Lloyd, One more detail is that the very tricky block of code that makes the Estop work on all PPMC devices is that it depends on a delay between the software and the hardware. So, the software requests the device to come out of Estop. If all conditions are OK, the hardware comes out of Estop. The driver doesn't look at the status until the NEXT servo cycle, and the device is by that time indicating non-estop condition. So, the order of the addf's in the ppmc_load.hal file has to be just right.
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