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

loadrt lcec_simu names=lcec.0.0,lcec.0.1
addf lcec.0.0 servo-thread
addf lcec.0.1 servo-thread

setp iocontrol.0.emc-enable-in 1