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hi, thanks!
Is there any code or links to refer to?

hi，here's another question. I want to read from and write to the module (for example the shared memory module in realtime space) through pins in user space.How can I solve the problem? Is there any code about this?

sadly so yes, although i cannot help but think there must be a simpler way to do this with mux, just somehow switch between position and velocity modes depending on an input

its fairly complex...

You might take a look at this, using the orient component.

forum.linuxcnc.org/10-advanced-configura...is-from-inside-gcode