loadusr -W lcec_conf /home/moriseiki/linuxcnc/configs/ADTECH_Servo_EtherCAT402/ethercat_conf.xml

loadrt lcec
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT base_period_nsec=[EMCMOT]BASE_PERIOD servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS

addf lcec.read-all servo-thread

addf motion-command-handler servo-thread
addf motion-controller servo-thread

addf lcec.write-all servo-thread

net bus_up lcec.state-op => iocontrol.0.emc-enable-in

# X-Achse
#-----------------------------------------------------------
#net Xachse_AF joint.0.amp-enable-out	=>      lcec.0.0.X-cmd-FaultReset
net EnableAmpX joint.0.amp-enable-out 	=>	lcec.0.0.X-cmd-SwitchOn
net EnableAmpX					lcec.0.0.X-cmd-EnableVoltage
net EnableAmpX					lcec.0.0.X-cmd-/QuickStop
net EnableAmpX					lcec.0.0.X-cmd-EnableOperation

#net Xachse_AF joint.0.amp-enable-out	=>      lcec.0.0.X-cmd-FaultReset

net Xachse_fb lcec.0.0.pos => joint.0.motor-pos-fb
net Xachse_cmd joint.0.motor-pos-cmd => lcec.0.0.poscommand