loadrt trivkins coordinates=XYZ

loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=3 num_dio=10 num_aio=10 num_spindles=1
addf motion-command-handler   servo-thread
addf motion-controller        servo-thread


net x-pos-fb     joint.0.motor-pos-fb   <=  joint.0.motor-pos-cmd


net y1-pos-fb     joint.1.motor-pos-fb   <=  joint.1.motor-pos-cmd


net z-pos-fb     joint.2.motor-pos-fb   <=  joint.2.motor-pos-cmd 

setp iocontrol.0.emc-enable-in 1