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  1. Loaded HAL Components:
  2. ID Type Name PID State
  3. 17 User halcmd7486 7486 ready
  4. 16 RT sum2 ready
  5. 14 RT or2 ready
  6. 15 RT mux4 ready
  7. 13 User axisui 7321 ready
  8. 12 User hal_input 7310 ready
  9. 11 User hal_manualtoolchange 7309 ready
  10. 9 RT charge_pump ready
  11. 8 RT stepgen ready
  12. 7 RT hal_parport ready
  13. 6 RT probe_parport ready
  14. 5 RT motmod ready
  15. 4 RT trivkins ready
  16. 3 User halui 7288 ready
  17. 2 User iocontrol 7282 ready
  18.  
  19. Component Pins:
  20. Owner Type Dir Value Name
  21. 5 bit OUT TRUE axis.0.active
  22. 5 bit OUT TRUE axis.0.amp-enable-out ==> xenable
  23. 5 bit IN FALSE axis.0.amp-fault-in
  24. 5 float OUT 0 axis.0.backlash-corr
  25. 5 float OUT 0 axis.0.backlash-filt
  26. 5 float OUT 0 axis.0.backlash-vel
  27. 5 float OUT 0 axis.0.coarse-pos-cmd
  28. 5 bit OUT FALSE axis.0.error
  29. 5 float OUT 0 axis.0.f-error
  30. 5 float OUT 0.25 axis.0.f-error-lim
  31. 5 bit OUT FALSE axis.0.f-errored
  32. 5 bit OUT FALSE axis.0.faulted
  33. 5 float OUT 0 axis.0.free-pos-cmd
  34. 5 bit OUT FALSE axis.0.free-tp-enable
  35. 5 float OUT 0 axis.0.free-vel-lim
  36. 5 bit IN FALSE axis.0.home-sw-in
  37. 5 bit OUT FALSE axis.0.homed
  38. 5 bit OUT FALSE axis.0.homing
  39. 5 bit OUT TRUE axis.0.in-position
  40. 5 bit I/O FALSE axis.0.index-enable
  41. 5 s32 IN 0 axis.0.jog-counts
  42. 5 bit IN FALSE axis.0.jog-enable
  43. 5 float IN 0 axis.0.jog-scale
  44. 5 bit IN FALSE axis.0.jog-vel-mode
  45. 5 float OUT 0 axis.0.joint-pos-cmd
  46. 5 float OUT 0 axis.0.joint-pos-fb
  47. 5 float OUT -0 axis.0.joint-vel-cmd
  48. 5 bit OUT FALSE axis.0.kb-jog-active
  49. 5 float OUT 0 axis.0.motor-pos-cmd ==> xpos-cmd
  50. 5 float IN 0 axis.0.motor-pos-fb <== xpos-fb
  51. 5 bit OUT FALSE axis.0.neg-hard-limit
  52. 5 bit IN FALSE axis.0.neg-lim-sw-in
  53. 5 bit OUT FALSE axis.0.pos-hard-limit
  54. 5 bit IN FALSE axis.0.pos-lim-sw-in
  55. 5 bit OUT FALSE axis.0.wheel-jog-active
  56. 5 bit OUT TRUE axis.1.active
  57. 5 bit OUT TRUE axis.1.amp-enable-out ==> yenable
  58. 5 bit IN FALSE axis.1.amp-fault-in
  59. 5 float OUT 0 axis.1.backlash-corr
  60. 5 float OUT 0 axis.1.backlash-filt
  61. 5 float OUT 0 axis.1.backlash-vel
  62. 5 float OUT 0 axis.1.coarse-pos-cmd
  63. 5 bit OUT FALSE axis.1.error
  64. 5 float OUT 0 axis.1.f-error
  65. 5 float OUT 0.25 axis.1.f-error-lim
  66. 5 bit OUT FALSE axis.1.f-errored
  67. 5 bit OUT FALSE axis.1.faulted
  68. 5 float OUT 0 axis.1.free-pos-cmd
  69. 5 bit OUT FALSE axis.1.free-tp-enable
  70. 5 float OUT 0 axis.1.free-vel-lim
  71. 5 bit IN FALSE axis.1.home-sw-in
  72. 5 bit OUT FALSE axis.1.homed
  73. 5 bit OUT FALSE axis.1.homing
  74. 5 bit OUT TRUE axis.1.in-position
  75. 5 bit I/O FALSE axis.1.index-enable
  76. 5 s32 IN 0 axis.1.jog-counts
  77. 5 bit IN FALSE axis.1.jog-enable
  78. 5 float IN 0 axis.1.jog-scale
  79. 5 bit IN FALSE axis.1.jog-vel-mode
  80. 5 float OUT 0 axis.1.joint-pos-cmd
  81. 5 float OUT 0 axis.1.joint-pos-fb
  82. 5 float OUT -0 axis.1.joint-vel-cmd
  83. 5 bit OUT FALSE axis.1.kb-jog-active
  84. 5 float OUT 0 axis.1.motor-pos-cmd ==> ypos-cmd
  85. 5 float IN 0 axis.1.motor-pos-fb <== ypos-fb
  86. 5 bit OUT FALSE axis.1.neg-hard-limit
  87. 5 bit IN FALSE axis.1.neg-lim-sw-in
  88. 5 bit OUT FALSE axis.1.pos-hard-limit
  89. 5 bit IN FALSE axis.1.pos-lim-sw-in
  90. 5 bit OUT FALSE axis.1.wheel-jog-active
  91. 5 bit OUT TRUE axis.2.active
  92. 5 bit OUT TRUE axis.2.amp-enable-out ==> zenable
  93. 5 bit IN FALSE axis.2.amp-fault-in
  94. 5 float OUT 0 axis.2.backlash-corr
  95. 5 float OUT 0 axis.2.backlash-filt
  96. 5 float OUT 0 axis.2.backlash-vel
  97. 5 float OUT 0 axis.2.coarse-pos-cmd
  98. 5 bit OUT FALSE axis.2.error
  99. 5 float OUT 0 axis.2.f-error
  100. 5 float OUT 0.25 axis.2.f-error-lim
  101. 5 bit OUT FALSE axis.2.f-errored
  102. 5 bit OUT FALSE axis.2.faulted
  103. 5 float OUT 0 axis.2.free-pos-cmd
  104. 5 bit OUT FALSE axis.2.free-tp-enable
  105. 5 float OUT 0 axis.2.free-vel-lim
  106. 5 bit IN FALSE axis.2.home-sw-in
  107. 5 bit OUT FALSE axis.2.homed
  108. 5 bit OUT FALSE axis.2.homing
  109. 5 bit OUT TRUE axis.2.in-position
  110. 5 bit I/O FALSE axis.2.index-enable
  111. 5 s32 IN 0 axis.2.jog-counts
  112. 5 bit IN FALSE axis.2.jog-enable
  113. 5 float IN 0 axis.2.jog-scale
  114. 5 bit IN FALSE axis.2.jog-vel-mode
  115. 5 float OUT 0 axis.2.joint-pos-cmd
  116. 5 float OUT 0 axis.2.joint-pos-fb
  117. 5 float OUT -0 axis.2.joint-vel-cmd
  118. 5 bit OUT FALSE axis.2.kb-jog-active
  119. 5 float OUT 0 axis.2.motor-pos-cmd ==> zpos-cmd
  120. 5 float IN 0 axis.2.motor-pos-fb <== zpos-fb
  121. 5 bit OUT FALSE axis.2.neg-hard-limit
  122. 5 bit IN FALSE axis.2.neg-lim-sw-in
  123. 5 bit OUT FALSE axis.2.pos-hard-limit
  124. 5 bit IN FALSE axis.2.pos-lim-sw-in
  125. 5 bit OUT FALSE axis.2.wheel-jog-active
  126. 13 bit OUT FALSE axisui.jog.a
  127. 13 bit OUT FALSE axisui.jog.b
  128. 13 bit OUT FALSE axisui.jog.c
  129. 13 float OUT 0 axisui.jog.increment
  130. 13 bit OUT FALSE axisui.jog.u
  131. 13 bit OUT FALSE axisui.jog.v
  132. 13 bit OUT FALSE axisui.jog.w
  133. 13 bit OUT TRUE axisui.jog.x
  134. 13 bit OUT FALSE axisui.jog.y
  135. 13 bit OUT FALSE axisui.jog.z
  136. 13 bit IN FALSE axisui.notifications-clear
  137. 13 bit IN FALSE axisui.notifications-clear-error
  138. 13 bit IN FALSE axisui.notifications-clear-info
  139. 13 bit IN FALSE axisui.set-manual-mode
  140. 9 bit IN FALSE charge-pump.enable <== estop-out
  141. 9 bit OUT FALSE charge-pump.out ==> charge-pump
  142. 11 bit IN FALSE hal_manualtoolchange.change <== tool-change
  143. 11 bit OUT FALSE hal_manualtoolchange.changed ==> tool-changed
  144. 11 s32 IN 0 hal_manualtoolchange.number <== tool-number
  145. 3 bit IN FALSE halui.abort
  146. 3 float OUT 0 halui.axis.0.pos-commanded
  147. 3 float OUT 0 halui.axis.0.pos-feedback
  148. 3 float OUT 0 halui.axis.0.pos-relative
  149. 3 float OUT 0 halui.axis.1.pos-commanded
  150. 3 float OUT 0 halui.axis.1.pos-feedback
  151. 3 float OUT 0 halui.axis.1.pos-relative
  152. 3 float OUT 0 halui.axis.2.pos-commanded
  153. 3 float OUT 0 halui.axis.2.pos-feedback
  154. 3 float OUT 0 halui.axis.2.pos-relative
  155. 3 float OUT 0 halui.axis.3.pos-commanded
  156. 3 float OUT 0 halui.axis.3.pos-feedback
  157. 3 float OUT 0 halui.axis.3.pos-relative
  158. 3 float OUT 0 halui.axis.4.pos-commanded
  159. 3 float OUT 0 halui.axis.4.pos-feedback
  160. 3 float OUT 0 halui.axis.4.pos-relative
  161. 3 float OUT 0 halui.axis.5.pos-commanded
  162. 3 float OUT 0 halui.axis.5.pos-feedback
  163. 3 float OUT 0 halui.axis.5.pos-relative
  164. 3 float OUT 0 halui.axis.6.pos-commanded
  165. 3 float OUT 0 halui.axis.6.pos-feedback
  166. 3 float OUT 0 halui.axis.6.pos-relative
  167. 3 float OUT 0 halui.axis.7.pos-commanded
  168. 3 float OUT 0 halui.axis.7.pos-feedback
  169. 3 float OUT 0 halui.axis.7.pos-relative
  170. 3 float OUT 0 halui.axis.8.pos-commanded
  171. 3 float OUT 0 halui.axis.8.pos-feedback
  172. 3 float OUT 0 halui.axis.8.pos-relative
  173. 3 bit IN FALSE halui.estop.activate
  174. 3 bit OUT FALSE halui.estop.is-activated
  175. 3 bit IN FALSE halui.estop.reset
  176. 3 bit IN TRUE halui.feed-override.count-enable
  177. 3 s32 IN 0 halui.feed-override.counts
  178. 3 bit IN FALSE halui.feed-override.decrease
  179. 3 bit IN FALSE halui.feed-override.increase
  180. 3 float IN 0.1 halui.feed-override.scale
  181. 3 float OUT 0 halui.feed-override.value
  182. 3 bit OUT FALSE halui.flood.is-on
  183. 3 bit IN FALSE halui.flood.off
  184. 3 bit IN FALSE halui.flood.on
  185. 3 float IN 0.2 halui.jog-deadband
  186. 3 float IN 0 halui.jog-speed <== remote-jog-speed
  187. 3 float IN -0.003921569 halui.jog.0.analog <== joy-x-jog
  188. 3 bit IN FALSE halui.jog.0.minus
  189. 3 bit IN FALSE halui.jog.0.plus
  190. 3 float IN 0.003921569 halui.jog.1.analog <== joy-y-jog
  191. 3 bit IN FALSE halui.jog.1.minus
  192. 3 bit IN FALSE halui.jog.1.plus
  193. 3 float IN 0.003921569 halui.jog.2.analog <== joy-z-jog
  194. 3 bit IN FALSE halui.jog.2.minus
  195. 3 bit IN FALSE halui.jog.2.plus
  196. 3 bit IN FALSE halui.jog.selected.minus
  197. 3 bit IN FALSE halui.jog.selected.plus
  198. 3 bit OUT FALSE halui.joint.0.has-fault
  199. 3 bit IN FALSE halui.joint.0.home
  200. 3 bit OUT FALSE halui.joint.0.is-homed
  201. 3 bit OUT FALSE halui.joint.0.is-selected
  202. 3 bit OUT FALSE halui.joint.0.on-hard-max-limit
  203. 3 bit OUT FALSE halui.joint.0.on-hard-min-limit
  204. 3 bit OUT FALSE halui.joint.0.on-soft-max-limit
  205. 3 bit OUT FALSE halui.joint.0.on-soft-min-limit
  206. 3 bit IN FALSE halui.joint.0.select
  207. 3 bit IN FALSE halui.joint.0.unhome
  208. 3 bit OUT FALSE halui.joint.1.has-fault
  209. 3 bit IN FALSE halui.joint.1.home
  210. 3 bit OUT FALSE halui.joint.1.is-homed
  211. 3 bit OUT FALSE halui.joint.1.is-selected
  212. 3 bit OUT FALSE halui.joint.1.on-hard-max-limit
  213. 3 bit OUT FALSE halui.joint.1.on-hard-min-limit
  214. 3 bit OUT FALSE halui.joint.1.on-soft-max-limit
  215. 3 bit OUT FALSE halui.joint.1.on-soft-min-limit
  216. 3 bit IN FALSE halui.joint.1.select
  217. 3 bit IN FALSE halui.joint.1.unhome
  218. 3 bit OUT FALSE halui.joint.2.has-fault
  219. 3 bit IN FALSE halui.joint.2.home
  220. 3 bit OUT FALSE halui.joint.2.is-homed
  221. 3 bit OUT FALSE halui.joint.2.is-selected
  222. 3 bit OUT FALSE halui.joint.2.on-hard-max-limit
  223. 3 bit OUT FALSE halui.joint.2.on-hard-min-limit
  224. 3 bit OUT FALSE halui.joint.2.on-soft-max-limit
  225. 3 bit OUT FALSE halui.joint.2.on-soft-min-limit
  226. 3 bit IN FALSE halui.joint.2.select
  227. 3 bit IN FALSE halui.joint.2.unhome
  228. 3 u32 OUT 0x00000000 halui.joint.selected
  229. 3 bit OUT FALSE halui.joint.selected.has-fault
  230. 3 bit IN FALSE halui.joint.selected.home
  231. 3 bit OUT FALSE halui.joint.selected.is_homed
  232. 3 bit OUT FALSE halui.joint.selected.on-hard-max-limit
  233. 3 bit OUT FALSE halui.joint.selected.on-hard-min-limit
  234. 3 bit OUT FALSE halui.joint.selected.on-soft-limit
  235. 3 bit OUT FALSE halui.joint.selected.on-soft-min-limit
  236. 3 bit IN FALSE halui.joint.selected.unhome
  237. 3 bit OUT FALSE halui.lube.is-on
  238. 3 bit IN FALSE halui.lube.off
  239. 3 bit IN FALSE halui.lube.on
  240. 3 bit OUT FALSE halui.machine.is-on
  241. 3 bit IN FALSE halui.machine.off
  242. 3 bit IN FALSE halui.machine.on
  243. 3 bit IN TRUE halui.max-velocity.count-enable
  244. 3 s32 IN 0 halui.max-velocity.counts
  245. 3 bit IN FALSE halui.max-velocity.decrease
  246. 3 bit IN FALSE halui.max-velocity.increase
  247. 3 float IN 0 halui.max-velocity.scale
  248. 3 float OUT 0 halui.max-velocity.value
  249. 3 bit OUT FALSE halui.mist.is-on
  250. 3 bit IN FALSE halui.mist.off
  251. 3 bit IN FALSE halui.mist.on
  252. 3 bit IN FALSE halui.mode.auto
  253. 3 bit OUT FALSE halui.mode.is-auto
  254. 3 bit OUT FALSE halui.mode.is-joint
  255. 3 bit OUT FALSE halui.mode.is-manual
  256. 3 bit OUT FALSE halui.mode.is-mdi
  257. 3 bit OUT FALSE halui.mode.is-teleop
  258. 3 bit IN FALSE halui.mode.joint
  259. 3 bit IN FALSE halui.mode.manual
  260. 3 bit IN FALSE halui.mode.mdi
  261. 3 bit IN FALSE halui.mode.teleop
  262. 3 bit OUT FALSE halui.program.block-delete.is-on
  263. 3 bit IN FALSE halui.program.block-delete.off
  264. 3 bit IN FALSE halui.program.block-delete.on
  265. 3 bit OUT FALSE halui.program.is-idle
  266. 3 bit OUT FALSE halui.program.is-paused
  267. 3 bit OUT FALSE halui.program.is-running
  268. 3 bit OUT FALSE halui.program.optional-stop.is-on
  269. 3 bit IN FALSE halui.program.optional-stop.off
  270. 3 bit IN FALSE halui.program.optional-stop.on
  271. 3 bit IN FALSE halui.program.pause
  272. 3 bit IN FALSE halui.program.resume
  273. 3 bit IN FALSE halui.program.run
  274. 3 bit IN FALSE halui.program.step
  275. 3 bit IN FALSE halui.program.stop
  276. 3 bit IN TRUE halui.spindle-override.count-enable
  277. 3 s32 IN 0 halui.spindle-override.counts
  278. 3 bit IN FALSE halui.spindle-override.decrease
  279. 3 bit IN FALSE halui.spindle-override.increase
  280. 3 float IN 0.1 halui.spindle-override.scale
  281. 3 float OUT 0 halui.spindle-override.value
  282. 3 bit OUT FALSE halui.spindle.brake-is-on
  283. 3 bit IN FALSE halui.spindle.brake-off
  284. 3 bit IN FALSE halui.spindle.brake-on
  285. 3 bit IN FALSE halui.spindle.decrease
  286. 3 bit IN FALSE halui.spindle.forward
  287. 3 bit IN FALSE halui.spindle.increase
  288. 3 bit OUT FALSE halui.spindle.is-on
  289. 3 bit IN FALSE halui.spindle.reverse
  290. 3 bit OUT FALSE halui.spindle.runs-backward
  291. 3 bit OUT FALSE halui.spindle.runs-forward
  292. 3 bit IN FALSE halui.spindle.start
  293. 3 bit IN FALSE halui.spindle.stop
  294. 3 float OUT 0 halui.tool.length_offset.w
  295. 3 float OUT 0 halui.tool.length_offset.x
  296. 3 float OUT 0 halui.tool.length_offset.z
  297. 3 u32 OUT 0x00000000 halui.tool.number
  298. 12 s32 OUT 0 input.0.abs-hat0x-counts
  299. 12 s32 IN 0 input.0.abs-hat0x-flat
  300. 12 s32 IN 0 input.0.abs-hat0x-fuzz
  301. 12 float IN 0 input.0.abs-hat0x-offset
  302. 12 float OUT 0 input.0.abs-hat0x-position
  303. 12 float IN 1 input.0.abs-hat0x-scale
  304. 12 s32 OUT 0 input.0.abs-hat0y-counts
  305. 12 s32 IN 0 input.0.abs-hat0y-flat
  306. 12 s32 IN 0 input.0.abs-hat0y-fuzz
  307. 12 float IN 0 input.0.abs-hat0y-offset
  308. 12 float OUT 0 input.0.abs-hat0y-position
  309. 12 float IN 1 input.0.abs-hat0y-scale
  310. 12 s32 OUT 127 input.0.abs-rz-counts
  311. 12 s32 IN 15 input.0.abs-rz-flat
  312. 12 s32 IN 0 input.0.abs-rz-fuzz
  313. 12 float IN 127.5 input.0.abs-rz-offset
  314. 12 float OUT -0.003921569 input.0.abs-rz-position ==> reverse-z
  315. 12 float IN 127.5 input.0.abs-rz-scale
  316. 12 s32 OUT 127 input.0.abs-x-counts
  317. 12 s32 IN 15 input.0.abs-x-flat
  318. 12 s32 IN 0 input.0.abs-x-fuzz
  319. 12 float IN 127.5 input.0.abs-x-offset
  320. 12 float OUT -0.003921569 input.0.abs-x-position ==> reverse-y
  321. 12 float IN 127.5 input.0.abs-x-scale
  322. 12 s32 OUT 127 input.0.abs-y-counts
  323. 12 s32 IN 15 input.0.abs-y-flat
  324. 12 s32 IN 0 input.0.abs-y-fuzz
  325. 12 float IN 127.5 input.0.abs-y-offset
  326. 12 float OUT -0.003921569 input.0.abs-y-position ==> joy-x-jog
  327. 12 float IN 127.5 input.0.abs-y-scale
  328. 12 s32 OUT 127 input.0.abs-z-counts
  329. 12 s32 IN 15 input.0.abs-z-flat
  330. 12 s32 IN 0 input.0.abs-z-fuzz
  331. 12 float IN 127.5 input.0.abs-z-offset
  332. 12 float OUT -0.003921569 input.0.abs-z-position
  333. 12 float IN 127.5 input.0.abs-z-scale
  334. 12 bit OUT FALSE input.0.btn-base
  335. 12 bit OUT TRUE input.0.btn-base-not
  336. 12 bit OUT FALSE input.0.btn-base2
  337. 12 bit OUT TRUE input.0.btn-base2-not
  338. 12 bit OUT FALSE input.0.btn-base3
  339. 12 bit OUT TRUE input.0.btn-base3-not
  340. 12 bit OUT FALSE input.0.btn-base4
  341. 12 bit OUT TRUE input.0.btn-base4-not
  342. 12 bit OUT FALSE input.0.btn-base5
  343. 12 bit OUT TRUE input.0.btn-base5-not
  344. 12 bit OUT FALSE input.0.btn-base6
  345. 12 bit OUT TRUE input.0.btn-base6-not
  346. 12 bit OUT FALSE input.0.btn-pinkie
  347. 12 bit OUT TRUE input.0.btn-pinkie-not
  348. 12 bit OUT FALSE input.0.btn-thumb ==> remote-speed-medium
  349. 12 bit OUT TRUE input.0.btn-thumb-not
  350. 12 bit OUT FALSE input.0.btn-thumb2 ==> remote-speed-fast
  351. 12 bit OUT TRUE input.0.btn-thumb2-not
  352. 12 bit OUT FALSE input.0.btn-top
  353. 12 bit OUT TRUE input.0.btn-top-not
  354. 12 bit OUT FALSE input.0.btn-top2
  355. 12 bit OUT TRUE input.0.btn-top2-not
  356. 12 bit OUT FALSE input.0.btn-trigger ==> remote-speed-slow
  357. 12 bit OUT TRUE input.0.btn-trigger-not
  358. 2 bit OUT FALSE iocontrol.0.coolant-flood
  359. 2 bit OUT FALSE iocontrol.0.coolant-mist
  360. 2 bit IN TRUE iocontrol.0.emc-enable-in <== estop-ext
  361. 2 bit OUT TRUE iocontrol.0.lube
  362. 2 bit IN FALSE iocontrol.0.lube_level
  363. 2 bit OUT FALSE iocontrol.0.tool-change ==> tool-change
  364. 2 bit IN FALSE iocontrol.0.tool-changed <== tool-changed
  365. 2 s32 OUT 0 iocontrol.0.tool-number
  366. 2 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-number
  367. 2 s32 OUT 0 iocontrol.0.tool-prep-pocket
  368. 2 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback
  369. 2 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback
  370. 2 bit OUT FALSE iocontrol.0.user-enable-out ==> estop-out
  371. 2 bit OUT FALSE iocontrol.0.user-request-enable
  372. 5 float IN 1 motion.adaptive-feed
  373. 5 float IN 0 motion.analog-in-00
  374. 5 float IN 0 motion.analog-in-01
  375. 5 float IN 0 motion.analog-in-02
  376. 5 float IN 0 motion.analog-in-03
  377. 5 float OUT 0 motion.analog-out-00
  378. 5 float OUT 0 motion.analog-out-01
  379. 5 float OUT 0 motion.analog-out-02
  380. 5 float OUT 0 motion.analog-out-03
  381. 5 bit OUT FALSE motion.coord-error
  382. 5 bit OUT FALSE motion.coord-mode
  383. 5 float OUT 0 motion.current-vel
  384. 5 bit IN FALSE motion.digital-in-00
  385. 5 bit IN FALSE motion.digital-in-01
  386. 5 bit IN FALSE motion.digital-in-02
  387. 5 bit IN FALSE motion.digital-in-03
  388. 5 bit OUT FALSE motion.digital-out-00
  389. 5 bit OUT FALSE motion.digital-out-01
  390. 5 bit OUT FALSE motion.digital-out-02
  391. 5 bit OUT FALSE motion.digital-out-03
  392. 5 float OUT 0 motion.distance-to-go
  393. 5 bit IN TRUE motion.enable
  394. 5 bit IN FALSE motion.feed-hold
  395. 5 bit OUT TRUE motion.in-position
  396. 5 bit IN TRUE motion.motion-enabled
  397. 5 bit OUT FALSE motion.on-soft-limit
  398. 5 bit IN FALSE motion.probe-input <== probe-in
  399. 5 s32 OUT 0 motion.program-line
  400. 5 float OUT 0 motion.requested-vel
  401. 5 bit IN TRUE motion.spindle-at-speed
  402. 5 bit OUT TRUE motion.spindle-brake
  403. 5 bit OUT FALSE motion.spindle-forward
  404. 5 bit I/O FALSE motion.spindle-index-enable
  405. 5 bit OUT FALSE motion.spindle-on
  406. 5 bit OUT FALSE motion.spindle-reverse
  407. 5 float IN 0 motion.spindle-revs
  408. 5 float IN 0 motion.spindle-speed-in
  409. 5 float OUT 0 motion.spindle-speed-out ==> spindle-cmd
  410. 5 float OUT 0 motion.spindle-speed-out-rps
  411. 5 bit OUT FALSE motion.teleop-mode
  412. 5 float OUT 0 motion.tooloffset.w
  413. 5 float OUT 0 motion.tooloffset.x
  414. 5 float OUT 0 motion.tooloffset.z
  415. 15 float IN 0 mux4.0.in0
  416. 15 float IN 25 mux4.0.in1
  417. 15 float IN 100 mux4.0.in2
  418. 15 float IN 200 mux4.0.in3
  419. 15 float OUT 0 mux4.0.out ==> remote-jog-speed
  420. 15 bit IN FALSE mux4.0.sel0 <== joy-speed-1
  421. 15 bit IN FALSE mux4.0.sel1 <== joy-speed-2
  422. 14 bit IN FALSE or2.0.in0 <== remote-speed-slow
  423. 14 bit IN FALSE or2.0.in1 <== remote-speed-fast
  424. 14 bit OUT FALSE or2.0.out ==> joy-speed-1
  425. 14 bit IN FALSE or2.1.in0 <== remote-speed-medium
  426. 14 bit IN FALSE or2.1.in1 <== remote-speed-fast
  427. 14 bit OUT FALSE or2.1.out ==> joy-speed-2
  428. 7 bit IN FALSE parport.0.pin-01-out
  429. 7 bit IN FALSE parport.0.pin-02-out <== xdir
  430. 7 bit IN FALSE parport.0.pin-03-out <== xstep
  431. 7 bit IN FALSE parport.0.pin-04-out <== xdir
  432. 7 bit IN FALSE parport.0.pin-05-out <== xstep
  433. 7 bit IN FALSE parport.0.pin-06-out <== ydir
  434. 7 bit IN FALSE parport.0.pin-07-out <== ystep
  435. 7 bit IN FALSE parport.0.pin-08-out <== zdir
  436. 7 bit IN FALSE parport.0.pin-09-out <== zstep
  437. 7 bit OUT FALSE parport.0.pin-10-in
  438. 7 bit OUT TRUE parport.0.pin-10-in-not ==> estop-ext
  439. 7 bit OUT TRUE parport.0.pin-11-in
  440. 7 bit OUT FALSE parport.0.pin-11-in-not
  441. 7 bit OUT TRUE parport.0.pin-12-in
  442. 7 bit OUT FALSE parport.0.pin-12-in-not
  443. 7 bit OUT TRUE parport.0.pin-13-in
  444. 7 bit OUT FALSE parport.0.pin-13-in-not
  445. 7 bit IN FALSE parport.0.pin-14-out
  446. 7 bit OUT TRUE parport.0.pin-15-in
  447. 7 bit OUT FALSE parport.0.pin-15-in-not ==> probe-in
  448. 7 bit IN FALSE parport.0.pin-16-out
  449. 7 bit IN FALSE parport.0.pin-17-out <== charge-pump
  450. 8 s32 OUT 0 stepgen.0.counts
  451. 8 bit OUT FALSE stepgen.0.dir ==> xdir
  452. 8 bit IN TRUE stepgen.0.enable <== xenable
  453. 8 float IN 0 stepgen.0.position-cmd <== xpos-cmd
  454. 8 float OUT 0 stepgen.0.position-fb ==> xpos-fb
  455. 8 bit OUT FALSE stepgen.0.step ==> xstep
  456. 8 s32 OUT 0 stepgen.1.counts
  457. 8 bit OUT FALSE stepgen.1.dir ==> ydir
  458. 8 bit IN TRUE stepgen.1.enable <== yenable
  459. 8 float IN 0 stepgen.1.position-cmd <== ypos-cmd
  460. 8 float OUT 0 stepgen.1.position-fb ==> ypos-fb
  461. 8 bit OUT FALSE stepgen.1.step ==> ystep
  462. 8 s32 OUT 0 stepgen.2.counts
  463. 8 bit OUT FALSE stepgen.2.dir ==> zdir
  464. 8 bit IN TRUE stepgen.2.enable <== zenable
  465. 8 float IN 0 stepgen.2.position-cmd <== zpos-cmd
  466. 8 float OUT 0 stepgen.2.position-fb ==> zpos-fb
  467. 8 bit OUT FALSE stepgen.2.step ==> zstep
  468. 16 float IN -0.003921569 sum2.0.in0 <== reverse-y
  469. 16 float IN 0 sum2.0.in1
  470. 16 float OUT 0.003921569 sum2.0.out ==> joy-y-jog
  471. 16 float IN -0.003921569 sum2.1.in0 <== reverse-z
  472. 16 float IN 0 sum2.1.in1
  473. 16 float OUT 0.003921569 sum2.1.out ==> joy-z-jog
  474.  
  475. Pin Aliases:
  476. Alias Original Name
  477.  
  478. Signals:
  479. Type Value Name (linked to)
  480. bit FALSE charge-pump
  481. <== charge-pump.out
  482. ==> parport.0.pin-17-out
  483. bit TRUE estop-ext
  484. ==> iocontrol.0.emc-enable-in
  485. <== parport.0.pin-10-in-not
  486. bit FALSE estop-out
  487. ==> charge-pump.enable
  488. <== iocontrol.0.user-enable-out
  489. bit FALSE joy-speed-1
  490. ==> mux4.0.sel0
  491. <== or2.0.out
  492. bit FALSE joy-speed-2
  493. ==> mux4.0.sel1
  494. <== or2.1.out
  495. float -0.003921569 joy-x-jog
  496. ==> halui.jog.0.analog
  497. <== input.0.abs-y-position
  498. float 0.003921569 joy-y-jog
  499. ==> halui.jog.1.analog
  500. <== sum2.0.out
  501. float 0.003921569 joy-z-jog
  502. ==> halui.jog.2.analog
  503. <== sum2.1.out
  504. bit FALSE probe-in
  505. ==> motion.probe-input
  506. <== parport.0.pin-15-in-not
  507. float 0 remote-jog-speed
  508. ==> halui.jog-speed
  509. <== mux4.0.out
  510. bit FALSE remote-speed-fast
  511. <== input.0.btn-thumb2
  512. ==> or2.0.in1
  513. ==> or2.1.in1
  514. bit FALSE remote-speed-medium
  515. <== input.0.btn-thumb
  516. ==> or2.1.in0
  517. bit FALSE remote-speed-slow
  518. <== input.0.btn-trigger
  519. ==> or2.0.in0
  520. float -0.003921569 reverse-y
  521. <== input.0.abs-x-position
  522. ==> sum2.0.in0
  523. float -0.003921569 reverse-z
  524. <== input.0.abs-rz-position
  525. ==> sum2.1.in0
  526. float 0 spindle-cmd
  527. <== motion.spindle-speed-out
  528. bit FALSE tool-change
  529. ==> hal_manualtoolchange.change
  530. <== iocontrol.0.tool-change
  531. bit FALSE tool-changed
  532. <== hal_manualtoolchange.changed
  533. ==> iocontrol.0.tool-changed
  534. s32 0 tool-number
  535. ==> hal_manualtoolchange.number
  536. <== iocontrol.0.tool-prep-number
  537. bit FALSE tool-prepare-loopback
  538. <== iocontrol.0.tool-prepare
  539. ==> iocontrol.0.tool-prepared
  540. bit FALSE xdir
  541. ==> parport.0.pin-02-out
  542. ==> parport.0.pin-04-out
  543. <== stepgen.0.dir
  544. bit TRUE xenable
  545. <== axis.0.amp-enable-out
  546. ==> stepgen.0.enable
  547. float 0 xpos-cmd
  548. <== axis.0.motor-pos-cmd
  549. ==> stepgen.0.position-cmd
  550. float 0 xpos-fb
  551. ==> axis.0.motor-pos-fb
  552. <== stepgen.0.position-fb
  553. bit FALSE xstep
  554. ==> parport.0.pin-03-out
  555. ==> parport.0.pin-05-out
  556. <== stepgen.0.step
  557. bit FALSE ydir
  558. ==> parport.0.pin-06-out
  559. <== stepgen.1.dir
  560. bit TRUE yenable
  561. <== axis.1.amp-enable-out
  562. ==> stepgen.1.enable
  563. float 0 ypos-cmd
  564. <== axis.1.motor-pos-cmd
  565. ==> stepgen.1.position-cmd
  566. float 0 ypos-fb
  567. ==> axis.1.motor-pos-fb
  568. <== stepgen.1.position-fb
  569. bit FALSE ystep
  570. ==> parport.0.pin-07-out
  571. <== stepgen.1.step
  572. bit FALSE zdir
  573. ==> parport.0.pin-08-out
  574. <== stepgen.2.dir
  575. bit TRUE zenable
  576. <== axis.2.amp-enable-out
  577. ==> stepgen.2.enable
  578. float 0 zpos-cmd
  579. <== axis.2.motor-pos-cmd
  580. ==> stepgen.2.position-cmd
  581. float 0 zpos-fb
  582. ==> axis.2.motor-pos-fb
  583. <== stepgen.2.position-fb
  584. bit FALSE zstep
  585. ==> parport.0.pin-09-out
  586. <== stepgen.2.step
  587.  
  588. Parameters:
  589. Owner Type Dir Value Name
  590. 5 s32 RO 0 axis.0.home-state
  591. 5 s32 RO 0 axis.1.home-state
  592. 5 s32 RO 0 axis.2.home-state
  593. 9 s32 RO 137 charge-pump.time
  594. 9 s32 RW 12380 charge-pump.tmax
  595. 12 s32 RO 1 input.0.abs-hat0x-max
  596. 12 s32 RO -1 input.0.abs-hat0x-min
  597. 12 s32 RO 1 input.0.abs-hat0y-max
  598. 12 s32 RO -1 input.0.abs-hat0y-min
  599. 12 s32 RO 255 input.0.abs-rz-max
  600. 12 s32 RO 0 input.0.abs-rz-min
  601. 12 s32 RO 255 input.0.abs-x-max
  602. 12 s32 RO 0 input.0.abs-x-min
  603. 12 s32 RO 255 input.0.abs-y-max
  604. 12 s32 RO 0 input.0.abs-y-min
  605. 12 s32 RO 255 input.0.abs-z-max
  606. 12 s32 RO 0 input.0.abs-z-min
  607. 5 s32 RO 233 motion-command-handler.time
  608. 5 s32 RW 12439 motion-command-handler.tmax
  609. 5 s32 RO 6572 motion-controller.time
  610. 5 s32 RW 160264 motion-controller.tmax
  611. 5 bit RO FALSE motion.debug-bit-0
  612. 5 bit RO FALSE motion.debug-bit-1
  613. 5 float RO 1 motion.debug-float-0
  614. 5 float RO 0 motion.debug-float-1
  615. 5 float RO 0 motion.debug-float-2
  616. 5 float RO 1 motion.debug-float-3
  617. 5 s32 RO 0 motion.debug-s32-0
  618. 5 s32 RO 0 motion.debug-s32-1
  619. 5 u32 RO 0x00133A3C motion.servo.last-period
  620. 5 float RO 997341.4 motion.servo.last-period-ns
  621. 5 u32 RW 0x00000000 motion.servo.overruns
  622. 15 s32 RO 181 mux4.0.time
  623. 15 s32 RW 32396 mux4.0.tmax
  624. 14 s32 RO 365 or2.0.time
  625. 14 s32 RW 20952 or2.0.tmax
  626. 14 s32 RO 80 or2.1.time
  627. 14 s32 RW 22403 or2.1.tmax
  628. 7 u32 RW 0x00000000 parport.0.debug1
  629. 7 u32 RW 0x00000000 parport.0.debug2
  630. 7 bit RW FALSE parport.0.pin-01-out-invert
  631. 7 bit RW FALSE parport.0.pin-01-out-reset
  632. 7 bit RW FALSE parport.0.pin-02-out-invert
  633. 7 bit RW FALSE parport.0.pin-02-out-reset
  634. 7 bit RW FALSE parport.0.pin-03-out-invert
  635. 7 bit RW TRUE parport.0.pin-03-out-reset
  636. 7 bit RW TRUE parport.0.pin-04-out-invert
  637. 7 bit RW FALSE parport.0.pin-04-out-reset
  638. 7 bit RW FALSE parport.0.pin-05-out-invert
  639. 7 bit RW TRUE parport.0.pin-05-out-reset
  640. 7 bit RW TRUE parport.0.pin-06-out-invert
  641. 7 bit RW FALSE parport.0.pin-06-out-reset
  642. 7 bit RW FALSE parport.0.pin-07-out-invert
  643. 7 bit RW TRUE parport.0.pin-07-out-reset
  644. 7 bit RW FALSE parport.0.pin-08-out-invert
  645. 7 bit RW FALSE parport.0.pin-08-out-reset
  646. 7 bit RW FALSE parport.0.pin-09-out-invert
  647. 7 bit RW TRUE parport.0.pin-09-out-reset
  648. 7 bit RW FALSE parport.0.pin-14-out-invert
  649. 7 bit RW FALSE parport.0.pin-14-out-reset
  650. 7 bit RW FALSE parport.0.pin-16-out-invert
  651. 7 bit RW FALSE parport.0.pin-16-out-reset
  652. 7 bit RW TRUE parport.0.pin-17-out-invert
  653. 7 bit RW FALSE parport.0.pin-17-out-reset
  654. 7 s32 RO 1953 parport.0.read.time
  655. 7 s32 RW 18263 parport.0.read.tmax
  656. 7 u32 RW 0x000003E8 parport.0.reset-time
  657. 7 s32 RO 175 parport.0.reset.time
  658. 7 s32 RW 16011 parport.0.reset.tmax
  659. 7 s32 RO 4214 parport.0.write.time
  660. 7 s32 RW 21677 parport.0.write.tmax
  661. 7 s32 RO 0 parport.read-all.time
  662. 7 s32 RW 0 parport.read-all.tmax
  663. 7 s32 RO 0 parport.write-all.time
  664. 7 s32 RW 0 parport.write-all.tmax
  665. 8 u32 RW 0x00018595 stepgen.0.dirhold
  666. 8 u32 RW 0x00018595 stepgen.0.dirsetup
  667. 8 float RO 0 stepgen.0.frequency
  668. 8 float RW 1875 stepgen.0.maxaccel
  669. 8 float RW 0 stepgen.0.maxvel
  670. 8 float RW 26.52585 stepgen.0.position-scale
  671. 8 s32 RO 0 stepgen.0.rawcounts
  672. 8 u32 RW 0x00018595 stepgen.0.steplen
  673. 8 u32 RW 0x00000000 stepgen.0.stepspace
  674. 8 u32 RW 0x00018595 stepgen.1.dirhold
  675. 8 u32 RW 0x00018595 stepgen.1.dirsetup
  676. 8 float RO 0 stepgen.1.frequency
  677. 8 float RW 1875 stepgen.1.maxaccel
  678. 8 float RW 0 stepgen.1.maxvel
  679. 8 float RW 26.52585 stepgen.1.position-scale
  680. 8 s32 RO 0 stepgen.1.rawcounts
  681. 8 u32 RW 0x00018595 stepgen.1.steplen
  682. 8 u32 RW 0x00000000 stepgen.1.stepspace
  683. 8 u32 RW 0x00018595 stepgen.2.dirhold
  684. 8 u32 RW 0x00018595 stepgen.2.dirsetup
  685. 8 float RO 0 stepgen.2.frequency
  686. 8 float RW 1125 stepgen.2.maxaccel
  687. 8 float RW 0 stepgen.2.maxvel
  688. 8 float RW 26.52585 stepgen.2.position-scale
  689. 8 s32 RO 0 stepgen.2.rawcounts
  690. 8 u32 RW 0x00018595 stepgen.2.steplen
  691. 8 u32 RW 0x00000000 stepgen.2.stepspace
  692. 8 s32 RO 286 stepgen.capture-position.time
  693. 8 s32 RW 11015 stepgen.capture-position.tmax
  694. 8 s32 RO 396 stepgen.make-pulses.time
  695. 8 s32 RW 14167 stepgen.make-pulses.tmax
  696. 8 s32 RO 1205 stepgen.update-freq.time
  697. 8 s32 RW 45702 stepgen.update-freq.tmax
  698. 16 float RW -1 sum2.0.gain0
  699. 16 float RW 1 sum2.0.gain1
  700. 16 float RW 0 sum2.0.offset
  701. 16 s32 RO 137 sum2.0.time
  702. 16 s32 RW 11701 sum2.0.tmax
  703. 16 float RW -1 sum2.1.gain0
  704. 16 float RW 1 sum2.1.gain1
  705. 16 float RW 0 sum2.1.offset
  706. 16 s32 RO 88 sum2.1.time
  707. 16 s32 RW 29461 sum2.1.tmax
  708. 5 float RO 0 tc.0.acc
  709. 5 float RO 0 tc.0.pos
  710. 5 float RO 0 tc.0.vel
  711. 5 float RO 0 tc.1.acc
  712. 5 float RO 0 tc.1.pos
  713. 5 float RO 0 tc.1.vel
  714. 5 float RO 0 tc.2.acc
  715. 5 float RO 0 tc.2.pos
  716. 5 float RO 0 tc.2.vel
  717. 5 float RO 0 tc.3.acc
  718. 5 float RO 0 tc.3.pos
  719. 5 float RO 0 tc.3.vel
  720. 5 u32 RO 0x00000000 traj.active_tc
  721. 5 float RO 0 traj.pos_out
  722. 5 float RO 0 traj.vel_out
  723.  
  724. Parameter Aliases:
  725. Alias Original Name
  726.  
  727. Exported Functions:
  728. Owner CodeAddr Arg FP Users Name
  729. 00009 e0207000 e04ba258 NO 1 charge-pump
  730. 00005 e051c3af 00000000 YES 1 motion-command-handler
  731. 00005 e051e805 00000000 YES 1 motion-controller
  732. 00015 e0279000 e04ba598 YES 1 mux4.0
  733. 00014 e04a2000 e04ba5c8 NO 1 or2.0
  734. 00014 e04a2000 e04ba5d8 NO 1 or2.1
  735. 00007 e0222000 e04b9eb0 NO 1 parport.0.read
  736. 00007 e0223051 e04b9eb0 NO 1 parport.0.reset
  737. 00007 e0222dd4 e04b9eb0 NO 1 parport.0.write
  738. 00007 e02220aa e04b9eb0 NO 0 parport.read-all
  739. 00007 e0222f44 e04b9eb0 NO 0 parport.write-all
  740. 00008 e0275208 e04b9fd0 YES 1 stepgen.capture-position
  741. 00008 e0275000 e04b9fd0 NO 1 stepgen.make-pulses
  742. 00008 e0275b1a e04b9fd0 YES 1 stepgen.update-freq
  743. 00016 e04a5000 e04ba5f8 YES 1 sum2.0
  744. 00016 e04a5000 e04ba620 YES 1 sum2.1
  745.  
  746. Realtime Threads:
  747. Period FP Name ( Time, Max-Time )
  748. 997330 YES servo-thread ( 9147, 199217 )
  749. 1 stepgen.capture-position
  750. 2 motion-command-handler
  751. 3 motion-controller
  752. 4 stepgen.update-freq
  753. 5 mux4.0
  754. 6 or2.0
  755. 7 or2.1
  756. 8 sum2.0
  757. 9 sum2.1
  758. 99733 NO base-thread ( 6821, 24029 )
  759. 1 parport.0.read
  760. 2 stepgen.make-pulses
  761. 3 charge-pump
  762. 4 parport.0.write
  763. 5 parport.0.reset
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