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

# load the Remora real-time component

	loadrt remora-eth


# estop and SPI comms enable and feedback

	net user-enable-out		<= iocontrol.0.user-enable-out		=> remora.enable
	net user-request-enable <= iocontrol.0.user-request-enable	=> remora.reset
	net remora-status 		<= remora.status 				=> iocontrol.0.emc-enable-in


# add the remora and motion functions to threads

	addf remora.read 			servo-thread
	addf motion-command-handler servo-thread
	addf motion-controller 		servo-thread
	addf remora.update-freq 	servo-thread
	addf remora.write 			servo-thread


# joint 0 setup

	setp remora.joint.0.scale 		[JOINT_0]SCALE
	setp remora.joint.0.maxaccel 	[JOINT_0]STEPGEN_MAXACCEL

	net j0pos-cmd 		joint.0.motor-pos-cmd 	=> remora.joint.0.pos-cmd
	net j0pos-fb 		remora.joint.0.pos-fb 	=> joint.0.motor-pos-fb
	net j0enable 		joint.0.amp-enable-out 	=> remora.joint.0.enable


# joint 1 setup

	setp remora.joint.1.scale 		[JOINT_1]SCALE
	setp remora.joint.1.maxaccel 	[JOINT_1]STEPGEN_MAXACCEL

	net j1pos-cmd 		joint.1.motor-pos-cmd 	=> remora.joint.1.pos-cmd
	net j1pos-fb 		remora.joint.1.pos-fb 	=> joint.1.motor-pos-fb
	net j1enable 		joint.1.amp-enable-out 	=> remora.joint.1.enable

# joint 2 setup

	setp remora.joint.2.scale [JOINT_2]SCALE
	setp remora.joint.2.maxaccel [JOINT_2]STEPGEN_MAXACCEL

	net j2pos-cmd 		joint.2.motor-pos-cmd 	=> remora.joint.2.pos-cmd
	net j2pos-fb 		remora.joint.2.pos-fb 	=> joint.2.motor-pos-fb
	net j2enable 		joint.2.amp-enable-out 	=> remora.joint.2.enable


# joint 3 setup

#	setp remora.joint.3.scale [JOINT_3]SCALE
#	setp remora.joint.3.maxaccel [JOINT_3]STEPGEN_MAXACCEL
#	setp remora.joint.3.pgain 5

#	net j3pos-cmd 		joint.3.motor-pos-cmd 	=> remora.joint.3.pos-cmd
#	net j3pos-fb 		remora.joint.3.pos-fb 	=> joint.3.motor-pos-fb
#	net j3enable 		joint.3.amp-enable-out 	=> remora.joint.3.enable