File: hard-limits.hal

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loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

addf motion-command-handler servo-thread
addf motion-controller servo-thread

net xpos joint.0.motor-pos-cmd => joint.0.motor-pos-fb
net x-neg-lim-sw => joint.0.neg-lim-sw-in

net ypos joint.1.motor-pos-cmd => joint.1.motor-pos-fb

net zpos joint.2.motor-pos-cmd => joint.2.motor-pos-fb

net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in