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        {
            "type": "stepdir",
            "pins": {
                "step": {
                    "pin": "13"
                },
                "dir": {
                    "pin": "14"
                }
            },
            "is_joint": true,
            "axis": "X"
        },

        {
            "type": "stepdir",
            "pins": {
                "step": {
                    "pin": "13"
                },
                "dir": {
                    "pin": "14"
                }
            },
            "is_joint": true,
            "axis": "X",
            "signals": {
                "velocity": {
                    "net": "joint.0.vel-cmd"
                },
                "position": {
                    "net": "joint.0.motor-pos-fb"
                }
            }
        },

#!/usr/bin/env python3
import os
import time
import hal
import linuxcnc

h = hal.component("file-check")
h.newpin("file-changed", hal.HAL_BIT, hal.HAL_OUT)
h.ready()
# create a connection to the status channel
s = linuxcnc.stat() 

# this is the file being checked for updates (example looks for 'file.txt' in the config folder)
file_path = 'file.txt' 
# wait time in milliseconds between file checks 
check_interval = 5000
# length of output pulse in milliseconds 
pulse_length = 1000 

last_modified = os.path.getmtime(file_path)
check_timer_start = round(time.time()*1000)
h['file-changed'] = False

try:
    while 1:
        s.poll()
        # see if it is time to check the file
        if round(time.time()*1000) >= check_timer_start + check_interval:
            # we don't want to reload when program is running
            if s.task_mode == 2 and s.state == 1: # ie AUTO-mode and 'RCS_DONE'
                current_modified = os.path.getmtime(file_path)
                if current_modified != last_modified:
                    print("File has changed!")
                    h['file-changed'] = True
                    pulse_timer_start = round(time.time()*1000)
                    last_modified = current_modified
                if h['file-changed'] and pulse_timer_start + pulse_length <= round(time.time()*1000):
                    h['file-changed'] = False
            # restart the timer for file checking
            check_timer_start = round(time.time()*1000)
except KeyboardInterrupt:
    raise SystemExit