in your hal file:
To load the realtime component (the name 'not.myexample' is arbitrary)
Code:
loadrt not names=not.myexample
For the component to be executed in the servo-thread we need to add it.
Note: The order of how components are added to the thread matter. You will want this after the ethercat read and before the ethercat write. Otherwise you may loose a cycle before the state is valid.
Code:
addf not.myexample servo-thread
Then you can connect the signals:
Code:
net some_signal_name <= hal_pin_to_be_inverted => not.myexample.in
Code:
net some_other_signal_name <= not.myexample.out => some_hal_pin
