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  1. Loaded HAL Components:
  2. ID Type Name PID State
  3. 14 User halcmd6611 6611 ready
  4. 12 User axisui 6593 ready
  5. 11 RT hm2_pci ready
  6. 10 RT hostmot2 ready
  7. 9 RT probe_parport ready
  8. 8 RT pid ready
  9. 7 RT motmod ready
  10. 6 RT trivkins ready
  11. 5 User iocontrol 6572 ready
  12.  
  13. Component Pins:
  14. Owner Type Dir Value Name
  15. 7 bit OUT TRUE axis.0.active
  16. 7 bit OUT FALSE axis.0.amp-enable-out ==> emcmot.00.enable
  17. 7 bit IN FALSE axis.0.amp-fault-in
  18. 7 float OUT 0 axis.0.backlash-corr
  19. 7 float OUT 0 axis.0.backlash-filt
  20. 7 float OUT 0 axis.0.backlash-vel
  21. 7 float OUT 0 axis.0.coarse-pos-cmd
  22. 7 bit OUT FALSE axis.0.error
  23. 7 float OUT 0 axis.0.f-error
  24. 7 float OUT 0.002 axis.0.f-error-lim
  25. 7 bit OUT FALSE axis.0.f-errored
  26. 7 bit OUT FALSE axis.0.faulted
  27. 7 float OUT 0 axis.0.free-pos-cmd
  28. 7 bit OUT FALSE axis.0.free-tp-enable
  29. 7 float OUT 0 axis.0.free-vel-lim
  30. 7 bit IN FALSE axis.0.home-sw-in <== home-switch
  31. 7 bit OUT FALSE axis.0.homed
  32. 7 bit OUT FALSE axis.0.homing
  33. 7 bit OUT TRUE axis.0.in-position
  34. 7 bit I/O FALSE axis.0.index-enable
  35. 7 s32 IN 0 axis.0.jog-counts
  36. 7 bit IN FALSE axis.0.jog-enable
  37. 7 float IN 0 axis.0.jog-scale
  38. 7 bit IN FALSE axis.0.jog-vel-mode
  39. 7 float OUT 0 axis.0.joint-pos-cmd
  40. 7 float OUT 0 axis.0.joint-pos-fb
  41. 7 float OUT 0 axis.0.joint-vel-cmd
  42. 7 bit OUT FALSE axis.0.kb-jog-active
  43. 7 float OUT 0 axis.0.motor-offset
  44. 7 float OUT 0 axis.0.motor-pos-cmd ==> emcmot.00.pos-cmd
  45. 7 float IN 0 axis.0.motor-pos-fb <== motor.00.pos-fb
  46. 7 bit OUT FALSE axis.0.neg-hard-limit
  47. 7 bit IN FALSE axis.0.neg-lim-sw-in
  48. 7 bit OUT FALSE axis.0.pos-hard-limit
  49. 7 bit IN FALSE axis.0.pos-lim-sw-in
  50. 7 bit OUT FALSE axis.0.wheel-jog-active
  51. 7 bit OUT TRUE axis.1.active
  52. 7 bit OUT FALSE axis.1.amp-enable-out ==> emcmot.01.enable
  53. 7 bit IN FALSE axis.1.amp-fault-in
  54. 7 float OUT 0 axis.1.backlash-corr
  55. 7 float OUT 0 axis.1.backlash-filt
  56. 7 float OUT 0 axis.1.backlash-vel
  57. 7 float OUT 0 axis.1.coarse-pos-cmd
  58. 7 bit OUT FALSE axis.1.error
  59. 7 float OUT 0 axis.1.f-error
  60. 7 float OUT 0.002 axis.1.f-error-lim
  61. 7 bit OUT FALSE axis.1.f-errored
  62. 7 bit OUT FALSE axis.1.faulted
  63. 7 float OUT 0 axis.1.free-pos-cmd
  64. 7 bit OUT FALSE axis.1.free-tp-enable
  65. 7 float OUT 0 axis.1.free-vel-lim
  66. 7 bit IN FALSE axis.1.home-sw-in <== home-switch
  67. 7 bit OUT FALSE axis.1.homed
  68. 7 bit OUT FALSE axis.1.homing
  69. 7 bit OUT TRUE axis.1.in-position
  70. 7 bit I/O FALSE axis.1.index-enable <=> y-index-enable
  71. 7 s32 IN 0 axis.1.jog-counts
  72. 7 bit IN FALSE axis.1.jog-enable
  73. 7 float IN 0 axis.1.jog-scale
  74. 7 bit IN FALSE axis.1.jog-vel-mode
  75. 7 float OUT -0 axis.1.joint-pos-cmd
  76. 7 float OUT -0 axis.1.joint-pos-fb
  77. 7 float OUT 0 axis.1.joint-vel-cmd
  78. 7 bit OUT FALSE axis.1.kb-jog-active
  79. 7 float OUT 0 axis.1.motor-offset
  80. 7 float OUT 0 axis.1.motor-pos-cmd ==> emcmot.01.pos-cmd
  81. 7 float IN -0 axis.1.motor-pos-fb <== motor.01.pos-fb
  82. 7 bit OUT FALSE axis.1.neg-hard-limit
  83. 7 bit IN FALSE axis.1.neg-lim-sw-in
  84. 7 bit OUT FALSE axis.1.pos-hard-limit
  85. 7 bit IN FALSE axis.1.pos-lim-sw-in
  86. 7 bit OUT FALSE axis.1.wheel-jog-active
  87. 7 bit OUT TRUE axis.2.active
  88. 7 bit OUT FALSE axis.2.amp-enable-out ==> emcmot.02.enable
  89. 7 bit IN FALSE axis.2.amp-fault-in
  90. 7 float OUT 0 axis.2.backlash-corr
  91. 7 float OUT 0 axis.2.backlash-filt
  92. 7 float OUT 0 axis.2.backlash-vel
  93. 7 float OUT 0 axis.2.coarse-pos-cmd
  94. 7 bit OUT FALSE axis.2.error
  95. 7 float OUT 0 axis.2.f-error
  96. 7 float OUT 0.002 axis.2.f-error-lim
  97. 7 bit OUT FALSE axis.2.f-errored
  98. 7 bit OUT FALSE axis.2.faulted
  99. 7 float OUT 0 axis.2.free-pos-cmd
  100. 7 bit OUT FALSE axis.2.free-tp-enable
  101. 7 float OUT 0 axis.2.free-vel-lim
  102. 7 bit IN FALSE axis.2.home-sw-in <== home-switch
  103. 7 bit OUT FALSE axis.2.homed
  104. 7 bit OUT FALSE axis.2.homing
  105. 7 bit OUT TRUE axis.2.in-position
  106. 7 bit I/O FALSE axis.2.index-enable
  107. 7 s32 IN 0 axis.2.jog-counts
  108. 7 bit IN FALSE axis.2.jog-enable
  109. 7 float IN 0 axis.2.jog-scale
  110. 7 bit IN FALSE axis.2.jog-vel-mode
  111. 7 float OUT 0 axis.2.joint-pos-cmd
  112. 7 float OUT 0 axis.2.joint-pos-fb
  113. 7 float OUT 0 axis.2.joint-vel-cmd
  114. 7 bit OUT FALSE axis.2.kb-jog-active
  115. 7 float OUT 0 axis.2.motor-offset
  116. 7 float OUT 0 axis.2.motor-pos-cmd ==> emcmot.02.pos-cmd
  117. 7 float IN 0 axis.2.motor-pos-fb <== motor.02.pos-fb
  118. 7 bit OUT FALSE axis.2.neg-hard-limit
  119. 7 bit IN FALSE axis.2.neg-lim-sw-in
  120. 7 bit OUT FALSE axis.2.pos-hard-limit
  121. 7 bit IN FALSE axis.2.pos-lim-sw-in
  122. 7 bit OUT FALSE axis.2.wheel-jog-active
  123. 12 bit OUT FALSE axisui.jog.a
  124. 12 bit OUT FALSE axisui.jog.b
  125. 12 bit OUT FALSE axisui.jog.c
  126. 12 float OUT 0 axisui.jog.increment
  127. 12 bit OUT FALSE axisui.jog.u
  128. 12 bit OUT FALSE axisui.jog.v
  129. 12 bit OUT FALSE axisui.jog.w
  130. 12 bit OUT TRUE axisui.jog.x
  131. 12 bit OUT FALSE axisui.jog.y
  132. 12 bit OUT FALSE axisui.jog.z
  133. 12 bit IN FALSE axisui.notifications-clear
  134. 12 bit IN FALSE axisui.notifications-clear-error
  135. 12 bit IN FALSE axisui.notifications-clear-info
  136. 12 bit IN FALSE axisui.set-manual-mode
  137. 11 float IN 0 hm2_5i23.0.3pwmgen.00.A-value
  138. 11 float IN 0 hm2_5i23.0.3pwmgen.00.B-value
  139. 11 float IN 0 hm2_5i23.0.3pwmgen.00.C-value
  140. 11 bit IN FALSE hm2_5i23.0.3pwmgen.00.enable
  141. 11 bit OUT TRUE hm2_5i23.0.3pwmgen.00.fault
  142. 11 float IN 0 hm2_5i23.0.3pwmgen.01.A-value
  143. 11 float IN 0 hm2_5i23.0.3pwmgen.01.B-value
  144. 11 float IN 0 hm2_5i23.0.3pwmgen.01.C-value
  145. 11 bit IN FALSE hm2_5i23.0.3pwmgen.01.enable
  146. 11 bit OUT TRUE hm2_5i23.0.3pwmgen.01.fault
  147. 11 s32 OUT 0 hm2_5i23.0.encoder.00.count
  148. 11 s32 OUT 0 hm2_5i23.0.encoder.00.count-latched
  149. 11 bit I/O FALSE hm2_5i23.0.encoder.00.index-enable
  150. 11 bit IN FALSE hm2_5i23.0.encoder.00.latch-enable
  151. 11 bit IN FALSE hm2_5i23.0.encoder.00.latch-polarity
  152. 11 float OUT 0 hm2_5i23.0.encoder.00.position ==> motor.00.pos-fb
  153. 11 float OUT 0 hm2_5i23.0.encoder.00.position-latched
  154. 11 s32 OUT 0 hm2_5i23.0.encoder.00.rawcounts
  155. 11 s32 OUT 0 hm2_5i23.0.encoder.00.rawlatch
  156. 11 bit IN FALSE hm2_5i23.0.encoder.00.reset
  157. 11 float OUT 0 hm2_5i23.0.encoder.00.velocity
  158. 11 s32 OUT 0 hm2_5i23.0.encoder.01.count
  159. 11 s32 OUT 0 hm2_5i23.0.encoder.01.count-latched
  160. 11 bit I/O FALSE hm2_5i23.0.encoder.01.index-enable <=> y-index-enable
  161. 11 bit IN FALSE hm2_5i23.0.encoder.01.latch-enable
  162. 11 bit IN FALSE hm2_5i23.0.encoder.01.latch-polarity
  163. 11 float OUT -0 hm2_5i23.0.encoder.01.position ==> motor.01.pos-fb
  164. 11 float OUT -0 hm2_5i23.0.encoder.01.position-latched
  165. 11 s32 OUT 0 hm2_5i23.0.encoder.01.rawcounts
  166. 11 s32 OUT 0 hm2_5i23.0.encoder.01.rawlatch
  167. 11 bit IN FALSE hm2_5i23.0.encoder.01.reset
  168. 11 float OUT 0 hm2_5i23.0.encoder.01.velocity
  169. 11 s32 OUT 0 hm2_5i23.0.encoder.02.count
  170. 11 s32 OUT 0 hm2_5i23.0.encoder.02.count-latched
  171. 11 bit I/O FALSE hm2_5i23.0.encoder.02.index-enable
  172. 11 bit IN FALSE hm2_5i23.0.encoder.02.latch-enable
  173. 11 bit IN FALSE hm2_5i23.0.encoder.02.latch-polarity
  174. 11 float OUT 0 hm2_5i23.0.encoder.02.position ==> motor.02.pos-fb
  175. 11 float OUT 0 hm2_5i23.0.encoder.02.position-latched
  176. 11 s32 OUT 0 hm2_5i23.0.encoder.02.rawcounts
  177. 11 s32 OUT 0 hm2_5i23.0.encoder.02.rawlatch
  178. 11 bit IN FALSE hm2_5i23.0.encoder.02.reset
  179. 11 float OUT 0 hm2_5i23.0.encoder.02.velocity
  180. 11 bit OUT TRUE hm2_5i23.0.gpio.000.in
  181. 11 bit OUT FALSE hm2_5i23.0.gpio.000.in_not
  182. 11 bit IN FALSE hm2_5i23.0.gpio.000.out
  183. 11 bit OUT FALSE hm2_5i23.0.gpio.001.in
  184. 11 bit OUT TRUE hm2_5i23.0.gpio.001.in_not
  185. 11 bit OUT FALSE hm2_5i23.0.gpio.002.in
  186. 11 bit OUT TRUE hm2_5i23.0.gpio.002.in_not
  187. 11 bit OUT FALSE hm2_5i23.0.gpio.003.in
  188. 11 bit OUT TRUE hm2_5i23.0.gpio.003.in_not
  189. 11 bit OUT FALSE hm2_5i23.0.gpio.004.in
  190. 11 bit OUT TRUE hm2_5i23.0.gpio.004.in_not
  191. 11 bit OUT FALSE hm2_5i23.0.gpio.005.in
  192. 11 bit OUT TRUE hm2_5i23.0.gpio.005.in_not
  193. 11 bit OUT FALSE hm2_5i23.0.gpio.006.in
  194. 11 bit OUT TRUE hm2_5i23.0.gpio.006.in_not
  195. 11 bit OUT FALSE hm2_5i23.0.gpio.007.in
  196. 11 bit OUT TRUE hm2_5i23.0.gpio.007.in_not
  197. 11 bit IN FALSE hm2_5i23.0.gpio.007.out
  198. 11 bit OUT FALSE hm2_5i23.0.gpio.008.in
  199. 11 bit OUT TRUE hm2_5i23.0.gpio.008.in_not
  200. 11 bit IN FALSE hm2_5i23.0.gpio.008.out
  201. 11 bit OUT TRUE hm2_5i23.0.gpio.009.in
  202. 11 bit OUT FALSE hm2_5i23.0.gpio.009.in_not
  203. 11 bit IN FALSE hm2_5i23.0.gpio.009.out
  204. 11 bit OUT FALSE hm2_5i23.0.gpio.010.in
  205. 11 bit OUT TRUE hm2_5i23.0.gpio.010.in_not
  206. 11 bit OUT TRUE hm2_5i23.0.gpio.011.in
  207. 11 bit OUT FALSE hm2_5i23.0.gpio.011.in_not
  208. 11 bit IN FALSE hm2_5i23.0.gpio.011.out
  209. 11 bit OUT FALSE hm2_5i23.0.gpio.012.in
  210. 11 bit OUT TRUE hm2_5i23.0.gpio.012.in_not
  211. 11 bit OUT TRUE hm2_5i23.0.gpio.013.in
  212. 11 bit OUT FALSE hm2_5i23.0.gpio.013.in_not
  213. 11 bit IN FALSE hm2_5i23.0.gpio.013.out
  214. 11 bit OUT FALSE hm2_5i23.0.gpio.014.in
  215. 11 bit OUT TRUE hm2_5i23.0.gpio.014.in_not
  216. 11 bit OUT TRUE hm2_5i23.0.gpio.015.in
  217. 11 bit OUT FALSE hm2_5i23.0.gpio.015.in_not
  218. 11 bit IN FALSE hm2_5i23.0.gpio.015.out
  219. 11 bit OUT FALSE hm2_5i23.0.gpio.016.in
  220. 11 bit OUT TRUE hm2_5i23.0.gpio.016.in_not
  221. 11 bit OUT TRUE hm2_5i23.0.gpio.017.in
  222. 11 bit OUT FALSE hm2_5i23.0.gpio.017.in_not
  223. 11 bit IN FALSE hm2_5i23.0.gpio.017.out
  224. 11 bit OUT FALSE hm2_5i23.0.gpio.018.in
  225. 11 bit OUT TRUE hm2_5i23.0.gpio.018.in_not
  226. 11 bit OUT TRUE hm2_5i23.0.gpio.019.in
  227. 11 bit OUT FALSE hm2_5i23.0.gpio.019.in_not
  228. 11 bit IN FALSE hm2_5i23.0.gpio.019.out
  229. 11 bit OUT FALSE hm2_5i23.0.gpio.020.in
  230. 11 bit OUT TRUE hm2_5i23.0.gpio.020.in_not
  231. 11 bit OUT TRUE hm2_5i23.0.gpio.021.in
  232. 11 bit OUT FALSE hm2_5i23.0.gpio.021.in_not
  233. 11 bit IN FALSE hm2_5i23.0.gpio.021.out
  234. 11 bit OUT FALSE hm2_5i23.0.gpio.022.in
  235. 11 bit OUT TRUE hm2_5i23.0.gpio.022.in_not
  236. 11 bit OUT TRUE hm2_5i23.0.gpio.023.in
  237. 11 bit OUT FALSE hm2_5i23.0.gpio.023.in_not
  238. 11 bit IN FALSE hm2_5i23.0.gpio.023.out
  239. 11 bit OUT TRUE hm2_5i23.0.gpio.024.in
  240. 11 bit OUT FALSE hm2_5i23.0.gpio.024.in_not
  241. 11 bit IN FALSE hm2_5i23.0.gpio.024.out
  242. 11 bit OUT TRUE hm2_5i23.0.gpio.025.in
  243. 11 bit OUT FALSE hm2_5i23.0.gpio.025.in_not ==> home-switch
  244. 11 bit IN FALSE hm2_5i23.0.gpio.025.out
  245. 11 bit OUT TRUE hm2_5i23.0.gpio.026.in
  246. 11 bit OUT FALSE hm2_5i23.0.gpio.026.in_not
  247. 11 bit IN FALSE hm2_5i23.0.gpio.026.out
  248. 11 bit OUT TRUE hm2_5i23.0.gpio.027.in
  249. 11 bit OUT FALSE hm2_5i23.0.gpio.027.in_not
  250. 11 bit IN FALSE hm2_5i23.0.gpio.027.out
  251. 11 bit OUT TRUE hm2_5i23.0.gpio.028.in
  252. 11 bit OUT FALSE hm2_5i23.0.gpio.028.in_not
  253. 11 bit IN FALSE hm2_5i23.0.gpio.028.out
  254. 11 bit OUT TRUE hm2_5i23.0.gpio.029.in
  255. 11 bit OUT FALSE hm2_5i23.0.gpio.029.in_not
  256. 11 bit IN FALSE hm2_5i23.0.gpio.029.out
  257. 11 bit OUT TRUE hm2_5i23.0.gpio.030.in
  258. 11 bit OUT FALSE hm2_5i23.0.gpio.030.in_not
  259. 11 bit IN FALSE hm2_5i23.0.gpio.030.out
  260. 11 bit OUT TRUE hm2_5i23.0.gpio.031.in
  261. 11 bit OUT FALSE hm2_5i23.0.gpio.031.in_not
  262. 11 bit IN FALSE hm2_5i23.0.gpio.031.out
  263. 11 bit OUT TRUE hm2_5i23.0.gpio.032.in
  264. 11 bit OUT FALSE hm2_5i23.0.gpio.032.in_not
  265. 11 bit IN FALSE hm2_5i23.0.gpio.032.out
  266. 11 bit OUT TRUE hm2_5i23.0.gpio.033.in
  267. 11 bit OUT FALSE hm2_5i23.0.gpio.033.in_not
  268. 11 bit IN FALSE hm2_5i23.0.gpio.033.out
  269. 11 bit OUT TRUE hm2_5i23.0.gpio.034.in
  270. 11 bit OUT FALSE hm2_5i23.0.gpio.034.in_not
  271. 11 bit IN FALSE hm2_5i23.0.gpio.034.out
  272. 11 bit OUT TRUE hm2_5i23.0.gpio.035.in
  273. 11 bit OUT FALSE hm2_5i23.0.gpio.035.in_not
  274. 11 bit IN FALSE hm2_5i23.0.gpio.035.out
  275. 11 bit OUT TRUE hm2_5i23.0.gpio.036.in
  276. 11 bit OUT FALSE hm2_5i23.0.gpio.036.in_not
  277. 11 bit IN FALSE hm2_5i23.0.gpio.036.out
  278. 11 bit OUT TRUE hm2_5i23.0.gpio.037.in
  279. 11 bit OUT FALSE hm2_5i23.0.gpio.037.in_not
  280. 11 bit IN FALSE hm2_5i23.0.gpio.037.out
  281. 11 bit OUT TRUE hm2_5i23.0.gpio.038.in
  282. 11 bit OUT FALSE hm2_5i23.0.gpio.038.in_not
  283. 11 bit IN FALSE hm2_5i23.0.gpio.038.out
  284. 11 bit OUT TRUE hm2_5i23.0.gpio.039.in
  285. 11 bit OUT FALSE hm2_5i23.0.gpio.039.in_not
  286. 11 bit IN FALSE hm2_5i23.0.gpio.039.out
  287. 11 bit OUT TRUE hm2_5i23.0.gpio.040.in
  288. 11 bit OUT FALSE hm2_5i23.0.gpio.040.in_not
  289. 11 bit IN FALSE hm2_5i23.0.gpio.040.out
  290. 11 bit OUT TRUE hm2_5i23.0.gpio.041.in
  291. 11 bit OUT FALSE hm2_5i23.0.gpio.041.in_not
  292. 11 bit IN FALSE hm2_5i23.0.gpio.041.out
  293. 11 bit OUT TRUE hm2_5i23.0.gpio.042.in
  294. 11 bit OUT FALSE hm2_5i23.0.gpio.042.in_not
  295. 11 bit IN FALSE hm2_5i23.0.gpio.042.out
  296. 11 bit OUT TRUE hm2_5i23.0.gpio.043.in
  297. 11 bit OUT FALSE hm2_5i23.0.gpio.043.in_not
  298. 11 bit IN FALSE hm2_5i23.0.gpio.043.out
  299. 11 bit OUT TRUE hm2_5i23.0.gpio.044.in
  300. 11 bit OUT FALSE hm2_5i23.0.gpio.044.in_not
  301. 11 bit IN FALSE hm2_5i23.0.gpio.044.out
  302. 11 bit OUT TRUE hm2_5i23.0.gpio.045.in
  303. 11 bit OUT FALSE hm2_5i23.0.gpio.045.in_not
  304. 11 bit IN FALSE hm2_5i23.0.gpio.045.out
  305. 11 bit OUT TRUE hm2_5i23.0.gpio.046.in
  306. 11 bit OUT FALSE hm2_5i23.0.gpio.046.in_not
  307. 11 bit IN FALSE hm2_5i23.0.gpio.046.out
  308. 11 bit OUT TRUE hm2_5i23.0.gpio.047.in
  309. 11 bit OUT FALSE hm2_5i23.0.gpio.047.in_not
  310. 11 bit IN FALSE hm2_5i23.0.gpio.047.out
  311. 11 bit OUT TRUE hm2_5i23.0.gpio.048.in
  312. 11 bit OUT FALSE hm2_5i23.0.gpio.048.in_not
  313. 11 bit IN FALSE hm2_5i23.0.gpio.048.out
  314. 11 bit OUT TRUE hm2_5i23.0.gpio.049.in
  315. 11 bit OUT FALSE hm2_5i23.0.gpio.049.in_not
  316. 11 bit IN FALSE hm2_5i23.0.gpio.049.out
  317. 11 bit OUT TRUE hm2_5i23.0.gpio.050.in
  318. 11 bit OUT FALSE hm2_5i23.0.gpio.050.in_not
  319. 11 bit IN FALSE hm2_5i23.0.gpio.050.out
  320. 11 bit OUT TRUE hm2_5i23.0.gpio.051.in
  321. 11 bit OUT FALSE hm2_5i23.0.gpio.051.in_not
  322. 11 bit IN FALSE hm2_5i23.0.gpio.051.out
  323. 11 bit OUT TRUE hm2_5i23.0.gpio.052.in
  324. 11 bit OUT FALSE hm2_5i23.0.gpio.052.in_not
  325. 11 bit IN FALSE hm2_5i23.0.gpio.052.out
  326. 11 bit OUT TRUE hm2_5i23.0.gpio.053.in
  327. 11 bit OUT FALSE hm2_5i23.0.gpio.053.in_not
  328. 11 bit IN FALSE hm2_5i23.0.gpio.053.out
  329. 11 bit OUT TRUE hm2_5i23.0.gpio.054.in
  330. 11 bit OUT FALSE hm2_5i23.0.gpio.054.in_not
  331. 11 bit IN FALSE hm2_5i23.0.gpio.054.out
  332. 11 bit OUT TRUE hm2_5i23.0.gpio.055.in
  333. 11 bit OUT FALSE hm2_5i23.0.gpio.055.in_not
  334. 11 bit IN FALSE hm2_5i23.0.gpio.055.out
  335. 11 bit OUT TRUE hm2_5i23.0.gpio.056.in
  336. 11 bit OUT FALSE hm2_5i23.0.gpio.056.in_not
  337. 11 bit IN FALSE hm2_5i23.0.gpio.056.out
  338. 11 bit OUT TRUE hm2_5i23.0.gpio.057.in
  339. 11 bit OUT FALSE hm2_5i23.0.gpio.057.in_not
  340. 11 bit IN FALSE hm2_5i23.0.gpio.057.out
  341. 11 bit OUT TRUE hm2_5i23.0.gpio.058.in
  342. 11 bit OUT FALSE hm2_5i23.0.gpio.058.in_not
  343. 11 bit IN FALSE hm2_5i23.0.gpio.058.out
  344. 11 bit OUT TRUE hm2_5i23.0.gpio.059.in
  345. 11 bit OUT FALSE hm2_5i23.0.gpio.059.in_not
  346. 11 bit IN FALSE hm2_5i23.0.gpio.059.out
  347. 11 bit OUT TRUE hm2_5i23.0.gpio.060.in
  348. 11 bit OUT FALSE hm2_5i23.0.gpio.060.in_not
  349. 11 bit IN FALSE hm2_5i23.0.gpio.060.out
  350. 11 bit OUT TRUE hm2_5i23.0.gpio.061.in
  351. 11 bit OUT FALSE hm2_5i23.0.gpio.061.in_not
  352. 11 bit IN FALSE hm2_5i23.0.gpio.061.out
  353. 11 bit OUT TRUE hm2_5i23.0.gpio.062.in
  354. 11 bit OUT FALSE hm2_5i23.0.gpio.062.in_not
  355. 11 bit IN FALSE hm2_5i23.0.gpio.062.out
  356. 11 bit OUT TRUE hm2_5i23.0.gpio.063.in
  357. 11 bit OUT FALSE hm2_5i23.0.gpio.063.in_not
  358. 11 bit IN FALSE hm2_5i23.0.gpio.063.out
  359. 11 bit OUT TRUE hm2_5i23.0.gpio.064.in
  360. 11 bit OUT FALSE hm2_5i23.0.gpio.064.in_not
  361. 11 bit IN FALSE hm2_5i23.0.gpio.064.out
  362. 11 bit OUT TRUE hm2_5i23.0.gpio.065.in
  363. 11 bit OUT FALSE hm2_5i23.0.gpio.065.in_not
  364. 11 bit IN FALSE hm2_5i23.0.gpio.065.out
  365. 11 bit OUT TRUE hm2_5i23.0.gpio.066.in
  366. 11 bit OUT FALSE hm2_5i23.0.gpio.066.in_not
  367. 11 bit IN FALSE hm2_5i23.0.gpio.066.out
  368. 11 bit OUT TRUE hm2_5i23.0.gpio.067.in
  369. 11 bit OUT FALSE hm2_5i23.0.gpio.067.in_not
  370. 11 bit IN FALSE hm2_5i23.0.gpio.067.out
  371. 11 bit OUT TRUE hm2_5i23.0.gpio.068.in
  372. 11 bit OUT FALSE hm2_5i23.0.gpio.068.in_not
  373. 11 bit IN FALSE hm2_5i23.0.gpio.068.out
  374. 11 bit OUT TRUE hm2_5i23.0.gpio.069.in
  375. 11 bit OUT FALSE hm2_5i23.0.gpio.069.in_not
  376. 11 bit IN FALSE hm2_5i23.0.gpio.069.out
  377. 11 bit OUT TRUE hm2_5i23.0.gpio.070.in
  378. 11 bit OUT FALSE hm2_5i23.0.gpio.070.in_not
  379. 11 bit IN FALSE hm2_5i23.0.gpio.070.out
  380. 11 bit OUT TRUE hm2_5i23.0.gpio.071.in
  381. 11 bit OUT FALSE hm2_5i23.0.gpio.071.in_not
  382. 11 bit IN FALSE hm2_5i23.0.gpio.071.out
  383. 11 bit IN FALSE hm2_5i23.0.led.CR01
  384. 11 bit IN FALSE hm2_5i23.0.led.CR02
  385. 11 bit I/O FALSE hm2_5i23.0.watchdog.has_bit
  386. 5 bit OUT FALSE iocontrol.0.coolant-flood
  387. 5 bit OUT FALSE iocontrol.0.coolant-mist
  388. 5 bit IN FALSE iocontrol.0.emc-enable-in <== estop-loop
  389. 5 bit OUT FALSE iocontrol.0.lube
  390. 5 bit IN FALSE iocontrol.0.lube_level
  391. 5 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-loop
  392. 5 bit IN FALSE iocontrol.0.tool-changed <== tool-change-loop
  393. 5 s32 OUT 0 iocontrol.0.tool-number
  394. 5 s32 OUT 0 iocontrol.0.tool-prep-number
  395. 5 s32 OUT 0 iocontrol.0.tool-prep-pocket
  396. 5 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prep-loop
  397. 5 bit IN FALSE iocontrol.0.tool-prepared <== tool-prep-loop
  398. 5 bit OUT FALSE iocontrol.0.user-enable-out ==> estop-loop
  399. 5 bit OUT FALSE iocontrol.0.user-request-enable
  400. 7 float IN 1 motion.adaptive-feed
  401. 7 float IN 0 motion.analog-in-00
  402. 7 float IN 0 motion.analog-in-01
  403. 7 float IN 0 motion.analog-in-02
  404. 7 float IN 0 motion.analog-in-03
  405. 7 float OUT 0 motion.analog-out-00
  406. 7 float OUT 0 motion.analog-out-01
  407. 7 float OUT 0 motion.analog-out-02
  408. 7 float OUT 0 motion.analog-out-03
  409. 7 bit OUT FALSE motion.coord-error
  410. 7 bit OUT TRUE motion.coord-mode
  411. 7 float OUT 0 motion.current-vel
  412. 7 bit IN FALSE motion.digital-in-00
  413. 7 bit IN FALSE motion.digital-in-01
  414. 7 bit IN FALSE motion.digital-in-02
  415. 7 bit IN FALSE motion.digital-in-03
  416. 7 bit OUT FALSE motion.digital-out-00
  417. 7 bit OUT FALSE motion.digital-out-01
  418. 7 bit OUT FALSE motion.digital-out-02
  419. 7 bit OUT FALSE motion.digital-out-03
  420. 7 float OUT 0 motion.distance-to-go
  421. 7 bit IN TRUE motion.enable
  422. 7 bit IN FALSE motion.feed-hold
  423. 7 bit OUT TRUE motion.in-position
  424. 7 bit IN FALSE motion.motion-enabled
  425. 7 bit OUT FALSE motion.on-soft-limit
  426. 7 bit IN FALSE motion.probe-input
  427. 7 s32 OUT 0 motion.program-line
  428. 7 float OUT 0 motion.requested-vel
  429. 7 bit IN TRUE motion.spindle-at-speed
  430. 7 bit OUT TRUE motion.spindle-brake
  431. 7 bit OUT FALSE motion.spindle-forward
  432. 7 bit I/O FALSE motion.spindle-index-enable
  433. 7 bit OUT FALSE motion.spindle-on
  434. 7 bit OUT FALSE motion.spindle-reverse
  435. 7 float IN 0 motion.spindle-revs
  436. 7 float OUT 0 motion.spindle-speed-cmd-rps
  437. 7 float IN 0 motion.spindle-speed-in
  438. 7 float OUT 0 motion.spindle-speed-out
  439. 7 float OUT 0 motion.spindle-speed-out-rps
  440. 7 bit OUT FALSE motion.teleop-mode
  441. 7 float OUT 0 motion.tooloffset.a
  442. 7 float OUT 0 motion.tooloffset.b
  443. 7 float OUT 0 motion.tooloffset.c
  444. 7 float OUT 0 motion.tooloffset.u
  445. 7 float OUT 0 motion.tooloffset.v
  446. 7 float OUT 0 motion.tooloffset.w
  447. 7 float OUT 0 motion.tooloffset.x
  448. 7 float OUT 0 motion.tooloffset.y
  449. 7 float OUT 0 motion.tooloffset.z
  450. 8 float I/O 0 pid.0.Dgain
  451. 8 float I/O 0 pid.0.FF0
  452. 8 float I/O 1 pid.0.FF1
  453. 8 float I/O 0 pid.0.FF2
  454. 8 float I/O 0 pid.0.Igain
  455. 8 float I/O 100 pid.0.Pgain
  456. 8 float I/O 0 pid.0.bias
  457. 8 float IN 0 pid.0.command <== emcmot.00.pos-cmd
  458. 8 float IN 0 pid.0.command-deriv
  459. 8 float I/O 1.5e-05 pid.0.deadband
  460. 8 bit IN FALSE pid.0.enable <== emcmot.00.enable
  461. 8 float OUT 0 pid.0.error
  462. 8 float IN 0 pid.0.feedback <== motor.00.pos-fb
  463. 8 float IN 0 pid.0.feedback-deriv
  464. 8 bit IN FALSE pid.0.index-enable
  465. 8 float I/O 0 pid.0.maxcmdD
  466. 8 float I/O 0 pid.0.maxcmdDD
  467. 8 float I/O 0 pid.0.maxerror
  468. 8 float I/O 0 pid.0.maxerrorD
  469. 8 float I/O 0 pid.0.maxerrorI
  470. 8 float I/O 1 pid.0.maxoutput
  471. 8 float OUT 0 pid.0.output
  472. 8 bit OUT FALSE pid.0.saturated
  473. 8 s32 OUT 0 pid.0.saturated-count
  474. 8 float OUT 0 pid.0.saturated-s
  475. 8 float I/O 0 pid.1.Dgain
  476. 8 float I/O 0 pid.1.FF0
  477. 8 float I/O 1 pid.1.FF1
  478. 8 float I/O 0 pid.1.FF2
  479. 8 float I/O 0 pid.1.Igain
  480. 8 float I/O 100 pid.1.Pgain
  481. 8 float I/O 0 pid.1.bias
  482. 8 float IN 0 pid.1.command <== emcmot.01.pos-cmd
  483. 8 float IN 0 pid.1.command-deriv
  484. 8 float I/O 1.5e-05 pid.1.deadband
  485. 8 bit IN FALSE pid.1.enable <== emcmot.01.enable
  486. 8 float OUT 0 pid.1.error
  487. 8 float IN -0 pid.1.feedback <== motor.01.pos-fb
  488. 8 float IN 0 pid.1.feedback-deriv
  489. 8 bit IN FALSE pid.1.index-enable
  490. 8 float I/O 0 pid.1.maxcmdD
  491. 8 float I/O 0 pid.1.maxcmdDD
  492. 8 float I/O 0 pid.1.maxerror
  493. 8 float I/O 0 pid.1.maxerrorD
  494. 8 float I/O 0 pid.1.maxerrorI
  495. 8 float I/O 1 pid.1.maxoutput
  496. 8 float OUT 0 pid.1.output
  497. 8 bit OUT FALSE pid.1.saturated
  498. 8 s32 OUT 0 pid.1.saturated-count
  499. 8 float OUT 0 pid.1.saturated-s
  500. 8 float I/O 0 pid.2.Dgain
  501. 8 float I/O 0 pid.2.FF0
  502. 8 float I/O 1 pid.2.FF1
  503. 8 float I/O 0 pid.2.FF2
  504. 8 float I/O 0 pid.2.Igain
  505. 8 float I/O 100 pid.2.Pgain
  506. 8 float I/O 0 pid.2.bias
  507. 8 float IN 0 pid.2.command <== emcmot.02.pos-cmd
  508. 8 float IN 0 pid.2.command-deriv
  509. 8 float I/O 1.5e-05 pid.2.deadband
  510. 8 bit IN FALSE pid.2.enable <== emcmot.02.enable
  511. 8 float OUT 0 pid.2.error
  512. 8 float IN 0 pid.2.feedback <== motor.02.pos-fb
  513. 8 float IN 0 pid.2.feedback-deriv
  514. 8 bit IN FALSE pid.2.index-enable
  515. 8 float I/O 0 pid.2.maxcmdD
  516. 8 float I/O 0 pid.2.maxcmdDD
  517. 8 float I/O 0 pid.2.maxerror
  518. 8 float I/O 0 pid.2.maxerrorD
  519. 8 float I/O 0 pid.2.maxerrorI
  520. 8 float I/O 1 pid.2.maxoutput
  521. 8 float OUT 0 pid.2.output
  522. 8 bit OUT FALSE pid.2.saturated
  523. 8 s32 OUT 0 pid.2.saturated-count
  524. 8 float OUT 0 pid.2.saturated-s
  525.  
  526. Pin Aliases:
  527. Alias Original Name
  528.  
  529. Signals:
  530. Type Value Name (linked to)
  531. bit FALSE emcmot.00.enable
  532. <== axis.0.amp-enable-out
  533. ==> pid.0.enable
  534. float 0 emcmot.00.pos-cmd
  535. <== axis.0.motor-pos-cmd
  536. ==> pid.0.command
  537. bit FALSE emcmot.01.enable
  538. <== axis.1.amp-enable-out
  539. ==> pid.1.enable
  540. float 0 emcmot.01.pos-cmd
  541. <== axis.1.motor-pos-cmd
  542. ==> pid.1.command
  543. bit FALSE emcmot.02.enable
  544. <== axis.2.amp-enable-out
  545. ==> pid.2.enable
  546. float 0 emcmot.02.pos-cmd
  547. <== axis.2.motor-pos-cmd
  548. ==> pid.2.command
  549. bit FALSE estop-loop
  550. ==> iocontrol.0.emc-enable-in
  551. <== iocontrol.0.user-enable-out
  552. bit FALSE home-switch
  553. ==> axis.0.home-sw-in
  554. ==> axis.1.home-sw-in
  555. ==> axis.2.home-sw-in
  556. <== hm2_5i23.0.gpio.025.in_not
  557. float 0 motor.00.pos-fb
  558. ==> axis.0.motor-pos-fb
  559. <== hm2_5i23.0.encoder.00.position
  560. ==> pid.0.feedback
  561. float -0 motor.01.pos-fb
  562. ==> axis.1.motor-pos-fb
  563. <== hm2_5i23.0.encoder.01.position
  564. ==> pid.1.feedback
  565. float 0 motor.02.pos-fb
  566. ==> axis.2.motor-pos-fb
  567. <== hm2_5i23.0.encoder.02.position
  568. ==> pid.2.feedback
  569. bit FALSE tool-change-loop
  570. <== iocontrol.0.tool-change
  571. ==> iocontrol.0.tool-changed
  572. bit FALSE tool-prep-loop
  573. <== iocontrol.0.tool-prepare
  574. ==> iocontrol.0.tool-prepared
  575. bit FALSE y-index-enable
  576. <=> axis.1.index-enable
  577. <=> hm2_5i23.0.encoder.01.index-enable
  578.  
  579. Parameters:
  580. Owner Type Dir Value Name
  581. 7 s32 RO 0 axis.0.home-state
  582. 7 s32 RO 0 axis.1.home-state
  583. 7 s32 RO 0 axis.2.home-state
  584. 11 float RW 5000 hm2_5i23.0.3pwmgen.00.deadtime
  585. 11 bit RW FALSE hm2_5i23.0.3pwmgen.00.fault-invert
  586. 11 float RW 0.5 hm2_5i23.0.3pwmgen.00.sample-time
  587. 11 float RW 1 hm2_5i23.0.3pwmgen.00.scale
  588. 11 float RW 5000 hm2_5i23.0.3pwmgen.01.deadtime
  589. 11 bit RW FALSE hm2_5i23.0.3pwmgen.01.fault-invert
  590. 11 float RW 0.5 hm2_5i23.0.3pwmgen.01.sample-time
  591. 11 float RW 1 hm2_5i23.0.3pwmgen.01.scale
  592. 11 u32 RW 0x00004E20 hm2_5i23.0.3pwmgen.frequency
  593. 11 bit RW FALSE hm2_5i23.0.encoder.00.counter-mode
  594. 11 bit RW TRUE hm2_5i23.0.encoder.00.filter
  595. 11 bit RW FALSE hm2_5i23.0.encoder.00.index-invert
  596. 11 bit RW FALSE hm2_5i23.0.encoder.00.index-mask
  597. 11 bit RW FALSE hm2_5i23.0.encoder.00.index-mask-invert
  598. 11 float RW 81920 hm2_5i23.0.encoder.00.scale
  599. 11 float RW 0.5 hm2_5i23.0.encoder.00.vel-timeout
  600. 11 bit RW FALSE hm2_5i23.0.encoder.01.counter-mode
  601. 11 bit RW TRUE hm2_5i23.0.encoder.01.filter
  602. 11 bit RW FALSE hm2_5i23.0.encoder.01.index-invert
  603. 11 bit RW FALSE hm2_5i23.0.encoder.01.index-mask
  604. 11 bit RW FALSE hm2_5i23.0.encoder.01.index-mask-invert
  605. 11 float RW -81920 hm2_5i23.0.encoder.01.scale
  606. 11 float RW 0.5 hm2_5i23.0.encoder.01.vel-timeout
  607. 11 bit RW FALSE hm2_5i23.0.encoder.02.counter-mode
  608. 11 bit RW TRUE hm2_5i23.0.encoder.02.filter
  609. 11 bit RW FALSE hm2_5i23.0.encoder.02.index-invert
  610. 11 bit RW FALSE hm2_5i23.0.encoder.02.index-mask
  611. 11 bit RW FALSE hm2_5i23.0.encoder.02.index-mask-invert
  612. 11 float RW 81920 hm2_5i23.0.encoder.02.scale
  613. 11 float RW 0.5 hm2_5i23.0.encoder.02.vel-timeout
  614. 11 bit RW FALSE hm2_5i23.0.gpio.000.invert_output
  615. 11 bit RW FALSE hm2_5i23.0.gpio.000.is_opendrain
  616. 11 bit RW FALSE hm2_5i23.0.gpio.000.is_output
  617. 11 bit RW FALSE hm2_5i23.0.gpio.007.invert_output
  618. 11 bit RW FALSE hm2_5i23.0.gpio.007.is_opendrain
  619. 11 bit RW FALSE hm2_5i23.0.gpio.007.is_output
  620. 11 bit RW FALSE hm2_5i23.0.gpio.008.invert_output
  621. 11 bit RW FALSE hm2_5i23.0.gpio.008.is_opendrain
  622. 11 bit RW FALSE hm2_5i23.0.gpio.008.is_output
  623. 11 bit RW FALSE hm2_5i23.0.gpio.009.invert_output
  624. 11 bit RW FALSE hm2_5i23.0.gpio.009.is_opendrain
  625. 11 bit RW FALSE hm2_5i23.0.gpio.009.is_output
  626. 11 bit RW FALSE hm2_5i23.0.gpio.010.invert_output
  627. 11 bit RW FALSE hm2_5i23.0.gpio.010.is_opendrain
  628. 11 bit RW FALSE hm2_5i23.0.gpio.011.invert_output
  629. 11 bit RW FALSE hm2_5i23.0.gpio.011.is_opendrain
  630. 11 bit RW FALSE hm2_5i23.0.gpio.011.is_output
  631. 11 bit RW FALSE hm2_5i23.0.gpio.012.invert_output
  632. 11 bit RW FALSE hm2_5i23.0.gpio.012.is_opendrain
  633. 11 bit RW FALSE hm2_5i23.0.gpio.013.invert_output
  634. 11 bit RW FALSE hm2_5i23.0.gpio.013.is_opendrain
  635. 11 bit RW FALSE hm2_5i23.0.gpio.013.is_output
  636. 11 bit RW FALSE hm2_5i23.0.gpio.014.invert_output
  637. 11 bit RW FALSE hm2_5i23.0.gpio.014.is_opendrain
  638. 11 bit RW FALSE hm2_5i23.0.gpio.015.invert_output
  639. 11 bit RW FALSE hm2_5i23.0.gpio.015.is_opendrain
  640. 11 bit RW FALSE hm2_5i23.0.gpio.015.is_output
  641. 11 bit RW FALSE hm2_5i23.0.gpio.016.invert_output
  642. 11 bit RW FALSE hm2_5i23.0.gpio.016.is_opendrain
  643. 11 bit RW FALSE hm2_5i23.0.gpio.017.invert_output
  644. 11 bit RW FALSE hm2_5i23.0.gpio.017.is_opendrain
  645. 11 bit RW FALSE hm2_5i23.0.gpio.017.is_output
  646. 11 bit RW FALSE hm2_5i23.0.gpio.018.invert_output
  647. 11 bit RW FALSE hm2_5i23.0.gpio.018.is_opendrain
  648. 11 bit RW FALSE hm2_5i23.0.gpio.019.invert_output
  649. 11 bit RW FALSE hm2_5i23.0.gpio.019.is_opendrain
  650. 11 bit RW FALSE hm2_5i23.0.gpio.019.is_output
  651. 11 bit RW FALSE hm2_5i23.0.gpio.020.invert_output
  652. 11 bit RW FALSE hm2_5i23.0.gpio.020.is_opendrain
  653. 11 bit RW FALSE hm2_5i23.0.gpio.021.invert_output
  654. 11 bit RW FALSE hm2_5i23.0.gpio.021.is_opendrain
  655. 11 bit RW FALSE hm2_5i23.0.gpio.021.is_output
  656. 11 bit RW FALSE hm2_5i23.0.gpio.022.invert_output
  657. 11 bit RW FALSE hm2_5i23.0.gpio.022.is_opendrain
  658. 11 bit RW FALSE hm2_5i23.0.gpio.023.invert_output
  659. 11 bit RW FALSE hm2_5i23.0.gpio.023.is_opendrain
  660. 11 bit RW FALSE hm2_5i23.0.gpio.023.is_output
  661. 11 bit RW FALSE hm2_5i23.0.gpio.024.invert_output
  662. 11 bit RW FALSE hm2_5i23.0.gpio.024.is_opendrain
  663. 11 bit RW FALSE hm2_5i23.0.gpio.024.is_output
  664. 11 bit RW FALSE hm2_5i23.0.gpio.025.invert_output
  665. 11 bit RW FALSE hm2_5i23.0.gpio.025.is_opendrain
  666. 11 bit RW FALSE hm2_5i23.0.gpio.025.is_output
  667. 11 bit RW FALSE hm2_5i23.0.gpio.026.invert_output
  668. 11 bit RW FALSE hm2_5i23.0.gpio.026.is_opendrain
  669. 11 bit RW FALSE hm2_5i23.0.gpio.026.is_output
  670. 11 bit RW FALSE hm2_5i23.0.gpio.027.invert_output
  671. 11 bit RW FALSE hm2_5i23.0.gpio.027.is_opendrain
  672. 11 bit RW FALSE hm2_5i23.0.gpio.027.is_output
  673. 11 bit RW FALSE hm2_5i23.0.gpio.028.invert_output
  674. 11 bit RW FALSE hm2_5i23.0.gpio.028.is_opendrain
  675. 11 bit RW FALSE hm2_5i23.0.gpio.028.is_output
  676. 11 bit RW FALSE hm2_5i23.0.gpio.029.invert_output
  677. 11 bit RW FALSE hm2_5i23.0.gpio.029.is_opendrain
  678. 11 bit RW FALSE hm2_5i23.0.gpio.029.is_output
  679. 11 bit RW FALSE hm2_5i23.0.gpio.030.invert_output
  680. 11 bit RW FALSE hm2_5i23.0.gpio.030.is_opendrain
  681. 11 bit RW FALSE hm2_5i23.0.gpio.030.is_output
  682. 11 bit RW FALSE hm2_5i23.0.gpio.031.invert_output
  683. 11 bit RW FALSE hm2_5i23.0.gpio.031.is_opendrain
  684. 11 bit RW FALSE hm2_5i23.0.gpio.031.is_output
  685. 11 bit RW FALSE hm2_5i23.0.gpio.032.invert_output
  686. 11 bit RW FALSE hm2_5i23.0.gpio.032.is_opendrain
  687. 11 bit RW FALSE hm2_5i23.0.gpio.032.is_output
  688. 11 bit RW FALSE hm2_5i23.0.gpio.033.invert_output
  689. 11 bit RW FALSE hm2_5i23.0.gpio.033.is_opendrain
  690. 11 bit RW FALSE hm2_5i23.0.gpio.033.is_output
  691. 11 bit RW FALSE hm2_5i23.0.gpio.034.invert_output
  692. 11 bit RW FALSE hm2_5i23.0.gpio.034.is_opendrain
  693. 11 bit RW FALSE hm2_5i23.0.gpio.034.is_output
  694. 11 bit RW FALSE hm2_5i23.0.gpio.035.invert_output
  695. 11 bit RW FALSE hm2_5i23.0.gpio.035.is_opendrain
  696. 11 bit RW FALSE hm2_5i23.0.gpio.035.is_output
  697. 11 bit RW FALSE hm2_5i23.0.gpio.036.invert_output
  698. 11 bit RW FALSE hm2_5i23.0.gpio.036.is_opendrain
  699. 11 bit RW FALSE hm2_5i23.0.gpio.036.is_output
  700. 11 bit RW FALSE hm2_5i23.0.gpio.037.invert_output
  701. 11 bit RW FALSE hm2_5i23.0.gpio.037.is_opendrain
  702. 11 bit RW FALSE hm2_5i23.0.gpio.037.is_output
  703. 11 bit RW FALSE hm2_5i23.0.gpio.038.invert_output
  704. 11 bit RW FALSE hm2_5i23.0.gpio.038.is_opendrain
  705. 11 bit RW FALSE hm2_5i23.0.gpio.038.is_output
  706. 11 bit RW FALSE hm2_5i23.0.gpio.039.invert_output
  707. 11 bit RW FALSE hm2_5i23.0.gpio.039.is_opendrain
  708. 11 bit RW FALSE hm2_5i23.0.gpio.039.is_output
  709. 11 bit RW FALSE hm2_5i23.0.gpio.040.invert_output
  710. 11 bit RW FALSE hm2_5i23.0.gpio.040.is_opendrain
  711. 11 bit RW FALSE hm2_5i23.0.gpio.040.is_output
  712. 11 bit RW FALSE hm2_5i23.0.gpio.041.invert_output
  713. 11 bit RW FALSE hm2_5i23.0.gpio.041.is_opendrain
  714. 11 bit RW FALSE hm2_5i23.0.gpio.041.is_output
  715. 11 bit RW FALSE hm2_5i23.0.gpio.042.invert_output
  716. 11 bit RW FALSE hm2_5i23.0.gpio.042.is_opendrain
  717. 11 bit RW FALSE hm2_5i23.0.gpio.042.is_output
  718. 11 bit RW FALSE hm2_5i23.0.gpio.043.invert_output
  719. 11 bit RW FALSE hm2_5i23.0.gpio.043.is_opendrain
  720. 11 bit RW FALSE hm2_5i23.0.gpio.043.is_output
  721. 11 bit RW FALSE hm2_5i23.0.gpio.044.invert_output
  722. 11 bit RW FALSE hm2_5i23.0.gpio.044.is_opendrain
  723. 11 bit RW FALSE hm2_5i23.0.gpio.044.is_output
  724. 11 bit RW FALSE hm2_5i23.0.gpio.045.invert_output
  725. 11 bit RW FALSE hm2_5i23.0.gpio.045.is_opendrain
  726. 11 bit RW FALSE hm2_5i23.0.gpio.045.is_output
  727. 11 bit RW FALSE hm2_5i23.0.gpio.046.invert_output
  728. 11 bit RW FALSE hm2_5i23.0.gpio.046.is_opendrain
  729. 11 bit RW FALSE hm2_5i23.0.gpio.046.is_output
  730. 11 bit RW FALSE hm2_5i23.0.gpio.047.invert_output
  731. 11 bit RW FALSE hm2_5i23.0.gpio.047.is_opendrain
  732. 11 bit RW FALSE hm2_5i23.0.gpio.047.is_output
  733. 11 bit RW FALSE hm2_5i23.0.gpio.048.invert_output
  734. 11 bit RW FALSE hm2_5i23.0.gpio.048.is_opendrain
  735. 11 bit RW FALSE hm2_5i23.0.gpio.048.is_output
  736. 11 bit RW FALSE hm2_5i23.0.gpio.049.invert_output
  737. 11 bit RW FALSE hm2_5i23.0.gpio.049.is_opendrain
  738. 11 bit RW FALSE hm2_5i23.0.gpio.049.is_output
  739. 11 bit RW FALSE hm2_5i23.0.gpio.050.invert_output
  740. 11 bit RW FALSE hm2_5i23.0.gpio.050.is_opendrain
  741. 11 bit RW FALSE hm2_5i23.0.gpio.050.is_output
  742. 11 bit RW FALSE hm2_5i23.0.gpio.051.invert_output
  743. 11 bit RW FALSE hm2_5i23.0.gpio.051.is_opendrain
  744. 11 bit RW FALSE hm2_5i23.0.gpio.051.is_output
  745. 11 bit RW FALSE hm2_5i23.0.gpio.052.invert_output
  746. 11 bit RW FALSE hm2_5i23.0.gpio.052.is_opendrain
  747. 11 bit RW FALSE hm2_5i23.0.gpio.052.is_output
  748. 11 bit RW FALSE hm2_5i23.0.gpio.053.invert_output
  749. 11 bit RW FALSE hm2_5i23.0.gpio.053.is_opendrain
  750. 11 bit RW FALSE hm2_5i23.0.gpio.053.is_output
  751. 11 bit RW FALSE hm2_5i23.0.gpio.054.invert_output
  752. 11 bit RW FALSE hm2_5i23.0.gpio.054.is_opendrain
  753. 11 bit RW FALSE hm2_5i23.0.gpio.054.is_output
  754. 11 bit RW FALSE hm2_5i23.0.gpio.055.invert_output
  755. 11 bit RW FALSE hm2_5i23.0.gpio.055.is_opendrain
  756. 11 bit RW FALSE hm2_5i23.0.gpio.055.is_output
  757. 11 bit RW FALSE hm2_5i23.0.gpio.056.invert_output
  758. 11 bit RW FALSE hm2_5i23.0.gpio.056.is_opendrain
  759. 11 bit RW FALSE hm2_5i23.0.gpio.056.is_output
  760. 11 bit RW FALSE hm2_5i23.0.gpio.057.invert_output
  761. 11 bit RW FALSE hm2_5i23.0.gpio.057.is_opendrain
  762. 11 bit RW FALSE hm2_5i23.0.gpio.057.is_output
  763. 11 bit RW FALSE hm2_5i23.0.gpio.058.invert_output
  764. 11 bit RW FALSE hm2_5i23.0.gpio.058.is_opendrain
  765. 11 bit RW FALSE hm2_5i23.0.gpio.058.is_output
  766. 11 bit RW FALSE hm2_5i23.0.gpio.059.invert_output
  767. 11 bit RW FALSE hm2_5i23.0.gpio.059.is_opendrain
  768. 11 bit RW FALSE hm2_5i23.0.gpio.059.is_output
  769. 11 bit RW FALSE hm2_5i23.0.gpio.060.invert_output
  770. 11 bit RW FALSE hm2_5i23.0.gpio.060.is_opendrain
  771. 11 bit RW FALSE hm2_5i23.0.gpio.060.is_output
  772. 11 bit RW FALSE hm2_5i23.0.gpio.061.invert_output
  773. 11 bit RW FALSE hm2_5i23.0.gpio.061.is_opendrain
  774. 11 bit RW FALSE hm2_5i23.0.gpio.061.is_output
  775. 11 bit RW FALSE hm2_5i23.0.gpio.062.invert_output
  776. 11 bit RW FALSE hm2_5i23.0.gpio.062.is_opendrain
  777. 11 bit RW FALSE hm2_5i23.0.gpio.062.is_output
  778. 11 bit RW FALSE hm2_5i23.0.gpio.063.invert_output
  779. 11 bit RW FALSE hm2_5i23.0.gpio.063.is_opendrain
  780. 11 bit RW FALSE hm2_5i23.0.gpio.063.is_output
  781. 11 bit RW FALSE hm2_5i23.0.gpio.064.invert_output
  782. 11 bit RW FALSE hm2_5i23.0.gpio.064.is_opendrain
  783. 11 bit RW FALSE hm2_5i23.0.gpio.064.is_output
  784. 11 bit RW FALSE hm2_5i23.0.gpio.065.invert_output
  785. 11 bit RW FALSE hm2_5i23.0.gpio.065.is_opendrain
  786. 11 bit RW FALSE hm2_5i23.0.gpio.065.is_output
  787. 11 bit RW FALSE hm2_5i23.0.gpio.066.invert_output
  788. 11 bit RW FALSE hm2_5i23.0.gpio.066.is_opendrain
  789. 11 bit RW FALSE hm2_5i23.0.gpio.066.is_output
  790. 11 bit RW FALSE hm2_5i23.0.gpio.067.invert_output
  791. 11 bit RW FALSE hm2_5i23.0.gpio.067.is_opendrain
  792. 11 bit RW FALSE hm2_5i23.0.gpio.067.is_output
  793. 11 bit RW FALSE hm2_5i23.0.gpio.068.invert_output
  794. 11 bit RW FALSE hm2_5i23.0.gpio.068.is_opendrain
  795. 11 bit RW FALSE hm2_5i23.0.gpio.068.is_output
  796. 11 bit RW FALSE hm2_5i23.0.gpio.069.invert_output
  797. 11 bit RW FALSE hm2_5i23.0.gpio.069.is_opendrain
  798. 11 bit RW FALSE hm2_5i23.0.gpio.069.is_output
  799. 11 bit RW FALSE hm2_5i23.0.gpio.070.invert_output
  800. 11 bit RW FALSE hm2_5i23.0.gpio.070.is_opendrain
  801. 11 bit RW FALSE hm2_5i23.0.gpio.070.is_output
  802. 11 bit RW FALSE hm2_5i23.0.gpio.071.invert_output
  803. 11 bit RW FALSE hm2_5i23.0.gpio.071.is_opendrain
  804. 11 bit RW FALSE hm2_5i23.0.gpio.071.is_output
  805. 11 bit RW FALSE hm2_5i23.0.io_error
  806. 11 s32 RO 1281 hm2_5i23.0.pet_watchdog.time
  807. 11 s32 RW 3794 hm2_5i23.0.pet_watchdog.tmax
  808. 11 s32 RO 42427 hm2_5i23.0.read.time
  809. 11 s32 RW 82565 hm2_5i23.0.read.tmax
  810. 11 s32 RO 0 hm2_5i23.0.read_gpio.time
  811. 11 s32 RW 0 hm2_5i23.0.read_gpio.tmax
  812. 11 u32 RW 0x004C4B40 hm2_5i23.0.watchdog.timeout_ns
  813. 11 s32 RO 18270 hm2_5i23.0.write.time
  814. 11 s32 RW 38703 hm2_5i23.0.write.tmax
  815. 11 s32 RO 0 hm2_5i23.0.write_gpio.time
  816. 11 s32 RW 0 hm2_5i23.0.write_gpio.tmax
  817. 7 s32 RO 1085 motion-command-handler.time
  818. 7 s32 RW 5817 motion-command-handler.tmax
  819. 7 s32 RO 13692 motion-controller.time
  820. 7 s32 RW 44688 motion-controller.tmax
  821. 7 bit RO FALSE motion.debug-bit-0
  822. 7 bit RO FALSE motion.debug-bit-1
  823. 7 float RO 1 motion.debug-float-0
  824. 7 float RO 0 motion.debug-float-1
  825. 7 float RO 0 motion.debug-float-2
  826. 7 float RO 1 motion.debug-float-3
  827. 7 s32 RO 0 motion.debug-s32-0
  828. 7 s32 RO 0 motion.debug-s32-1
  829. 7 u32 RO 0x002A8856 motion.servo.last-period
  830. 7 float RO 997846.4 motion.servo.last-period-ns
  831. 7 u32 RW 0x00000000 motion.servo.overruns
  832. 8 s32 RO 2856 pid.0.do-pid-calcs.time
  833. 8 s32 RW 14308 pid.0.do-pid-calcs.tmax
  834. 8 s32 RO 749 pid.1.do-pid-calcs.time
  835. 8 s32 RW 14336 pid.1.do-pid-calcs.tmax
  836. 8 s32 RO 742 pid.2.do-pid-calcs.time
  837. 8 s32 RW 4760 pid.2.do-pid-calcs.tmax
  838. 7 float RO 0 tc.0.acc
  839. 7 float RO 0 tc.0.pos
  840. 7 float RO 0 tc.0.vel
  841. 7 float RO 0 tc.1.acc
  842. 7 float RO 0 tc.1.pos
  843. 7 float RO 0 tc.1.vel
  844. 7 float RO 0 tc.2.acc
  845. 7 float RO 0 tc.2.pos
  846. 7 float RO 0 tc.2.vel
  847. 7 float RO 0 tc.3.acc
  848. 7 float RO 0 tc.3.pos
  849. 7 float RO 0 tc.3.vel
  850. 7 u32 RO 0x00000000 traj.active_tc
  851. 7 float RO 0 traj.pos_out
  852. 7 float RO 0 traj.vel_out
  853.  
  854. Parameter Aliases:
  855. Alias Original Name
  856.  
  857. Exported Functions:
  858. Owner CodeAddr Arg FP Users Name
  859. 00011 fcb86552 ed477000 NO 1 hm2_5i23.0.pet_watchdog
  860. 00011 fcb789dc ed477000 YES 1 hm2_5i23.0.read
  861. 00011 fcb78906 ed477000 YES 0 hm2_5i23.0.read_gpio
  862. 00011 fcb78936 ed477000 YES 1 hm2_5i23.0.write
  863. 00011 fcb788d6 ed477000 YES 0 hm2_5i23.0.write_gpio
  864. 00007 fc892759 00000000 YES 1 motion-command-handler
  865. 00007 fc894cb2 00000000 YES 1 motion-controller
  866. 00008 fcb46000 fc821be8 YES 1 pid.0.do-pid-calcs
  867. 00008 fcb46000 fc821c88 YES 1 pid.1.do-pid-calcs
  868. 00008 fcb46000 fc821d28 YES 1 pid.2.do-pid-calcs
  869.  
  870. Realtime Threads:
  871. Period FP Name ( Time, Max-Time )
  872. 999994 YES servo-thread ( 61719, 173411 )
  873. 1 hm2_5i23.0.read
  874. 2 motion-command-handler
  875. 3 motion-controller
  876. 4 pid.0.do-pid-calcs
  877. 5 pid.1.do-pid-calcs
  878. 6 pid.2.do-pid-calcs
  879. 7 hm2_5i23.0.write
  880. 8 hm2_5i23.0.pet_watchdog
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