############################## Kinematics & Motion Controller ####################################
# Kinematics
loadrt gantrykins

# Settings for gantrykins
setp gantrykins.joint-0 0  #x = x
setp gantrykins.joint-1 1  #y = y1
setp gantrykins.joint-2 2  #z = z
setp gantrykins.joint-3 1  #y = y2

# motion controller, get name and thread periods from ini file
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES