loadrt sum2 count=2
loadrt abs count=1
addf sum2.0 servo-thread
addf sum2.1 servo-thread
addf abs.0 servo-thread
#first sum2 is used to determine ferror
linksp Zpos sum2.0.in0
linksp Zfb sum2.0.in1
setp sum2.0.gain1 -1
# set max ferror
setp sum2.1.in0 0.0050
setp sum2.1.gain0 200
# link current ferror to the other input
net ferror sum2.0.out => sum2.1.in1
setp sum2.1.gain1 -200
# output will be the difference, scaled to 0..1 (1/0.005 = 200)
net adaptivef <= sum2.1.out => abs.0.in
net adaptiveabs <= abs.0.out => motion.adaptive-feed