stmbl

loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt [HOSTMOT2](DRIVER) config=[HOSTMOT2](CONFIG)
loadrt estop_latch

setp    hm2_[HOSTMOT2](BOARD).0.watchdog.timeout_ns 50000000

addf hm2_[HOSTMOT2](BOARD).0.read         servo-thread
addf motion-command-handler               servo-thread
addf motion-controller                    servo-thread
addf hm2_[HOSTMOT2](BOARD).0.write        servo-thread
addf estop-latch.0                        servo-thread

net xposcmd joint.0.motor-pos-cmd  => hm2_[HOSTMOT2](BOARD).0.stbl.0.0.pos_cmd
net xvelcmd joint.0.vel-cmd        => hm2_[HOSTMOT2](BOARD).0.stbl.0.0.vel_cmd
net xposfb  joint.0.motor-pos-fb  <=  hm2_[HOSTMOT2](BOARD).0.stbl.0.0.pos_fb
net xenable joint.0.amp-enable-out => hm2_[HOSTMOT2](BOARD).0.stbl.0.0.enable
net xfault  joint.0.amp-fault-in  <=  hm2_[HOSTMOT2](BOARD).0.stbl.0.0.fault
#net xindex  joint.0.index-enable  <=> hm2_[HOSTMOT2](BOARD).0.stbl.0.0.index_enable
setp hm2_[HOSTMOT2](BOARD).0.stbl.0.0.scale 6

# A basic estop loop that only includes the hostmot watchdog.
net user-enable iocontrol.0.user-request-enable => estop-latch.0.reset
net enable-latch estop-latch.0.ok-out => iocontrol.0.emc-enable-in
net watchdog hm2_[HOSTMOT2](BOARD).0.watchdog.has_bit => estop-latch.0.fault-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