# HAL file for spindle limits test

# first load all the RT modules that will be needed
# kinematics
loadrt [KINS]KINEMATICS
# motion controller, get name and thread periods from INI file
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS num_spindles=[TRAJ]SPINDLES

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

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