############################## Kinematics & Motion Controller ####################################
loadrt trivkins
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES
#loadrt hal_parport cfg="378 out"

loadrt stepgen step_type=0,0,0
# Kinematics
#loadrt gantrykins

# Settings for gantrykins
#setp gantrykins.joint-0 0
#setp gantrykins.joint-1 1
#setp gantrykins.joint-2 2
#setp gantrykins.joint-3 1

# 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=[TRAJ]AXES