from my hal (board is an EU, even though it only works as an E): E-Stop Chain loadrt estop_latch count=1 addf estop-latch.0 servo-thread E-Stop Loop net estop-loopout iocontrol.0.emc-enable-in <= estop-latch.0.ok-out net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in E-Stop Reset net remote-estop estop-latch.0.fault-in <= hm2_7i76e.0.7i76.0.0.input-04-not net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset