  01000264 LDW.D * 105 0 0
0400  00006000 NOP 4 0 0
                                     OutputChan1
0404  01806428 MVKL. 200 1 0
0408  01800068 MVKH. 200 1 0
040C  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0410  01800028 MVKL. 0 1 0
0414  01800068 MVKH. 0 1 0
0418  01880274 STW.D * 1 0 0
                                     ch0
                                     ->
                                     ->
041C  00000028 MVKL. 0 105 0
0420  00000068 MVKH. 0 105 0
0424  01000264 LDW.D * 105 0 0
0428  00006000 NOP 4 0 0
                                     MasterAxis
042C  01800E28 MVKL. 28 1 0
0430  01800068 MVKH. 28 1 0
0434  010C4078 ADD.L 0 1 0
                                     =
                                     -
                                     1
                                     ;
0438  01FFFFA8 MVKL. -1 1 0
043C  01FFFFE8 MVKH. -1 1 0
0440  01880274 STW.D * 1 0 0
                                     ch0
                                     ->
                                     ->
0444  00000028 MVKL. 0 105 0
0448  00000068 MVKH. 0 105 0
044C  01000264 LDW.D * 105 0 0
0450  00006000 NOP 4 0 0
                                     LimitSwitchOptions
0454  01800828 MVKL. 16 1 0
0458  01800068 MVKH. 16 1 0
045C  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0460  01800028 MVKL. 0 1 0
0464  01800068 MVKH. 0 1 0
0468  01880274 STW.D * 1 0 0
                                     ch0
                                     ->
                                     ->
046C  00000028 MVKL. 0 105 0
0470  00000068 MVKH. 0 105 0
0474  01000264 LDW.D * 105 0 0
0478  00006000 NOP 4 0 0
                                     SoftLimitPos
047C  01809E28 MVKL. 316 1 0
0480  01800068 MVKH. 316 1 0
0484  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
0488  00000028 MVKL. 0 105 0
048C  00000068 MVKH. 0 105 0
0490  00000266 LDW.D * 105 2 0
0494  00006000 NOP 4 0 0
0498  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
049C  00000028 MVKL. 0 105 0
04A0  00000068 MVKH. 0 105 0
04A4  01000264 LDW.D * 105 0 0
04A8  00006000 NOP 4 0 0
                                     SoftLimitNeg
04AC  01809C28 MVKL. 312 1 0
04B0  01800068 MVKH. 312 1 0
04B4  010C4078 ADD.L 0 1 0
                                     =
                                     -
                                     
                                     ;
04B8  00000028 MVKL. 0 105 0
04BC  00000068 MVKH. 0 105 0
04C0  00000266 LDW.D * 105 2 0
04C4  00006000 NOP 4 0 0
04C8  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
04CC  00000028 MVKL. 0 105 0
04D0  00000068 MVKH. 0 105 0
04D4  01000264 LDW.D * 105 0 0
04D8  00006000 NOP 4 0 0
                                     InputGain0
04DC  01806C28 MVKL. 216 1 0
04E0  01800068 MVKH. 216 1 0
04E4  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
04E8  00000028 MVKL. 0 105 0
04EC  00000068 MVKH. 0 105 0
04F0  00000266 LDW.D * 105 2 0
04F4  00006000 NOP 4 0 0
04F8  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
04FC  00000028 MVKL. 0 105 0
0500  00000068 MVKH. 0 105 0
0504  01000264 LDW.D * 105 0 0
0508  00006000 NOP 4 0 0
                                     InputGain1
050C  01807028 MVKL. 224 1 0
0510  01800068 MVKH. 224 1 0
0514  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
0518  00000028 MVKL. 0 105 0
051C  00000068 MVKH. 0 105 0
0520  00000266 LDW.D * 105 2 0
0524  00006000 NOP 4 0 0
0528  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
052C  00000028 MVKL. 0 105 0
0530  00000068 MVKH. 0 105 0
0534  01000264 LDW.D * 105 0 0
0538  00006000 NOP 4 0 0
                                     InputOffset0
053C  01806A28 MVKL. 212 1 0
0540  01800068 MVKH. 212 1 0
0544  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0548  00000028 MVKL. 0 105 0
054C  00000068 MVKH. 0 105 0
0550  00000266 LDW.D * 105 2 0
0554  00006000 NOP 4 0 0
0558  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
055C  00000028 MVKL. 0 105 0
0560  00000068 MVKH. 0 105 0
0564  01000264 LDW.D * 105 0 0
0568  00006000 NOP 4 0 0
                                     InputOffset1
056C  01806E28 MVKL. 220 1 0
0570  01800068 MVKH. 220 1 0
0574  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0578  00000028 MVKL. 0 105 0
057C  00000068 MVKH. 0 105 0
0580  00000266 LDW.D * 105 2 0
0584  00006000 NOP 4 0 0
0588  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
058C  00000028 MVKL. 0 105 0
0590  00000068 MVKH. 0 105 0
0594  01000264 LDW.D * 105 0 0
0598  00006000 NOP 4 0 0
                                     OutputGain
059C  01807228 MVKL. 228 1 0
05A0  01800068 MVKH. 228 1 0
05A4  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
05A8  00000028 MVKL. 0 105 0
05AC  00000068 MVKH. 0 105 0
05B0  00000266 LDW.D * 105 2 0
05B4  00006000 NOP 4 0 0
05B8  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
05BC  00000028 MVKL. 0 105 0
05C0  00000068 MVKH. 0 105 0
05C4  01000264 LDW.D * 105 0 0
05C8  00006000 NOP 4 0 0
                                     OutputOffset
05CC  01807428 MVKL. 232 1 0
05D0  01800068 MVKH. 232 1 0
05D4  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
05D8  00000028 MVKL. 0 105 0
05DC  00000068 MVKH. 0 105 0
05E0  00000266 LDW.D * 105 2 0
05E4  00006000 NOP 4 0 0
05E8  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
05EC  00000028 MVKL. 0 105 0
05F0  00000068 MVKH. 0 105 0
05F4  01000264 LDW.D * 105 0 0
05F8  00006000 NOP 4 0 0
                                     SlaveGain
05FC  01801028 MVKL. 32 1 0
0600  01800068 MVKH. 32 1 0
0604  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
0608  00000028 MVKL. 0 105 0
060C  00000068 MVKH. 0 105 0
0610  00000366 LDDW.D * 105 2 0
0614  00008000 NOP 5 0 0
0618  00080276 STW.D * 2 0 0
061C  00882276 STW.D +* 3 0 1
                                     ch0
                                     ->
                                     ->
0620  00000028 MVKL. 0 105 0
0624  00000068 MVKH. 0 105 0
0628  01000264 LDW.D * 105 0 0
062C  00006000 NOP 4 0 0
                                     BacklashMode
0630  0180A028 MVKL. 320 1 0
0634  01800068 MVKH. 320 1 0
0638  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
063C  01800028 MVKL. 0 1 0
0640  01800068 MVKH. 0 1 0
0644  01880274 STW.D * 1 0 0
                                     ch0
                                     ->
                                     ->
0648  00000028 MVKL. 0 105 0
064C  00000068 MVKH. 0 105 0
0650  01000264 LDW.D * 105 0 0
0654  00006000 NOP 4 0 0
                                     BacklashAmount
0658  0180A228 MVKL. 324 1 0
065C  01800068 MVKH. 324 1 0
0660  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0664  00000028 MVKL. 0 105 0
0668  00000068 MVKH. 0 105 0
066C  00000266 LDW.D * 105 2 0
0670  00006000 NOP 4 0 0
0674  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
0678  00000028 MVKL. 0 105 0
067C  00000068 MVKH. 0 105 0
0680  01000264 LDW.D * 105 0 0
0684  00006000 NOP 4 0 0
                                     BacklashRate
0688  0180A428 MVKL. 328 1 0
068C  01800068 MVKH. 328 1 0
0690  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0694  00000028 MVKL. 0 105 0
0698  00000068 MVKH. 0 105 0
069C  00000266 LDW.D * 105 2 0
06A0  00006000 NOP 4 0 0
06A4  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
06A8  00000028 MVKL. 0 105 0
06AC  00000068 MVKH. 0 105 0
06B0  01000264 LDW.D * 105 0 0
06B4  00006000 NOP 4 0 0
                                     invDistPerCycle
06B8  01803C28 MVKL. 120 1 0
06BC  01800068 MVKH. 120 1 0
06C0  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
06C4  00000028 MVKL. 0 105 0
06C8  00000068 MVKH. 0 105 0
06CC  00000366 LDDW.D * 105 2 0
06D0  00008000 NOP 5 0 0
06D4  00080276 STW.D * 2 0 0
06D8  00882276 STW.D +* 3 0 1
                                     ch0
                                     ->
                                     ->
06DC  00000028 MVKL. 0 105 0
06E0  00000068 MVKH. 0 105 0
06E4  01000264 LDW.D * 105 0 0
06E8  00006000 NOP 4 0 0
                                     Lead
06EC  01804628 MVKL. 140 1 0
06F0  01800068 MVKH. 140 1 0
06F4  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
06F8  00000028 MVKL. 0 105 0
06FC  00000068 MVKH. 0 105 0
0700  00000266 LDW.D * 105 2 0
0704  00006000 NOP 4 0 0
0708  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
070C  00000028 MVKL. 0 105 0
0710  00000068 MVKH. 0 105 0
0714  01000264 LDW.D * 105 0 0
0718  00006000 NOP 4 0 0
                                     MaxFollowingError
071C  01801428 MVKL. 40 1 0
0720  01800068 MVKH. 40 1 0
0724  010C4078 ADD.L 0 1 0
                                     =
                                     1000000000
                                     ;
0728  00000028 MVKL. 0 105 0
072C  00000068 MVKH. 0 105 0
0730  00000366 LDDW.D * 105 2 0
0734  00008000 NOP 5 0 0
0738  00080276 STW.D * 2 0 0
073C  00882276 STW.D +* 3 0 1
                                     ch0
                                     ->
                                     ->
0740  00000028 MVKL. 0 105 0
0744  00000068 MVKH. 0 105 0
0748  01000264 LDW.D * 105 0 0
074C  00006000 NOP 4 0 0
                                     StepperAmplitude
0750  01804028 MVKL. 128 1 0
0754  01800068 MVKH. 128 1 0
0758  010C4078 ADD.L 0 1 0
                                     =
                                     20
                                     ;
075C  00000028 MVKL. 0 105 0
0760  00000068 MVKH. 0 105 0
0764  00000266 LDW.D * 105 2 0
0768  00006000 NOP 4 0 0
076C  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
0770  00000028 MVKL. 0 105 0
0774  00000068 MVKH. 0 105 0
0778  01000264 LDW.D * 105 0 0
077C  00006000 NOP 4 0 0
                                     iir
0780  0180AE28 MVKL. 348 1 0
0784  01800068 MVKH. 348 1 0
0788  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     B0
078C  01800428 MVKL. 8 1 0
0790  01800068 MVKH. 8 1 0
0794  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
0798  00000028 MVKL. 0 105 0
079C  00000068 MVKH. 0 105 0
07A0  00000266 LDW.D * 105 2 0
07A4  00006000 NOP 4 0 0
07A8  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
07AC  00000028 MVKL. 0 105 0
07B0  00000068 MVKH. 0 105 0
07B4  01000264 LDW.D * 105 0 0
07B8  00006000 NOP 4 0 0
                                     iir
07BC  0180AE28 MVKL. 348 1 0
07C0  01800068 MVKH. 348 1 0
07C4  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     B1
07C8  01800628 MVKL. 12 1 0
07CC  01800068 MVKH. 12 1 0
07D0  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
07D4  00000028 MVKL. 0 105 0
07D8  00000068 MVKH. 0 105 0
07DC  00000266 LDW.D * 105 2 0
07E0  00006000 NOP 4 0 0
07E4  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
07E8  00000028 MVKL. 0 105 0
07EC  00000068 MVKH. 0 105 0
07F0  01000264 LDW.D * 105 0 0
07F4  00006000 NOP 4 0 0
                                     iir
07F8  0180AE28 MVKL. 348 1 0
07FC  01800068 MVKH. 348 1 0
0800  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     B2
0804  01800828 MVKL. 16 1 0
0808  01800068 MVKH. 16 1 0
080C  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0810  00000028 MVKL. 0 105 0
0814  00000068 MVKH. 0 105 0
0818  00000266 LDW.D * 105 2 0
081C  00006000 NOP 4 0 0
0820  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
0824  00000028 MVKL. 0 105 0
0828  00000068 MVKH. 0 105 0
082C  01000264 LDW.D * 105 0 0
0830  00006000 NOP 4 0 0
                                     iir
0834  0180AE28 MVKL. 348 1 0
0838  01800068 MVKH. 348 1 0
083C  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     A1
                                     =
                                     0
                                     ;
0840  00000028 MVKL. 0 105 0
0844  00000068 MVKH. 0 105 0
0848  00000266 LDW.D * 105 2 0
084C  00006000 NOP 4 0 0
0850  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
0854  00000028 MVKL. 0 105 0
0858  00000068 MVKH. 0 105 0
085C  01000264 LDW.D * 105 0 0
0860  00006000 NOP 4 0 0
                                     iir
0864  0180AE28 MVKL. 348 1 0
0868  01800068 MVKH. 348 1 0
086C  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     A2
0870  01800228 MVKL. 4 1 0
0874  01800068 MVKH. 4 1 0
0878  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
087C  00000028 MVKL. 0 105 0
0880  00000068 MVKH. 0 105 0
0884  00000266 LDW.D * 105 2 0
0888  00006000 NOP 4 0 0
088C  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
0890  00000028 MVKL. 0 105 0
0894  00000068 MVKH. 0 105 0
0898  01000264 LDW.D * 105 0 0
089C  00006000 NOP 4 0 0
                                     iir
08A0  0180AE28 MVKL. 348 1 0
08A4  01800068 MVKH. 348 1 0
08A8  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
08AC  01800E28 MVKL. 28 1 0
08B0  01800068 MVKH. 28 1 0
08B4  010C4078 ADD.L 0 1 0
                                     .
                                     B0
08B8  01800428 MVKL. 8 1 0
08BC  01800068 MVKH. 8 1 0
08C0  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
08C4  00000028 MVKL. 0 105 0
08C8  00000068 MVKH. 0 105 0
08CC  00000266 LDW.D * 105 2 0
08D0  00006000 NOP 4 0 0
08D4  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
08D8  00000028 MVKL. 0 105 0
08DC  00000068 MVKH. 0 105 0
08E0  01000264 LDW.D * 105 0 0
08E4  00006000 NOP 4 0 0
                                     iir
08E8  0180AE28 MVKL. 348 1 0
08EC  01800068 MVKH. 348 1 0
08F0  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
08F4  01800E28 MVKL. 28 1 0
08F8  01800068 MVKH. 28 1 0
08FC  010C4078 ADD.L 0 1 0
                                     .
                                     B1
0900  01800628 MVKL. 12 1 0
0904  01800068 MVKH. 12 1 0
0908  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
090C  00000028 MVKL. 0 105 0
0910  00000068 MVKH. 0 105 0
0914  00000266 LDW.D * 105 2 0
0918  00006000 NOP 4 0 0
091C  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
0920  00000028 MVKL. 0 105 0
0924  00000068 MVKH. 0 105 0
0928  01000264 LDW.D * 105 0 0
092C  00006000 NOP 4 0 0
                                     iir
0930  0180AE28 MVKL. 348 1 0
0934  01800068 MVKH. 348 1 0
0938  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
093C  01800E28 MVKL. 28 1 0
0940  01800068 MVKH. 28 1 0
0944  010C4078 ADD.L 0 1 0
                                     .
                                     B2
0948  01800828 MVKL. 16 1 0
094C  01800068 MVKH. 16 1 0
0950  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0954  00000028 MVKL. 0 105 0
0958  00000068 MVKH. 0 105 0
095C  00000266 LDW.D * 105 2 0
0960  00006000 NOP 4 0 0
0964  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
0968  00000028 MVKL. 0 105 0
096C  00000068 MVKH. 0 105 0
0970  01000264 LDW.D * 105 0 0
0974  00006000 NOP 4 0 0
                                     iir
0978  0180AE28 MVKL. 348 1 0
097C  01800068 MVKH. 348 1 0
0980  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
0984  01800E28 MVKL. 28 1 0
0988  01800068 MVKH. 28 1 0
098C  010C4078 ADD.L 0 1 0
                                     .
                                     A1
                                     =
                                     0
                                     ;
0990  00000028 MVKL. 0 105 0
0994  00000068 MVKH. 0 105 0
0998  00000266 LDW.D * 105 2 0
099C  00006000 NOP 4 0 0
09A0  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
09A4  00000028 MVKL. 0 105 0
09A8  00000068 MVKH. 0 105 0
09AC  01000264 LDW.D * 105 0 0
09B0  00006000 NOP 4 0 0
                                     iir
09B4  0180AE28 MVKL. 348 1 0
09B8  01800068 MVKH. 348 1 0
09BC  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
09C0  01800E28 MVKL. 28 1 0
09C4  01800068 MVKH. 28 1 0
09C8  010C4078 ADD.L 0 1 0
                                     .
                                     A2
09CC  01800228 MVKL. 4 1 0
09D0  01800068 MVKH. 4 1 0
09D4  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
09D8  00000028 MVKL. 0 105 0
09DC  00000068 MVKH. 0 105 0
09E0  00000266 LDW.D * 105 2 0
09E4  00006000 NOP 4 0 0
09E8  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
09EC  00000028 MVKL. 0 105 0
09F0  00000068 MVKH. 0 105 0
09F4  01000264 LDW.D * 105 0 0
09F8  00006000 NOP 4 0 0
                                     iir
09FC  0180AE28 MVKL. 348 1 0
0A00  01800068 MVKH. 348 1 0
0A04  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
0A08  01801C28 MVKL. 56 1 0
0A0C  01800068 MVKH. 56 1 0
0A10  010C4078 ADD.L 0 1 0
                                     .
                                     B0
0A14  01800428 MVKL. 8 1 0
0A18  01800068 MVKH. 8 1 0
0A1C  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
0A20  00000028 MVKL. 0 105 0
0A24  00000068 MVKH. 0 105 0
0A28  00000266 LDW.D * 105 2 0
0A2C  00006000 NOP 4 0 0
0A30  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
0A34  00000028 MVKL. 0 105 0
0A38  00000068 MVKH. 0 105 0
0A3C  01000264 LDW.D * 105 0 0
0A40  00006000 NOP 4 0 0
                                     iir
0A44  0180AE28 MVKL. 348 1 0
0A48  01800068 MVKH. 348 1 0
0A4C  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
0A50  01801C28 MVKL. 56 1 0
0A54  01800068 MVKH. 56 1 0
0A58  010C4078 ADD.L 0 1 0
                                     .
                                     B1
0A5C  01800628 MVKL. 12 1 0
0A60  01800068 MVKH. 12 1 0
0A64  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
0A68  00000028 MVKL. 0 105 0
0A6C  00000068 MVKH. 0 105 0
0A70  00000266 LDW.D * 105 2 0
0A74  00006000 NOP 4 0 0
0A78  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
0A7C  00000028 MVKL. 0 105 0
0A80  00000068 MVKH. 0 105 0
0A84  01000264 LDW.D * 105 0 0
0A88  00006000 NOP 4 0 0
                                     iir
0A8C  0180AE28 MVKL. 348 1 0
0A90  01800068 MVKH. 348 1 0
0A94  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
0A98  01801C28 MVKL. 56 1 0
0A9C  01800068 MVKH. 56 1 0
0AA0  010C4078 ADD.L 0 1 0
                                     .
                                     B2
0AA4  01800828 MVKL. 16 1 0
0AA8  01800068 MVKH. 16 1 0
0AAC  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
0AB0  00000028 MVKL. 0 105 0
0AB4  00000068 MVKH. 0 105 0
0AB8  00000266 LDW.D * 105 2 0
0ABC  00006000 NOP 4 0 0
0AC0  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
0AC4  00000028 MVKL. 0 105 0
0AC8  00000068 MVKH. 0 105 0
0ACC  01000264 LDW.D * 105 0 0
0AD0  00006000 NOP 4 0 0
                                     iir
0AD4  0180AE28 MVKL. 348 1 0
0AD8  01800068 MVKH. 348 1 0
0ADC  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
0AE0  01801C28 MVKL. 56 1 0
0AE4  01800068 MVKH. 56 1 0
0AE8  010C4078 ADD.L 0 1 0
                                     .
                                     A1
                                     =
                                     
                                     ;
0AEC  00000028 MVKL. 0 105 0
0AF0  00000068 MVKH. 0 105 0
0AF4  00000266 LDW.D * 105 2 0
0AF8  00006000 NOP 4 0 0
0AFC  00080276 STW.D * 2 0 0
                                     ch0
                                     ->
                                     ->
0B00  00000028 MVKL. 0 105 0
0B04  00000068 MVKH. 0 105 0
0B08  01000264 LDW.D * 105 0 0
0B0C  00006000 NOP 4 0 0
                                     iir
0B10  0180AE28 MVKL. 348 1 0
0B14  01800068 MVKH. 348 1 0
0B18  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
0B1C  01801C28 MVKL. 56 1 0
0B20  01800068 MVKH. 56 1 0
0B24  010C4078 ADD.L 0 1 0
                                     .
                                     A2
0B28  01800228 MVKL. 4 1 0
0B2C  01800068 MVKH. 4 1 0
0B30  010C4078 ADD.L 0 1 0
                                     =
                                     -
                                     
                                     ;
0B34  00000028 MVKL. 0 105 0
0B38  00000068 MVKH. 0 105 0
0B3C  00000266 LDW.D * 105 2 0
0B40  00006000 NOP 4 0 0
0B44  00080276 STW.D * 2 0 0
                                     EnableAxisDest
                                     (
                                     (
                                     0
                                     ,
0B48  02000028 MVKL. 0 4 0
0B4C  02000068 MVKH. 0 4 0
0B50  023C54F4 STW.D SP POST DEC 4 0 0
                                     0
                                     )
0B54  00000028 MVKL. 0 105 0
0B58  00000068 MVKH. 0 105 0
0B5C  02000366 LDDW.D * 105 6 0
0B60  00008000 NOP 5 0 0
0B64  023C54F6 STW.D SP POST DEC 6 0 0
0B68  02BC62F6 STW.D +* 7 106 3
                                     ;
0B6C  023C33E6 LDDW.D SP PRE INC 6 0 0
0B70  023C52E4 LDW.D SP PRE INC 4 0 0
0B74  00000028 MVKL. 0 105 0
0B78  00000068 MVKH. 0 105 0
0B7C  00001362 B.S2 0 -1 105
0B80  0180002A MVKL. 0 107 0
0B84  0180006A MVKH. 0 107 0
0B88  00004000 NOP 3 0 0
                                     ch1
                                     ->
                                     ->
0B8C  00000028 MVKL. 0 105 0
0B90  00000068 MVKH. 0 105 0
0B94  01000264 LDW.D * 105 0 0
0B98  00006000 NOP 4 0 0
                                     InputMode
0B9C  01800428 MVKL. 8 1 0
0BA0  01800068 MVKH. 8 1 0
0BA4  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0BA8  01800028 MVKL. 0 1 0
0BAC  01800068 MVKH. 0 1 0
0BB0  01880274 STW.D * 1 0 0
                                     ch1
                                     ->
                                     ->
0BB4  00000028 MVKL. 0 105 0
0BB8  00000068 MVKH. 0 105 0
0BBC  01000264 LDW.D * 105 0 0
0BC0  00006000 NOP 4 0 0
                                     OutputMode
0BC4  01800628 MVKL. 12 1 0
0BC8  01800068 MVKH. 12 1 0
0BCC  010C4078 ADD.L 0 1 0
                                     =
                                     6
                                     ;
0BD0  01800328 MVKL. 6 1 0
0BD4  01800068 MVKH. 6 1 0
0BD8  01880274 STW.D * 1 0 0
                                     ch1
                                     ->
                                     ->
0BDC  00000028 MVKL. 0 105 0
0BE0  00000068 MVKH. 0 105 0
0BE4  01000264 LDW.D * 105 0 0
0BE8  00006000 NOP 4 0 0
                                     Vel
0BEC  01802C28 MVKL. 88 1 0
0BF0  01800068 MVKH. 88 1 0
0BF4  010C4078 ADD.L 0 1 0
                                     =
                                     40000
                                     ;
0BF8  00000028 MVKL. 0 105 0
0BFC  00000068 MVKH. 0 105 0
0C00  00000266 LDW.D * 105 2 0
0C04  00006000 NOP 4 0 0
0C08  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0C0C  00000028 MVKL. 0 105 0
0C10  00000068 MVKH. 0 105 0
0C14  01000264 LDW.D * 105 0 0
0C18  00006000 NOP 4 0 0
                                     Accel
0C1C  01802E28 MVKL. 92 1 0
0C20  01800068 MVKH. 92 1 0
0C24  010C4078 ADD.L 0 1 0
                                     =
                                     200000
                                     ;
0C28  00000028 MVKL. 0 105 0
0C2C  00000068 MVKH. 0 105 0
0C30  00000266 LDW.D * 105 2 0
0C34  00006000 NOP 4 0 0
0C38  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0C3C  00000028 MVKL. 0 105 0
0C40  00000068 MVKH. 0 105 0
0C44  01000264 LDW.D * 105 0 0
0C48  00006000 NOP 4 0 0
                                     Jerk
0C4C  01803028 MVKL. 96 1 0
0C50  01800068 MVKH. 96 1 0
0C54  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
0C58  00000028 MVKL. 0 105 0
0C5C  00000068 MVKH. 0 105 0
0C60  00000266 LDW.D * 105 2 0
0C64  00006000 NOP 4 0 0
0C68  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0C6C  00000028 MVKL. 0 105 0
0C70  00000068 MVKH. 0 105 0
0C74  01000264 LDW.D * 105 0 0
0C78  00006000 NOP 4 0 0
                                     P
0C7C  01807E28 MVKL. 252 1 0
0C80  01800068 MVKH. 252 1 0
0C84  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0C88  00000028 MVKL. 0 105 0
0C8C  00000068 MVKH. 0 105 0
0C90  00000266 LDW.D * 105 2 0
0C94  00006000 NOP 4 0 0
0C98  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0C9C  00000028 MVKL. 0 105 0
0CA0  00000068 MVKH. 0 105 0
0CA4  01000264 LDW.D * 105 0 0
0CA8  00006000 NOP 4 0 0
                                     I
0CAC  01808028 MVKL. 256 1 0
0CB0  01800068 MVKH. 256 1 0
0CB4  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
0CB8  00000028 MVKL. 0 105 0
0CBC  00000068 MVKH. 0 105 0
0CC0  00000266 LDW.D * 105 2 0
0CC4  00006000 NOP 4 0 0
0CC8  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0CCC  00000028 MVKL. 0 105 0
0CD0  00000068 MVKH. 0 105 0
0CD4  01000264 LDW.D * 105 0 0
0CD8  00006000 NOP 4 0 0
                                     D
0CDC  01808228 MVKL. 260 1 0
0CE0  01800068 MVKH. 260 1 0
0CE4  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0CE8  00000028 MVKL. 0 105 0
0CEC  00000068 MVKH. 0 105 0
0CF0  00000266 LDW.D * 105 2 0
0CF4  00006000 NOP 4 0 0
0CF8  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0CFC  00000028 MVKL. 0 105 0
0D00  00000068 MVKH. 0 105 0
0D04  01000264 LDW.D * 105 0 0
0D08  00006000 NOP 4 0 0
                                     FFAccel
0D0C  01803228 MVKL. 100 1 0
0D10  01800068 MVKH. 100 1 0
0D14  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0D18  00000028 MVKL. 0 105 0
0D1C  00000068 MVKH. 0 105 0
0D20  00000266 LDW.D * 105 2 0
0D24  00006000 NOP 4 0 0
0D28  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0D2C  00000028 MVKL. 0 105 0
0D30  00000068 MVKH. 0 105 0
0D34  01000264 LDW.D * 105 0 0
0D38  00006000 NOP 4 0 0
                                     FFVel
0D3C  01803428 MVKL. 104 1 0
0D40  01800068 MVKH. 104 1 0
0D44  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0D48  00000028 MVKL. 0 105 0
0D4C  00000068 MVKH. 0 105 0
0D50  00000266 LDW.D * 105 2 0
0D54  00006000 NOP 4 0 0
0D58  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0D5C  00000028 MVKL. 0 105 0
0D60  00000068 MVKH. 0 105 0
0D64  01000264 LDW.D * 105 0 0
0D68  00006000 NOP 4 0 0
                                     MaxI
0D6C  01808428 MVKL. 264 1 0
0D70  01800068 MVKH. 264 1 0
0D74  010C4078 ADD.L 0 1 0
                                     =
                                     200
                                     ;
0D78  00000028 MVKL. 0 105 0
0D7C  00000068 MVKH. 0 105 0
0D80  00000266 LDW.D * 105 2 0
0D84  00006000 NOP 4 0 0
0D88  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0D8C  00000028 MVKL. 0 105 0
0D90  00000068 MVKH. 0 105 0
0D94  01000264 LDW.D * 105 0 0
0D98  00006000 NOP 4 0 0
                                     MaxErr
0D9C  01808628 MVKL. 268 1 0
0DA0  01800068 MVKH. 268 1 0
0DA4  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
0DA8  00000028 MVKL. 0 105 0
0DAC  00000068 MVKH. 0 105 0
0DB0  00000266 LDW.D * 105 2 0
0DB4  00006000 NOP 4 0 0
0DB8  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0DBC  00000028 MVKL. 0 105 0
0DC0  00000068 MVKH. 0 105 0
0DC4  01000264 LDW.D * 105 0 0
0DC8  00006000 NOP 4 0 0
                                     MaxOutput
0DCC  01808A28 MVKL. 276 1 0
0DD0  01800068 MVKH. 276 1 0
0DD4  010C4078 ADD.L 0 1 0
                                     =
                                     200
                                     ;
0DD8  00000028 MVKL. 0 105 0
0DDC  00000068 MVKH. 0 105 0
0DE0  00000266 LDW.D * 105 2 0
0DE4  00006000 NOP 4 0 0
0DE8  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0DEC  00000028 MVKL. 0 105 0
0DF0  00000068 MVKH. 0 105 0
0DF4  01000264 LDW.D * 105 0 0
0DF8  00006000 NOP 4 0 0
                                     DeadBandGain
0DFC  01808E28 MVKL. 284 1 0
0E00  01800068 MVKH. 284 1 0
0E04  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
0E08  00000028 MVKL. 0 105 0
0E0C  00000068 MVKH. 0 105 0
0E10  00000266 LDW.D * 105 2 0
0E14  00006000 NOP 4 0 0
0E18  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0E1C  00000028 MVKL. 0 105 0
0E20  00000068 MVKH. 0 105 0
0E24  01000264 LDW.D * 105 0 0
0E28  00006000 NOP 4 0 0
                                     DeadBandRange
0E2C  01808C28 MVKL. 280 1 0
0E30  01800068 MVKH. 280 1 0
0E34  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0E38  00000028 MVKL. 0 105 0
0E3C  00000068 MVKH. 0 105 0
0E40  00000266 LDW.D * 105 2 0
0E44  00006000 NOP 4 0 0
0E48  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0E4C  00000028 MVKL. 0 105 0
0E50  00000068 MVKH. 0 105 0
0E54  01000264 LDW.D * 105 0 0
0E58  00006000 NOP 4 0 0
                                     InputChan0
0E5C  01806628 MVKL. 204 1 0
0E60  01800068 MVKH. 204 1 0
0E64  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0E68  01800028 MVKL. 0 1 0
0E6C  01800068 MVKH. 0 1 0
0E70  01880274 STW.D * 1 0 0
                                     ch1
                                     ->
                                     ->
0E74  00000028 MVKL. 0 105 0
0E78  00000068 MVKH. 0 105 0
0E7C  01000264 LDW.D * 105 0 0
0E80  00006000 NOP 4 0 0
                                     InputChan1
0E84  01806828 MVKL. 208 1 0
0E88  01800068 MVKH. 208 1 0
0E8C  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0E90  01800028 MVKL. 0 1 0
0E94  01800068 MVKH. 0 1 0
0E98  01880274 STW.D * 1 0 0
                                     ch1
                                     ->
                                     ->
0E9C  00000028 MVKL. 0 105 0
0EA0  00000068 MVKH. 0 105 0
0EA4  01000264 LDW.D * 105 0 0
0EA8  00006000 NOP 4 0 0
                                     OutputChan0
0EAC  01806228 MVKL. 196 1 0
0EB0  01800068 MVKH. 196 1 0
0EB4  010C4078 ADD.L 0 1 0
                                     =
                                     9
                                     ;
0EB8  018004A8 MVKL. 9 1 0
0EBC  01800068 MVKH. 9 1 0
0EC0  01880274 STW.D * 1 0 0
                                     ch1
                                     ->
                                     ->
0EC4  00000028 MVKL. 0 105 0
0EC8  00000068 MVKH. 0 105 0
0ECC  01000264 LDW.D * 105 0 0
0ED0  00006000 NOP 4 0 0
                                     OutputChan1
0ED4  01806428 MVKL. 200 1 0
0ED8  01800068 MVKH. 200 1 0
0EDC  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0EE0  01800028 MVKL. 0 1 0
0EE4  01800068 MVKH. 0 1 0
0EE8  01880274 STW.D * 1 0 0
                                     ch1
                                     ->
                                     ->
0EEC  00000028 MVKL. 0 105 0
0EF0  00000068 MVKH. 0 105 0
0EF4  01000264 LDW.D * 105 0 0
0EF8  00006000 NOP 4 0 0
                                     MasterAxis
0EFC  01800E28 MVKL. 28 1 0
0F00  01800068 MVKH. 28 1 0
0F04  010C4078 ADD.L 0 1 0
                                     =
                                     -
                                     1
                                     ;
0F08  01FFFFA8 MVKL. -1 1 0
0F0C  01FFFFE8 MVKH. -1 1 0
0F10  01880274 STW.D * 1 0 0
                                     ch1
                                     ->
                                     ->
0F14  00000028 MVKL. 0 105 0
0F18  00000068 MVKH. 0 105 0
0F1C  01000264 LDW.D * 105 0 0
0F20  00006000 NOP 4 0 0
                                     LimitSwitchOptions
0F24  01800828 MVKL. 16 1 0
0F28  01800068 MVKH. 16 1 0
0F2C  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
0F30  01800028 MVKL. 0 1 0
0F34  01800068 MVKH. 0 1 0
0F38  01880274 STW.D * 1 0 0
                                     ch1
                                     ->
                                     ->
0F3C  00000028 MVKL. 0 105 0
0F40  00000068 MVKH. 0 105 0
0F44  01000264 LDW.D * 105 0 0
0F48  00006000 NOP 4 0 0
                                     SoftLimitPos
0F4C  01809E28 MVKL. 316 1 0
0F50  01800068 MVKH. 316 1 0
0F54  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
0F58  00000028 MVKL. 0 105 0
0F5C  00000068 MVKH. 0 105 0
0F60  00000266 LDW.D * 105 2 0
0F64  00006000 NOP 4 0 0
0F68  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0F6C  00000028 MVKL. 0 105 0
0F70  00000068 MVKH. 0 105 0
0F74  01000264 LDW.D * 105 0 0
0F78  00006000 NOP 4 0 0
                                     SoftLimitNeg
0F7C  01809C28 MVKL. 312 1 0
0F80  01800068 MVKH. 312 1 0
0F84  010C4078 ADD.L 0 1 0
                                     =
                                     -
                                     
                                     ;
0F88  00000028 MVKL. 0 105 0
0F8C  00000068 MVKH. 0 105 0
0F90  00000266 LDW.D * 105 2 0
0F94  00006000 NOP 4 0 0
0F98  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0F9C  00000028 MVKL. 0 105 0
0FA0  00000068 MVKH. 0 105 0
0FA4  01000264 LDW.D * 105 0 0
0FA8  00006000 NOP 4 0 0
                                     InputGain0
0FAC  01806C28 MVKL. 216 1 0
0FB0  01800068 MVKH. 216 1 0
0FB4  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
0FB8  00000028 MVKL. 0 105 0
0FBC  00000068 MVKH. 0 105 0
0FC0  00000266 LDW.D * 105 2 0
0FC4  00006000 NOP 4 0 0
0FC8  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0FCC  00000028 MVKL. 0 105 0
0FD0  00000068 MVKH. 0 105 0
0FD4  01000264 LDW.D * 105 0 0
0FD8  00006000 NOP 4 0 0
                                     InputGain1
0FDC  01807028 MVKL. 224 1 0
0FE0  01800068 MVKH. 224 1 0
0FE4  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
0FE8  00000028 MVKL. 0 105 0
0FEC  00000068 MVKH. 0 105 0
0FF0  00000266 LDW.D * 105 2 0
0FF4  00006000 NOP 4 0 0
0FF8  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
0FFC  00000028 MVKL. 0 105 0
1000  00000068 MVKH. 0 105 0
1004  01000264 LDW.D * 105 0 0
1008  00006000 NOP 4 0 0
                                     InputOffset0
100C  01806A28 MVKL. 212 1 0
1010  01800068 MVKH. 212 1 0
1014  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1018  00000028 MVKL. 0 105 0
101C  00000068 MVKH. 0 105 0
1020  00000266 LDW.D * 105 2 0
1024  00006000 NOP 4 0 0
1028  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
102C  00000028 MVKL. 0 105 0
1030  00000068 MVKH. 0 105 0
1034  01000264 LDW.D * 105 0 0
1038  00006000 NOP 4 0 0
                                     InputOffset1
103C  01806E28 MVKL. 220 1 0
1040  01800068 MVKH. 220 1 0
1044  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1048  00000028 MVKL. 0 105 0
104C  00000068 MVKH. 0 105 0
1050  00000266 LDW.D * 105 2 0
1054  00006000 NOP 4 0 0
1058  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
105C  00000028 MVKL. 0 105 0
1060  00000068 MVKH. 0 105 0
1064  01000264 LDW.D * 105 0 0
1068  00006000 NOP 4 0 0
                                     OutputGain
106C  01807228 MVKL. 228 1 0
1070  01800068 MVKH. 228 1 0
1074  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
1078  00000028 MVKL. 0 105 0
107C  00000068 MVKH. 0 105 0
1080  00000266 LDW.D * 105 2 0
1084  00006000 NOP 4 0 0
1088  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
108C  00000028 MVKL. 0 105 0
1090  00000068 MVKH. 0 105 0
1094  01000264 LDW.D * 105 0 0
1098  00006000 NOP 4 0 0
                                     OutputOffset
109C  01807428 MVKL. 232 1 0
10A0  01800068 MVKH. 232 1 0
10A4  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
10A8  00000028 MVKL. 0 105 0
10AC  00000068 MVKH. 0 105 0
10B0  00000266 LDW.D * 105 2 0
10B4  00006000 NOP 4 0 0
10B8  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
10BC  00000028 MVKL. 0 105 0
10C0  00000068 MVKH. 0 105 0
10C4  01000264 LDW.D * 105 0 0
10C8  00006000 NOP 4 0 0
                                     SlaveGain
10CC  01801028 MVKL. 32 1 0
10D0  01800068 MVKH. 32 1 0
10D4  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
10D8  00000028 MVKL. 0 105 0
10DC  00000068 MVKH. 0 105 0
10E0  00000366 LDDW.D * 105 2 0
10E4  00008000 NOP 5 0 0
10E8  00080276 STW.D * 2 0 0
10EC  00882276 STW.D +* 3 0 1
                                     ch1
                                     ->
                                     ->
10F0  00000028 MVKL. 0 105 0
10F4  00000068 MVKH. 0 105 0
10F8  01000264 LDW.D * 105 0 0
10FC  00006000 NOP 4 0 0
                                     BacklashMode
1100  0180A028 MVKL. 320 1 0
1104  01800068 MVKH. 320 1 0
1108  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
110C  01800028 MVKL. 0 1 0
1110  01800068 MVKH. 0 1 0
1114  01880274 STW.D * 1 0 0
                                     ch1
                                     ->
                                     ->
1118  00000028 MVKL. 0 105 0
111C  00000068 MVKH. 0 105 0
1120  01000264 LDW.D * 105 0 0
1124  00006000 NOP 4 0 0
                                     BacklashAmount
1128  0180A228 MVKL. 324 1 0
112C  01800068 MVKH. 324 1 0
1130  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1134  00000028 MVKL. 0 105 0
1138  00000068 MVKH. 0 105 0
113C  00000266 LDW.D * 105 2 0
1140  00006000 NOP 4 0 0
1144  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
1148  00000028 MVKL. 0 105 0
114C  00000068 MVKH. 0 105 0
1150  01000264 LDW.D * 105 0 0
1154  00006000 NOP 4 0 0
                                     BacklashRate
1158  0180A428 MVKL. 328 1 0
115C  01800068 MVKH. 328 1 0
1160  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1164  00000028 MVKL. 0 105 0
1168  00000068 MVKH. 0 105 0
116C  00000266 LDW.D * 105 2 0
1170  00006000 NOP 4 0 0
1174  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
1178  00000028 MVKL. 0 105 0
117C  00000068 MVKH. 0 105 0
1180  01000264 LDW.D * 105 0 0
1184  00006000 NOP 4 0 0
                                     invDistPerCycle
1188  01803C28 MVKL. 120 1 0
118C  01800068 MVKH. 120 1 0
1190  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
1194  00000028 MVKL. 0 105 0
1198  00000068 MVKH. 0 105 0
119C  00000366 LDDW.D * 105 2 0
11A0  00008000 NOP 5 0 0
11A4  00080276 STW.D * 2 0 0
11A8  00882276 STW.D +* 3 0 1
                                     ch1
                                     ->
                                     ->
11AC  00000028 MVKL. 0 105 0
11B0  00000068 MVKH. 0 105 0
11B4  01000264 LDW.D * 105 0 0
11B8  00006000 NOP 4 0 0
                                     Lead
11BC  01804628 MVKL. 140 1 0
11C0  01800068 MVKH. 140 1 0
11C4  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
11C8  00000028 MVKL. 0 105 0
11CC  00000068 MVKH. 0 105 0
11D0  00000266 LDW.D * 105 2 0
11D4  00006000 NOP 4 0 0
11D8  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
11DC  00000028 MVKL. 0 105 0
11E0  00000068 MVKH. 0 105 0
11E4  01000264 LDW.D * 105 0 0
11E8  00006000 NOP 4 0 0
                                     MaxFollowingError
11EC  01801428 MVKL. 40 1 0
11F0  01800068 MVKH. 40 1 0
11F4  010C4078 ADD.L 0 1 0
                                     =
                                     1000000000
                                     ;
11F8  00000028 MVKL. 0 105 0
11FC  00000068 MVKH. 0 105 0
1200  00000366 LDDW.D * 105 2 0
1204  00008000 NOP 5 0 0
1208  00080276 STW.D * 2 0 0
120C  00882276 STW.D +* 3 0 1
                                     ch1
                                     ->
                                     ->
1210  00000028 MVKL. 0 105 0
1214  00000068 MVKH. 0 105 0
1218  01000264 LDW.D * 105 0 0
121C  00006000 NOP 4 0 0
                                     StepperAmplitude
1220  01804028 MVKL. 128 1 0
1224  01800068 MVKH. 128 1 0
1228  010C4078 ADD.L 0 1 0
                                     =
                                     20
                                     ;
122C  00000028 MVKL. 0 105 0
1230  00000068 MVKH. 0 105 0
1234  00000266 LDW.D * 105 2 0
1238  00006000 NOP 4 0 0
123C  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
1240  00000028 MVKL. 0 105 0
1244  00000068 MVKH. 0 105 0
1248  01000264 LDW.D * 105 0 0
124C  00006000 NOP 4 0 0
                                     iir
1250  0180AE28 MVKL. 348 1 0
1254  01800068 MVKH. 348 1 0
1258  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     B0
125C  01800428 MVKL. 8 1 0
1260  01800068 MVKH. 8 1 0
1264  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
1268  00000028 MVKL. 0 105 0
126C  00000068 MVKH. 0 105 0
1270  00000266 LDW.D * 105 2 0
1274  00006000 NOP 4 0 0
1278  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
127C  00000028 MVKL. 0 105 0
1280  00000068 MVKH. 0 105 0
1284  01000264 LDW.D * 105 0 0
1288  00006000 NOP 4 0 0
                                     iir
128C  0180AE28 MVKL. 348 1 0
1290  01800068 MVKH. 348 1 0
1294  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     B1
1298  01800628 MVKL. 12 1 0
129C  01800068 MVKH. 12 1 0
12A0  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
12A4  00000028 MVKL. 0 105 0
12A8  00000068 MVKH. 0 105 0
12AC  00000266 LDW.D * 105 2 0
12B0  00006000 NOP 4 0 0
12B4  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
12B8  00000028 MVKL. 0 105 0
12BC  00000068 MVKH. 0 105 0
12C0  01000264 LDW.D * 105 0 0
12C4  00006000 NOP 4 0 0
                                     iir
12C8  0180AE28 MVKL. 348 1 0
12CC  01800068 MVKH. 348 1 0
12D0  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     B2
12D4  01800828 MVKL. 16 1 0
12D8  01800068 MVKH. 16 1 0
12DC  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
12E0  00000028 MVKL. 0 105 0
12E4  00000068 MVKH. 0 105 0
12E8  00000266 LDW.D * 105 2 0
12EC  00006000 NOP 4 0 0
12F0  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
12F4  00000028 MVKL. 0 105 0
12F8  00000068 MVKH. 0 105 0
12FC  01000264 LDW.D * 105 0 0
1300  00006000 NOP 4 0 0
                                     iir
1304  0180AE28 MVKL. 348 1 0
1308  01800068 MVKH. 348 1 0
130C  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     A1
                                     =
                                     0
                                     ;
1310  00000028 MVKL. 0 105 0
1314  00000068 MVKH. 0 105 0
1318  00000266 LDW.D * 105 2 0
131C  00006000 NOP 4 0 0
1320  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
1324  00000028 MVKL. 0 105 0
1328  00000068 MVKH. 0 105 0
132C  01000264 LDW.D * 105 0 0
1330  00006000 NOP 4 0 0
                                     iir
1334  0180AE28 MVKL. 348 1 0
1338  01800068 MVKH. 348 1 0
133C  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     A2
1340  01800228 MVKL. 4 1 0
1344  01800068 MVKH. 4 1 0
1348  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
134C  00000028 MVKL. 0 105 0
1350  00000068 MVKH. 0 105 0
1354  00000266 LDW.D * 105 2 0
1358  00006000 NOP 4 0 0
135C  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
1360  00000028 MVKL. 0 105 0
1364  00000068 MVKH. 0 105 0
1368  01000264 LDW.D * 105 0 0
136C  00006000 NOP 4 0 0
                                     iir
1370  0180AE28 MVKL. 348 1 0
1374  01800068 MVKH. 348 1 0
1378  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
137C  01800E28 MVKL. 28 1 0
1380  01800068 MVKH. 28 1 0
1384  010C4078 ADD.L 0 1 0
                                     .
                                     B0
1388  01800428 MVKL. 8 1 0
138C  01800068 MVKH. 8 1 0
1390  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
1394  00000028 MVKL. 0 105 0
1398  00000068 MVKH. 0 105 0
139C  00000266 LDW.D * 105 2 0
13A0  00006000 NOP 4 0 0
13A4  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
13A8  00000028 MVKL. 0 105 0
13AC  00000068 MVKH. 0 105 0
13B0  01000264 LDW.D * 105 0 0
13B4  00006000 NOP 4 0 0
                                     iir
13B8  0180AE28 MVKL. 348 1 0
13BC  01800068 MVKH. 348 1 0
13C0  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
13C4  01800E28 MVKL. 28 1 0
13C8  01800068 MVKH. 28 1 0
13CC  010C4078 ADD.L 0 1 0
                                     .
                                     B1
13D0  01800628 MVKL. 12 1 0
13D4  01800068 MVKH. 12 1 0
13D8  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
13DC  00000028 MVKL. 0 105 0
13E0  00000068 MVKH. 0 105 0
13E4  00000266 LDW.D * 105 2 0
13E8  00006000 NOP 4 0 0
13EC  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
13F0  00000028 MVKL. 0 105 0
13F4  00000068 MVKH. 0 105 0
13F8  01000264 LDW.D * 105 0 0
13FC  00006000 NOP 4 0 0
                                     iir
1400  0180AE28 MVKL. 348 1 0
1404  01800068 MVKH. 348 1 0
1408  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
140C  01800E28 MVKL. 28 1 0
1410  01800068 MVKH. 28 1 0
1414  010C4078 ADD.L 0 1 0
                                     .
                                     B2
1418  01800828 MVKL. 16 1 0
141C  01800068 MVKH. 16 1 0
1420  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1424  00000028 MVKL. 0 105 0
1428  00000068 MVKH. 0 105 0
142C  00000266 LDW.D * 105 2 0
1430  00006000 NOP 4 0 0
1434  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
1438  00000028 MVKL. 0 105 0
143C  00000068 MVKH. 0 105 0
1440  01000264 LDW.D * 105 0 0
1444  00006000 NOP 4 0 0
                                     iir
1448  0180AE28 MVKL. 348 1 0
144C  01800068 MVKH. 348 1 0
1450  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
1454  01800E28 MVKL. 28 1 0
1458  01800068 MVKH. 28 1 0
145C  010C4078 ADD.L 0 1 0
                                     .
                                     A1
                                     =
                                     0
                                     ;
1460  00000028 MVKL. 0 105 0
1464  00000068 MVKH. 0 105 0
1468  00000266 LDW.D * 105 2 0
146C  00006000 NOP 4 0 0
1470  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
1474  00000028 MVKL. 0 105 0
1478  00000068 MVKH. 0 105 0
147C  01000264 LDW.D * 105 0 0
1480  00006000 NOP 4 0 0
                                     iir
1484  0180AE28 MVKL. 348 1 0
1488  01800068 MVKH. 348 1 0
148C  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
1490  01800E28 MVKL. 28 1 0
1494  01800068 MVKH. 28 1 0
1498  010C4078 ADD.L 0 1 0
                                     .
                                     A2
149C  01800228 MVKL. 4 1 0
14A0  01800068 MVKH. 4 1 0
14A4  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
14A8  00000028 MVKL. 0 105 0
14AC  00000068 MVKH. 0 105 0
14B0  00000266 LDW.D * 105 2 0
14B4  00006000 NOP 4 0 0
14B8  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
14BC  00000028 MVKL. 0 105 0
14C0  00000068 MVKH. 0 105 0
14C4  01000264 LDW.D * 105 0 0
14C8  00006000 NOP 4 0 0
                                     iir
14CC  0180AE28 MVKL. 348 1 0
14D0  01800068 MVKH. 348 1 0
14D4  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
14D8  01801C28 MVKL. 56 1 0
14DC  01800068 MVKH. 56 1 0
14E0  010C4078 ADD.L 0 1 0
                                     .
                                     B0
14E4  01800428 MVKL. 8 1 0
14E8  01800068 MVKH. 8 1 0
14EC  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
14F0  00000028 MVKL. 0 105 0
14F4  00000068 MVKH. 0 105 0
14F8  00000266 LDW.D * 105 2 0
14FC  00006000 NOP 4 0 0
1500  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
1504  00000028 MVKL. 0 105 0
1508  00000068 MVKH. 0 105 0
150C  01000264 LDW.D * 105 0 0
1510  00006000 NOP 4 0 0
                                     iir
1514  0180AE28 MVKL. 348 1 0
1518  01800068 MVKH. 348 1 0
151C  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
1520  01801C28 MVKL. 56 1 0
1524  01800068 MVKH. 56 1 0
1528  010C4078 ADD.L 0 1 0
                                     .
                                     B1
152C  01800628 MVKL. 12 1 0
1530  01800068 MVKH. 12 1 0
1534  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
1538  00000028 MVKL. 0 105 0
153C  00000068 MVKH. 0 105 0
1540  00000266 LDW.D * 105 2 0
1544  00006000 NOP 4 0 0
1548  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
154C  00000028 MVKL. 0 105 0
1550  00000068 MVKH. 0 105 0
1554  01000264 LDW.D * 105 0 0
1558  00006000 NOP 4 0 0
                                     iir
155C  0180AE28 MVKL. 348 1 0
1560  01800068 MVKH. 348 1 0
1564  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
1568  01801C28 MVKL. 56 1 0
156C  01800068 MVKH. 56 1 0
1570  010C4078 ADD.L 0 1 0
                                     .
                                     B2
1574  01800828 MVKL. 16 1 0
1578  01800068 MVKH. 16 1 0
157C  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
1580  00000028 MVKL. 0 105 0
1584  00000068 MVKH. 0 105 0
1588  00000266 LDW.D * 105 2 0
158C  00006000 NOP 4 0 0
1590  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
1594  00000028 MVKL. 0 105 0
1598  00000068 MVKH. 0 105 0
159C  01000264 LDW.D * 105 0 0
15A0  00006000 NOP 4 0 0
                                     iir
15A4  0180AE28 MVKL. 348 1 0
15A8  01800068 MVKH. 348 1 0
15AC  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
15B0  01801C28 MVKL. 56 1 0
15B4  01800068 MVKH. 56 1 0
15B8  010C4078 ADD.L 0 1 0
                                     .
                                     A1
                                     =
                                     
                                     ;
15BC  00000028 MVKL. 0 105 0
15C0  00000068 MVKH. 0 105 0
15C4  00000266 LDW.D * 105 2 0
15C8  00006000 NOP 4 0 0
15CC  00080276 STW.D * 2 0 0
                                     ch1
                                     ->
                                     ->
15D0  00000028 MVKL. 0 105 0
15D4  00000068 MVKH. 0 105 0
15D8  01000264 LDW.D * 105 0 0
15DC  00006000 NOP 4 0 0
                                     iir
15E0  0180AE28 MVKL. 348 1 0
15E4  01800068 MVKH. 348 1 0
15E8  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
15EC  01801C28 MVKL. 56 1 0
15F0  01800068 MVKH. 56 1 0
15F4  010C4078 ADD.L 0 1 0
                                     .
                                     A2
15F8  01800228 MVKL. 4 1 0
15FC  01800068 MVKH. 4 1 0
1600  010C4078 ADD.L 0 1 0
                                     =
                                     -
                                     
                                     ;
1604  00000028 MVKL. 0 105 0
1608  00000068 MVKH. 0 105 0
160C  00000266 LDW.D * 105 2 0
1610  00006000 NOP 4 0 0
1614  00080276 STW.D * 2 0 0
                                     EnableAxisDest
                                     (
                                     (
                                     1
                                     ,
1618  020000A8 MVKL. 1 4 0
161C  02000068 MVKH. 1 4 0
1620  023C54F4 STW.D SP POST DEC 4 0 0
                                     0
                                     )
1624  00000028 MVKL. 0 105 0
1628  00000068 MVKH. 0 105 0
162C  02000366 LDDW.D * 105 6 0
1630  00008000 NOP 5 0 0
1634  023C54F6 STW.D SP POST DEC 6 0 0
1638  02BC62F6 STW.D +* 7 106 3
                                     ;
163C  023C33E6 LDDW.D SP PRE INC 6 0 0
1640  023C52E4 LDW.D SP PRE INC 4 0 0
1644  00000028 MVKL. 0 105 0
1648  00000068 MVKH. 0 105 0
164C  00001362 B.S2 0 -1 105
1650  0180002A MVKL. 0 107 0
1654  0180006A MVKH. 0 107 0
1658  00004000 NOP 3 0 0
                                     ch2
                                     ->
                                     ->
165C  00000028 MVKL. 0 105 0
1660  00000068 MVKH. 0 105 0
1664  01000264 LDW.D * 105 0 0
1668  00006000 NOP 4 0 0
                                     InputMode
166C  01800428 MVKL. 8 1 0
1670  01800068 MVKH. 8 1 0
1674  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1678  01800028 MVKL. 0 1 0
167C  01800068 MVKH. 0 1 0
1680  01880274 STW.D * 1 0 0
                                     ch2
                                     ->
                                     ->
1684  00000028 MVKL. 0 105 0
1688  00000068 MVKH. 0 105 0
168C  01000264 LDW.D * 105 0 0
1690  00006000 NOP 4 0 0
                                     OutputMode
1694  01800628 MVKL. 12 1 0
1698  01800068 MVKH. 12 1 0
169C  010C4078 ADD.L 0 1 0
                                     =
                                     6
                                     ;
16A0  01800328 MVKL. 6 1 0
16A4  01800068 MVKH. 6 1 0
16A8  01880274 STW.D * 1 0 0
                                     ch2
                                     ->
                                     ->
16AC  00000028 MVKL. 0 105 0
16B0  00000068 MVKH. 0 105 0
16B4  01000264 LDW.D * 105 0 0
16B8  00006000 NOP 4 0 0
                                     Vel
16BC  01802C28 MVKL. 88 1 0
16C0  01800068 MVKH. 88 1 0
16C4  010C4078 ADD.L 0 1 0
                                     =
                                     40000
                                     ;
16C8  00000028 MVKL. 0 105 0
16CC  00000068 MVKH. 0 105 0
16D0  00000266 LDW.D * 105 2 0
16D4  00006000 NOP 4 0 0
16D8  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
16DC  00000028 MVKL. 0 105 0
16E0  00000068 MVKH. 0 105 0
16E4  01000264 LDW.D * 105 0 0
16E8  00006000 NOP 4 0 0
                                     Accel
16EC  01802E28 MVKL. 92 1 0
16F0  01800068 MVKH. 92 1 0
16F4  010C4078 ADD.L 0 1 0
                                     =
                                     200000
                                     ;
16F8  00000028 MVKL. 0 105 0
16FC  00000068 MVKH. 0 105 0
1700  00000266 LDW.D * 105 2 0
1704  00006000 NOP 4 0 0
1708  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
170C  00000028 MVKL. 0 105 0
1710  00000068 MVKH. 0 105 0
1714  01000264 LDW.D * 105 0 0
1718  00006000 NOP 4 0 0
                                     Jerk
171C  01803028 MVKL. 96 1 0
1720  01800068 MVKH. 96 1 0
1724  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
1728  00000028 MVKL. 0 105 0
172C  00000068 MVKH. 0 105 0
1730  00000266 LDW.D * 105 2 0
1734  00006000 NOP 4 0 0
1738  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
173C  00000028 MVKL. 0 105 0
1740  00000068 MVKH. 0 105 0
1744  01000264 LDW.D * 105 0 0
1748  00006000 NOP 4 0 0
                                     P
174C  01807E28 MVKL. 252 1 0
1750  01800068 MVKH. 252 1 0
1754  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1758  00000028 MVKL. 0 105 0
175C  00000068 MVKH. 0 105 0
1760  00000266 LDW.D * 105 2 0
1764  00006000 NOP 4 0 0
1768  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
176C  00000028 MVKL. 0 105 0
1770  00000068 MVKH. 0 105 0
1774  01000264 LDW.D * 105 0 0
1778  00006000 NOP 4 0 0
                                     I
177C  01808028 MVKL. 256 1 0
1780  01800068 MVKH. 256 1 0
1784  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
1788  00000028 MVKL. 0 105 0
178C  00000068 MVKH. 0 105 0
1790  00000266 LDW.D * 105 2 0
1794  00006000 NOP 4 0 0
1798  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
179C  00000028 MVKL. 0 105 0
17A0  00000068 MVKH. 0 105 0
17A4  01000264 LDW.D * 105 0 0
17A8  00006000 NOP 4 0 0
                                     D
17AC  01808228 MVKL. 260 1 0
17B0  01800068 MVKH. 260 1 0
17B4  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
17B8  00000028 MVKL. 0 105 0
17BC  00000068 MVKH. 0 105 0
17C0  00000266 LDW.D * 105 2 0
17C4  00006000 NOP 4 0 0
17C8  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
17CC  00000028 MVKL. 0 105 0
17D0  00000068 MVKH. 0 105 0
17D4  01000264 LDW.D * 105 0 0
17D8  00006000 NOP 4 0 0
                                     FFAccel
17DC  01803228 MVKL. 100 1 0
17E0  01800068 MVKH. 100 1 0
17E4  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
17E8  00000028 MVKL. 0 105 0
17EC  00000068 MVKH. 0 105 0
17F0  00000266 LDW.D * 105 2 0
17F4  00006000 NOP 4 0 0
17F8  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
17FC  00000028 MVKL. 0 105 0
1800  00000068 MVKH. 0 105 0
1804  01000264 LDW.D * 105 0 0
1808  00006000 NOP 4 0 0
                                     FFVel
180C  01803428 MVKL. 104 1 0
1810  01800068 MVKH. 104 1 0
1814  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1818  00000028 MVKL. 0 105 0
181C  00000068 MVKH. 0 105 0
1820  00000266 LDW.D * 105 2 0
1824  00006000 NOP 4 0 0
1828  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
182C  00000028 MVKL. 0 105 0
1830  00000068 MVKH. 0 105 0
1834  01000264 LDW.D * 105 0 0
1838  00006000 NOP 4 0 0
                                     MaxI
183C  01808428 MVKL. 264 1 0
1840  01800068 MVKH. 264 1 0
1844  010C4078 ADD.L 0 1 0
                                     =
                                     200
                                     ;
1848  00000028 MVKL. 0 105 0
184C  00000068 MVKH. 0 105 0
1850  00000266 LDW.D * 105 2 0
1854  00006000 NOP 4 0 0
1858  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
185C  00000028 MVKL. 0 105 0
1860  00000068 MVKH. 0 105 0
1864  01000264 LDW.D * 105 0 0
1868  00006000 NOP 4 0 0
                                     MaxErr
186C  01808628 MVKL. 268 1 0
1870  01800068 MVKH. 268 1 0
1874  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
1878  00000028 MVKL. 0 105 0
187C  00000068 MVKH. 0 105 0
1880  00000266 LDW.D * 105 2 0
1884  00006000 NOP 4 0 0
1888  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
188C  00000028 MVKL. 0 105 0
1890  00000068 MVKH. 0 105 0
1894  01000264 LDW.D * 105 0 0
1898  00006000 NOP 4 0 0
                                     MaxOutput
189C  01808A28 MVKL. 276 1 0
18A0  01800068 MVKH. 276 1 0
18A4  010C4078 ADD.L 0 1 0
                                     =
                                     200
                                     ;
18A8  00000028 MVKL. 0 105 0
18AC  00000068 MVKH. 0 105 0
18B0  00000266 LDW.D * 105 2 0
18B4  00006000 NOP 4 0 0
18B8  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
18BC  00000028 MVKL. 0 105 0
18C0  00000068 MVKH. 0 105 0
18C4  01000264 LDW.D * 105 0 0
18C8  00006000 NOP 4 0 0
                                     DeadBandGain
18CC  01808E28 MVKL. 284 1 0
18D0  01800068 MVKH. 284 1 0
18D4  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
18D8  00000028 MVKL. 0 105 0
18DC  00000068 MVKH. 0 105 0
18E0  00000266 LDW.D * 105 2 0
18E4  00006000 NOP 4 0 0
18E8  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
18EC  00000028 MVKL. 0 105 0
18F0  00000068 MVKH. 0 105 0
18F4  01000264 LDW.D * 105 0 0
18F8  00006000 NOP 4 0 0
                                     DeadBandRange
18FC  01808C28 MVKL. 280 1 0
1900  01800068 MVKH. 280 1 0
1904  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1908  00000028 MVKL. 0 105 0
190C  00000068 MVKH. 0 105 0
1910  00000266 LDW.D * 105 2 0
1914  00006000 NOP 4 0 0
1918  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
191C  00000028 MVKL. 0 105 0
1920  00000068 MVKH. 0 105 0
1924  01000264 LDW.D * 105 0 0
1928  00006000 NOP 4 0 0
                                     InputChan0
192C  01806628 MVKL. 204 1 0
1930  01800068 MVKH. 204 1 0
1934  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1938  01800028 MVKL. 0 1 0
193C  01800068 MVKH. 0 1 0
1940  01880274 STW.D * 1 0 0
                                     ch2
                                     ->
                                     ->
1944  00000028 MVKL. 0 105 0
1948  00000068 MVKH. 0 105 0
194C  01000264 LDW.D * 105 0 0
1950  00006000 NOP 4 0 0
                                     InputChan1
1954  01806828 MVKL. 208 1 0
1958  01800068 MVKH. 208 1 0
195C  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1960  01800028 MVKL. 0 1 0
1964  01800068 MVKH. 0 1 0
1968  01880274 STW.D * 1 0 0
                                     ch2
                                     ->
                                     ->
196C  00000028 MVKL. 0 105 0
1970  00000068 MVKH. 0 105 0
1974  01000264 LDW.D * 105 0 0
1978  00006000 NOP 4 0 0
                                     OutputChan0
197C  01806228 MVKL. 196 1 0
1980  01800068 MVKH. 196 1 0
1984  010C4078 ADD.L 0 1 0
                                     =
                                     10
                                     ;
1988  01800528 MVKL. 10 1 0
198C  01800068 MVKH. 10 1 0
1990  01880274 STW.D * 1 0 0
                                     ch2
                                     ->
                                     ->
1994  00000028 MVKL. 0 105 0
1998  00000068 MVKH. 0 105 0
199C  01000264 LDW.D * 105 0 0
19A0  00006000 NOP 4 0 0
                                     OutputChan1
19A4  01806428 MVKL. 200 1 0
19A8  01800068 MVKH. 200 1 0
19AC  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
19B0  01800028 MVKL. 0 1 0
19B4  01800068 MVKH. 0 1 0
19B8  01880274 STW.D * 1 0 0
                                     ch2
                                     ->
                                     ->
19BC  00000028 MVKL. 0 105 0
19C0  00000068 MVKH. 0 105 0
19C4  01000264 LDW.D * 105 0 0
19C8  00006000 NOP 4 0 0
                                     MasterAxis
19CC  01800E28 MVKL. 28 1 0
19D0  01800068 MVKH. 28 1 0
19D4  010C4078 ADD.L 0 1 0
                                     =
                                     -
                                     1
                                     ;
19D8  01FFFFA8 MVKL. -1 1 0
19DC  01FFFFE8 MVKH. -1 1 0
19E0  01880274 STW.D * 1 0 0
                                     ch2
                                     ->
                                     ->
19E4  00000028 MVKL. 0 105 0
19E8  00000068 MVKH. 0 105 0
19EC  01000264 LDW.D * 105 0 0
19F0  00006000 NOP 4 0 0
                                     LimitSwitchOptions
19F4  01800828 MVKL. 16 1 0
19F8  01800068 MVKH. 16 1 0
19FC  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1A00  01800028 MVKL. 0 1 0
1A04  01800068 MVKH. 0 1 0
1A08  01880274 STW.D * 1 0 0
                                     ch2
                                     ->
                                     ->
1A0C  00000028 MVKL. 0 105 0
1A10  00000068 MVKH. 0 105 0
1A14  01000264 LDW.D * 105 0 0
1A18  00006000 NOP 4 0 0
                                     SoftLimitPos
1A1C  01809E28 MVKL. 316 1 0
1A20  01800068 MVKH. 316 1 0
1A24  010C4078 ADD.L 0 1 0
                                     =
                                     
                                     ;
1A28  00000028 MVKL. 0 105 0
1A2C  00000068 MVKH. 0 105 0
1A30  00000266 LDW.D * 105 2 0
1A34  00006000 NOP 4 0 0
1A38  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1A3C  00000028 MVKL. 0 105 0
1A40  00000068 MVKH. 0 105 0
1A44  01000264 LDW.D * 105 0 0
1A48  00006000 NOP 4 0 0
                                     SoftLimitNeg
1A4C  01809C28 MVKL. 312 1 0
1A50  01800068 MVKH. 312 1 0
1A54  010C4078 ADD.L 0 1 0
                                     =
                                     -
                                     
                                     ;
1A58  00000028 MVKL. 0 105 0
1A5C  00000068 MVKH. 0 105 0
1A60  00000266 LDW.D * 105 2 0
1A64  00006000 NOP 4 0 0
1A68  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1A6C  00000028 MVKL. 0 105 0
1A70  00000068 MVKH. 0 105 0
1A74  01000264 LDW.D * 105 0 0
1A78  00006000 NOP 4 0 0
                                     InputGain0
1A7C  01806C28 MVKL. 216 1 0
1A80  01800068 MVKH. 216 1 0
1A84  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
1A88  00000028 MVKL. 0 105 0
1A8C  00000068 MVKH. 0 105 0
1A90  00000266 LDW.D * 105 2 0
1A94  00006000 NOP 4 0 0
1A98  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1A9C  00000028 MVKL. 0 105 0
1AA0  00000068 MVKH. 0 105 0
1AA4  01000264 LDW.D * 105 0 0
1AA8  00006000 NOP 4 0 0
                                     InputGain1
1AAC  01807028 MVKL. 224 1 0
1AB0  01800068 MVKH. 224 1 0
1AB4  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
1AB8  00000028 MVKL. 0 105 0
1ABC  00000068 MVKH. 0 105 0
1AC0  00000266 LDW.D * 105 2 0
1AC4  00006000 NOP 4 0 0
1AC8  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1ACC  00000028 MVKL. 0 105 0
1AD0  00000068 MVKH. 0 105 0
1AD4  01000264 LDW.D * 105 0 0
1AD8  00006000 NOP 4 0 0
                                     InputOffset0
1ADC  01806A28 MVKL. 212 1 0
1AE0  01800068 MVKH. 212 1 0
1AE4  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1AE8  00000028 MVKL. 0 105 0
1AEC  00000068 MVKH. 0 105 0
1AF0  00000266 LDW.D * 105 2 0
1AF4  00006000 NOP 4 0 0
1AF8  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1AFC  00000028 MVKL. 0 105 0
1B00  00000068 MVKH. 0 105 0
1B04  01000264 LDW.D * 105 0 0
1B08  00006000 NOP 4 0 0
                                     InputOffset1
1B0C  01806E28 MVKL. 220 1 0
1B10  01800068 MVKH. 220 1 0
1B14  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1B18  00000028 MVKL. 0 105 0
1B1C  00000068 MVKH. 0 105 0
1B20  00000266 LDW.D * 105 2 0
1B24  00006000 NOP 4 0 0
1B28  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1B2C  00000028 MVKL. 0 105 0
1B30  00000068 MVKH. 0 105 0
1B34  01000264 LDW.D * 105 0 0
1B38  00006000 NOP 4 0 0
                                     OutputGain
1B3C  01807228 MVKL. 228 1 0
1B40  01800068 MVKH. 228 1 0
1B44  010C4078 ADD.L 0 1 0
                                     =
                                     -
                                     1
                                     ;
1B48  00000028 MVKL. 0 105 0
1B4C  00000068 MVKH. 0 105 0
1B50  00000266 LDW.D * 105 2 0
1B54  00006000 NOP 4 0 0
1B58  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1B5C  00000028 MVKL. 0 105 0
1B60  00000068 MVKH. 0 105 0
1B64  01000264 LDW.D * 105 0 0
1B68  00006000 NOP 4 0 0
                                     OutputOffset
1B6C  01807428 MVKL. 232 1 0
1B70  01800068 MVKH. 232 1 0
1B74  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1B78  00000028 MVKL. 0 105 0
1B7C  00000068 MVKH. 0 105 0
1B80  00000266 LDW.D * 105 2 0
1B84  00006000 NOP 4 0 0
1B88  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1B8C  00000028 MVKL. 0 105 0
1B90  00000068 MVKH. 0 105 0
1B94  01000264 LDW.D * 105 0 0
1B98  00006000 NOP 4 0 0
                                     SlaveGain
1B9C  01801028 MVKL. 32 1 0
1BA0  01800068 MVKH. 32 1 0
1BA4  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
1BA8  00000028 MVKL. 0 105 0
1BAC  00000068 MVKH. 0 105 0
1BB0  00000366 LDDW.D * 105 2 0
1BB4  00008000 NOP 5 0 0
1BB8  00080276 STW.D * 2 0 0
1BBC  00882276 STW.D +* 3 0 1
                                     ch2
                                     ->
                                     ->
1BC0  00000028 MVKL. 0 105 0
1BC4  00000068 MVKH. 0 105 0
1BC8  01000264 LDW.D * 105 0 0
1BCC  00006000 NOP 4 0 0
                                     BacklashMode
1BD0  0180A028 MVKL. 320 1 0
1BD4  01800068 MVKH. 320 1 0
1BD8  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1BDC  01800028 MVKL. 0 1 0
1BE0  01800068 MVKH. 0 1 0
1BE4  01880274 STW.D * 1 0 0
                                     ch2
                                     ->
                                     ->
1BE8  00000028 MVKL. 0 105 0
1BEC  00000068 MVKH. 0 105 0
1BF0  01000264 LDW.D * 105 0 0
1BF4  00006000 NOP 4 0 0
                                     BacklashAmount
1BF8  0180A228 MVKL. 324 1 0
1BFC  01800068 MVKH. 324 1 0
1C00  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1C04  00000028 MVKL. 0 105 0
1C08  00000068 MVKH. 0 105 0
1C0C  00000266 LDW.D * 105 2 0
1C10  00006000 NOP 4 0 0
1C14  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1C18  00000028 MVKL. 0 105 0
1C1C  00000068 MVKH. 0 105 0
1C20  01000264 LDW.D * 105 0 0
1C24  00006000 NOP 4 0 0
                                     BacklashRate
1C28  0180A428 MVKL. 328 1 0
1C2C  01800068 MVKH. 328 1 0
1C30  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1C34  00000028 MVKL. 0 105 0
1C38  00000068 MVKH. 0 105 0
1C3C  00000266 LDW.D * 105 2 0
1C40  00006000 NOP 4 0 0
1C44  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1C48  00000028 MVKL. 0 105 0
1C4C  00000068 MVKH. 0 105 0
1C50  01000264 LDW.D * 105 0 0
1C54  00006000 NOP 4 0 0
                                     invDistPerCycle
1C58  01803C28 MVKL. 120 1 0
1C5C  01800068 MVKH. 120 1 0
1C60  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
1C64  00000028 MVKL. 0 105 0
1C68  00000068 MVKH. 0 105 0
1C6C  00000366 LDDW.D * 105 2 0
1C70  00008000 NOP 5 0 0
1C74  00080276 STW.D * 2 0 0
1C78  00882276 STW.D +* 3 0 1
                                     ch2
                                     ->
                                     ->
1C7C  00000028 MVKL. 0 105 0
1C80  00000068 MVKH. 0 105 0
1C84  01000264 LDW.D * 105 0 0
1C88  00006000 NOP 4 0 0
                                     Lead
1C8C  01804628 MVKL. 140 1 0
1C90  01800068 MVKH. 140 1 0
1C94  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1C98  00000028 MVKL. 0 105 0
1C9C  00000068 MVKH. 0 105 0
1CA0  00000266 LDW.D * 105 2 0
1CA4  00006000 NOP 4 0 0
1CA8  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1CAC  00000028 MVKL. 0 105 0
1CB0  00000068 MVKH. 0 105 0
1CB4  01000264 LDW.D * 105 0 0
1CB8  00006000 NOP 4 0 0
                                     MaxFollowingError
1CBC  01801428 MVKL. 40 1 0
1CC0  01800068 MVKH. 40 1 0
1CC4  010C4078 ADD.L 0 1 0
                                     =
                                     1000000000
                                     ;
1CC8  00000028 MVKL. 0 105 0
1CCC  00000068 MVKH. 0 105 0
1CD0  00000366 LDDW.D * 105 2 0
1CD4  00008000 NOP 5 0 0
1CD8  00080276 STW.D * 2 0 0
1CDC  00882276 STW.D +* 3 0 1
                                     ch2
                                     ->
                                     ->
1CE0  00000028 MVKL. 0 105 0
1CE4  00000068 MVKH. 0 105 0
1CE8  01000264 LDW.D * 105 0 0
1CEC  00006000 NOP 4 0 0
                                     StepperAmplitude
1CF0  01804028 MVKL. 128 1 0
1CF4  01800068 MVKH. 128 1 0
1CF8  010C4078 ADD.L 0 1 0
                                     =
                                     20
                                     ;
1CFC  00000028 MVKL. 0 105 0
1D00  00000068 MVKH. 0 105 0
1D04  00000266 LDW.D * 105 2 0
1D08  00006000 NOP 4 0 0
1D0C  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1D10  00000028 MVKL. 0 105 0
1D14  00000068 MVKH. 0 105 0
1D18  01000264 LDW.D * 105 0 0
1D1C  00006000 NOP 4 0 0
                                     iir
1D20  0180AE28 MVKL. 348 1 0
1D24  01800068 MVKH. 348 1 0
1D28  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     B0
1D2C  01800428 MVKL. 8 1 0
1D30  01800068 MVKH. 8 1 0
1D34  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
1D38  00000028 MVKL. 0 105 0
1D3C  00000068 MVKH. 0 105 0
1D40  00000266 LDW.D * 105 2 0
1D44  00006000 NOP 4 0 0
1D48  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1D4C  00000028 MVKL. 0 105 0
1D50  00000068 MVKH. 0 105 0
1D54  01000264 LDW.D * 105 0 0
1D58  00006000 NOP 4 0 0
                                     iir
1D5C  0180AE28 MVKL. 348 1 0
1D60  01800068 MVKH. 348 1 0
1D64  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     B1
1D68  01800628 MVKL. 12 1 0
1D6C  01800068 MVKH. 12 1 0
1D70  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1D74  00000028 MVKL. 0 105 0
1D78  00000068 MVKH. 0 105 0
1D7C  00000266 LDW.D * 105 2 0
1D80  00006000 NOP 4 0 0
1D84  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1D88  00000028 MVKL. 0 105 0
1D8C  00000068 MVKH. 0 105 0
1D90  01000264 LDW.D * 105 0 0
1D94  00006000 NOP 4 0 0
                                     iir
1D98  0180AE28 MVKL. 348 1 0
1D9C  01800068 MVKH. 348 1 0
1DA0  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     B2
1DA4  01800828 MVKL. 16 1 0
1DA8  01800068 MVKH. 16 1 0
1DAC  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1DB0  00000028 MVKL. 0 105 0
1DB4  00000068 MVKH. 0 105 0
1DB8  00000266 LDW.D * 105 2 0
1DBC  00006000 NOP 4 0 0
1DC0  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1DC4  00000028 MVKL. 0 105 0
1DC8  00000068 MVKH. 0 105 0
1DCC  01000264 LDW.D * 105 0 0
1DD0  00006000 NOP 4 0 0
                                     iir
1DD4  0180AE28 MVKL. 348 1 0
1DD8  01800068 MVKH. 348 1 0
1DDC  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     A1
                                     =
                                     0
                                     ;
1DE0  00000028 MVKL. 0 105 0
1DE4  00000068 MVKH. 0 105 0
1DE8  00000266 LDW.D * 105 2 0
1DEC  00006000 NOP 4 0 0
1DF0  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1DF4  00000028 MVKL. 0 105 0
1DF8  00000068 MVKH. 0 105 0
1DFC  01000264 LDW.D * 105 0 0
1E00  00006000 NOP 4 0 0
                                     iir
1E04  0180AE28 MVKL. 348 1 0
1E08  01800068 MVKH. 348 1 0
1E0C  010C4078 ADD.L 0 1 0
                                     [
                                     0
                                     ]
                                     .
                                     A2
1E10  01800228 MVKL. 4 1 0
1E14  01800068 MVKH. 4 1 0
1E18  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1E1C  00000028 MVKL. 0 105 0
1E20  00000068 MVKH. 0 105 0
1E24  00000266 LDW.D * 105 2 0
1E28  00006000 NOP 4 0 0
1E2C  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1E30  00000028 MVKL. 0 105 0
1E34  00000068 MVKH. 0 105 0
1E38  01000264 LDW.D * 105 0 0
1E3C  00006000 NOP 4 0 0
                                     iir
1E40  0180AE28 MVKL. 348 1 0
1E44  01800068 MVKH. 348 1 0
1E48  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
1E4C  01800E28 MVKL. 28 1 0
1E50  01800068 MVKH. 28 1 0
1E54  010C4078 ADD.L 0 1 0
                                     .
                                     B0
1E58  01800428 MVKL. 8 1 0
1E5C  01800068 MVKH. 8 1 0
1E60  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
1E64  00000028 MVKL. 0 105 0
1E68  00000068 MVKH. 0 105 0
1E6C  00000266 LDW.D * 105 2 0
1E70  00006000 NOP 4 0 0
1E74  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1E78  00000028 MVKL. 0 105 0
1E7C  00000068 MVKH. 0 105 0
1E80  01000264 LDW.D * 105 0 0
1E84  00006000 NOP 4 0 0
                                     iir
1E88  0180AE28 MVKL. 348 1 0
1E8C  01800068 MVKH. 348 1 0
1E90  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
1E94  01800E28 MVKL. 28 1 0
1E98  01800068 MVKH. 28 1 0
1E9C  010C4078 ADD.L 0 1 0
                                     .
                                     B1
1EA0  01800628 MVKL. 12 1 0
1EA4  01800068 MVKH. 12 1 0
1EA8  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1EAC  00000028 MVKL. 0 105 0
1EB0  00000068 MVKH. 0 105 0
1EB4  00000266 LDW.D * 105 2 0
1EB8  00006000 NOP 4 0 0
1EBC  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1EC0  00000028 MVKL. 0 105 0
1EC4  00000068 MVKH. 0 105 0
1EC8  01000264 LDW.D * 105 0 0
1ECC  00006000 NOP 4 0 0
                                     iir
1ED0  0180AE28 MVKL. 348 1 0
1ED4  01800068 MVKH. 348 1 0
1ED8  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
1EDC  01800E28 MVKL. 28 1 0
1EE0  01800068 MVKH. 28 1 0
1EE4  010C4078 ADD.L 0 1 0
                                     .
                                     B2
1EE8  01800828 MVKL. 16 1 0
1EEC  01800068 MVKH. 16 1 0
1EF0  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1EF4  00000028 MVKL. 0 105 0
1EF8  00000068 MVKH. 0 105 0
1EFC  00000266 LDW.D * 105 2 0
1F00  00006000 NOP 4 0 0
1F04  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1F08  00000028 MVKL. 0 105 0
1F0C  00000068 MVKH. 0 105 0
1F10  01000264 LDW.D * 105 0 0
1F14  00006000 NOP 4 0 0
                                     iir
1F18  0180AE28 MVKL. 348 1 0
1F1C  01800068 MVKH. 348 1 0
1F20  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
1F24  01800E28 MVKL. 28 1 0
1F28  01800068 MVKH. 28 1 0
1F2C  010C4078 ADD.L 0 1 0
                                     .
                                     A1
                                     =
                                     0
                                     ;
1F30  00000028 MVKL. 0 105 0
1F34  00000068 MVKH. 0 105 0
1F38  00000266 LDW.D * 105 2 0
1F3C  00006000 NOP 4 0 0
1F40  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1F44  00000028 MVKL. 0 105 0
1F48  00000068 MVKH. 0 105 0
1F4C  01000264 LDW.D * 105 0 0
1F50  00006000 NOP 4 0 0
                                     iir
1F54  0180AE28 MVKL. 348 1 0
1F58  01800068 MVKH. 348 1 0
1F5C  010C4078 ADD.L 0 1 0
                                     [
                                     1
                                     ]
1F60  01800E28 MVKL. 28 1 0
1F64  01800068 MVKH. 28 1 0
1F68  010C4078 ADD.L 0 1 0
                                     .
                                     A2
1F6C  01800228 MVKL. 4 1 0
1F70  01800068 MVKH. 4 1 0
1F74  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
1F78  00000028 MVKL. 0 105 0
1F7C  00000068 MVKH. 0 105 0
1F80  00000266 LDW.D * 105 2 0
1F84  00006000 NOP 4 0 0
1F88  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1F8C  00000028 MVKL. 0 105 0
1F90  00000068 MVKH. 0 105 0
1F94  01000264 LDW.D * 105 0 0
1F98  00006000 NOP 4 0 0
                                     iir
1F9C  0180AE28 MVKL. 348 1 0
1FA0  01800068 MVKH. 348 1 0
1FA4  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
1FA8  01801C28 MVKL. 56 1 0
1FAC  01800068 MVKH. 56 1 0
1FB0  010C4078 ADD.L 0 1 0
                                     .
                                     B0
1FB4  01800428 MVKL. 8 1 0
1FB8  01800068 MVKH. 8 1 0
1FBC  010C4078 ADD.L 0 1 0
                                     =
                                     1
                                     ;
1FC0  00000028 MVKL. 0 105 0
1FC4  00000068 MVKH. 0 105 0
1FC8  00000266 LDW.D * 105 2 0
1FCC  00006000 NOP 4 0 0
1FD0  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
1FD4  00000028 MVKL. 0 105 0
1FD8  00000068 MVKH. 0 105 0
1FDC  01000264 LDW.D * 105 0 0
1FE0  00006000 NOP 4 0 0
                                     iir
1FE4  0180AE28 MVKL. 348 1 0
1FE8  01800068 MVKH. 348 1 0
1FEC  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
1FF0  01801C28 MVKL. 56 1 0
1FF4  01800068 MVKH. 56 1 0
1FF8  010C4078 ADD.L 0 1 0
                                     .
                                     B1
1FFC  01800628 MVKL. 12 1 0
2000  01800068 MVKH. 12 1 0
2004  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
2008  00000028 MVKL. 0 105 0
200C  00000068 MVKH. 0 105 0
2010  00000266 LDW.D * 105 2 0
2014  00006000 NOP 4 0 0
2018  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
201C  00000028 MVKL. 0 105 0
2020  00000068 MVKH. 0 105 0
2024  01000264 LDW.D * 105 0 0
2028  00006000 NOP 4 0 0
                                     iir
202C  0180AE28 MVKL. 348 1 0
2030  01800068 MVKH. 348 1 0
2034  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
2038  01801C28 MVKL. 56 1 0
203C  01800068 MVKH. 56 1 0
2040  010C4078 ADD.L 0 1 0
                                     .
                                     B2
2044  01800828 MVKL. 16 1 0
2048  01800068 MVKH. 16 1 0
204C  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
2050  00000028 MVKL. 0 105 0
2054  00000068 MVKH. 0 105 0
2058  00000266 LDW.D * 105 2 0
205C  00006000 NOP 4 0 0
2060  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
2064  00000028 MVKL. 0 105 0
2068  00000068 MVKH. 0 105 0
206C  01000264 LDW.D * 105 0 0
2070  00006000 NOP 4 0 0
                                     iir
2074  0180AE28 MVKL. 348 1 0
2078  01800068 MVKH. 348 1 0
207C  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
2080  01801C28 MVKL. 56 1 0
2084  01800068 MVKH. 56 1 0
2088  010C4078 ADD.L 0 1 0
                                     .
                                     A1
                                     =
                                     0
                                     ;
208C  00000028 MVKL. 0 105 0
2090  00000068 MVKH. 0 105 0
2094  00000266 LDW.D * 105 2 0
2098  00006000 NOP 4 0 0
209C  00080276 STW.D * 2 0 0
                                     ch2
                                     ->
                                     ->
20A0  00000028 MVKL. 0 105 0
20A4  00000068 MVKH. 0 105 0
20A8  01000264 LDW.D * 105 0 0
20AC  00006000 NOP 4 0 0
                                     iir
20B0  0180AE28 MVKL. 348 1 0
20B4  01800068 MVKH. 348 1 0
20B8  010C4078 ADD.L 0 1 0
                                     [
                                     2
                                     ]
20BC  01801C28 MVKL. 56 1 0
20C0  01800068 MVKH. 56 1 0
20C4  010C4078 ADD.L 0 1 0
                                     .
                                     A2
20C8  01800228 MVKL. 4 1 0
20CC  01800068 MVKH. 4 1 0
20D0  010C4078 ADD.L 0 1 0
                                     =
                                     0
                                     ;
20D4  00000028 MVKL. 0 105 0
20D8  00000068 MVKH. 0 105 0
20DC  00000266 LDW.D * 105 2 0
20E0  00006000 NOP 4 0 0
20E4  00080276 STW.D * 2 0 0
                                     EnableAxisDest
                                     (
                                     (
                                     2
                                     ,
20E8  02000128 MVKL. 2 4 0
20EC  02000068 MVKH. 2 4 0
20F0  023C54F4 STW.D SP POST DEC 4 0 0
                                     0
                                     )
20F4  00000028 MVKL. 0 105 0
20F8  00000068 MVKH. 0 105 0
20FC  02000366 LDDW.D * 105 6 0
2100  00008000 NOP 5 0 0
2104  023C54F6 STW.D SP POST DEC 6 0 0
2108  02BC62F6 STW.D +* 7 106 3
                                     ;
210C  023C33E6 LDDW.D SP PRE INC 6 0 0
2110  023C52E4 LDW.D SP PRE INC 4 0 0
2114  00000028 MVKL. 0 105 0
2118  00000068 MVKH. 0 105 0
211C  00001362 B.S2 0 -1 105
2120  0180002A MVKL. 0 107 0
2124  0180006A MVKH. 0 107 0
2128  00004000 NOP 3 0 0
                                     DefineCoordSystem
                                     (
                                     (
                                     0
                                     ,
212C  02000028 MVKL. 0 4 0
2130  02000068 MVKH. 0 4 0
2134  023C54F4 STW.D SP POST DEC 4 0 0
                                     1
                                     ,
2138  020000AA MVKL. 1 6 0
213C  0200006A MVKH. 1 6 0
2140  023C54F6 STW.D SP POST DEC 6 0 0
                                     2
                                     ,
2144  03000128 MVKL. 2 8 0
2148  03000068 MVKH. 2 8 0
214C  033C54F4 STW.D SP POST DEC 8 0 0
                                     -
                                     1
                                     )
2150  037FFFAA MVKL. -1 10 0
2154  037FFFEA MVKH. -1 10 0
2158  033C54F6 STW.D SP POST DEC 10 0 0
                                     ;
215C  033C52E6 LDW.D SP PRE INC 10 0 0
2160  033C52E4 LDW.D SP PRE INC 8 0 0
2164  023C52E6 LDW.D SP PRE INC 6 0 0
2168  023C52E4 LDW.D SP PRE INC 4 0 0
216C  00000028 MVKL. 0 105 0
2170  00000068 MVKH. 0 105 0
2174  00001362 B.S2 0 -1 105
2178  0180002A MVKL. 0 107 0
217C  0180006A MVKH. 0 107 0
2180  00004000 NOP 3 0 0
                                     SetBitDirection
                                     (
                                     (
                                     45
                                     ,
2184  020016A8 MVKL. 45 4 0
2188  02000068 MVKH. 45 4 0
218C  023C54F4 STW.D SP POST DEC 4 0 0
                                     1
                                     )
2190  020000AA MVKL. 1 6 0
2194  0200006A MVKH. 1 6 0
2198  023C54F6 STW.D SP POST DEC 6 0 0
                                     ;
219C  023C52E6 LDW.D SP PRE INC 6 0 0
21A0  023C52E4 LDW.D SP PRE INC 4 0 0
21A4  00000028 MVKL. 0 105 0
21A8  00000068 MVKH. 0 105 0
21AC  00001362 B.S2 0 -1 105
21B0  0180002A MVKL. 0 107 0
21B4  0180006A MVKH. 0 107 0
21B8  00004000 NOP 3 0 0
                                     SetBit
                                     (
                                     (
                                     45
                                     )
21BC  020016A8 MVKL. 45 4 0
21C0  02000068 MVKH. 45 4 0
21C4  023C54F4 STW.D SP POST DEC 4 0 0
                                     ;
21C8  023C52E4 LDW.D SP PRE INC 4 0 0
21CC  00000028 MVKL. 0 105 0
21D0  00000068 MVKH. 0 105 0
21D4  00001362 B.S2 0 -1 105
21D8  0180002A MVKL. 0 107 0
21DC  0180006A MVKH. 0 107 0
21E0  00004000 NOP 3 0 0
                                     Tau
                                     =
                                     =
                                     
                                     ;
21E4  00000028 MVKL. 0 105 0
21E8  00000068 MVKH. 0 105 0
21EC  01000364 LDDW.D * 105 0 0
21F0  00008000 NOP 5 0 0
21F4  00000028 MVKL. 0 105 0
21F8  00000068 MVKH. 0 105 0
21FC  013C0A74 STW.D *+SP[A0] 0 0 0
2200  000000D0 ADDK 1 105 0
2204  01BC0A74 STW.D *+SP[A0] 1 0 0
                                     KLP
                                     =
                                     =
                                     exp
                                     (
                                     -
                                     
                                     /
                                     Tau
                                     )
2208  00000028 MVKL. 0 105 0
220C  00000068 MVKH. 0 105 0
2210  01000364 LDDW.D * 105 0 0
2214  00008000 NOP 5 0 0
2218  00000028 MVKL. 0 105 0
221C  00000068 MVKH. 0 105 0
2220  003C0B66 LDDW.D *+SP[A0] 2 0 0
2224  00008000 NOP 5 0 0
2228  02080058 MV.L 0 0 4
222C  028C0058 MV.L 0 1 5
2230  023C54F4 STW.D SP POST DEC 4 0 0
2234  02BC62F4 STW.D +* 5 106 3
2238  0200005A MV.L 0 2 6
223C  0284005A MV.L 0 3 7
2240  023C54F6 STW.D SP POST DEC 6 0 0
2244  02BC62F6 STW.D +* 7 106 3
2248  023C33E6 LDDW.D SP PRE INC 6 0 0
224C  023C33E4 LDDW.D SP PRE INC 4 0 0
2250  00000028 MVKL. 0 105 0
2254  00000068 MVKH. 0 105 0
2258  00001362 B.S2 0 -1 105
225C  0180002A MVKL. 0 107 0
2260  0180006A MVKH. 0 107 0
2264  00004000 NOP 3 0 0
2268  023C54F4 STW.D SP POST DEC 4 0 0
226C  02BC62F4 STW.D +* 5 106 3
                                     ;
2270  023C33E4 LDDW.D SP PRE INC 4 0 0
2274  00000028 MVKL. 0 105 0
2278  00000068 MVKH. 0 105 0
227C  00001362 B.S2 0 -1 105
2280  0180002A MVKL. 0 107 0
2284  0180006A MVKH. 0 107 0
2288  00004000 NOP 3 0 0
228C  01100058 MV.L 0 4 0
2290  01940058 MV.L 0 5 1
2294  00000028 MVKL. 0 105 0
2298  00000068 MVKH. 0 105 0
229C  01000274 STW.D * 0 105 0
22A0  01802274 STW.D +* 1 105 1
                                     KLP
                                     =
                                     =
                                     0
                                     ;
22A4  00000028 MVKL. 0 105 0
22A8  00000068 MVKH. 0 105 0
22AC  01000364 LDDW.D * 105 0 0
22B0  00008000 NOP 5 0 0
22B4  00000028 MVKL. 0 105 0
22B8  00000068 MVKH. 0 105 0
22BC  01000274 STW.D * 0 105 0
22C0  01802274 STW.D +* 1 105 1
                                     for
                                     (
                                     ;
                                     ;
                                     )
                                     {
                                     WaitNextTimeSlice
                                     (
                                     (
                                     )
                                     ;
22C4  00000028 MVKL. 0 105 0
22C8  00000068 MVKH. 0 105 0
22CC  00001362 B.S2 0 -1 105
22D0  0180002A MVKL. 0 107 0
22D4  0180006A MVKH. 0 107 0
22D8  00004000 NOP 3 0 0
                                     if
                                     (
                                     ch0
                                     ->
22DC  00000028 MVKL. 0 105 0
22E0  00000068 MVKH. 0 105 0
22E4  01000264 LDW.D * 105 0 0
22E8  00006000 NOP 4 0 0
                                     Dest
22EC  01802028 MVKL. 64 1 0
22F0  01800068 MVKH. 64 1 0
22F4  010C4078 ADD.L 0 1 0
                                     !=
                                     LastX
                                     ||
22F8  007FFBA8 MVKL. -9 105 0
22FC  007FFFE8 MVKH. -9 105 0
2300  013C0A74 STW.D *+SP[A0] 0 0 0
2304  007FFF28 MVKL. -2 105 0
2308  007FFFE8 MVKH. -2 105 0
230C  013C0B64 LDDW.D *+SP[A0] 0 0 0
2310  00008000 NOP 5 0 0
2314  007FFBA8 MVKL. -9 105 0
2318  007FFFE8 MVKH. -9 105 0
231C  003C0A66 LDW.D *+SP[A0] 2 0 0
2320  00006000 NOP 4 0 0
2324  000003E6 LDDW.D * 2 2 0
2328  00008000 NOP 5 0 0
232C  01081A22 CMPEQDP.S1 2 0 109
2330  00000000 NOP 1 0 0
2334  00000028 MVKL. 0 105 0
2338  00000068 MVKH. 0 105 0
233C  70001362 B.S2 1 109 105
2340  00008000 NOP 5 0 0
                                     ch1
                                     ->
2344  00000028 MVKL. 0 105 0
2348  00000068 MVKH. 0 105 0
234C  01000264 LDW.D * 105 0 0
2350  00006000 NOP 4 0 0
                                     Dest
2354  01802028 MVKL. 64 1 0
2358  01800068 MVKH. 64 1 0
235C  010C4078 ADD.L 0 1 0
                                     !=
                                     LastY
                                     ||
2360  007FFB28 MVKL. -10 105 0
2364  007FFFE8 MVKH. -10 105 0
2368  013C0A74 STW.D *+SP[A0] 0 0 0
236C  007FFEA8 MVKL. -3 105 0
2370  007FFFE8 MVKH. -3 105 0
2374  013C0B64 LDDW.D *+SP[A0] 0 0 0
2378  00008000 NOP 5 0 0
237C  007FFB28 MVKL. -10 105 0
2380  007FFFE8 MVKH. -10 105 0
2384  003C0A66 LDW.D *+SP[A0] 2 0 0
2388  00006000 NOP 4 0 0
238C  000003E6 LDDW.D * 2 2 0
2390  00008000 NOP 5 0 0
2394  01081A22 CMPEQDP.S1 2 0 109
2398  00000000 NOP 1 0 0
239C  00119A28 MVKL. 9012 105 0
23A0  00000068 MVKH. 9012 105 0
23A4  70001362 B.S2 1 109 105
23A8  00008000 NOP 5 0 0
                                     ch2
                                     ->
23AC  00000028 MVKL. 0 105 0
23B0  00000068 MVKH. 0 105 0
23B4  01000264 LDW.D * 105 0 0
23B8  00006000 NOP 4 0 0
                                     Dest
23BC  01802028 MVKL. 64 1 0
23C0  01800068 MVKH. 64 1 0
23C4  010C4078 ADD.L 0 1 0
                                     !=
                                     LastZ
                                     )
23C8  007FFAA8 MVKL. -11 105 0
23CC  007FFFE8 MVKH. -11 105 0
23D0  013C0A74 STW.D *+SP[A0] 0 0 0
23D4  007FFE28 MVKL. -4 105 0
23D8  007FFFE8 MVKH. -4 105 0
23DC  013C0B64 LDDW.D *+SP[A0] 0 0 0
23E0  00008000 NOP 5 0 0
23E4  007FFAA8 MVKL. -11 105 0
23E8  007FFFE8 MVKH. -11 105 0
23EC  003C0A66 LDW.D *+SP[A0] 2 0 0
23F0  00006000 NOP 4 0 0
23F4  000003E6 LDDW.D * 2 2 0
23F8  00008000 NOP 5 0 0
23FC  01081A22 CMPEQDP.S1 2 0 109
2400  00000000 NOP 1 0 0
2404  0011CE28 MVKL. 9116 105 0
2408  00000068 MVKH. 9116 105 0
240C  70001362 B.S2 1 109 105
2410  00008000 NOP 5 0 0
                                     {
2414  00000028 MVKL. 0 105 0
2418  00000068 MVKH. 0 105 0
241C  00001362 B.S2 0 -1 105
2420  00008000 NOP 5 0 0
                                     SetBit
                                     (
                                     (
                                     45
                                     )
2424  020016A8 MVKL. 45 4 0
2428  02000068 MVKH. 45 4 0
242C  023C54F4 STW.D SP POST DEC 4 0 0
                                     ;
2430  023C52E4 LDW.D SP PRE INC 4 0 0
2434  00000028 MVKL. 0 105 0
2438  00000068 MVKH. 0 105 0
243C  00001362 B.S2 0 -1 105
2440  0180002A MVKL. 0 107 0
2444  0180006A MVKH. 0 107 0
2448  00004000 NOP 3 0 0
                                     T0
                                     =
                                     =
                                     Time_sec
                                     (
                                     )
                                     ;
244C  00000028 MVKL. 0 105 0
2450  00000068 MVKH. 0 105 0
2454  00001362 B.S2 0 -1 105
2458  0180002A MVKL. 0 107 0
245C  0180006A MVKH. 0 107 0
2460  00004000 NOP 3 0 0
2464  01100058 MV.L 0 4 0
2468  01940058 MV.L 0 5 1
246C  007FFF28 MVKL. -2 105 0
2470  007FFFE8 MVKH. -2 105 0
2474  013C0A74 STW.D *+SP[A0] 0 0 0
2478  000000D0 ADDK 1 105 0
247C  01BC0A74 STW.D *+SP[A0] 1 0 0
                                     LastX
                                     =
                                     =
                                     ch0
                                     ->
2480  00000028 MVKL. 0 105 0
2484  00000068 MVKH. 0 105 0
2488  01000264 LDW.D * 105 0 0
248C  00006000 NOP 4 0 0
                                     Dest
2490  01802028 MVKL. 64 1 0
2494  01800068 MVKH. 64 1 0
2498  010C4078 ADD.L 0 1 0
                                     ;
249C  00080366 LDDW.D * 0 2 0
24A0  00008000 NOP 5 0 0
24A4  007FFE28 MVKL. -4 105 0
24A8  007FFFE8 MVKH. -4 105 0
24AC  003C0A76 STW.D *+SP[A0] 2 0 0
24B0  000000D0 ADDK 1 105 0
24B4  00BC0A76 STW.D *+SP[A0] 3 0 0
                                     LastY
                                     =
                                     =
                                     ch1
                                     ->
24B8  00000028 MVKL. 0 105 0
24BC  00000068 MVKH. 0 105 0
24C0  01000264 LDW.D * 105 0 0
24C4  00006000 NOP 4 0 0
                                     Dest
24C8  01802028 MVKL. 64 1 0
24CC  01800068 MVKH. 64 1 0
24D0  010C4078 ADD.L 0 1 0
                                     ;
24D4  00080366 LDDW.D * 0 2 0
24D8  00008000 NOP 5 0 0
24DC  007FFD28 MVKL. -6 105 0
24E0  007FFFE8 MVKH. -6 105 0
24E4  003C0A76 STW.D *+SP[A0] 2 0 0
24E8  000000D0 ADDK 1 105 0
24EC  00BC0A76 STW.D *+SP[A0] 3 0 0
                                     LastZ
                                     =
                                     =
                                     ch2
                                     ->
24F0  00000028 MVKL. 0 105 0
24F4  00000068 MVKH. 0 105 0
24F8  01000264 LDW.D * 105 0 0
24FC  00006000 NOP 4 0 0
                                     Dest
2500  01802028 MVKL. 64 1 0
2504  01800068 MVKH. 64 1 0
2508  010C4078 ADD.L 0 1 0
                                     ;
250C  00080366 LDDW.D * 0 2 0
2510  00008000 NOP 5 0 0
2514  007FFC28 MVKL. -8 105 0
2518  007FFFE8 MVKH. -8 105 0
251C  003C0A76 STW.D *+SP[A0] 2 0 0
2520  000000D0 ADDK 1 105 0
2524  00BC0A76 STW.D *+SP[A0] 3 0 0
                                     }
                                     else
                                     {
2528  00000028 MVKL. 0 105 0
252C  00000068 MVKH. 0 105 0
2530  00001362 B.S2 0 -1 105
2534  00008000 NOP 5 0 0
                                     if
                                     (
                                     Time_sec
                                     (
                                     )
                                     >
2538  00000028 MVKL. 0 105 0
253C  00000068 MVKH. 0 105 0
2540  00001362 B.S2 0 -1 105
2544  0180002A MVKL. 0 107 0
2548  0180006A MVKH. 0 107 0
254C  00004000 NOP 3 0 0
                                     T0
                                     +
                                     
                                     )
2550  007FFFA8 MVKL. -1 105 0
2554  007FFFE8 MVKH. -1 105 0
2558  013C0B64 LDDW.D *+SP[A0] 0 0 0
255C  00008000 NOP 5 0 0
2560  00000028 MVKL. 0 105 0
2564  00000068 MVKH. 0 105 0
2568  00000366 LDDW.D * 105 2 0
256C  00008000 NOP 5 0 0
2570  01005318 ADDDP.L 0 2 0
2574  0000A000 NOP 6 0 0
2578  0010105A MV.L 0 4 2
257C  0094105A MV.L 0 5 3
2580  01081A62 CMPGTDP.S1 2 0 109
2584  00000000 NOP 1 0 0
                                     ClearBit
2588  00000028 MVKL. 0 105 0
258C  00000068 MVKH. 0 105 0
2590  70001362 B.S2 1 109 105
2594  00008000 NOP 5 0 0
                                     (
                                     (
                                     45
                                     )
2598  020016A8 MVKL. 45 4 0
259C  02000068 MVKH. 45 4 0
25A0  023C54F4 STW.D SP POST DEC 4 0 0
                                     ;
25A4  023C52E4 LDW.D SP PRE INC 4 0 0
25A8  00000028 MVKL. 0 105 0
25AC  00000068 MVKH. 0 105 0
25B0  00001362 B.S2 0 -1 105
25B4  0180002A MVKL. 0 107 0
25B8  0180006A MVKH. 0 107 0
25BC  00004000 NOP 3 0 0
                                     }
                                     }
                                     }
25C0  00000028 MVKL. 0 105 0
25C4  00000068 MVKH. 0 105 0
25C8  00001362 B.S2 0 -1 105
25CC  00008000 NOP 5 0 0
                                     
25D0  01BC52E6 LDW.D SP PRE INC 107 0 0
25D4  00006000 NOP 4 0 0
25D8  000C0362 B.S2 0 -1 107
25DC  07BC52E4 LDW.D SP PRE INC 108 0 0
25E0  07801C52 ADDK 56 106 0
25E4  00004000 NOP 3 0 0
