digraph net {
  IDLE;
  START_JOINTS;
  START;
  WAIT_JOINTS;

  IDLE -> START [label="EMCMOT_HOME(-1)"];
  START -> START_JOINTS;
  START_JOINTS -> WAIT_JOINTS;
  WAIT_JOINTS -> START_JOINTS [label="todas las articulaciones\nen la secuencia\n han adquirido home"];
  START_JOINTS -> IDLE [label="si no quedan\n articulaciones\nsin home"];
  WAIT_JOINTS -> IDLE [label="la articulacion tiene error\n en su camino a home"];
  WAIT_JOINTS -> WAIT_JOINTS;
}
