1  digraph net {
 2    IDLE;
 3    START_JOINTS;
 4    START;
 5    WAIT_JOINTS;
 6  
 7    IDLE -> START [label="on EMCMOT_HOME(-1)"];
 8    START -> START_JOINTS;
 9    START_JOINTS -> WAIT_JOINTS;
10    WAIT_JOINTS -> START_JOINTS [label="all joints in this\nsequence reached home"];
11    START_JOINTS -> IDLE [label="if no joints left"];
12    WAIT_JOINTS -> IDLE [label="a joint had an error\non its way home"];
13    WAIT_JOINTS -> WAIT_JOINTS;
14  }