loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS 

loadusr -W lcec_conf ethercat-conf.xml
loadrt lcec

###########################################################
# Functions servo-thread
###########################################################

addf lcec.read-all servo-thread

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

addf lcec.write-all servo-thread

#########################################
#nets
#########################################
net emc-enable => iocontrol.0.emc-enable-in
sets emc-enable 1

net x-enable  joint.0.amp-enable-out lcec.0.E3000.Enable1-0 
net x-pos-cmd joint.0.motor-pos-cmd  lcec.0.E3000.CommandedPosition1
net x-pos-fb  joint.0.motor-pos-fb   lcec.0.E3000.ActualPosition1

net y-enable  joint.1.amp-enable-out lcec.0.E3000.Enable2-0 
net y-pos-cmd joint.1.motor-pos-cmd  lcec.0.E3000.CommandedPosition2
net y-pos-fb  joint.1.motor-pos-fb   lcec.0.E3000.ActualPosition2

net z-enable  joint.2.amp-enable-out lcec.0.E3000.Enable3-0 
net z-pos-cmd joint.2.motor-pos-cmd  lcec.0.E3000.CommandedPosition3
net z-pos-fb  joint.2.motor-pos-fb   lcec.0.E3000.ActualPosition3