prueba1.hal

# components
loadusr -W lcec_conf /home/nacho/linuxcat/linuxcnchal/configs/prueba4/ethercat_config_n.xml
loadrt lcec
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES

loadrt conv_float_s32
loadrt conv_s32_float





net posactual.0 lcec.0.0.pos => conv-s32-float.0.in
net posactualfl.0  conv-s32-float.0.out => axis.0.motor-pos-fb

setp lcec.0.0.drivecontrol-1 1
setp lcec.0.0.drivecontrol-2 1

setp lcec.0.0.drivecontrol-0 1


net Xachse_AF axis.0.amp-enable-out => lcec.0.0.drivecontrol-3
net Xachse_cmd axis.0.motor-pos-cmd => conv-float-s32.0.in
net Xachse_cmds32 conv-float-s32.0.out => lcec.0.0.poscommand

# parameter values
# realtime thread/function links
addf lcec.read-all servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread

addf conv-s32-float.0 servo-thread
addf conv-float-s32.0 servo-thread



addf lcec.write-all servo-thread