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  1. halcmd: show
  2. Loaded HAL Components:
  3. ID Type Name PID State
  4. 15 User halcmd3692 3692 ready
  5. 14 User axisui 3654 ready
  6. 13 User hal_manualtoolchange 3646 ready
  7. 12 RT pid ready
  8. 11 RT near ready
  9. 10 RT abs ready
  10. 9 RT hm2_7i43 ready
  11. 8 RT hostmot2 ready
  12. 7 RT probe_parport ready
  13. 6 RT motmod ready
  14. 5 RT trivkins ready
  15. 4 User halui 3631 ready
  16. 3 User iocontrol 3629 ready
  17.  
  18. Component Pins:
  19. Owner Type Dir Value Name
  20. 10 float IN 0 .in
  21. 10 float OUT 0 .out
  22. 10 bit OUT FALSE .sign
  23. 6 bit OUT TRUE axis.0.active
  24. 6 bit OUT FALSE axis.0.amp-enable-out ==> xenable
  25. 6 bit IN FALSE axis.0.amp-fault-in
  26. 6 float OUT 0 axis.0.backlash-corr
  27. 6 float OUT 0 axis.0.backlash-filt
  28. 6 float OUT 0 axis.0.backlash-vel
  29. 6 float OUT 0 axis.0.coarse-pos-cmd
  30. 6 bit OUT FALSE axis.0.error
  31. 6 float OUT 0 axis.0.f-error
  32. 6 float OUT 0.01 axis.0.f-error-lim
  33. 6 bit OUT FALSE axis.0.f-errored
  34. 6 bit OUT FALSE axis.0.faulted
  35. 6 float OUT 0 axis.0.free-pos-cmd
  36. 6 bit OUT FALSE axis.0.free-tp-enable
  37. 6 float OUT 0 axis.0.free-vel-lim
  38. 6 bit IN FALSE axis.0.home-sw-in <== x-home-sw
  39. 6 bit OUT FALSE axis.0.homed
  40. 6 bit OUT FALSE axis.0.homing
  41. 6 bit OUT TRUE axis.0.in-position
  42. 6 bit I/O FALSE axis.0.index-enable <=> x-index-enable
  43. 6 s32 IN 0 axis.0.jog-counts
  44. 6 bit IN FALSE axis.0.jog-enable
  45. 6 float IN 0 axis.0.jog-scale
  46. 6 bit IN FALSE axis.0.jog-vel-mode
  47. 6 float OUT 0 axis.0.joint-pos-cmd
  48. 6 float OUT 0 axis.0.joint-pos-fb
  49. 6 float OUT 0 axis.0.joint-vel-cmd
  50. 6 bit OUT FALSE axis.0.kb-jog-active
  51. 6 float OUT 0 axis.0.motor-pos-cmd ==> xpos-cmd
  52. 6 float IN 0 axis.0.motor-pos-fb <== xpos-fb
  53. 6 bit OUT FALSE axis.0.neg-hard-limit
  54. 6 bit IN FALSE axis.0.neg-lim-sw-in <== x-neg-limit
  55. 6 bit OUT FALSE axis.0.pos-hard-limit
  56. 6 bit IN FALSE axis.0.pos-lim-sw-in <== x-pos-limit
  57. 6 bit OUT FALSE axis.0.wheel-jog-active
  58. 6 bit OUT TRUE axis.1.active
  59. 6 bit OUT FALSE axis.1.amp-enable-out ==> yenable
  60. 6 bit IN FALSE axis.1.amp-fault-in
  61. 6 float OUT 0 axis.1.backlash-corr
  62. 6 float OUT 0 axis.1.backlash-filt
  63. 6 float OUT 0 axis.1.backlash-vel
  64. 6 float OUT 0 axis.1.coarse-pos-cmd
  65. 6 bit OUT FALSE axis.1.error
  66. 6 float OUT 0 axis.1.f-error
  67. 6 float OUT 0.05 axis.1.f-error-lim
  68. 6 bit OUT FALSE axis.1.f-errored
  69. 6 bit OUT FALSE axis.1.faulted
  70. 6 float OUT 0 axis.1.free-pos-cmd
  71. 6 bit OUT FALSE axis.1.free-tp-enable
  72. 6 float OUT 0 axis.1.free-vel-lim
  73. 6 bit IN FALSE axis.1.home-sw-in <== y-home-sw
  74. 6 bit OUT FALSE axis.1.homed
  75. 6 bit OUT FALSE axis.1.homing
  76. 6 bit OUT TRUE axis.1.in-position
  77. 6 bit I/O FALSE axis.1.index-enable <=> y-index-enable
  78. 6 s32 IN 0 axis.1.jog-counts
  79. 6 bit IN FALSE axis.1.jog-enable
  80. 6 float IN 0 axis.1.jog-scale
  81. 6 bit IN FALSE axis.1.jog-vel-mode
  82. 6 float OUT 0 axis.1.joint-pos-cmd
  83. 6 float OUT 0 axis.1.joint-pos-fb
  84. 6 float OUT 0 axis.1.joint-vel-cmd
  85. 6 bit OUT FALSE axis.1.kb-jog-active
  86. 6 float OUT 0 axis.1.motor-pos-cmd ==> ypos-cmd
  87. 6 float IN 0 axis.1.motor-pos-fb <== ypos-fb
  88. 6 bit OUT FALSE axis.1.neg-hard-limit
  89. 6 bit IN FALSE axis.1.neg-lim-sw-in <== y-neg-limit
  90. 6 bit OUT FALSE axis.1.pos-hard-limit
  91. 6 bit IN FALSE axis.1.pos-lim-sw-in <== y-pos-limit
  92. 6 bit OUT FALSE axis.1.wheel-jog-active
  93. 6 bit OUT TRUE axis.2.active
  94. 6 bit OUT FALSE axis.2.amp-enable-out ==> zenable
  95. 6 bit IN FALSE axis.2.amp-fault-in
  96. 6 float OUT 0 axis.2.backlash-corr
  97. 6 float OUT 0 axis.2.backlash-filt
  98. 6 float OUT 0 axis.2.backlash-vel
  99. 6 float OUT 0 axis.2.coarse-pos-cmd
  100. 6 bit OUT FALSE axis.2.error
  101. 6 float OUT 0 axis.2.f-error
  102. 6 float OUT 0.05 axis.2.f-error-lim
  103. 6 bit OUT FALSE axis.2.f-errored
  104. 6 bit OUT FALSE axis.2.faulted
  105. 6 float OUT 0 axis.2.free-pos-cmd
  106. 6 bit OUT FALSE axis.2.free-tp-enable
  107. 6 float OUT 0 axis.2.free-vel-lim
  108. 6 bit IN FALSE axis.2.home-sw-in <== z-home-sw
  109. 6 bit OUT FALSE axis.2.homed
  110. 6 bit OUT FALSE axis.2.homing
  111. 6 bit OUT TRUE axis.2.in-position
  112. 6 bit I/O FALSE axis.2.index-enable <=> z-index-enable
  113. 6 s32 IN 0 axis.2.jog-counts
  114. 6 bit IN FALSE axis.2.jog-enable
  115. 6 float IN 0 axis.2.jog-scale
  116. 6 bit IN FALSE axis.2.jog-vel-mode
  117. 6 float OUT 0 axis.2.joint-pos-cmd
  118. 6 float OUT 0 axis.2.joint-pos-fb
  119. 6 float OUT 0 axis.2.joint-vel-cmd
  120. 6 bit OUT FALSE axis.2.kb-jog-active
  121. 6 float OUT 0 axis.2.motor-pos-cmd ==> zpos-cmd
  122. 6 float IN 0 axis.2.motor-pos-fb <== zpos-fb
  123. 6 bit OUT FALSE axis.2.neg-hard-limit
  124. 6 bit IN FALSE axis.2.neg-lim-sw-in <== z-neg-limit
  125. 6 bit OUT FALSE axis.2.pos-hard-limit
  126. 6 bit IN FALSE axis.2.pos-lim-sw-in <== z-pos-limit
  127. 6 bit OUT FALSE axis.2.wheel-jog-active
  128. 6 bit OUT TRUE axis.3.active
  129. 6 bit OUT FALSE axis.3.amp-enable-out ==> aenable
  130. 6 bit IN FALSE axis.3.amp-fault-in
  131. 6 float OUT 0 axis.3.backlash-corr
  132. 6 float OUT 0 axis.3.backlash-filt
  133. 6 float OUT 0 axis.3.backlash-vel
  134. 6 float OUT 0 axis.3.coarse-pos-cmd
  135. 6 bit OUT FALSE axis.3.error
  136. 6 float OUT 0 axis.3.f-error
  137. 6 float OUT 0.05 axis.3.f-error-lim
  138. 6 bit OUT FALSE axis.3.f-errored
  139. 6 bit OUT FALSE axis.3.faulted
  140. 6 float OUT 0 axis.3.free-pos-cmd
  141. 6 bit OUT FALSE axis.3.free-tp-enable
  142. 6 float OUT 0 axis.3.free-vel-lim
  143. 6 bit IN FALSE axis.3.home-sw-in <== a-home-sw
  144. 6 bit OUT FALSE axis.3.homed
  145. 6 bit OUT FALSE axis.3.homing
  146. 6 bit OUT TRUE axis.3.in-position
  147. 6 bit I/O FALSE axis.3.index-enable <=> a-index-enable
  148. 6 s32 IN 0 axis.3.jog-counts
  149. 6 bit IN FALSE axis.3.jog-enable
  150. 6 float IN 0 axis.3.jog-scale
  151. 6 bit IN FALSE axis.3.jog-vel-mode
  152. 6 float OUT -0 axis.3.joint-pos-cmd
  153. 6 float OUT -0 axis.3.joint-pos-fb
  154. 6 float OUT 0 axis.3.joint-vel-cmd
  155. 6 bit OUT FALSE axis.3.kb-jog-active
  156. 6 float OUT 0 axis.3.motor-pos-cmd ==> apos-cmd
  157. 6 float IN -0 axis.3.motor-pos-fb <== apos-fb
  158. 6 bit OUT FALSE axis.3.neg-hard-limit
  159. 6 bit IN FALSE axis.3.neg-lim-sw-in <== a-neg-limit
  160. 6 bit OUT FALSE axis.3.pos-hard-limit
  161. 6 bit IN FALSE axis.3.pos-lim-sw-in <== a-pos-limit
  162. 6 bit OUT FALSE axis.3.wheel-jog-active
  163. 14 bit OUT FALSE axisui.jog.a
  164. 14 bit OUT FALSE axisui.jog.b
  165. 14 bit OUT FALSE axisui.jog.c
  166. 14 float OUT 0 axisui.jog.increment
  167. 14 bit OUT FALSE axisui.jog.u
  168. 14 bit OUT FALSE axisui.jog.v
  169. 14 bit OUT FALSE axisui.jog.w
  170. 14 bit OUT TRUE axisui.jog.x
  171. 14 bit OUT FALSE axisui.jog.y
  172. 14 bit OUT FALSE axisui.jog.z
  173. 14 bit IN FALSE axisui.notifications-clear
  174. 14 bit IN FALSE axisui.notifications-clear-error
  175. 14 bit IN FALSE axisui.notifications-clear-info
  176. 14 bit IN FALSE axisui.set-manual-mode
  177. 13 bit IN FALSE hal_manualtoolchange.change <== tool-change-request
  178. 13 bit OUT FALSE hal_manualtoolchange.changed ==> tool-change-confirmed
  179. 13 s32 IN 0 hal_manualtoolchange.number <== tool-number
  180. 4 bit IN FALSE halui.abort
  181. 4 float OUT 0 halui.axis.0.pos-commanded
  182. 4 float OUT 0 halui.axis.0.pos-feedback
  183. 4 float OUT 0 halui.axis.0.pos-relative
  184. 4 float OUT 0 halui.axis.1.pos-commanded
  185. 4 float OUT 0 halui.axis.1.pos-feedback
  186. 4 float OUT 0 halui.axis.1.pos-relative
  187. 4 float OUT 0 halui.axis.2.pos-commanded
  188. 4 float OUT 0 halui.axis.2.pos-feedback
  189. 4 float OUT 0 halui.axis.2.pos-relative
  190. 4 float OUT -0 halui.axis.3.pos-commanded
  191. 4 float OUT -0 halui.axis.3.pos-feedback
  192. 4 float OUT -0 halui.axis.3.pos-relative
  193. 4 float OUT 0 halui.axis.4.pos-commanded
  194. 4 float OUT 0 halui.axis.4.pos-feedback
  195. 4 float OUT 0 halui.axis.4.pos-relative
  196. 4 float OUT 0 halui.axis.5.pos-commanded
  197. 4 float OUT 0 halui.axis.5.pos-feedback
  198. 4 float OUT 0 halui.axis.5.pos-relative
  199. 4 float OUT 0 halui.axis.6.pos-commanded
  200. 4 float OUT 0 halui.axis.6.pos-feedback
  201. 4 float OUT 0 halui.axis.6.pos-relative
  202. 4 float OUT 0 halui.axis.7.pos-commanded
  203. 4 float OUT 0 halui.axis.7.pos-feedback
  204. 4 float OUT 0 halui.axis.7.pos-relative
  205. 4 float OUT 0 halui.axis.8.pos-commanded
  206. 4 float OUT 0 halui.axis.8.pos-feedback
  207. 4 float OUT 0 halui.axis.8.pos-relative
  208. 4 bit IN FALSE halui.estop.activate
  209. 4 bit OUT TRUE halui.estop.is-activated
  210. 4 bit IN FALSE halui.estop.reset
  211. 4 bit IN TRUE halui.feed-override.count-enable
  212. 4 s32 IN 0 halui.feed-override.counts
  213. 4 bit IN FALSE halui.feed-override.decrease
  214. 4 bit IN FALSE halui.feed-override.increase
  215. 4 float IN 0.1 halui.feed-override.scale
  216. 4 float OUT 1 halui.feed-override.value
  217. 4 bit OUT FALSE halui.flood.is-on
  218. 4 bit IN FALSE halui.flood.off
  219. 4 bit IN FALSE halui.flood.on
  220. 4 bit IN FALSE halui.home-all
  221. 4 float IN 0.2 halui.jog-deadband
  222. 4 float IN 0 halui.jog-speed
  223. 4 float IN 0 halui.jog.0.analog
  224. 4 bit IN FALSE halui.jog.0.minus
  225. 4 bit IN FALSE halui.jog.0.plus
  226. 4 float IN 0 halui.jog.1.analog
  227. 4 bit IN FALSE halui.jog.1.minus
  228. 4 bit IN FALSE halui.jog.1.plus
  229. 4 float IN 0 halui.jog.2.analog
  230. 4 bit IN FALSE halui.jog.2.minus
  231. 4 bit IN FALSE halui.jog.2.plus
  232. 4 float IN 0 halui.jog.3.analog
  233. 4 bit IN FALSE halui.jog.3.minus
  234. 4 bit IN FALSE halui.jog.3.plus
  235. 4 bit IN FALSE halui.jog.selected.minus
  236. 4 bit IN FALSE halui.jog.selected.plus
  237. 4 bit OUT FALSE halui.joint.0.has-fault
  238. 4 bit IN FALSE halui.joint.0.home
  239. 4 bit OUT FALSE halui.joint.0.is-homed
  240. 4 bit OUT FALSE halui.joint.0.is-selected
  241. 4 bit OUT FALSE halui.joint.0.on-hard-max-limit
  242. 4 bit OUT FALSE halui.joint.0.on-hard-min-limit
  243. 4 bit OUT FALSE halui.joint.0.on-soft-max-limit
  244. 4 bit OUT FALSE halui.joint.0.on-soft-min-limit
  245. 4 bit IN FALSE halui.joint.0.select
  246. 4 bit IN FALSE halui.joint.0.unhome
  247. 4 bit OUT FALSE halui.joint.1.has-fault
  248. 4 bit IN FALSE halui.joint.1.home
  249. 4 bit OUT FALSE halui.joint.1.is-homed
  250. 4 bit OUT FALSE halui.joint.1.is-selected
  251. 4 bit OUT FALSE halui.joint.1.on-hard-max-limit
  252. 4 bit OUT FALSE halui.joint.1.on-hard-min-limit
  253. 4 bit OUT FALSE halui.joint.1.on-soft-max-limit
  254. 4 bit OUT FALSE halui.joint.1.on-soft-min-limit
  255. 4 bit IN FALSE halui.joint.1.select
  256. 4 bit IN FALSE halui.joint.1.unhome
  257. 4 bit OUT FALSE halui.joint.2.has-fault
  258. 4 bit IN FALSE halui.joint.2.home
  259. 4 bit OUT FALSE halui.joint.2.is-homed
  260. 4 bit OUT FALSE halui.joint.2.is-selected
  261. 4 bit OUT FALSE halui.joint.2.on-hard-max-limit
  262. 4 bit OUT FALSE halui.joint.2.on-hard-min-limit
  263. 4 bit OUT FALSE halui.joint.2.on-soft-max-limit
  264. 4 bit OUT FALSE halui.joint.2.on-soft-min-limit
  265. 4 bit IN FALSE halui.joint.2.select
  266. 4 bit IN FALSE halui.joint.2.unhome
  267. 4 bit OUT FALSE halui.joint.3.has-fault
  268. 4 bit IN FALSE halui.joint.3.home
  269. 4 bit OUT FALSE halui.joint.3.is-homed
  270. 4 bit OUT FALSE halui.joint.3.is-selected
  271. 4 bit OUT FALSE halui.joint.3.on-hard-max-limit
  272. 4 bit OUT FALSE halui.joint.3.on-hard-min-limit
  273. 4 bit OUT FALSE halui.joint.3.on-soft-max-limit
  274. 4 bit OUT FALSE halui.joint.3.on-soft-min-limit
  275. 4 bit IN FALSE halui.joint.3.select
  276. 4 bit IN FALSE halui.joint.3.unhome
  277. 4 u32 OUT 0x00000000 halui.joint.selected
  278. 4 bit OUT FALSE halui.joint.selected.has-fault
  279. 4 bit IN FALSE halui.joint.selected.home
  280. 4 bit OUT FALSE halui.joint.selected.is_homed
  281. 4 bit OUT FALSE halui.joint.selected.on-hard-max-limit
  282. 4 bit OUT FALSE halui.joint.selected.on-hard-min-limit
  283. 4 bit OUT FALSE halui.joint.selected.on-soft-limit
  284. 4 bit OUT FALSE halui.joint.selected.on-soft-min-limit
  285. 4 bit IN FALSE halui.joint.selected.unhome
  286. 4 bit OUT FALSE halui.lube.is-on
  287. 4 bit IN FALSE halui.lube.off
  288. 4 bit IN FALSE halui.lube.on
  289. 4 bit OUT FALSE halui.machine.is-on
  290. 4 bit IN FALSE halui.machine.off
  291. 4 bit IN FALSE halui.machine.on
  292. 4 bit IN TRUE halui.max-velocity.count-enable
  293. 4 s32 IN 0 halui.max-velocity.counts
  294. 4 bit IN FALSE halui.max-velocity.decrease
  295. 4 bit IN FALSE halui.max-velocity.increase
  296. 4 float IN 0 halui.max-velocity.scale
  297. 4 float OUT 6.7 halui.max-velocity.value
  298. 4 bit IN FALSE halui.mdi-command-00 <== MDI-Z-up
  299. 4 bit IN FALSE halui.mdi-command-01 <== MDI-reference-pos
  300. 4 bit IN FALSE halui.mdi-command-02 <== MDI-zero_X
  301. 4 bit IN FALSE halui.mdi-command-03 <== MDI-zero_Y
  302. 4 bit IN FALSE halui.mdi-command-04 <== MDI-zero_Z
  303. 4 bit IN FALSE halui.mdi-command-05 <== MDI-clear-offset
  304. 4 bit OUT FALSE halui.mist.is-on
  305. 4 bit IN FALSE halui.mist.off
  306. 4 bit IN FALSE halui.mist.on
  307. 4 bit IN FALSE halui.mode.auto
  308. 4 bit OUT TRUE halui.mode.is-auto
  309. 4 bit OUT TRUE halui.mode.is-joint
  310. 4 bit OUT FALSE halui.mode.is-manual
  311. 4 bit OUT FALSE halui.mode.is-mdi
  312. 4 bit OUT FALSE halui.mode.is-teleop
  313. 4 bit IN FALSE halui.mode.joint
  314. 4 bit IN FALSE halui.mode.manual
  315. 4 bit IN FALSE halui.mode.mdi
  316. 4 bit IN FALSE halui.mode.teleop
  317. 4 bit OUT TRUE halui.program.block-delete.is-on
  318. 4 bit IN FALSE halui.program.block-delete.off
  319. 4 bit IN FALSE halui.program.block-delete.on
  320. 4 bit OUT TRUE halui.program.is-idle
  321. 4 bit OUT FALSE halui.program.is-paused
  322. 4 bit OUT FALSE halui.program.is-running
  323. 4 bit OUT TRUE halui.program.optional-stop.is-on ==> optional-stp-is-on
  324. 4 bit IN FALSE halui.program.optional-stop.off <== optional-stp-off
  325. 4 bit IN FALSE halui.program.optional-stop.on <== optional-stp-on
  326. 4 bit IN FALSE halui.program.pause <== program-pause
  327. 4 bit IN FALSE halui.program.resume <== program-resume
  328. 4 bit IN FALSE halui.program.run
  329. 4 bit IN FALSE halui.program.step <== program-single-step
  330. 4 bit IN FALSE halui.program.stop
  331. 4 bit IN TRUE halui.spindle-override.count-enable
  332. 4 s32 IN 0 halui.spindle-override.counts
  333. 4 bit IN FALSE halui.spindle-override.decrease
  334. 4 bit IN FALSE halui.spindle-override.increase
  335. 4 float IN 0.1 halui.spindle-override.scale
  336. 4 float OUT 1 halui.spindle-override.value
  337. 4 bit OUT TRUE halui.spindle.brake-is-on
  338. 4 bit IN FALSE halui.spindle.brake-off
  339. 4 bit IN FALSE halui.spindle.brake-on
  340. 4 bit IN FALSE halui.spindle.decrease
  341. 4 bit IN FALSE halui.spindle.forward
  342. 4 bit IN FALSE halui.spindle.increase
  343. 4 bit OUT FALSE halui.spindle.is-on
  344. 4 bit IN FALSE halui.spindle.reverse
  345. 4 bit OUT FALSE halui.spindle.runs-backward
  346. 4 bit OUT FALSE halui.spindle.runs-forward
  347. 4 bit IN FALSE halui.spindle.start
  348. 4 bit IN FALSE halui.spindle.stop
  349. 4 float OUT 0 halui.tool.length_offset.a
  350. 4 float OUT 0 halui.tool.length_offset.b
  351. 4 float OUT 0 halui.tool.length_offset.c
  352. 4 float OUT 0 halui.tool.length_offset.u
  353. 4 float OUT 0 halui.tool.length_offset.v
  354. 4 float OUT 0 halui.tool.length_offset.w
  355. 4 float OUT 0 halui.tool.length_offset.x
  356. 4 float OUT 0 halui.tool.length_offset.y
  357. 4 float OUT 0 halui.tool.length_offset.z
  358. 4 u32 OUT 0x00000000 halui.tool.number
  359. 9 s32 OUT 0 hm2_7i43.0.encoder.00.count
  360. 9 s32 OUT 0 hm2_7i43.0.encoder.00.count-latched
  361. 9 bit I/O FALSE hm2_7i43.0.encoder.00.index-enable <=> x-index-enable
  362. 9 bit IN FALSE hm2_7i43.0.encoder.00.latch-enable
  363. 9 bit IN FALSE hm2_7i43.0.encoder.00.latch-polarity
  364. 9 float OUT 0 hm2_7i43.0.encoder.00.position
  365. 9 float OUT 0 hm2_7i43.0.encoder.00.position-latched
  366. 9 s32 OUT 0 hm2_7i43.0.encoder.00.rawcounts
  367. 9 s32 OUT 0 hm2_7i43.0.encoder.00.rawlatch
  368. 9 bit IN FALSE hm2_7i43.0.encoder.00.reset
  369. 9 float OUT 0 hm2_7i43.0.encoder.00.velocity
  370. 9 s32 OUT 0 hm2_7i43.0.encoder.01.count
  371. 9 s32 OUT 0 hm2_7i43.0.encoder.01.count-latched
  372. 9 bit I/O FALSE hm2_7i43.0.encoder.01.index-enable <=> y-index-enable
  373. 9 bit IN FALSE hm2_7i43.0.encoder.01.latch-enable
  374. 9 bit IN FALSE hm2_7i43.0.encoder.01.latch-polarity
  375. 9 float OUT 0 hm2_7i43.0.encoder.01.position
  376. 9 float OUT 0 hm2_7i43.0.encoder.01.position-latched
  377. 9 s32 OUT 0 hm2_7i43.0.encoder.01.rawcounts
  378. 9 s32 OUT 0 hm2_7i43.0.encoder.01.rawlatch
  379. 9 bit IN FALSE hm2_7i43.0.encoder.01.reset
  380. 9 float OUT 0 hm2_7i43.0.encoder.01.velocity
  381. 9 s32 OUT 0 hm2_7i43.0.encoder.02.count
  382. 9 s32 OUT 0 hm2_7i43.0.encoder.02.count-latched
  383. 9 bit I/O FALSE hm2_7i43.0.encoder.02.index-enable <=> z-index-enable
  384. 9 bit IN FALSE hm2_7i43.0.encoder.02.latch-enable
  385. 9 bit IN FALSE hm2_7i43.0.encoder.02.latch-polarity
  386. 9 float OUT 0 hm2_7i43.0.encoder.02.position
  387. 9 float OUT 0 hm2_7i43.0.encoder.02.position-latched
  388. 9 s32 OUT 0 hm2_7i43.0.encoder.02.rawcounts
  389. 9 s32 OUT 0 hm2_7i43.0.encoder.02.rawlatch
  390. 9 bit IN FALSE hm2_7i43.0.encoder.02.reset
  391. 9 float OUT 0 hm2_7i43.0.encoder.02.velocity
  392. 9 s32 OUT 0 hm2_7i43.0.encoder.03.count
  393. 9 s32 OUT 0 hm2_7i43.0.encoder.03.count-latched
  394. 9 bit I/O FALSE hm2_7i43.0.encoder.03.index-enable <=> a-index-enable
  395. 9 bit IN FALSE hm2_7i43.0.encoder.03.latch-enable
  396. 9 bit IN FALSE hm2_7i43.0.encoder.03.latch-polarity
  397. 9 float OUT -0 hm2_7i43.0.encoder.03.position
  398. 9 float OUT -0 hm2_7i43.0.encoder.03.position-latched
  399. 9 s32 OUT 0 hm2_7i43.0.encoder.03.rawcounts
  400. 9 s32 OUT 0 hm2_7i43.0.encoder.03.rawlatch
  401. 9 bit IN FALSE hm2_7i43.0.encoder.03.reset
  402. 9 float OUT 0 hm2_7i43.0.encoder.03.velocity
  403. 9 bit OUT FALSE hm2_7i43.0.gpio.000.in
  404. 9 bit OUT TRUE hm2_7i43.0.gpio.000.in_not
  405. 9 bit OUT FALSE hm2_7i43.0.gpio.001.in
  406. 9 bit OUT TRUE hm2_7i43.0.gpio.001.in_not
  407. 9 bit OUT FALSE hm2_7i43.0.gpio.002.in
  408. 9 bit OUT TRUE hm2_7i43.0.gpio.002.in_not
  409. 9 bit OUT TRUE hm2_7i43.0.gpio.003.in
  410. 9 bit OUT FALSE hm2_7i43.0.gpio.003.in_not
  411. 9 bit OUT TRUE hm2_7i43.0.gpio.004.in
  412. 9 bit OUT FALSE hm2_7i43.0.gpio.004.in_not
  413. 9 bit OUT TRUE hm2_7i43.0.gpio.005.in
  414. 9 bit OUT FALSE hm2_7i43.0.gpio.005.in_not
  415. 9 bit OUT TRUE hm2_7i43.0.gpio.006.in
  416. 9 bit OUT FALSE hm2_7i43.0.gpio.006.in_not
  417. 9 bit OUT TRUE hm2_7i43.0.gpio.007.in
  418. 9 bit OUT FALSE hm2_7i43.0.gpio.007.in_not
  419. 9 bit OUT TRUE hm2_7i43.0.gpio.008.in
  420. 9 bit OUT FALSE hm2_7i43.0.gpio.008.in_not
  421. 9 bit OUT TRUE hm2_7i43.0.gpio.009.in
  422. 9 bit OUT FALSE hm2_7i43.0.gpio.009.in_not
  423. 9 bit OUT TRUE hm2_7i43.0.gpio.010.in
  424. 9 bit OUT FALSE hm2_7i43.0.gpio.010.in_not
  425. 9 bit OUT TRUE hm2_7i43.0.gpio.011.in
  426. 9 bit OUT FALSE hm2_7i43.0.gpio.011.in_not
  427. 9 bit OUT FALSE hm2_7i43.0.gpio.012.in
  428. 9 bit OUT TRUE hm2_7i43.0.gpio.012.in_not
  429. 9 bit OUT FALSE hm2_7i43.0.gpio.013.in
  430. 9 bit OUT TRUE hm2_7i43.0.gpio.013.in_not
  431. 9 bit OUT FALSE hm2_7i43.0.gpio.014.in
  432. 9 bit OUT TRUE hm2_7i43.0.gpio.014.in_not
  433. 9 bit OUT FALSE hm2_7i43.0.gpio.015.in
  434. 9 bit OUT TRUE hm2_7i43.0.gpio.015.in_not
  435. 9 bit OUT FALSE hm2_7i43.0.gpio.016.in
  436. 9 bit OUT TRUE hm2_7i43.0.gpio.016.in_not
  437. 9 bit OUT FALSE hm2_7i43.0.gpio.017.in
  438. 9 bit OUT TRUE hm2_7i43.0.gpio.017.in_not
  439. 9 bit OUT FALSE hm2_7i43.0.gpio.018.in
  440. 9 bit OUT TRUE hm2_7i43.0.gpio.018.in_not
  441. 9 bit OUT FALSE hm2_7i43.0.gpio.019.in
  442. 9 bit OUT TRUE hm2_7i43.0.gpio.019.in_not
  443. 9 bit OUT FALSE hm2_7i43.0.gpio.020.in
  444. 9 bit OUT TRUE hm2_7i43.0.gpio.020.in_not
  445. 9 bit OUT TRUE hm2_7i43.0.gpio.021.in
  446. 9 bit OUT FALSE hm2_7i43.0.gpio.021.in_not
  447. 9 bit IN FALSE hm2_7i43.0.gpio.021.out
  448. 9 bit OUT TRUE hm2_7i43.0.gpio.022.in
  449. 9 bit OUT FALSE hm2_7i43.0.gpio.022.in_not
  450. 9 bit IN FALSE hm2_7i43.0.gpio.022.out
  451. 9 bit OUT TRUE hm2_7i43.0.gpio.023.in
  452. 9 bit OUT FALSE hm2_7i43.0.gpio.023.in_not ==> epo-signal
  453. 9 bit IN FALSE hm2_7i43.0.gpio.023.out
  454. 9 bit OUT TRUE hm2_7i43.0.gpio.024.in
  455. 9 bit OUT FALSE hm2_7i43.0.gpio.024.in_not
  456. 9 bit IN FALSE hm2_7i43.0.gpio.024.out
  457. 9 bit OUT TRUE hm2_7i43.0.gpio.025.in
  458. 9 bit OUT FALSE hm2_7i43.0.gpio.025.in_not
  459. 9 bit IN FALSE hm2_7i43.0.gpio.025.out
  460. 9 bit OUT TRUE hm2_7i43.0.gpio.026.in
  461. 9 bit OUT FALSE hm2_7i43.0.gpio.026.in_not
  462. 9 bit IN FALSE hm2_7i43.0.gpio.026.out
  463. 9 bit OUT TRUE hm2_7i43.0.gpio.027.in
  464. 9 bit OUT FALSE hm2_7i43.0.gpio.027.in_not
  465. 9 bit IN FALSE hm2_7i43.0.gpio.027.out
  466. 9 bit OUT TRUE hm2_7i43.0.gpio.028.in
  467. 9 bit OUT FALSE hm2_7i43.0.gpio.028.in_not
  468. 9 bit IN FALSE hm2_7i43.0.gpio.028.out
  469. 9 bit OUT TRUE hm2_7i43.0.gpio.029.in
  470. 9 bit OUT FALSE hm2_7i43.0.gpio.029.in_not
  471. 9 bit IN FALSE hm2_7i43.0.gpio.029.out
  472. 9 bit OUT TRUE hm2_7i43.0.gpio.030.in
  473. 9 bit OUT FALSE hm2_7i43.0.gpio.030.in_not
  474. 9 bit IN FALSE hm2_7i43.0.gpio.030.out
  475. 9 bit OUT TRUE hm2_7i43.0.gpio.031.in
  476. 9 bit OUT FALSE hm2_7i43.0.gpio.031.in_not
  477. 9 bit IN FALSE hm2_7i43.0.gpio.031.out
  478. 9 bit OUT TRUE hm2_7i43.0.gpio.032.in
  479. 9 bit OUT FALSE hm2_7i43.0.gpio.032.in_not
  480. 9 bit IN FALSE hm2_7i43.0.gpio.032.out
  481. 9 bit OUT TRUE hm2_7i43.0.gpio.033.in
  482. 9 bit OUT FALSE hm2_7i43.0.gpio.033.in_not
  483. 9 bit IN FALSE hm2_7i43.0.gpio.033.out
  484. 9 bit OUT TRUE hm2_7i43.0.gpio.034.in
  485. 9 bit OUT FALSE hm2_7i43.0.gpio.034.in_not
  486. 9 bit IN FALSE hm2_7i43.0.gpio.034.out
  487. 9 bit OUT TRUE hm2_7i43.0.gpio.035.in
  488. 9 bit OUT FALSE hm2_7i43.0.gpio.035.in_not
  489. 9 bit IN FALSE hm2_7i43.0.gpio.035.out
  490. 9 bit OUT TRUE hm2_7i43.0.gpio.036.in
  491. 9 bit OUT FALSE hm2_7i43.0.gpio.036.in_not
  492. 9 bit IN FALSE hm2_7i43.0.gpio.036.out
  493. 9 bit OUT TRUE hm2_7i43.0.gpio.037.in
  494. 9 bit OUT FALSE hm2_7i43.0.gpio.037.in_not
  495. 9 bit IN FALSE hm2_7i43.0.gpio.037.out
  496. 9 bit OUT TRUE hm2_7i43.0.gpio.038.in
  497. 9 bit OUT FALSE hm2_7i43.0.gpio.038.in_not
  498. 9 bit IN FALSE hm2_7i43.0.gpio.038.out
  499. 9 bit OUT TRUE hm2_7i43.0.gpio.039.in
  500. 9 bit OUT FALSE hm2_7i43.0.gpio.039.in_not
  501. 9 bit IN FALSE hm2_7i43.0.gpio.039.out
  502. 9 bit OUT TRUE hm2_7i43.0.gpio.040.in
  503. 9 bit OUT FALSE hm2_7i43.0.gpio.040.in_not
  504. 9 bit IN FALSE hm2_7i43.0.gpio.040.out
  505. 9 bit OUT TRUE hm2_7i43.0.gpio.041.in
  506. 9 bit OUT FALSE hm2_7i43.0.gpio.041.in_not
  507. 9 bit IN FALSE hm2_7i43.0.gpio.041.out
  508. 9 bit OUT TRUE hm2_7i43.0.gpio.042.in
  509. 9 bit OUT FALSE hm2_7i43.0.gpio.042.in_not
  510. 9 bit IN FALSE hm2_7i43.0.gpio.042.out
  511. 9 bit OUT TRUE hm2_7i43.0.gpio.043.in
  512. 9 bit OUT FALSE hm2_7i43.0.gpio.043.in_not
  513. 9 bit IN FALSE hm2_7i43.0.gpio.043.out
  514. 9 bit OUT TRUE hm2_7i43.0.gpio.044.in
  515. 9 bit OUT FALSE hm2_7i43.0.gpio.044.in_not
  516. 9 bit IN FALSE hm2_7i43.0.gpio.044.out
  517. 9 bit OUT TRUE hm2_7i43.0.gpio.045.in
  518. 9 bit OUT FALSE hm2_7i43.0.gpio.045.in_not
  519. 9 bit IN FALSE hm2_7i43.0.gpio.045.out
  520. 9 bit OUT TRUE hm2_7i43.0.gpio.046.in
  521. 9 bit OUT FALSE hm2_7i43.0.gpio.046.in_not
  522. 9 bit IN FALSE hm2_7i43.0.gpio.046.out
  523. 9 bit OUT TRUE hm2_7i43.0.gpio.047.in
  524. 9 bit OUT FALSE hm2_7i43.0.gpio.047.in_not
  525. 9 bit IN FALSE hm2_7i43.0.gpio.047.out
  526. 9 bit IN TRUE hm2_7i43.0.pwmgen.00.enable <== chargepump-enable
  527. 9 float IN 0 hm2_7i43.0.pwmgen.00.value <== chargepump-val
  528. 9 bit IN FALSE hm2_7i43.0.stepgen.00.control-type
  529. 9 s32 OUT 0 hm2_7i43.0.stepgen.00.counts
  530. 9 float OUT 0 hm2_7i43.0.stepgen.00.dbg_err_at_match
  531. 9 float OUT 0 hm2_7i43.0.stepgen.00.dbg_ff_vel
  532. 9 float OUT 0 hm2_7i43.0.stepgen.00.dbg_pos_minus_prev
  533. 9 float OUT 0 hm2_7i43.0.stepgen.00.dbg_s_to_match
  534. 9 s32 OUT 0 hm2_7i43.0.stepgen.00.dbg_step_rate
  535. 9 float OUT 0 hm2_7i43.0.stepgen.00.dbg_vel_error
  536. 9 bit IN FALSE hm2_7i43.0.stepgen.00.enable <== xenable
  537. 9 float IN 0 hm2_7i43.0.stepgen.00.position-cmd <== xpos-cmd
  538. 9 float OUT 0 hm2_7i43.0.stepgen.00.position-fb ==> xpos-fb
  539. 9 float IN 0 hm2_7i43.0.stepgen.00.velocity-cmd
  540. 9 float OUT 0 hm2_7i43.0.stepgen.00.velocity-fb
  541. 9 bit IN FALSE hm2_7i43.0.stepgen.01.control-type
  542. 9 s32 OUT 0 hm2_7i43.0.stepgen.01.counts
  543. 9 float OUT 0 hm2_7i43.0.stepgen.01.dbg_err_at_match
  544. 9 float OUT 0 hm2_7i43.0.stepgen.01.dbg_ff_vel
  545. 9 float OUT 0 hm2_7i43.0.stepgen.01.dbg_pos_minus_prev
  546. 9 float OUT 0 hm2_7i43.0.stepgen.01.dbg_s_to_match
  547. 9 s32 OUT 0 hm2_7i43.0.stepgen.01.dbg_step_rate
  548. 9 float OUT 0 hm2_7i43.0.stepgen.01.dbg_vel_error
  549. 9 bit IN FALSE hm2_7i43.0.stepgen.01.enable <== yenable
  550. 9 float IN 0 hm2_7i43.0.stepgen.01.position-cmd <== ypos-cmd
  551. 9 float OUT 0 hm2_7i43.0.stepgen.01.position-fb ==> ypos-fb
  552. 9 float IN 0 hm2_7i43.0.stepgen.01.velocity-cmd
  553. 9 float OUT 0 hm2_7i43.0.stepgen.01.velocity-fb
  554. 9 bit IN FALSE hm2_7i43.0.stepgen.02.control-type
  555. 9 s32 OUT 0 hm2_7i43.0.stepgen.02.counts
  556. 9 float OUT 0 hm2_7i43.0.stepgen.02.dbg_err_at_match
  557. 9 float OUT 0 hm2_7i43.0.stepgen.02.dbg_ff_vel
  558. 9 float OUT 0 hm2_7i43.0.stepgen.02.dbg_pos_minus_prev
  559. 9 float OUT 0 hm2_7i43.0.stepgen.02.dbg_s_to_match
  560. 9 s32 OUT 0 hm2_7i43.0.stepgen.02.dbg_step_rate
  561. 9 float OUT 0 hm2_7i43.0.stepgen.02.dbg_vel_error
  562. 9 bit IN FALSE hm2_7i43.0.stepgen.02.enable <== zenable
  563. 9 float IN 0 hm2_7i43.0.stepgen.02.position-cmd <== zpos-cmd
  564. 9 float OUT 0 hm2_7i43.0.stepgen.02.position-fb ==> zpos-fb
  565. 9 float IN 0 hm2_7i43.0.stepgen.02.velocity-cmd
  566. 9 float OUT 0 hm2_7i43.0.stepgen.02.velocity-fb
  567. 9 bit IN FALSE hm2_7i43.0.stepgen.03.control-type
  568. 9 s32 OUT 0 hm2_7i43.0.stepgen.03.counts
  569. 9 float OUT 0 hm2_7i43.0.stepgen.03.dbg_err_at_match
  570. 9 float OUT 0 hm2_7i43.0.stepgen.03.dbg_ff_vel
  571. 9 float OUT 0 hm2_7i43.0.stepgen.03.dbg_pos_minus_prev
  572. 9 float OUT 0 hm2_7i43.0.stepgen.03.dbg_s_to_match
  573. 9 s32 OUT 0 hm2_7i43.0.stepgen.03.dbg_step_rate
  574. 9 float OUT 0 hm2_7i43.0.stepgen.03.dbg_vel_error
  575. 9 bit IN FALSE hm2_7i43.0.stepgen.03.enable <== aenable
  576. 9 float IN 0 hm2_7i43.0.stepgen.03.position-cmd <== apos-cmd
  577. 9 float OUT -0 hm2_7i43.0.stepgen.03.position-fb ==> apos-fb
  578. 9 float IN 0 hm2_7i43.0.stepgen.03.velocity-cmd
  579. 9 float OUT 0 hm2_7i43.0.stepgen.03.velocity-fb
  580. 9 bit I/O FALSE hm2_7i43.0.watchdog.has_bit
  581. 3 bit OUT FALSE iocontrol.0.coolant-flood ==> coolant-flood
  582. 3 bit OUT FALSE iocontrol.0.coolant-mist ==> coolant-mist
  583. 3 bit IN FALSE iocontrol.0.emc-enable-in <== estop-signal
  584. 3 bit OUT FALSE iocontrol.0.lube
  585. 3 bit IN FALSE iocontrol.0.lube_level
  586. 3 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-request
  587. 3 bit IN FALSE iocontrol.0.tool-changed <== tool-change-confirmed
  588. 3 s32 OUT 0 iocontrol.0.tool-number
  589. 3 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-number
  590. 3 s32 OUT 0 iocontrol.0.tool-prep-pocket
  591. 3 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback
  592. 3 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback
  593. 3 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-out
  594. 3 bit OUT FALSE iocontrol.0.user-request-enable
  595. 6 float IN 1 motion.adaptive-feed
  596. 6 float IN 0 motion.analog-in-00
  597. 6 float IN 0 motion.analog-in-01
  598. 6 float IN 0 motion.analog-in-02
  599. 6 float IN 0 motion.analog-in-03
  600. 6 float OUT 0 motion.analog-out-00
  601. 6 float OUT 0 motion.analog-out-01
  602. 6 float OUT 0 motion.analog-out-02
  603. 6 float OUT 0 motion.analog-out-03
  604. 6 bit OUT FALSE motion.coord-error
  605. 6 bit OUT TRUE motion.coord-mode
  606. 6 float OUT 0 motion.current-vel
  607. 6 bit IN FALSE motion.digital-in-00
  608. 6 bit IN FALSE motion.digital-in-01
  609. 6 bit IN FALSE motion.digital-in-02
  610. 6 bit IN FALSE motion.digital-in-03
  611. 6 bit OUT FALSE motion.digital-out-00
  612. 6 bit OUT FALSE motion.digital-out-01
  613. 6 bit OUT FALSE motion.digital-out-02
  614. 6 bit OUT FALSE motion.digital-out-03
  615. 6 float OUT 0 motion.distance-to-go
  616. 6 bit IN TRUE motion.enable
  617. 6 bit IN FALSE motion.feed-hold
  618. 6 bit OUT TRUE motion.in-position
  619. 6 bit IN FALSE motion.motion-enabled
  620. 6 bit OUT FALSE motion.on-soft-limit
  621. 6 bit IN FALSE motion.probe-input <== probe-in
  622. 6 s32 OUT 0 motion.program-line
  623. 6 float OUT 0 motion.requested-vel
  624. 6 bit IN TRUE motion.spindle-at-speed <== spindle-at-speed
  625. 6 bit OUT TRUE motion.spindle-brake ==> spindle-brake
  626. 6 bit OUT FALSE motion.spindle-forward ==> spindle-cw
  627. 6 bit I/O FALSE motion.spindle-index-enable <=> spindle-index-enable
  628. 6 bit OUT FALSE motion.spindle-on ==> spindle-enable
  629. 6 bit OUT FALSE motion.spindle-reverse ==> spindle-ccw
  630. 6 float IN 0 motion.spindle-revs <== spindle-revs
  631. 6 float IN 0 motion.spindle-speed-in <== spindle-vel-fb
  632. 6 float OUT 0 motion.spindle-speed-out ==> spindle-vel-cmd
  633. 6 float OUT 0 motion.spindle-speed-out-rps ==> spindle-vel-cmd-rps
  634. 6 bit OUT FALSE motion.teleop-mode
  635. 6 float OUT 0 motion.tooloffset.a
  636. 6 float OUT 0 motion.tooloffset.b
  637. 6 float OUT 0 motion.tooloffset.c
  638. 6 float OUT 0 motion.tooloffset.u
  639. 6 float OUT 0 motion.tooloffset.v
  640. 6 float OUT 0 motion.tooloffset.w
  641. 6 float OUT 0 motion.tooloffset.x
  642. 6 float OUT 0 motion.tooloffset.y
  643. 6 float OUT 0 motion.tooloffset.z
  644. 11 float IN 0 near.0.in1
  645. 11 float IN 0 near.0.in2
  646. 11 bit OUT TRUE near.0.out
  647. 12 float OUT 0 pid.0.error
  648. 12 float I/O 0 pid.0.maxcmdD
  649. 12 float I/O 0 pid.0.maxcmdDD
  650. 12 float I/O 0 pid.0.maxerror
  651. 12 float I/O 0 pid.0.maxerrorD
  652. 12 float I/O 0 pid.0.maxerrorI
  653. 12 bit OUT FALSE pid.0.saturated
  654. 12 s32 OUT 0 pid.0.saturated-count
  655. 12 float OUT 0 pid.0.saturated-s
  656. 12 float OUT 0 pid.1.error
  657. 12 float I/O 0 pid.1.maxcmdD
  658. 12 float I/O 0 pid.1.maxcmdDD
  659. 12 float I/O 0 pid.1.maxerror
  660. 12 float I/O 0 pid.1.maxerrorD
  661. 12 float I/O 0 pid.1.maxerrorI
  662. 12 bit OUT FALSE pid.1.saturated
  663. 12 s32 OUT 0 pid.1.saturated-count
  664. 12 float OUT 0 pid.1.saturated-s
  665. 12 float OUT 0 pid.2.error
  666. 12 float I/O 0 pid.2.maxcmdD
  667. 12 float I/O 0 pid.2.maxcmdDD
  668. 12 float I/O 0 pid.2.maxerror
  669. 12 float I/O 0 pid.2.maxerrorD
  670. 12 float I/O 0 pid.2.maxerrorI
  671. 12 bit OUT FALSE pid.2.saturated
  672. 12 s32 OUT 0 pid.2.saturated-count
  673. 12 float OUT 0 pid.2.saturated-s
  674. 12 float OUT 0 pid.3.error
  675. 12 float I/O 0 pid.3.maxcmdD
  676. 12 float I/O 0 pid.3.maxcmdDD
  677. 12 float I/O 0 pid.3.maxerror
  678. 12 float I/O 0 pid.3.maxerrorD
  679. 12 float I/O 0 pid.3.maxerrorI
  680. 12 bit OUT FALSE pid.3.saturated
  681. 12 s32 OUT 0 pid.3.saturated-count
  682. 12 float OUT 0 pid.3.saturated-s
  683. 12 float I/O 0 pid.a.Dgain
  684. 12 float I/O 0 pid.a.FF0
  685. 12 float I/O 0 pid.a.FF1
  686. 12 float I/O 0 pid.a.FF2
  687. 12 float I/O 0 pid.a.Igain
  688. 12 float I/O 1 pid.a.Pgain
  689. 12 float I/O 0 pid.a.bias
  690. 12 float IN 0 pid.a.command
  691. 12 float I/O 0 pid.a.deadband
  692. 12 bit IN FALSE pid.a.enable
  693. 12 float IN 0 pid.a.feedback
  694. 12 bit IN FALSE pid.a.index-enable
  695. 12 float I/O 0 pid.a.maxoutput
  696. 12 float OUT 0 pid.a.output
  697. 12 float I/O 0 pid.x.Dgain
  698. 12 float I/O 0 pid.x.FF0
  699. 12 float I/O 0 pid.x.FF1
  700. 12 float I/O 0 pid.x.FF2
  701. 12 float I/O 0 pid.x.Igain
  702. 12 float I/O 1 pid.x.Pgain
  703. 12 float I/O 0 pid.x.bias
  704. 12 float IN 0 pid.x.command
  705. 12 float I/O 0 pid.x.deadband
  706. 12 bit IN FALSE pid.x.enable
  707. 12 float IN 0 pid.x.feedback
  708. 12 bit IN FALSE pid.x.index-enable
  709. 12 float I/O 0 pid.x.maxoutput
  710. 12 float OUT 0 pid.x.output
  711. 12 float I/O 0 pid.y.Dgain
  712. 12 float I/O 0 pid.y.FF0
  713. 12 float I/O 0 pid.y.FF1
  714. 12 float I/O 0 pid.y.FF2
  715. 12 float I/O 0 pid.y.Igain
  716. 12 float I/O 1 pid.y.Pgain
  717. 12 float I/O 0 pid.y.bias
  718. 12 float IN 0 pid.y.command
  719. 12 float I/O 0 pid.y.deadband
  720. 12 bit IN FALSE pid.y.enable
  721. 12 float IN 0 pid.y.feedback
  722. 12 bit IN FALSE pid.y.index-enable
  723. 12 float I/O 0 pid.y.maxoutput
  724. 12 float OUT 0 pid.y.output
  725. 12 float I/O 0 pid.z.Dgain
  726. 12 float I/O 0 pid.z.FF0
  727. 12 float I/O 0 pid.z.FF1
  728. 12 float I/O 0 pid.z.FF2
  729. 12 float I/O 0 pid.z.Igain
  730. 12 float I/O 1 pid.z.Pgain
  731. 12 float I/O 0 pid.z.bias
  732. 12 float IN 0 pid.z.command
  733. 12 float I/O 0 pid.z.deadband
  734. 12 bit IN FALSE pid.z.enable
  735. 12 float IN 0 pid.z.feedback
  736. 12 bit IN FALSE pid.z.index-enable
  737. 12 float I/O 0 pid.z.maxoutput
  738. 12 float OUT 0 pid.z.output
  739. 14 bit OUT FALSE pyvcp.MDI-clear-offset ==> MDI-clear-offset
  740. 14 bit OUT FALSE pyvcp.MDI-reference ==> MDI-reference-pos
  741. 14 bit OUT FALSE pyvcp.MDI-z_up ==> MDI-Z-up
  742. 14 bit OUT FALSE pyvcp.MDI-zerox ==> MDI-zero_X
  743. 14 bit OUT FALSE pyvcp.MDI-zeroy ==> MDI-zero_Y
  744. 14 bit OUT FALSE pyvcp.MDI-zeroz ==> MDI-zero_Z
  745. 14 float OUT 20 pyvcp.jog-speed ==> jog-speed
  746. 14 bit OUT FALSE pyvcp.jog-x+ ==> jog-x-pos
  747. 14 bit OUT FALSE pyvcp.jog-x- ==> jog-x-neg
  748. 14 bit OUT FALSE pyvcp.jog-y+ ==> jog-y-pos
  749. 14 bit OUT FALSE pyvcp.jog-y- ==> jog-y-neg
  750. 14 bit OUT FALSE pyvcp.jog-z+ ==> jog-z-pos
  751. 14 bit OUT FALSE pyvcp.jog-z- ==> jog-z-neg
  752. 14 bit IN TRUE pyvcp.ostop-is-on <== optional-stp-is-on
  753. 14 bit OUT FALSE pyvcp.ostop-off ==> optional-stp-off
  754. 14 bit OUT FALSE pyvcp.ostop-on ==> optional-stp-on
  755. 14 bit OUT FALSE pyvcp.pause ==> program-pause
  756. 14 bit OUT FALSE pyvcp.resume ==> program-resume
  757. 14 bit OUT FALSE pyvcp.step ==> program-single-step
  758.  
  759. Pin Aliases:
  760. Alias Original Name
  761. pid.a.Dgain pid.3.Dgain
  762. pid.a.FF0 pid.3.FF0
  763. pid.a.FF1 pid.3.FF1
  764. pid.a.FF2 pid.3.FF2
  765. pid.a.Igain pid.3.Igain
  766. pid.a.Pgain pid.3.Pgain
  767. pid.a.bias pid.3.bias
  768. pid.a.command pid.3.command
  769. pid.a.deadband pid.3.deadband
  770. pid.a.enable pid.3.enable
  771. pid.a.feedback pid.3.feedback
  772. pid.a.index-enable pid.3.index-enable
  773. pid.a.maxoutput pid.3.maxoutput
  774. pid.a.output pid.3.output
  775. pid.x.Dgain pid.0.Dgain
  776. pid.x.FF0 pid.0.FF0
  777. pid.x.FF1 pid.0.FF1
  778. pid.x.FF2 pid.0.FF2
  779. pid.x.Igain pid.0.Igain
  780. pid.x.Pgain pid.0.Pgain
  781. pid.x.bias pid.0.bias
  782. pid.x.command pid.0.command
  783. pid.x.deadband pid.0.deadband
  784. pid.x.enable pid.0.enable
  785. pid.x.feedback pid.0.feedback
  786. pid.x.index-enable pid.0.index-enable
  787. pid.x.maxoutput pid.0.maxoutput
  788. pid.x.output pid.0.output
  789. pid.y.Dgain pid.1.Dgain
  790. pid.y.FF0 pid.1.FF0
  791. pid.y.FF1 pid.1.FF1
  792. pid.y.FF2 pid.1.FF2
  793. pid.y.Igain pid.1.Igain
  794. pid.y.Pgain pid.1.Pgain
  795. pid.y.bias pid.1.bias
  796. pid.y.command pid.1.command
  797. pid.y.deadband pid.1.deadband
  798. pid.y.enable pid.1.enable
  799. pid.y.feedback pid.1.feedback
  800. pid.y.index-enable pid.1.index-enable
  801. pid.y.maxoutput pid.1.maxoutput
  802. pid.y.output pid.1.output
  803. pid.z.Dgain pid.2.Dgain
  804. pid.z.FF0 pid.2.FF0
  805. pid.z.FF1 pid.2.FF1
  806. pid.z.FF2 pid.2.FF2
  807. pid.z.Igain pid.2.Igain
  808. pid.z.Pgain pid.2.Pgain
  809. pid.z.bias pid.2.bias
  810. pid.z.command pid.2.command
  811. pid.z.deadband pid.2.deadband
  812. pid.z.enable pid.2.enable
  813. pid.z.feedback pid.2.feedback
  814. pid.z.index-enable pid.2.index-enable
  815. pid.z.maxoutput pid.2.maxoutput
  816. pid.z.output pid.2.output
  817.  
  818. Signals:
  819. Type Value Name (linked to)
  820. bit FALSE MDI-Z-up
  821. ==> halui.mdi-command-00
  822. <== pyvcp.MDI-z_up
  823. bit FALSE MDI-clear-offset
  824. ==> halui.mdi-command-05
  825. <== pyvcp.MDI-clear-offset
  826. bit FALSE MDI-reference-pos
  827. ==> halui.mdi-command-01
  828. <== pyvcp.MDI-reference
  829. bit FALSE MDI-zero_X
  830. ==> halui.mdi-command-02
  831. <== pyvcp.MDI-zerox
  832. bit FALSE MDI-zero_Y
  833. ==> halui.mdi-command-03
  834. <== pyvcp.MDI-zeroy
  835. bit FALSE MDI-zero_Z
  836. ==> halui.mdi-command-04
  837. <== pyvcp.MDI-zeroz
  838. bit FALSE a-home-sw
  839. ==> axis.3.home-sw-in
  840. bit FALSE a-index-enable
  841. <=> axis.3.index-enable
  842. <=> hm2_7i43.0.encoder.03.index-enable
  843. bit FALSE a-neg-limit
  844. ==> axis.3.neg-lim-sw-in
  845. bit FALSE a-pos-limit
  846. ==> axis.3.pos-lim-sw-in
  847. bit FALSE aenable
  848. <== axis.3.amp-enable-out
  849. ==> hm2_7i43.0.stepgen.03.enable
  850. float 0 apos-cmd
  851. <== axis.3.motor-pos-cmd
  852. ==> hm2_7i43.0.stepgen.03.position-cmd
  853. float -0 apos-fb
  854. ==> axis.3.motor-pos-fb
  855. <== hm2_7i43.0.stepgen.03.position-fb
  856. bit TRUE chargepump-enable
  857. ==> hm2_7i43.0.pwmgen.00.enable
  858. float 0 chargepump-val
  859. ==> hm2_7i43.0.pwmgen.00.value
  860. bit FALSE coolant-flood
  861. <== iocontrol.0.coolant-flood
  862. bit FALSE coolant-mist
  863. <== iocontrol.0.coolant-mist
  864. bit FALSE epo-signal
  865. <== hm2_7i43.0.gpio.023.in_not
  866. bit TRUE estop-out
  867. <== iocontrol.0.user-enable-out
  868. bit FALSE estop-signal
  869. ==> iocontrol.0.emc-enable-in
  870. float 20 jog-speed
  871. <== pyvcp.jog-speed
  872. bit FALSE jog-x-neg
  873. <== pyvcp.jog-x-
  874. bit FALSE jog-x-pos
  875. <== pyvcp.jog-x+
  876. bit FALSE jog-y-neg
  877. <== pyvcp.jog-y-
  878. bit FALSE jog-y-pos
  879. <== pyvcp.jog-y+
  880. bit FALSE jog-z-neg
  881. <== pyvcp.jog-z-
  882. bit FALSE jog-z-pos
  883. <== pyvcp.jog-z+
  884. bit TRUE optional-stp-is-on
  885. <== halui.program.optional-stop.is-on
  886. ==> pyvcp.ostop-is-on
  887. bit FALSE optional-stp-off
  888. ==> halui.program.optional-stop.off
  889. <== pyvcp.ostop-off
  890. bit FALSE optional-stp-on
  891. ==> halui.program.optional-stop.on
  892. <== pyvcp.ostop-on
  893. bit FALSE probe-in
  894. ==> motion.probe-input
  895. bit FALSE program-pause
  896. ==> halui.program.pause
  897. <== pyvcp.pause
  898. bit FALSE program-resume
  899. ==> halui.program.resume
  900. <== pyvcp.resume
  901. bit FALSE program-single-step
  902. ==> halui.program.step
  903. <== pyvcp.step
  904. bit TRUE spindle-at-speed
  905. ==> motion.spindle-at-speed
  906. bit TRUE spindle-brake
  907. <== motion.spindle-brake
  908. bit FALSE spindle-ccw
  909. <== motion.spindle-reverse
  910. bit FALSE spindle-cw
  911. <== motion.spindle-forward
  912. bit FALSE spindle-enable
  913. <== motion.spindle-on
  914. bit FALSE spindle-index-enable
  915. <=> motion.spindle-index-enable
  916. float 0 spindle-revs
  917. ==> motion.spindle-revs
  918. float 0 spindle-vel-cmd
  919. <== motion.spindle-speed-out
  920. float 0 spindle-vel-cmd-rps
  921. <== motion.spindle-speed-out-rps
  922. float 0 spindle-vel-fb
  923. ==> motion.spindle-speed-in
  924. bit FALSE tool-change-confirmed
  925. <== hal_manualtoolchange.changed
  926. ==> iocontrol.0.tool-changed
  927. bit FALSE tool-change-request
  928. ==> hal_manualtoolchange.change
  929. <== iocontrol.0.tool-change
  930. s32 0 tool-number
  931. ==> hal_manualtoolchange.number
  932. <== iocontrol.0.tool-prep-number
  933. bit FALSE tool-prepare-loopback
  934. <== iocontrol.0.tool-prepare
  935. ==> iocontrol.0.tool-prepared
  936. bit FALSE x-home-sw
  937. ==> axis.0.home-sw-in
  938. bit FALSE x-index-enable
  939. <=> axis.0.index-enable
  940. <=> hm2_7i43.0.encoder.00.index-enable
  941. bit FALSE x-neg-limit
  942. ==> axis.0.neg-lim-sw-in
  943. bit FALSE x-pos-limit
  944. ==> axis.0.pos-lim-sw-in
  945. bit FALSE xenable
  946. <== axis.0.amp-enable-out
  947. ==> hm2_7i43.0.stepgen.00.enable
  948. float 0 xpos-cmd
  949. <== axis.0.motor-pos-cmd
  950. ==> hm2_7i43.0.stepgen.00.position-cmd
  951. float 0 xpos-fb
  952. ==> axis.0.motor-pos-fb
  953. <== hm2_7i43.0.stepgen.00.position-fb
  954. bit FALSE y-home-sw
  955. ==> axis.1.home-sw-in
  956. bit FALSE y-index-enable
  957. <=> axis.1.index-enable
  958. <=> hm2_7i43.0.encoder.01.index-enable
  959. bit FALSE y-neg-limit
  960. ==> axis.1.neg-lim-sw-in
  961. bit FALSE y-pos-limit
  962. ==> axis.1.pos-lim-sw-in
  963. bit FALSE yenable
  964. <== axis.1.amp-enable-out
  965. ==> hm2_7i43.0.stepgen.01.enable
  966. float 0 ypos-cmd
  967. <== axis.1.motor-pos-cmd
  968. ==> hm2_7i43.0.stepgen.01.position-cmd
  969. float 0 ypos-fb
  970. ==> axis.1.motor-pos-fb
  971. <== hm2_7i43.0.stepgen.01.position-fb
  972. bit FALSE z-home-sw
  973. ==> axis.2.home-sw-in
  974. bit FALSE z-index-enable
  975. <=> axis.2.index-enable
  976. <=> hm2_7i43.0.encoder.02.index-enable
  977. bit FALSE z-neg-limit
  978. ==> axis.2.neg-lim-sw-in
  979. bit FALSE z-pos-limit
  980. ==> axis.2.pos-lim-sw-in
  981. bit FALSE zenable
  982. <== axis.2.amp-enable-out
  983. ==> hm2_7i43.0.stepgen.02.enable
  984. float 0 zpos-cmd
  985. <== axis.2.motor-pos-cmd
  986. ==> hm2_7i43.0.stepgen.02.position-cmd
  987. float 0 zpos-fb
  988. ==> axis.2.motor-pos-fb
  989. <== hm2_7i43.0.stepgen.02.position-fb
  990.  
  991. Parameters:
  992. Owner Type Dir Value Name
  993. 10 s32 RO 0 .time
  994. 10 s32 RW 0 .tmax
  995. 6 s32 RO 0 axis.0.home-state
  996. 6 s32 RO 0 axis.1.home-state
  997. 6 s32 RO 0 axis.2.home-state
  998. 6 s32 RO 0 axis.3.home-state
  999. 9 bit RW FALSE hm2_7i43.0.encoder.00.counter-mode
  1000. 9 bit RW TRUE hm2_7i43.0.encoder.00.filter
  1001. 9 bit RW FALSE hm2_7i43.0.encoder.00.index-invert
  1002. 9 bit RW FALSE hm2_7i43.0.encoder.00.index-mask
  1003. 9 bit RW FALSE hm2_7i43.0.encoder.00.index-mask-invert
  1004. 9 float RW 5092.958 hm2_7i43.0.encoder.00.scale
  1005. 9 float RW 0.5 hm2_7i43.0.encoder.00.vel-timeout
  1006. 9 bit RW FALSE hm2_7i43.0.encoder.01.counter-mode
  1007. 9 bit RW TRUE hm2_7i43.0.encoder.01.filter
  1008. 9 bit RW FALSE hm2_7i43.0.encoder.01.index-invert
  1009. 9 bit RW FALSE hm2_7i43.0.encoder.01.index-mask
  1010. 9 bit RW FALSE hm2_7i43.0.encoder.01.index-mask-invert
  1011. 9 float RW 5092.958 hm2_7i43.0.encoder.01.scale
  1012. 9 float RW 0.5 hm2_7i43.0.encoder.01.vel-timeout
  1013. 9 bit RW FALSE hm2_7i43.0.encoder.02.counter-mode
  1014. 9 bit RW TRUE hm2_7i43.0.encoder.02.filter
  1015. 9 bit RW FALSE hm2_7i43.0.encoder.02.index-invert
  1016. 9 bit RW FALSE hm2_7i43.0.encoder.02.index-mask
  1017. 9 bit RW FALSE hm2_7i43.0.encoder.02.index-mask-invert
  1018. 9 float RW 5092.958 hm2_7i43.0.encoder.02.scale
  1019. 9 float RW 0.5 hm2_7i43.0.encoder.02.vel-timeout
  1020. 9 bit RW FALSE hm2_7i43.0.encoder.03.counter-mode
  1021. 9 bit RW TRUE hm2_7i43.0.encoder.03.filter
  1022. 9 bit RW FALSE hm2_7i43.0.encoder.03.index-invert
  1023. 9 bit RW FALSE hm2_7i43.0.encoder.03.index-mask
  1024. 9 bit RW FALSE hm2_7i43.0.encoder.03.index-mask-invert
  1025. 9 float RW -5092.958 hm2_7i43.0.encoder.03.scale
  1026. 9 float RW 0.5 hm2_7i43.0.encoder.03.vel-timeout
  1027. 9 bit RW FALSE hm2_7i43.0.gpio.012.invert_output
  1028. 9 bit RW FALSE hm2_7i43.0.gpio.012.is_opendrain
  1029. 9 bit RW FALSE hm2_7i43.0.gpio.013.invert_output
  1030. 9 bit RW FALSE hm2_7i43.0.gpio.013.is_opendrain
  1031. 9 bit RW FALSE hm2_7i43.0.gpio.014.invert_output
  1032. 9 bit RW FALSE hm2_7i43.0.gpio.014.is_opendrain
  1033. 9 bit RW FALSE hm2_7i43.0.gpio.015.invert_output
  1034. 9 bit RW FALSE hm2_7i43.0.gpio.015.is_opendrain
  1035. 9 bit RW FALSE hm2_7i43.0.gpio.016.invert_output
  1036. 9 bit RW FALSE hm2_7i43.0.gpio.016.is_opendrain
  1037. 9 bit RW FALSE hm2_7i43.0.gpio.017.invert_output
  1038. 9 bit RW FALSE hm2_7i43.0.gpio.017.is_opendrain
  1039. 9 bit RW FALSE hm2_7i43.0.gpio.018.invert_output
  1040. 9 bit RW FALSE hm2_7i43.0.gpio.018.is_opendrain
  1041. 9 bit RW FALSE hm2_7i43.0.gpio.019.invert_output
  1042. 9 bit RW FALSE hm2_7i43.0.gpio.019.is_opendrain
  1043. 9 bit RW FALSE hm2_7i43.0.gpio.020.invert_output
  1044. 9 bit RW FALSE hm2_7i43.0.gpio.020.is_opendrain
  1045. 9 bit RW FALSE hm2_7i43.0.gpio.021.invert_output
  1046. 9 bit RW FALSE hm2_7i43.0.gpio.021.is_opendrain
  1047. 9 bit RW FALSE hm2_7i43.0.gpio.021.is_output
  1048. 9 bit RW FALSE hm2_7i43.0.gpio.022.invert_output
  1049. 9 bit RW FALSE hm2_7i43.0.gpio.022.is_opendrain
  1050. 9 bit RW FALSE hm2_7i43.0.gpio.022.is_output
  1051. 9 bit RW FALSE hm2_7i43.0.gpio.023.invert_output
  1052. 9 bit RW FALSE hm2_7i43.0.gpio.023.is_opendrain
  1053. 9 bit RW FALSE hm2_7i43.0.gpio.023.is_output
  1054. 9 bit RW FALSE hm2_7i43.0.gpio.024.invert_output
  1055. 9 bit RW FALSE hm2_7i43.0.gpio.024.is_opendrain
  1056. 9 bit RW FALSE hm2_7i43.0.gpio.024.is_output
  1057. 9 bit RW FALSE hm2_7i43.0.gpio.025.invert_output
  1058. 9 bit RW FALSE hm2_7i43.0.gpio.025.is_opendrain
  1059. 9 bit RW FALSE hm2_7i43.0.gpio.025.is_output
  1060. 9 bit RW FALSE hm2_7i43.0.gpio.026.invert_output
  1061. 9 bit RW FALSE hm2_7i43.0.gpio.026.is_opendrain
  1062. 9 bit RW FALSE hm2_7i43.0.gpio.026.is_output
  1063. 9 bit RW FALSE hm2_7i43.0.gpio.027.invert_output
  1064. 9 bit RW FALSE hm2_7i43.0.gpio.027.is_opendrain
  1065. 9 bit RW FALSE hm2_7i43.0.gpio.027.is_output
  1066. 9 bit RW FALSE hm2_7i43.0.gpio.028.invert_output
  1067. 9 bit RW FALSE hm2_7i43.0.gpio.028.is_opendrain
  1068. 9 bit RW FALSE hm2_7i43.0.gpio.028.is_output
  1069. 9 bit RW FALSE hm2_7i43.0.gpio.029.invert_output
  1070. 9 bit RW FALSE hm2_7i43.0.gpio.029.is_opendrain
  1071. 9 bit RW FALSE hm2_7i43.0.gpio.029.is_output
  1072. 9 bit RW FALSE hm2_7i43.0.gpio.030.invert_output
  1073. 9 bit RW FALSE hm2_7i43.0.gpio.030.is_opendrain
  1074. 9 bit RW FALSE hm2_7i43.0.gpio.030.is_output
  1075. 9 bit RW FALSE hm2_7i43.0.gpio.031.invert_output
  1076. 9 bit RW FALSE hm2_7i43.0.gpio.031.is_opendrain
  1077. 9 bit RW FALSE hm2_7i43.0.gpio.031.is_output
  1078. 9 bit RW FALSE hm2_7i43.0.gpio.032.invert_output
  1079. 9 bit RW FALSE hm2_7i43.0.gpio.032.is_opendrain
  1080. 9 bit RW FALSE hm2_7i43.0.gpio.032.is_output
  1081. 9 bit RW FALSE hm2_7i43.0.gpio.033.invert_output
  1082. 9 bit RW FALSE hm2_7i43.0.gpio.033.is_opendrain
  1083. 9 bit RW FALSE hm2_7i43.0.gpio.033.is_output
  1084. 9 bit RW FALSE hm2_7i43.0.gpio.034.invert_output
  1085. 9 bit RW FALSE hm2_7i43.0.gpio.034.is_opendrain
  1086. 9 bit RW FALSE hm2_7i43.0.gpio.034.is_output
  1087. 9 bit RW FALSE hm2_7i43.0.gpio.035.invert_output
  1088. 9 bit RW FALSE hm2_7i43.0.gpio.035.is_opendrain
  1089. 9 bit RW FALSE hm2_7i43.0.gpio.035.is_output
  1090. 9 bit RW FALSE hm2_7i43.0.gpio.036.invert_output
  1091. 9 bit RW FALSE hm2_7i43.0.gpio.036.is_opendrain
  1092. 9 bit RW FALSE hm2_7i43.0.gpio.036.is_output
  1093. 9 bit RW FALSE hm2_7i43.0.gpio.037.invert_output
  1094. 9 bit RW FALSE hm2_7i43.0.gpio.037.is_opendrain
  1095. 9 bit RW FALSE hm2_7i43.0.gpio.037.is_output
  1096. 9 bit RW FALSE hm2_7i43.0.gpio.038.invert_output
  1097. 9 bit RW FALSE hm2_7i43.0.gpio.038.is_opendrain
  1098. 9 bit RW FALSE hm2_7i43.0.gpio.038.is_output
  1099. 9 bit RW FALSE hm2_7i43.0.gpio.039.invert_output
  1100. 9 bit RW FALSE hm2_7i43.0.gpio.039.is_opendrain
  1101. 9 bit RW FALSE hm2_7i43.0.gpio.039.is_output
  1102. 9 bit RW FALSE hm2_7i43.0.gpio.040.invert_output
  1103. 9 bit RW FALSE hm2_7i43.0.gpio.040.is_opendrain
  1104. 9 bit RW FALSE hm2_7i43.0.gpio.040.is_output
  1105. 9 bit RW FALSE hm2_7i43.0.gpio.041.invert_output
  1106. 9 bit RW FALSE hm2_7i43.0.gpio.041.is_opendrain
  1107. 9 bit RW FALSE hm2_7i43.0.gpio.041.is_output
  1108. 9 bit RW FALSE hm2_7i43.0.gpio.042.invert_output
  1109. 9 bit RW FALSE hm2_7i43.0.gpio.042.is_opendrain
  1110. 9 bit RW FALSE hm2_7i43.0.gpio.042.is_output
  1111. 9 bit RW FALSE hm2_7i43.0.gpio.043.invert_output
  1112. 9 bit RW FALSE hm2_7i43.0.gpio.043.is_opendrain
  1113. 9 bit RW FALSE hm2_7i43.0.gpio.043.is_output
  1114. 9 bit RW FALSE hm2_7i43.0.gpio.044.invert_output
  1115. 9 bit RW FALSE hm2_7i43.0.gpio.044.is_opendrain
  1116. 9 bit RW FALSE hm2_7i43.0.gpio.044.is_output
  1117. 9 bit RW FALSE hm2_7i43.0.gpio.045.invert_output
  1118. 9 bit RW FALSE hm2_7i43.0.gpio.045.is_opendrain
  1119. 9 bit RW FALSE hm2_7i43.0.gpio.045.is_output
  1120. 9 bit RW FALSE hm2_7i43.0.gpio.046.invert_output
  1121. 9 bit RW FALSE hm2_7i43.0.gpio.046.is_opendrain
  1122. 9 bit RW FALSE hm2_7i43.0.gpio.046.is_output
  1123. 9 bit RW FALSE hm2_7i43.0.gpio.047.invert_output
  1124. 9 bit RW FALSE hm2_7i43.0.gpio.047.is_opendrain
  1125. 9 bit RW FALSE hm2_7i43.0.gpio.047.is_output
  1126. 9 bit RW FALSE hm2_7i43.0.io_error
  1127. 9 s32 RO 38590 hm2_7i43.0.pet_watchdog.time
  1128. 9 s32 RW 55510 hm2_7i43.0.pet_watchdog.tmax
  1129. 9 s32 RW 1 hm2_7i43.0.pwmgen.00.output-type
  1130. 9 float RW 50 hm2_7i43.0.pwmgen.00.scale
  1131. 9 u32 RW 0x00004E20 hm2_7i43.0.pwmgen.pdm_frequency
  1132. 9 u32 RW 0x00001388 hm2_7i43.0.pwmgen.pwm_frequency
  1133. 9 s32 RO 148270 hm2_7i43.0.read.time
  1134. 9 s32 RW 173040 hm2_7i43.0.read.tmax
  1135. 9 u32 RW 0x000000C8 hm2_7i43.0.stepgen.00.dirhold
  1136. 9 u32 RW 0x000000C8 hm2_7i43.0.stepgen.00.dirsetup
  1137. 9 float RW 0 hm2_7i43.0.stepgen.00.maxaccel
  1138. 9 float RW 0 hm2_7i43.0.stepgen.00.maxvel
  1139. 9 float RW 1273.24 hm2_7i43.0.stepgen.00.position-scale
  1140. 9 u32 RW 0x00000000 hm2_7i43.0.stepgen.00.step_type
  1141. 9 u32 RW 0x00000DAC hm2_7i43.0.stepgen.00.steplen
  1142. 9 u32 RW 0x000001F4 hm2_7i43.0.stepgen.00.stepspace
  1143. 9 u32 RW 0x000000C8 hm2_7i43.0.stepgen.01.dirhold
  1144. 9 u32 RW 0x000000C8 hm2_7i43.0.stepgen.01.dirsetup
  1145. 9 float RW 0 hm2_7i43.0.stepgen.01.maxaccel
  1146. 9 float RW 0 hm2_7i43.0.stepgen.01.maxvel
  1147. 9 float RW 1273.24 hm2_7i43.0.stepgen.01.position-scale
  1148. 9 u32 RW 0x00000000 hm2_7i43.0.stepgen.01.step_type
  1149. 9 u32 RW 0x00000DAC hm2_7i43.0.stepgen.01.steplen
  1150. 9 u32 RW 0x000001F4 hm2_7i43.0.stepgen.01.stepspace
  1151. 9 u32 RW 0x000000C8 hm2_7i43.0.stepgen.02.dirhold
  1152. 9 u32 RW 0x000000C8 hm2_7i43.0.stepgen.02.dirsetup
  1153. 9 float RW 0 hm2_7i43.0.stepgen.02.maxaccel
  1154. 9 float RW 0 hm2_7i43.0.stepgen.02.maxvel
  1155. 9 float RW 1273.24 hm2_7i43.0.stepgen.02.position-scale
  1156. 9 u32 RW 0x00000000 hm2_7i43.0.stepgen.02.step_type
  1157. 9 u32 RW 0x00000DAC hm2_7i43.0.stepgen.02.steplen
  1158. 9 u32 RW 0x000001F4 hm2_7i43.0.stepgen.02.stepspace
  1159. 9 u32 RW 0x000000C8 hm2_7i43.0.stepgen.03.dirhold
  1160. 9 u32 RW 0x000000C8 hm2_7i43.0.stepgen.03.dirsetup
  1161. 9 float RW 0 hm2_7i43.0.stepgen.03.maxaccel
  1162. 9 float RW 0 hm2_7i43.0.stepgen.03.maxvel
  1163. 9 float RW -1273.24 hm2_7i43.0.stepgen.03.position-scale
  1164. 9 u32 RW 0x00000000 hm2_7i43.0.stepgen.03.step_type
  1165. 9 u32 RW 0x00000DAC hm2_7i43.0.stepgen.03.steplen
  1166. 9 u32 RW 0x000001F4 hm2_7i43.0.stepgen.03.stepspace
  1167. 9 u32 RW 0x00989680 hm2_7i43.0.watchdog.timeout_ns
  1168. 9 s32 RO 103070 hm2_7i43.0.write.time
  1169. 9 s32 RW 563680 hm2_7i43.0.write.tmax
  1170. 6 s32 RO 330 motion-command-handler.time
  1171. 6 s32 RW 3900 motion-command-handler.tmax
  1172. 6 s32 RO 8100 motion-controller.time
  1173. 6 s32 RW 42160 motion-controller.tmax
  1174. 6 bit RO FALSE motion.debug-bit-0
  1175. 6 bit RO FALSE motion.debug-bit-1
  1176. 6 float RO 1 motion.debug-float-0
  1177. 6 float RO 0 motion.debug-float-1
  1178. 6 float RO 0 motion.debug-float-2
  1179. 6 float RO 1 motion.debug-float-3
  1180. 6 s32 RO 0 motion.debug-s32-0
  1181. 6 s32 RO 0 motion.debug-s32-1
  1182. 6 u32 RO 0x00198ACA motion.servo.last-period
  1183. 6 float RO 1004461 motion.servo.last-period-ns
  1184. 6 u32 RW 0x00000000 motion.servo.overruns
  1185. 11 float RW 0 near.0.difference
  1186. 11 float RW 1 near.0.scale
  1187. 11 s32 RO 310 near.0.time
  1188. 11 s32 RW 8860 near.0.tmax
  1189. 12 s32 RO 700 pid.0.do-pid-calcs.time
  1190. 12 s32 RW 9170 pid.0.do-pid-calcs.tmax
  1191. 12 s32 RO 550 pid.1.do-pid-calcs.time
  1192. 12 s32 RW 3510 pid.1.do-pid-calcs.tmax
  1193. 12 s32 RO 630 pid.2.do-pid-calcs.time
  1194. 12 s32 RW 9530 pid.2.do-pid-calcs.tmax
  1195. 12 s32 RO 530 pid.3.do-pid-calcs.time
  1196. 12 s32 RW 9050 pid.3.do-pid-calcs.tmax
  1197. 6 float RO 0 tc.0.acc
  1198. 6 float RO 0 tc.0.pos
  1199. 6 float RO 0 tc.0.vel
  1200. 6 float RO 0 tc.1.acc
  1201. 6 float RO 0 tc.1.pos
  1202. 6 float RO 0 tc.1.vel
  1203. 6 float RO 0 tc.2.acc
  1204. 6 float RO 0 tc.2.pos
  1205. 6 float RO 0 tc.2.vel
  1206. 6 float RO 0 tc.3.acc
  1207. 6 float RO 0 tc.3.pos
  1208. 6 float RO 0 tc.3.vel
  1209. 6 u32 RO 0x00000000 traj.active_tc
  1210. 6 float RO 0 traj.pos_out
  1211. 6 float RO 0 traj.vel_out
  1212.  
  1213. Parameter Aliases:
  1214. Alias Original Name
  1215.  
  1216. Exported Functions:
  1217. Owner CodeAddr Arg FP Users Name
  1218. 00010 fc3eb000 fc15c658 YES 0
  1219. 00009 fc39617f f3979000 NO 1 hm2_7i43.0.pet_watchdog
  1220. 00009 fc38f921 f3979000 YES 1 hm2_7i43.0.read
  1221. 00009 fc38f8a1 f3979000 YES 1 hm2_7i43.0.write
  1222. 00006 fc1cc8d0 00000000 YES 1 motion-command-handler
  1223. 00006 fc1ced9a 00000000 YES 1 motion-controller
  1224. 00011 fc3f5000 fc15c670 YES 1 near.0
  1225. 00012 fc400000 fc15c698 YES 1 pid.0.do-pid-calcs
  1226. 00012 fc400000 fc15c720 YES 1 pid.1.do-pid-calcs
  1227. 00012 fc400000 fc15c7a8 YES 1 pid.2.do-pid-calcs
  1228. 00012 fc400000 fc15c830 YES 1 pid.3.do-pid-calcs
  1229.  
  1230. Realtime Threads:
  1231. Period FP Name ( Time, Max-Time )
  1232. 999834 YES servo-thread ( 295310, 832420 )
  1233. 1 hm2_7i43.0.read
  1234. 2 motion-command-handler
  1235. 3 motion-controller
  1236. 4 pid.0.do-pid-calcs
  1237. 5 pid.1.do-pid-calcs
  1238. 6 pid.2.do-pid-calcs
  1239. 7 pid.3.do-pid-calcs
  1240. 8 near.0
  1241. 9 hm2_7i43.0.write
  1242. 10 hm2_7i43.0.pet_watchdog
  1243.  
  1244. halcmd:
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