Simple IO wiring not working (I know I am doing something wrong)
- jhandel
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03 Aug 2020 20:12 #177076
by jhandel
Simple IO wiring not working (I know I am doing something wrong) was created by jhandel
Howdy,
I am trying to get basic IO working as I dip my toes into getting this 7i76e wired up..
I am attempting to follow the wiring diagrams here :
forum.linuxcnc.org/media/kunena/attachme...hluss_2017-01-02.pdf
I figured starting with a simple digital input would be best given I have a proprietary BOB in the mix and its signals use to be read as digital by the ADTech Controller I am replacing.
Anyways, I used page 6, and Page 5, and messed with W1... I can't seem to get anything to "read" by linuxcnc..
I have attached images of the two attempts at wiring and what the 7i76 does..
I don't think this is HAL related.. I did go through PNCConfig and pick a few things but really its all just "trash" settings so that the HAL knows where my board is (10.10.10.10) and then I am looking at the HalMeter to try to find a reading anywhere (I expected it at 4 but I honestly tried every single io port on the HalMeter and non of them flipped from FALSE to TRUE while I was tapping on the sensor causing it to bounce.
I know for a fact that when closed (sensor see something there is 12v between TB1:2 and TB6:5 regardless of the wiring, and when the sensor sees nothing, there is 0 volts between those two pins regardless of wiring.
Any help would be great.. Unfortunately I am retrofitting so I have this BoB in the way, but from everything I have seen its converting everything to just a high/low vs the power supply.
I am trying to get basic IO working as I dip my toes into getting this 7i76e wired up..
I am attempting to follow the wiring diagrams here :
forum.linuxcnc.org/media/kunena/attachme...hluss_2017-01-02.pdf
I figured starting with a simple digital input would be best given I have a proprietary BOB in the mix and its signals use to be read as digital by the ADTech Controller I am replacing.
Anyways, I used page 6, and Page 5, and messed with W1... I can't seem to get anything to "read" by linuxcnc..
I have attached images of the two attempts at wiring and what the 7i76 does..
I don't think this is HAL related.. I did go through PNCConfig and pick a few things but really its all just "trash" settings so that the HAL knows where my board is (10.10.10.10) and then I am looking at the HalMeter to try to find a reading anywhere (I expected it at 4 but I honestly tried every single io port on the HalMeter and non of them flipped from FALSE to TRUE while I was tapping on the sensor causing it to bounce.
I know for a fact that when closed (sensor see something there is 12v between TB1:2 and TB6:5 regardless of the wiring, and when the sensor sees nothing, there is 0 volts between those two pins regardless of wiring.
Any help would be great.. Unfortunately I am retrofitting so I have this BoB in the way, but from everything I have seen its converting everything to just a high/low vs the power supply.
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- tommylight
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03 Aug 2020 20:19 - 03 Aug 2020 20:20 #177077
by tommylight
Replied by tommylight on topic Simple IO wiring not working (I know I am doing something wrong)
From what i can gather, you would need a pull up resistor between the +12V and the input. A 4.7 to 10K one will do just fine.
Also notice that physical input number one ( the lowest on the Mesa board ) is input 00 in hal.
Also notice that physical input number one ( the lowest on the Mesa board ) is input 00 in hal.
Last edit: 03 Aug 2020 20:20 by tommylight. Reason: More info
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- jhandel
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03 Aug 2020 20:21 #177078
by jhandel
Replied by jhandel on topic Simple IO wiring not working (I know I am doing something wrong)
Because it is regularlly asked for...
mesaflash details
Hal
Halcmd show all
mesaflash details
Configuration Name: HOSTMOT2
General configuration information:
BoardName : MESA7I76
FPGA Size: 16 KGates
FPGA Pins: 256
Number of IO Ports: 3
Width of one I/O port: 17
Clock Low frequency: 100.0000 MHz
Clock High frequency: 200.0000 MHz
IDROM Type: 3
Instance Stride 0: 4
Instance Stride 1: 64
Register Stride 0: 256
Register Stride 1: 256
Modules in configuration:
Module: DPLL
There are 1 of DPLL in configuration
Version: 0
Registers: 7
BaseAddress: 7000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: WatchDog
There are 1 of WatchDog in configuration
Version: 0
Registers: 3
BaseAddress: 0C00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: IOPort
There are 3 of IOPort in configuration
Version: 0
Registers: 5
BaseAddress: 1000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: StepGen
There are 5 of StepGen in configuration
Version: 2
Registers: 10
BaseAddress: 2000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: QCount
There are 1 of QCount in configuration
Version: 2
Registers: 5
BaseAddress: 3000
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Module: SSerial
There are 1 of SSerial in configuration
Version: 0
Registers: 6
BaseAddress: 5B00
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 64 bytes
Module: LED
There are 1 of LED in configuration
Version: 0
Registers: 1
BaseAddress: 0200
ClockFrequency: 100.000 MHz
Register Stride: 256 bytes
Instance Stride: 4 bytes
Configuration pin-out:
IO Connections for on-card
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
1 0 IOPort StepGen 0 Dir/Table2 (Out)
14 1 IOPort StepGen 0 Step/Table1 (Out)
2 2 IOPort StepGen 1 Dir/Table2 (Out)
15 3 IOPort StepGen 1 Step/Table1 (Out)
3 4 IOPort StepGen 2 Dir/Table2 (Out)
16 5 IOPort StepGen 2 Step/Table1 (Out)
4 6 IOPort StepGen 3 Dir/Table2 (Out)
17 7 IOPort StepGen 3 Step/Table1 (Out)
5 8 IOPort StepGen 4 Dir/Table2 (Out)
6 9 IOPort StepGen 4 Step/Table1 (Out)
7 10 IOPort SSerial 0 TXData1 (Out)
8 11 IOPort SSerial 0 RXData1 (In)
9 12 IOPort SSerial 0 TXData2 (Out)
10 13 IOPort SSerial 0 RXData2 (In)
11 14 IOPort QCount 0 Quad-IDX (In)
12 15 IOPort QCount 0 Quad-B (In)
13 16 IOPort QCount 0 Quad-A (In)
IO Connections for P1
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
1 17 IOPort None
14 18 IOPort None
2 19 IOPort None
15 20 IOPort None
3 21 IOPort None
16 22 IOPort None
4 23 IOPort None
17 24 IOPort None
5 25 IOPort None
6 26 IOPort None
7 27 IOPort None
8 28 IOPort None
9 29 IOPort None
10 30 IOPort None
11 31 IOPort None
12 32 IOPort None
13 33 IOPort None
IO Connections for P2
Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir
1 34 IOPort None
14 35 IOPort None
2 36 IOPort None
15 37 IOPort None
3 38 IOPort None
16 39 IOPort None
4 40 IOPort None
17 41 IOPort None
5 42 IOPort None
6 43 IOPort None
7 44 IOPort None
8 45 IOPort None
9 46 IOPort None
10 47 IOPort None
11 48 IOPort None
12 49 IOPort None
13 50 IOPort NoneHal
# Generated by PNCconf at Mon Aug 3 13:26:56 2020
# Using LinuxCNC version: UNAVAILABLE
# If you make changes to this file, they will be
# overwritten when you run PNCconf again
loadrt [KINS]KINEMATICS
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
loadrt hostmot2
loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx"
setp hm2_7i76e.0.watchdog.timeout_ns 5000000
loadrt pid names=pid.x,pid.y,pid.z,pid.s
addf hm2_7i76e.0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_7i76e.0.write servo-thread
setp hm2_7i76e.0.dpll.01.timer-us -50
setp hm2_7i76e.0.stepgen.timer-number 1
# external output signals
# external input signals
# --- MIN-X ---
net min-x <= hm2_7i76e.0.gpio.021.in
# --- HOME-X ---
net home-x <= hm2_7i76e.0.gpio.038.in
#*******************
# AXIS X JOINT 0
#*******************
setp pid.x.Pgain [JOINT_0]P
setp pid.x.Igain [JOINT_0]I
setp pid.x.Dgain [JOINT_0]D
setp pid.x.bias [JOINT_0]BIAS
setp pid.x.FF0 [JOINT_0]FF0
setp pid.x.FF1 [JOINT_0]FF1
setp pid.x.FF2 [JOINT_0]FF2
setp pid.x.deadband [JOINT_0]DEADBAND
setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
setp pid.x.error-previous-target true
setp pid.x.maxerror .0005
net x-index-enable <=> pid.x.index-enable
net x-enable => pid.x.enable
net x-pos-cmd => pid.x.command
net x-pos-fb => pid.x.feedback
net x-output <= pid.x.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP
setp hm2_7i76e.0.stepgen.00.dirhold [JOINT_0]DIRHOLD
setp hm2_7i76e.0.stepgen.00.steplen [JOINT_0]STEPLEN
setp hm2_7i76e.0.stepgen.00.stepspace [JOINT_0]STEPSPACE
setp hm2_7i76e.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE
setp hm2_7i76e.0.stepgen.00.step_type 0
setp hm2_7i76e.0.stepgen.00.control-type 1
setp hm2_7i76e.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net x-pos-cmd <= joint.0.motor-pos-cmd
net x-vel-cmd <= joint.0.vel-cmd
net x-output <= hm2_7i76e.0.stepgen.00.velocity-cmd
net x-pos-fb <= hm2_7i76e.0.stepgen.00.position-fb
net x-pos-fb => joint.0.motor-pos-fb
net x-enable <= joint.0.amp-enable-out
net x-enable => hm2_7i76e.0.stepgen.00.enable
# ---setup home / limit switch signals---
net home-x => joint.0.home-sw-in
net min-x => joint.0.neg-lim-sw-in
net x-pos-limit => joint.0.pos-lim-sw-in
#*******************
# AXIS Y JOINT 1
#*******************
setp pid.y.Pgain [JOINT_1]P
setp pid.y.Igain [JOINT_1]I
setp pid.y.Dgain [JOINT_1]D
setp pid.y.bias [JOINT_1]BIAS
setp pid.y.FF0 [JOINT_1]FF0
setp pid.y.FF1 [JOINT_1]FF1
setp pid.y.FF2 [JOINT_1]FF2
setp pid.y.deadband [JOINT_1]DEADBAND
setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
setp pid.y.error-previous-target true
setp pid.y.maxerror .0005
net y-index-enable <=> pid.y.index-enable
net y-enable => pid.y.enable
net y-pos-cmd => pid.y.command
net y-pos-fb => pid.y.feedback
net y-output <= pid.y.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP
setp hm2_7i76e.0.stepgen.01.dirhold [JOINT_1]DIRHOLD
setp hm2_7i76e.0.stepgen.01.steplen [JOINT_1]STEPLEN
setp hm2_7i76e.0.stepgen.01.stepspace [JOINT_1]STEPSPACE
setp hm2_7i76e.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE
setp hm2_7i76e.0.stepgen.01.step_type 0
setp hm2_7i76e.0.stepgen.01.control-type 1
setp hm2_7i76e.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net y-pos-cmd <= joint.1.motor-pos-cmd
net y-vel-cmd <= joint.1.vel-cmd
net y-output <= hm2_7i76e.0.stepgen.01.velocity-cmd
net y-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb
net y-pos-fb => joint.1.motor-pos-fb
net y-enable <= joint.1.amp-enable-out
net y-enable => hm2_7i76e.0.stepgen.01.enable
# ---setup home / limit switch signals---
net y-home-sw => joint.1.home-sw-in
net y-neg-limit => joint.1.neg-lim-sw-in
net y-pos-limit => joint.1.pos-lim-sw-in
#*******************
# AXIS Z JOINT 2
#*******************
setp pid.z.Pgain [JOINT_2]P
setp pid.z.Igain [JOINT_2]I
setp pid.z.Dgain [JOINT_2]D
setp pid.z.bias [JOINT_2]BIAS
setp pid.z.FF0 [JOINT_2]FF0
setp pid.z.FF1 [JOINT_2]FF1
setp pid.z.FF2 [JOINT_2]FF2
setp pid.z.deadband [JOINT_2]DEADBAND
setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
setp pid.z.error-previous-target true
setp pid.z.maxerror .0005
net z-index-enable <=> pid.z.index-enable
net z-enable => pid.z.enable
net z-pos-cmd => pid.z.command
net z-pos-fb => pid.z.feedback
net z-output <= pid.z.output
# Step Gen signals/setup
setp hm2_7i76e.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP
setp hm2_7i76e.0.stepgen.02.dirhold [JOINT_2]DIRHOLD
setp hm2_7i76e.0.stepgen.02.steplen [JOINT_2]STEPLEN
setp hm2_7i76e.0.stepgen.02.stepspace [JOINT_2]STEPSPACE
setp hm2_7i76e.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE
setp hm2_7i76e.0.stepgen.02.step_type 0
setp hm2_7i76e.0.stepgen.02.control-type 1
setp hm2_7i76e.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
setp hm2_7i76e.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL
# ---closedloop stepper signals---
net z-pos-cmd <= joint.2.motor-pos-cmd
net z-vel-cmd <= joint.2.vel-cmd
net z-output <= hm2_7i76e.0.stepgen.02.velocity-cmd
net z-pos-fb <= hm2_7i76e.0.stepgen.02.position-fb
net z-pos-fb => joint.2.motor-pos-fb
net z-enable <= joint.2.amp-enable-out
net z-enable => hm2_7i76e.0.stepgen.02.enable
# ---setup home / limit switch signals---
net z-home-sw => joint.2.home-sw-in
net z-neg-limit => joint.2.neg-lim-sw-in
net z-pos-limit => joint.2.pos-lim-sw-in
#*******************
# SPINDLE
#*******************
setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
net spindle-index-enable <=> pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output
# ---setup spindle control signals---
net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable
# ---Setup spindle at speed signals---
sets spindle-at-speed true
#******************************
# connect miscellaneous signals
#******************************
# ---HALUI signals---
net axis-select-x halui.axis.x.select
net jog-x-pos halui.axis.x.plus
net jog-x-neg halui.axis.x.minus
net jog-x-analog halui.axis.x.analog
net x-is-homed halui.joint.0.is-homed
net axis-select-y halui.axis.y.select
net jog-y-pos halui.axis.y.plus
net jog-y-neg halui.axis.y.minus
net jog-y-analog halui.axis.y.analog
net y-is-homed halui.joint.1.is-homed
net axis-select-z halui.axis.z.select
net jog-z-pos halui.axis.z.plus
net jog-z-neg halui.axis.z.minus
net jog-z-analog halui.axis.z.analog
net z-is-homed halui.joint.2.is-homed
net jog-selected-pos halui.axis.selected.plus
net jog-selected-neg halui.axis.selected.minus
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop
net machine-is-on halui.machine.is-on
net jog-speed halui.axis.jog-speed
net MDI-mode halui.mode.is-mdi
# ---coolant signals---
net coolant-mist <= iocontrol.0.coolant-mist
net coolant-flood <= iocontrol.0.coolant-flood
# ---probe signal---
net probe-in => motion.probe-input
# ---motion control signals---
net in-position <= motion.in-position
net machine-is-enabled <= motion.motion-enabled
# ---digital in / out signals---
# ---estop signals---
net estop-out <= iocontrol.0.user-enable-out
net estop-out => iocontrol.0.emc-enable-in
# ---manual tool change signals---
loadusr -W hal_manualtoolchange
net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-preparedHalcmd show all
Loaded HAL Components:
ID Type Name PID State
50 User halcmd2898 2898 ready
46 User axisui 2888 ready
44 User inihal 2884 ready
33 User hal_manualtoolchange 2875 ready
29 RT pid ready
26 RT hm2_eth ready
23 RT hostmot2 ready
20 RT __servo-thread ready
19 RT motmod ready
16 RT trivkins ready
10 User halui 2846 ready
4 User iocontrol 2844 ready
Component Pins:
Owner Type Dir Value Name
19 float OUT 0 axis.a.eoffset
19 bit IN FALSE axis.a.eoffset-clear
19 s32 IN 0 axis.a.eoffset-counts
19 bit IN FALSE axis.a.eoffset-enable
19 float OUT 0 axis.a.eoffset-request
19 float IN 0 axis.a.eoffset-scale
19 float IN 1 axis.a.jog-accel-fraction
19 s32 IN 0 axis.a.jog-counts
19 bit IN FALSE axis.a.jog-enable
19 float IN 0 axis.a.jog-scale
19 bit IN FALSE axis.a.jog-vel-mode
19 bit OUT FALSE axis.a.kb-jog-active
19 float OUT 0 axis.a.pos-cmd
19 float OUT 0 axis.a.teleop-pos-cmd
19 bit OUT FALSE axis.a.teleop-tp-enable
19 float OUT 0 axis.a.teleop-vel-cmd
19 float OUT 0 axis.a.teleop-vel-lim
19 bit OUT FALSE axis.a.wheel-jog-active
19 float OUT 0 axis.b.eoffset
19 bit IN FALSE axis.b.eoffset-clear
19 s32 IN 0 axis.b.eoffset-counts
19 bit IN FALSE axis.b.eoffset-enable
19 float OUT 0 axis.b.eoffset-request
19 float IN 0 axis.b.eoffset-scale
19 float IN 1 axis.b.jog-accel-fraction
19 s32 IN 0 axis.b.jog-counts
19 bit IN FALSE axis.b.jog-enable
19 float IN 0 axis.b.jog-scale
19 bit IN FALSE axis.b.jog-vel-mode
19 bit OUT FALSE axis.b.kb-jog-active
19 float OUT 0 axis.b.pos-cmd
19 float OUT 0 axis.b.teleop-pos-cmd
19 bit OUT FALSE axis.b.teleop-tp-enable
19 float OUT 0 axis.b.teleop-vel-cmd
19 float OUT 0 axis.b.teleop-vel-lim
19 bit OUT FALSE axis.b.wheel-jog-active
19 float OUT 0 axis.c.eoffset
19 bit IN FALSE axis.c.eoffset-clear
19 s32 IN 0 axis.c.eoffset-counts
19 bit IN FALSE axis.c.eoffset-enable
19 float OUT 0 axis.c.eoffset-request
19 float IN 0 axis.c.eoffset-scale
19 float IN 1 axis.c.jog-accel-fraction
19 s32 IN 0 axis.c.jog-counts
19 bit IN FALSE axis.c.jog-enable
19 float IN 0 axis.c.jog-scale
19 bit IN FALSE axis.c.jog-vel-mode
19 bit OUT FALSE axis.c.kb-jog-active
19 float OUT 0 axis.c.pos-cmd
19 float OUT 0 axis.c.teleop-pos-cmd
19 bit OUT FALSE axis.c.teleop-tp-enable
19 float OUT 0 axis.c.teleop-vel-cmd
19 float OUT 0 axis.c.teleop-vel-lim
19 bit OUT FALSE axis.c.wheel-jog-active
19 float OUT 0 axis.u.eoffset
19 bit IN FALSE axis.u.eoffset-clear
19 s32 IN 0 axis.u.eoffset-counts
19 bit IN FALSE axis.u.eoffset-enable
19 float OUT 0 axis.u.eoffset-request
19 float IN 0 axis.u.eoffset-scale
19 float IN 1 axis.u.jog-accel-fraction
19 s32 IN 0 axis.u.jog-counts
19 bit IN FALSE axis.u.jog-enable
19 float IN 0 axis.u.jog-scale
19 bit IN FALSE axis.u.jog-vel-mode
19 bit OUT FALSE axis.u.kb-jog-active
19 float OUT 0 axis.u.pos-cmd
19 float OUT 0 axis.u.teleop-pos-cmd
19 bit OUT FALSE axis.u.teleop-tp-enable
19 float OUT 0 axis.u.teleop-vel-cmd
19 float OUT 0 axis.u.teleop-vel-lim
19 bit OUT FALSE axis.u.wheel-jog-active
19 float OUT 0 axis.v.eoffset
19 bit IN FALSE axis.v.eoffset-clear
19 s32 IN 0 axis.v.eoffset-counts
19 bit IN FALSE axis.v.eoffset-enable
19 float OUT 0 axis.v.eoffset-request
19 float IN 0 axis.v.eoffset-scale
19 float IN 1 axis.v.jog-accel-fraction
19 s32 IN 0 axis.v.jog-counts
19 bit IN FALSE axis.v.jog-enable
19 float IN 0 axis.v.jog-scale
19 bit IN FALSE axis.v.jog-vel-mode
19 bit OUT FALSE axis.v.kb-jog-active
19 float OUT 0 axis.v.pos-cmd
19 float OUT 0 axis.v.teleop-pos-cmd
19 bit OUT FALSE axis.v.teleop-tp-enable
19 float OUT 0 axis.v.teleop-vel-cmd
19 float OUT 0 axis.v.teleop-vel-lim
19 bit OUT FALSE axis.v.wheel-jog-active
19 float OUT 0 axis.w.eoffset
19 bit IN FALSE axis.w.eoffset-clear
19 s32 IN 0 axis.w.eoffset-counts
19 bit IN FALSE axis.w.eoffset-enable
19 float OUT 0 axis.w.eoffset-request
19 float IN 0 axis.w.eoffset-scale
19 float IN 1 axis.w.jog-accel-fraction
19 s32 IN 0 axis.w.jog-counts
19 bit IN FALSE axis.w.jog-enable
19 float IN 0 axis.w.jog-scale
19 bit IN FALSE axis.w.jog-vel-mode
19 bit OUT FALSE axis.w.kb-jog-active
19 float OUT 0 axis.w.pos-cmd
19 float OUT 0 axis.w.teleop-pos-cmd
19 bit OUT FALSE axis.w.teleop-tp-enable
19 float OUT 0 axis.w.teleop-vel-cmd
19 float OUT 0 axis.w.teleop-vel-lim
19 bit OUT FALSE axis.w.wheel-jog-active
19 float OUT 0 axis.x.eoffset
19 bit IN FALSE axis.x.eoffset-clear
19 s32 IN 0 axis.x.eoffset-counts
19 bit IN FALSE axis.x.eoffset-enable
19 float OUT 0 axis.x.eoffset-request
19 float IN 0 axis.x.eoffset-scale
19 float IN 1 axis.x.jog-accel-fraction
19 s32 IN 0 axis.x.jog-counts
19 bit IN FALSE axis.x.jog-enable
19 float IN 0 axis.x.jog-scale
19 bit IN FALSE axis.x.jog-vel-mode
19 bit OUT FALSE axis.x.kb-jog-active
19 float OUT 0 axis.x.pos-cmd
19 float OUT 0 axis.x.teleop-pos-cmd
19 bit OUT FALSE axis.x.teleop-tp-enable
19 float OUT 0 axis.x.teleop-vel-cmd
19 float OUT 0 axis.x.teleop-vel-lim
19 bit OUT FALSE axis.x.wheel-jog-active
19 float OUT 0 axis.y.eoffset
19 bit IN FALSE axis.y.eoffset-clear
19 s32 IN 0 axis.y.eoffset-counts
19 bit IN FALSE axis.y.eoffset-enable
19 float OUT 0 axis.y.eoffset-request
19 float IN 0 axis.y.eoffset-scale
19 float IN 1 axis.y.jog-accel-fraction
19 s32 IN 0 axis.y.jog-counts
19 bit IN FALSE axis.y.jog-enable
19 float IN 0 axis.y.jog-scale
19 bit IN FALSE axis.y.jog-vel-mode
19 bit OUT FALSE axis.y.kb-jog-active
19 float OUT 0 axis.y.pos-cmd
19 float OUT 0 axis.y.teleop-pos-cmd
19 bit OUT FALSE axis.y.teleop-tp-enable
19 float OUT 0 axis.y.teleop-vel-cmd
19 float OUT 0 axis.y.teleop-vel-lim
19 bit OUT FALSE axis.y.wheel-jog-active
19 float OUT 0 axis.z.eoffset
19 bit IN FALSE axis.z.eoffset-clear
19 s32 IN 0 axis.z.eoffset-counts
19 bit IN FALSE axis.z.eoffset-enable
19 float OUT 0 axis.z.eoffset-request
19 float IN 0 axis.z.eoffset-scale
19 float IN 1 axis.z.jog-accel-fraction
19 s32 IN 0 axis.z.jog-counts
19 bit IN FALSE axis.z.jog-enable
19 float IN 0 axis.z.jog-scale
19 bit IN FALSE axis.z.jog-vel-mode
19 bit OUT FALSE axis.z.kb-jog-active
19 float OUT 0 axis.z.pos-cmd
19 float OUT 0 axis.z.teleop-pos-cmd
19 bit OUT FALSE axis.z.teleop-tp-enable
19 float OUT 0 axis.z.teleop-vel-cmd
19 float OUT 0 axis.z.teleop-vel-lim
19 bit OUT FALSE axis.z.wheel-jog-active
46 bit OUT FALSE axisui.jog.a
46 bit OUT FALSE axisui.jog.b
46 bit OUT FALSE axisui.jog.c
46 float OUT 0 axisui.jog.increment
46 bit OUT FALSE axisui.jog.u
46 bit OUT FALSE axisui.jog.v
46 bit OUT FALSE axisui.jog.w
46 bit OUT TRUE axisui.jog.x
46 bit OUT FALSE axisui.jog.y
46 bit OUT FALSE axisui.jog.z
46 bit IN FALSE axisui.notifications-clear
46 bit IN FALSE axisui.notifications-clear-error
46 bit IN FALSE axisui.notifications-clear-info
46 bit IN FALSE axisui.resume-inhibit
33 bit IN FALSE hal_manualtoolchange.change <== tool-change-request
33 bit IN FALSE hal_manualtoolchange.change_button
33 bit OUT FALSE hal_manualtoolchange.changed ==> tool-change-confirmed
33 s32 IN 0 hal_manualtoolchange.number <== tool-number
10 bit IN FALSE halui.abort
10 float IN 0 halui.axis.a.analog
10 float IN 0 halui.axis.a.increment
10 bit IN FALSE halui.axis.a.increment-minus
10 bit IN FALSE halui.axis.a.increment-plus
10 bit IN FALSE halui.axis.a.minus
10 bit IN FALSE halui.axis.a.plus
10 bit IN FALSE halui.axis.a.select
10 float IN 0 halui.axis.b.analog
10 float IN 0 halui.axis.b.increment
10 bit IN FALSE halui.axis.b.increment-minus
10 bit IN FALSE halui.axis.b.increment-plus
10 bit IN FALSE halui.axis.b.minus
10 bit IN FALSE halui.axis.b.plus
10 bit IN FALSE halui.axis.b.select
10 float IN 0 halui.axis.c.analog
10 float IN 0 halui.axis.c.increment
10 bit IN FALSE halui.axis.c.increment-minus
10 bit IN FALSE halui.axis.c.increment-plus
10 bit IN FALSE halui.axis.c.minus
10 bit IN FALSE halui.axis.c.plus
10 bit IN FALSE halui.axis.c.select
10 float IN 0.2 halui.axis.jog-deadband
10 float IN 0 halui.axis.jog-speed <== jog-speed
10 u32 OUT 0x00000000 halui.axis.selected
10 float IN 0 halui.axis.selected.increment
10 bit IN FALSE halui.axis.selected.increment-minus
10 bit IN FALSE halui.axis.selected.increment-plus
10 bit IN FALSE halui.axis.selected.minus <== jog-selected-neg
10 bit IN FALSE halui.axis.selected.plus <== jog-selected-pos
10 float IN 0 halui.axis.u.analog
10 float IN 0 halui.axis.u.increment
10 bit IN FALSE halui.axis.u.increment-minus
10 bit IN FALSE halui.axis.u.increment-plus
10 bit IN FALSE halui.axis.u.minus
10 bit IN FALSE halui.axis.u.plus
10 bit IN FALSE halui.axis.u.select
10 float IN 0 halui.axis.v.analog
10 float IN 0 halui.axis.v.increment
10 bit IN FALSE halui.axis.v.increment-minus
10 bit IN FALSE halui.axis.v.increment-plus
10 bit IN FALSE halui.axis.v.minus
10 bit IN FALSE halui.axis.v.plus
10 bit IN FALSE halui.axis.v.select
10 float IN 0 halui.axis.w.analog
10 float IN 0 halui.axis.w.increment
10 bit IN FALSE halui.axis.w.increment-minus
10 bit IN FALSE halui.axis.w.increment-plus
10 bit IN FALSE halui.axis.w.minus
10 bit IN FALSE halui.axis.w.plus
10 bit IN FALSE halui.axis.w.select
10 float IN 0 halui.axis.x.analog <== jog-x-analog
10 float IN 0 halui.axis.x.increment
10 bit IN FALSE halui.axis.x.increment-minus
10 bit IN FALSE halui.axis.x.increment-plus
10 bit OUT TRUE halui.axis.x.is-selected
10 bit IN FALSE halui.axis.x.minus <== jog-x-neg
10 bit IN FALSE halui.axis.x.plus <== jog-x-pos
10 float OUT 0 halui.axis.x.pos-commanded
10 float OUT 0 halui.axis.x.pos-feedback
10 float OUT 0 halui.axis.x.pos-relative
10 bit IN FALSE halui.axis.x.select <== axis-select-x
10 float IN 0 halui.axis.y.analog <== jog-y-analog
10 float IN 0 halui.axis.y.increment
10 bit IN FALSE halui.axis.y.increment-minus
10 bit IN FALSE halui.axis.y.increment-plus
10 bit OUT FALSE halui.axis.y.is-selected
10 bit IN FALSE halui.axis.y.minus <== jog-y-neg
10 bit IN FALSE halui.axis.y.plus <== jog-y-pos
10 float OUT 0 halui.axis.y.pos-commanded
10 float OUT 0 halui.axis.y.pos-feedback
10 float OUT 0 halui.axis.y.pos-relative
10 bit IN FALSE halui.axis.y.select <== axis-select-y
10 float IN 0 halui.axis.z.analog <== jog-z-analog
10 float IN 0 halui.axis.z.increment
10 bit IN FALSE halui.axis.z.increment-minus
10 bit IN FALSE halui.axis.z.increment-plus
10 bit OUT FALSE halui.axis.z.is-selected
10 bit IN FALSE halui.axis.z.minus <== jog-z-neg
10 bit IN FALSE halui.axis.z.plus <== jog-z-pos
10 float OUT 0 halui.axis.z.pos-commanded
10 float OUT 0 halui.axis.z.pos-feedback
10 float OUT 0 halui.axis.z.pos-relative
10 bit IN FALSE halui.axis.z.select <== axis-select-z
10 bit IN FALSE halui.estop.activate
10 bit OUT TRUE halui.estop.is-activated
10 bit IN FALSE halui.estop.reset
10 bit IN TRUE halui.feed-override.count-enable
10 s32 IN 0 halui.feed-override.counts
10 bit IN FALSE halui.feed-override.decrease
10 bit IN FALSE halui.feed-override.direct-value
10 bit IN FALSE halui.feed-override.increase
10 float IN 0.1 halui.feed-override.scale
10 float OUT 1 halui.feed-override.value
10 bit OUT FALSE halui.flood.is-on
10 bit IN FALSE halui.flood.off
10 bit IN FALSE halui.flood.on
10 float IN 0 halui.joint.0.analog
10 bit OUT FALSE halui.joint.0.has-fault
10 bit IN FALSE halui.joint.0.home
10 float IN 0 halui.joint.0.increment
10 bit IN FALSE halui.joint.0.increment-minus
10 bit IN FALSE halui.joint.0.increment-plus
10 bit OUT FALSE halui.joint.0.is-homed ==> x-is-homed
10 bit OUT TRUE halui.joint.0.is-selected
10 bit IN FALSE halui.joint.0.minus
10 bit OUT FALSE halui.joint.0.on-hard-max-limit
10 bit OUT FALSE halui.joint.0.on-hard-min-limit
10 bit OUT FALSE halui.joint.0.on-soft-max-limit
10 bit OUT FALSE halui.joint.0.on-soft-min-limit
10 bit OUT FALSE halui.joint.0.override-limits
10 bit IN FALSE halui.joint.0.plus
10 bit IN FALSE halui.joint.0.select
10 bit IN FALSE halui.joint.0.unhome
10 float IN 0 halui.joint.1.analog
10 bit OUT FALSE halui.joint.1.has-fault
10 bit IN FALSE halui.joint.1.home
10 float IN 0 halui.joint.1.increment
10 bit IN FALSE halui.joint.1.increment-minus
10 bit IN FALSE halui.joint.1.increment-plus
10 bit OUT FALSE halui.joint.1.is-homed ==> y-is-homed
10 bit OUT FALSE halui.joint.1.is-selected
10 bit IN FALSE halui.joint.1.minus
10 bit OUT FALSE halui.joint.1.on-hard-max-limit
10 bit OUT FALSE halui.joint.1.on-hard-min-limit
10 bit OUT FALSE halui.joint.1.on-soft-max-limit
10 bit OUT FALSE halui.joint.1.on-soft-min-limit
10 bit OUT FALSE halui.joint.1.override-limits
10 bit IN FALSE halui.joint.1.plus
10 bit IN FALSE halui.joint.1.select
10 bit IN FALSE halui.joint.1.unhome
10 float IN 0 halui.joint.2.analog
10 bit OUT FALSE halui.joint.2.has-fault
10 bit IN FALSE halui.joint.2.home
10 float IN 0 halui.joint.2.increment
10 bit IN FALSE halui.joint.2.increment-minus
10 bit IN FALSE halui.joint.2.increment-plus
10 bit OUT FALSE halui.joint.2.is-homed ==> z-is-homed
10 bit OUT FALSE halui.joint.2.is-selected
10 bit IN FALSE halui.joint.2.minus
10 bit OUT FALSE halui.joint.2.on-hard-max-limit
10 bit OUT FALSE halui.joint.2.on-hard-min-limit
10 bit OUT FALSE halui.joint.2.on-soft-max-limit
10 bit OUT FALSE halui.joint.2.on-soft-min-limit
10 bit OUT FALSE halui.joint.2.override-limits
10 bit IN FALSE halui.joint.2.plus
10 bit IN FALSE halui.joint.2.select
10 bit IN FALSE halui.joint.2.unhome
10 float IN 0.2 halui.joint.jog-deadband
10 float IN 0 halui.joint.jog-speed
10 u32 OUT 0x00000000 halui.joint.selected
10 bit OUT FALSE halui.joint.selected.has-fault
10 bit IN FALSE halui.joint.selected.home
10 float IN 0 halui.joint.selected.increment
10 bit IN FALSE halui.joint.selected.increment-minus
10 bit IN FALSE halui.joint.selected.increment-plus
10 bit OUT FALSE halui.joint.selected.is-homed
10 bit IN FALSE halui.joint.selected.minus
10 bit OUT FALSE halui.joint.selected.on-hard-max-limit
10 bit OUT FALSE halui.joint.selected.on-hard-min-limit
10 bit OUT FALSE halui.joint.selected.on-soft-max-limit
10 bit OUT FALSE halui.joint.selected.on-soft-min-limit
10 bit OUT FALSE halui.joint.selected.override-limits
10 bit IN FALSE halui.joint.selected.plus
10 bit IN FALSE halui.joint.selected.unhome
10 bit OUT FALSE halui.lube.is-on
10 bit IN FALSE halui.lube.off
10 bit IN FALSE halui.lube.on
10 bit OUT FALSE halui.machine.is-on ==> machine-is-on
10 bit IN FALSE halui.machine.off
10 bit IN FALSE halui.machine.on
10 float OUT 0.03937008 halui.machine.units-per-mm
10 bit IN TRUE halui.max-velocity.count-enable
10 s32 IN 0 halui.max-velocity.counts
10 bit IN FALSE halui.max-velocity.decrease
10 bit IN FALSE halui.max-velocity.direct-value
10 bit IN FALSE halui.max-velocity.increase
10 float IN 0 halui.max-velocity.scale
10 float OUT 1 halui.max-velocity.value
10 bit OUT FALSE halui.mist.is-on
10 bit IN FALSE halui.mist.off
10 bit IN FALSE halui.mist.on
10 bit IN FALSE halui.mode.auto
10 bit OUT FALSE halui.mode.is-auto
10 bit OUT TRUE halui.mode.is-joint
10 bit OUT TRUE halui.mode.is-manual
10 bit OUT FALSE halui.mode.is-mdi ==> MDI-mode
10 bit OUT FALSE halui.mode.is-teleop
10 bit IN FALSE halui.mode.joint
10 bit IN FALSE halui.mode.manual
10 bit IN FALSE halui.mode.mdi
10 bit IN FALSE halui.mode.teleop
10 bit OUT TRUE halui.program.block-delete.is-on
10 bit IN FALSE halui.program.block-delete.off
10 bit IN FALSE halui.program.block-delete.on
10 bit OUT TRUE halui.program.is-idle
10 bit OUT FALSE halui.program.is-paused
10 bit OUT FALSE halui.program.is-running
10 bit OUT TRUE halui.program.optional-stop.is-on
10 bit IN FALSE halui.program.optional-stop.off
10 bit IN FALSE halui.program.optional-stop.on
10 bit IN FALSE halui.program.pause
10 bit IN FALSE halui.program.resume
10 bit IN FALSE halui.program.run
10 bit IN FALSE halui.program.step
10 bit IN FALSE halui.program.stop
10 bit IN TRUE halui.rapid-override.count-enable
10 s32 IN 0 halui.rapid-override.counts
10 bit IN FALSE halui.rapid-override.decrease
10 bit IN FALSE halui.rapid-override.direct-value
10 bit IN FALSE halui.rapid-override.increase
10 float IN 0.1 halui.rapid-override.scale
10 float OUT 1 halui.rapid-override.value
10 bit OUT TRUE halui.spindle.0.brake-is-on
10 bit IN FALSE halui.spindle.0.brake-off
10 bit IN FALSE halui.spindle.0.brake-on
10 bit IN FALSE halui.spindle.0.decrease
10 bit IN FALSE halui.spindle.0.forward <== spindle-manual-cw
10 bit IN FALSE halui.spindle.0.increase
10 bit OUT FALSE halui.spindle.0.is-on
10 bit IN TRUE halui.spindle.0.override.count-enable
10 s32 IN 0 halui.spindle.0.override.counts
10 bit IN FALSE halui.spindle.0.override.decrease
10 bit IN FALSE halui.spindle.0.override.direct-value
10 bit IN FALSE halui.spindle.0.override.increase
10 float IN 0.1 halui.spindle.0.override.scale
10 float OUT 1 halui.spindle.0.override.value
10 bit IN FALSE halui.spindle.0.reverse <== spindle-manual-ccw
10 bit OUT FALSE halui.spindle.0.runs-backward
10 bit OUT FALSE halui.spindle.0.runs-forward
10 bit IN FALSE halui.spindle.0.start
10 bit IN FALSE halui.spindle.0.stop <== spindle-manual-stop
10 float OUT 0 halui.tool.diameter
10 float OUT 0 halui.tool.length_offset.a
10 float OUT 0 halui.tool.length_offset.b
10 float OUT 0 halui.tool.length_offset.c
10 float OUT 0 halui.tool.length_offset.u
10 float OUT 0 halui.tool.length_offset.v
10 float OUT 0 halui.tool.length_offset.w
10 float OUT 0 halui.tool.length_offset.x
10 float OUT 0 halui.tool.length_offset.y
10 float OUT 0 halui.tool.length_offset.z
10 u32 OUT 0x00000000 halui.tool.number
26 s32 OUT 2098000000 hm2_7i76e.0.0.debug
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-00
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-00-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-01
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-01-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-02
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-02-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-03
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-03-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-04
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-04-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-05
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-05-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-06
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-06-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-07
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-07-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-08
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-08-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-09
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-09-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-10
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-10-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-11
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-11-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-12
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-12-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-13
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-13-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-14
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-14-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-15
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-15-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-16
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-16-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-17
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-17-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-18
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-18-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-19
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-19-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-20
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-20-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-21
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-21-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-22
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-22-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-23
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-23-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-24
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-24-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-25
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-25-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-26
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-26-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-27
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-27-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-28
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-28-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-29
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-29-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-30
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-30-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-31
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-31-not
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-00
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-01
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-02
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-03
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-04
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-05
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-06
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-07
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-08
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-09
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-10
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-11
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-12
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-13
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-14
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-15
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.spindir
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.spinena
26 float IN 0 hm2_7i76e.0.7i76.0.0.spinout
26 float IN -50 hm2_7i76e.0.dpll.01.timer-us
26 float IN 100 hm2_7i76e.0.dpll.02.timer-us
26 float IN 100 hm2_7i76e.0.dpll.03.timer-us
26 float IN 100 hm2_7i76e.0.dpll.04.timer-us
26 float IN 1 hm2_7i76e.0.dpll.base-freq-khz
26 u32 OUT 0x0000002A hm2_7i76e.0.dpll.ddsize
26 float OUT -2.851113 hm2_7i76e.0.dpll.phase-error-us
26 u32 IN 0x00400000 hm2_7i76e.0.dpll.plimit
26 u32 OUT 0x00000018 hm2_7i76e.0.dpll.prescale
26 u32 IN 0x000007D0 hm2_7i76e.0.dpll.time-const
26 s32 OUT 0 hm2_7i76e.0.encoder.00.count
26 s32 OUT 0 hm2_7i76e.0.encoder.00.count-latched
26 bit I/O FALSE hm2_7i76e.0.encoder.00.index-enable
26 bit OUT FALSE hm2_7i76e.0.encoder.00.input-a
26 bit OUT FALSE hm2_7i76e.0.encoder.00.input-b
26 bit OUT TRUE hm2_7i76e.0.encoder.00.input-index
26 bit IN FALSE hm2_7i76e.0.encoder.00.latch-enable
26 bit IN FALSE hm2_7i76e.0.encoder.00.latch-polarity
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26 float OUT 0 hm2_7i76e.0.encoder.00.position-latched
26 bit OUT FALSE hm2_7i76e.0.encoder.00.quad-error
26 bit IN FALSE hm2_7i76e.0.encoder.00.quad-error-enable
26 s32 OUT 0 hm2_7i76e.0.encoder.00.rawcounts
26 s32 OUT 0 hm2_7i76e.0.encoder.00.rawlatch
26 bit IN FALSE hm2_7i76e.0.encoder.00.reset
26 float OUT 0 hm2_7i76e.0.encoder.00.velocity
26 float OUT 0 hm2_7i76e.0.encoder.00.velocity-rpm
26 u32 IN 0x017D7840 hm2_7i76e.0.encoder.sample-frequency
26 s32 IN -1 hm2_7i76e.0.encoder.timer-number
26 bit OUT FALSE hm2_7i76e.0.gpio.000.in
26 bit OUT TRUE hm2_7i76e.0.gpio.000.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.001.in
26 bit OUT TRUE hm2_7i76e.0.gpio.001.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.002.in
26 bit OUT TRUE hm2_7i76e.0.gpio.002.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.003.in
26 bit OUT TRUE hm2_7i76e.0.gpio.003.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.004.in
26 bit OUT TRUE hm2_7i76e.0.gpio.004.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.005.in
26 bit OUT TRUE hm2_7i76e.0.gpio.005.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.006.in
26 bit OUT TRUE hm2_7i76e.0.gpio.006.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.007.in
26 bit OUT TRUE hm2_7i76e.0.gpio.007.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.008.in
26 bit OUT TRUE hm2_7i76e.0.gpio.008.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.009.in
26 bit OUT TRUE hm2_7i76e.0.gpio.009.in_not
26 bit OUT TRUE hm2_7i76e.0.gpio.010.in
26 bit OUT FALSE hm2_7i76e.0.gpio.010.in_not
26 bit OUT TRUE hm2_7i76e.0.gpio.011.in
26 bit OUT FALSE hm2_7i76e.0.gpio.011.in_not
26 bit OUT TRUE hm2_7i76e.0.gpio.012.in
26 bit OUT FALSE hm2_7i76e.0.gpio.012.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.012.out
26 bit OUT TRUE hm2_7i76e.0.gpio.013.in
26 bit OUT FALSE hm2_7i76e.0.gpio.013.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.013.out
26 bit OUT FALSE hm2_7i76e.0.gpio.014.in
26 bit OUT TRUE hm2_7i76e.0.gpio.014.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.015.in
26 bit OUT TRUE hm2_7i76e.0.gpio.015.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.016.in
26 bit OUT TRUE hm2_7i76e.0.gpio.016.in_not
26 bit OUT TRUE hm2_7i76e.0.gpio.017.in
26 bit OUT FALSE hm2_7i76e.0.gpio.017.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.017.out
26 bit OUT FALSE hm2_7i76e.0.gpio.018.in
26 bit OUT TRUE hm2_7i76e.0.gpio.018.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.018.out
26 bit OUT TRUE hm2_7i76e.0.gpio.019.in
26 bit OUT FALSE hm2_7i76e.0.gpio.019.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.019.out
26 bit OUT FALSE hm2_7i76e.0.gpio.020.in
26 bit OUT TRUE hm2_7i76e.0.gpio.020.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.020.out
26 bit OUT FALSE hm2_7i76e.0.gpio.021.in ==> min-x
26 bit OUT TRUE hm2_7i76e.0.gpio.021.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.021.out
26 bit OUT TRUE hm2_7i76e.0.gpio.022.in
26 bit OUT FALSE hm2_7i76e.0.gpio.022.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.022.out
26 bit OUT FALSE hm2_7i76e.0.gpio.023.in
26 bit OUT TRUE hm2_7i76e.0.gpio.023.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.023.out
26 bit OUT FALSE hm2_7i76e.0.gpio.024.in
26 bit OUT TRUE hm2_7i76e.0.gpio.024.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.024.out
26 bit OUT FALSE hm2_7i76e.0.gpio.025.in
26 bit OUT TRUE hm2_7i76e.0.gpio.025.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.025.out
26 bit OUT FALSE hm2_7i76e.0.gpio.026.in
26 bit OUT TRUE hm2_7i76e.0.gpio.026.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.026.out
26 bit OUT FALSE hm2_7i76e.0.gpio.027.in
26 bit OUT TRUE hm2_7i76e.0.gpio.027.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.027.out
26 bit OUT FALSE hm2_7i76e.0.gpio.028.in
26 bit OUT TRUE hm2_7i76e.0.gpio.028.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.028.out
26 bit OUT TRUE hm2_7i76e.0.gpio.029.in
26 bit OUT FALSE hm2_7i76e.0.gpio.029.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.029.out
26 bit OUT TRUE hm2_7i76e.0.gpio.030.in
26 bit OUT FALSE hm2_7i76e.0.gpio.030.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.030.out
26 bit OUT TRUE hm2_7i76e.0.gpio.031.in
26 bit OUT FALSE hm2_7i76e.0.gpio.031.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.031.out
26 bit OUT TRUE hm2_7i76e.0.gpio.032.in
26 bit OUT FALSE hm2_7i76e.0.gpio.032.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.032.out
26 bit OUT TRUE hm2_7i76e.0.gpio.033.in
26 bit OUT FALSE hm2_7i76e.0.gpio.033.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.033.out
26 bit OUT TRUE hm2_7i76e.0.gpio.034.in
26 bit OUT FALSE hm2_7i76e.0.gpio.034.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.034.out
26 bit OUT TRUE hm2_7i76e.0.gpio.035.in
26 bit OUT FALSE hm2_7i76e.0.gpio.035.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.035.out
26 bit OUT TRUE hm2_7i76e.0.gpio.036.in
26 bit OUT FALSE hm2_7i76e.0.gpio.036.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.036.out
26 bit OUT TRUE hm2_7i76e.0.gpio.037.in
26 bit OUT FALSE hm2_7i76e.0.gpio.037.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.037.out
26 bit OUT TRUE hm2_7i76e.0.gpio.038.in ==> home-x
26 bit OUT FALSE hm2_7i76e.0.gpio.038.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.038.out
26 bit OUT TRUE hm2_7i76e.0.gpio.039.in
26 bit OUT FALSE hm2_7i76e.0.gpio.039.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.039.out
26 bit OUT TRUE hm2_7i76e.0.gpio.040.in
26 bit OUT FALSE hm2_7i76e.0.gpio.040.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.040.out
26 bit OUT TRUE hm2_7i76e.0.gpio.041.in
26 bit OUT FALSE hm2_7i76e.0.gpio.041.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.041.out
26 bit OUT TRUE hm2_7i76e.0.gpio.042.in
26 bit OUT FALSE hm2_7i76e.0.gpio.042.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.042.out
26 bit OUT TRUE hm2_7i76e.0.gpio.043.in
26 bit OUT FALSE hm2_7i76e.0.gpio.043.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.043.out
26 bit OUT TRUE hm2_7i76e.0.gpio.044.in
26 bit OUT FALSE hm2_7i76e.0.gpio.044.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.044.out
26 bit OUT TRUE hm2_7i76e.0.gpio.045.in
26 bit OUT FALSE hm2_7i76e.0.gpio.045.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.045.out
26 bit OUT TRUE hm2_7i76e.0.gpio.046.in
26 bit OUT FALSE hm2_7i76e.0.gpio.046.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.046.out
26 bit OUT TRUE hm2_7i76e.0.gpio.047.in
26 bit OUT FALSE hm2_7i76e.0.gpio.047.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.047.out
26 bit OUT TRUE hm2_7i76e.0.gpio.048.in
26 bit OUT FALSE hm2_7i76e.0.gpio.048.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.048.out
26 bit OUT TRUE hm2_7i76e.0.gpio.049.in
26 bit OUT FALSE hm2_7i76e.0.gpio.049.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.049.out
26 bit OUT TRUE hm2_7i76e.0.gpio.050.in
26 bit OUT FALSE hm2_7i76e.0.gpio.050.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.050.out
26 bit IN FALSE hm2_7i76e.0.led.CR01
26 bit IN FALSE hm2_7i76e.0.led.CR02
26 bit IN FALSE hm2_7i76e.0.led.CR03
26 bit IN FALSE hm2_7i76e.0.led.CR04
26 bit OUT FALSE hm2_7i76e.0.packet-error
26 bit OUT FALSE hm2_7i76e.0.packet-error-exceeded
26 s32 OUT 0 hm2_7i76e.0.packet-error-level
26 s32 OUT 0 hm2_7i76e.0.read-request.time
26 s32 OUT 178916 hm2_7i76e.0.read.time
26 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.fault-count
26 u32 OUT 0x00000003 hm2_7i76e.0.sserial.port-0.port_state
26 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.port_state2
26 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.port_state3
26 bit IN TRUE hm2_7i76e.0.sserial.port-0.run
26 bit IN TRUE hm2_7i76e.0.stepgen.00.control-type
26 s32 OUT 0 hm2_7i76e.0.stepgen.00.counts
26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_err_at_match
26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_ff_vel
26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_s_to_match
26 s32 OUT 0 hm2_7i76e.0.stepgen.00.dbg_step_rate
26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_vel_error
26 bit IN FALSE hm2_7i76e.0.stepgen.00.enable <== x-enable
26 float IN 0 hm2_7i76e.0.stepgen.00.position-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.00.position-fb ==> x-pos-fb
26 float IN 0 hm2_7i76e.0.stepgen.00.velocity-cmd <== x-output
26 float OUT 0 hm2_7i76e.0.stepgen.00.velocity-fb
26 bit IN TRUE hm2_7i76e.0.stepgen.01.control-type
26 s32 OUT 0 hm2_7i76e.0.stepgen.01.counts
26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_err_at_match
26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_ff_vel
26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_s_to_match
26 s32 OUT 0 hm2_7i76e.0.stepgen.01.dbg_step_rate
26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_vel_error
26 bit IN FALSE hm2_7i76e.0.stepgen.01.enable <== y-enable
26 float IN 0 hm2_7i76e.0.stepgen.01.position-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.01.position-fb ==> y-pos-fb
26 float IN 0 hm2_7i76e.0.stepgen.01.velocity-cmd <== y-output
26 float OUT 0 hm2_7i76e.0.stepgen.01.velocity-fb
26 bit IN TRUE hm2_7i76e.0.stepgen.02.control-type
26 s32 OUT 0 hm2_7i76e.0.stepgen.02.counts
26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_err_at_match
26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_ff_vel
26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_s_to_match
26 s32 OUT 0 hm2_7i76e.0.stepgen.02.dbg_step_rate
26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_vel_error
26 bit IN FALSE hm2_7i76e.0.stepgen.02.enable <== z-enable
26 float IN 0 hm2_7i76e.0.stepgen.02.position-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.02.position-fb ==> z-pos-fb
26 float IN 0 hm2_7i76e.0.stepgen.02.velocity-cmd <== z-output
26 float OUT 0 hm2_7i76e.0.stepgen.02.velocity-fb
26 bit IN FALSE hm2_7i76e.0.stepgen.03.control-type
26 s32 OUT 0 hm2_7i76e.0.stepgen.03.counts
26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_err_at_match
26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_ff_vel
26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_s_to_match
26 s32 OUT 0 hm2_7i76e.0.stepgen.03.dbg_step_rate
26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_vel_error
26 bit IN FALSE hm2_7i76e.0.stepgen.03.enable
26 float IN 0 hm2_7i76e.0.stepgen.03.position-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.03.position-fb
26 float IN 0 hm2_7i76e.0.stepgen.03.velocity-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.03.velocity-fb
26 bit IN FALSE hm2_7i76e.0.stepgen.04.control-type
26 s32 OUT 0 hm2_7i76e.0.stepgen.04.counts
26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_err_at_match
26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_ff_vel
26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_s_to_match
26 s32 OUT 0 hm2_7i76e.0.stepgen.04.dbg_step_rate
26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_vel_error
26 bit IN FALSE hm2_7i76e.0.stepgen.04.enable
26 float IN 0 hm2_7i76e.0.stepgen.04.position-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.04.position-fb
26 float IN 0 hm2_7i76e.0.stepgen.04.velocity-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.04.velocity-fb
26 s32 IN 1 hm2_7i76e.0.stepgen.timer-number
26 bit I/O FALSE hm2_7i76e.0.watchdog.has_bit
26 s32 OUT 16754 hm2_7i76e.0.write.time
44 float IN 0 ini.0.backlash
44 float IN 0.5 ini.0.ferror
44 float IN 0 ini.0.home
44 float IN 0 ini.0.home_offset
44 s32 IN 999 ini.0.home_sequence
44 float IN 30 ini.0.max_acceleration
44 float IN 8 ini.0.max_limit
44 float IN 1 ini.0.max_velocity
44 float IN 0.05 ini.0.min_ferror
44 float IN -0.001 ini.0.min_limit
44 float IN 0 ini.1.backlash
44 float IN 0.5 ini.1.ferror
44 float IN 0 ini.1.home
44 float IN 0 ini.1.home_offset
44 s32 IN 999 ini.1.home_sequence
44 float IN 30 ini.1.max_acceleration
44 float IN 8 ini.1.max_limit
44 float IN 1 ini.1.max_velocity
44 float IN 0.05 ini.1.min_ferror
44 float IN -0.001 ini.1.min_limit
44 float IN 0 ini.2.backlash
44 float IN 0.5 ini.2.ferror
44 float IN 0 ini.2.home
44 float IN 0 ini.2.home_offset
44 s32 IN 999 ini.2.home_sequence
44 float IN 30 ini.2.max_acceleration
44 float IN 0.001 ini.2.max_limit
44 float IN 1 ini.2.max_velocity
44 float IN 0.05 ini.2.min_ferror
44 float IN -4 ini.2.min_limit
44 float IN 0 ini.a.max_acceleration
44 float IN 0 ini.a.max_limit
44 float IN 0 ini.a.max_velocity
44 float IN 0 ini.a.min_limit
44 float IN 0 ini.b.max_acceleration
44 float IN 0 ini.b.max_limit
44 float IN 0 ini.b.max_velocity
44 float IN 0 ini.b.min_limit
44 float IN 0 ini.c.max_acceleration
44 float IN 0 ini.c.max_limit
44 float IN 0 ini.c.max_velocity
44 float IN 0 ini.c.min_limit
44 bit IN TRUE ini.traj_arc_blend_enable
44 bit IN FALSE ini.traj_arc_blend_fallback_enable
44 float IN 4 ini.traj_arc_blend_gap_cycles
44 s32 IN 50 ini.traj_arc_blend_optimization_depth
44 float IN 100 ini.traj_arc_blend_ramp_freq
44 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio
44 float IN 1e+99 ini.traj_default_acceleration
44 float IN 0.1 ini.traj_default_velocity
44 float IN 1e+99 ini.traj_max_acceleration
44 float IN 1 ini.traj_max_velocity
44 float IN 0 ini.u.max_acceleration
44 float IN 0 ini.u.max_limit
44 float IN 0 ini.u.max_velocity
44 float IN 0 ini.u.min_limit
44 float IN 0 ini.v.max_acceleration
44 float IN 0 ini.v.max_limit
44 float IN 0 ini.v.max_velocity
44 float IN 0 ini.v.min_limit
44 float IN 0 ini.w.max_acceleration
44 float IN 0 ini.w.max_limit
44 float IN 0 ini.w.max_velocity
44 float IN 0 ini.w.min_limit
44 float IN 30 ini.x.max_acceleration
44 float IN 8 ini.x.max_limit
44 float IN 1 ini.x.max_velocity
44 float IN -0.001 ini.x.min_limit
44 float IN 30 ini.y.max_acceleration
44 float IN 8 ini.y.max_limit
44 float IN 1 ini.y.max_velocity
44 float IN -0.001 ini.y.min_limit
44 float IN 30 ini.z.max_acceleration
44 float IN 0.001 ini.z.max_limit
44 float IN 1 ini.z.max_velocity
44 float IN -4 ini.z.min_limit
4 bit OUT FALSE iocontrol.0.coolant-flood ==> coolant-flood
4 bit OUT FALSE iocontrol.0.coolant-mist ==> coolant-mist
4 bit IN FALSE iocontrol.0.emc-enable-in <== estop-out
4 bit OUT FALSE iocontrol.0.lube
4 bit IN FALSE iocontrol.0.lube_level
4 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-request
4 bit IN FALSE iocontrol.0.tool-changed <== tool-change-confirmed
4 s32 OUT 0 iocontrol.0.tool-number
4 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-number
4 s32 OUT 0 iocontrol.0.tool-prep-pocket
4 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback
4 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback
4 bit OUT FALSE iocontrol.0.user-enable-out ==> estop-out
4 bit OUT FALSE iocontrol.0.user-request-enable
19 float OUT 0 joint.0.acc-cmd
19 bit OUT TRUE joint.0.active
19 bit OUT FALSE joint.0.amp-enable-out ==> x-enable
19 bit IN FALSE joint.0.amp-fault-in
19 float OUT 0 joint.0.backlash-corr
19 float OUT 0 joint.0.backlash-filt
19 float OUT 0 joint.0.backlash-vel
19 float OUT 0 joint.0.coarse-pos-cmd
19 bit OUT FALSE joint.0.error
19 float OUT 0 joint.0.f-error
19 float OUT 0.05 joint.0.f-error-lim
19 bit OUT FALSE joint.0.f-errored
19 bit OUT FALSE joint.0.faulted
19 float OUT 0 joint.0.free-pos-cmd
19 bit OUT FALSE joint.0.free-tp-enable
19 float OUT 0 joint.0.free-vel-lim
19 s32 OUT 0 joint.0.home-state
19 bit IN TRUE joint.0.home-sw-in <== home-x
19 bit OUT FALSE joint.0.homed
19 bit OUT FALSE joint.0.homing
19 bit OUT TRUE joint.0.in-position
19 bit I/O FALSE joint.0.index-enable
19 float IN 1 joint.0.jog-accel-fraction
19 s32 IN 0 joint.0.jog-counts
19 bit IN FALSE joint.0.jog-enable
19 float IN 0 joint.0.jog-scale
19 bit IN FALSE joint.0.jog-vel-mode
19 bit OUT FALSE joint.0.kb-jog-active
19 float OUT 0 joint.0.motor-offset
19 float OUT 0 joint.0.motor-pos-cmd ==> x-pos-cmd
19 float IN 0 joint.0.motor-pos-fb <== x-pos-fb
19 bit OUT FALSE joint.0.neg-hard-limit
19 bit IN FALSE joint.0.neg-lim-sw-in <== min-x
19 float OUT 0 joint.0.pos-cmd
19 float OUT 0 joint.0.pos-fb
19 bit OUT FALSE joint.0.pos-hard-limit
19 bit IN FALSE joint.0.pos-lim-sw-in <== x-pos-limit
19 float OUT 0 joint.0.vel-cmd ==> x-vel-cmd
19 bit OUT FALSE joint.0.wheel-jog-active
19 float OUT 0 joint.1.acc-cmd
19 bit OUT TRUE joint.1.active
19 bit OUT FALSE joint.1.amp-enable-out ==> y-enable
19 bit IN FALSE joint.1.amp-fault-in
19 float OUT 0 joint.1.backlash-corr
19 float OUT 0 joint.1.backlash-filt
19 float OUT 0 joint.1.backlash-vel
19 float OUT 0 joint.1.coarse-pos-cmd
19 bit OUT FALSE joint.1.error
19 float OUT 0 joint.1.f-error
19 float OUT 0.05 joint.1.f-error-lim
19 bit OUT FALSE joint.1.f-errored
19 bit OUT FALSE joint.1.faulted
19 float OUT 0 joint.1.free-pos-cmd
19 bit OUT FALSE joint.1.free-tp-enable
19 float OUT 0 joint.1.free-vel-lim
19 s32 OUT 0 joint.1.home-state
19 bit IN FALSE joint.1.home-sw-in <== y-home-sw
19 bit OUT FALSE joint.1.homed
19 bit OUT FALSE joint.1.homing
19 bit OUT TRUE joint.1.in-position
19 bit I/O FALSE joint.1.index-enable
19 float IN 1 joint.1.jog-accel-fraction
19 s32 IN 0 joint.1.jog-counts
19 bit IN FALSE joint.1.jog-enable
19 float IN 0 joint.1.jog-scale
19 bit IN FALSE joint.1.jog-vel-mode
19 bit OUT FALSE joint.1.kb-jog-active
19 float OUT 0 joint.1.motor-offset
19 float OUT 0 joint.1.motor-pos-cmd ==> y-pos-cmd
19 float IN 0 joint.1.motor-pos-fb <== y-pos-fb
19 bit OUT FALSE joint.1.neg-hard-limit
19 bit IN FALSE joint.1.neg-lim-sw-in <== y-neg-limit
19 float OUT 0 joint.1.pos-cmd
19 float OUT 0 joint.1.pos-fb
19 bit OUT FALSE joint.1.pos-hard-limit
19 bit IN FALSE joint.1.pos-lim-sw-in <== y-pos-limit
19 float OUT 0 joint.1.vel-cmd ==> y-vel-cmd
19 bit OUT FALSE joint.1.wheel-jog-active
19 float OUT 0 joint.2.acc-cmd
19 bit OUT TRUE joint.2.active
19 bit OUT FALSE joint.2.amp-enable-out ==> z-enable
19 bit IN FALSE joint.2.amp-fault-in
19 float OUT 0 joint.2.backlash-corr
19 float OUT 0 joint.2.backlash-filt
19 float OUT 0 joint.2.backlash-vel
19 float OUT 0 joint.2.coarse-pos-cmd
19 bit OUT FALSE joint.2.error
19 float OUT 0 joint.2.f-error
19 float OUT 0.05 joint.2.f-error-lim
19 bit OUT FALSE joint.2.f-errored
19 bit OUT FALSE joint.2.faulted
19 float OUT 0 joint.2.free-pos-cmd
19 bit OUT FALSE joint.2.free-tp-enable
19 float OUT 0 joint.2.free-vel-lim
19 s32 OUT 0 joint.2.home-state
19 bit IN FALSE joint.2.home-sw-in <== z-home-sw
19 bit OUT FALSE joint.2.homed
19 bit OUT FALSE joint.2.homing
19 bit OUT TRUE joint.2.in-position
19 bit I/O FALSE joint.2.index-enable
19 float IN 1 joint.2.jog-accel-fraction
19 s32 IN 0 joint.2.jog-counts
19 bit IN FALSE joint.2.jog-enable
19 float IN 0 joint.2.jog-scale
19 bit IN FALSE joint.2.jog-vel-mode
19 bit OUT FALSE joint.2.kb-jog-active
19 float OUT 0 joint.2.motor-offset
19 float OUT 0 joint.2.motor-pos-cmd ==> z-pos-cmd
19 float IN 0 joint.2.motor-pos-fb <== z-pos-fb
19 bit OUT FALSE joint.2.neg-hard-limit
19 bit IN FALSE joint.2.neg-lim-sw-in <== z-neg-limit
19 float OUT 0 joint.2.pos-cmd
19 float OUT 0 joint.2.pos-fb
19 bit OUT FALSE joint.2.pos-hard-limit
19 bit IN FALSE joint.2.pos-lim-sw-in <== z-pos-limit
19 float OUT 0 joint.2.vel-cmd ==> z-vel-cmd
19 bit OUT FALSE joint.2.wheel-jog-active
19 s32 OUT 240 motion-command-handler.time
19 s32 OUT 4314 motion-controller.time
19 float IN 1 motion.adaptive-feed
19 float IN 0 motion.analog-in-00
19 float IN 0 motion.analog-in-01
19 float IN 0 motion.analog-in-02
19 float IN 0 motion.analog-in-03
19 float OUT 0 motion.analog-out-00
19 float OUT 0 motion.analog-out-01
19 float OUT 0 motion.analog-out-02
19 float OUT 0 motion.analog-out-03
19 bit OUT FALSE motion.coord-error
19 bit OUT FALSE motion.coord-mode
19 float OUT 0 motion.current-vel
19 bit IN FALSE motion.digital-in-00
19 bit IN FALSE motion.digital-in-01
19 bit IN FALSE motion.digital-in-02
19 bit IN FALSE motion.digital-in-03
19 bit OUT FALSE motion.digital-out-00
19 bit OUT FALSE motion.digital-out-01
19 bit OUT FALSE motion.digital-out-02
19 bit OUT FALSE motion.digital-out-03
19 float OUT 0 motion.distance-to-go
19 bit IN TRUE motion.enable
19 bit OUT FALSE motion.eoffset-active
19 bit OUT FALSE motion.eoffset-limited
19 bit IN FALSE motion.feed-hold
19 bit IN FALSE motion.feed-inhibit
19 bit IN FALSE motion.homing-inhibit
19 bit OUT TRUE motion.in-position ==> in-position
19 bit OUT FALSE motion.motion-enabled ==> machine-is-enabled
19 s32 OUT 0 motion.motion-type
19 bit OUT FALSE motion.on-soft-limit
19 bit IN FALSE motion.probe-input <== probe-in
19 s32 OUT 0 motion.program-line
19 float OUT 0 motion.requested-vel
19 u32 OUT 0x0016D8E4 motion.servo.last-period
19 bit OUT FALSE motion.teleop-mode
19 float OUT 0 motion.tooloffset.a
19 float OUT 0 motion.tooloffset.b
19 float OUT 0 motion.tooloffset.c
19 float OUT 0 motion.tooloffset.u
19 float OUT 0 motion.tooloffset.v
19 float OUT 0 motion.tooloffset.w
19 float OUT 0 motion.tooloffset.x
19 float OUT 0 motion.tooloffset.y
19 float OUT 0 motion.tooloffset.z
19 bit OUT FALSE motion.tp-reverse
29 float IN 0 pid.s.Dgain
29 float IN 1 pid.s.FF0
29 float IN 0 pid.s.FF1
29 float IN 0 pid.s.FF2
29 float IN 0 pid.s.FF3
29 float IN 0 pid.s.Igain
29 float IN 0 pid.s.Pgain
29 float IN 0 pid.s.bias
29 float IN 0 pid.s.command <== spindle-vel-cmd-rpm
29 float IN 0 pid.s.command-deriv
29 float IN 0 pid.s.deadband
29 s32 OUT 134 pid.s.do-pid-calcs.time
29 bit IN FALSE pid.s.enable <== spindle-enable
29 float OUT 0 pid.s.error
29 bit IN TRUE pid.s.error-previous-target
29 float IN 0 pid.s.feedback <== spindle-vel-fb-rpm
29 float IN 0 pid.s.feedback-deriv
29 bit IN FALSE pid.s.index-enable <== spindle-index-enable
29 float IN 0 pid.s.maxcmdD
29 float IN 0 pid.s.maxcmdDD
29 float IN 0 pid.s.maxcmdDDD
29 float IN 0 pid.s.maxerror
29 float IN 0 pid.s.maxerrorD
29 float IN 0 pid.s.maxerrorI
29 float IN 2000 pid.s.maxoutput
29 float OUT 0 pid.s.output ==> spindle-output
29 bit OUT FALSE pid.s.saturated
29 s32 OUT 0 pid.s.saturated-count
29 float OUT 0 pid.s.saturated-s
29 float IN 0 pid.x.Dgain
29 float IN 0 pid.x.FF0
29 float IN 1 pid.x.FF1
29 float IN 0 pid.x.FF2
29 float IN 0 pid.x.FF3
29 float IN 0 pid.x.Igain
29 float IN 1000 pid.x.Pgain
29 float IN 0 pid.x.bias
29 float IN 0 pid.x.command <== x-pos-cmd
29 float IN 0 pid.x.command-deriv
29 float IN 0 pid.x.deadband
29 s32 OUT 414 pid.x.do-pid-calcs.time
29 bit IN FALSE pid.x.enable <== x-enable
29 float OUT 0 pid.x.error
29 bit IN TRUE pid.x.error-previous-target
29 float IN 0 pid.x.feedback <== x-pos-fb
29 float IN 0 pid.x.feedback-deriv
29 bit IN FALSE pid.x.index-enable <== x-index-enable
29 float IN 0 pid.x.maxcmdD
29 float IN 0 pid.x.maxcmdDD
29 float IN 0 pid.x.maxcmdDDD
29 float IN 0.0005 pid.x.maxerror
29 float IN 0 pid.x.maxerrorD
29 float IN 0 pid.x.maxerrorI
29 float IN 0 pid.x.maxoutput
29 float OUT 0 pid.x.output ==> x-output
29 bit OUT FALSE pid.x.saturated
29 s32 OUT 0 pid.x.saturated-count
29 float OUT 0 pid.x.saturated-s
29 float IN 0 pid.y.Dgain
29 float IN 0 pid.y.FF0
29 float IN 1 pid.y.FF1
29 float IN 0 pid.y.FF2
29 float IN 0 pid.y.FF3
29 float IN 0 pid.y.Igain
29 float IN 1000 pid.y.Pgain
29 float IN 0 pid.y.bias
29 float IN 0 pid.y.command <== y-pos-cmd
29 float IN 0 pid.y.command-deriv
29 float IN 0 pid.y.deadband
29 s32 OUT 168 pid.y.do-pid-calcs.time
29 bit IN FALSE pid.y.enable <== y-enable
29 float OUT 0 pid.y.error
29 bit IN TRUE pid.y.error-previous-target
29 float IN 0 pid.y.feedback <== y-pos-fb
29 float IN 0 pid.y.feedback-deriv
29 bit IN FALSE pid.y.index-enable <== y-index-enable
29 float IN 0 pid.y.maxcmdD
29 float IN 0 pid.y.maxcmdDD
29 float IN 0 pid.y.maxcmdDDD
29 float IN 0.0005 pid.y.maxerror
29 float IN 0 pid.y.maxerrorD
29 float IN 0 pid.y.maxerrorI
29 float IN 0 pid.y.maxoutput
29 float OUT 0 pid.y.output ==> y-output
29 bit OUT FALSE pid.y.saturated
29 s32 OUT 0 pid.y.saturated-count
29 float OUT 0 pid.y.saturated-s
29 float IN 0 pid.z.Dgain
29 float IN 0 pid.z.FF0
29 float IN 1 pid.z.FF1
29 float IN 0 pid.z.FF2
29 float IN 0 pid.z.FF3
29 float IN 0 pid.z.Igain
29 float IN 1000 pid.z.Pgain
29 float IN 0 pid.z.bias
29 float IN 0 pid.z.command <== z-pos-cmd
29 float IN 0 pid.z.command-deriv
29 float IN 0 pid.z.deadband
29 s32 OUT 156 pid.z.do-pid-calcs.time
29 bit IN FALSE pid.z.enable <== z-enable
29 float OUT 0 pid.z.error
29 bit IN TRUE pid.z.error-previous-target
29 float IN 0 pid.z.feedback <== z-pos-fb
29 float IN 0 pid.z.feedback-deriv
29 bit IN FALSE pid.z.index-enable <== z-index-enable
29 float IN 0 pid.z.maxcmdD
29 float IN 0 pid.z.maxcmdDD
29 float IN 0 pid.z.maxcmdDDD
29 float IN 0.0005 pid.z.maxerror
29 float IN 0 pid.z.maxerrorD
29 float IN 0 pid.z.maxerrorI
29 float IN 0 pid.z.maxoutput
29 float OUT 0 pid.z.output ==> z-output
29 bit OUT FALSE pid.z.saturated
29 s32 OUT 0 pid.z.saturated-count
29 float OUT 0 pid.z.saturated-s
20 s32 OUT 203466 servo-thread.time
19 bit IN FALSE spindle.0.amp-fault-in
19 bit IN TRUE spindle.0.at-speed <== spindle-at-speed
19 bit OUT TRUE spindle.0.brake ==> spindle-brake
19 bit OUT FALSE spindle.0.forward ==> spindle-cw
19 bit I/O FALSE spindle.0.index-enable <=> spindle-index-enable
19 bit IN FALSE spindle.0.inhibit
19 bit IN FALSE spindle.0.is-oriented
19 bit OUT FALSE spindle.0.locked
19 bit OUT FALSE spindle.0.on ==> spindle-enable
19 bit OUT FALSE spindle.0.orient
19 float OUT 0 spindle.0.orient-angle
19 s32 IN 0 spindle.0.orient-fault
19 s32 OUT 0 spindle.0.orient-mode
19 bit OUT FALSE spindle.0.reverse ==> spindle-ccw
19 float IN 0 spindle.0.revs <== spindle-revs
19 float OUT 0 spindle.0.speed-cmd-rps
19 float IN 0 spindle.0.speed-in <== spindle-vel-fb-rps
19 float OUT 0 spindle.0.speed-out ==> spindle-vel-cmd-rpm
19 float OUT 0 spindle.0.speed-out-abs ==> spindle-vel-cmd-rpm-abs
19 float OUT 0 spindle.0.speed-out-rps ==> spindle-vel-cmd-rps
19 float OUT 0 spindle.0.speed-out-rps-abs ==> spindle-vel-cmd-rps-abs
Pin Aliases:
Alias Original Name
Signals:
Type Value Name (linked to)
bit FALSE MDI-mode
<== halui.mode.is-mdi
bit FALSE axis-select-x
==> halui.axis.x.select
bit FALSE axis-select-y
==> halui.axis.y.select
bit FALSE axis-select-z
==> halui.axis.z.select
bit FALSE coolant-flood
<== iocontrol.0.coolant-flood
bit FALSE coolant-mist
<== iocontrol.0.coolant-mist
bit FALSE estop-out
==> iocontrol.0.emc-enable-in
<== iocontrol.0.user-enable-out
bit TRUE home-x
<== hm2_7i76e.0.gpio.038.in
==> joint.0.home-sw-in
bit TRUE in-position
<== motion.in-position
bit FALSE jog-selected-neg
==> halui.axis.selected.minus
bit FALSE jog-selected-pos
==> halui.axis.selected.plus
float 0 jog-speed
==> halui.axis.jog-speed
float 0 jog-x-analog
==> halui.axis.x.analog
bit FALSE jog-x-neg
==> halui.axis.x.minus
bit FALSE jog-x-pos
==> halui.axis.x.plus
float 0 jog-y-analog
==> halui.axis.y.analog
bit FALSE jog-y-neg
==> halui.axis.y.minus
bit FALSE jog-y-pos
==> halui.axis.y.plus
float 0 jog-z-analog
==> halui.axis.z.analog
bit FALSE jog-z-neg
==> halui.axis.z.minus
bit FALSE jog-z-pos
==> halui.axis.z.plus
bit FALSE machine-is-enabled
<== motion.motion-enabled
bit FALSE machine-is-on
<== halui.machine.is-on
bit FALSE min-x
<== hm2_7i76e.0.gpio.021.in
==> joint.0.neg-lim-sw-in
bit FALSE probe-in
==> motion.probe-input
bit TRUE spindle-at-speed
==> spindle.0.at-speed
bit TRUE spindle-brake
<== spindle.0.brake
bit FALSE spindle-ccw
<== spindle.0.reverse
bit FALSE spindle-cw
<== spindle.0.forward
bit FALSE spindle-enable
==> pid.s.enable
<== spindle.0.on
bit FALSE spindle-index-enable
==> pid.s.index-enable
<=> spindle.0.index-enable
bit FALSE spindle-manual-ccw
==> halui.spindle.0.reverse
bit FALSE spindle-manual-cw
==> halui.spindle.0.forward
bit FALSE spindle-manual-stop
==> halui.spindle.0.stop
float 0 spindle-output
<== pid.s.output
float 0 spindle-revs
==> spindle.0.revs
float 0 spindle-vel-cmd-rpm
==> pid.s.command
<== spindle.0.speed-out
float 0 spindle-vel-cmd-rpm-abs
<== spindle.0.speed-out-abs
float 0 spindle-vel-cmd-rps
<== spindle.0.speed-out-rps
float 0 spindle-vel-cmd-rps-abs
<== spindle.0.speed-out-rps-abs
float 0 spindle-vel-fb-rpm
==> pid.s.feedback
float 0 spindle-vel-fb-rps
==> spindle.0.speed-in
bit FALSE tool-change-confirmed
<== hal_manualtoolchange.changed
==> iocontrol.0.tool-changed
bit FALSE tool-change-request
==> hal_manualtoolchange.change
<== iocontrol.0.tool-change
s32 0 tool-number
==> hal_manualtoolchange.number
<== iocontrol.0.tool-prep-number
bit FALSE tool-prepare-loopback
<== iocontrol.0.tool-prepare
==> iocontrol.0.tool-prepared
bit FALSE x-enable
==> hm2_7i76e.0.stepgen.00.enable
<== joint.0.amp-enable-out
==> pid.x.enable
bit FALSE x-index-enable
==> pid.x.index-enable
bit FALSE x-is-homed
<== halui.joint.0.is-homed
float 0 x-output
==> hm2_7i76e.0.stepgen.00.velocity-cmd
<== pid.x.output
float 0 x-pos-cmd
<== joint.0.motor-pos-cmd
==> pid.x.command
float 0 x-pos-fb
<== hm2_7i76e.0.stepgen.00.position-fb
==> joint.0.motor-pos-fb
==> pid.x.feedback
bit FALSE x-pos-limit
==> joint.0.pos-lim-sw-in
float 0 x-vel-cmd
<== joint.0.vel-cmd
bit FALSE y-enable
==> hm2_7i76e.0.stepgen.01.enable
<== joint.1.amp-enable-out
==> pid.y.enable
bit FALSE y-home-sw
==> joint.1.home-sw-in
bit FALSE y-index-enable
==> pid.y.index-enable
bit FALSE y-is-homed
<== halui.joint.1.is-homed
bit FALSE y-neg-limit
==> joint.1.neg-lim-sw-in
float 0 y-output
==> hm2_7i76e.0.stepgen.01.velocity-cmd
<== pid.y.output
float 0 y-pos-cmd
<== joint.1.motor-pos-cmd
==> pid.y.command
float 0 y-pos-fb
<== hm2_7i76e.0.stepgen.01.position-fb
==> joint.1.motor-pos-fb
==> pid.y.feedback
bit FALSE y-pos-limit
==> joint.1.pos-lim-sw-in
float 0 y-vel-cmd
<== joint.1.vel-cmd
bit FALSE z-enable
==> hm2_7i76e.0.stepgen.02.enable
<== joint.2.amp-enable-out
==> pid.z.enable
bit FALSE z-home-sw
==> joint.2.home-sw-in
bit FALSE z-index-enable
==> pid.z.index-enable
bit FALSE z-is-homed
<== halui.joint.2.is-homed
bit FALSE z-neg-limit
==> joint.2.neg-lim-sw-in
float 0 z-output
==> hm2_7i76e.0.stepgen.02.velocity-cmd
<== pid.z.output
float 0 z-pos-cmd
<== joint.2.motor-pos-cmd
==> pid.z.command
float 0 z-pos-fb
<== hm2_7i76e.0.stepgen.02.position-fb
==> joint.2.motor-pos-fb
==> pid.z.feedback
bit FALSE z-pos-limit
==> joint.2.pos-lim-sw-in
float 0 z-vel-cmd
<== joint.2.vel-cmd
Parameters:
Owner Type Dir Value Name
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.analogin0
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.analogin1
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.analogin2
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.analogin3
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.encmode0
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.encmode1
26 u32 RO 0x00005500 hm2_7i76e.0.7i76.0.0.fieldvoltage
26 u32 RW 0x00000001 hm2_7i76e.0.7i76.0.0.hwrevision
26 u32 RW 0x00000009 hm2_7i76e.0.7i76.0.0.nvbaudrate
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.nvencmode0
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.nvencmode1
26 u32 RO 0x1A000094 hm2_7i76e.0.7i76.0.0.nvunitnumber
26 u32 RO 0x00000032 hm2_7i76e.0.7i76.0.0.nvwatchdogtimeout
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-00-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-01-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-02-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-03-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-04-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-05-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-06-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-07-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-08-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-09-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-10-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-11-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-12-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-13-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-14-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-15-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.spindir-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.spinena-invert
26 float RW 100 hm2_7i76e.0.7i76.0.0.spinout-maxlim
26 float RW 0 hm2_7i76e.0.7i76.0.0.spinout-minlim
26 float RW 100 hm2_7i76e.0.7i76.0.0.spinout-scalemax
26 u32 RW 0x0000000E hm2_7i76e.0.7i76.0.0.swrevision
26 bit RW FALSE hm2_7i76e.0.encoder.00.counter-mode
26 bit RW TRUE hm2_7i76e.0.encoder.00.filter
26 bit RW FALSE hm2_7i76e.0.encoder.00.index-invert
26 bit RW FALSE hm2_7i76e.0.encoder.00.index-mask
26 bit RW FALSE hm2_7i76e.0.encoder.00.index-mask-invert
26 float RW 1 hm2_7i76e.0.encoder.00.scale
26 float RW 0.5 hm2_7i76e.0.encoder.00.vel-timeout
26 bit RW FALSE hm2_7i76e.0.gpio.012.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.012.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.012.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.013.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.013.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.013.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.017.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.017.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.017.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.018.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.018.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.018.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.019.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.019.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.019.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.020.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.020.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.020.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.021.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.021.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.021.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.022.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.022.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.022.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.023.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.023.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.023.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.024.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.024.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.024.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.025.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.025.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.025.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.026.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.026.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.026.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.027.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.027.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.027.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.028.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.028.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.028.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.029.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.029.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.029.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.030.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.030.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.030.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.031.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.031.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.031.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.032.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.032.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.032.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.033.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.033.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.033.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.034.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.034.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.034.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.035.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.035.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.035.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.036.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.036.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.036.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.037.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.037.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.037.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.038.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.038.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.038.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.039.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.039.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.039.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.040.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.040.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.040.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.041.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.041.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.041.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.042.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.042.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.042.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.043.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.043.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.043.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.044.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.044.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.044.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.045.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.045.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.045.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.046.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.046.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.046.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.047.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.047.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.047.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.048.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.048.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.048.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.049.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.049.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.049.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.050.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.050.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.050.is_output
26 bit RW FALSE hm2_7i76e.0.io_error
26 s32 RO 1 hm2_7i76e.0.packet-error-decrement
26 s32 RW 2 hm2_7i76e.0.packet-error-increment
26 s32 RW 10 hm2_7i76e.0.packet-error-limit
26 s32 RW 80 hm2_7i76e.0.packet-read-timeout
26 s32 RW 0 hm2_7i76e.0.read-request.tmax
26 bit RO FALSE hm2_7i76e.0.read-request.tmax-increased
26 s32 RW 321612 hm2_7i76e.0.read.tmax
26 bit RO FALSE hm2_7i76e.0.read.tmax-increased
26 bit RW FALSE hm2_7i76e.0.sserial.00.tx0.invert_output
26 bit RW FALSE hm2_7i76e.0.sserial.00.tx0.is_opendrain
26 u32 RW 0x00000001 hm2_7i76e.0.sserial.port-0.fault-dec
26 u32 RW 0x0000000A hm2_7i76e.0.sserial.port-0.fault-inc
26 u32 RW 0x000000C8 hm2_7i76e.0.sserial.port-0.fault-lim
26 bit RW FALSE hm2_7i76e.0.stepgen.00.direction.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.00.direction.is_opendrain
26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.00.dirhold
26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.00.dirsetup
26 float RW 37.5 hm2_7i76e.0.stepgen.00.maxaccel
26 float RW 1.25 hm2_7i76e.0.stepgen.00.maxvel
26 float RW 200 hm2_7i76e.0.stepgen.00.position-scale
26 bit RW FALSE hm2_7i76e.0.stepgen.00.step.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.00.step.is_opendrain
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.step_type
26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.00.steplen
26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.00.stepspace
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-0
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-1
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-2
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-3
26 bit RW FALSE hm2_7i76e.0.stepgen.01.direction.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.01.direction.is_opendrain
26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.01.dirhold
26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.01.dirsetup
26 float RW 37.5 hm2_7i76e.0.stepgen.01.maxaccel
26 float RW 1.25 hm2_7i76e.0.stepgen.01.maxvel
26 float RW 200 hm2_7i76e.0.stepgen.01.position-scale
26 bit RW FALSE hm2_7i76e.0.stepgen.01.step.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.01.step.is_opendrain
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.step_type
26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.01.steplen
26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.01.stepspace
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-0
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-1
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-2
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-3
26 bit RW FALSE hm2_7i76e.0.stepgen.02.direction.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.02.direction.is_opendrain
26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.02.dirhold
26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.02.dirsetup
26 float RW 37.5 hm2_7i76e.0.stepgen.02.maxaccel
26 float RW 1.25 hm2_7i76e.0.stepgen.02.maxvel
26 float RW 200 hm2_7i76e.0.stepgen.02.position-scale
26 bit RW FALSE hm2_7i76e.0.stepgen.02.step.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.02.step.is_opendrain
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.step_type
26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.02.steplen
26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.02.stepspace
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-0
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-1
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-2
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-3
26 bit RW FALSE hm2_7i76e.0.stepgen.03.direction.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.03.direction.is_opendrain
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.dirhold
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.dirsetup
26 float RW 1 hm2_7i76e.0.stepgen.03.maxaccel
26 float RW 0 hm2_7i76e.0.stepgen.03.maxvel
26 float RW 1 hm2_7i76e.0.stepgen.03.position-scale
26 bit RW FALSE hm2_7i76e.0.stepgen.03.step.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.03.step.is_opendrain
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.step_type
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.steplen
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.stepspace
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-0
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-1
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-2
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-3
26 bit RW FALSE hm2_7i76e.0.stepgen.04.direction.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.04.direction.is_opendrain
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.dirhold
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.dirsetup
26 float RW 1 hm2_7i76e.0.stepgen.04.maxaccel
26 float RW 0 hm2_7i76e.0.stepgen.04.maxvel
26 float RW 1 hm2_7i76e.0.stepgen.04.position-scale
26 bit RW FALSE hm2_7i76e.0.stepgen.04.step.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.04.step.is_opendrain
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.step_type
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.steplen
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.stepspace
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-0
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-1
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-2
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-3
26 u32 RW 0x004C4B40 hm2_7i76e.0.watchdog.timeout_ns
26 s32 RW 89542 hm2_7i76e.0.write.tmax
26 bit RO FALSE hm2_7i76e.0.write.tmax-increased
4 s32 RO 0 iocontrol.0.tool-prep-index
19 s32 RW 5840 motion-command-handler.tmax
19 bit RO FALSE motion-command-handler.tmax-increased
19 s32 RW 35502 motion-controller.tmax
19 bit RO FALSE motion-controller.tmax-increased
19 bit RO FALSE motion.debug-bit-0
19 bit RO FALSE motion.debug-bit-1
19 float RO 0 motion.debug-float-0
19 float RO 0 motion.debug-float-1
19 float RO 0 motion.debug-float-2
19 float RO 1 motion.debug-float-3
19 s32 RO 0 motion.debug-s32-0
19 s32 RO 0 motion.debug-s32-1
29 s32 RW 1506 pid.s.do-pid-calcs.tmax
29 bit RO FALSE pid.s.do-pid-calcs.tmax-increased
29 s32 RW 3640 pid.x.do-pid-calcs.tmax
29 bit RO FALSE pid.x.do-pid-calcs.tmax-increased
29 s32 RW 1524 pid.y.do-pid-calcs.tmax
29 bit RO FALSE pid.y.do-pid-calcs.tmax-increased
29 s32 RW 1922 pid.z.do-pid-calcs.tmax
29 bit RO FALSE pid.z.do-pid-calcs.tmax-increased
20 s32 RW 432552 servo-thread.tmax
19 float RO 0 tc.0.acc
19 float RO 0 tc.0.pos
19 float RO 0 tc.0.vel
19 float RO 0 tc.1.acc
19 float RO 0 tc.1.pos
19 float RO 0 tc.1.vel
19 float RO 0 tc.2.acc
19 float RO 0 tc.2.pos
19 float RO 0 tc.2.vel
19 float RO 0 tc.3.acc
19 float RO 0 tc.3.pos
19 float RO 0 tc.3.vel
19 u32 RO 0x00000000 traj.active_tc
19 float RO 0 traj.pos_out
19 float RO 0 traj.vel_out
Parameter Aliases:
Alias Original Name
hm2_7i76e.0.sserial.00.tx0.invert_output hm2_7i76e.0.gpio.010.invert_output
hm2_7i76e.0.sserial.00.tx0.is_opendrain hm2_7i76e.0.gpio.010.is_opendrain
hm2_7i76e.0.stepgen.00.direction.invert_output hm2_7i76e.0.gpio.000.invert_output
hm2_7i76e.0.stepgen.00.direction.is_opendrain hm2_7i76e.0.gpio.000.is_opendrain
hm2_7i76e.0.stepgen.00.step.invert_output hm2_7i76e.0.gpio.001.invert_output
hm2_7i76e.0.stepgen.00.step.is_opendrain hm2_7i76e.0.gpio.001.is_opendrain
hm2_7i76e.0.stepgen.01.direction.invert_output hm2_7i76e.0.gpio.002.invert_output
hm2_7i76e.0.stepgen.01.direction.is_opendrain hm2_7i76e.0.gpio.002.is_opendrain
hm2_7i76e.0.stepgen.01.step.invert_output hm2_7i76e.0.gpio.003.invert_output
hm2_7i76e.0.stepgen.01.step.is_opendrain hm2_7i76e.0.gpio.003.is_opendrain
hm2_7i76e.0.stepgen.02.direction.invert_output hm2_7i76e.0.gpio.004.invert_output
hm2_7i76e.0.stepgen.02.direction.is_opendrain hm2_7i76e.0.gpio.004.is_opendrain
hm2_7i76e.0.stepgen.02.step.invert_output hm2_7i76e.0.gpio.005.invert_output
hm2_7i76e.0.stepgen.02.step.is_opendrain hm2_7i76e.0.gpio.005.is_opendrain
hm2_7i76e.0.stepgen.03.direction.invert_output hm2_7i76e.0.gpio.006.invert_output
hm2_7i76e.0.stepgen.03.direction.is_opendrain hm2_7i76e.0.gpio.006.is_opendrain
hm2_7i76e.0.stepgen.03.step.invert_output hm2_7i76e.0.gpio.007.invert_output
hm2_7i76e.0.stepgen.03.step.is_opendrain hm2_7i76e.0.gpio.007.is_opendrain
hm2_7i76e.0.stepgen.04.direction.invert_output hm2_7i76e.0.gpio.008.invert_output
hm2_7i76e.0.stepgen.04.direction.is_opendrain hm2_7i76e.0.gpio.008.is_opendrain
hm2_7i76e.0.stepgen.04.step.invert_output hm2_7i76e.0.gpio.009.invert_output
hm2_7i76e.0.stepgen.04.step.is_opendrain hm2_7i76e.0.gpio.009.is_opendrain
Exported Functions:
Owner CodeAddr Arg FP Users Name
00026 7f572926f75d 5613e29ebb20 YES 1 hm2_7i76e.0.read
00026 7f572926f6e9 5613e29ebb20 YES 0 hm2_7i76e.0.read-request
00026 7f572926f606 5613e29ebb20 YES 1 hm2_7i76e.0.write
00019 7f57297058d6 00000000 YES 1 motion-command-handler
00019 7f57297091a3 00000000 YES 1 motion-controller
00029 7f5728e5fd6a 7f572bc54da0 YES 1 pid.s.do-pid-calcs
00029 7f5728e5fd6a 7f572bc549e0 YES 1 pid.x.do-pid-calcs
00029 7f5728e5fd6a 7f572bc54b20 YES 1 pid.y.do-pid-calcs
00029 7f5728e5fd6a 7f572bc54c60 YES 1 pid.z.do-pid-calcs
Realtime Threads:
Period FP Name ( Time, Max-Time )
1000000 YES servo-thread ( 225578, 432552 )
1 hm2_7i76e.0.read
2 motion-command-handler
3 motion-controller
4 pid.x.do-pid-calcs
5 pid.y.do-pid-calcs
6 pid.z.do-pid-calcs
7 pid.s.do-pid-calcs
8 hm2_7i76e.0.writePlease Log in or Create an account to join the conversation.
- jhandel
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03 Aug 2020 20:23 #177081
by jhandel
Replied by jhandel on topic Simple IO wiring not working (I know I am doing something wrong)
I am specifically using ping 5 because that is the start of the digital IO pins, and this isn't "analog" from what I gather.. But I can try to add a resistor.. going to make wiring "fun" if I need to add another BOB to convert 20+ signals over with a pull up resistor.
currently the wiring is
Sensor -> Propritary Bob-> one to one DB25 to pins Bob-> 7i86e
If what you are suggesting is true I have to create another "space" to add 20+ resistors to all of those inputs?
currently the wiring is
Sensor -> Propritary Bob-> one to one DB25 to pins Bob-> 7i86e
If what you are suggesting is true I have to create another "space" to add 20+ resistors to all of those inputs?
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03 Aug 2020 20:30 #177083
by tommylight
Replied by tommylight on topic Simple IO wiring not working (I know I am doing something wrong)
hm2_7i76e.0.gpio.021.in
That is a pin on one of the two 26 pin headers on the 7i76E, so if they are not connected to a BOB and you have the sensor wired to that BOB, nothing will happen.
This is the pin in hal you should be using if the sensor is wired to the first input on 7i76E
hm2_7i76e.0.7i76.0.0.input-00
That is a pin on one of the two 26 pin headers on the 7i76E, so if they are not connected to a BOB and you have the sensor wired to that BOB, nothing will happen.
This is the pin in hal you should be using if the sensor is wired to the first input on 7i76E
hm2_7i76e.0.7i76.0.0.input-00
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03 Aug 2020 20:36 - 03 Aug 2020 20:37 #177086
by jhandel
Replied by jhandel on topic Simple IO wiring not working (I know I am doing something wrong)
Wiring is to TB6:5 which is the first digital IO pin on the last set of plugs (right most edge of the diagram) according to forum.linuxcnc.org/media/kunena/attachme...hluss_2017-01-02.pdf page 6 (forum.linuxcnc.org/media/kunena/attachme...hluss_2017-01-02.pdf) according to that doc pin5 on TB6 is hm2_7i76e.0.7i76.0.0.input-20
Ignore the limit and home I picked in the Hal, that was just to get through PNCConfig so I could get to the HalMeter and HalScope.. I have tested every single of the IO pins in HalMeter (hm2_7i76e.0.7i76.0.0.input-00 through hm2_7i76e.0.7i76.0.0.input-30) and none of them are flipping as I tap a screw driver against the sensor.
Ignore the limit and home I picked in the Hal, that was just to get through PNCConfig so I could get to the HalMeter and HalScope.. I have tested every single of the IO pins in HalMeter (hm2_7i76e.0.7i76.0.0.input-00 through hm2_7i76e.0.7i76.0.0.input-30) and none of them are flipping as I tap a screw driver against the sensor.
Last edit: 03 Aug 2020 20:37 by jhandel.
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03 Aug 2020 21:19 #177098
by tommylight
Replied by tommylight on topic Simple IO wiring not working (I know I am doing something wrong)
Pin 5 on TB6 is input 04, not 20.
Input 20 is on pin 5 TB5.
And again, you might need a pull up resistor as described above.
Input 20 is on pin 5 TB5.
And again, you might need a pull up resistor as described above.
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03 Aug 2020 21:22 #177102
by jhandel
Replied by jhandel on topic Simple IO wiring not working (I know I am doing something wrong)
having tried all of the pins, its in-material if it is 5 or 20.
would I need a pull-up resistor if this was a physical switch between the pin and common (0v)? because functionally that is what this is.. If the answer is yes "even with a physical switch between 0v and field (12v) you would need a pull up resistor then I guess, I do (100% suck for anyone using physical switches)..
I say that because that is how this digital switch from the BoB is behaving.. it is a connection to 0v when flipped.
would I need a pull-up resistor if this was a physical switch between the pin and common (0v)? because functionally that is what this is.. If the answer is yes "even with a physical switch between 0v and field (12v) you would need a pull up resistor then I guess, I do (100% suck for anyone using physical switches)..
I say that because that is how this digital switch from the BoB is behaving.. it is a connection to 0v when flipped.
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03 Aug 2020 22:05 #177113
by tommylight
Replied by tommylight on topic Simple IO wiring not working (I know I am doing something wrong)
No need for a resistor if using a switch.
There are several types of sensor outputs, NPN, PNP, and push-pull. The latter works with any type of inputs, while the former ones are for use with sinking or sourcing inputs, respectively.
So if the sensor in your case is of NPN type, you do need a resistor for 7i76E inputs but not for the 7i76ED.
In the attached diagram the sensor goes through something, so without knowing what that does, it is hard to know what exactly to do.
You can always test the inputs by wiring 12V to one of the inputs and monitoring them with halshow.
There are several types of sensor outputs, NPN, PNP, and push-pull. The latter works with any type of inputs, while the former ones are for use with sinking or sourcing inputs, respectively.
So if the sensor in your case is of NPN type, you do need a resistor for 7i76E inputs but not for the 7i76ED.
In the attached diagram the sensor goes through something, so without knowing what that does, it is hard to know what exactly to do.
You can always test the inputs by wiring 12V to one of the inputs and monitoring them with halshow.
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03 Aug 2020 22:13 #177114
by jhandel
Replied by jhandel on topic Simple IO wiring not working (I know I am doing something wrong)
The propritary Bob converts all the sensors (and other IO) into digital signals connected to common (0v).. So when the sensor is on, the BoB makes a connection to common on that pin vs. the field 12v..
(Retro fit of something designed to interface with a Controller that worked with simple switches)
Effectively it is the same as this attached image.
I am going to grab a physical switch and test that field to common can be just a switch...
I did try a resistor.. when I did that the input would flip state once, and then get stuck, and wouldn't flip back..
Will post back when I try a physical switch between common & field.
(Retro fit of something designed to interface with a Controller that worked with simple switches)
Effectively it is the same as this attached image.
I am going to grab a physical switch and test that field to common can be just a switch...
I did try a resistor.. when I did that the input would flip state once, and then get stuck, and wouldn't flip back..
Will post back when I try a physical switch between common & field.
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