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  1. Loaded HAL Components:
  2. ID Type Name PID State
  3. 41 User halcmd5051 5051 ready
  4. 39 User axisui 5044 ready
  5. 38 User A2GantryController 5034 ready
  6. 36 User hal_manualtoolchange 5029 ready
  7. 34 RT timedelay ready
  8. 33 RT sum2 ready
  9. 32 RT pid ready
  10. 31 RT or2 ready
  11. 30 RT oneshot ready
  12. 29 RT logic ready
  13. 28 RT not ready
  14. 27 RT estop_latch ready
  15. 26 RT and2 ready
  16. 25 RT xor2 ready
  17. 24 RT updown ready
  18. 23 RT scale ready
  19. 22 RT mux2 ready
  20. 21 RT mult2 ready
  21. 20 RT minmax ready
  22. 19 RT hypot ready
  23. 18 RT flipflop ready
  24. 17 RT edge ready
  25. 16 RT debounce ready
  26. 15 RT ddt ready
  27. 14 RT conv_s32_float ready
  28. 13 RT comp ready
  29. 12 RT hm2_7i43 ready
  30. 11 RT hostmot2 ready
  31. 10 RT probe_parport ready
  32. 9 RT motmod ready
  33. 8 RT gantrykins ready
  34. 7 User halui 4990 ready
  35. 5 User iocontrol 4988 ready
  36.  
  37. Component Pins:
  38. Owner Type Dir Value Name
  39. 38 bit IN FALSE A2GantryController.EMC_Is_Homed <== EMC_Is_Homed
  40. 38 bit IN FALSE A2GantryController.EMC_MODE_Is_Joint <== EMC_MODE_Is_Joint
  41. 38 bit IN FALSE A2GantryController.EMC_MODE_Is_MDI <== EMC_MODE_Is_MDI
  42. 38 bit IN TRUE A2GantryController.EMC_MODE_Is_Manual <== EMC_MODE_Is_Manual
  43. 38 bit IN TRUE A2GantryController.EMC_MODE_Is_Teleop <== EMC_MODE_Is_Teleop
  44. 38 bit OUT FALSE A2GantryController.EMC_MODE_Set_Joint ==> EMC_MODE_Set_Joint
  45. 38 bit OUT FALSE A2GantryController.EMC_MODE_Set_MDI ==> EMC_MODE_Set_MDI
  46. 38 bit OUT FALSE A2GantryController.EMC_MODE_Set_Manual ==> EMC_MODE_Set_Manual
  47. 38 bit OUT FALSE A2GantryController.EMC_MODE_Set_Teleop ==> EMC_MODE_Set_Teleop
  48. 38 bit OUT FALSE A2GantryController.enable-granites ==> enable-movement
  49. 38 bit IN TRUE A2GantryController.estop-in <== system-enable-not
  50. 38 bit IN TRUE A2GantryController.granite_is_homing <== ExternalHomingInProgress
  51. 38 bit OUT FALSE A2GantryController.home-granites ==> tell-granites-tohome
  52. 38 bit IN FALSE A2GantryController.home_button-in <== home_button_pushed
  53. 38 bit OUT FALSE A2GantryController.home_emc ==> EMC-Home
  54. 38 bit OUT FALSE A2GantryController.home_in_progress ==> home-status
  55. 38 bit OUT FALSE A2GantryController.machine-off ==> TurnOffMachine
  56. 38 bit OUT FALSE A2GantryController.machine-on ==> TurnOnMachine
  57. 38 bit IN FALSE A2GantryController.machine_is_on-in <== machine_is_on
  58. 38 bit OUT FALSE A2GantryController.reset-encoders ==> reset-encoders
  59. 38 bit OUT FALSE A2GantryController.state-change
  60. 38 float IN 0 A2GantryController.state-in <== A2Gantry_StateLoopback
  61. 38 float OUT 0 A2GantryController.state-out ==> A2Gantry_StateLoopback
  62. 26 bit IN FALSE and2.0.in0 <== CHLTriggered
  63. 26 bit IN FALSE and2.0.in1 <== CHLEnable
  64. 26 bit OUT FALSE and2.0.out ==> LockHeight
  65. 26 bit IN FALSE and2.1.in0 <== AdjustHeight
  66. 26 bit IN FALSE and2.1.in1 <== CHLSwitched
  67. 26 bit OUT FALSE and2.1.out ==> EnabledAdjustHeight
  68. 26 bit IN FALSE and2.10.in0 <== var3
  69. 26 bit IN FALSE and2.10.in1 <== var4
  70. 26 bit OUT FALSE and2.10.out ==> system-enable
  71. 26 bit IN TRUE and2.2.in0 <== FilteredArcOK
  72. 26 bit IN TRUE and2.2.in1 <== PierceDelayElapsed
  73. 26 bit OUT TRUE and2.2.out ==> ReleaseFeedHold
  74. 26 bit IN FALSE and2.3.in0 <== StartTorchOn
  75. 26 bit IN TRUE and2.3.in1 <== PAFOrArcOK
  76. 26 bit OUT FALSE and2.3.out ==> TorchOn
  77. 26 bit IN FALSE and2.4.in0 <== FloatSwitch
  78. 26 bit IN TRUE and2.4.in1 <== FilteredArcOK
  79. 26 bit OUT FALSE and2.4.out ==> FloatSwitchEstop
  80. 26 bit IN TRUE and2.5.in0 <== TurnTorchOff
  81. 26 bit IN FALSE and2.5.in1 <== FloatSwitch
  82. 26 bit OUT FALSE and2.5.out ==> FloatAndTorchOn
  83. 26 bit IN FALSE and2.6.in0 <== TurnTorchOn
  84. 26 bit IN FALSE and2.6.in1 <== FloatSwitch
  85. 26 bit OUT FALSE and2.6.out ==> TorchAndFloat
  86. 26 bit IN TRUE and2.7.in0 <== AtPosition
  87. 26 bit IN FALSE and2.7.in1 <== FloatSwitchSet
  88. 26 bit OUT FALSE and2.7.out ==> PosAndFloat
  89. 26 bit IN FALSE and2.8.in0 <== TurnTorchOn
  90. 26 bit IN TRUE and2.8.in1 <== Autostart
  91. 26 bit OUT FALSE and2.8.out ==> StartTorchOn
  92. 26 bit IN FALSE and2.9.in0 <== estop-sw-btn
  93. 26 bit IN TRUE and2.9.in1 <== estop-hw-btn
  94. 26 bit OUT FALSE and2.9.out ==> var3
  95. 9 bit OUT TRUE axis.0.active
  96. 9 bit OUT FALSE axis.0.amp-enable-out ==> X.enable
  97. 9 bit IN FALSE axis.0.amp-fault-in
  98. 9 float OUT 0 axis.0.backlash-corr
  99. 9 float OUT 0 axis.0.backlash-filt
  100. 9 float OUT 0 axis.0.backlash-vel
  101. 9 float OUT 0 axis.0.coarse-pos-cmd
  102. 9 bit OUT FALSE axis.0.error
  103. 9 float OUT 0 axis.0.f-error
  104. 9 float OUT 4 axis.0.f-error-lim
  105. 9 bit OUT FALSE axis.0.f-errored
  106. 9 bit OUT FALSE axis.0.faulted
  107. 9 float OUT 0 axis.0.free-pos-cmd
  108. 9 bit OUT FALSE axis.0.free-tp-enable
  109. 9 float OUT 0 axis.0.free-vel-lim
  110. 9 bit IN FALSE axis.0.home-sw-in
  111. 9 bit OUT FALSE axis.0.homed ==> EMC_Is_Homed0
  112. 9 bit OUT FALSE axis.0.homing
  113. 9 bit OUT TRUE axis.0.in-position
  114. 9 bit I/O FALSE axis.0.index-enable <=> x-index-enable
  115. 9 s32 IN 0 axis.0.jog-counts
  116. 9 bit IN FALSE axis.0.jog-enable
  117. 9 float IN 0 axis.0.jog-scale
  118. 9 bit IN FALSE axis.0.jog-vel-mode
  119. 9 float OUT 0 axis.0.joint-pos-cmd
  120. 9 float OUT 0 axis.0.joint-pos-fb
  121. 9 float OUT 0 axis.0.joint-vel-cmd
  122. 9 bit OUT FALSE axis.0.kb-jog-active
  123. 9 float OUT 0 axis.0.motor-offset
  124. 9 float OUT 0 axis.0.motor-pos-cmd ==> X.pos-cmd
  125. 9 float IN 0 axis.0.motor-pos-fb <== X.pos-fb
  126. 9 bit OUT FALSE axis.0.neg-hard-limit
  127. 9 bit IN FALSE axis.0.neg-lim-sw-in
  128. 9 bit OUT FALSE axis.0.pos-hard-limit
  129. 9 bit IN FALSE axis.0.pos-lim-sw-in
  130. 9 bit OUT FALSE axis.0.wheel-jog-active
  131. 9 bit OUT TRUE axis.1.active
  132. 9 bit OUT FALSE axis.1.amp-enable-out ==> Y.enable
  133. 9 bit IN FALSE axis.1.amp-fault-in
  134. 9 float OUT 0 axis.1.backlash-corr
  135. 9 float OUT 0 axis.1.backlash-filt
  136. 9 float OUT 0 axis.1.backlash-vel
  137. 9 float OUT 0 axis.1.coarse-pos-cmd
  138. 9 bit OUT FALSE axis.1.error
  139. 9 float OUT 0 axis.1.f-error
  140. 9 float OUT 4 axis.1.f-error-lim
  141. 9 bit OUT FALSE axis.1.f-errored
  142. 9 bit OUT FALSE axis.1.faulted
  143. 9 float OUT 0 axis.1.free-pos-cmd
  144. 9 bit OUT FALSE axis.1.free-tp-enable
  145. 9 float OUT 0 axis.1.free-vel-lim
  146. 9 bit IN FALSE axis.1.home-sw-in
  147. 9 bit OUT FALSE axis.1.homed ==> EMC_Is_Homed1
  148. 9 bit OUT FALSE axis.1.homing
  149. 9 bit OUT TRUE axis.1.in-position
  150. 9 bit I/O FALSE axis.1.index-enable <=> y-index-enable
  151. 9 s32 IN 0 axis.1.jog-counts
  152. 9 bit IN FALSE axis.1.jog-enable
  153. 9 float IN 0 axis.1.jog-scale
  154. 9 bit IN FALSE axis.1.jog-vel-mode
  155. 9 float OUT 0 axis.1.joint-pos-cmd
  156. 9 float OUT 0 axis.1.joint-pos-fb
  157. 9 float OUT 0 axis.1.joint-vel-cmd
  158. 9 bit OUT FALSE axis.1.kb-jog-active
  159. 9 float OUT 0 axis.1.motor-offset
  160. 9 float OUT 0 axis.1.motor-pos-cmd ==> Y.pos-cmd
  161. 9 float IN 0 axis.1.motor-pos-fb <== Y.pos-fb
  162. 9 bit OUT FALSE axis.1.neg-hard-limit
  163. 9 bit IN FALSE axis.1.neg-lim-sw-in
  164. 9 bit OUT FALSE axis.1.pos-hard-limit
  165. 9 bit IN FALSE axis.1.pos-lim-sw-in
  166. 9 bit OUT FALSE axis.1.wheel-jog-active
  167. 9 bit OUT TRUE axis.2.active
  168. 9 bit OUT FALSE axis.2.amp-enable-out ==> Z.enable
  169. 9 bit IN FALSE axis.2.amp-fault-in
  170. 9 float OUT 0 axis.2.backlash-corr
  171. 9 float OUT 0 axis.2.backlash-filt
  172. 9 float OUT 0 axis.2.backlash-vel
  173. 9 float OUT 0 axis.2.coarse-pos-cmd
  174. 9 bit OUT FALSE axis.2.error
  175. 9 float OUT 0 axis.2.f-error
  176. 9 float OUT 91 axis.2.f-error-lim
  177. 9 bit OUT FALSE axis.2.f-errored
  178. 9 bit OUT FALSE axis.2.faulted
  179. 9 float OUT 0 axis.2.free-pos-cmd
  180. 9 bit OUT FALSE axis.2.free-tp-enable
  181. 9 float OUT 0 axis.2.free-vel-lim
  182. 9 bit IN FALSE axis.2.home-sw-in <== TriggerLimit
  183. 9 bit OUT FALSE axis.2.homed ==> EMC_Is_Homed2
  184. 9 bit OUT FALSE axis.2.homing
  185. 9 bit OUT TRUE axis.2.in-position
  186. 9 bit I/O FALSE axis.2.index-enable <=> z-index-enable
  187. 9 s32 IN 0 axis.2.jog-counts
  188. 9 bit IN FALSE axis.2.jog-enable
  189. 9 float IN 0 axis.2.jog-scale
  190. 9 bit IN FALSE axis.2.jog-vel-mode
  191. 9 float OUT 0 axis.2.joint-pos-cmd ==> JointPoz-cmd
  192. 9 float OUT 0 axis.2.joint-pos-fb
  193. 9 float OUT 0 axis.2.joint-vel-cmd
  194. 9 bit OUT FALSE axis.2.kb-jog-active
  195. 9 float OUT 0 axis.2.motor-offset
  196. 9 float OUT 0 axis.2.motor-pos-cmd ==> Z.pos-cmd
  197. 9 float IN 0 axis.2.motor-pos-fb <== Z.pos-fb
  198. 9 bit OUT FALSE axis.2.neg-hard-limit
  199. 9 bit IN FALSE axis.2.neg-lim-sw-in <== TriggerLimit
  200. 9 bit OUT FALSE axis.2.pos-hard-limit
  201. 9 bit IN FALSE axis.2.pos-lim-sw-in <== TriggerLimit
  202. 9 bit OUT FALSE axis.2.wheel-jog-active
  203. 9 bit OUT TRUE axis.3.active
  204. 9 bit OUT FALSE axis.3.amp-enable-out ==> A.enable
  205. 9 bit IN FALSE axis.3.amp-fault-in
  206. 9 float OUT 0 axis.3.backlash-corr
  207. 9 float OUT 0 axis.3.backlash-filt
  208. 9 float OUT 0 axis.3.backlash-vel
  209. 9 float OUT 0 axis.3.coarse-pos-cmd
  210. 9 bit OUT FALSE axis.3.error
  211. 9 float OUT 0 axis.3.f-error
  212. 9 float OUT 4 axis.3.f-error-lim
  213. 9 bit OUT FALSE axis.3.f-errored
  214. 9 bit OUT FALSE axis.3.faulted
  215. 9 float OUT -0 axis.3.free-pos-cmd
  216. 9 bit OUT FALSE axis.3.free-tp-enable
  217. 9 float OUT 0 axis.3.free-vel-lim
  218. 9 bit IN FALSE axis.3.home-sw-in
  219. 9 bit OUT FALSE axis.3.homed ==> EMC_Is_Homed3
  220. 9 bit OUT FALSE axis.3.homing
  221. 9 bit OUT TRUE axis.3.in-position
  222. 9 bit I/O FALSE axis.3.index-enable <=> a-index-enable
  223. 9 bit IN FALSE axis.3.is-unlocked
  224. 9 s32 IN 0 axis.3.jog-counts
  225. 9 bit IN FALSE axis.3.jog-enable
  226. 9 float IN 0 axis.3.jog-scale
  227. 9 bit IN FALSE axis.3.jog-vel-mode
  228. 9 float OUT -0 axis.3.joint-pos-cmd
  229. 9 float OUT -0 axis.3.joint-pos-fb
  230. 9 float OUT 0 axis.3.joint-vel-cmd
  231. 9 bit OUT FALSE axis.3.kb-jog-active
  232. 9 float OUT 0 axis.3.motor-offset
  233. 9 float OUT 0 axis.3.motor-pos-cmd ==> A.pos-cmd
  234. 9 float IN -0 axis.3.motor-pos-fb <== A.pos-fb
  235. 9 bit OUT FALSE axis.3.neg-hard-limit
  236. 9 bit IN FALSE axis.3.neg-lim-sw-in
  237. 9 bit OUT FALSE axis.3.pos-hard-limit
  238. 9 bit IN FALSE axis.3.pos-lim-sw-in
  239. 9 bit OUT FALSE axis.3.unlock
  240. 9 bit OUT FALSE axis.3.wheel-jog-active
  241. 39 bit OUT FALSE axisui.jog.a
  242. 39 bit OUT FALSE axisui.jog.b
  243. 39 bit OUT FALSE axisui.jog.c
  244. 39 float OUT 0 axisui.jog.increment
  245. 39 bit OUT FALSE axisui.jog.u
  246. 39 bit OUT FALSE axisui.jog.v
  247. 39 bit OUT FALSE axisui.jog.w
  248. 39 bit OUT TRUE axisui.jog.x
  249. 39 bit OUT FALSE axisui.jog.y
  250. 39 bit OUT FALSE axisui.jog.z
  251. 39 bit IN FALSE axisui.notifications-clear
  252. 39 bit IN FALSE axisui.notifications-clear-error
  253. 39 bit IN FALSE axisui.notifications-clear-info
  254. 39 bit IN FALSE axisui.set-manual-mode
  255. 13 bit OUT TRUE comp.0.equal
  256. 13 float IN 0 comp.0.in0 <== VelXY
  257. 13 float IN 0 comp.0.in1 <== VelocityThreshold
  258. 13 bit OUT FALSE comp.0.out ==> CHLTriggered
  259. 13 bit OUT TRUE comp.1.equal ==> AtPosition
  260. 13 float IN 0 comp.1.in0 <== Z.pos-fb
  261. 13 float IN 0 comp.1.in1 <== PosZ-cmd
  262. 13 bit OUT FALSE comp.1.out
  263. 13 bit OUT FALSE comp.2.equal
  264. 13 float IN 5 comp.2.in0
  265. 13 float IN 0 comp.2.in1 <== IgnitionCounterFloat
  266. 13 bit OUT FALSE comp.2.out ==> IgnitionEstop
  267. 14 s32 IN 0 conv-s32-float.0.in <== IgnitionCounterS32
  268. 14 float OUT 0 conv-s32-float.0.out ==> IgnitionCounterFloat
  269. 15 float IN 0 ddt.0.in
  270. 15 float OUT 0 ddt.0.out ==> VelX
  271. 15 float IN 0 ddt.1.in
  272. 15 float OUT 0 ddt.1.out ==> VelY
  273. 16 bit IN FALSE debounce.0.0.in
  274. 16 bit OUT FALSE debounce.0.0.out
  275. 16 bit IN FALSE debounce.0.1.in
  276. 16 bit OUT FALSE debounce.0.1.out
  277. 16 bit IN FALSE debounce.0.2.in <== deb-FloatSwitch
  278. 16 bit OUT FALSE debounce.0.2.out ==> FloatSwitch
  279. 16 bit IN FALSE debounce.0.3.in <== deb-ExtEStop
  280. 16 bit OUT FALSE debounce.0.3.out ==> ExtEStop
  281. 16 bit IN FALSE debounce.0.4.in
  282. 16 bit OUT FALSE debounce.0.4.out
  283. 17 bit IN FALSE edge.0.in <== IgnitionTimer
  284. 17 bit OUT FALSE edge.0.out ==> IgnitionTimeout
  285. 17 bit OUT TRUE edge.0.out-invert
  286. 17 bit IN FALSE edge.1.in <== ExtinguishTimer
  287. 17 bit OUT FALSE edge.1.out ==> ExtinguishTimeout
  288. 17 bit OUT TRUE edge.1.out-invert
  289. 27 bit IN FALSE estop-latch.0.fault-in <== TriggerEStop
  290. 27 bit OUT TRUE estop-latch.0.fault-out
  291. 27 bit IN FALSE estop-latch.0.ok-in
  292. 27 bit OUT FALSE estop-latch.0.ok-out
  293. 27 bit IN FALSE estop-latch.0.reset
  294. 27 bit OUT FALSE estop-latch.0.watchdog
  295. 18 bit IN FALSE flipflop.0.clk
  296. 18 bit IN FALSE flipflop.0.data
  297. 18 bit I/O FALSE flipflop.0.out <=> FloatSwitchSet
  298. 18 bit IN TRUE flipflop.0.reset <== EstopOrArcOK
  299. 18 bit IN FALSE flipflop.0.set <== TorchAndFloat
  300. 18 bit IN FALSE flipflop.1.clk
  301. 18 bit IN FALSE flipflop.1.data
  302. 18 bit I/O FALSE flipflop.1.out <=> PierceLatch
  303. 18 bit IN TRUE flipflop.1.reset <== TorchOff
  304. 18 bit IN TRUE flipflop.1.set <== FilteredArcOK
  305. 18 bit IN FALSE flipflop.2.clk
  306. 18 bit IN FALSE flipflop.2.data
  307. 18 bit I/O TRUE flipflop.2.out <=> ExtinguishLatch
  308. 18 bit IN FALSE flipflop.2.reset <== ExtinguishTimeout
  309. 18 bit IN TRUE flipflop.2.set <== FilteredArcOK
  310. 36 bit IN FALSE hal_manualtoolchange.change <== tool-change-request
  311. 36 bit OUT FALSE hal_manualtoolchange.changed ==> tool-change-confirmed
  312. 36 s32 IN 0 hal_manualtoolchange.number <== tool-number
  313. 7 bit IN FALSE halui.abort
  314. 7 float OUT 0 halui.axis.0.pos-commanded
  315. 7 float OUT 0 halui.axis.0.pos-feedback
  316. 7 float OUT 0 halui.axis.0.pos-relative
  317. 7 float OUT -0 halui.axis.1.pos-commanded
  318. 7 float OUT -0 halui.axis.1.pos-feedback
  319. 7 float OUT -0 halui.axis.1.pos-relative
  320. 7 float OUT 0 halui.axis.2.pos-commanded
  321. 7 float OUT 0 halui.axis.2.pos-feedback
  322. 7 float OUT 0 halui.axis.2.pos-relative
  323. 7 float OUT 0 halui.axis.3.pos-commanded
  324. 7 float OUT 0 halui.axis.3.pos-feedback
  325. 7 float OUT 0 halui.axis.3.pos-relative
  326. 7 float OUT 0 halui.axis.4.pos-commanded
  327. 7 float OUT 0 halui.axis.4.pos-feedback
  328. 7 float OUT 0 halui.axis.4.pos-relative
  329. 7 float OUT 0 halui.axis.5.pos-commanded
  330. 7 float OUT 0 halui.axis.5.pos-feedback
  331. 7 float OUT 0 halui.axis.5.pos-relative
  332. 7 float OUT 0 halui.axis.6.pos-commanded
  333. 7 float OUT 0 halui.axis.6.pos-feedback
  334. 7 float OUT 0 halui.axis.6.pos-relative
  335. 7 float OUT 0 halui.axis.7.pos-commanded
  336. 7 float OUT 0 halui.axis.7.pos-feedback
  337. 7 float OUT 0 halui.axis.7.pos-relative
  338. 7 float OUT 0 halui.axis.8.pos-commanded
  339. 7 float OUT 0 halui.axis.8.pos-feedback
  340. 7 float OUT 0 halui.axis.8.pos-relative
  341. 7 bit IN FALSE halui.estop.activate
  342. 7 bit OUT TRUE halui.estop.is-activated
  343. 7 bit IN FALSE halui.estop.reset
  344. 7 bit IN TRUE halui.feed-override.count-enable
  345. 7 s32 IN 0 halui.feed-override.counts
  346. 7 bit IN FALSE halui.feed-override.decrease
  347. 7 bit IN FALSE halui.feed-override.direct-value
  348. 7 bit IN FALSE halui.feed-override.increase
  349. 7 float IN 0.1 halui.feed-override.scale
  350. 7 float OUT 1 halui.feed-override.value
  351. 7 bit OUT FALSE halui.flood.is-on
  352. 7 bit IN FALSE halui.flood.off
  353. 7 bit IN FALSE halui.flood.on
  354. 7 bit IN FALSE halui.home-all <== EMC-Home
  355. 7 float IN 0.2 halui.jog-deadband
  356. 7 float IN 0 halui.jog-speed
  357. 7 float IN 0 halui.jog.0.analog
  358. 7 float IN 0 halui.jog.0.increment
  359. 7 bit IN FALSE halui.jog.0.increment-minus
  360. 7 bit IN FALSE halui.jog.0.increment-plus
  361. 7 bit IN FALSE halui.jog.0.minus
  362. 7 bit IN FALSE halui.jog.0.plus
  363. 7 float IN 0 halui.jog.1.analog
  364. 7 float IN 0 halui.jog.1.increment
  365. 7 bit IN FALSE halui.jog.1.increment-minus
  366. 7 bit IN FALSE halui.jog.1.increment-plus
  367. 7 bit IN FALSE halui.jog.1.minus
  368. 7 bit IN FALSE halui.jog.1.plus
  369. 7 float IN 0 halui.jog.2.analog
  370. 7 float IN 0 halui.jog.2.increment
  371. 7 bit IN FALSE halui.jog.2.increment-minus
  372. 7 bit IN FALSE halui.jog.2.increment-plus
  373. 7 bit IN FALSE halui.jog.2.minus
  374. 7 bit IN FALSE halui.jog.2.plus
  375. 7 float IN 0 halui.jog.3.analog
  376. 7 float IN 0 halui.jog.3.increment
  377. 7 bit IN FALSE halui.jog.3.increment-minus
  378. 7 bit IN FALSE halui.jog.3.increment-plus
  379. 7 bit IN FALSE halui.jog.3.minus
  380. 7 bit IN FALSE halui.jog.3.plus
  381. 7 float IN 0 halui.jog.selected.increment
  382. 7 bit IN FALSE halui.jog.selected.increment-minus
  383. 7 bit IN FALSE halui.jog.selected.increment-plus
  384. 7 bit IN FALSE halui.jog.selected.minus
  385. 7 bit IN FALSE halui.jog.selected.plus
  386. 7 bit OUT FALSE halui.joint.0.has-fault
  387. 7 bit IN FALSE halui.joint.0.home
  388. 7 bit OUT FALSE halui.joint.0.is-homed
  389. 7 bit OUT FALSE halui.joint.0.is-selected
  390. 7 bit OUT FALSE halui.joint.0.on-hard-max-limit
  391. 7 bit OUT FALSE halui.joint.0.on-hard-min-limit
  392. 7 bit OUT FALSE halui.joint.0.on-soft-max-limit
  393. 7 bit OUT FALSE halui.joint.0.on-soft-min-limit
  394. 7 bit IN FALSE halui.joint.0.select
  395. 7 bit IN FALSE halui.joint.0.unhome
  396. 7 bit OUT FALSE halui.joint.1.has-fault
  397. 7 bit IN FALSE halui.joint.1.home
  398. 7 bit OUT FALSE halui.joint.1.is-homed
  399. 7 bit OUT FALSE halui.joint.1.is-selected
  400. 7 bit OUT FALSE halui.joint.1.on-hard-max-limit
  401. 7 bit OUT FALSE halui.joint.1.on-hard-min-limit
  402. 7 bit OUT FALSE halui.joint.1.on-soft-max-limit
  403. 7 bit OUT FALSE halui.joint.1.on-soft-min-limit
  404. 7 bit IN FALSE halui.joint.1.select
  405. 7 bit IN FALSE halui.joint.1.unhome
  406. 7 bit OUT FALSE halui.joint.2.has-fault
  407. 7 bit IN FALSE halui.joint.2.home
  408. 7 bit OUT FALSE halui.joint.2.is-homed
  409. 7 bit OUT FALSE halui.joint.2.is-selected
  410. 7 bit OUT FALSE halui.joint.2.on-hard-max-limit
  411. 7 bit OUT FALSE halui.joint.2.on-hard-min-limit
  412. 7 bit OUT FALSE halui.joint.2.on-soft-max-limit
  413. 7 bit OUT FALSE halui.joint.2.on-soft-min-limit
  414. 7 bit IN FALSE halui.joint.2.select
  415. 7 bit IN FALSE halui.joint.2.unhome
  416. 7 bit OUT FALSE halui.joint.3.has-fault
  417. 7 bit IN FALSE halui.joint.3.home
  418. 7 bit OUT FALSE halui.joint.3.is-homed
  419. 7 bit OUT FALSE halui.joint.3.is-selected
  420. 7 bit OUT FALSE halui.joint.3.on-hard-max-limit
  421. 7 bit OUT FALSE halui.joint.3.on-hard-min-limit
  422. 7 bit OUT FALSE halui.joint.3.on-soft-max-limit
  423. 7 bit OUT FALSE halui.joint.3.on-soft-min-limit
  424. 7 bit IN FALSE halui.joint.3.select
  425. 7 bit IN FALSE halui.joint.3.unhome
  426. 7 u32 OUT 0x00000000 halui.joint.selected
  427. 7 bit OUT FALSE halui.joint.selected.has-fault
  428. 7 bit IN FALSE halui.joint.selected.home
  429. 7 bit OUT FALSE halui.joint.selected.is_homed
  430. 7 bit OUT FALSE halui.joint.selected.on-hard-max-limit
  431. 7 bit OUT FALSE halui.joint.selected.on-hard-min-limit
  432. 7 bit OUT FALSE halui.joint.selected.on-soft-limit
  433. 7 bit OUT FALSE halui.joint.selected.on-soft-min-limit
  434. 7 bit IN FALSE halui.joint.selected.unhome
  435. 7 bit OUT FALSE halui.lube.is-on
  436. 7 bit IN FALSE halui.lube.off
  437. 7 bit IN FALSE halui.lube.on
  438. 7 bit OUT FALSE halui.machine.is-on ==> machine_is_on
  439. 7 bit IN FALSE halui.machine.off <== TurnOffMachine
  440. 7 bit IN FALSE halui.machine.on <== TurnOnMachine
  441. 7 bit IN TRUE halui.max-velocity.count-enable
  442. 7 s32 IN 0 halui.max-velocity.counts
  443. 7 bit IN FALSE halui.max-velocity.decrease
  444. 7 bit IN FALSE halui.max-velocity.direct-value
  445. 7 bit IN FALSE halui.max-velocity.increase
  446. 7 float IN 0 halui.max-velocity.scale
  447. 7 float OUT 41.66667 halui.max-velocity.value
  448. 7 bit IN FALSE halui.mdi-command-00
  449. 7 bit OUT FALSE halui.mist.is-on
  450. 7 bit IN FALSE halui.mist.off
  451. 7 bit IN FALSE halui.mist.on
  452. 7 bit IN FALSE halui.mode.auto
  453. 7 bit OUT FALSE halui.mode.is-auto ==> ModeIsAuto
  454. 7 bit OUT FALSE halui.mode.is-joint ==> EMC_MODE_Is_Joint
  455. 7 bit OUT TRUE halui.mode.is-manual ==> EMC_MODE_Is_Manual
  456. 7 bit OUT FALSE halui.mode.is-mdi ==> EMC_MODE_Is_MDI
  457. 7 bit OUT TRUE halui.mode.is-teleop ==> EMC_MODE_Is_Teleop
  458. 7 bit IN FALSE halui.mode.joint <== EMC_MODE_Set_Joint
  459. 7 bit IN FALSE halui.mode.manual <== EMC_MODE_Set_Manual
  460. 7 bit IN FALSE halui.mode.mdi <== EMC_MODE_Set_MDI
  461. 7 bit IN FALSE halui.mode.teleop <== EMC_MODE_Set_Teleop
  462. 7 bit OUT TRUE halui.program.block-delete.is-on
  463. 7 bit IN FALSE halui.program.block-delete.off
  464. 7 bit IN FALSE halui.program.block-delete.on
  465. 7 bit OUT TRUE halui.program.is-idle
  466. 7 bit OUT FALSE halui.program.is-paused
  467. 7 bit OUT FALSE halui.program.is-running
  468. 7 bit OUT TRUE halui.program.optional-stop.is-on
  469. 7 bit IN FALSE halui.program.optional-stop.off
  470. 7 bit IN FALSE halui.program.optional-stop.on
  471. 7 bit IN FALSE halui.program.pause
  472. 7 bit IN FALSE halui.program.resume
  473. 7 bit IN FALSE halui.program.run
  474. 7 bit IN FALSE halui.program.step
  475. 7 bit IN FALSE halui.program.stop
  476. 7 bit IN TRUE halui.spindle-override.count-enable
  477. 7 s32 IN 0 halui.spindle-override.counts
  478. 7 bit IN FALSE halui.spindle-override.decrease
  479. 7 bit IN FALSE halui.spindle-override.direct-value
  480. 7 bit IN FALSE halui.spindle-override.increase
  481. 7 float IN 0.1 halui.spindle-override.scale
  482. 7 float OUT 1 halui.spindle-override.value
  483. 7 bit OUT TRUE halui.spindle.brake-is-on
  484. 7 bit IN FALSE halui.spindle.brake-off
  485. 7 bit IN FALSE halui.spindle.brake-on
  486. 7 bit IN FALSE halui.spindle.decrease
  487. 7 bit IN FALSE halui.spindle.forward
  488. 7 bit IN FALSE halui.spindle.increase
  489. 7 bit OUT FALSE halui.spindle.is-on
  490. 7 bit IN FALSE halui.spindle.reverse
  491. 7 bit OUT FALSE halui.spindle.runs-backward
  492. 7 bit OUT FALSE halui.spindle.runs-forward
  493. 7 bit IN FALSE halui.spindle.start
  494. 7 bit IN FALSE halui.spindle.stop
  495. 7 float OUT 0 halui.tool.length_offset.a
  496. 7 float OUT 0 halui.tool.length_offset.b
  497. 7 float OUT 0 halui.tool.length_offset.c
  498. 7 float OUT 0 halui.tool.length_offset.u
  499. 7 float OUT 0 halui.tool.length_offset.v
  500. 7 float OUT 0 halui.tool.length_offset.w
  501. 7 float OUT 0 halui.tool.length_offset.x
  502. 7 float OUT 0 halui.tool.length_offset.y
  503. 7 float OUT 0 halui.tool.length_offset.z
  504. 7 u32 OUT 0x00000000 halui.tool.number
  505. 12 s32 OUT 0 hm2_7i43.0.encoder.00.count
  506. 12 s32 OUT 0 hm2_7i43.0.encoder.00.count-latched
  507. 12 bit I/O FALSE hm2_7i43.0.encoder.00.index-enable <=> x-index-enable
  508. 12 bit IN FALSE hm2_7i43.0.encoder.00.latch-enable
  509. 12 bit IN FALSE hm2_7i43.0.encoder.00.latch-polarity
  510. 12 float OUT 0 hm2_7i43.0.encoder.00.position ==> X.pos-fb
  511. 12 float OUT 0 hm2_7i43.0.encoder.00.position-latched
  512. 12 s32 OUT 0 hm2_7i43.0.encoder.00.rawcounts
  513. 12 s32 OUT 0 hm2_7i43.0.encoder.00.rawlatch
  514. 12 bit IN FALSE hm2_7i43.0.encoder.00.reset <== reset-encoders
  515. 12 float OUT 0 hm2_7i43.0.encoder.00.velocity
  516. 12 s32 OUT 0 hm2_7i43.0.encoder.01.count
  517. 12 s32 OUT 0 hm2_7i43.0.encoder.01.count-latched
  518. 12 bit I/O FALSE hm2_7i43.0.encoder.01.index-enable <=> y-index-enable
  519. 12 bit IN FALSE hm2_7i43.0.encoder.01.latch-enable
  520. 12 bit IN FALSE hm2_7i43.0.encoder.01.latch-polarity
  521. 12 float OUT 0 hm2_7i43.0.encoder.01.position ==> Y.pos-fb
  522. 12 float OUT 0 hm2_7i43.0.encoder.01.position-latched
  523. 12 s32 OUT 0 hm2_7i43.0.encoder.01.rawcounts
  524. 12 s32 OUT 0 hm2_7i43.0.encoder.01.rawlatch
  525. 12 bit IN FALSE hm2_7i43.0.encoder.01.reset <== reset-encoders
  526. 12 float OUT 0 hm2_7i43.0.encoder.01.velocity
  527. 12 s32 OUT 0 hm2_7i43.0.encoder.02.count
  528. 12 s32 OUT 0 hm2_7i43.0.encoder.02.count-latched
  529. 12 bit I/O FALSE hm2_7i43.0.encoder.02.index-enable <=> z-index-enable
  530. 12 bit IN FALSE hm2_7i43.0.encoder.02.latch-enable
  531. 12 bit IN FALSE hm2_7i43.0.encoder.02.latch-polarity
  532. 12 float OUT 0 hm2_7i43.0.encoder.02.position ==> Z.pos-fb
  533. 12 float OUT 0 hm2_7i43.0.encoder.02.position-latched
  534. 12 s32 OUT 0 hm2_7i43.0.encoder.02.rawcounts
  535. 12 s32 OUT 0 hm2_7i43.0.encoder.02.rawlatch
  536. 12 bit IN FALSE hm2_7i43.0.encoder.02.reset <== reset-encoders
  537. 12 float OUT 0 hm2_7i43.0.encoder.02.velocity
  538. 12 s32 OUT 0 hm2_7i43.0.encoder.03.count
  539. 12 s32 OUT 0 hm2_7i43.0.encoder.03.count-latched
  540. 12 bit I/O FALSE hm2_7i43.0.encoder.03.index-enable <=> a-index-enable
  541. 12 bit IN FALSE hm2_7i43.0.encoder.03.latch-enable
  542. 12 bit IN FALSE hm2_7i43.0.encoder.03.latch-polarity
  543. 12 float OUT -0 hm2_7i43.0.encoder.03.position ==> A.pos-fb
  544. 12 float OUT -0 hm2_7i43.0.encoder.03.position-latched
  545. 12 s32 OUT 0 hm2_7i43.0.encoder.03.rawcounts
  546. 12 s32 OUT 0 hm2_7i43.0.encoder.03.rawlatch
  547. 12 bit IN FALSE hm2_7i43.0.encoder.03.reset <== reset-encoders
  548. 12 float OUT 0 hm2_7i43.0.encoder.03.velocity
  549. 12 bit OUT FALSE hm2_7i43.0.gpio.000.in
  550. 12 bit OUT TRUE hm2_7i43.0.gpio.000.in_not
  551. 12 bit OUT FALSE hm2_7i43.0.gpio.001.in
  552. 12 bit OUT TRUE hm2_7i43.0.gpio.001.in_not
  553. 12 bit OUT FALSE hm2_7i43.0.gpio.002.in
  554. 12 bit OUT TRUE hm2_7i43.0.gpio.002.in_not
  555. 12 bit OUT FALSE hm2_7i43.0.gpio.003.in
  556. 12 bit OUT TRUE hm2_7i43.0.gpio.003.in_not
  557. 12 bit OUT FALSE hm2_7i43.0.gpio.004.in
  558. 12 bit OUT TRUE hm2_7i43.0.gpio.004.in_not
  559. 12 bit OUT FALSE hm2_7i43.0.gpio.005.in
  560. 12 bit OUT TRUE hm2_7i43.0.gpio.005.in_not
  561. 12 bit OUT FALSE hm2_7i43.0.gpio.006.in
  562. 12 bit OUT TRUE hm2_7i43.0.gpio.006.in_not
  563. 12 bit OUT FALSE hm2_7i43.0.gpio.007.in
  564. 12 bit OUT TRUE hm2_7i43.0.gpio.007.in_not
  565. 12 bit OUT FALSE hm2_7i43.0.gpio.008.in
  566. 12 bit OUT TRUE hm2_7i43.0.gpio.008.in_not
  567. 12 bit OUT FALSE hm2_7i43.0.gpio.009.in
  568. 12 bit OUT TRUE hm2_7i43.0.gpio.009.in_not
  569. 12 bit OUT FALSE hm2_7i43.0.gpio.010.in
  570. 12 bit OUT TRUE hm2_7i43.0.gpio.010.in_not
  571. 12 bit OUT FALSE hm2_7i43.0.gpio.011.in
  572. 12 bit OUT TRUE hm2_7i43.0.gpio.011.in_not
  573. 12 bit OUT FALSE hm2_7i43.0.gpio.012.in
  574. 12 bit OUT TRUE hm2_7i43.0.gpio.012.in_not
  575. 12 bit OUT FALSE hm2_7i43.0.gpio.013.in
  576. 12 bit OUT TRUE hm2_7i43.0.gpio.013.in_not
  577. 12 bit OUT TRUE hm2_7i43.0.gpio.014.in
  578. 12 bit OUT FALSE hm2_7i43.0.gpio.014.in_not
  579. 12 bit OUT FALSE hm2_7i43.0.gpio.015.in
  580. 12 bit OUT TRUE hm2_7i43.0.gpio.015.in_not
  581. 12 bit OUT FALSE hm2_7i43.0.gpio.016.in
  582. 12 bit OUT TRUE hm2_7i43.0.gpio.016.in_not
  583. 12 bit OUT FALSE hm2_7i43.0.gpio.017.in
  584. 12 bit OUT TRUE hm2_7i43.0.gpio.017.in_not
  585. 12 bit OUT TRUE hm2_7i43.0.gpio.018.in
  586. 12 bit OUT FALSE hm2_7i43.0.gpio.018.in_not
  587. 12 bit OUT FALSE hm2_7i43.0.gpio.019.in
  588. 12 bit OUT TRUE hm2_7i43.0.gpio.019.in_not
  589. 12 bit OUT FALSE hm2_7i43.0.gpio.020.in
  590. 12 bit OUT TRUE hm2_7i43.0.gpio.020.in_not
  591. 12 bit OUT TRUE hm2_7i43.0.gpio.021.in
  592. 12 bit OUT FALSE hm2_7i43.0.gpio.021.in_not
  593. 12 bit IN FALSE hm2_7i43.0.gpio.021.out
  594. 12 bit OUT FALSE hm2_7i43.0.gpio.022.in
  595. 12 bit OUT TRUE hm2_7i43.0.gpio.022.in_not
  596. 12 bit IN FALSE hm2_7i43.0.gpio.022.out <== coolant-flood
  597. 12 bit OUT FALSE hm2_7i43.0.gpio.023.in ==> deb-ExtEStop
  598. 12 bit OUT TRUE hm2_7i43.0.gpio.023.in_not ==> estop-hw-btn
  599. 12 bit IN FALSE hm2_7i43.0.gpio.023.out
  600. 12 bit OUT TRUE hm2_7i43.0.gpio.024.in
  601. 12 bit OUT FALSE hm2_7i43.0.gpio.024.in_not
  602. 12 bit IN FALSE hm2_7i43.0.gpio.024.out
  603. 12 bit OUT TRUE hm2_7i43.0.gpio.025.in
  604. 12 bit OUT FALSE hm2_7i43.0.gpio.025.in_not
  605. 12 bit IN FALSE hm2_7i43.0.gpio.025.out
  606. 12 bit OUT TRUE hm2_7i43.0.gpio.026.in
  607. 12 bit OUT FALSE hm2_7i43.0.gpio.026.in_not
  608. 12 bit IN FALSE hm2_7i43.0.gpio.026.out
  609. 12 bit OUT TRUE hm2_7i43.0.gpio.027.in
  610. 12 bit OUT FALSE hm2_7i43.0.gpio.027.in_not
  611. 12 bit IN FALSE hm2_7i43.0.gpio.027.out
  612. 12 bit OUT TRUE hm2_7i43.0.gpio.028.in
  613. 12 bit OUT FALSE hm2_7i43.0.gpio.028.in_not
  614. 12 bit IN FALSE hm2_7i43.0.gpio.028.out
  615. 12 bit OUT TRUE hm2_7i43.0.gpio.029.in
  616. 12 bit OUT FALSE hm2_7i43.0.gpio.029.in_not
  617. 12 bit IN FALSE hm2_7i43.0.gpio.029.out
  618. 12 bit OUT TRUE hm2_7i43.0.gpio.030.in
  619. 12 bit OUT FALSE hm2_7i43.0.gpio.030.in_not
  620. 12 bit IN FALSE hm2_7i43.0.gpio.030.out
  621. 12 bit OUT TRUE hm2_7i43.0.gpio.031.in
  622. 12 bit OUT FALSE hm2_7i43.0.gpio.031.in_not
  623. 12 bit IN FALSE hm2_7i43.0.gpio.031.out
  624. 12 bit OUT FALSE hm2_7i43.0.gpio.032.in
  625. 12 bit OUT TRUE hm2_7i43.0.gpio.032.in_not
  626. 12 bit IN FALSE hm2_7i43.0.gpio.032.out
  627. 12 bit OUT FALSE hm2_7i43.0.gpio.033.in
  628. 12 bit OUT TRUE hm2_7i43.0.gpio.033.in_not
  629. 12 bit IN FALSE hm2_7i43.0.gpio.033.out <== MoveUp
  630. 12 bit OUT FALSE hm2_7i43.0.gpio.034.in
  631. 12 bit OUT TRUE hm2_7i43.0.gpio.034.in_not
  632. 12 bit IN FALSE hm2_7i43.0.gpio.034.out <== MoveDown
  633. 12 bit OUT TRUE hm2_7i43.0.gpio.035.in ==> ArcOK
  634. 12 bit OUT FALSE hm2_7i43.0.gpio.035.in_not
  635. 12 bit IN FALSE hm2_7i43.0.gpio.035.out
  636. 12 bit OUT TRUE hm2_7i43.0.gpio.036.in
  637. 12 bit OUT FALSE hm2_7i43.0.gpio.036.in_not
  638. 12 bit IN FALSE hm2_7i43.0.gpio.036.out <== TorchOn
  639. 12 bit OUT TRUE hm2_7i43.0.gpio.037.in
  640. 12 bit OUT FALSE hm2_7i43.0.gpio.037.in_not
  641. 12 bit IN FALSE hm2_7i43.0.gpio.037.out
  642. 12 bit OUT TRUE hm2_7i43.0.gpio.038.in
  643. 12 bit OUT FALSE hm2_7i43.0.gpio.038.in_not
  644. 12 bit IN FALSE hm2_7i43.0.gpio.038.out
  645. 12 bit OUT TRUE hm2_7i43.0.gpio.039.in
  646. 12 bit OUT FALSE hm2_7i43.0.gpio.039.in_not
  647. 12 bit IN FALSE hm2_7i43.0.gpio.039.out
  648. 12 bit OUT TRUE hm2_7i43.0.gpio.040.in ==> ExternalHomingInProgress
  649. 12 bit OUT FALSE hm2_7i43.0.gpio.040.in_not
  650. 12 bit IN FALSE hm2_7i43.0.gpio.040.out
  651. 12 bit OUT TRUE hm2_7i43.0.gpio.041.in
  652. 12 bit OUT FALSE hm2_7i43.0.gpio.041.in_not
  653. 12 bit IN FALSE hm2_7i43.0.gpio.041.out <== enable-movement
  654. 12 bit OUT TRUE hm2_7i43.0.gpio.042.in
  655. 12 bit OUT FALSE hm2_7i43.0.gpio.042.in_not
  656. 12 bit IN FALSE hm2_7i43.0.gpio.042.out <== enable-movement
  657. 12 bit OUT FALSE hm2_7i43.0.gpio.043.in
  658. 12 bit OUT TRUE hm2_7i43.0.gpio.043.in_not
  659. 12 bit IN FALSE hm2_7i43.0.gpio.043.out <== tell-granites-tohome
  660. 12 bit OUT FALSE hm2_7i43.0.gpio.044.in
  661. 12 bit OUT TRUE hm2_7i43.0.gpio.044.in_not
  662. 12 bit IN FALSE hm2_7i43.0.gpio.044.out <== tell-granites-tohome
  663. 12 bit OUT TRUE hm2_7i43.0.gpio.045.in
  664. 12 bit OUT FALSE hm2_7i43.0.gpio.045.in_not
  665. 12 bit IN FALSE hm2_7i43.0.gpio.045.out
  666. 12 bit OUT TRUE hm2_7i43.0.gpio.046.in
  667. 12 bit OUT FALSE hm2_7i43.0.gpio.046.in_not
  668. 12 bit IN FALSE hm2_7i43.0.gpio.046.out
  669. 12 bit OUT TRUE hm2_7i43.0.gpio.047.in
  670. 12 bit OUT FALSE hm2_7i43.0.gpio.047.in_not ==> deb-FloatSwitch
  671. 12 bit IN FALSE hm2_7i43.0.gpio.047.out
  672. 12 bit IN FALSE hm2_7i43.0.led.CR01
  673. 12 bit IN FALSE hm2_7i43.0.led.CR02
  674. 12 bit IN FALSE hm2_7i43.0.led.CR03
  675. 12 bit IN FALSE hm2_7i43.0.led.CR04
  676. 12 bit IN FALSE hm2_7i43.0.led.CR05
  677. 12 bit IN FALSE hm2_7i43.0.led.CR06
  678. 12 bit IN FALSE hm2_7i43.0.led.CR07
  679. 12 bit IN FALSE hm2_7i43.0.led.CR08
  680. 12 bit IN FALSE hm2_7i43.0.pwmgen.00.enable <== system-enable
  681. 12 float IN 50 hm2_7i43.0.pwmgen.00.value
  682. 12 bit IN TRUE hm2_7i43.0.stepgen.00.control-type
  683. 12 s32 OUT 0 hm2_7i43.0.stepgen.00.counts
  684. 12 float OUT 0 hm2_7i43.0.stepgen.00.dbg_err_at_match
  685. 12 float OUT 0 hm2_7i43.0.stepgen.00.dbg_ff_vel
  686. 12 float OUT 0 hm2_7i43.0.stepgen.00.dbg_pos_minus_prev_
  687. 12 float OUT 0 hm2_7i43.0.stepgen.00.dbg_s_to_match
  688. 12 s32 OUT 0 hm2_7i43.0.stepgen.00.dbg_step_rate
  689. 12 float OUT 0 hm2_7i43.0.stepgen.00.dbg_vel_error
  690. 12 bit IN FALSE hm2_7i43.0.stepgen.00.enable <== X.enable
  691. 12 float IN 0 hm2_7i43.0.stepgen.00.position-cmd
  692. 12 float OUT 0 hm2_7i43.0.stepgen.00.position-fb
  693. 12 float IN 0 hm2_7i43.0.stepgen.00.velocity-cmd <== X.pos-out
  694. 12 float OUT 0 hm2_7i43.0.stepgen.00.velocity-fb
  695. 12 bit IN TRUE hm2_7i43.0.stepgen.01.control-type
  696. 12 s32 OUT 0 hm2_7i43.0.stepgen.01.counts
  697. 12 float OUT 0 hm2_7i43.0.stepgen.01.dbg_err_at_match
  698. 12 float OUT 0 hm2_7i43.0.stepgen.01.dbg_ff_vel
  699. 12 float OUT 0 hm2_7i43.0.stepgen.01.dbg_pos_minus_prev_
  700. 12 float OUT 0 hm2_7i43.0.stepgen.01.dbg_s_to_match
  701. 12 s32 OUT 0 hm2_7i43.0.stepgen.01.dbg_step_rate
  702. 12 float OUT 0 hm2_7i43.0.stepgen.01.dbg_vel_error
  703. 12 bit IN FALSE hm2_7i43.0.stepgen.01.enable <== Y.enable
  704. 12 float IN 0 hm2_7i43.0.stepgen.01.position-cmd
  705. 12 float OUT 0 hm2_7i43.0.stepgen.01.position-fb
  706. 12 float IN 0 hm2_7i43.0.stepgen.01.velocity-cmd <== Y.pos-out
  707. 12 float OUT 0 hm2_7i43.0.stepgen.01.velocity-fb
  708. 12 bit IN TRUE hm2_7i43.0.stepgen.02.control-type
  709. 12 s32 OUT 0 hm2_7i43.0.stepgen.02.counts
  710. 12 float OUT 0 hm2_7i43.0.stepgen.02.dbg_err_at_match
  711. 12 float OUT 0 hm2_7i43.0.stepgen.02.dbg_ff_vel
  712. 12 float OUT 0 hm2_7i43.0.stepgen.02.dbg_pos_minus_prev_
  713. 12 float OUT 0 hm2_7i43.0.stepgen.02.dbg_s_to_match
  714. 12 s32 OUT 0 hm2_7i43.0.stepgen.02.dbg_step_rate
  715. 12 float OUT 0 hm2_7i43.0.stepgen.02.dbg_vel_error
  716. 12 bit IN FALSE hm2_7i43.0.stepgen.02.enable <== Z.enable
  717. 12 float IN 0 hm2_7i43.0.stepgen.02.position-cmd <== PosZ-cmd
  718. 12 float OUT -0 hm2_7i43.0.stepgen.02.position-fb
  719. 12 float IN 0 hm2_7i43.0.stepgen.02.velocity-cmd <== Z.pos-out
  720. 12 float OUT 0 hm2_7i43.0.stepgen.02.velocity-fb
  721. 12 bit IN TRUE hm2_7i43.0.stepgen.03.control-type
  722. 12 s32 OUT 0 hm2_7i43.0.stepgen.03.counts
  723. 12 float OUT 0 hm2_7i43.0.stepgen.03.dbg_err_at_match
  724. 12 float OUT 0 hm2_7i43.0.stepgen.03.dbg_ff_vel
  725. 12 float OUT 0 hm2_7i43.0.stepgen.03.dbg_pos_minus_prev_
  726. 12 float OUT 0 hm2_7i43.0.stepgen.03.dbg_s_to_match
  727. 12 s32 OUT 0 hm2_7i43.0.stepgen.03.dbg_step_rate
  728. 12 float OUT 0 hm2_7i43.0.stepgen.03.dbg_vel_error
  729. 12 bit IN FALSE hm2_7i43.0.stepgen.03.enable <== A.enable
  730. 12 float IN 0 hm2_7i43.0.stepgen.03.position-cmd
  731. 12 float OUT -0 hm2_7i43.0.stepgen.03.position-fb
  732. 12 float IN 0 hm2_7i43.0.stepgen.03.velocity-cmd <== A.pos-out
  733. 12 float OUT 0 hm2_7i43.0.stepgen.03.velocity-fb
  734. 12 bit I/O FALSE hm2_7i43.0.watchdog.has_bit
  735. 19 float IN 0 hypot.0.in0 <== VelX
  736. 19 float IN 0 hypot.0.in1 <== VelY
  737. 19 float IN 0 hypot.0.in2
  738. 19 float OUT 0 hypot.0.out ==> VelXY
  739. 5 bit OUT FALSE iocontrol.0.coolant-flood ==> coolant-flood
  740. 5 bit OUT FALSE iocontrol.0.coolant-mist ==> coolant-mist
  741. 5 bit IN FALSE iocontrol.0.emc-enable-in <== system-enable
  742. 5 bit OUT FALSE iocontrol.0.lube
  743. 5 bit IN FALSE iocontrol.0.lube_level
  744. 5 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-request
  745. 5 bit IN FALSE iocontrol.0.tool-changed <== tool-change-confirmed
  746. 5 s32 OUT 0 iocontrol.0.tool-number
  747. 5 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-number
  748. 5 s32 OUT 0 iocontrol.0.tool-prep-pocket
  749. 5 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback
  750. 5 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback
  751. 5 bit OUT FALSE iocontrol.0.user-enable-out ==> estop-sw-btn
  752. 5 bit OUT FALSE iocontrol.0.user-request-enable ==> var2
  753. 29 bit IN FALSE logic.0.in-00 <== ExtEStop
  754. 29 bit IN FALSE logic.0.in-01 <== IgnitionEstop
  755. 29 bit IN FALSE logic.0.in-02 <== FloatSwitchEstop
  756. 29 bit OUT FALSE logic.0.or ==> TriggerEStop
  757. 29 bit IN FALSE logic.1.in-00 <== EMC_Is_Homed0
  758. 29 bit IN FALSE logic.1.in-01 <== EMC_Is_Homed1
  759. 29 bit IN FALSE logic.1.in-02 <== EMC_Is_Homed2
  760. 29 bit IN FALSE logic.1.in-03 <== EMC_Is_Homed3
  761. 29 bit OUT FALSE logic.1.or ==> EMC_Is_Homed
  762. 20 float IN 0 minmax.0.in <== VelXY
  763. 20 float OUT 0 minmax.0.max ==> MaximumVelocity
  764. 20 float OUT 0 minmax.0.min
  765. 20 bit IN FALSE minmax.0.reset <== ReversedArcOK
  766. 9 float IN 1 motion.adaptive-feed
  767. 9 float IN 0 motion.analog-in-00
  768. 9 float IN 0 motion.analog-in-01
  769. 9 float IN 0 motion.analog-in-02
  770. 9 float IN 0 motion.analog-in-03
  771. 9 float OUT 0 motion.analog-out-00
  772. 9 float OUT 0 motion.analog-out-01
  773. 9 float OUT 0 motion.analog-out-02
  774. 9 float OUT 0 motion.analog-out-03
  775. 9 bit OUT FALSE motion.coord-error
  776. 9 bit OUT FALSE motion.coord-mode
  777. 9 float OUT 0 motion.current-vel
  778. 9 bit IN FALSE motion.digital-in-00
  779. 9 bit IN FALSE motion.digital-in-01
  780. 9 bit IN FALSE motion.digital-in-02
  781. 9 bit IN FALSE motion.digital-in-03
  782. 9 bit OUT FALSE motion.digital-out-00
  783. 9 bit OUT FALSE motion.digital-out-01
  784. 9 bit OUT FALSE motion.digital-out-02
  785. 9 bit OUT FALSE motion.digital-out-03
  786. 9 float OUT 0 motion.distance-to-go
  787. 9 bit IN TRUE motion.enable
  788. 9 bit IN TRUE motion.feed-hold <== FeedHold
  789. 9 bit OUT TRUE motion.in-position
  790. 9 bit IN FALSE motion.motion-enabled
  791. 9 bit OUT FALSE motion.on-soft-limit ==> LimitZ
  792. 9 bit IN FALSE motion.probe-input <== probe-in
  793. 9 s32 OUT 0 motion.program-line
  794. 9 float OUT 0 motion.requested-vel
  795. 9 bit IN TRUE motion.spindle-at-speed
  796. 9 bit OUT TRUE motion.spindle-brake
  797. 9 bit OUT FALSE motion.spindle-forward ==> TurnTorchOn
  798. 9 bit I/O FALSE motion.spindle-index-enable
  799. 9 bit OUT FALSE motion.spindle-on
  800. 9 bit OUT FALSE motion.spindle-reverse
  801. 9 float IN 0 motion.spindle-revs
  802. 9 float OUT 0 motion.spindle-speed-cmd-rps
  803. 9 float IN 0 motion.spindle-speed-in
  804. 9 float OUT 0 motion.spindle-speed-out
  805. 9 float OUT 0 motion.spindle-speed-out-rps
  806. 9 bit OUT TRUE motion.teleop-mode
  807. 9 float OUT 0 motion.tooloffset.a
  808. 9 float OUT 0 motion.tooloffset.b
  809. 9 float OUT 0 motion.tooloffset.c
  810. 9 float OUT 0 motion.tooloffset.u
  811. 9 float OUT 0 motion.tooloffset.v
  812. 9 float OUT 0 motion.tooloffset.w
  813. 9 float OUT 0 motion.tooloffset.x
  814. 9 float OUT 0 motion.tooloffset.y
  815. 9 float OUT 0 motion.tooloffset.z
  816. 21 float IN 0.007 mult2.0.in0 <== THCStepSize
  817. 21 float IN -1 mult2.0.in1 <== AdjustmentDirection
  818. 21 float OUT -0.007 mult2.0.out ==> HeightAdjustment
  819. 21 float IN 0 mult2.1.in0 <== MaximumVelocity
  820. 21 float IN 0.6 mult2.1.in1 <== ThresholdPercentage
  821. 21 float OUT 0 mult2.1.out ==> VelocityThreshold
  822. 22 float IN 1.135 mux2.0.in0 <== PierceOffset
  823. 22 float IN 0 mux2.0.in1 <== SelectedAdjustment
  824. 22 float OUT 1.135 mux2.0.out ==> HeightOffset
  825. 22 bit IN FALSE mux2.0.sel <== PierceLatch
  826. 22 float IN -1 mux2.1.in0
  827. 22 float IN 1 mux2.1.in1
  828. 22 float OUT -1 mux2.1.out ==> AdjustmentDirection
  829. 22 bit IN FALSE mux2.1.sel <== MoveUp
  830. 22 float IN 0 mux2.2.in0 <== PositionSnapshot
  831. 22 float IN 0 mux2.2.in1 <== Z.pos-fb
  832. 22 float OUT 0 mux2.2.out ==> PositionSnapshot
  833. 22 bit IN TRUE mux2.2.sel <== TakeSnapshot
  834. 22 float IN 0 mux2.3.in0
  835. 22 float IN -0.007 mux2.3.in1 <== HeightAdjustment
  836. 22 float OUT 0 mux2.3.out ==> SelectedAdjustment
  837. 22 bit IN FALSE mux2.3.sel <== EnabledAdjustHeight
  838. 22 float IN 0 mux2.4.in0 <== PosSelectB
  839. 22 float IN 1.135 mux2.4.in1 <== PosSelectC
  840. 22 float OUT 0 mux2.4.out ==> PosZ-cmd
  841. 22 bit IN FALSE mux2.4.sel <== TurnTorchOn
  842. 22 float IN 0 mux2.5.in0 <== Z.pos-cmd
  843. 22 float IN 1 mux2.5.in1 <== StepCordsTH
  844. 22 float OUT 0 mux2.5.out ==> PosSelectB
  845. 22 bit IN FALSE mux2.5.sel <== ModeIsAuto
  846. 22 float IN -0.1 mux2.6.in0 <== StepCordsML
  847. 22 float IN 1.135 mux2.6.in1 <== DestinationHeight
  848. 22 float OUT 1.135 mux2.6.out ==> PosSelectC
  849. 22 bit IN TRUE mux2.6.sel <== ProbeOrArcOK
  850. 28 bit IN FALSE not.0.in <== TurnTorchOn
  851. 28 bit OUT TRUE not.0.out ==> TurnTorchOff
  852. 28 bit IN TRUE not.1.in <== FilteredArcOK
  853. 28 bit OUT FALSE not.1.out ==> ReversedArcOK
  854. 28 bit IN FALSE not.2.in <== TorchOn
  855. 28 bit OUT TRUE not.2.out ==> TorchOff
  856. 28 bit IN FALSE not.3.in <== system-enable
  857. 28 bit OUT TRUE not.3.out ==> system-enable-not
  858. 30 bit IN FALSE oneshot.0.in <== PierceLatch
  859. 30 bit OUT FALSE oneshot.0.out
  860. 30 bit OUT TRUE oneshot.0.out-not ==> PierceDelayElapsed
  861. 30 float OUT 0 oneshot.0.time-left ==> PierceDelayTimer
  862. 30 float IN 0.5 oneshot.0.width <== PierceDelay
  863. 30 bit IN FALSE oneshot.1.in <== TorchOn
  864. 30 bit OUT FALSE oneshot.1.out ==> IgnitionTimer
  865. 30 bit OUT TRUE oneshot.1.out-not ==> IgnitionTimerOff
  866. 30 float OUT 0 oneshot.1.time-left
  867. 30 float IN 3 oneshot.1.width
  868. 30 bit IN TRUE oneshot.2.in <== ArcOK
  869. 30 bit OUT FALSE oneshot.2.out ==> ArcOKTimer
  870. 30 bit OUT TRUE oneshot.2.out-not
  871. 30 float OUT 0 oneshot.2.time-left
  872. 30 float IN 0.2 oneshot.2.width
  873. 30 bit IN TRUE oneshot.3.in <== FilteredArcOK
  874. 30 bit OUT FALSE oneshot.3.out ==> ExtinguishTimer
  875. 30 bit OUT TRUE oneshot.3.out-not
  876. 30 float OUT 0 oneshot.3.time-left
  877. 30 float IN 0.2 oneshot.3.width
  878. 30 bit IN FALSE oneshot.4.in
  879. 30 bit OUT FALSE oneshot.4.out
  880. 30 bit OUT TRUE oneshot.4.out-not
  881. 30 float OUT 0 oneshot.4.time-left
  882. 30 float IN 0 oneshot.4.width
  883. 31 bit IN FALSE or2.0.in0 <== MoveDown
  884. 31 bit IN FALSE or2.0.in1 <== MoveUp
  885. 31 bit OUT FALSE or2.0.out ==> AdjustHeight
  886. 31 bit IN TRUE or2.1.in0 <== FilteredArcOK
  887. 31 bit IN FALSE or2.1.in1 <== FloatSwitch
  888. 31 bit OUT TRUE or2.1.out ==> TakeSnapshot
  889. 31 bit IN FALSE or2.10.in0
  890. 31 bit IN FALSE or2.10.in1
  891. 31 bit OUT FALSE or2.10.out
  892. 31 bit IN FALSE or2.2.in0 <== LimitZ
  893. 31 bit IN FALSE or2.2.in1 <== FloatAndTorchOn
  894. 31 bit OUT FALSE or2.2.out ==> TriggerLimit
  895. 31 bit IN TRUE or2.3.in0 <== TimersOrArcOK
  896. 31 bit IN FALSE or2.3.in1 <== FloatSwitchSet
  897. 31 bit OUT TRUE or2.3.out ==> ProbeOrArcOK
  898. 31 bit IN TRUE or2.4.in0 <== Timers
  899. 31 bit IN TRUE or2.4.in1 <== ArcOK
  900. 31 bit OUT TRUE or2.4.out ==> TimersOrArcOK
  901. 31 bit IN TRUE or2.5.in0 <== TimersOrArcOK
  902. 31 bit IN FALSE or2.5.in1 <== PosAndFloat
  903. 31 bit OUT TRUE or2.5.out ==> PAFOrArcOK
  904. 31 bit IN TRUE or2.6.in0 <== FilteredArcOK
  905. 31 bit IN TRUE or2.6.in1 <== TorchTurnedOffOrTimeout
  906. 31 bit OUT TRUE or2.6.out ==> EstopOrArcOK
  907. 31 bit IN TRUE or2.7.in0 <== TurnTorchOff
  908. 31 bit IN FALSE or2.7.in1 <== IgnitionTimeout
  909. 31 bit OUT TRUE or2.7.out ==> TorchTurnedOffOrTimeout
  910. 31 bit IN FALSE or2.8.in0 <== IgnitionTimer
  911. 31 bit IN TRUE or2.8.in1 <== ExtinguishLatch
  912. 31 bit OUT TRUE or2.8.out ==> Timers
  913. 31 bit IN FALSE or2.9.in0 <== system-enable
  914. 31 bit IN FALSE or2.9.in1 <== var2
  915. 31 bit OUT FALSE or2.9.out ==> var4
  916. 32 float I/O 0 pid.0.Dgain
  917. 32 float I/O 0 pid.0.FF0
  918. 32 float I/O 1 pid.0.FF1
  919. 32 float I/O 0.0011 pid.0.FF2
  920. 32 float I/O 0 pid.0.Igain
  921. 32 float I/O 5 pid.0.Pgain
  922. 32 float I/O 0 pid.0.bias
  923. 32 float IN 0 pid.0.command <== X.pos-cmd
  924. 32 float IN 0 pid.0.command-deriv
  925. 32 float I/O 0 pid.0.deadband
  926. 32 bit IN FALSE pid.0.enable <== X.enable
  927. 32 float OUT 0 pid.0.error
  928. 32 float IN 0 pid.0.feedback <== X.pos-fb
  929. 32 float IN 0 pid.0.feedback-deriv
  930. 32 bit IN FALSE pid.0.index-enable
  931. 32 float I/O 0 pid.0.maxcmdD
  932. 32 float I/O 0 pid.0.maxcmdDD
  933. 32 float I/O 0 pid.0.maxerror
  934. 32 float I/O 0 pid.0.maxerrorD
  935. 32 float I/O 0 pid.0.maxerrorI
  936. 32 float I/O 0 pid.0.maxoutput
  937. 32 float OUT 0 pid.0.output ==> X.pos-out
  938. 32 bit OUT FALSE pid.0.saturated
  939. 32 s32 OUT 0 pid.0.saturated-count
  940. 32 float OUT 0 pid.0.saturated-s
  941. 32 float I/O 0 pid.1.Dgain
  942. 32 float I/O 0 pid.1.FF0
  943. 32 float I/O 1 pid.1.FF1
  944. 32 float I/O 0.007 pid.1.FF2
  945. 32 float I/O 0 pid.1.Igain
  946. 32 float I/O 20 pid.1.Pgain
  947. 32 float I/O 0 pid.1.bias
  948. 32 float IN 0 pid.1.command <== Y.pos-cmd
  949. 32 float IN 0 pid.1.command-deriv
  950. 32 float I/O 0 pid.1.deadband
  951. 32 bit IN FALSE pid.1.enable <== Y.enable
  952. 32 float OUT 0 pid.1.error
  953. 32 float IN 0 pid.1.feedback <== Y.pos-fb
  954. 32 float IN 0 pid.1.feedback-deriv
  955. 32 bit IN FALSE pid.1.index-enable
  956. 32 float I/O 0 pid.1.maxcmdD
  957. 32 float I/O 0 pid.1.maxcmdDD
  958. 32 float I/O 0 pid.1.maxerror
  959. 32 float I/O 0 pid.1.maxerrorD
  960. 32 float I/O 0 pid.1.maxerrorI
  961. 32 float I/O 0 pid.1.maxoutput
  962. 32 float OUT 0 pid.1.output ==> Y.pos-out
  963. 32 bit OUT FALSE pid.1.saturated
  964. 32 s32 OUT 0 pid.1.saturated-count
  965. 32 float OUT 0 pid.1.saturated-s
  966. 32 float I/O 0 pid.2.Dgain
  967. 32 float I/O 0 pid.2.FF0
  968. 32 float I/O 1 pid.2.FF1
  969. 32 float I/O 0 pid.2.FF2
  970. 32 float I/O 0 pid.2.Igain
  971. 32 float I/O 0 pid.2.Pgain
  972. 32 float I/O 0 pid.2.bias
  973. 32 float IN 0 pid.2.command <== Z.pos-cmd
  974. 32 float IN 0 pid.2.command-deriv
  975. 32 float I/O 0 pid.2.deadband
  976. 32 bit IN FALSE pid.2.enable <== Z.enable
  977. 32 float OUT 0 pid.2.error
  978. 32 float IN 0 pid.2.feedback <== Z.pos-fb
  979. 32 float IN 0 pid.2.feedback-deriv
  980. 32 bit IN FALSE pid.2.index-enable
  981. 32 float I/O 0 pid.2.maxcmdD
  982. 32 float I/O 0 pid.2.maxcmdDD
  983. 32 float I/O 0 pid.2.maxerror
  984. 32 float I/O 0 pid.2.maxerrorD
  985. 32 float I/O 0 pid.2.maxerrorI
  986. 32 float I/O 0 pid.2.maxoutput
  987. 32 float OUT 0 pid.2.output ==> Z.pos-out
  988. 32 bit OUT FALSE pid.2.saturated
  989. 32 s32 OUT 0 pid.2.saturated-count
  990. 32 float OUT 0 pid.2.saturated-s
  991. 32 float I/O 0 pid.3.Dgain
  992. 32 float I/O 0 pid.3.FF0
  993. 32 float I/O 1 pid.3.FF1
  994. 32 float I/O 0.007 pid.3.FF2
  995. 32 float I/O 0 pid.3.Igain
  996. 32 float I/O 20 pid.3.Pgain
  997. 32 float I/O 0 pid.3.bias
  998. 32 float IN 0 pid.3.command <== A.pos-cmd
  999. 32 float IN 0 pid.3.command-deriv
  1000. 32 float I/O 0 pid.3.deadband
  1001. 32 bit IN FALSE pid.3.enable <== A.enable
  1002. 32 float OUT 0 pid.3.error
  1003. 32 float IN -0 pid.3.feedback <== A.pos-fb
  1004. 32 float IN 0 pid.3.feedback-deriv
  1005. 32 bit IN FALSE pid.3.index-enable
  1006. 32 float I/O 0 pid.3.maxcmdD
  1007. 32 float I/O 0 pid.3.maxcmdDD
  1008. 32 float I/O 0 pid.3.maxerror
  1009. 32 float I/O 0 pid.3.maxerrorD
  1010. 32 float I/O 0 pid.3.maxerrorI
  1011. 32 float I/O 0 pid.3.maxoutput
  1012. 32 float OUT 0 pid.3.output ==> A.pos-out
  1013. 32 bit OUT FALSE pid.3.saturated
  1014. 32 s32 OUT 0 pid.3.saturated-count
  1015. 32 float OUT 0 pid.3.saturated-s
  1016. 39 bit OUT TRUE pyvcp.Check-AutoStart ==> Autostart
  1017. 39 bit OUT FALSE pyvcp.Check-CHLEnable ==> CHLEnable
  1018. 39 bit IN TRUE pyvcp.Led-ArcOK <== ArcOK
  1019. 39 bit IN FALSE pyvcp.Led-ExtEStop <== ExtEStop
  1020. 39 bit IN FALSE pyvcp.Led-FloatSwitch <== FloatSwitch
  1021. 39 bit IN FALSE pyvcp.Led-HeightLocked <== LockHeight
  1022. 39 bit IN FALSE pyvcp.Led-MoveDown <== MoveDown
  1023. 39 bit IN FALSE pyvcp.Led-MoveUp <== MoveUp
  1024. 39 bit IN FALSE pyvcp.Led-TorchOn <== TorchOn
  1025. 39 float IN 0 pyvcp.Num-PierceDelayTimer <== PierceDelayTimer
  1026. 39 float OUT 60 pyvcp.Scale-CHLThreshold-f ==> CHLThreshold
  1027. 39 s32 OUT 60 pyvcp.Scale-CHLThreshold-i
  1028. 39 float OUT 0.5 pyvcp.Spin-PierceDelay ==> PierceDelay
  1029. 39 float OUT 0.125 pyvcp.Spin-PierceGap ==> PierceGap
  1030. 39 float OUT 1.01 pyvcp.Spin-SwitchTravel ==> SwitchTravel
  1031. 39 float OUT 0.007 pyvcp.Spin-THCStepSize ==> THCStepSize
  1032. 39 float OUT 1 pyvcp.Spin-TravelHeight ==> TravelHeight
  1033. 39 bit IN FALSE pyvcp.home-in-progress-led <== home-status
  1034. 39 bit OUT FALSE pyvcp.to-home ==> home_button_pushed
  1035. 23 float IN 0.01 scale.0.gain
  1036. 23 float IN 60 scale.0.in <== CHLThreshold
  1037. 23 float IN 0 scale.0.offset
  1038. 23 float OUT 0.6 scale.0.out ==> ThresholdPercentage
  1039. 33 float IN 1.01 sum2.0.in0 <== SwitchTravel
  1040. 33 float IN 0.125 sum2.0.in1 <== PierceGap
  1041. 33 float OUT 1.135 sum2.0.out ==> PierceOffset
  1042. 33 float IN 0 sum2.1.in0 <== PositionSnapshot
  1043. 33 float IN 1.135 sum2.1.in1 <== HeightOffset
  1044. 33 float OUT 1.135 sum2.1.out ==> DestinationHeight
  1045. 33 float IN 0 sum2.10.in0
  1046. 33 float IN 0 sum2.10.in1
  1047. 33 float OUT 0 sum2.10.out
  1048. 33 float IN 0 sum2.2.in0 <== JointPoz-cmd
  1049. 33 float IN 0 sum2.2.in1 <== Z.pos-cmd
  1050. 33 float OUT 0 sum2.2.out ==> JointAxisDiff
  1051. 33 float IN 1 sum2.3.in0 <== TravelHeight
  1052. 33 float IN 0 sum2.3.in1 <== JointAxisDiff
  1053. 33 float OUT 1 sum2.3.out ==> StepCordsTH
  1054. 33 float IN -0.1 sum2.4.in0
  1055. 33 float IN 0 sum2.4.in1 <== JointAxisDiff
  1056. 33 float OUT -0.1 sum2.4.out ==> StepCordsML
  1057. 33 float IN -0 sum2.5.in0 <== A.pos-fb
  1058. 33 float IN 0 sum2.5.in1 <== A.pos-cmd
  1059. 33 float OUT 0 sum2.5.out ==> aposerror
  1060. 33 float IN 0 sum2.6.in0
  1061. 33 float IN 0 sum2.6.in1
  1062. 33 float OUT 0 sum2.6.out
  1063. 33 float IN 0 sum2.7.in0
  1064. 33 float IN 0 sum2.7.in1
  1065. 33 float OUT 0 sum2.7.out
  1066. 33 float IN 0 sum2.8.in0
  1067. 33 float IN 0 sum2.8.in1
  1068. 33 float OUT 0 sum2.8.out
  1069. 33 float IN 0 sum2.9.in0
  1070. 33 float IN 0 sum2.9.in1
  1071. 33 float OUT 0 sum2.9.out
  1072. 34 float OUT 0 timedelay.0.elapsed
  1073. 34 bit IN FALSE timedelay.0.in
  1074. 34 float IN 0.5 timedelay.0.off-delay
  1075. 34 float IN 0.5 timedelay.0.on-delay
  1076. 34 bit OUT FALSE timedelay.0.out
  1077. 24 s32 OUT 0 updown.0.count ==> IgnitionCounterS32
  1078. 24 bit IN FALSE updown.0.countdown
  1079. 24 bit IN TRUE updown.0.countup <== IgnitionTimerOff
  1080. 24 bit IN TRUE updown.0.reset <== TurnTorchOff
  1081. 25 bit IN FALSE xor2.0.in0 <== TurnTorchOn
  1082. 25 bit IN TRUE xor2.0.in1 <== ReleaseFeedHold
  1083. 25 bit OUT TRUE xor2.0.out ==> FeedHold
  1084. 25 bit IN FALSE xor2.1.in0 <== ArcOKTimer
  1085. 25 bit IN TRUE xor2.1.in1 <== ArcOK
  1086. 25 bit OUT TRUE xor2.1.out ==> FilteredArcOK
  1087. 25 bit IN FALSE xor2.2.in0 <== LockHeight
  1088. 25 bit IN FALSE xor2.2.in1 <== AdjustHeight
  1089. 25 bit OUT FALSE xor2.2.out ==> CHLSwitched
  1090.  
  1091. Pin Aliases:
  1092. Alias Original Name
  1093.  
  1094. Signals:
  1095. Type Value Name (linked to)
  1096. bit FALSE A.enable
  1097. <== axis.3.amp-enable-out
  1098. ==> hm2_7i43.0.stepgen.03.enable
  1099. ==> pid.3.enable
  1100. float 0 A.pos-cmd
  1101. <== axis.3.motor-pos-cmd
  1102. ==> pid.3.command
  1103. ==> sum2.5.in1
  1104. float -0 A.pos-fb
  1105. ==> axis.3.motor-pos-fb
  1106. <== hm2_7i43.0.encoder.03.position
  1107. ==> pid.3.feedback
  1108. ==> sum2.5.in0
  1109. float 0 A.pos-out
  1110. ==> hm2_7i43.0.stepgen.03.velocity-cmd
  1111. <== pid.3.output
  1112. float 0 A2Gantry_StateLoopback
  1113. ==> A2GantryController.state-in
  1114. <== A2GantryController.state-out
  1115. bit FALSE AdjustHeight
  1116. ==> and2.1.in0
  1117. <== or2.0.out
  1118. ==> xor2.2.in1
  1119. float -1 AdjustmentDirection
  1120. ==> mult2.0.in1
  1121. <== mux2.1.out
  1122. bit TRUE ArcOK
  1123. <== hm2_7i43.0.gpio.035.in
  1124. ==> oneshot.2.in
  1125. ==> or2.4.in1
  1126. ==> pyvcp.Led-ArcOK
  1127. ==> xor2.1.in1
  1128. bit FALSE ArcOKTimer
  1129. <== oneshot.2.out
  1130. ==> xor2.1.in0
  1131. bit TRUE AtPosition
  1132. ==> and2.7.in0
  1133. <== comp.1.equal
  1134. bit TRUE Autostart
  1135. ==> and2.8.in1
  1136. <== pyvcp.Check-AutoStart
  1137. bit FALSE CHLEnable
  1138. ==> and2.0.in1
  1139. <== pyvcp.Check-CHLEnable
  1140. bit FALSE CHLSwitched
  1141. ==> and2.1.in1
  1142. <== xor2.2.out
  1143. float 60 CHLThreshold
  1144. <== pyvcp.Scale-CHLThreshold-f
  1145. ==> scale.0.in
  1146. bit FALSE CHLTriggered
  1147. ==> and2.0.in0
  1148. <== comp.0.out
  1149. float 1.135 DestinationHeight
  1150. ==> mux2.6.in1
  1151. <== sum2.1.out
  1152. bit FALSE EMC-Home
  1153. <== A2GantryController.home_emc
  1154. ==> halui.home-all
  1155. bit FALSE EMC_Is_Homed
  1156. ==> A2GantryController.EMC_Is_Homed
  1157. <== logic.1.or
  1158. bit FALSE EMC_Is_Homed0
  1159. <== axis.0.homed
  1160. ==> logic.1.in-00
  1161. bit FALSE EMC_Is_Homed1
  1162. <== axis.1.homed
  1163. ==> logic.1.in-01
  1164. bit FALSE EMC_Is_Homed2
  1165. <== axis.2.homed
  1166. ==> logic.1.in-02
  1167. bit FALSE EMC_Is_Homed3
  1168. <== axis.3.homed
  1169. ==> logic.1.in-03
  1170. bit FALSE EMC_MODE_Is_Joint
  1171. ==> A2GantryController.EMC_MODE_Is_Joint
  1172. <== halui.mode.is-joint
  1173. bit FALSE EMC_MODE_Is_MDI
  1174. ==> A2GantryController.EMC_MODE_Is_MDI
  1175. <== halui.mode.is-mdi
  1176. bit TRUE EMC_MODE_Is_Manual
  1177. ==> A2GantryController.EMC_MODE_Is_Manual
  1178. <== halui.mode.is-manual
  1179. bit TRUE EMC_MODE_Is_Teleop
  1180. ==> A2GantryController.EMC_MODE_Is_Teleop
  1181. <== halui.mode.is-teleop
  1182. bit FALSE EMC_MODE_Set_Joint
  1183. <== A2GantryController.EMC_MODE_Set_Joint
  1184. ==> halui.mode.joint
  1185. bit FALSE EMC_MODE_Set_MDI
  1186. <== A2GantryController.EMC_MODE_Set_MDI
  1187. ==> halui.mode.mdi
  1188. bit FALSE EMC_MODE_Set_Manual
  1189. <== A2GantryController.EMC_MODE_Set_Manual
  1190. ==> halui.mode.manual
  1191. bit FALSE EMC_MODE_Set_Teleop
  1192. <== A2GantryController.EMC_MODE_Set_Teleop
  1193. ==> halui.mode.teleop
  1194. bit FALSE EnabledAdjustHeight
  1195. <== and2.1.out
  1196. ==> mux2.3.sel
  1197. bit TRUE EstopOrArcOK
  1198. ==> flipflop.0.reset
  1199. <== or2.6.out
  1200. bit FALSE ExtEStop
  1201. <== debounce.0.3.out
  1202. ==> logic.0.in-00
  1203. ==> pyvcp.Led-ExtEStop
  1204. bit TRUE ExternalHomingInProgress
  1205. ==> A2GantryController.granite_is_homing
  1206. <== hm2_7i43.0.gpio.040.in
  1207. bit TRUE ExtinguishLatch
  1208. <=> flipflop.2.out
  1209. ==> or2.8.in1
  1210. bit FALSE ExtinguishTimeout
  1211. <== edge.1.out
  1212. ==> flipflop.2.reset
  1213. bit FALSE ExtinguishTimer
  1214. ==> edge.1.in
  1215. <== oneshot.3.out
  1216. bit TRUE FeedHold
  1217. ==> motion.feed-hold
  1218. <== xor2.0.out
  1219. bit TRUE FilteredArcOK
  1220. ==> and2.2.in0
  1221. ==> and2.4.in1
  1222. ==> flipflop.1.set
  1223. ==> flipflop.2.set
  1224. ==> not.1.in
  1225. ==> oneshot.3.in
  1226. ==> or2.1.in0
  1227. ==> or2.6.in0
  1228. <== xor2.1.out
  1229. bit FALSE FloatAndTorchOn
  1230. <== and2.5.out
  1231. ==> or2.2.in1
  1232. bit FALSE FloatSwitch
  1233. ==> and2.4.in0
  1234. ==> and2.5.in1
  1235. ==> and2.6.in1
  1236. <== debounce.0.2.out
  1237. ==> or2.1.in1
  1238. ==> pyvcp.Led-FloatSwitch
  1239. bit FALSE FloatSwitchEstop
  1240. <== and2.4.out
  1241. ==> logic.0.in-02
  1242. bit FALSE FloatSwitchSet
  1243. ==> and2.7.in1
  1244. <=> flipflop.0.out
  1245. ==> or2.3.in1
  1246. float -0.007 HeightAdjustment
  1247. <== mult2.0.out
  1248. ==> mux2.3.in1
  1249. float 1.135 HeightOffset
  1250. <== mux2.0.out
  1251. ==> sum2.1.in1
  1252. float 0 IgnitionCounterFloat
  1253. ==> comp.2.in1
  1254. <== conv-s32-float.0.out
  1255. s32 0 IgnitionCounterS32
  1256. ==> conv-s32-float.0.in
  1257. <== updown.0.count
  1258. bit FALSE IgnitionEstop
  1259. <== comp.2.out
  1260. ==> logic.0.in-01
  1261. bit FALSE IgnitionTimeout
  1262. <== edge.0.out
  1263. ==> or2.7.in1
  1264. bit FALSE IgnitionTimer
  1265. ==> edge.0.in
  1266. <== oneshot.1.out
  1267. ==> or2.8.in0
  1268. bit TRUE IgnitionTimerOff
  1269. <== oneshot.1.out-not
  1270. ==> updown.0.countup
  1271. float 0 JointAxisDiff
  1272. <== sum2.2.out
  1273. ==> sum2.3.in1
  1274. ==> sum2.4.in1
  1275. float 0 JointPoz-cmd
  1276. <== axis.2.joint-pos-cmd
  1277. ==> sum2.2.in0
  1278. bit FALSE LimitZ
  1279. <== motion.on-soft-limit
  1280. ==> or2.2.in0
  1281. bit FALSE LockHeight
  1282. <== and2.0.out
  1283. ==> pyvcp.Led-HeightLocked
  1284. ==> xor2.2.in0
  1285. float 0 MaximumVelocity
  1286. <== minmax.0.max
  1287. ==> mult2.1.in0
  1288. bit FALSE ModeIsAuto
  1289. <== halui.mode.is-auto
  1290. ==> mux2.5.sel
  1291. bit FALSE MoveDown
  1292. ==> hm2_7i43.0.gpio.034.out
  1293. ==> or2.0.in0
  1294. ==> pyvcp.Led-MoveDown
  1295. bit FALSE MoveUp
  1296. ==> hm2_7i43.0.gpio.033.out
  1297. ==> mux2.1.sel
  1298. ==> or2.0.in1
  1299. ==> pyvcp.Led-MoveUp
  1300. bit TRUE PAFOrArcOK
  1301. ==> and2.3.in1
  1302. <== or2.5.out
  1303. float 0.5 PierceDelay
  1304. ==> oneshot.0.width
  1305. <== pyvcp.Spin-PierceDelay
  1306. bit TRUE PierceDelayElapsed
  1307. ==> and2.2.in1
  1308. <== oneshot.0.out-not
  1309. float 0 PierceDelayTimer
  1310. <== oneshot.0.time-left
  1311. ==> pyvcp.Num-PierceDelayTimer
  1312. float 0.125 PierceGap
  1313. <== pyvcp.Spin-PierceGap
  1314. ==> sum2.0.in1
  1315. bit FALSE PierceLatch
  1316. <=> flipflop.1.out
  1317. ==> mux2.0.sel
  1318. ==> oneshot.0.in
  1319. float 1.135 PierceOffset
  1320. ==> mux2.0.in0
  1321. <== sum2.0.out
  1322. bit FALSE PosAndFloat
  1323. <== and2.7.out
  1324. ==> or2.5.in1
  1325. float 0 PosSelectB
  1326. ==> mux2.4.in0
  1327. <== mux2.5.out
  1328. float 1.135 PosSelectC
  1329. ==> mux2.4.in1
  1330. <== mux2.6.out
  1331. float 0 PosZ-cmd
  1332. ==> comp.1.in1
  1333. ==> hm2_7i43.0.stepgen.02.position-cmd
  1334. <== mux2.4.out
  1335. float 0 PositionSnapshot
  1336. ==> mux2.2.in0
  1337. <== mux2.2.out
  1338. ==> sum2.1.in0
  1339. bit TRUE ProbeOrArcOK
  1340. ==> mux2.6.sel
  1341. <== or2.3.out
  1342. bit TRUE ReleaseFeedHold
  1343. <== and2.2.out
  1344. ==> xor2.0.in1
  1345. bit FALSE ReversedArcOK
  1346. ==> minmax.0.reset
  1347. <== not.1.out
  1348. float 0 SelectedAdjustment
  1349. ==> mux2.0.in1
  1350. <== mux2.3.out
  1351. bit FALSE StartTorchOn
  1352. ==> and2.3.in0
  1353. <== and2.8.out
  1354. float -0.1 StepCordsML
  1355. ==> mux2.6.in0
  1356. <== sum2.4.out
  1357. float 1 StepCordsTH
  1358. ==> mux2.5.in1
  1359. <== sum2.3.out
  1360. float 1.01 SwitchTravel
  1361. <== pyvcp.Spin-SwitchTravel
  1362. ==> sum2.0.in0
  1363. float 0.007 THCStepSize
  1364. ==> mult2.0.in0
  1365. <== pyvcp.Spin-THCStepSize
  1366. bit TRUE TakeSnapshot
  1367. ==> mux2.2.sel
  1368. <== or2.1.out
  1369. float 0.6 ThresholdPercentage
  1370. ==> mult2.1.in1
  1371. <== scale.0.out
  1372. bit TRUE Timers
  1373. ==> or2.4.in0
  1374. <== or2.8.out
  1375. bit TRUE TimersOrArcOK
  1376. ==> or2.3.in0
  1377. <== or2.4.out
  1378. ==> or2.5.in0
  1379. bit FALSE TorchAndFloat
  1380. <== and2.6.out
  1381. ==> flipflop.0.set
  1382. bit TRUE TorchOff
  1383. ==> flipflop.1.reset
  1384. <== not.2.out
  1385. bit FALSE TorchOn
  1386. <== and2.3.out
  1387. ==> hm2_7i43.0.gpio.036.out
  1388. ==> not.2.in
  1389. ==> oneshot.1.in
  1390. ==> pyvcp.Led-TorchOn
  1391. bit TRUE TorchTurnedOffOrTimeout
  1392. ==> or2.6.in1
  1393. <== or2.7.out
  1394. float 1 TravelHeight
  1395. <== pyvcp.Spin-TravelHeight
  1396. ==> sum2.3.in0
  1397. bit FALSE TriggerEStop
  1398. ==> estop-latch.0.fault-in
  1399. <== logic.0.or
  1400. bit FALSE TriggerLimit
  1401. ==> axis.2.home-sw-in
  1402. ==> axis.2.neg-lim-sw-in
  1403. ==> axis.2.pos-lim-sw-in
  1404. <== or2.2.out
  1405. bit FALSE TurnOffMachine
  1406. <== A2GantryController.machine-off
  1407. ==> halui.machine.off
  1408. bit FALSE TurnOnMachine
  1409. <== A2GantryController.machine-on
  1410. ==> halui.machine.on
  1411. bit TRUE TurnTorchOff
  1412. ==> and2.5.in0
  1413. <== not.0.out
  1414. ==> or2.7.in0
  1415. ==> updown.0.reset
  1416. bit FALSE TurnTorchOn
  1417. ==> and2.6.in0
  1418. ==> and2.8.in0
  1419. <== motion.spindle-forward
  1420. ==> mux2.4.sel
  1421. ==> not.0.in
  1422. ==> xor2.0.in0
  1423. float 0 VelX
  1424. <== ddt.0.out
  1425. ==> hypot.0.in0
  1426. float 0 VelXY
  1427. ==> comp.0.in0
  1428. <== hypot.0.out
  1429. ==> minmax.0.in
  1430. float 0 VelY
  1431. <== ddt.1.out
  1432. ==> hypot.0.in1
  1433. float 0 VelocityThreshold
  1434. ==> comp.0.in1
  1435. <== mult2.1.out
  1436. bit FALSE X.enable
  1437. <== axis.0.amp-enable-out
  1438. ==> hm2_7i43.0.stepgen.00.enable
  1439. ==> pid.0.enable
  1440. float 0 X.pos-cmd
  1441. <== axis.0.motor-pos-cmd
  1442. ==> pid.0.command
  1443. float 0 X.pos-fb
  1444. ==> axis.0.motor-pos-fb
  1445. <== hm2_7i43.0.encoder.00.position
  1446. ==> pid.0.feedback
  1447. float 0 X.pos-out
  1448. ==> hm2_7i43.0.stepgen.00.velocity-cmd
  1449. <== pid.0.output
  1450. bit FALSE Y.enable
  1451. <== axis.1.amp-enable-out
  1452. ==> hm2_7i43.0.stepgen.01.enable
  1453. ==> pid.1.enable
  1454. float 0 Y.pos-cmd
  1455. <== axis.1.motor-pos-cmd
  1456. ==> pid.1.command
  1457. float 0 Y.pos-fb
  1458. ==> axis.1.motor-pos-fb
  1459. <== hm2_7i43.0.encoder.01.position
  1460. ==> pid.1.feedback
  1461. float 0 Y.pos-out
  1462. ==> hm2_7i43.0.stepgen.01.velocity-cmd
  1463. <== pid.1.output
  1464. bit FALSE Z.enable
  1465. <== axis.2.amp-enable-out
  1466. ==> hm2_7i43.0.stepgen.02.enable
  1467. ==> pid.2.enable
  1468. float 0 Z.pos-cmd
  1469. <== axis.2.motor-pos-cmd
  1470. ==> mux2.5.in0
  1471. ==> pid.2.command
  1472. ==> sum2.2.in1
  1473. float 0 Z.pos-fb
  1474. ==> axis.2.motor-pos-fb
  1475. ==> comp.1.in0
  1476. <== hm2_7i43.0.encoder.02.position
  1477. ==> mux2.2.in1
  1478. ==> pid.2.feedback
  1479. float 0 Z.pos-out
  1480. ==> hm2_7i43.0.stepgen.02.velocity-cmd
  1481. <== pid.2.output
  1482. bit FALSE a-index-enable
  1483. <=> axis.3.index-enable
  1484. <=> hm2_7i43.0.encoder.03.index-enable
  1485. float 0 aposerror
  1486. <== sum2.5.out
  1487. bit FALSE coolant-flood
  1488. ==> hm2_7i43.0.gpio.022.out
  1489. <== iocontrol.0.coolant-flood
  1490. bit FALSE coolant-mist
  1491. <== iocontrol.0.coolant-mist
  1492. bit FALSE deb-ExtEStop
  1493. ==> debounce.0.3.in
  1494. <== hm2_7i43.0.gpio.023.in
  1495. bit FALSE deb-FloatSwitch
  1496. ==> debounce.0.2.in
  1497. <== hm2_7i43.0.gpio.047.in_not
  1498. bit FALSE enable-movement
  1499. <== A2GantryController.enable-granites
  1500. ==> hm2_7i43.0.gpio.041.out
  1501. ==> hm2_7i43.0.gpio.042.out
  1502. bit TRUE estop-hw-btn
  1503. ==> and2.9.in1
  1504. <== hm2_7i43.0.gpio.023.in_not
  1505. bit FALSE estop-sw-btn
  1506. ==> and2.9.in0
  1507. <== iocontrol.0.user-enable-out
  1508. bit FALSE home-status
  1509. <== A2GantryController.home_in_progress
  1510. ==> pyvcp.home-in-progress-led
  1511. bit FALSE home_button_pushed
  1512. ==> A2GantryController.home_button-in
  1513. <== pyvcp.to-home
  1514. bit FALSE machine_is_on
  1515. ==> A2GantryController.machine_is_on-in
  1516. <== halui.machine.is-on
  1517. bit FALSE probe-in
  1518. ==> motion.probe-input
  1519. bit FALSE reset-encoders
  1520. <== A2GantryController.reset-encoders
  1521. ==> hm2_7i43.0.encoder.00.reset
  1522. ==> hm2_7i43.0.encoder.01.reset
  1523. ==> hm2_7i43.0.encoder.02.reset
  1524. ==> hm2_7i43.0.encoder.03.reset
  1525. bit FALSE system-enable
  1526. <== and2.10.out
  1527. ==> hm2_7i43.0.pwmgen.00.enable
  1528. ==> iocontrol.0.emc-enable-in
  1529. ==> not.3.in
  1530. ==> or2.9.in0
  1531. bit TRUE system-enable-not
  1532. ==> A2GantryController.estop-in
  1533. <== not.3.out
  1534. bit FALSE tell-granites-tohome
  1535. <== A2GantryController.home-granites
  1536. ==> hm2_7i43.0.gpio.043.out
  1537. ==> hm2_7i43.0.gpio.044.out
  1538. bit FALSE tool-change-confirmed
  1539. <== hal_manualtoolchange.changed
  1540. ==> iocontrol.0.tool-changed
  1541. bit FALSE tool-change-request
  1542. ==> hal_manualtoolchange.change
  1543. <== iocontrol.0.tool-change
  1544. s32 0 tool-number
  1545. ==> hal_manualtoolchange.number
  1546. <== iocontrol.0.tool-prep-number
  1547. bit FALSE tool-prepare-loopback
  1548. <== iocontrol.0.tool-prepare
  1549. ==> iocontrol.0.tool-prepared
  1550. bit FALSE var2
  1551. <== iocontrol.0.user-request-enable
  1552. ==> or2.9.in1
  1553. bit FALSE var3
  1554. ==> and2.10.in0
  1555. <== and2.9.out
  1556. bit FALSE var4
  1557. ==> and2.10.in1
  1558. <== or2.9.out
  1559. bit FALSE x-index-enable
  1560. <=> axis.0.index-enable
  1561. <=> hm2_7i43.0.encoder.00.index-enable
  1562. bit FALSE y-index-enable
  1563. <=> axis.1.index-enable
  1564. <=> hm2_7i43.0.encoder.01.index-enable
  1565. bit FALSE z-index-enable
  1566. <=> axis.2.index-enable
  1567. <=> hm2_7i43.0.encoder.02.index-enable
  1568.  
  1569. Parameters:
  1570. Owner Type Dir Value Name
  1571. 26 s32 RO 240 and2.0.time
  1572. 26 s32 RW 2780 and2.0.tmax
  1573. 26 s32 RO 370 and2.1.time
  1574. 26 s32 RW 670 and2.1.tmax
  1575. 26 s32 RO 410 and2.10.time
  1576. 26 s32 RW 670 and2.10.tmax
  1577. 26 s32 RO 300 and2.2.time
  1578. 26 s32 RW 990 and2.2.tmax
  1579. 26 s32 RO 100 and2.3.time
  1580. 26 s32 RW 600 and2.3.tmax
  1581. 26 s32 RO 110 and2.4.time
  1582. 26 s32 RW 2270 and2.4.tmax
  1583. 26 s32 RO 310 and2.5.time
  1584. 26 s32 RW 910 and2.5.tmax
  1585. 26 s32 RO 300 and2.6.time
  1586. 26 s32 RW 640 and2.6.tmax
  1587. 26 s32 RO 320 and2.7.time
  1588. 26 s32 RW 860 and2.7.tmax
  1589. 26 s32 RO 220 and2.8.time
  1590. 26 s32 RW 750 and2.8.tmax
  1591. 26 s32 RO 240 and2.9.time
  1592. 26 s32 RW 680 and2.9.tmax
  1593. 9 s32 RO 0 axis.0.home-state
  1594. 9 s32 RO 0 axis.1.home-state
  1595. 9 s32 RO 0 axis.2.home-state
  1596. 9 s32 RO 0 axis.3.home-state
  1597. 13 float RW 0 comp.0.hyst
  1598. 13 s32 RO 430 comp.0.time
  1599. 13 s32 RW 1220 comp.0.tmax
  1600. 13 float RW 0.001 comp.1.hyst
  1601. 13 s32 RO 220 comp.1.time
  1602. 13 s32 RW 660 comp.1.tmax
  1603. 13 float RW 0 comp.2.hyst
  1604. 13 s32 RO 280 comp.2.time
  1605. 13 s32 RW 2300 comp.2.tmax
  1606. 14 s32 RO 310 conv-s32-float.0.time
  1607. 14 s32 RW 2750 conv-s32-float.0.tmax
  1608. 15 s32 RO 360 ddt.0.time
  1609. 15 s32 RW 2740 ddt.0.tmax
  1610. 15 s32 RO 140 ddt.1.time
  1611. 15 s32 RW 520 ddt.1.tmax
  1612. 16 s32 RW 30 debounce.0.delay
  1613. 16 s32 RO 490 debounce.0.time
  1614. 16 s32 RW 3010 debounce.0.tmax
  1615. 17 bit RW TRUE edge.0.in-edge
  1616. 17 bit RO TRUE edge.0.last-in
  1617. 17 s32 RW 0 edge.0.out-width-ns
  1618. 17 s32 RO 400 edge.0.time
  1619. 17 s32 RO 0 edge.0.time-left-ns
  1620. 17 s32 RW 2930 edge.0.tmax
  1621. 17 bit RW TRUE edge.1.in-edge
  1622. 17 bit RO TRUE edge.1.last-in
  1623. 17 s32 RW 0 edge.1.out-width-ns
  1624. 17 s32 RO 270 edge.1.time
  1625. 17 s32 RO 0 edge.1.time-left-ns
  1626. 17 s32 RW 630 edge.1.tmax
  1627. 27 s32 RO 500 estop-latch.0.time
  1628. 27 s32 RW 870 estop-latch.0.tmax
  1629. 18 s32 RO 220 flipflop.0.time
  1630. 18 s32 RW 1300 flipflop.0.tmax
  1631. 18 s32 RO 110 flipflop.1.time
  1632. 18 s32 RW 500 flipflop.1.tmax
  1633. 18 s32 RO 160 flipflop.2.time
  1634. 18 s32 RW 2780 flipflop.2.tmax
  1635. 8 s32 RW 0 gantrykins.joint-0
  1636. 8 s32 RW 1 gantrykins.joint-1
  1637. 8 s32 RW 2 gantrykins.joint-2
  1638. 8 s32 RW 1 gantrykins.joint-3
  1639. 8 s32 RW 4 gantrykins.joint-4
  1640. 8 s32 RW 5 gantrykins.joint-5
  1641. 8 s32 RW -1 gantrykins.joint-6
  1642. 8 s32 RW -1 gantrykins.joint-7
  1643. 8 s32 RW -1 gantrykins.joint-8
  1644. 12 bit RW FALSE hm2_7i43.0.encoder.00.counter-mode
  1645. 12 bit RW TRUE hm2_7i43.0.encoder.00.filter
  1646. 12 bit RW FALSE hm2_7i43.0.encoder.00.index-invert
  1647. 12 bit RW FALSE hm2_7i43.0.encoder.00.index-mask
  1648. 12 bit RW FALSE hm2_7i43.0.encoder.00.index-mask-invert
  1649. 12 float RW 2546.479 hm2_7i43.0.encoder.00.scale
  1650. 12 float RW 0.5 hm2_7i43.0.encoder.00.vel-timeout
  1651. 12 bit RW FALSE hm2_7i43.0.encoder.01.counter-mode
  1652. 12 bit RW TRUE hm2_7i43.0.encoder.01.filter
  1653. 12 bit RW FALSE hm2_7i43.0.encoder.01.index-invert
  1654. 12 bit RW FALSE hm2_7i43.0.encoder.01.index-mask
  1655. 12 bit RW FALSE hm2_7i43.0.encoder.01.index-mask-invert
  1656. 12 float RW 2546.479 hm2_7i43.0.encoder.01.scale
  1657. 12 float RW 0.5 hm2_7i43.0.encoder.01.vel-timeout
  1658. 12 bit RW FALSE hm2_7i43.0.encoder.02.counter-mode
  1659. 12 bit RW TRUE hm2_7i43.0.encoder.02.filter
  1660. 12 bit RW FALSE hm2_7i43.0.encoder.02.index-invert
  1661. 12 bit RW FALSE hm2_7i43.0.encoder.02.index-mask
  1662. 12 bit RW FALSE hm2_7i43.0.encoder.02.index-mask-invert
  1663. 12 float RW 2546.479 hm2_7i43.0.encoder.02.scale
  1664. 12 float RW 0.5 hm2_7i43.0.encoder.02.vel-timeout
  1665. 12 bit RW FALSE hm2_7i43.0.encoder.03.counter-mode
  1666. 12 bit RW TRUE hm2_7i43.0.encoder.03.filter
  1667. 12 bit RW FALSE hm2_7i43.0.encoder.03.index-invert
  1668. 12 bit RW FALSE hm2_7i43.0.encoder.03.index-mask
  1669. 12 bit RW FALSE hm2_7i43.0.encoder.03.index-mask-invert
  1670. 12 float RW -2546.479 hm2_7i43.0.encoder.03.scale
  1671. 12 float RW 0.5 hm2_7i43.0.encoder.03.vel-timeout
  1672. 12 bit RW FALSE hm2_7i43.0.gpio.012.invert_output
  1673. 12 bit RW FALSE hm2_7i43.0.gpio.012.is_opendrain
  1674. 12 bit RW FALSE hm2_7i43.0.gpio.013.invert_output
  1675. 12 bit RW FALSE hm2_7i43.0.gpio.013.is_opendrain
  1676. 12 bit RW TRUE hm2_7i43.0.gpio.014.invert_output
  1677. 12 bit RW TRUE hm2_7i43.0.gpio.014.is_opendrain
  1678. 12 bit RW FALSE hm2_7i43.0.gpio.015.invert_output
  1679. 12 bit RW TRUE hm2_7i43.0.gpio.015.is_opendrain
  1680. 12 bit RW FALSE hm2_7i43.0.gpio.016.invert_output
  1681. 12 bit RW FALSE hm2_7i43.0.gpio.016.is_opendrain
  1682. 12 bit RW FALSE hm2_7i43.0.gpio.017.invert_output
  1683. 12 bit RW FALSE hm2_7i43.0.gpio.017.is_opendrain
  1684. 12 bit RW TRUE hm2_7i43.0.gpio.018.invert_output
  1685. 12 bit RW TRUE hm2_7i43.0.gpio.018.is_opendrain
  1686. 12 bit RW FALSE hm2_7i43.0.gpio.019.invert_output
  1687. 12 bit RW TRUE hm2_7i43.0.gpio.019.is_opendrain
  1688. 12 bit RW FALSE hm2_7i43.0.gpio.020.invert_output
  1689. 12 bit RW FALSE hm2_7i43.0.gpio.020.is_opendrain
  1690. 12 bit RW FALSE hm2_7i43.0.gpio.021.invert_output
  1691. 12 bit RW FALSE hm2_7i43.0.gpio.021.is_opendrain
  1692. 12 bit RW FALSE hm2_7i43.0.gpio.021.is_output
  1693. 12 bit RW FALSE hm2_7i43.0.gpio.022.invert_output
  1694. 12 bit RW FALSE hm2_7i43.0.gpio.022.is_opendrain
  1695. 12 bit RW TRUE hm2_7i43.0.gpio.022.is_output
  1696. 12 bit RW FALSE hm2_7i43.0.gpio.023.invert_output
  1697. 12 bit RW FALSE hm2_7i43.0.gpio.023.is_opendrain
  1698. 12 bit RW FALSE hm2_7i43.0.gpio.023.is_output
  1699. 12 bit RW FALSE hm2_7i43.0.gpio.024.invert_output
  1700. 12 bit RW FALSE hm2_7i43.0.gpio.024.is_opendrain
  1701. 12 bit RW FALSE hm2_7i43.0.gpio.024.is_output
  1702. 12 bit RW FALSE hm2_7i43.0.gpio.025.invert_output
  1703. 12 bit RW FALSE hm2_7i43.0.gpio.025.is_opendrain
  1704. 12 bit RW FALSE hm2_7i43.0.gpio.025.is_output
  1705. 12 bit RW FALSE hm2_7i43.0.gpio.026.invert_output
  1706. 12 bit RW FALSE hm2_7i43.0.gpio.026.is_opendrain
  1707. 12 bit RW FALSE hm2_7i43.0.gpio.026.is_output
  1708. 12 bit RW FALSE hm2_7i43.0.gpio.027.invert_output
  1709. 12 bit RW FALSE hm2_7i43.0.gpio.027.is_opendrain
  1710. 12 bit RW FALSE hm2_7i43.0.gpio.027.is_output
  1711. 12 bit RW FALSE hm2_7i43.0.gpio.028.invert_output
  1712. 12 bit RW FALSE hm2_7i43.0.gpio.028.is_opendrain
  1713. 12 bit RW FALSE hm2_7i43.0.gpio.028.is_output
  1714. 12 bit RW FALSE hm2_7i43.0.gpio.029.invert_output
  1715. 12 bit RW FALSE hm2_7i43.0.gpio.029.is_opendrain
  1716. 12 bit RW FALSE hm2_7i43.0.gpio.029.is_output
  1717. 12 bit RW FALSE hm2_7i43.0.gpio.030.invert_output
  1718. 12 bit RW FALSE hm2_7i43.0.gpio.030.is_opendrain
  1719. 12 bit RW FALSE hm2_7i43.0.gpio.030.is_output
  1720. 12 bit RW FALSE hm2_7i43.0.gpio.031.invert_output
  1721. 12 bit RW FALSE hm2_7i43.0.gpio.031.is_opendrain
  1722. 12 bit RW FALSE hm2_7i43.0.gpio.031.is_output
  1723. 12 bit RW FALSE hm2_7i43.0.gpio.032.invert_output
  1724. 12 bit RW FALSE hm2_7i43.0.gpio.032.is_opendrain
  1725. 12 bit RW TRUE hm2_7i43.0.gpio.032.is_output
  1726. 12 bit RW FALSE hm2_7i43.0.gpio.033.invert_output
  1727. 12 bit RW FALSE hm2_7i43.0.gpio.033.is_opendrain
  1728. 12 bit RW TRUE hm2_7i43.0.gpio.033.is_output
  1729. 12 bit RW FALSE hm2_7i43.0.gpio.034.invert_output
  1730. 12 bit RW FALSE hm2_7i43.0.gpio.034.is_opendrain
  1731. 12 bit RW TRUE hm2_7i43.0.gpio.034.is_output
  1732. 12 bit RW FALSE hm2_7i43.0.gpio.035.invert_output
  1733. 12 bit RW FALSE hm2_7i43.0.gpio.035.is_opendrain
  1734. 12 bit RW FALSE hm2_7i43.0.gpio.035.is_output
  1735. 12 bit RW FALSE hm2_7i43.0.gpio.036.invert_output
  1736. 12 bit RW FALSE hm2_7i43.0.gpio.036.is_opendrain
  1737. 12 bit RW FALSE hm2_7i43.0.gpio.036.is_output
  1738. 12 bit RW FALSE hm2_7i43.0.gpio.037.invert_output
  1739. 12 bit RW FALSE hm2_7i43.0.gpio.037.is_opendrain
  1740. 12 bit RW FALSE hm2_7i43.0.gpio.037.is_output
  1741. 12 bit RW FALSE hm2_7i43.0.gpio.038.invert_output
  1742. 12 bit RW FALSE hm2_7i43.0.gpio.038.is_opendrain
  1743. 12 bit RW FALSE hm2_7i43.0.gpio.038.is_output
  1744. 12 bit RW FALSE hm2_7i43.0.gpio.039.invert_output
  1745. 12 bit RW FALSE hm2_7i43.0.gpio.039.is_opendrain
  1746. 12 bit RW FALSE hm2_7i43.0.gpio.039.is_output
  1747. 12 bit RW FALSE hm2_7i43.0.gpio.040.invert_output
  1748. 12 bit RW FALSE hm2_7i43.0.gpio.040.is_opendrain
  1749. 12 bit RW FALSE hm2_7i43.0.gpio.040.is_output
  1750. 12 bit RW TRUE hm2_7i43.0.gpio.041.invert_output
  1751. 12 bit RW TRUE hm2_7i43.0.gpio.041.is_opendrain
  1752. 12 bit RW TRUE hm2_7i43.0.gpio.041.is_output
  1753. 12 bit RW TRUE hm2_7i43.0.gpio.042.invert_output
  1754. 12 bit RW TRUE hm2_7i43.0.gpio.042.is_opendrain
  1755. 12 bit RW TRUE hm2_7i43.0.gpio.042.is_output
  1756. 12 bit RW FALSE hm2_7i43.0.gpio.043.invert_output
  1757. 12 bit RW FALSE hm2_7i43.0.gpio.043.is_opendrain
  1758. 12 bit RW TRUE hm2_7i43.0.gpio.043.is_output
  1759. 12 bit RW FALSE hm2_7i43.0.gpio.044.invert_output
  1760. 12 bit RW FALSE hm2_7i43.0.gpio.044.is_opendrain
  1761. 12 bit RW TRUE hm2_7i43.0.gpio.044.is_output
  1762. 12 bit RW FALSE hm2_7i43.0.gpio.045.invert_output
  1763. 12 bit RW FALSE hm2_7i43.0.gpio.045.is_opendrain
  1764. 12 bit RW FALSE hm2_7i43.0.gpio.045.is_output
  1765. 12 bit RW FALSE hm2_7i43.0.gpio.046.invert_output
  1766. 12 bit RW FALSE hm2_7i43.0.gpio.046.is_opendrain
  1767. 12 bit RW FALSE hm2_7i43.0.gpio.046.is_output
  1768. 12 bit RW FALSE hm2_7i43.0.gpio.047.invert_output
  1769. 12 bit RW FALSE hm2_7i43.0.gpio.047.is_opendrain
  1770. 12 bit RW FALSE hm2_7i43.0.gpio.047.is_output
  1771. 12 bit RW FALSE hm2_7i43.0.io_error
  1772. 12 s32 RO 40160 hm2_7i43.0.pet_watchdog.time
  1773. 12 s32 RW 52200 hm2_7i43.0.pet_watchdog.tmax
  1774. 12 s32 RW 1 hm2_7i43.0.pwmgen.00.output-type
  1775. 12 float RW 100 hm2_7i43.0.pwmgen.00.scale
  1776. 12 u32 RW 0x00004E20 hm2_7i43.0.pwmgen.pdm_frequency
  1777. 12 u32 RW 0x00001388 hm2_7i43.0.pwmgen.pwm_frequency
  1778. 12 s32 RO 164040 hm2_7i43.0.read.time
  1779. 12 s32 RW 184300 hm2_7i43.0.read.tmax
  1780. 12 u32 RW 0x000000C8 hm2_7i43.0.stepgen.00.dirhold
  1781. 12 u32 RW 0x000000C8 hm2_7i43.0.stepgen.00.dirsetup
  1782. 12 float RW 450 hm2_7i43.0.stepgen.00.maxaccel
  1783. 12 float RW 50 hm2_7i43.0.stepgen.00.maxvel
  1784. 12 float RW 2546.479 hm2_7i43.0.stepgen.00.position-scale
  1785. 12 u32 RW 0x00000000 hm2_7i43.0.stepgen.00.step_type
  1786. 12 u32 RW 0x00000DAC hm2_7i43.0.stepgen.00.steplen
  1787. 12 u32 RW 0x000001F4 hm2_7i43.0.stepgen.00.stepspace
  1788. 12 u32 RW 0x000000C8 hm2_7i43.0.stepgen.01.dirhold
  1789. 12 u32 RW 0x000000C8 hm2_7i43.0.stepgen.01.dirsetup
  1790. 12 float RW 450 hm2_7i43.0.stepgen.01.maxaccel
  1791. 12 float RW 50 hm2_7i43.0.stepgen.01.maxvel
  1792. 12 float RW 25464.79 hm2_7i43.0.stepgen.01.position-scale
  1793. 12 u32 RW 0x00000000 hm2_7i43.0.stepgen.01.step_type
  1794. 12 u32 RW 0x000000C8 hm2_7i43.0.stepgen.01.steplen
  1795. 12 u32 RW 0x000001F4 hm2_7i43.0.stepgen.01.stepspace
  1796. 12 u32 RW 0x000000C8 hm2_7i43.0.stepgen.02.dirhold
  1797. 12 u32 RW 0x000000C8 hm2_7i43.0.stepgen.02.dirsetup
  1798. 12 float RW 150 hm2_7i43.0.stepgen.02.maxaccel
  1799. 12 float RW 50 hm2_7i43.0.stepgen.02.maxvel
  1800. 12 float RW -2546.479 hm2_7i43.0.stepgen.02.position-scale
  1801. 12 u32 RW 0x00000000 hm2_7i43.0.stepgen.02.step_type
  1802. 12 u32 RW 0x00000DAC hm2_7i43.0.stepgen.02.steplen
  1803. 12 u32 RW 0x000001F4 hm2_7i43.0.stepgen.02.stepspace
  1804. 12 u32 RW 0x000000C8 hm2_7i43.0.stepgen.03.dirhold
  1805. 12 u32 RW 0x000000C8 hm2_7i43.0.stepgen.03.dirsetup
  1806. 12 float RW 450 hm2_7i43.0.stepgen.03.maxaccel
  1807. 12 float RW 50 hm2_7i43.0.stepgen.03.maxvel
  1808. 12 float RW -25464.79 hm2_7i43.0.stepgen.03.position-scale
  1809. 12 u32 RW 0x00000000 hm2_7i43.0.stepgen.03.step_type
  1810. 12 u32 RW 0x000000C8 hm2_7i43.0.stepgen.03.steplen
  1811. 12 u32 RW 0x000001F4 hm2_7i43.0.stepgen.03.stepspace
  1812. 12 u32 RW 0x00989680 hm2_7i43.0.watchdog.timeout_ns
  1813. 12 s32 RO 106710 hm2_7i43.0.write.time
  1814. 12 s32 RW 673500 hm2_7i43.0.write.tmax
  1815. 19 s32 RO 270 hypot.0.time
  1816. 19 s32 RW 1300 hypot.0.tmax
  1817. 29 s32 RO 340 logic.0.time
  1818. 29 s32 RW 1160 logic.0.tmax
  1819. 29 s32 RO 170 logic.1.time
  1820. 29 s32 RW 660 logic.1.tmax
  1821. 20 s32 RO 300 minmax.0.time
  1822. 20 s32 RW 2720 minmax.0.tmax
  1823. 9 s32 RO 280 motion-command-handler.time
  1824. 9 s32 RW 3450 motion-command-handler.tmax
  1825. 9 s32 RO 8750 motion-controller.time
  1826. 9 s32 RW 40930 motion-controller.tmax
  1827. 9 bit RO FALSE motion.debug-bit-0
  1828. 9 bit RO TRUE motion.debug-bit-1
  1829. 9 float RO 0 motion.debug-float-0
  1830. 9 float RO 0 motion.debug-float-1
  1831. 9 float RO 0 motion.debug-float-2
  1832. 9 float RO 1 motion.debug-float-3
  1833. 9 s32 RO 0 motion.debug-s32-0
  1834. 9 s32 RO 0 motion.debug-s32-1
  1835. 9 u32 RO 0x0019514A motion.servo.last-period
  1836. 9 float RO 995489.4 motion.servo.last-period-ns
  1837. 9 u32 RW 0x00000001 motion.servo.overruns
  1838. 21 s32 RO 380 mult2.0.time
  1839. 21 s32 RW 2570 mult2.0.tmax
  1840. 21 s32 RO 90 mult2.1.time
  1841. 21 s32 RW 660 mult2.1.tmax
  1842. 22 s32 RO 210 mux2.0.time
  1843. 22 s32 RW 820 mux2.0.tmax
  1844. 22 s32 RO 130 mux2.1.time
  1845. 22 s32 RW 620 mux2.1.tmax
  1846. 22 s32 RO 150 mux2.2.time
  1847. 22 s32 RW 920 mux2.2.tmax
  1848. 22 s32 RO 100 mux2.3.time
  1849. 22 s32 RW 510 mux2.3.tmax
  1850. 22 s32 RO 120 mux2.4.time
  1851. 22 s32 RW 570 mux2.4.tmax
  1852. 22 s32 RO 90 mux2.5.time
  1853. 22 s32 RW 500 mux2.5.tmax
  1854. 22 s32 RO 100 mux2.6.time
  1855. 22 s32 RW 610 mux2.6.tmax
  1856. 28 s32 RO 220 not.0.time
  1857. 28 s32 RW 2600 not.0.tmax
  1858. 28 s32 RO 90 not.1.time
  1859. 28 s32 RW 740 not.1.tmax
  1860. 28 s32 RO 100 not.2.time
  1861. 28 s32 RW 520 not.2.tmax
  1862. 28 s32 RO 100 not.3.time
  1863. 28 s32 RW 430 not.3.tmax
  1864. 30 bit RW FALSE oneshot.0.falling
  1865. 30 bit RW TRUE oneshot.0.retriggerable
  1866. 30 bit RW TRUE oneshot.0.rising
  1867. 30 s32 RO 700 oneshot.0.time
  1868. 30 s32 RW 3290 oneshot.0.tmax
  1869. 30 bit RW FALSE oneshot.1.falling
  1870. 30 bit RW TRUE oneshot.1.retriggerable
  1871. 30 bit RW TRUE oneshot.1.rising
  1872. 30 s32 RO 170 oneshot.1.time
  1873. 30 s32 RW 680 oneshot.1.tmax
  1874. 30 bit RW FALSE oneshot.2.falling
  1875. 30 bit RW TRUE oneshot.2.retriggerable
  1876. 30 bit RW TRUE oneshot.2.rising
  1877. 30 s32 RO 220 oneshot.2.time
  1878. 30 s32 RW 780 oneshot.2.tmax
  1879. 30 bit RW TRUE oneshot.3.falling
  1880. 30 bit RW TRUE oneshot.3.retriggerable
  1881. 30 bit RW FALSE oneshot.3.rising
  1882. 30 s32 RO 180 oneshot.3.time
  1883. 30 s32 RW 900 oneshot.3.tmax
  1884. 30 bit RW FALSE oneshot.4.falling
  1885. 30 bit RW TRUE oneshot.4.retriggerable
  1886. 30 bit RW TRUE oneshot.4.rising
  1887. 30 s32 RO 230 oneshot.4.time
  1888. 30 s32 RW 1140 oneshot.4.tmax
  1889. 31 s32 RO 240 or2.0.time
  1890. 31 s32 RW 900 or2.0.tmax
  1891. 31 s32 RO 110 or2.1.time
  1892. 31 s32 RW 2700 or2.1.tmax
  1893. 31 s32 RO 160 or2.10.time
  1894. 31 s32 RW 950 or2.10.tmax
  1895. 31 s32 RO 90 or2.2.time
  1896. 31 s32 RW 810 or2.2.tmax
  1897. 31 s32 RO 80 or2.3.time
  1898. 31 s32 RW 2530 or2.3.tmax
  1899. 31 s32 RO 120 or2.4.time
  1900. 31 s32 RW 520 or2.4.tmax
  1901. 31 s32 RO 80 or2.5.time
  1902. 31 s32 RW 570 or2.5.tmax
  1903. 31 s32 RO 110 or2.6.time
  1904. 31 s32 RW 650 or2.6.tmax
  1905. 31 s32 RO 110 or2.7.time
  1906. 31 s32 RW 860 or2.7.tmax
  1907. 31 s32 RO 90 or2.8.time
  1908. 31 s32 RW 900 or2.8.tmax
  1909. 31 s32 RO 110 or2.9.time
  1910. 31 s32 RW 620 or2.9.tmax
  1911. 32 s32 RO 810 pid.0.do-pid-calcs.time
  1912. 32 s32 RW 10090 pid.0.do-pid-calcs.tmax
  1913. 32 s32 RO 610 pid.1.do-pid-calcs.time
  1914. 32 s32 RW 2110 pid.1.do-pid-calcs.tmax
  1915. 32 s32 RO 540 pid.2.do-pid-calcs.time
  1916. 32 s32 RW 2990 pid.2.do-pid-calcs.tmax
  1917. 32 s32 RO 590 pid.3.do-pid-calcs.time
  1918. 32 s32 RW 2200 pid.3.do-pid-calcs.tmax
  1919. 23 s32 RO 270 scale.0.time
  1920. 23 s32 RW 850 scale.0.tmax
  1921. 33 float RW 1 sum2.0.gain0
  1922. 33 float RW 1 sum2.0.gain1
  1923. 33 float RW 0 sum2.0.offset
  1924. 33 s32 RO 270 sum2.0.time
  1925. 33 s32 RW 1210 sum2.0.tmax
  1926. 33 float RW 1 sum2.1.gain0
  1927. 33 float RW 1 sum2.1.gain1
  1928. 33 float RW 0 sum2.1.offset
  1929. 33 s32 RO 130 sum2.1.time
  1930. 33 s32 RW 840 sum2.1.tmax
  1931. 33 float RW 1 sum2.10.gain0
  1932. 33 float RW 1 sum2.10.gain1
  1933. 33 float RW 0 sum2.10.offset
  1934. 33 s32 RO 0 sum2.10.time
  1935. 33 s32 RW 0 sum2.10.tmax
  1936. 33 float RW 1 sum2.2.gain0
  1937. 33 float RW -1 sum2.2.gain1
  1938. 33 float RW 0 sum2.2.offset
  1939. 33 s32 RO 110 sum2.2.time
  1940. 33 s32 RW 2540 sum2.2.tmax
  1941. 33 float RW 1 sum2.3.gain0
  1942. 33 float RW -1 sum2.3.gain1
  1943. 33 float RW 0 sum2.3.offset
  1944. 33 s32 RO 150 sum2.3.time
  1945. 33 s32 RW 660 sum2.3.tmax
  1946. 33 float RW 1 sum2.4.gain0
  1947. 33 float RW -1 sum2.4.gain1
  1948. 33 float RW 0 sum2.4.offset
  1949. 33 s32 RO 150 sum2.4.time
  1950. 33 s32 RW 670 sum2.4.tmax
  1951. 33 float RW -1 sum2.5.gain0
  1952. 33 float RW 1 sum2.5.gain1
  1953. 33 float RW 0 sum2.5.offset
  1954. 33 s32 RO 120 sum2.5.time
  1955. 33 s32 RW 640 sum2.5.tmax
  1956. 33 float RW 1 sum2.6.gain0
  1957. 33 float RW 1 sum2.6.gain1
  1958. 33 float RW 0 sum2.6.offset
  1959. 33 s32 RO 0 sum2.6.time
  1960. 33 s32 RW 0 sum2.6.tmax
  1961. 33 float RW 1 sum2.7.gain0
  1962. 33 float RW 1 sum2.7.gain1
  1963. 33 float RW 0 sum2.7.offset
  1964. 33 s32 RO 0 sum2.7.time
  1965. 33 s32 RW 0 sum2.7.tmax
  1966. 33 float RW 1 sum2.8.gain0
  1967. 33 float RW 1 sum2.8.gain1
  1968. 33 float RW 0 sum2.8.offset
  1969. 33 s32 RO 0 sum2.8.time
  1970. 33 s32 RW 0 sum2.8.tmax
  1971. 33 float RW 1 sum2.9.gain0
  1972. 33 float RW 1 sum2.9.gain1
  1973. 33 float RW 0 sum2.9.offset
  1974. 33 s32 RO 0 sum2.9.time
  1975. 33 s32 RW 0 sum2.9.tmax
  1976. 9 float RO 0 tc.0.acc
  1977. 9 float RO 0 tc.0.pos
  1978. 9 float RO 0 tc.0.vel
  1979. 9 float RO 0 tc.1.acc
  1980. 9 float RO 0 tc.1.pos
  1981. 9 float RO 0 tc.1.vel
  1982. 9 float RO 0 tc.2.acc
  1983. 9 float RO 0 tc.2.pos
  1984. 9 float RO 0 tc.2.vel
  1985. 9 float RO 0 tc.3.acc
  1986. 9 float RO 0 tc.3.pos
  1987. 9 float RO 0 tc.3.vel
  1988. 34 s32 RO 270 timedelay.0.time
  1989. 34 s32 RW 9330 timedelay.0.tmax
  1990. 9 u32 RO 0x00000000 traj.active_tc
  1991. 9 float RO 0 traj.pos_out
  1992. 9 float RO 0 traj.vel_out
  1993. 24 bit RW FALSE updown.0.clamp
  1994. 24 s32 RW 2147483647 updown.0.max
  1995. 24 s32 RW 0 updown.0.min
  1996. 24 s32 RO 320 updown.0.time
  1997. 24 s32 RW 1640 updown.0.tmax
  1998. 24 bit RW FALSE updown.0.wrap
  1999. 25 s32 RO 240 xor2.0.time
  2000. 25 s32 RW 820 xor2.0.tmax
  2001. 25 s32 RO 120 xor2.1.time
  2002. 25 s32 RW 2560 xor2.1.tmax
  2003. 25 s32 RO 120 xor2.2.time
  2004. 25 s32 RW 8860 xor2.2.tmax
  2005.  
  2006. Parameter Aliases:
  2007. Alias Original Name
  2008.  
  2009. Exported Functions:
  2010. Owner CodeAddr Arg FP Users Name
  2011. 00026 f9d30000 f8d8bc88 NO 1 and2.0
  2012. 00026 f9d30000 f8d8bc98 NO 1 and2.1
  2013. 00026 f9d30000 f8d8bd28 NO 1 and2.10
  2014. 00026 f9d30000 f8d8bca8 NO 1 and2.2
  2015. 00026 f9d30000 f8d8bcb8 NO 1 and2.3
  2016. 00026 f9d30000 f8d8bcc8 NO 1 and2.4
  2017. 00026 f9d30000 f8d8bcd8 NO 1 and2.5
  2018. 00026 f9d30000 f8d8bce8 NO 1 and2.6
  2019. 00026 f9d30000 f8d8bcf8 NO 1 and2.7
  2020. 00026 f9d30000 f8d8bd08 NO 1 and2.8
  2021. 00026 f9d30000 f8d8bd18 NO 1 and2.9
  2022. 00013 f866e000 f8d8b910 YES 1 comp.0
  2023. 00013 f866e000 f8d8b930 YES 1 comp.1
  2024. 00013 f866e000 f8d8b950 YES 1 comp.2
  2025. 00014 f867c000 f8d8b980 YES 1 conv-s32-float.0
  2026. 00015 f89a0000 f8d8b990 YES 1 ddt.0
  2027. 00015 f89a0000 f8d8b9a8 YES 1 ddt.1
  2028. 00016 f89aa000 f8d8b9d0 NO 1 debounce.0
  2029. 00017 f89f8000 f8d8ba28 NO 1 edge.0
  2030. 00017 f89f8000 f8d8ba48 NO 1 edge.1
  2031. 00027 f9d3a000 f8d8bd48 NO 1 estop-latch.0
  2032. 00018 f8ce3000 f8d8ba78 NO 1 flipflop.0
  2033. 00018 f8ce3000 f8d8ba98 NO 1 flipflop.1
  2034. 00018 f8ce3000 f8d8bab8 NO 1 flipflop.2
  2035. 00012 f860f5b1 f3707800 NO 1 hm2_7i43.0.pet_watchdog
  2036. 00012 f860297f f3707800 YES 1 hm2_7i43.0.read
  2037. 00012 f86028e5 f3707800 YES 1 hm2_7i43.0.write
  2038. 00019 f8ced000 f8d8bae8 YES 1 hypot.0
  2039. 00029 f9d4e000 f8d8bdc0 NO 1 logic.0
  2040. 00029 f9d4e000 f8d8be18 NO 1 logic.1
  2041. 00020 f8d01000 f8d8bb00 YES 1 minmax.0
  2042. 00009 f9a30791 00000000 YES 1 motion-command-handler
  2043. 00009 f9a32cea 00000000 YES 1 motion-controller
  2044. 00021 f8d15000 f8d8bb18 YES 1 mult2.0
  2045. 00021 f8d15000 f8d8bb28 YES 1 mult2.1
  2046. 00022 f8d1f000 f8d8bb48 YES 1 mux2.0
  2047. 00022 f8d1f000 f8d8bb60 YES 1 mux2.1
  2048. 00022 f8d1f000 f8d8bb78 YES 1 mux2.2
  2049. 00022 f8d1f000 f8d8bb90 YES 1 mux2.3
  2050. 00022 f8d1f000 f8d8bba8 YES 1 mux2.4
  2051. 00022 f8d1f000 f8d8bbc0 YES 1 mux2.5
  2052. 00022 f8d1f000 f8d8bbd8 YES 1 mux2.6
  2053. 00028 f9d44000 f8d8bd70 NO 1 not.0
  2054. 00028 f9d44000 f8d8bd80 NO 1 not.1
  2055. 00028 f9d44000 f8d8bd90 NO 1 not.2
  2056. 00028 f9d44000 f8d8bda0 NO 1 not.3
  2057. 00030 f9d58000 f8d8be98 YES 1 oneshot.0
  2058. 00030 f9d58000 f8d8bec8 YES 1 oneshot.1
  2059. 00030 f9d58000 f8d8bef8 YES 1 oneshot.2
  2060. 00030 f9d58000 f8d8bf28 YES 1 oneshot.3
  2061. 00030 f9d58000 f8d8bf58 YES 1 oneshot.4
  2062. 00031 f9d62000 f8d8bf98 NO 1 or2.0
  2063. 00031 f9d62000 f8d8bfa8 NO 1 or2.1
  2064. 00031 f9d62000 f8d8c038 NO 1 or2.10
  2065. 00031 f9d62000 f8d8bfb8 NO 1 or2.2
  2066. 00031 f9d62000 f8d8bfc8 NO 1 or2.3
  2067. 00031 f9d62000 f8d8bfd8 NO 1 or2.4
  2068. 00031 f9d62000 f8d8bfe8 NO 1 or2.5
  2069. 00031 f9d62000 f8d8bff8 NO 1 or2.6
  2070. 00031 f9d62000 f8d8c008 NO 1 or2.7
  2071. 00031 f9d62000 f8d8c018 NO 1 or2.8
  2072. 00031 f9d62000 f8d8c028 NO 1 or2.9
  2073. 00032 f9d6d000 f8d8c058 YES 1 pid.0.do-pid-calcs
  2074. 00032 f9d6d000 f8d8c0f8 YES 1 pid.1.do-pid-calcs
  2075. 00032 f9d6d000 f8d8c198 YES 1 pid.2.do-pid-calcs
  2076. 00032 f9d6d000 f8d8c238 YES 1 pid.3.do-pid-calcs
  2077. 00023 f8d29000 f8d8bc00 YES 1 scale.0
  2078. 00033 f9d78000 f8d8c368 YES 1 sum2.0
  2079. 00033 f9d78000 f8d8c390 YES 1 sum2.1
  2080. 00033 f9d78000 f8d8c4f8 YES 0 sum2.10
  2081. 00033 f9d78000 f8d8c3b8 YES 1 sum2.2
  2082. 00033 f9d78000 f8d8c3e0 YES 1 sum2.3
  2083. 00033 f9d78000 f8d8c408 YES 1 sum2.4
  2084. 00033 f9d78000 f8d8c430 YES 1 sum2.5
  2085. 00033 f9d78000 f8d8c458 YES 0 sum2.6
  2086. 00033 f9d78000 f8d8c480 YES 0 sum2.7
  2087. 00033 f9d78000 f8d8c4a8 YES 0 sum2.8
  2088. 00033 f9d78000 f8d8c4d0 YES 0 sum2.9
  2089. 00034 f9d82000 f8d8c530 YES 1 timedelay.0
  2090. 00024 f8d47000 f8d8bc18 NO 1 updown.0
  2091. 00025 f8d51000 f8d8bc48 NO 1 xor2.0
  2092. 00025 f8d51000 f8d8bc58 NO 1 xor2.1
  2093. 00025 f8d51000 f8d8bc68 NO 1 xor2.2
  2094.  
  2095. Realtime Threads:
  2096. Period FP Name ( Time, Max-Time )
  2097. 999936 YES servo-thread ( 328910, 976010 )
  2098. 1 hm2_7i43.0.write
  2099. 2 hm2_7i43.0.pet_watchdog
  2100. 3 hm2_7i43.0.read
  2101. 4 motion-command-handler
  2102. 5 motion-controller
  2103. 6 comp.0
  2104. 7 comp.1
  2105. 8 comp.2
  2106. 9 conv-s32-float.0
  2107. 10 ddt.0
  2108. 11 ddt.1
  2109. 12 debounce.0
  2110. 13 edge.0
  2111. 14 edge.1
  2112. 15 flipflop.0
  2113. 16 flipflop.1
  2114. 17 flipflop.2
  2115. 18 hypot.0
  2116. 19 minmax.0
  2117. 20 mult2.0
  2118. 21 mult2.1
  2119. 22 mux2.0
  2120. 23 mux2.1
  2121. 24 mux2.2
  2122. 25 mux2.3
  2123. 26 mux2.4
  2124. 27 mux2.5
  2125. 28 mux2.6
  2126. 29 scale.0
  2127. 30 updown.0
  2128. 31 xor2.0
  2129. 32 xor2.1
  2130. 33 xor2.2
  2131. 34 and2.0
  2132. 35 and2.1
  2133. 36 and2.2
  2134. 37 and2.3
  2135. 38 and2.4
  2136. 39 and2.5
  2137. 40 and2.6
  2138. 41 and2.7
  2139. 42 and2.8
  2140. 43 and2.9
  2141. 44 and2.10
  2142. 45 estop-latch.0
  2143. 46 not.0
  2144. 47 not.1
  2145. 48 not.2
  2146. 49 not.3
  2147. 50 logic.0
  2148. 51 logic.1
  2149. 52 oneshot.0
  2150. 53 oneshot.1
  2151. 54 oneshot.2
  2152. 55 oneshot.3
  2153. 56 oneshot.4
  2154. 57 or2.0
  2155. 58 or2.1
  2156. 59 or2.2
  2157. 60 or2.3
  2158. 61 or2.4
  2159. 62 or2.5
  2160. 63 or2.6
  2161. 64 or2.7
  2162. 65 or2.8
  2163. 66 or2.9
  2164. 67 or2.10
  2165. 68 pid.0.do-pid-calcs
  2166. 69 pid.1.do-pid-calcs
  2167. 70 pid.2.do-pid-calcs
  2168. 71 pid.3.do-pid-calcs
  2169. 72 sum2.0
  2170. 73 sum2.1
  2171. 74 sum2.2
  2172. 75 sum2.3
  2173. 76 sum2.4
  2174. 77 sum2.5
  2175. 78 timedelay.0
  2176.  
  2177.  
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