digraph net {
  IDLE;
  START_JOINTS;
  START;
  WAIT_JOINTS;

  IDLE -> START [label="on EMCMOT_HOME(-1)"];
  START -> START_JOINTS;
  START_JOINTS -> WAIT_JOINTS;
  WAIT_JOINTS -> START_JOINTS [label="all joints in this\nsequence reached home"];
  START_JOINTS -> IDLE [label="if no joints left"];
  WAIT_JOINTS -> IDLE [label="a joint had an error\non its way home"];
  WAIT_JOINTS -> WAIT_JOINTS;
}