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# --- Physical E-stop on INPUT27 ---
# Normally open: 0 = OK, 1 = E-stop pressed

net estop-in    <=  hm2_7i76e.0.7i76.0.0.input-27
net estop-in    =>  iocontrol.0.emc-enable-in

# Load the required components
loadrt toggle2nist
loadrt timedelay
loadrt oneshot

# Add functions to threads
addf toggle2nist.0 servo-thread
addf timedelay.0 servo-thread
addf oneshot.0 servo-thread

# Configure components
setp timedelay.0.on-delay 2.0
setp timedelay.0.off-delay 0.0
setp oneshot.0.width 0.1  # Short pulse

# Create a not component for inversion (using existing not component)
loadrt not names=not.estop
addf not.estop servo-thread

# Connect iocontrol.0.user-enable-out to not component
net user-enable-status iocontrol.0.user-enable-out => not.estop.in

# Detect estop clearance edge (inverted signal)
net estop-cleared <= not.estop.out
net estop-cleared => oneshot.0.in
net estop-pulse oneshot.0.out => timedelay.0.in

# Use existing machine status signal
net machine-is-on => toggle2nist.0.is-on

# Connect delayed pulse to toggle
net delayed-pulse timedelay.0.out => toggle2nist.0.in

# Connect toggle output
net machine-on-toggle toggle2nist.0.on => halui.machine.on

5) **Jog MPG** (hm2_7i76e.0.7i76.0.0.enc0.count)

    | TB3 pin  |  Name   | MPG contact |
    |:---|:-----| :--- |
    | 9 | GND | VCC |
    | 12 | +5VP | GND |

    | TB5 pin  |  Name   | MPG contact |
    |:---|:-----| :--- |
    | 1 | INPUT16 | A+ |
    | / | / | A- |
    | 2 | INPUT17 | B+ |
    | / | / | B- |

6) **Jog enabling button**

    | TB5 pin  |  Name   | HAL name |
    |:---|:-----|:---|
    | 5 | INPUT20 | hm2_7i76e.0.7i76.0.0.input-20 |

7) **Speed selector button**

    | TB5 pin  |  Name   |  Position  |
    |:---|:-----|:---|
    | 6 | INPUT21 | X1 |
    | 7 | INPUT22 | X100 |

    If none is selected, the speed is X10

8) **Axis selector button**

    | TB5 pin  |  Name   |  Position  |
    |:---|:-----|:---|
    | 8 | INPUT23 | X |
    | 9 | INPUT24 | Z |