text: # core HAL config file for servos
  
  # first load the core RT modules that will be needed
  # kinematics
  loadrt [KINS]KINEMATICS
  # motion controller, get name and thread periods from ini file
  loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
  # PID module, for three PID loops
  loadrt pid num_chan=3
  
  # hook functions to realtime thread
  addf motion-command-handler servo-thread
  addf motion-controller servo-thread
  addf pid.0.do-pid-calcs servo-thread
  addf pid.1.do-pid-calcs servo-thread
  addf pid.2.do-pid-calcs servo-thread
  
  # connect position feedback
  net Xpos-fb joint.0.motor-pos-fb => pid.0.feedback
  net Ypos-fb joint.1.motor-pos-fb => pid.1.feedback
  net Zpos-fb joint.2.motor-pos-fb => pid.2.feedback
  
  # create PID to DAC output signals
  net Xoutput <= pid.0.output
  net Youtput <= pid.1.output
  net Zoutput <= pid.2.output
  
  # set PID loop output limits to +/-1.00
  setp pid.0.maxoutput [JOINT_0]MAX_VELOCITY
  setp pid.1.maxoutput [JOINT_1]MAX_VELOCITY
  setp pid.2.maxoutput [JOINT_2]MAX_VELOCITY
  
  # set PID loop gains from inifile
  
  # the values below come from the ini
  setp pid.0.Pgain [JOINT_0]P
  setp pid.0.Igain [JOINT_0]I
  setp pid.0.Dgain [JOINT_0]D
  setp pid.0.bias [JOINT_0]BIAS
  setp pid.0.FF0 [JOINT_0]FF0
  setp pid.0.FF1 [JOINT_0]FF1
  setp pid.0.FF2 [JOINT_0]FF2
  # deadband should be just over 1 count
  setp pid.0.deadband [JOINT_0]DEADBAND
  
  setp pid.1.Pgain [JOINT_1]P
  setp pid.1.Igain [JOINT_1]I
  setp pid.1.Dgain [JOINT_1]D
  setp pid.1.bias [JOINT_1]BIAS
  setp pid.1.FF0 [JOINT_1]FF0
  setp pid.1.FF1 [JOINT_1]FF1
  setp pid.1.FF2 [JOINT_1]FF2
  # deadband should be just over 1 count
  setp pid.1.deadband [JOINT_1]DEADBAND
  
  setp pid.2.Pgain [JOINT_2]P
  setp pid.2.Igain [JOINT_2]I
  setp pid.2.Dgain [JOINT_2]D
  setp pid.2.bias [JOINT_2]BIAS
  setp pid.2.FF0 [JOINT_2]FF0
  setp pid.2.FF1 [JOINT_2]FF1
  setp pid.2.FF2 [JOINT_2]FF2
  # deadband should be just over 1 count
  setp pid.2.deadband [JOINT_2]DEADBAND
  
  # position command signals
  net Xpos-cmd joint.0.motor-pos-cmd => pid.0.command
  net Ypos-cmd joint.1.motor-pos-cmd => pid.1.command
  net Zpos-cmd joint.2.motor-pos-cmd => pid.2.command
  
  # joint enable signals
  net Xenable joint.0.amp-enable-out => pid.0.enable
  net Yenable joint.1.amp-enable-out => pid.1.enable
  net Zenable joint.2.amp-enable-out => pid.2.enable
  