loadrt gantrykins coordinates=XYZY

# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

# add motion controller functions to servo thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread

# create HAL signals for position commands from motion module
# loop position commands back to motion module feedback
net J0pos axis.0.motor-pos-cmd => axis.0.motor-pos-fb
net J1pos axis.1.motor-pos-cmd => axis.1.motor-pos-fb
net J2pos axis.2.motor-pos-cmd => axis.2.motor-pos-fb
net J3pos axis.3.motor-pos-cmd => axis.3.motor-pos-fb

# estop loopback
net estop-loop iocontrol.0.user-enable-out => iocontrol.0.emc-enable-in

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

# amp control - these nets are not used, but are placeholders for
# converting this sample config to actual machines
net J0ena <= axis.0.amp-enable-out
net J1ena <= axis.1.amp-enable-out
net J2ena <= axis.2.amp-enable-out
net J3ena <= axis.3.amp-enable-out

net J0flt => axis.0.amp-fault-in
net J1flt => axis.1.amp-fault-in
net J2flt => axis.2.amp-fault-in
net J3flt => axis.3.amp-fault-in