loadrt or2 names=or2.zvel
loadrt abs names=abs.zvel
loadrt and2 names=and2.zbrake
loadrt near names=near.z-vel

addf or2.zvel  servo-thread
addf abs.zvel  servo-thread
addf and2.zbrake  servo-thread
addf near.z-vel  servo-thread

# --- setup release z-brake on axis movement ---
net z-brake hm2_5i25.0.7i77.0.0.output-07
net abs-zvel-cmd joint.2.vel-cmd abs.zvel.in
net zvel-pos or2.zvel.in0 abs.zvel.is-positive
net zvel-neg or2.zvel.in1 abs.zvel.is-negative
net z-mov-ready and2.zbrake.in0 or2.zvel.out
setp near.z-vel.scale .0001
net z-vel-cmd near.z-vel.in1
net z-vel-fb => near.z-vel.in2
net z-vel-near and2.zbrake.in1 near.z-vel.out
net z-brake and2.zbrake.out