Create variables in function of kinematics values

net J0pos irb.th1 irbgui.joint0
net J1pos irb.th2 irbgui.joint1
net J2pos irb.th3 irbgui.joint2
net J3pos irb.th4 irbgui.joint3
net J4pos irb.th5 irbgui.joint4

# load RT modules
loadrt irb
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD traj_period_nsec=[EMCMOT]TRAJ_PERIOD num_joints=[TRAJ]AXES

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

# create HAL signals for position commands from motion module
net J0pos <= axis.0.motor-pos-cmd
net J1pos <= axis.1.motor-pos-cmd
net J2pos <= axis.2.motor-pos-cmd
net J3pos <= axis.3.motor-pos-cmd
net J4pos <= axis.4.motor-pos-cmd


# loop position commands back to motion module feedback
net J0pos => axis.0.motor-pos-fb
net J1pos => axis.1.motor-pos-fb
net J2pos => axis.2.motor-pos-fb
net J3pos => axis.3.motor-pos-fb
net J4pos => axis.4.motor-pos-fb

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

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change iocontrol.0.tool-changed

loadusr -W irbgui

net J0p irb.th1 irbgui.joint0
net J1p irb.th2 irbgui.joint1
net J2p irb.th3 irbgui.joint2
net J3p irb.th4 irbgui.joint3
net J4p irb.th5 irbgui.joint4