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hal

zhivko
Jun 27th, 2016
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  1. machinekit@beaglebone:~$ halcmd show motion.spin*
  2. <commandline>:0: Unknown 'show' type 'motion.spin*'
  3. machinekit@beaglebone:~$ halcmd show motion.*
  4. <commandline>:0: Unknown 'show' type 'motion.*'
  5. machinekit@beaglebone:~$ halcmd show
  6. Loaded HAL Components:
  7. ID Type Flags Inst Name PID State
  8. 837 User 0 halcmd27137 27137 ready, u1:0 u2:0
  9. 836 uHAL i 0 hal_lib27137 27137 ready, u1:0 u2:0
  10. 827 RT 0 scope_rt RT ready, u1:0 u2:0
  11. 824 User 0 halscope 26648 ready, u1:0 u2:0
  12. 823 uHAL i 0 hal_lib26648 26648 ready, u1:0 u2:0
  13. 755 User 0 inihal 26147 ready, u1:0 u2:0
  14. 754 uHAL i 0 hal_lib26147 26147 ready, u1:0 u2:0
  15. 746 Rem 0 mymotion 25753 bound, update:never, bound:-1188s, unbound:-1323s, u1:100 u2:0
  16. 713 User 0 Therm 26139 ready, u1:0 u2:0
  17. 712 uHAL i 0 hal_lib26139 26139 ready, u1:0 u2:0
  18. 693 RT c 2 limit1 RT ready, u1:0 u2:0
  19. 622 RT c 2 pid RT ready, u1:0 u2:0
  20. 457 RT 0 hal_pru_generic RT ready, u1:0 u2:0
  21. 414 RT 0 hal_bb_gpio RT ready, u1:0 u2:0
  22. 97 RT 0 motmod RT ready, u1:0 u2:0
  23. 95 RT 0 tp RT ready, u1:0 u2:0
  24. 93 RT 0 trivkins RT ready, u1:0 u2:0
  25. 92 User 0 haltalk 25753 ready, u1:0 u2:0
  26. 91 uHAL i 0 hal_lib25753 25753 ready, u1:0 u2:0
  27. 74 User 0 iocontrol 25745 ready, u1:0 u2:0
  28. 73 uHAL i 0 hal_lib25745 25745 ready, u1:0 u2:0
  29. 66 rHAL i 0 hal_lib 0 ready, u1:0 u2:0
  30.  
  31. Instances:
  32. Inst Comp Size Name Owner
  33. 703 693 20 limit1.1 limit1
  34. 694 693 20 limit1.0 limit1
  35. 658 622 160 pid.1 pid
  36. 623 622 160 pid.0 pid
  37.  
  38. Component Pins:
  39. Comp Inst Type Dir Value Name Epsilon Flags
  40. 713 float OUT 1274 Therm.ch-04.raw 0.0000100
  41. 713 float OUT 176.3 Therm.ch-04.value 0.0000100
  42. 713 float OUT 1905 Therm.ch-05.raw 0.0000100
  43. 713 float OUT 147.7 Therm.ch-05.value 0.0000100
  44. 713 bit OUT FALSE Therm.error 0
  45. 713 bit OUT TRUE Therm.no-error 0
  46. 713 bit OUT TRUE Therm.watchdog 0
  47. 97 bit OUT TRUE axis.0.active 0
  48. 97 bit OUT TRUE axis.0.amp-enable-out 0 ==> emcmot.00.enable
  49. 97 bit IN FALSE axis.0.amp-fault-in 0
  50. 97 float OUT -0 axis.0.backlash-corr 0.0000100
  51. 97 float OUT 0 axis.0.backlash-filt 0.0000100
  52. 97 float OUT 0 axis.0.backlash-vel 0.0000100
  53. 97 float OUT 0 axis.0.coarse-pos-cmd 0.0000100
  54. 97 bit OUT FALSE axis.0.error 0
  55. 97 float OUT 0 axis.0.f-error 0.0000100
  56. 97 float OUT 0.25 axis.0.f-error-lim 0.0000100
  57. 97 bit OUT FALSE axis.0.f-errored 0
  58. 97 bit OUT FALSE axis.0.faulted 0
  59. 97 float OUT 0 axis.0.free-pos-cmd 0.0000100
  60. 97 bit OUT FALSE axis.0.free-tp-enable 0
  61. 97 float OUT 500 axis.0.free-vel-lim 0.0000100
  62. 97 float IN 0 axis.0.home 0.0000100
  63. 97 float IN 0 axis.0.home-offset 0.0000100
  64. 97 s32 OUT 0 axis.0.home-state 0
  65. 97 bit IN FALSE axis.0.home-sw-in 0
  66. 97 bit OUT TRUE axis.0.homed 0
  67. 97 bit OUT FALSE axis.0.homing 0
  68. 97 bit OUT TRUE axis.0.in-position 0
  69. 97 bit I/O FALSE axis.0.index-enable 0
  70. 97 s32 IN 0 axis.0.jog-counts 0
  71. 97 bit IN FALSE axis.0.jog-enable 0
  72. 97 float IN 0 axis.0.jog-scale 0.0000100
  73. 97 bit IN FALSE axis.0.jog-vel-mode 0
  74. 97 float OUT 0 axis.0.joint-pos-cmd 0.0000100
  75. 97 float OUT 0 axis.0.joint-pos-fb 0.0000100
  76. 97 float OUT 0 axis.0.joint-vel-cmd 0.0000100
  77. 97 bit OUT FALSE axis.0.kb-jog-active 0
  78. 97 float OUT 0 axis.0.motor-offset 0.0000100
  79. 97 float OUT 0 axis.0.motor-pos-cmd 0.0000100 ==> emcmot.00.pos-cmd
  80. 97 float IN 0 axis.0.motor-pos-fb 0.0000100 <== emcmot.00.pos-cmd
  81. 97 bit OUT FALSE axis.0.neg-hard-limit 0
  82. 97 bit IN FALSE axis.0.neg-lim-sw-in 0
  83. 97 bit OUT FALSE axis.0.pos-hard-limit 0
  84. 97 bit IN FALSE axis.0.pos-lim-sw-in 0
  85. 97 bit OUT FALSE axis.0.wheel-jog-active 0
  86. 97 bit OUT TRUE axis.1.active 0
  87. 97 bit OUT TRUE axis.1.amp-enable-out 0 ==> emcmot.01.enable
  88. 97 bit IN FALSE axis.1.amp-fault-in 0
  89. 97 float OUT 0 axis.1.backlash-corr 0.0000100
  90. 97 float OUT 0 axis.1.backlash-filt 0.0000100
  91. 97 float OUT 0 axis.1.backlash-vel 0.0000100
  92. 97 float OUT 25 axis.1.coarse-pos-cmd 0.0000100
  93. 97 bit OUT FALSE axis.1.error 0
  94. 97 float OUT 0 axis.1.f-error 0.0000100
  95. 97 float OUT 0.25 axis.1.f-error-lim 0.0000100
  96. 97 bit OUT FALSE axis.1.f-errored 0
  97. 97 bit OUT FALSE axis.1.faulted 0
  98. 97 float OUT 0 axis.1.free-pos-cmd 0.0000100
  99. 97 bit OUT FALSE axis.1.free-tp-enable 0
  100. 97 float OUT 500 axis.1.free-vel-lim 0.0000100
  101. 97 float IN 0 axis.1.home 0.0000100
  102. 97 float IN 0 axis.1.home-offset 0.0000100
  103. 97 s32 OUT 0 axis.1.home-state 0
  104. 97 bit IN FALSE axis.1.home-sw-in 0
  105. 97 bit OUT TRUE axis.1.homed 0
  106. 97 bit OUT FALSE axis.1.homing 0
  107. 97 bit OUT TRUE axis.1.in-position 0
  108. 97 bit I/O FALSE axis.1.index-enable 0
  109. 97 s32 IN 0 axis.1.jog-counts 0
  110. 97 bit IN FALSE axis.1.jog-enable 0
  111. 97 float IN 0 axis.1.jog-scale 0.0000100
  112. 97 bit IN FALSE axis.1.jog-vel-mode 0
  113. 97 float OUT 25 axis.1.joint-pos-cmd 0.0000100
  114. 97 float OUT 25 axis.1.joint-pos-fb 0.0000100
  115. 97 float OUT 0 axis.1.joint-vel-cmd 0.0000100
  116. 97 bit OUT FALSE axis.1.kb-jog-active 0
  117. 97 float OUT 0 axis.1.motor-offset 0.0000100
  118. 97 float OUT 25 axis.1.motor-pos-cmd 0.0000100 ==> emcmot.01.pos-cmd
  119. 97 float IN 25 axis.1.motor-pos-fb 0.0000100 <== emcmot.01.pos-cmd
  120. 97 bit OUT FALSE axis.1.neg-hard-limit 0
  121. 97 bit IN FALSE axis.1.neg-lim-sw-in 0
  122. 97 bit OUT FALSE axis.1.pos-hard-limit 0
  123. 97 bit IN FALSE axis.1.pos-lim-sw-in 0
  124. 97 bit OUT FALSE axis.1.wheel-jog-active 0
  125. 97 bit OUT TRUE axis.2.active 0
  126. 97 bit OUT TRUE axis.2.amp-enable-out 0 ==> emcmot.02.enable
  127. 97 bit IN FALSE axis.2.amp-fault-in 0
  128. 97 float OUT 0 axis.2.backlash-corr 0.0000100
  129. 97 float OUT 0 axis.2.backlash-filt 0.0000100
  130. 97 float OUT 0 axis.2.backlash-vel 0.0000100
  131. 97 float OUT 14.14 axis.2.coarse-pos-cmd 0.0000100
  132. 97 bit OUT FALSE axis.2.error 0
  133. 97 float OUT 0 axis.2.f-error 0.0000100
  134. 97 float OUT 0.25 axis.2.f-error-lim 0.0000100
  135. 97 bit OUT FALSE axis.2.f-errored 0
  136. 97 bit OUT FALSE axis.2.faulted 0
  137. 97 float OUT 0 axis.2.free-pos-cmd 0.0000100
  138. 97 bit OUT FALSE axis.2.free-tp-enable 0
  139. 97 float OUT 500 axis.2.free-vel-lim 0.0000100
  140. 97 float IN 0 axis.2.home 0.0000100
  141. 97 float IN 0 axis.2.home-offset 0.0000100
  142. 97 s32 OUT 0 axis.2.home-state 0
  143. 97 bit IN FALSE axis.2.home-sw-in 0
  144. 97 bit OUT TRUE axis.2.homed 0
  145. 97 bit OUT FALSE axis.2.homing 0
  146. 97 bit OUT TRUE axis.2.in-position 0
  147. 97 bit I/O FALSE axis.2.index-enable 0
  148. 97 s32 IN 0 axis.2.jog-counts 0
  149. 97 bit IN FALSE axis.2.jog-enable 0
  150. 97 float IN 0 axis.2.jog-scale 0.0000100
  151. 97 bit IN FALSE axis.2.jog-vel-mode 0
  152. 97 float OUT 14.14 axis.2.joint-pos-cmd 0.0000100
  153. 97 float OUT 14.14 axis.2.joint-pos-fb 0.0000100
  154. 97 float OUT 0 axis.2.joint-vel-cmd 0.0000100
  155. 97 bit OUT FALSE axis.2.kb-jog-active 0
  156. 97 float OUT 0 axis.2.motor-offset 0.0000100
  157. 97 float OUT 14.14 axis.2.motor-pos-cmd 0.0000100 ==> emcmot.02.pos-cmd
  158. 97 float IN 14.14 axis.2.motor-pos-fb 0.0000100 <== emcmot.02.pos-cmd
  159. 97 bit OUT FALSE axis.2.neg-hard-limit 0
  160. 97 bit IN FALSE axis.2.neg-lim-sw-in 0
  161. 97 bit OUT FALSE axis.2.pos-hard-limit 0
  162. 97 bit IN FALSE axis.2.pos-lim-sw-in 0
  163. 97 bit OUT FALSE axis.2.wheel-jog-active 0
  164. 97 bit OUT TRUE axis.3.active 0
  165. 97 bit OUT TRUE axis.3.amp-enable-out 0 ==> emcmot.03.enable
  166. 97 bit IN FALSE axis.3.amp-fault-in 0
  167. 97 float OUT -0 axis.3.backlash-corr 0.0000100
  168. 97 float OUT 0 axis.3.backlash-filt 0.0000100
  169. 97 float OUT 0 axis.3.backlash-vel 0.0000100
  170. 97 float OUT 0 axis.3.coarse-pos-cmd 0.0000100
  171. 97 bit OUT FALSE axis.3.error 0
  172. 97 float OUT 0 axis.3.f-error 0.0000100
  173. 97 float OUT 0.25 axis.3.f-error-lim 0.0000100
  174. 97 bit OUT FALSE axis.3.f-errored 0
  175. 97 bit OUT FALSE axis.3.faulted 0
  176. 97 float OUT 0 axis.3.free-pos-cmd 0.0000100
  177. 97 bit OUT FALSE axis.3.free-tp-enable 0
  178. 97 float OUT 70 axis.3.free-vel-lim 0.0000100
  179. 97 float IN 0 axis.3.home 0.0000100
  180. 97 float IN 0 axis.3.home-offset 0.0000100
  181. 97 s32 OUT 0 axis.3.home-state 0
  182. 97 bit IN FALSE axis.3.home-sw-in 0
  183. 97 bit OUT TRUE axis.3.homed 0
  184. 97 bit OUT FALSE axis.3.homing 0
  185. 97 bit OUT TRUE axis.3.in-position 0
  186. 97 bit I/O FALSE axis.3.index-enable 0
  187. 97 bit IN FALSE axis.3.is-unlocked 0
  188. 97 s32 IN 0 axis.3.jog-counts 0
  189. 97 bit IN FALSE axis.3.jog-enable 0
  190. 97 float IN 0 axis.3.jog-scale 0.0000100
  191. 97 bit IN FALSE axis.3.jog-vel-mode 0
  192. 97 float OUT 0 axis.3.joint-pos-cmd 0.0000100
  193. 97 float OUT 0 axis.3.joint-pos-fb 0.0000100
  194. 97 float OUT 0 axis.3.joint-vel-cmd 0.0000100
  195. 97 bit OUT FALSE axis.3.kb-jog-active 0
  196. 97 float OUT 0 axis.3.motor-offset 0.0000100
  197. 97 float OUT 0 axis.3.motor-pos-cmd 0.0000100 ==> emcmot.03.pos-cmd
  198. 97 float IN 0 axis.3.motor-pos-fb 0.0000100 <== emcmot.03.pos-cmd
  199. 97 bit OUT FALSE axis.3.neg-hard-limit 0
  200. 97 bit IN FALSE axis.3.neg-lim-sw-in 0
  201. 97 bit OUT FALSE axis.3.pos-hard-limit 0
  202. 97 bit IN FALSE axis.3.pos-lim-sw-in 0
  203. 97 bit OUT FALSE axis.3.unlock 0
  204. 97 bit OUT FALSE axis.3.wheel-jog-active 0
  205. 97 bit OUT TRUE axis.4.active 0
  206. 97 bit OUT TRUE axis.4.amp-enable-out 0 ==> emcmot.04.enable
  207. 97 bit IN FALSE axis.4.amp-fault-in 0
  208. 97 float OUT -0 axis.4.backlash-corr 0.0000100
  209. 97 float OUT 0 axis.4.backlash-filt 0.0000100
  210. 97 float OUT 0 axis.4.backlash-vel 0.0000100
  211. 97 float OUT 0 axis.4.coarse-pos-cmd 0.0000100
  212. 97 bit OUT FALSE axis.4.error 0
  213. 97 float OUT 0 axis.4.f-error 0.0000100
  214. 97 float OUT 0.25 axis.4.f-error-lim 0.0000100
  215. 97 bit OUT FALSE axis.4.f-errored 0
  216. 97 bit OUT FALSE axis.4.faulted 0
  217. 97 float OUT 0 axis.4.free-pos-cmd 0.0000100
  218. 97 bit OUT FALSE axis.4.free-tp-enable 0
  219. 97 float OUT 70 axis.4.free-vel-lim 0.0000100
  220. 97 float IN 0 axis.4.home 0.0000100
  221. 97 float IN 0 axis.4.home-offset 0.0000100
  222. 97 s32 OUT 0 axis.4.home-state 0
  223. 97 bit IN FALSE axis.4.home-sw-in 0
  224. 97 bit OUT TRUE axis.4.homed 0
  225. 97 bit OUT FALSE axis.4.homing 0
  226. 97 bit OUT TRUE axis.4.in-position 0
  227. 97 bit I/O FALSE axis.4.index-enable 0
  228. 97 bit IN FALSE axis.4.is-unlocked 0
  229. 97 s32 IN 0 axis.4.jog-counts 0
  230. 97 bit IN FALSE axis.4.jog-enable 0
  231. 97 float IN 0 axis.4.jog-scale 0.0000100
  232. 97 bit IN FALSE axis.4.jog-vel-mode 0
  233. 97 float OUT 0 axis.4.joint-pos-cmd 0.0000100
  234. 97 float OUT 0 axis.4.joint-pos-fb 0.0000100
  235. 97 float OUT 0 axis.4.joint-vel-cmd 0.0000100
  236. 97 bit OUT FALSE axis.4.kb-jog-active 0
  237. 97 float OUT 0 axis.4.motor-offset 0.0000100
  238. 97 float OUT 0 axis.4.motor-pos-cmd 0.0000100 ==> emcmot.04.pos-cmd
  239. 97 float IN 0 axis.4.motor-pos-fb 0.0000100 <== emcmot.04.pos-cmd
  240. 97 bit OUT FALSE axis.4.neg-hard-limit 0
  241. 97 bit IN FALSE axis.4.neg-lim-sw-in 0
  242. 97 bit OUT FALSE axis.4.pos-hard-limit 0
  243. 97 bit IN FALSE axis.4.pos-lim-sw-in 0
  244. 97 bit OUT FALSE axis.4.unlock 0
  245. 97 bit OUT FALSE axis.4.wheel-jog-active 0
  246. 414 bit OUT TRUE bb_gpio.p8.in-07 0 ==> limit-x-max
  247. 414 bit IN TRUE bb_gpio.p8.in-07.invert 0
  248. 414 bit OUT TRUE bb_gpio.p8.in-08 0 ==> limit-x-min
  249. 414 bit IN TRUE bb_gpio.p8.in-08.invert 0
  250. 414 bit OUT TRUE bb_gpio.p8.in-09 0 ==> limit-y-max
  251. 414 bit IN TRUE bb_gpio.p8.in-09.invert 0
  252. 414 bit OUT TRUE bb_gpio.p8.in-10 0 ==> limit-y-min
  253. 414 bit IN TRUE bb_gpio.p8.in-10.invert 0
  254. 414 bit OUT TRUE bb_gpio.p8.in-17 0 ==> estop-loop
  255. 414 bit IN TRUE bb_gpio.p8.in-17.invert 0
  256. 414 bit IN FALSE bb_gpio.p8.out-11 0 <== spindle-enable
  257. 414 bit IN FALSE bb_gpio.p8.out-11.invert 0
  258. 414 bit IN FALSE bb_gpio.p8.out-16 0 <== eMMC-disabled
  259. 414 bit IN TRUE bb_gpio.p8.out-16.invert 0
  260. 414 bit IN FALSE bb_gpio.p8.out-22 0 <== servo.4
  261. 414 bit IN FALSE bb_gpio.p8.out-22.invert 0
  262. 414 bit IN FALSE bb_gpio.p8.out-23 0 <== servo.3
  263. 414 bit IN FALSE bb_gpio.p8.out-23.invert 0
  264. 414 bit IN FALSE bb_gpio.p8.out-24 0 <== servo.2
  265. 414 bit IN FALSE bb_gpio.p8.out-24.invert 0
  266. 414 bit IN FALSE bb_gpio.p8.out-25 0 <== servo.1
  267. 414 bit IN FALSE bb_gpio.p8.out-25.invert 0
  268. 414 bit IN TRUE bb_gpio.p8.out-26 0 <== estop-out
  269. 414 bit IN TRUE bb_gpio.p8.out-26.invert 0
  270. 414 bit OUT TRUE bb_gpio.p9.in-11 0 ==> limit-z-max
  271. 414 bit IN TRUE bb_gpio.p9.in-11.invert 0
  272. 414 bit OUT TRUE bb_gpio.p9.in-13 0 ==> limit-z-min
  273. 414 bit IN TRUE bb_gpio.p9.in-13.invert 0
  274. 414 bit IN TRUE bb_gpio.p9.out-14 0 <== emcmot.00.enable
  275. 414 bit IN TRUE bb_gpio.p9.out-14.invert 0
  276. 414 bit IN TRUE bb_gpio.p9.out-23 0 <== emcmot.00.enable
  277. 414 bit IN FALSE bb_gpio.p9.out-23.invert 0
  278. 414 bit IN TRUE bb_gpio.p9.out-25 0 <== emcmot.00.enable
  279. 414 bit IN FALSE bb_gpio.p9.out-25.invert 0
  280. 414 s32 OUT 5792 bb_gpio.read.time 0
  281. 414 s32 OUT 8458 bb_gpio.write.time 0
  282. 457 u32 IN 0x00000080 hal_pru_generic.pru_busy_pin 0
  283. 457 s32 OUT 10750 hpg.capture-position.time 0
  284. 457 bit IN FALSE hpg.pwmgen.00.out.00.enable 0
  285. 457 u32 IN 0x00000011 hpg.pwmgen.00.out.00.pin 0
  286. 457 float IN 1 hpg.pwmgen.00.out.00.scale 0.0000100
  287. 457 float IN 0 hpg.pwmgen.00.out.00.value 0.0000100
  288. 457 bit IN FALSE hpg.pwmgen.00.out.01.enable 0
  289. 457 u32 IN 0x00000011 hpg.pwmgen.00.out.01.pin 0
  290. 457 float IN 1 hpg.pwmgen.00.out.01.scale 0.0000100
  291. 457 float IN 0 hpg.pwmgen.00.out.01.value 0.0000100
  292. 457 bit IN FALSE hpg.pwmgen.00.out.02.enable 0
  293. 457 u32 IN 0x00000011 hpg.pwmgen.00.out.02.pin 0
  294. 457 float IN 1 hpg.pwmgen.00.out.02.scale 0.0000100
  295. 457 float IN 0 hpg.pwmgen.00.out.02.value 0.0000100
  296. 457 bit IN FALSE hpg.pwmgen.00.out.03.enable 0
  297. 457 u32 IN 0x00000011 hpg.pwmgen.00.out.03.pin 0
  298. 457 float IN 1 hpg.pwmgen.00.out.03.scale 0.0000100
  299. 457 float IN 0 hpg.pwmgen.00.out.03.value 0.0000100
  300. 457 bit IN FALSE hpg.pwmgen.00.out.04.enable 0
  301. 457 u32 IN 0x00000011 hpg.pwmgen.00.out.04.pin 0
  302. 457 float IN 1 hpg.pwmgen.00.out.04.scale 0.0000100
  303. 457 float IN 0 hpg.pwmgen.00.out.04.value 0.0000100
  304. 457 bit IN FALSE hpg.pwmgen.00.out.05.enable 0
  305. 457 u32 IN 0x00000011 hpg.pwmgen.00.out.05.pin 0
  306. 457 float IN 1 hpg.pwmgen.00.out.05.scale 0.0000100
  307. 457 float IN 0 hpg.pwmgen.00.out.05.value 0.0000100
  308. 457 u32 IN 0x00989680 hpg.pwmgen.00.pwm_period 0
  309. 457 bit IN FALSE hpg.stepgen.00.control-type 0
  310. 457 s32 OUT 0 hpg.stepgen.00.counts 0
  311. 457 float OUT 0 hpg.stepgen.00.dbg_err_at_matc 0.0000100
  312. 457 float OUT 0 hpg.stepgen.00.dbg_ff_vel 0.0000100
  313. 457 float OUT 0 hpg.stepgen.00.dbg_pos_minus_p 0.0000100
  314. 457 float OUT 0 hpg.stepgen.00.dbg_s_to_match 0.0000100
  315. 457 s32 OUT 0 hpg.stepgen.00.dbg_step_rate 0
  316. 457 float OUT 0 hpg.stepgen.00.dbg_vel_error 0.0000100
  317. 457 u32 IN 0x000000C8 hpg.stepgen.00.dirhold 0
  318. 457 u32 IN 0x0000032C hpg.stepgen.00.dirpin 0
  319. 457 u32 IN 0x000000C8 hpg.stepgen.00.dirsetup 0
  320. 457 bit IN TRUE hpg.stepgen.00.enable 0 <== emcmot.00.enable
  321. 457 float IN 22000 hpg.stepgen.00.maxaccel 0.0000100
  322. 457 float IN 250 hpg.stepgen.00.maxvel 0.0000100
  323. 457 float IN 0 hpg.stepgen.00.position-cmd 0.0000100 <== emcmot.00.pos-cmd
  324. 457 float OUT 0 hpg.stepgen.00.position-fb 0.0000100
  325. 457 float IN 200 hpg.stepgen.00.position-scale 0.0000100
  326. 457 bit IN FALSE hpg.stepgen.00.stepinvert 0
  327. 457 u32 IN 0x000003E8 hpg.stepgen.00.steplen 0
  328. 457 u32 IN 0x0000032D hpg.stepgen.00.steppin 0
  329. 457 u32 IN 0x000003E8 hpg.stepgen.00.stepspace 0
  330. 457 s32 OUT 402651866 hpg.stepgen.00.test1 0
  331. 457 s32 OUT -1 hpg.stepgen.00.test2 0
  332. 457 s32 OUT -1 hpg.stepgen.00.test3 0
  333. 457 float IN 0 hpg.stepgen.00.velocity-cmd 0.0000100
  334. 457 float OUT 0 hpg.stepgen.00.velocity-fb 0.0000100
  335. 457 bit IN FALSE hpg.stepgen.01.control-type 0
  336. 457 s32 OUT 1131 hpg.stepgen.01.counts 0
  337. 457 float OUT 1.985337e-07 hpg.stepgen.01.dbg_err_at_matc 0.0000100
  338. 457 float OUT 0 hpg.stepgen.01.dbg_ff_vel 0.0000100
  339. 457 float OUT -2.012104e-07 hpg.stepgen.01.dbg_pos_minus_p 0.0000100
  340. 457 float OUT 4.904196e-09 hpg.stepgen.01.dbg_s_to_match 0.0000100
  341. 457 s32 OUT -14 hpg.stepgen.01.dbg_step_rate 0
  342. 457 float OUT 0.0002784865 hpg.stepgen.01.dbg_vel_error 0.0000100
  343. 457 u32 IN 0x000000C8 hpg.stepgen.01.dirhold 0
  344. 457 u32 IN 0x0000032E hpg.stepgen.01.dirpin 0
  345. 457 u32 IN 0x000000C8 hpg.stepgen.01.dirsetup 0
  346. 457 bit IN TRUE hpg.stepgen.01.enable 0 <== emcmot.01.enable
  347. 457 float IN 22000 hpg.stepgen.01.maxaccel 0.0000100
  348. 457 float IN 520 hpg.stepgen.01.maxvel 0.0000100
  349. 457 float IN 25 hpg.stepgen.01.position-cmd 0.0000100 <== emcmot.01.pos-cmd
  350. 457 float OUT 25 hpg.stepgen.01.position-fb 0.0000100
  351. 457 float IN 45.27074 hpg.stepgen.01.position-scale 0.0000100
  352. 457 bit IN FALSE hpg.stepgen.01.stepinvert 0
  353. 457 u32 IN 0x000003E8 hpg.stepgen.01.steplen 0
  354. 457 u32 IN 0x0000032F hpg.stepgen.01.steppin 0
  355. 457 u32 IN 0x000003E8 hpg.stepgen.01.stepspace 0
  356. 457 s32 OUT 371580761 hpg.stepgen.01.test1 0
  357. 457 s32 OUT 1131 hpg.stepgen.01.test2 0
  358. 457 s32 OUT 74171579 hpg.stepgen.01.test3 0
  359. 457 float IN 0 hpg.stepgen.01.velocity-cmd 0.0000100
  360. 457 float OUT 0.0002784543 hpg.stepgen.01.velocity-fb 0.0000100
  361. 457 bit IN FALSE hpg.stepgen.02.control-type 0
  362. 457 s32 OUT -2828 hpg.stepgen.02.counts 0
  363. 457 float OUT 0 hpg.stepgen.02.dbg_err_at_matc 0.0000100
  364. 457 float OUT 0 hpg.stepgen.02.dbg_ff_vel 0.0000100
  365. 457 float OUT 0 hpg.stepgen.02.dbg_pos_minus_p 0.0000100
  366. 457 float OUT 0 hpg.stepgen.02.dbg_s_to_match 0.0000100
  367. 457 s32 OUT 0 hpg.stepgen.02.dbg_step_rate 0
  368. 457 float OUT 0 hpg.stepgen.02.dbg_vel_error 0.0000100
  369. 457 u32 IN 0x000000C8 hpg.stepgen.02.dirhold 0
  370. 457 u32 IN 0x00000332 hpg.stepgen.02.dirpin 0
  371. 457 u32 IN 0x000000C8 hpg.stepgen.02.dirsetup 0
  372. 457 bit IN TRUE hpg.stepgen.02.enable 0 <== emcmot.02.enable
  373. 457 float IN 24000 hpg.stepgen.02.maxaccel 0.0000100
  374. 457 float IN 250 hpg.stepgen.02.maxvel 0.0000100
  375. 457 float IN 14.14 hpg.stepgen.02.position-cmd 0.0000100 <== emcmot.02.pos-cmd
  376. 457 float OUT 14.14 hpg.stepgen.02.position-fb 0.0000100
  377. 457 float IN -200 hpg.stepgen.02.position-scale 0.0000100
  378. 457 bit IN FALSE hpg.stepgen.02.stepinvert 0
  379. 457 u32 IN 0x000003E8 hpg.stepgen.02.steplen 0
  380. 457 u32 IN 0x00000333 hpg.stepgen.02.steppin 0
  381. 457 u32 IN 0x000003E8 hpg.stepgen.02.stepspace 0
  382. 457 s32 OUT 402652378 hpg.stepgen.02.test1 0
  383. 457 s32 OUT -2829 hpg.stepgen.02.test2 0
  384. 457 s32 OUT -185335809 hpg.stepgen.02.test3 0
  385. 457 float IN 0 hpg.stepgen.02.velocity-cmd 0.0000100
  386. 457 float OUT 0 hpg.stepgen.02.velocity-fb 0.0000100
  387. 457 bit IN FALSE hpg.stepgen.03.control-type 0
  388. 457 s32 OUT 0 hpg.stepgen.03.counts 0
  389. 457 float OUT 0 hpg.stepgen.03.dbg_err_at_matc 0.0000100
  390. 457 float OUT 0 hpg.stepgen.03.dbg_ff_vel 0.0000100
  391. 457 float OUT 0 hpg.stepgen.03.dbg_pos_minus_p 0.0000100
  392. 457 float OUT 0 hpg.stepgen.03.dbg_s_to_match 0.0000100
  393. 457 s32 OUT 0 hpg.stepgen.03.dbg_step_rate 0
  394. 457 float OUT 0 hpg.stepgen.03.dbg_vel_error 0.0000100
  395. 457 u32 IN 0x000000C8 hpg.stepgen.03.dirhold 0
  396. 457 u32 IN 0x00000390 hpg.stepgen.03.dirpin 0
  397. 457 u32 IN 0x000000C8 hpg.stepgen.03.dirsetup 0
  398. 457 bit IN TRUE hpg.stepgen.03.enable 0 <== emcmot.03.enable
  399. 457 float IN 11000 hpg.stepgen.03.maxaccel 0.0000100
  400. 457 float IN 75 hpg.stepgen.03.maxvel 0.0000100
  401. 457 float IN 0 hpg.stepgen.03.position-cmd 0.0000100 <== emcmot.03.pos-cmd
  402. 457 float OUT 0 hpg.stepgen.03.position-fb 0.0000100
  403. 457 float IN 35.55556 hpg.stepgen.03.position-scale 0.0000100
  404. 457 bit IN FALSE hpg.stepgen.03.stepinvert 0
  405. 457 u32 IN 0x000003E8 hpg.stepgen.03.steplen 0
  406. 457 u32 IN 0x00000394 hpg.stepgen.03.steppin 0
  407. 457 u32 IN 0x000003E8 hpg.stepgen.03.stepspace 0
  408. 457 s32 OUT 268437194 hpg.stepgen.03.test1 0
  409. 457 s32 OUT 0 hpg.stepgen.03.test2 0
  410. 457 s32 OUT 0 hpg.stepgen.03.test3 0
  411. 457 float IN 0 hpg.stepgen.03.velocity-cmd 0.0000100
  412. 457 float OUT 0 hpg.stepgen.03.velocity-fb 0.0000100
  413. 457 bit IN FALSE hpg.stepgen.04.control-type 0
  414. 457 s32 OUT 0 hpg.stepgen.04.counts 0
  415. 457 float OUT 0 hpg.stepgen.04.dbg_err_at_matc 0.0000100
  416. 457 float OUT 0 hpg.stepgen.04.dbg_ff_vel 0.0000100
  417. 457 float OUT 0 hpg.stepgen.04.dbg_pos_minus_p 0.0000100
  418. 457 float OUT 0 hpg.stepgen.04.dbg_s_to_match 0.0000100
  419. 457 s32 OUT 0 hpg.stepgen.04.dbg_step_rate 0
  420. 457 float OUT 0 hpg.stepgen.04.dbg_vel_error 0.0000100
  421. 457 u32 IN 0x000000C8 hpg.stepgen.04.dirhold 0
  422. 457 u32 IN 0x00000396 hpg.stepgen.04.dirpin 0
  423. 457 u32 IN 0x000000C8 hpg.stepgen.04.dirsetup 0
  424. 457 bit IN TRUE hpg.stepgen.04.enable 0 <== emcmot.04.enable
  425. 457 float IN 11000 hpg.stepgen.04.maxaccel 0.0000100
  426. 457 float IN 75 hpg.stepgen.04.maxvel 0.0000100
  427. 457 float IN 0 hpg.stepgen.04.position-cmd 0.0000100 <== emcmot.04.pos-cmd
  428. 457 float OUT 0 hpg.stepgen.04.position-fb 0.0000100
  429. 457 float IN 43.88889 hpg.stepgen.04.position-scale 0.0000100
  430. 457 bit IN FALSE hpg.stepgen.04.stepinvert 0
  431. 457 u32 IN 0x000003E8 hpg.stepgen.04.steplen 0
  432. 457 u32 IN 0x00000395 hpg.stepgen.04.steppin 0
  433. 457 u32 IN 0x000003E8 hpg.stepgen.04.stepspace 0
  434. 457 s32 OUT 268437417 hpg.stepgen.04.test1 0
  435. 457 s32 OUT 0 hpg.stepgen.04.test2 0
  436. 457 s32 OUT 0 hpg.stepgen.04.test3 0
  437. 457 float IN 0 hpg.stepgen.04.velocity-cmd 0.0000100
  438. 457 float OUT 0 hpg.stepgen.04.velocity-fb 0.0000100
  439. 457 s32 OUT 18041 hpg.update.time 0
  440. 755 float IN 0 ini.0.backlash 0.0000100
  441. 755 float IN 20 ini.0.ferror 0.0000100
  442. 755 float IN 20000 ini.0.max_acceleration 0.0000100
  443. 755 float IN 200 ini.0.max_limit 0.0000100
  444. 755 float IN 500 ini.0.max_velocity 0.0000100
  445. 755 float IN 0.25 ini.0.min_ferror 0.0000100
  446. 755 float IN -200 ini.0.min_limit 0.0000100
  447. 755 float IN 0 ini.1.backlash 0.0000100
  448. 755 float IN 20 ini.1.ferror 0.0000100
  449. 755 float IN 20000 ini.1.max_acceleration 0.0000100
  450. 755 float IN 5657 ini.1.max_limit 0.0000100
  451. 755 float IN 500 ini.1.max_velocity 0.0000100
  452. 755 float IN 0.25 ini.1.min_ferror 0.0000100
  453. 755 float IN -500 ini.1.min_limit 0.0000100
  454. 755 float IN 0 ini.2.backlash 0.0000100
  455. 755 float IN 20 ini.2.ferror 0.0000100
  456. 755 float IN 20000 ini.2.max_acceleration 0.0000100
  457. 755 float IN 200 ini.2.max_limit 0.0000100
  458. 755 float IN 500 ini.2.max_velocity 0.0000100
  459. 755 float IN 0.25 ini.2.min_ferror 0.0000100
  460. 755 float IN -200 ini.2.min_limit 0.0000100
  461. 755 float IN 0 ini.3.backlash 0.0000100
  462. 755 float IN 20 ini.3.ferror 0.0000100
  463. 755 float IN 10000 ini.3.max_acceleration 0.0000100
  464. 755 float IN 1e+09 ini.3.max_limit 0.0000100
  465. 755 float IN 70 ini.3.max_velocity 0.0000100
  466. 755 float IN 0.25 ini.3.min_ferror 0.0000100
  467. 755 float IN -9999 ini.3.min_limit 0.0000100
  468. 755 float IN 0 ini.4.backlash 0.0000100
  469. 755 float IN 20 ini.4.ferror 0.0000100
  470. 755 float IN 10000 ini.4.max_acceleration 0.0000100
  471. 755 float IN 1e+09 ini.4.max_limit 0.0000100
  472. 755 float IN 70 ini.4.max_velocity 0.0000100
  473. 755 float IN 0.25 ini.4.min_ferror 0.0000100
  474. 755 float IN -9999 ini.4.min_limit 0.0000100
  475. 755 float IN 0 ini.5.backlash 0.0000100
  476. 755 float IN 0 ini.5.ferror 0.0000100
  477. 755 float IN 0 ini.5.max_acceleration 0.0000100
  478. 755 float IN 0 ini.5.max_limit 0.0000100
  479. 755 float IN 0 ini.5.max_velocity 0.0000100
  480. 755 float IN 0 ini.5.min_ferror 0.0000100
  481. 755 float IN 0 ini.5.min_limit 0.0000100
  482. 755 float IN 0 ini.6.backlash 0.0000100
  483. 755 float IN 0 ini.6.ferror 0.0000100
  484. 755 float IN 0 ini.6.max_acceleration 0.0000100
  485. 755 float IN 0 ini.6.max_limit 0.0000100
  486. 755 float IN 0 ini.6.max_velocity 0.0000100
  487. 755 float IN 0 ini.6.min_ferror 0.0000100
  488. 755 float IN 0 ini.6.min_limit 0.0000100
  489. 755 float IN 0 ini.7.backlash 0.0000100
  490. 755 float IN 0 ini.7.ferror 0.0000100
  491. 755 float IN 0 ini.7.max_acceleration 0.0000100
  492. 755 float IN 0 ini.7.max_limit 0.0000100
  493. 755 float IN 0 ini.7.max_velocity 0.0000100
  494. 755 float IN 0 ini.7.min_ferror 0.0000100
  495. 755 float IN 0 ini.7.min_limit 0.0000100
  496. 755 float IN 0 ini.8.backlash 0.0000100
  497. 755 float IN 0 ini.8.ferror 0.0000100
  498. 755 float IN 0 ini.8.max_acceleration 0.0000100
  499. 755 float IN 0 ini.8.max_limit 0.0000100
  500. 755 float IN 0 ini.8.max_velocity 0.0000100
  501. 755 float IN 0 ini.8.min_ferror 0.0000100
  502. 755 float IN 0 ini.8.min_limit 0.0000100
  503. 755 float IN 1e+99 ini.traj_default_acceleration 0.0000100
  504. 755 float IN 100 ini.traj_default_velocity 0.0000100
  505. 755 float IN 1e+99 ini.traj_max_acceleration 0.0000100
  506. 755 float IN 1e+99 ini.traj_max_velocity 0.0000100
  507. 74 bit OUT FALSE iocontrol.0.coolant-flood 0
  508. 74 bit OUT FALSE iocontrol.0.coolant-mist 0
  509. 74 bit IN TRUE iocontrol.0.emc-enable-in 0 <== estop-loop
  510. 74 bit OUT TRUE iocontrol.0.lube 0
  511. 74 bit IN FALSE iocontrol.0.lube_level 0
  512. 74 bit OUT FALSE iocontrol.0.tool-change 0 ==> tool-change-loop
  513. 74 bit IN FALSE iocontrol.0.tool-changed 0 <== tool-change-loop
  514. 74 s32 OUT 0 iocontrol.0.tool-number 0
  515. 74 s32 OUT 0 iocontrol.0.tool-prep-number 0
  516. 74 s32 OUT 0 iocontrol.0.tool-prep-pocket 0
  517. 74 bit OUT FALSE iocontrol.0.tool-prepare 0 ==> tool-prep-loop
  518. 74 bit IN FALSE iocontrol.0.tool-prepared 0 <== tool-prep-loop
  519. 74 bit OUT TRUE iocontrol.0.user-enable-out 0 ==> estop-out
  520. 74 bit OUT FALSE iocontrol.0.user-request-enabl 0
  521. 693 694 float IN 0 limit1.0.in 0.0000100
  522. 693 694 float IN 1e+20 limit1.0.max 0.0000100
  523. 693 694 float IN -1e+20 limit1.0.min 0.0000100
  524. 693 694 float OUT 0 limit1.0.out 0.0000100
  525. 693 694 s32 OUT 2042 limit1.0.time 0
  526. 693 703 float IN 0 limit1.1.in 0.0000100
  527. 693 703 float IN 1e+20 limit1.1.max 0.0000100
  528. 693 703 float IN -1e+20 limit1.1.min 0.0000100
  529. 693 703 float OUT 0 limit1.1.out 0.0000100
  530. 693 703 s32 OUT 1959 limit1.1.time 0
  531. 97 s32 OUT 3541 motion-command-handler.time 0
  532. 97 s32 OUT 49000 motion-controller.time 0
  533. 97 float IN 1 motion.adaptive-feed 0.0000100
  534. 97 float IN 0 motion.analog-in-00 0.0000100
  535. 97 float IN 0 motion.analog-in-01 0.0000100
  536. 97 float IN 0 motion.analog-in-02 0.0000100
  537. 97 float IN 0 motion.analog-in-03 0.0000100
  538. 97 float OUT 0 motion.analog-out-00 0.0000100
  539. 97 float OUT 0 motion.analog-out-01 0.0000100
  540. 97 float OUT 0 motion.analog-out-02 0.0000100
  541. 97 float OUT 0 motion.analog-out-03 0.0000100
  542. 97 float I/O 0 motion.analog-out-io-00 0.0000100
  543. 97 float I/O 0 motion.analog-out-io-01 0.0000100
  544. 97 float I/O 0 motion.analog-out-io-02 0.0000100
  545. 97 float I/O 0 motion.analog-out-io-03 0.0000100
  546. 97 bit OUT FALSE motion.coord-error 0
  547. 97 bit OUT TRUE motion.coord-mode 0
  548. 97 s32 OUT 0 motion.current-motion 0
  549. 97 float OUT 0 motion.current-vel 0.0000100
  550. 97 bit IN FALSE motion.digital-in-00 0
  551. 97 bit IN FALSE motion.digital-in-01 0
  552. 97 bit IN FALSE motion.digital-in-02 0
  553. 97 bit IN FALSE motion.digital-in-03 0
  554. 97 bit OUT FALSE motion.digital-out-00 0
  555. 97 bit OUT FALSE motion.digital-out-01 0
  556. 97 bit OUT FALSE motion.digital-out-02 0
  557. 97 bit OUT FALSE motion.digital-out-03 0
  558. 97 bit I/O FALSE motion.digital-out-io-00 0
  559. 97 bit I/O FALSE motion.digital-out-io-01 0
  560. 97 bit I/O FALSE motion.digital-out-io-02 0
  561. 97 bit I/O FALSE motion.digital-out-io-03 0
  562. 97 float OUT 0 motion.distance-to-go 0.0000100
  563. 97 bit IN TRUE motion.enable 0
  564. 97 bit IN FALSE motion.feed-hold 0
  565. 97 bit IN FALSE motion.feed-inhibit 0
  566. 97 bit OUT TRUE motion.in-position 0
  567. 97 bit OUT TRUE motion.motion-enabled 0
  568. 97 bit OUT FALSE motion.on-soft-limit 0
  569. 97 float IN 0 motion.pause-jog-feed 0.0000100
  570. 97 float IN 0 motion.pause-offset-a 0.0000100
  571. 97 float IN 0 motion.pause-offset-b 0.0000100
  572. 97 float IN 0 motion.pause-offset-c 0.0000100
  573. 97 bit IN FALSE motion.pause-offset-enable 0
  574. 97 bit OUT FALSE motion.pause-offset-in-range 0
  575. 97 float IN 0 motion.pause-offset-u 0.0000100
  576. 97 float IN 0 motion.pause-offset-v 0.0000100
  577. 97 float IN 0 motion.pause-offset-w 0.0000100
  578. 97 float IN 0 motion.pause-offset-x 0.0000100
  579. 97 float IN 0 motion.pause-offset-y 0.0000100
  580. 97 float IN 0 motion.pause-offset-z 0.0000100
  581. 97 s32 OUT 0 motion.pause-state 0
  582. 97 s32 OUT 0 motion.paused-at-motion 0
  583. 97 bit IN FALSE motion.probe-input 0
  584. 97 s32 OUT 0 motion.program-line 0 ==> net_program-line
  585. 97 float OUT 0 motion.requested-vel 0.0000100
  586. 97 bit IN TRUE motion.spindle-at-speed 0
  587. 97 bit OUT TRUE motion.spindle-brake 0
  588. 97 bit OUT FALSE motion.spindle-forward 0
  589. 97 bit I/O FALSE motion.spindle-index-enable 0
  590. 97 bit IN FALSE motion.spindle-inhibit 0
  591. 97 bit IN FALSE motion.spindle-is-oriented 0
  592. 97 bit OUT FALSE motion.spindle-locked 0
  593. 97 bit OUT FALSE motion.spindle-on 0 ==> spindle-enable
  594. 97 bit OUT FALSE motion.spindle-orient 0
  595. 97 float OUT 0 motion.spindle-orient-angle 0.0000100
  596. 97 s32 IN 0 motion.spindle-orient-fault 0
  597. 97 s32 OUT 0 motion.spindle-orient-mode 0
  598. 97 bit OUT FALSE motion.spindle-reverse 0
  599. 97 float IN 0 motion.spindle-revs 0.0000100
  600. 97 float OUT 0 motion.spindle-speed-cmd-rps 0.0000100
  601. 97 float IN 0 motion.spindle-speed-in 0.0000100
  602. 97 float OUT 0 motion.spindle-speed-out 0.0000100
  603. 97 float OUT 0 motion.spindle-speed-out-abs 0.0000100
  604. 97 float OUT 0 motion.spindle-speed-out-rps 0.0000100
  605. 97 float OUT 0 motion.spindle-speed-out-rps-a 0.0000100
  606. 97 bit OUT FALSE motion.teleop-mode 0
  607. 97 float OUT 0 motion.tooloffset.a 0.0000100
  608. 97 float OUT 0 motion.tooloffset.b 0.0000100
  609. 97 float OUT 0 motion.tooloffset.c 0.0000100
  610. 97 float OUT 0 motion.tooloffset.u 0.0000100
  611. 97 float OUT 0 motion.tooloffset.v 0.0000100
  612. 97 float OUT 0 motion.tooloffset.w 0.0000100
  613. 97 float OUT 0 motion.tooloffset.x 0.0000100
  614. 97 float OUT 0 motion.tooloffset.y 0.0000100
  615. 97 float OUT 0 motion.tooloffset.z 0.0000100
  616. 746 s32 IN 0 mymotion.program-line 0 <== net_program-line
  617. 746 bit IN FALSE mymotion.spindle-on 0 <== spindle-enable
  618. 622 623 float IN 0 pid.0.Dgain 0.0000100
  619. 622 623 float IN 0 pid.0.FF0 0.0000100
  620. 622 623 float IN 0 pid.0.FF1 0.0000100
  621. 622 623 float IN 0 pid.0.FF2 0.0000100
  622. 622 623 float IN 0 pid.0.Igain 0.0000100
  623. 622 623 float IN 1 pid.0.Pgain 0.0000100
  624. 622 623 float IN 0 pid.0.bias 0.0000100
  625. 622 623 float IN 0 pid.0.command 0.0000100
  626. 622 623 float IN 0 pid.0.command-deriv 0.0000100
  627. 622 623 float OUT 0 pid.0.commandD 0.0000100
  628. 622 623 float OUT 0 pid.0.commandDD 0.0000100
  629. 622 623 float IN 0 pid.0.deadband 0.0000100
  630. 622 623 s32 OUT 5208 pid.0.do-pid-calcs.time 0
  631. 622 623 bit IN FALSE pid.0.enable 0
  632. 622 623 float OUT 0 pid.0.error 0.0000100
  633. 622 623 bit IN FALSE pid.0.error-previous-target 0
  634. 622 623 float OUT 0 pid.0.errorD 0.0000100
  635. 622 623 float OUT 0 pid.0.errorI 0.0000100
  636. 622 623 float IN 0 pid.0.feedback 0.0000100
  637. 622 623 float IN 0 pid.0.feedback-deriv 0.0000100
  638. 622 623 bit IN FALSE pid.0.index-enable 0
  639. 622 623 float IN 0 pid.0.maxcmdD 0.0000100
  640. 622 623 float IN 0 pid.0.maxcmdDD 0.0000100
  641. 622 623 float IN 0 pid.0.maxerror 0.0000100
  642. 622 623 float IN 0 pid.0.maxerrorD 0.0000100
  643. 622 623 float IN 0 pid.0.maxerrorI 0.0000100
  644. 622 623 float IN 0 pid.0.maxoutput 0.0000100
  645. 622 623 float OUT 0 pid.0.output 0.0000100
  646. 622 623 bit OUT FALSE pid.0.saturated 0
  647. 622 623 s32 OUT 0 pid.0.saturated-count 0
  648. 622 623 float OUT 0 pid.0.saturated-s 0.0000100
  649. 622 658 float IN 0 pid.1.Dgain 0.0000100
  650. 622 658 float IN 0 pid.1.FF0 0.0000100
  651. 622 658 float IN 0 pid.1.FF1 0.0000100
  652. 622 658 float IN 0 pid.1.FF2 0.0000100
  653. 622 658 float IN 0 pid.1.Igain 0.0000100
  654. 622 658 float IN 1 pid.1.Pgain 0.0000100
  655. 622 658 float IN 0 pid.1.bias 0.0000100
  656. 622 658 float IN 0 pid.1.command 0.0000100
  657. 622 658 float IN 0 pid.1.command-deriv 0.0000100
  658. 622 658 float OUT 0 pid.1.commandD 0.0000100
  659. 622 658 float OUT 0 pid.1.commandDD 0.0000100
  660. 622 658 float IN 0 pid.1.deadband 0.0000100
  661. 622 658 s32 OUT 2541 pid.1.do-pid-calcs.time 0
  662. 622 658 bit IN FALSE pid.1.enable 0
  663. 622 658 float OUT 0 pid.1.error 0.0000100
  664. 622 658 bit IN FALSE pid.1.error-previous-target 0
  665. 622 658 float OUT 0 pid.1.errorD 0.0000100
  666. 622 658 float OUT 0 pid.1.errorI 0.0000100
  667. 622 658 float IN 0 pid.1.feedback 0.0000100
  668. 622 658 float IN 0 pid.1.feedback-deriv 0.0000100
  669. 622 658 bit IN FALSE pid.1.index-enable 0
  670. 622 658 float IN 0 pid.1.maxcmdD 0.0000100
  671. 622 658 float IN 0 pid.1.maxcmdDD 0.0000100
  672. 622 658 float IN 0 pid.1.maxerror 0.0000100
  673. 622 658 float IN 0 pid.1.maxerrorD 0.0000100
  674. 622 658 float IN 0 pid.1.maxerrorI 0.0000100
  675. 622 658 float IN 0 pid.1.maxoutput 0.0000100
  676. 622 658 float OUT 0 pid.1.output 0.0000100
  677. 622 658 bit OUT FALSE pid.1.saturated 0
  678. 622 658 s32 OUT 0 pid.1.saturated-count 0
  679. 622 658 float OUT 0 pid.1.saturated-s 0.0000100
  680. 827 s32 OUT 2375 scope.sample.time 0
  681.  
  682. Pin Aliases:
  683. Alias Original Name
  684.  
  685. Signals:
  686. Type Value Name (linked to)
  687. bit FALSE eMMC-disabled
  688. ==> bb_gpio.p8.out-16
  689. bit TRUE emcmot.00.enable
  690. <== axis.0.amp-enable-out
  691. ==> bb_gpio.p9.out-14
  692. ==> bb_gpio.p9.out-23
  693. ==> bb_gpio.p9.out-25
  694. ==> hpg.stepgen.00.enable
  695. float 0 emcmot.00.pos-cmd
  696. <== axis.0.motor-pos-cmd
  697. ==> axis.0.motor-pos-fb
  698. ==> hpg.stepgen.00.position-cmd
  699. bit TRUE emcmot.01.enable
  700. <== axis.1.amp-enable-out
  701. ==> hpg.stepgen.01.enable
  702. float 25 emcmot.01.pos-cmd
  703. <== axis.1.motor-pos-cmd
  704. ==> axis.1.motor-pos-fb
  705. ==> hpg.stepgen.01.position-cmd
  706. bit TRUE emcmot.02.enable
  707. <== axis.2.amp-enable-out
  708. ==> hpg.stepgen.02.enable
  709. float 14.14 emcmot.02.pos-cmd
  710. <== axis.2.motor-pos-cmd
  711. ==> axis.2.motor-pos-fb
  712. ==> hpg.stepgen.02.position-cmd
  713. bit TRUE emcmot.03.enable
  714. <== axis.3.amp-enable-out
  715. ==> hpg.stepgen.03.enable
  716. float 0 emcmot.03.pos-cmd
  717. <== axis.3.motor-pos-cmd
  718. ==> axis.3.motor-pos-fb
  719. ==> hpg.stepgen.03.position-cmd
  720. bit TRUE emcmot.04.enable
  721. <== axis.4.amp-enable-out
  722. ==> hpg.stepgen.04.enable
  723. float 0 emcmot.04.pos-cmd
  724. <== axis.4.motor-pos-cmd
  725. ==> axis.4.motor-pos-fb
  726. ==> hpg.stepgen.04.position-cmd
  727. bit TRUE estop-loop
  728. <== bb_gpio.p8.in-17
  729. ==> iocontrol.0.emc-enable-in
  730. bit TRUE estop-out
  731. ==> bb_gpio.p8.out-26
  732. <== iocontrol.0.user-enable-out
  733. bit TRUE limit-x-max
  734. <== bb_gpio.p8.in-07
  735. bit TRUE limit-x-min
  736. <== bb_gpio.p8.in-08
  737. bit TRUE limit-y-max
  738. <== bb_gpio.p8.in-09
  739. bit TRUE limit-y-min
  740. <== bb_gpio.p8.in-10
  741. bit TRUE limit-z-max
  742. <== bb_gpio.p9.in-11
  743. bit TRUE limit-z-min
  744. <== bb_gpio.p9.in-13
  745. s32 0 net_program-line
  746. <== motion.program-line
  747. ==> mymotion.program-line
  748. bit FALSE servo.1
  749. ==> bb_gpio.p8.out-25
  750. bit FALSE servo.2
  751. ==> bb_gpio.p8.out-24
  752. bit FALSE servo.3
  753. ==> bb_gpio.p8.out-23
  754. bit FALSE servo.4
  755. ==> bb_gpio.p8.out-22
  756. bit FALSE spindle-enable
  757. ==> bb_gpio.p8.out-11
  758. <== motion.spindle-on
  759. ==> mymotion.spindle-on
  760. bit FALSE tool-change-loop
  761. <== iocontrol.0.tool-change
  762. ==> iocontrol.0.tool-changed
  763. bit FALSE tool-prep-loop
  764. <== iocontrol.0.tool-prepare
  765. ==> iocontrol.0.tool-prepared
  766.  
  767. Parameters:
  768. Comp Inst Type Dir Value Name
  769. 414 s32 RW 13458 bb_gpio.read.tmax
  770. 414 bit RO FALSE bb_gpio.read.tmax-inc
  771. 414 s32 RW 14791 bb_gpio.write.tmax
  772. 414 bit RO FALSE bb_gpio.write.tmax-inc
  773. 457 s32 RW 21750 hpg.capture-position.tmax
  774. 457 bit RO FALSE hpg.capture-position.tmax-inc
  775. 457 s32 RW 84875 hpg.update.tmax
  776. 457 bit RO FALSE hpg.update.tmax-inc
  777. 693 694 s32 RW 8417 limit1.0.tmax
  778. 693 694 bit RO FALSE limit1.0.tmax-inc
  779. 693 703 s32 RW 7625 limit1.1.tmax
  780. 693 703 bit RO FALSE limit1.1.tmax-inc
  781. 97 s32 RW 188875 motion-command-handler.tmax
  782. 97 bit RO FALSE motion-command-handler.tmax-inc
  783. 97 s32 RW 101916 motion-controller.tmax
  784. 97 bit RO FALSE motion-controller.tmax-inc
  785. 97 bit RO FALSE motion.debug-bit-0
  786. 97 bit RO FALSE motion.debug-bit-1
  787. 97 float RO 1 motion.debug-float-0
  788. 97 float RO 0 motion.debug-float-1
  789. 97 float RO 0 motion.debug-float-2
  790. 97 float RO 1 motion.debug-float-3
  791. 97 s32 RO 0 motion.debug-s32-0
  792. 97 s32 RO 0 motion.debug-s32-1
  793. 97 u32 RO 0x00062226 motion.servo.last-period
  794. 97 u32 RW 0x00000000 motion.servo.overruns
  795. 622 623 s32 RW 12416 pid.0.do-pid-calcs.tmax
  796. 622 623 bit RO FALSE pid.0.do-pid-calcs.tmax-inc
  797. 622 658 s32 RW 9417 pid.1.do-pid-calcs.tmax
  798. 622 658 bit RO FALSE pid.1.do-pid-calcs.tmax-inc
  799. 827 s32 RW 8958 scope.sample.tmax
  800. 827 bit RO FALSE scope.sample.tmax-inc
  801. 97 float RO 0 tc.0.acc
  802. 97 float RO 0 tc.0.pos
  803. 97 float RO 0 tc.0.vel
  804. 97 float RO 0 tc.1.acc
  805. 97 float RO 0 tc.1.pos
  806. 97 float RO 0 tc.1.vel
  807. 97 float RO 0 tc.2.acc
  808. 97 float RO 0 tc.2.pos
  809. 97 float RO 0 tc.2.vel
  810. 97 float RO 0 tc.3.acc
  811. 97 float RO 0 tc.3.pos
  812. 97 float RO 0 tc.3.vel
  813. 97 u32 RO 0x00000000 traj.active_tc
  814. 97 float RO 0 traj.pos_out
  815. 97 float RO 0 traj.vel_out
  816.  
  817. Parameter Aliases:
  818. Alias Original Name
  819.  
  820. Exported Functions:
  821. Comp Inst CodeAddr Arg FP Users Type Name
  822. 414 b53009c9 b6623c70 NO 1 thread bb_gpio.read
  823. 414 b5300845 b6623c70 NO 1 thread bb_gpio.write
  824. 66 b669fc9d 00000000 NO 0 user delinst
  825. 457 b52e1b7d b6624310 YES 1 thread hpg.capture-position
  826. 457 b52e1bed b6624310 YES 1 thread hpg.update
  827. 693 694 b520d8f1 b6624a28 YES 1 xthread limit1.0
  828. 693 703 b520d8f1 b6624a40 YES 1 xthread limit1.1
  829. 97 b55b9b4d 00000000 YES 1 xthread motion-command-handler
  830. 97 b55bd419 00000000 YES 1 xthread motion-controller
  831. 66 b669fb6d 00000000 NO 0 user newinst
  832. 622 623 b5216f71 b66248e0 YES 1 xthread pid.0.do-pid-calcs
  833. 622 658 b5216f71 b6624980 YES 1 xthread pid.1.do-pid-calcs
  834. 827 b5203a19 00000000 NO 1 thread scope.sample
  835.  
  836. Realtime Threads (flavor: xenomai) :
  837. Period FP Name ( Time, Max-Time ) flags
  838. 400000 YES servo-thread ( 113084, 340708 )
  839. 1 hpg.capture-position
  840. 2 bb_gpio.read
  841. 3 motion-command-handler
  842. 4 motion-controller
  843. 5 pid.0.do-pid-calcs
  844. 6 pid.1.do-pid-calcs
  845. 7 limit1.0
  846. 8 limit1.1
  847. 9 hpg.update
  848. 10 bb_gpio.write
  849. 11 scope.sample
  850.  
  851.  
  852. Rings:
  853. Name Size Type Rdr Wrt Ref Flags
  854.  
  855. Exported vtables:
  856. ID Name Version Refcnt Context Owner
  857. 96 tp 2000 1 RT 95 tp
  858. 94 trivkins 1000 1 RT 93 trivkins
  859.  
  860. Epsilon Value
  861. 0 0.000010
  862. 1 0.000000
  863. 2 0.000000
  864. 3 0.000000
  865. 4 0.000000
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