loadrt trivkins
loadrt motmod base_period_nsec=0 servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

loadrt hostmot2
loadrt hm2_eth board_ip=192.168.1.121 config="num_stepgens=7"
loadrt estop_latch

setp hm2_7i92.0.gpio.027.is_output 1

setp hm2_7i92.0.stepgen.timer-number 1

setp hm2_7i92.0.stepgen.05.steplen 2000
setp hm2_7i92.0.stepgen.05.stepspace 2000
setp hm2_7i92.0.stepgen.05.dirhold 800
setp hm2_7i92.0.stepgen.05.dirsetup 800
setp hm2_7i92.0.stepgen.05.enable 1
setp hm2_7i92.0.stepgen.05.maxaccel 2000
setp hm2_7i92.0.stepgen.05.maxvel 200
setp hm2_7i92.0.stepgen.05.position-scale     -53.33333

setp hm2_7i92.0.stepgen.06.steplen 2000
setp hm2_7i92.0.stepgen.06.stepspace 2000
setp hm2_7i92.0.stepgen.06.dirhold 800
setp hm2_7i92.0.stepgen.06.dirsetup 800
setp hm2_7i92.0.stepgen.06.enable 1
setp hm2_7i92.0.stepgen.06.maxaccel 2000
setp hm2_7i92.0.stepgen.06.maxvel 200
setp hm2_7i92.0.stepgen.06.position-scale     53.33333

net X axis.0.motor-pos-cmd => hm2_7i92.0.stepgen.05.position-cmd
net Y axis.1.motor-pos-cmd => hm2_7i92.0.stepgen.06.position-cmd
net Xfb axis.0.motor-pos-fb <= hm2_7i92.0.stepgen.05.position-fb
net Yfb axis.1.motor-pos-fb <= hm2_7i92.0.stepgen.06.position-fb

net Zloop axis.2.motor-pos-cmd axis.2.motor-pos-fb

setp hm2_7i92.0.pwmgen.01.scale 100
net LO motion.spindle-on => hm2_7i92.0.pwmgen.01.enable
net LP motion.analog-out-00 => hm2_7i92.0.pwmgen.01.value

addf hm2_7i92.0.read-request servo-thread
addf hm2_7i92.0.read         servo-thread
addf motion-command-handler  servo-thread
addf motion-controller       servo-thread
addf estop-latch.0           servo-thread
addf hm2_7i92.0.write        servo-thread

# 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

# 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_7i92.0.watchdog.has_bit => estop-latch.0.fault-in