7I97T joint following error

PCW
Offline
Moderator

23 Feb 2025 20:17 - 23 Feb 2025 20:24 #322396 by PCW

Replied by PCW on topic 7I97T joint following error

If you set the deadzone to 1, you will need 1 inch of error before you get any PID output.
This is why you have a position error but no PID output so no PWM --> voltage output.

As said before, set all PID deadzone values to 0.

Last edit: 23 Feb 2025 20:24 by PCW.

The following user(s) said Thank You: Tinker

Please Log in or Create an account to join the conversation.

Tinker
Offline
Junior Member

23 Feb 2025 20:56 #322397 by Tinker

Replied by Tinker on topic 7I97T joint following error

So i set them all to zero and still no control of the servos.

Please Log in or Create an account to join the conversation.

PCW
Offline
Moderator

23 Feb 2025 21:10 - 23 Feb 2025 21:12 #322399 by PCW

Replied by PCW on topic 7I97T joint following error

Yes, that alone may not be sufficient, _but_ setting the deadzones to 0 is
necessary to proceed further.

You still need to determine if the encoder scaling is correct and in the correct
direction (you can do this with the drives powered down)

Then you need to get the feedback in the correct direction (if it's backwards you will
get a runaway when first enabled)

When these are done, you can begin to tune the PID settings.

Last edit: 23 Feb 2025 21:12 by PCW.

Please Log in or Create an account to join the conversation.

Tinker
Offline
Junior Member

23 Feb 2025 21:19 #322400 by Tinker

Replied by Tinker on topic 7I97T joint following error

So i have 1000 count TTL encoders and a 2 to 1 pully with 5 TPI on all axis. Should be 10,000 count per inch but i had to go up to 40,000 counts to get it to where an inch on screen = 1 inch. The encoders are counting in the right direction, I can enable the drives and they start drifting in the negative direction. When i try yo jog them it does nothing.
Thank you for all your help !!!

Please Log in or Create an account to join the conversation.

PCW
Offline
Moderator

23 Feb 2025 21:23 #322402 by PCW

Replied by PCW on topic 7I97T joint following error

With all deadzones set to 0 and LinuxCNC in the machine-on state
can you run:

halcmd show all > all.txt

again

I ask because so far there has been no dump that showed any PWM
value other than 0.

Please Log in or Create an account to join the conversation.

Tinker
Offline
Junior Member

23 Feb 2025 21:27 #322404 by Tinker

Replied by Tinker on topic 7I97T joint following error

30 bit OUT TRUE hm2_7i97.0.gpio.022.in_not
30 bit OUT FALSE hm2_7i97.0.gpio.023.in
30 bit OUT TRUE hm2_7i97.0.gpio.023.in_not
30 bit OUT FALSE hm2_7i97.0.gpio.024.in
30 bit OUT TRUE hm2_7i97.0.gpio.024.in_not
30 bit OUT FALSE hm2_7i97.0.gpio.025.in
30 bit OUT TRUE hm2_7i97.0.gpio.025.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.026.in
30 bit OUT FALSE hm2_7i97.0.gpio.026.in_not
30 bit OUT FALSE hm2_7i97.0.gpio.027.in
30 bit OUT TRUE hm2_7i97.0.gpio.027.in_not
30 bit OUT FALSE hm2_7i97.0.gpio.028.in
30 bit OUT TRUE hm2_7i97.0.gpio.028.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.029.in
30 bit OUT FALSE hm2_7i97.0.gpio.029.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.030.in
30 bit OUT FALSE hm2_7i97.0.gpio.030.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.031.in
30 bit OUT FALSE hm2_7i97.0.gpio.031.in_not
30 bit IN FALSE hm2_7i97.0.gpio.031.out
30 bit OUT FALSE hm2_7i97.0.gpio.032.in
30 bit OUT TRUE hm2_7i97.0.gpio.032.in_not
30 bit IN FALSE hm2_7i97.0.gpio.032.out
30 bit OUT TRUE hm2_7i97.0.gpio.033.in
30 bit OUT FALSE hm2_7i97.0.gpio.033.in_not
30 bit IN FALSE hm2_7i97.0.gpio.033.out
30 bit OUT TRUE hm2_7i97.0.gpio.034.in
30 bit OUT FALSE hm2_7i97.0.gpio.034.in_not
30 bit IN FALSE hm2_7i97.0.gpio.034.out
30 bit OUT TRUE hm2_7i97.0.gpio.035.in
30 bit OUT FALSE hm2_7i97.0.gpio.035.in_not
30 bit IN FALSE hm2_7i97.0.gpio.035.out
30 bit OUT TRUE hm2_7i97.0.gpio.036.in
30 bit OUT FALSE hm2_7i97.0.gpio.036.in_not
30 bit IN FALSE hm2_7i97.0.gpio.036.out
30 bit OUT TRUE hm2_7i97.0.gpio.037.in
30 bit OUT FALSE hm2_7i97.0.gpio.037.in_not
30 bit IN FALSE hm2_7i97.0.gpio.037.out
30 bit OUT TRUE hm2_7i97.0.gpio.038.in
30 bit OUT FALSE hm2_7i97.0.gpio.038.in_not
30 bit IN FALSE hm2_7i97.0.gpio.038.out
30 bit OUT TRUE hm2_7i97.0.gpio.039.in
30 bit OUT FALSE hm2_7i97.0.gpio.039.in_not
30 bit IN FALSE hm2_7i97.0.gpio.039.out
30 bit OUT TRUE hm2_7i97.0.gpio.040.in
30 bit OUT FALSE hm2_7i97.0.gpio.040.in_not
30 bit IN FALSE hm2_7i97.0.gpio.040.out
30 bit OUT TRUE hm2_7i97.0.gpio.041.in
30 bit OUT FALSE hm2_7i97.0.gpio.041.in_not
30 bit IN FALSE hm2_7i97.0.gpio.041.out
30 bit OUT TRUE hm2_7i97.0.gpio.042.in
30 bit OUT FALSE hm2_7i97.0.gpio.042.in_not
30 bit IN FALSE hm2_7i97.0.gpio.042.out
30 bit OUT TRUE hm2_7i97.0.gpio.043.in
30 bit OUT FALSE hm2_7i97.0.gpio.043.in_not
30 bit IN FALSE hm2_7i97.0.gpio.043.out
30 bit OUT TRUE hm2_7i97.0.gpio.044.in
30 bit OUT FALSE hm2_7i97.0.gpio.044.in_not
30 bit IN FALSE hm2_7i97.0.gpio.044.out
30 bit OUT TRUE hm2_7i97.0.gpio.045.in
30 bit OUT FALSE hm2_7i97.0.gpio.045.in_not
30 bit IN FALSE hm2_7i97.0.gpio.045.out
30 bit OUT TRUE hm2_7i97.0.gpio.046.in
30 bit OUT FALSE hm2_7i97.0.gpio.046.in_not
30 bit IN FALSE hm2_7i97.0.gpio.046.out
30 bit OUT TRUE hm2_7i97.0.gpio.047.in
30 bit OUT FALSE hm2_7i97.0.gpio.047.in_not
30 bit IN FALSE hm2_7i97.0.gpio.047.out
30 bit OUT TRUE hm2_7i97.0.gpio.048.in
30 bit OUT FALSE hm2_7i97.0.gpio.048.in_not
30 bit IN FALSE hm2_7i97.0.gpio.048.out
30 bit OUT TRUE hm2_7i97.0.gpio.049.in
30 bit OUT FALSE hm2_7i97.0.gpio.049.in_not
30 bit IN FALSE hm2_7i97.0.gpio.049.out
30 bit OUT TRUE hm2_7i97.0.gpio.050.in
30 bit OUT FALSE hm2_7i97.0.gpio.050.in_not
30 bit IN FALSE hm2_7i97.0.gpio.050.out
30 s32 OUT 1 hm2_7i97.0.inmux.00.enc0-count
30 bit IN FALSE hm2_7i97.0.inmux.00.enc0-reset
30 s32 OUT 1 hm2_7i97.0.inmux.00.enc1-count
30 bit IN FALSE hm2_7i97.0.inmux.00.enc1-reset
30 s32 OUT 0 hm2_7i97.0.inmux.00.enc2-count
30 bit IN FALSE hm2_7i97.0.inmux.00.enc2-reset
30 s32 OUT 0 hm2_7i97.0.inmux.00.enc3-count
30 bit IN FALSE hm2_7i97.0.inmux.00.enc3-reset
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-00
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-00-not ==> plus-minus-home-joint-0
30 bit IN FALSE hm2_7i97.0.inmux.00.input-00-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-01
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-01-not ==> minus-home-joint-1
30 bit IN FALSE hm2_7i97.0.inmux.00.input-01-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-02
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-02-not ==> pos-limit-joint-1
30 bit IN FALSE hm2_7i97.0.inmux.00.input-02-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-03
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-03-not ==> plus-home-joint-2
30 bit IN FALSE hm2_7i97.0.inmux.00.input-03-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-04
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-04-not ==> neg-limit-joint-2
30 bit IN FALSE hm2_7i97.0.inmux.00.input-04-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-05
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-05-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-05-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-06
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-06-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-06-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-07
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-07-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-07-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-08
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-08-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-08-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-09
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-09-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-09-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-10
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-10-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-10-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-11
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-11-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-11-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-12
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-12-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-12-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-13
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-13-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-13-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-14
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-14-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-14-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-15
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-15-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-15-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-00
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-00-not
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-01
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-01-not
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-02
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-02-not
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-03
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-03-not
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-04
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-04-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-05
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-05-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-06
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-06-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-07
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-07-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-08
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-08-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-09
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-09-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-10
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-10-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-11
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-11-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-12
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-12-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-13
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-13-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-14
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-14-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-15
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-15-not
30 bit IN FALSE hm2_7i97.0.led.CR01
30 bit IN FALSE hm2_7i97.0.led.CR02
30 bit IN FALSE hm2_7i97.0.led.CR03
30 bit IN FALSE hm2_7i97.0.led.CR04
30 bit OUT FALSE hm2_7i97.0.packet-error
30 bit OUT FALSE hm2_7i97.0.packet-error-exceeded
30 s32 OUT 0 hm2_7i97.0.packet-error-level
30 u32 I/O 0x00000000 hm2_7i97.0.packet-error-total
30 bit IN FALSE hm2_7i97.0.pwmgen.00.enable <== joint-0-enable
30 float IN 0 hm2_7i97.0.pwmgen.00.value <== joint.0.output
30 bit IN FALSE hm2_7i97.0.pwmgen.01.enable <== joint-1-enable
30 float IN 0 hm2_7i97.0.pwmgen.01.value <== joint.1.output
30 bit IN FALSE hm2_7i97.0.pwmgen.02.enable <== joint-2-enable
30 float IN 0 hm2_7i97.0.pwmgen.02.value <== joint.2.output
30 bit IN FALSE hm2_7i97.0.pwmgen.03.enable
30 float IN 0 hm2_7i97.0.pwmgen.03.value
30 bit IN FALSE hm2_7i97.0.pwmgen.04.enable
30 float IN 0 hm2_7i97.0.pwmgen.04.value
30 bit IN FALSE hm2_7i97.0.pwmgen.05.enable
30 float IN 0 hm2_7i97.0.pwmgen.05.value
30 s32 OUT 0 hm2_7i97.0.read-request.time
30 s32 OUT 69269 hm2_7i97.0.read.time
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-00
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-01
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-02
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-03
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-04
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-05
30 bit IN FALSE hm2_7i97.0.ssr.00.out-00
30 bit IN FALSE hm2_7i97.0.ssr.00.out-01
30 bit IN FALSE hm2_7i97.0.ssr.00.out-02
30 bit IN FALSE hm2_7i97.0.ssr.00.out-03
30 bit IN FALSE hm2_7i97.0.ssr.00.out-04
30 bit IN FALSE hm2_7i97.0.ssr.00.out-05
30 u32 IN 0x000F4240 hm2_7i97.0.ssr.00.rate
30 bit I/O FALSE hm2_7i97.0.watchdog.has_bit
30 s32 OUT 4624 hm2_7i97.0.write.time
48 float IN 0 ini.0.backlash
48 float IN 25 ini.0.ferror
48 float IN 0 ini.0.home
48 float IN 0 ini.0.home_offset
48 s32 IN 999 ini.0.home_sequence
48 float IN 200 ini.0.max_acceleration
48 float IN 1 ini.0.max_limit
48 float IN 200 ini.0.max_velocity
48 float IN 1 ini.0.min_ferror
48 float IN 0 ini.0.min_limit
48 float IN 0 ini.1.backlash
48 float IN 25 ini.1.ferror
48 float IN 0 ini.1.home
48 float IN 0 ini.1.home_offset
48 s32 IN 999 ini.1.home_sequence
48 float IN 200 ini.1.max_acceleration
48 float IN 1 ini.1.max_limit
48 float IN 200 ini.1.max_velocity
48 float IN 1 ini.1.min_ferror
48 float IN 0 ini.1.min_limit
48 float IN 0 ini.2.backlash
48 float IN 25 ini.2.ferror
48 float IN 0 ini.2.home
48 float IN 0 ini.2.home_offset
48 s32 IN 999 ini.2.home_sequence
48 float IN 200 ini.2.max_acceleration
48 float IN 1 ini.2.max_limit
48 float IN 200 ini.2.max_velocity
48 float IN 1 ini.2.min_ferror
48 float IN 0 ini.2.min_limit
48 float IN 0 ini.a.max_acceleration
48 float IN 0 ini.a.max_limit
48 float IN 0 ini.a.max_velocity
48 float IN 0 ini.a.min_limit
48 float IN 0 ini.b.max_acceleration
48 float IN 0 ini.b.max_limit
48 float IN 0 ini.b.max_velocity
48 float IN 0 ini.b.min_limit
48 float IN 0 ini.c.max_acceleration
48 float IN 0 ini.c.max_limit
48 float IN 0 ini.c.max_velocity
48 float IN 0 ini.c.min_limit
48 bit IN TRUE ini.traj_arc_blend_enable
48 bit IN FALSE ini.traj_arc_blend_fallback_enable
48 float IN 4 ini.traj_arc_blend_gap_cycles
48 s32 IN 50 ini.traj_arc_blend_optimization_depth
48 float IN 100 ini.traj_arc_blend_ramp_freq
48 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio
48 float IN 1e+99 ini.traj_default_acceleration
48 float IN 1 ini.traj_default_velocity
48 float IN 1e+99 ini.traj_max_acceleration
48 float IN 5.1 ini.traj_max_velocity
48 float IN 0 ini.u.max_acceleration
48 float IN 0 ini.u.max_limit
48 float IN 0 ini.u.max_velocity
48 float IN 0 ini.u.min_limit
48 float IN 0 ini.v.max_acceleration
48 float IN 0 ini.v.max_limit
48 float IN 0 ini.v.max_velocity
48 float IN 0 ini.v.min_limit
48 float IN 0 ini.w.max_acceleration
48 float IN 0 ini.w.max_limit
48 float IN 0 ini.w.max_velocity
48 float IN 0 ini.w.min_limit
48 float IN 200 ini.x.max_acceleration
48 float IN 1 ini.x.max_limit
48 float IN 200 ini.x.max_velocity
48 float IN 0 ini.x.min_limit
48 float IN 200 ini.y.max_acceleration
48 float IN 1 ini.y.max_limit
48 float IN 200 ini.y.max_velocity
48 float IN 0 ini.y.min_limit
48 float IN 200 ini.z.max_acceleration
48 float IN 1 ini.z.max_limit
48 float IN 200 ini.z.max_velocity
48 float IN 0 ini.z.min_limit
4 bit OUT FALSE iocontrol.0.coolant-flood
4 bit OUT FALSE iocontrol.0.coolant-mist
4 bit OUT TRUE iocontrol.0.emc-abort
4 bit IN FALSE iocontrol.0.emc-abort-ack
4 bit IN TRUE iocontrol.0.emc-enable-in <== estop-loopback
4 s32 OUT 7 iocontrol.0.emc-reason
4 bit OUT TRUE iocontrol.0.lube
4 bit IN FALSE iocontrol.0.lube_level
4 bit OUT FALSE iocontrol.0.start-change
4 bit IN FALSE iocontrol.0.start-change-ack
4 s32 OUT 4 iocontrol.0.state
4 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-loop
4 bit IN FALSE iocontrol.0.tool-changed <== tool-change-loop
4 s32 OUT 0 iocontrol.0.tool-number
4 s32 OUT 0 iocontrol.0.tool-prep-index
4 s32 OUT 0 iocontrol.0.tool-prep-number
4 s32 OUT 0 iocontrol.0.tool-prep-pocket
4 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prep-loop
4 bit IN FALSE iocontrol.0.tool-prepared <== tool-prep-loop
4 bit IN FALSE iocontrol.0.toolchanger-clear-fault
4 bit IN FALSE iocontrol.0.toolchanger-fault
4 bit OUT FALSE iocontrol.0.toolchanger-fault-ack
4 bit OUT FALSE iocontrol.0.toolchanger-faulted
4 s32 IN 0 iocontrol.0.toolchanger-reason
4 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-loopback
4 bit OUT FALSE iocontrol.0.user-request-enable
23 float OUT 0 joint.0.acc-cmd
23 bit OUT TRUE joint.0.active
23 bit OUT FALSE joint.0.amp-enable-out ==> joint-0-enable
23 bit IN FALSE joint.0.amp-fault-in
23 float OUT 0 joint.0.backlash-corr
23 float OUT 0 joint.0.backlash-filt
23 float OUT 0 joint.0.backlash-vel
23 float OUT 0.0012 joint.0.coarse-pos-cmd
23 bit OUT FALSE joint.0.error
23 float OUT 0 joint.0.f-error
23 float OUT 1 joint.0.f-error-lim
23 bit OUT FALSE joint.0.f-errored
23 bit OUT FALSE joint.0.faulted
23 float OUT 0.0012 joint.0.free-pos-cmd
23 bit OUT FALSE joint.0.free-tp-enable
23 float OUT 3.4 joint.0.free-vel-lim
23 s32 OUT 0 joint.0.home-state
23 bit IN FALSE joint.0.home-sw-in <== plus-minus-home-joint-0
23 bit OUT FALSE joint.0.homed
23 bit OUT FALSE joint.0.homing
23 bit OUT TRUE joint.0.in-position
23 bit I/O FALSE joint.0.index-enable <=> joint-0-index-enable
23 float IN 1 joint.0.jog-accel-fraction
23 s32 IN 0 joint.0.jog-counts
23 bit IN FALSE joint.0.jog-enable
23 float IN 0 joint.0.jog-scale
23 bit IN FALSE joint.0.jog-vel-mode
23 bit OUT FALSE joint.0.kb-jog-active
23 float OUT 0 joint.0.motor-offset
23 float OUT -0.630975 joint.0.motor-pos-cmd ==> joint-0-pos-cmd
23 float IN -0.630975 joint.0.motor-pos-fb <== joint-0-pos-fb
23 bit OUT FALSE joint.0.neg-hard-limit
23 bit IN FALSE joint.0.neg-lim-sw-in <== plus-minus-home-joint-0
23 float OUT -0.630975 joint.0.pos-cmd
23 float OUT -0.630975 joint.0.pos-fb
23 bit OUT FALSE joint.0.pos-hard-limit
23 bit IN FALSE joint.0.pos-lim-sw-in <== plus-minus-home-joint-0
23 float OUT 0 joint.0.vel-cmd
23 bit OUT FALSE joint.0.wheel-jog-active
23 float OUT 0 joint.1.acc-cmd
23 bit OUT TRUE joint.1.active
23 bit OUT FALSE joint.1.amp-enable-out ==> joint-1-enable
23 bit IN FALSE joint.1.amp-fault-in
23 float OUT 0 joint.1.backlash-corr
23 float OUT 0 joint.1.backlash-filt
23 float OUT 0 joint.1.backlash-vel
23 float OUT -0.0547 joint.1.coarse-pos-cmd
23 bit OUT FALSE joint.1.error
23 float OUT 0 joint.1.f-error
23 float OUT 1 joint.1.f-error-lim
23 bit OUT FALSE joint.1.f-errored
23 bit OUT FALSE joint.1.faulted
23 float OUT -0.0547 joint.1.free-pos-cmd
23 bit OUT FALSE joint.1.free-tp-enable
23 float OUT 0 joint.1.free-vel-lim
23 s32 OUT 0 joint.1.home-state
23 bit IN FALSE joint.1.home-sw-in <== minus-home-joint-1
23 bit OUT FALSE joint.1.homed
23 bit OUT FALSE joint.1.homing
23 bit OUT TRUE joint.1.in-position
23 bit I/O FALSE joint.1.index-enable <=> joint-1-index-enable
23 float IN 1 joint.1.jog-accel-fraction
23 s32 IN 0 joint.1.jog-counts
23 bit IN FALSE joint.1.jog-enable
23 float IN 0 joint.1.jog-scale
23 bit IN FALSE joint.1.jog-vel-mode
23 bit OUT FALSE joint.1.kb-jog-active
23 float OUT 0 joint.1.motor-offset
23 float OUT -1.054875 joint.1.motor-pos-cmd ==> joint-1-pos-cmd
23 float IN -1.054875 joint.1.motor-pos-fb <== joint-1-pos-fb
23 bit OUT FALSE joint.1.neg-hard-limit
23 bit IN FALSE joint.1.neg-lim-sw-in <== minus-home-joint-1
23 float OUT -1.054875 joint.1.pos-cmd
23 float OUT -1.054875 joint.1.pos-fb
23 bit OUT FALSE joint.1.pos-hard-limit
23 bit IN FALSE joint.1.pos-lim-sw-in <== pos-limit-joint-1
23 float OUT 0 joint.1.vel-cmd
23 bit OUT FALSE joint.1.wheel-jog-active
23 float OUT 0 joint.2.acc-cmd
23 bit OUT TRUE joint.2.active
23 bit OUT FALSE joint.2.amp-enable-out ==> joint-2-enable
23 bit IN FALSE joint.2.amp-fault-in
23 float OUT 0 joint.2.backlash-corr
23 float OUT 0 joint.2.backlash-filt
23 float OUT 0 joint.2.backlash-vel
23 float OUT 0.027625 joint.2.coarse-pos-cmd
23 bit OUT FALSE joint.2.error
23 float OUT 0 joint.2.f-error
23 float OUT 1 joint.2.f-error-lim
23 bit OUT FALSE joint.2.f-errored
23 bit OUT FALSE joint.2.faulted
23 float OUT 0.027625 joint.2.free-pos-cmd
23 bit OUT FALSE joint.2.free-tp-enable
23 float OUT 0 joint.2.free-vel-lim
23 s32 OUT 0 joint.2.home-state
23 bit IN FALSE joint.2.home-sw-in <== plus-home-joint-2
23 bit OUT FALSE joint.2.homed
23 bit OUT FALSE joint.2.homing
23 bit OUT TRUE joint.2.in-position
23 bit I/O FALSE joint.2.index-enable <=> joint-2-index-enable
23 float IN 1 joint.2.jog-accel-fraction
23 s32 IN 0 joint.2.jog-counts
23 bit IN FALSE joint.2.jog-enable
23 float IN 0 joint.2.jog-scale
23 bit IN FALSE joint.2.jog-vel-mode
23 bit OUT FALSE joint.2.kb-jog-active
23 float OUT 0 joint.2.motor-offset
23 float OUT 0.5312 joint.2.motor-pos-cmd ==> joint-2-pos-cmd
23 float IN 0.5312 joint.2.motor-pos-fb <== joint-2-pos-fb
23 bit OUT FALSE joint.2.neg-hard-limit
23 bit IN FALSE joint.2.neg-lim-sw-in <== neg-limit-joint-2
23 float OUT 0.5312 joint.2.pos-cmd
23 float OUT 0.5312 joint.2.pos-fb
23 bit OUT FALSE joint.2.pos-hard-limit
23 bit IN FALSE joint.2.pos-lim-sw-in <== plus-home-joint-2
23 float OUT 0 joint.2.vel-cmd
23 bit OUT FALSE joint.2.wheel-jog-active
23 s32 OUT 109 motion-command-handler.time
23 s32 OUT 1647 motion-controller.time
23 float IN 1 motion.adaptive-feed
23 float IN 0 motion.analog-in-00
23 float IN 0 motion.analog-in-01
23 float IN 0 motion.analog-in-02
23 float IN 0 motion.analog-in-03
23 float OUT 0 motion.analog-out-00
23 float OUT 0 motion.analog-out-01
23 float OUT 0 motion.analog-out-02
23 float OUT 0 motion.analog-out-03
23 bit OUT FALSE motion.coord-error
23 bit OUT FALSE motion.coord-mode
23 float OUT 0 motion.current-vel
23 bit IN FALSE motion.digital-in-00
23 bit IN FALSE motion.digital-in-01
23 bit IN FALSE motion.digital-in-02
23 bit IN FALSE motion.digital-in-03
23 bit OUT FALSE motion.digital-out-00
23 bit OUT FALSE motion.digital-out-01
23 bit OUT FALSE motion.digital-out-02
23 bit OUT FALSE motion.digital-out-03
23 float OUT 0 motion.distance-to-go
23 bit IN TRUE motion.enable
23 bit OUT FALSE motion.eoffset-active
23 bit OUT FALSE motion.eoffset-limited
23 bit IN FALSE motion.feed-hold
23 float OUT 0 motion.feed-inches-per-minute
23 float OUT 0 motion.feed-inches-per-second
23 bit IN FALSE motion.feed-inhibit
23 float OUT 0 motion.feed-mm-per-minute
23 float OUT 0 motion.feed-mm-per-second
23 float OUT 0 motion.feed-upm
23 bit IN FALSE motion.homing-inhibit
23 bit OUT TRUE motion.in-position
23 bit OUT FALSE motion.is-all-homed
23 bit IN FALSE motion.jog-inhibit
23 bit OUT FALSE motion.jog-is-active
23 bit IN FALSE motion.jog-stop
23 bit IN FALSE motion.jog-stop-immediate
23 bit OUT FALSE motion.motion-enabled ==> motion-enable
23 s32 OUT 0 motion.motion-type
23 bit OUT FALSE motion.on-soft-limit
23 bit IN FALSE motion.probe-input
23 s32 OUT 0 motion.program-line
23 float OUT 0 motion.requested-vel
23 u32 OUT 0x0006273D motion.servo.last-period
23 bit OUT FALSE motion.teleop-mode
23 float OUT 0 motion.tooloffset.a
23 float OUT 0 motion.tooloffset.b
23 float OUT 0 motion.tooloffset.c
23 float OUT 0 motion.tooloffset.u
23 float OUT 0 motion.tooloffset.v
23 float OUT 0 motion.tooloffset.w
23 float OUT 0 motion.tooloffset.x
23 float OUT 0 motion.tooloffset.y
23 float OUT 0 motion.tooloffset.z
23 bit OUT FALSE motion.tp-reverse
33 float IN 0 pid.x.Dgain
33 float IN 0 pid.x.FF0
33 float IN 0 pid.x.FF1
33 float IN 0 pid.x.FF2
33 float IN 0 pid.x.FF3
33 float IN 0 pid.x.Igain
33 float IN 1 pid.x.Pgain
33 float IN 0 pid.x.bias
33 float IN -0.630975 pid.x.command <== joint-0-pos-cmd
33 float IN 0 pid.x.command-deriv
33 float IN 0 pid.x.deadband
33 s32 OUT 68 pid.x.do-pid-calcs.time
33 bit IN FALSE pid.x.enable <== joint-0-enable
33 float OUT 0 pid.x.error
33 bit IN TRUE pid.x.error-previous-target
33 float IN -0.630975 pid.x.feedback <== joint-0-pos-fb
33 float IN 0 pid.x.feedback-deriv
33 bit IN FALSE pid.x.index-enable <== joint-0-index-enable
33 float IN 0 pid.x.maxcmdD
33 float IN 0 pid.x.maxcmdDD
33 float IN 0 pid.x.maxcmdDDD
33 float IN 0 pid.x.maxerror
33 float IN 0 pid.x.maxerrorD
33 float IN 0 pid.x.maxerrorI
33 float IN 10 pid.x.maxoutput
33 float OUT 0 pid.x.output ==> joint.0.output
33 bit OUT FALSE pid.x.saturated
33 s32 OUT 0 pid.x.saturated-count
33 float OUT 0 pid.x.saturated-s
33 u32 I/O 0x00000032 pid.x.tune-cycles
33 float I/O 0.5 pid.x.tune-effort
33 bit IN FALSE pid.x.tune-mode
33 bit I/O FALSE pid.x.tune-start
33 u32 I/O 0x00000000 pid.x.tune-type
33 float IN 0 pid.y.Dgain
33 float IN 0 pid.y.FF0
33 float IN 0 pid.y.FF1
33 float IN 0 pid.y.FF2
33 float IN 0 pid.y.FF3
33 float IN 0 pid.y.Igain
33 float IN 1 pid.y.Pgain
33 float IN 0 pid.y.bias
33 float IN -1.054875 pid.y.command <== joint-1-pos-cmd
33 float IN 0 pid.y.command-deriv
33 float IN 0 pid.y.deadband
33 s32 OUT 23 pid.y.do-pid-calcs.time
33 bit IN FALSE pid.y.enable <== joint-1-enable
33 float OUT 0 pid.y.error
33 bit IN TRUE pid.y.error-previous-target
33 float IN -1.054875 pid.y.feedback <== joint-1-pos-fb
33 float IN 0 pid.y.feedback-deriv
33 bit IN FALSE pid.y.index-enable <== joint-1-index-enable
33 float IN 0 pid.y.maxcmdD
33 float IN 0 pid.y.maxcmdDD
33 float IN 0 pid.y.maxcmdDDD
33 float IN 0 pid.y.maxerror
33 float IN 0 pid.y.maxerrorD
33 float IN 0 pid.y.maxerrorI
33 float IN 10 pid.y.maxoutput
33 float OUT 0 pid.y.output ==> joint.1.output
33 bit OUT FALSE pid.y.saturated
33 s32 OUT 0 pid.y.saturated-count
33 float OUT 0 pid.y.saturated-s
33 u32 I/O 0x00000032 pid.y.tune-cycles
33 float I/O 0.5 pid.y.tune-effort
33 bit IN FALSE pid.y.tune-mode
33 bit I/O FALSE pid.y.tune-start
33 u32 I/O 0x00000000 pid.y.tune-type
33 float IN 0 pid.z.Dgain
33 float IN 0 pid.z.FF0
33 float IN 0 pid.z.FF1
33 float IN 0 pid.z.FF2
33 float IN 0 pid.z.FF3
33 float IN 0 pid.z.Igain
33 float IN 1 pid.z.Pgain
33 float IN 0 pid.z.bias
33 float IN 0.5312 pid.z.command <== joint-2-pos-cmd
33 float IN 0 pid.z.command-deriv
33 float IN 0 pid.z.deadband
33 s32 OUT 46 pid.z.do-pid-calcs.time
33 bit IN FALSE pid.z.enable <== joint-2-enable
33 float OUT 0 pid.z.error
33 bit IN TRUE pid.z.error-previous-target
33 float IN 0.5312 pid.z.feedback <== joint-2-pos-fb
33 float IN 0 pid.z.feedback-deriv
33 bit IN FALSE pid.z.index-enable <== joint-2-index-enable
33 float IN 0 pid.z.maxcmdD
33 float IN 0 pid.z.maxcmdDD
33 float IN 0 pid.z.maxcmdDDD
33 float IN 0 pid.z.maxerror
33 float IN 0 pid.z.maxerrorD
33 float IN 0 pid.z.maxerrorI
33 float IN 10 pid.z.maxoutput
33 float OUT 0 pid.z.output ==> joint.2.output
33 bit OUT FALSE pid.z.saturated
33 s32 OUT 0 pid.z.saturated-count
33 float OUT 0 pid.z.saturated-s
33 u32 I/O 0x00000032 pid.z.tune-cycles
33 float I/O 0.5 pid.z.tune-effort
33 bit IN FALSE pid.z.tune-mode
33 bit I/O FALSE pid.z.tune-start
33 u32 I/O 0x00000000 pid.z.tune-type
24 s32 OUT 69116 servo-thread.time
23 bit IN FALSE spindle.0.amp-fault-in
23 bit IN TRUE spindle.0.at-speed
23 bit OUT TRUE spindle.0.brake
23 bit OUT FALSE spindle.0.forward
23 bit I/O FALSE spindle.0.index-enable
23 bit IN FALSE spindle.0.inhibit
23 bit IN FALSE spindle.0.is-oriented
23 bit OUT FALSE spindle.0.locked
23 bit OUT FALSE spindle.0.on
23 bit OUT FALSE spindle.0.orient
23 float OUT 0 spindle.0.orient-angle
23 s32 IN 0 spindle.0.orient-fault
23 s32 OUT 0 spindle.0.orient-mode
23 bit OUT FALSE spindle.0.reverse
23 float IN 0 spindle.0.revs
23 float OUT 0 spindle.0.speed-cmd-rps
23 float IN 0 spindle.0.speed-in
23 float OUT 0 spindle.0.speed-out
23 float OUT 0 spindle.0.speed-out-abs
23 float OUT 0 spindle.0.speed-out-rps
23 float OUT 0 spindle.0.speed-out-rps-abs

Pin Aliases:
Alias Original Name

Signals:
Type Value Name (linked to)
bit TRUE estop-loopback
==> iocontrol.0.emc-enable-in
<== iocontrol.0.user-enable-out
bit FALSE joint-0-enable
==> hm2_7i97.0.pwmgen.00.enable
<== joint.0.amp-enable-out
==> pid.x.enable
bit FALSE joint-0-index-enable
<=> hm2_7i97.0.encoder.00.index-enable
<=> joint.0.index-enable
==> pid.x.index-enable
float -0.630975 joint-0-pos-cmd
<== joint.0.motor-pos-cmd
==> pid.x.command
float -0.630975 joint-0-pos-fb
<== hm2_7i97.0.encoder.00.position
==> joint.0.motor-pos-fb
==> pid.x.feedback
bit FALSE joint-1-enable
==> hm2_7i97.0.pwmgen.01.enable
<== joint.1.amp-enable-out
==> pid.y.enable
bit FALSE joint-1-index-enable
<=> hm2_7i97.0.encoder.01.index-enable
<=> joint.1.index-enable
==> pid.y.index-enable
float -1.054875 joint-1-pos-cmd
<== joint.1.motor-pos-cmd
==> pid.y.command
float -1.054875 joint-1-pos-fb
<== hm2_7i97.0.encoder.01.position
==> joint.1.motor-pos-fb
==> pid.y.feedback
bit FALSE joint-2-enable
==> hm2_7i97.0.pwmgen.02.enable
<== joint.2.amp-enable-out
==> pid.z.enable
bit FALSE joint-2-index-enable
<=> hm2_7i97.0.encoder.02.index-enable
<=> joint.2.index-enable
==> pid.z.index-enable
float 0.5312 joint-2-pos-cmd
<== joint.2.motor-pos-cmd
==> pid.z.command
float 0.5312 joint-2-pos-fb
<== hm2_7i97.0.encoder.02.position
==> joint.2.motor-pos-fb
==> pid.z.feedback
float 0 joint.0.output
==> hm2_7i97.0.pwmgen.00.value
<== pid.x.output
float 0 joint.1.output
==> hm2_7i97.0.pwmgen.01.value
<== pid.y.output
float 0 joint.2.output
==> hm2_7i97.0.pwmgen.02.value
<== pid.z.output
bit FALSE minus-home-joint-1
<== hm2_7i97.0.inmux.00.input-01-not
==> joint.1.home-sw-in
==> joint.1.neg-lim-sw-in
bit FALSE motion-enable
<== motion.motion-enabled
bit FALSE neg-limit-joint-2
<== hm2_7i97.0.inmux.00.input-04-not
==> joint.2.neg-lim-sw-in
bit FALSE plus-home-joint-2
<== hm2_7i97.0.inmux.00.input-03-not
==> joint.2.home-sw-in
==> joint.2.pos-lim-sw-in
bit FALSE plus-minus-home-joint-0
<== hm2_7i97.0.inmux.00.input-00-not
==> joint.0.home-sw-in
==> joint.0.neg-lim-sw-in
==> joint.0.pos-lim-sw-in
bit FALSE pos-limit-joint-1
<== hm2_7i97.0.inmux.00.input-02-not
==> joint.1.pos-lim-sw-in
bit FALSE tool-change-confirmed
<== hal_manualtoolchange.changed
bit FALSE tool-change-loop
<== iocontrol.0.tool-change
==> iocontrol.0.tool-changed
bit FALSE tool-change-request
==> hal_manualtoolchange.change
s32 0 tool-number
==> hal_manualtoolchange.number
bit FALSE tool-prep-loop
<== iocontrol.0.tool-prepare
==> iocontrol.0.tool-prepared

Parameters:
Owner Type Dir Value Name
30 bit RW FALSE hm2_7i97.0.encoder.00.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.00.filter
30 bit RW FALSE hm2_7i97.0.encoder.00.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.00.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.00.index-mask-invert
30 float RW 40000 hm2_7i97.0.encoder.00.scale
30 bit RW FALSE hm2_7i97.0.encoder.00.sel0.invert_output
30 bit RW FALSE hm2_7i97.0.encoder.00.sel0.is_opendrain
30 float RW 0.5 hm2_7i97.0.encoder.00.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.01.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.01.filter
30 bit RW FALSE hm2_7i97.0.encoder.01.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.01.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.01.index-mask-invert
30 float RW 40000 hm2_7i97.0.encoder.01.scale
30 float RW 0.5 hm2_7i97.0.encoder.01.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.02.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.02.filter
30 bit RW FALSE hm2_7i97.0.encoder.02.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.02.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.02.index-mask-invert
30 float RW 40000 hm2_7i97.0.encoder.02.scale
30 float RW 0.5 hm2_7i97.0.encoder.02.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.03.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.03.filter
30 bit RW FALSE hm2_7i97.0.encoder.03.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.03.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.03.index-mask-invert
30 float RW 1 hm2_7i97.0.encoder.03.scale
30 float RW 0.5 hm2_7i97.0.encoder.03.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.04.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.04.filter
30 bit RW FALSE hm2_7i97.0.encoder.04.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.04.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.04.index-mask-invert
30 float RW 1 hm2_7i97.0.encoder.04.scale
30 float RW 0.5 hm2_7i97.0.encoder.04.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.05.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.05.filter
30 bit RW FALSE hm2_7i97.0.encoder.05.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.05.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.05.index-mask-invert
30 float RW 1 hm2_7i97.0.encoder.05.scale
30 float RW 0.5 hm2_7i97.0.encoder.05.vel-timeout
30 bit RW FALSE hm2_7i97.0.gpio.019.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.019.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.020.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.020.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.021.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.021.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.022.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.022.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.023.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.023.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.024.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.024.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.025.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.025.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.026.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.026.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.027.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.027.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.028.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.028.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.029.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.029.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.031.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.031.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.031.is_output
30 bit RW FALSE hm2_7i97.0.gpio.032.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.032.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.032.is_output
30 bit RW FALSE hm2_7i97.0.gpio.033.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.033.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.033.is_output
30 bit RW FALSE hm2_7i97.0.gpio.034.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.034.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.034.is_output
30 bit RW FALSE hm2_7i97.0.gpio.035.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.035.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.035.is_output
30 bit RW FALSE hm2_7i97.0.gpio.036.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.036.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.036.is_output
30 bit RW FALSE hm2_7i97.0.gpio.037.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.037.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.037.is_output
30 bit RW FALSE hm2_7i97.0.gpio.038.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.038.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.038.is_output
30 bit RW FALSE hm2_7i97.0.gpio.039.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.039.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.039.is_output
30 bit RW FALSE hm2_7i97.0.gpio.040.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.040.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.040.is_output
30 bit RW FALSE hm2_7i97.0.gpio.041.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.041.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.041.is_output
30 bit RW FALSE hm2_7i97.0.gpio.042.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.042.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.042.is_output
30 bit RW FALSE hm2_7i97.0.gpio.043.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.043.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.043.is_output
30 bit RW FALSE hm2_7i97.0.gpio.044.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.044.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.044.is_output
30 bit RW FALSE hm2_7i97.0.gpio.045.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.045.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.045.is_output
30 bit RW FALSE hm2_7i97.0.gpio.046.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.046.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.046.is_output
30 bit RW FALSE hm2_7i97.0.gpio.047.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.047.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.047.is_output
30 bit RW FALSE hm2_7i97.0.gpio.048.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.048.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.048.is_output
30 bit RW FALSE hm2_7i97.0.gpio.049.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.049.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.049.is_output
30 bit RW FALSE hm2_7i97.0.gpio.050.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.050.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.050.is_output
30 bit RW FALSE hm2_7i97.0.inmux.00.enc0_4xmode
30 bit RW FALSE hm2_7i97.0.inmux.00.enc1_4xmode
30 bit RW FALSE hm2_7i97.0.inmux.00.enc2_4xmode
30 bit RW FALSE hm2_7i97.0.inmux.00.enc3_4xmode
30 u32 RW 0x00000005 hm2_7i97.0.inmux.00.fast_scans
30 u32 RW 0x00004E20 hm2_7i97.0.inmux.00.scan_rate
30 u32 RO 0x00000010 hm2_7i97.0.inmux.00.scan_width
30 u32 RW 0x000001F4 hm2_7i97.0.inmux.00.slow_scans
30 bit RW FALSE hm2_7i97.0.io_error
30 s32 RO 1 hm2_7i97.0.packet-error-decrement
30 s32 RW 2 hm2_7i97.0.packet-error-increment
30 s32 RW 10 hm2_7i97.0.packet-error-limit
30 s32 RW 80 hm2_7i97.0.packet-read-timeout
30 bit RW TRUE hm2_7i97.0.pwmgen.00.dither
30 bit RW FALSE hm2_7i97.0.pwmgen.00.enable.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.00.enable.is_opendrain
30 bit RW TRUE hm2_7i97.0.pwmgen.00.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.00.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.00.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.00.output-type
30 float RW 40000 hm2_7i97.0.pwmgen.00.scale
30 bit RW TRUE hm2_7i97.0.pwmgen.01.dither
30 bit RW TRUE hm2_7i97.0.pwmgen.01.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.01.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.01.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.01.output-type
30 float RW 40000 hm2_7i97.0.pwmgen.01.scale
30 bit RW TRUE hm2_7i97.0.pwmgen.02.dither
30 bit RW TRUE hm2_7i97.0.pwmgen.02.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.02.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.02.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.02.output-type
30 float RW 40000 hm2_7i97.0.pwmgen.02.scale
30 bit RW FALSE hm2_7i97.0.pwmgen.03.dither
30 bit RW FALSE hm2_7i97.0.pwmgen.03.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.03.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.03.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.03.output-type
30 float RW 1 hm2_7i97.0.pwmgen.03.scale
30 bit RW FALSE hm2_7i97.0.pwmgen.04.dither
30 bit RW FALSE hm2_7i97.0.pwmgen.04.enable.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.04.enable.is_opendrain
30 bit RW FALSE hm2_7i97.0.pwmgen.04.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.04.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.04.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.04.output-type
30 float RW 1 hm2_7i97.0.pwmgen.04.scale
30 bit RW FALSE hm2_7i97.0.pwmgen.05.dither
30 bit RW FALSE hm2_7i97.0.pwmgen.05.enable.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.05.enable.is_opendrain
30 bit RW FALSE hm2_7i97.0.pwmgen.05.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.05.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.05.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.05.output-type
30 float RW 1 hm2_7i97.0.pwmgen.05.scale
30 u32 RW 0x00004E20 hm2_7i97.0.pwmgen.pdm_frequency
30 u32 RW 0x000124F8 hm2_7i97.0.pwmgen.pwm_frequency
30 s32 RW 0 hm2_7i97.0.read-request.tmax
30 bit RO FALSE hm2_7i97.0.read-request.tmax-increased
30 s32 RW 132904 hm2_7i97.0.read.tmax
30 bit RO FALSE hm2_7i97.0.read.tmax-increased
30 u32 RW 0x002625A0 hm2_7i97.0.watchdog.timeout_ns
30 s32 RW 17481 hm2_7i97.0.write.tmax
30 bit RO FALSE hm2_7i97.0.write.tmax-increased
23 s32 RW 2184 motion-command-handler.tmax
23 bit RO FALSE motion-command-handler.tmax-increased
23 s32 RW 19708 motion-controller.tmax
23 bit RO FALSE motion-controller.tmax-increased
23 bit RO FALSE motion.debug-bit-0
23 bit RO FALSE motion.debug-bit-1
23 float RO 0 motion.debug-float-0
23 float RO 0 motion.debug-float-1
23 float RO 0 motion.debug-float-2
23 float RO 1 motion.debug-float-3
23 s32 RO 0 motion.debug-s32-0
23 s32 RO 0 motion.debug-s32-1
33 s32 RW 2501 pid.x.do-pid-calcs.tmax
33 bit RO FALSE pid.x.do-pid-calcs.tmax-increased
33 s32 RW 1806 pid.y.do-pid-calcs.tmax
33 bit RO FALSE pid.y.do-pid-calcs.tmax-increased
33 s32 RW 3372 pid.z.do-pid-calcs.tmax
33 bit RO FALSE pid.z.do-pid-calcs.tmax-increased
24 s32 RW 145431 servo-thread.tmax
23 float RO 0 tc.0.acc
23 float RO 0 tc.0.pos
23 float RO 0 tc.0.vel
23 float RO 0 tc.1.acc
23 float RO 0 tc.1.pos
23 float RO 0 tc.1.vel
23 float RO 0 tc.2.acc
23 float RO 0 tc.2.pos
23 float RO 0 tc.2.vel
23 float RO 0 tc.3.acc
23 float RO 0 tc.3.pos
23 float RO 0 tc.3.vel
23 u32 RO 0x00000000 traj.active_tc
23 float RO 0 traj.pos_out
23 float RO 0 traj.vel_out

Parameter Aliases:
Alias Original Name
hm2_7i97.0.encoder.00.sel0.invert_output hm2_7i97.0.gpio.018.invert_output
hm2_7i97.0.encoder.00.sel0.is_opendrain hm2_7i97.0.gpio.018.is_opendrain
hm2_7i97.0.pwmgen.00.enable.invert_output hm2_7i97.0.gpio.008.invert_output
hm2_7i97.0.pwmgen.00.enable.is_opendrain hm2_7i97.0.gpio.008.is_opendrain
hm2_7i97.0.pwmgen.00.out0.invert_output hm2_7i97.0.gpio.000.invert_output
hm2_7i97.0.pwmgen.00.out0.is_opendrain hm2_7i97.0.gpio.000.is_opendrain
hm2_7i97.0.pwmgen.01.out0.invert_output hm2_7i97.0.gpio.001.invert_output
hm2_7i97.0.pwmgen.01.out0.is_opendrain hm2_7i97.0.gpio.001.is_opendrain
hm2_7i97.0.pwmgen.02.out0.invert_output hm2_7i97.0.gpio.002.invert_output
hm2_7i97.0.pwmgen.02.out0.is_opendrain hm2_7i97.0.gpio.002.is_opendrain
hm2_7i97.0.pwmgen.03.out0.invert_output hm2_7i97.0.gpio.003.invert_output
hm2_7i97.0.pwmgen.03.out0.is_opendrain hm2_7i97.0.gpio.003.is_opendrain
hm2_7i97.0.pwmgen.04.enable.invert_output hm2_7i97.0.gpio.005.invert_output
hm2_7i97.0.pwmgen.04.enable.is_opendrain hm2_7i97.0.gpio.005.is_opendrain
hm2_7i97.0.pwmgen.04.out0.invert_output hm2_7i97.0.gpio.004.invert_output
hm2_7i97.0.pwmgen.04.out0.is_opendrain hm2_7i97.0.gpio.004.is_opendrain
hm2_7i97.0.pwmgen.05.enable.invert_output hm2_7i97.0.gpio.007.invert_output
hm2_7i97.0.pwmgen.05.enable.is_opendrain hm2_7i97.0.gpio.007.is_opendrain
hm2_7i97.0.pwmgen.05.out0.invert_output hm2_7i97.0.gpio.006.invert_output
hm2_7i97.0.pwmgen.05.out0.is_opendrain hm2_7i97.0.gpio.006.is_opendrain

Exported Functions:
Owner CodeAddr Arg FP Users Name
00030 7f040c653908 5654a25d5b10 YES 1 hm2_7i97.0.read
00030 7f040c653891 5654a25d5b10 YES 0 hm2_7i97.0.read-request
00030 7f040c653749 5654a25d5b10 YES 1 hm2_7i97.0.write
00023 7f040c7993ad 00000000 YES 1 motion-command-handler
00023 7f040c7999a0 00000000 YES 1 motion-controller
00033 7f040c63a240 7f040ca453f0 YES 1 pid.x.do-pid-calcs
00033 7f040c63a240 7f040ca45590 YES 1 pid.y.do-pid-calcs
00033 7f040c63a240 7f040ca45730 YES 1 pid.z.do-pid-calcs

Realtime Threads:
Period FP Name ( Time, Max-Time )
500000 YES servo-thread ( 72736, 145431 )
1 hm2_7i97.0.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 hm2_7i97.0.write

kris@mill:~$

Please Log in or Create an account to join the conversation.

Tinker
Offline
Junior Member

23 Feb 2025 21:28 #322405 by Tinker

Replied by Tinker on topic 7I97T joint following error

I need to repost, it had a following error

Please Log in or Create an account to join the conversation.

Tinker
Offline
Junior Member

23 Feb 2025 21:30 #322407 by Tinker

Replied by Tinker on topic 7I97T joint following error

30 bit OUT TRUE hm2_7i97.0.gpio.022.in_not
30 bit OUT FALSE hm2_7i97.0.gpio.023.in
30 bit OUT TRUE hm2_7i97.0.gpio.023.in_not
30 bit OUT FALSE hm2_7i97.0.gpio.024.in
30 bit OUT TRUE hm2_7i97.0.gpio.024.in_not
30 bit OUT FALSE hm2_7i97.0.gpio.025.in
30 bit OUT TRUE hm2_7i97.0.gpio.025.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.026.in
30 bit OUT FALSE hm2_7i97.0.gpio.026.in_not
30 bit OUT FALSE hm2_7i97.0.gpio.027.in
30 bit OUT TRUE hm2_7i97.0.gpio.027.in_not
30 bit OUT FALSE hm2_7i97.0.gpio.028.in
30 bit OUT TRUE hm2_7i97.0.gpio.028.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.029.in
30 bit OUT FALSE hm2_7i97.0.gpio.029.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.030.in
30 bit OUT FALSE hm2_7i97.0.gpio.030.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.031.in
30 bit OUT FALSE hm2_7i97.0.gpio.031.in_not
30 bit IN FALSE hm2_7i97.0.gpio.031.out
30 bit OUT FALSE hm2_7i97.0.gpio.032.in
30 bit OUT TRUE hm2_7i97.0.gpio.032.in_not
30 bit IN FALSE hm2_7i97.0.gpio.032.out
30 bit OUT TRUE hm2_7i97.0.gpio.033.in
30 bit OUT FALSE hm2_7i97.0.gpio.033.in_not
30 bit IN FALSE hm2_7i97.0.gpio.033.out
30 bit OUT TRUE hm2_7i97.0.gpio.034.in
30 bit OUT FALSE hm2_7i97.0.gpio.034.in_not
30 bit IN FALSE hm2_7i97.0.gpio.034.out
30 bit OUT TRUE hm2_7i97.0.gpio.035.in
30 bit OUT FALSE hm2_7i97.0.gpio.035.in_not
30 bit IN FALSE hm2_7i97.0.gpio.035.out
30 bit OUT TRUE hm2_7i97.0.gpio.036.in
30 bit OUT FALSE hm2_7i97.0.gpio.036.in_not
30 bit IN FALSE hm2_7i97.0.gpio.036.out
30 bit OUT TRUE hm2_7i97.0.gpio.037.in
30 bit OUT FALSE hm2_7i97.0.gpio.037.in_not
30 bit IN FALSE hm2_7i97.0.gpio.037.out
30 bit OUT TRUE hm2_7i97.0.gpio.038.in
30 bit OUT FALSE hm2_7i97.0.gpio.038.in_not
30 bit IN FALSE hm2_7i97.0.gpio.038.out
30 bit OUT TRUE hm2_7i97.0.gpio.039.in
30 bit OUT FALSE hm2_7i97.0.gpio.039.in_not
30 bit IN FALSE hm2_7i97.0.gpio.039.out
30 bit OUT TRUE hm2_7i97.0.gpio.040.in
30 bit OUT FALSE hm2_7i97.0.gpio.040.in_not
30 bit IN FALSE hm2_7i97.0.gpio.040.out
30 bit OUT TRUE hm2_7i97.0.gpio.041.in
30 bit OUT FALSE hm2_7i97.0.gpio.041.in_not
30 bit IN FALSE hm2_7i97.0.gpio.041.out
30 bit OUT TRUE hm2_7i97.0.gpio.042.in
30 bit OUT FALSE hm2_7i97.0.gpio.042.in_not
30 bit IN FALSE hm2_7i97.0.gpio.042.out
30 bit OUT TRUE hm2_7i97.0.gpio.043.in
30 bit OUT FALSE hm2_7i97.0.gpio.043.in_not
30 bit IN FALSE hm2_7i97.0.gpio.043.out
30 bit OUT TRUE hm2_7i97.0.gpio.044.in
30 bit OUT FALSE hm2_7i97.0.gpio.044.in_not
30 bit IN FALSE hm2_7i97.0.gpio.044.out
30 bit OUT TRUE hm2_7i97.0.gpio.045.in
30 bit OUT FALSE hm2_7i97.0.gpio.045.in_not
30 bit IN FALSE hm2_7i97.0.gpio.045.out
30 bit OUT TRUE hm2_7i97.0.gpio.046.in
30 bit OUT FALSE hm2_7i97.0.gpio.046.in_not
30 bit IN FALSE hm2_7i97.0.gpio.046.out
30 bit OUT TRUE hm2_7i97.0.gpio.047.in
30 bit OUT FALSE hm2_7i97.0.gpio.047.in_not
30 bit IN FALSE hm2_7i97.0.gpio.047.out
30 bit OUT TRUE hm2_7i97.0.gpio.048.in
30 bit OUT FALSE hm2_7i97.0.gpio.048.in_not
30 bit IN FALSE hm2_7i97.0.gpio.048.out
30 bit OUT TRUE hm2_7i97.0.gpio.049.in
30 bit OUT FALSE hm2_7i97.0.gpio.049.in_not
30 bit IN FALSE hm2_7i97.0.gpio.049.out
30 bit OUT TRUE hm2_7i97.0.gpio.050.in
30 bit OUT FALSE hm2_7i97.0.gpio.050.in_not
30 bit IN FALSE hm2_7i97.0.gpio.050.out
30 s32 OUT 1 hm2_7i97.0.inmux.00.enc0-count
30 bit IN FALSE hm2_7i97.0.inmux.00.enc0-reset
30 s32 OUT 1 hm2_7i97.0.inmux.00.enc1-count
30 bit IN FALSE hm2_7i97.0.inmux.00.enc1-reset
30 s32 OUT 0 hm2_7i97.0.inmux.00.enc2-count
30 bit IN FALSE hm2_7i97.0.inmux.00.enc2-reset
30 s32 OUT 0 hm2_7i97.0.inmux.00.enc3-count
30 bit IN FALSE hm2_7i97.0.inmux.00.enc3-reset
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-00
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-00-not ==> plus-minus-home-joint-0
30 bit IN FALSE hm2_7i97.0.inmux.00.input-00-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-01
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-01-not ==> minus-home-joint-1
30 bit IN FALSE hm2_7i97.0.inmux.00.input-01-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-02
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-02-not ==> pos-limit-joint-1
30 bit IN FALSE hm2_7i97.0.inmux.00.input-02-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-03
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-03-not ==> plus-home-joint-2
30 bit IN FALSE hm2_7i97.0.inmux.00.input-03-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-04
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-04-not ==> neg-limit-joint-2
30 bit IN FALSE hm2_7i97.0.inmux.00.input-04-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-05
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-05-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-05-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-06
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-06-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-06-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-07
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-07-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-07-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-08
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-08-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-08-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-09
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-09-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-09-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-10
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-10-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-10-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-11
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-11-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-11-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-12
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-12-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-12-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-13
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-13-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-13-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-14
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-14-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-14-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-15
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-15-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-15-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-00
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-00-not
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-01
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-01-not
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-02
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-02-not
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-03
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-03-not
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-04
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-04-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-05
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-05-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-06
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-06-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-07
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-07-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-08
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-08-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-09
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-09-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-10
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-10-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-11
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-11-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-12
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-12-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-13
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-13-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-14
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-14-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-15
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-15-not
30 bit IN FALSE hm2_7i97.0.led.CR01
30 bit IN FALSE hm2_7i97.0.led.CR02
30 bit IN FALSE hm2_7i97.0.led.CR03
30 bit IN FALSE hm2_7i97.0.led.CR04
30 bit OUT FALSE hm2_7i97.0.packet-error
30 bit OUT FALSE hm2_7i97.0.packet-error-exceeded
30 s32 OUT 0 hm2_7i97.0.packet-error-level
30 u32 I/O 0x00000000 hm2_7i97.0.packet-error-total
30 bit IN TRUE hm2_7i97.0.pwmgen.00.enable <== joint-0-enable
30 float IN 0.1203 hm2_7i97.0.pwmgen.00.value <== joint.0.output
30 bit IN TRUE hm2_7i97.0.pwmgen.01.enable <== joint-1-enable
30 float IN 0.20085 hm2_7i97.0.pwmgen.01.value <== joint.1.output
30 bit IN TRUE hm2_7i97.0.pwmgen.02.enable <== joint-2-enable
30 float IN -0.101125 hm2_7i97.0.pwmgen.02.value <== joint.2.output
30 bit IN FALSE hm2_7i97.0.pwmgen.03.enable
30 float IN 0 hm2_7i97.0.pwmgen.03.value
30 bit IN FALSE hm2_7i97.0.pwmgen.04.enable
30 float IN 0 hm2_7i97.0.pwmgen.04.value
30 bit IN FALSE hm2_7i97.0.pwmgen.05.enable
30 float IN 0 hm2_7i97.0.pwmgen.05.value
30 s32 OUT 0 hm2_7i97.0.read-request.time
30 s32 OUT 65385 hm2_7i97.0.read.time
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-00
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-01
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-02
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-03
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-04
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-05
30 bit IN FALSE hm2_7i97.0.ssr.00.out-00
30 bit IN FALSE hm2_7i97.0.ssr.00.out-01
30 bit IN FALSE hm2_7i97.0.ssr.00.out-02
30 bit IN FALSE hm2_7i97.0.ssr.00.out-03
30 bit IN FALSE hm2_7i97.0.ssr.00.out-04
30 bit IN FALSE hm2_7i97.0.ssr.00.out-05
30 u32 IN 0x000F4240 hm2_7i97.0.ssr.00.rate
30 bit I/O FALSE hm2_7i97.0.watchdog.has_bit
30 s32 OUT 4604 hm2_7i97.0.write.time
48 float IN 0 ini.0.backlash
48 float IN 25 ini.0.ferror
48 float IN 0 ini.0.home
48 float IN 0 ini.0.home_offset
48 s32 IN 999 ini.0.home_sequence
48 float IN 200 ini.0.max_acceleration
48 float IN 1 ini.0.max_limit
48 float IN 200 ini.0.max_velocity
48 float IN 1 ini.0.min_ferror
48 float IN 0 ini.0.min_limit
48 float IN 0 ini.1.backlash
48 float IN 25 ini.1.ferror
48 float IN 0 ini.1.home
48 float IN 0 ini.1.home_offset
48 s32 IN 999 ini.1.home_sequence
48 float IN 200 ini.1.max_acceleration
48 float IN 1 ini.1.max_limit
48 float IN 200 ini.1.max_velocity
48 float IN 1 ini.1.min_ferror
48 float IN 0 ini.1.min_limit
48 float IN 0 ini.2.backlash
48 float IN 25 ini.2.ferror
48 float IN 0 ini.2.home
48 float IN 0 ini.2.home_offset
48 s32 IN 999 ini.2.home_sequence
48 float IN 200 ini.2.max_acceleration
48 float IN 1 ini.2.max_limit
48 float IN 200 ini.2.max_velocity
48 float IN 1 ini.2.min_ferror
48 float IN 0 ini.2.min_limit
48 float IN 0 ini.a.max_acceleration
48 float IN 0 ini.a.max_limit
48 float IN 0 ini.a.max_velocity
48 float IN 0 ini.a.min_limit
48 float IN 0 ini.b.max_acceleration
48 float IN 0 ini.b.max_limit
48 float IN 0 ini.b.max_velocity
48 float IN 0 ini.b.min_limit
48 float IN 0 ini.c.max_acceleration
48 float IN 0 ini.c.max_limit
48 float IN 0 ini.c.max_velocity
48 float IN 0 ini.c.min_limit
48 bit IN TRUE ini.traj_arc_blend_enable
48 bit IN FALSE ini.traj_arc_blend_fallback_enable
48 float IN 4 ini.traj_arc_blend_gap_cycles
48 s32 IN 50 ini.traj_arc_blend_optimization_depth
48 float IN 100 ini.traj_arc_blend_ramp_freq
48 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio
48 float IN 1e+99 ini.traj_default_acceleration
48 float IN 1 ini.traj_default_velocity
48 float IN 1e+99 ini.traj_max_acceleration
48 float IN 5.1 ini.traj_max_velocity
48 float IN 0 ini.u.max_acceleration
48 float IN 0 ini.u.max_limit
48 float IN 0 ini.u.max_velocity
48 float IN 0 ini.u.min_limit
48 float IN 0 ini.v.max_acceleration
48 float IN 0 ini.v.max_limit
48 float IN 0 ini.v.max_velocity
48 float IN 0 ini.v.min_limit
48 float IN 0 ini.w.max_acceleration
48 float IN 0 ini.w.max_limit
48 float IN 0 ini.w.max_velocity
48 float IN 0 ini.w.min_limit
48 float IN 200 ini.x.max_acceleration
48 float IN 1 ini.x.max_limit
48 float IN 200 ini.x.max_velocity
48 float IN 0 ini.x.min_limit
48 float IN 200 ini.y.max_acceleration
48 float IN 1 ini.y.max_limit
48 float IN 200 ini.y.max_velocity
48 float IN 0 ini.y.min_limit
48 float IN 200 ini.z.max_acceleration
48 float IN 1 ini.z.max_limit
48 float IN 200 ini.z.max_velocity
48 float IN 0 ini.z.min_limit
4 bit OUT FALSE iocontrol.0.coolant-flood
4 bit OUT FALSE iocontrol.0.coolant-mist
4 bit OUT TRUE iocontrol.0.emc-abort
4 bit IN FALSE iocontrol.0.emc-abort-ack
4 bit IN TRUE iocontrol.0.emc-enable-in <== estop-loopback
4 s32 OUT 5 iocontrol.0.emc-reason
4 bit OUT TRUE iocontrol.0.lube
4 bit IN FALSE iocontrol.0.lube_level
4 bit OUT FALSE iocontrol.0.start-change
4 bit IN FALSE iocontrol.0.start-change-ack
4 s32 OUT 4 iocontrol.0.state
4 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-loop
4 bit IN FALSE iocontrol.0.tool-changed <== tool-change-loop
4 s32 OUT 0 iocontrol.0.tool-number
4 s32 OUT 0 iocontrol.0.tool-prep-index
4 s32 OUT 0 iocontrol.0.tool-prep-number
4 s32 OUT 0 iocontrol.0.tool-prep-pocket
4 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prep-loop
4 bit IN FALSE iocontrol.0.tool-prepared <== tool-prep-loop
4 bit IN FALSE iocontrol.0.toolchanger-clear-fault
4 bit IN FALSE iocontrol.0.toolchanger-fault
4 bit OUT FALSE iocontrol.0.toolchanger-fault-ack
4 bit OUT FALSE iocontrol.0.toolchanger-faulted
4 s32 IN 0 iocontrol.0.toolchanger-reason
4 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-loopback
4 bit OUT FALSE iocontrol.0.user-request-enable
23 float OUT 0 joint.0.acc-cmd
23 bit OUT TRUE joint.0.active
23 bit OUT TRUE joint.0.amp-enable-out ==> joint-0-enable
23 bit IN FALSE joint.0.amp-fault-in
23 float OUT 0 joint.0.backlash-corr
23 float OUT 0 joint.0.backlash-filt
23 float OUT 0 joint.0.backlash-vel
23 float OUT -0.630975 joint.0.coarse-pos-cmd
23 bit OUT FALSE joint.0.error
23 float OUT 0.1203 joint.0.f-error
23 float OUT 1 joint.0.f-error-lim
23 bit OUT FALSE joint.0.f-errored
23 bit OUT FALSE joint.0.faulted
23 float OUT -0.630975 joint.0.free-pos-cmd
23 bit OUT FALSE joint.0.free-tp-enable
23 float OUT 3.4 joint.0.free-vel-lim
23 s32 OUT 0 joint.0.home-state
23 bit IN FALSE joint.0.home-sw-in <== plus-minus-home-joint-0
23 bit OUT FALSE joint.0.homed
23 bit OUT FALSE joint.0.homing
23 bit OUT TRUE joint.0.in-position
23 bit I/O FALSE joint.0.index-enable <=> joint-0-index-enable
23 float IN 1 joint.0.jog-accel-fraction
23 s32 IN 0 joint.0.jog-counts
23 bit IN FALSE joint.0.jog-enable
23 float IN 0 joint.0.jog-scale
23 bit IN FALSE joint.0.jog-vel-mode
23 bit OUT FALSE joint.0.kb-jog-active
23 float OUT 0 joint.0.motor-offset
23 float OUT -0.630975 joint.0.motor-pos-cmd ==> joint-0-pos-cmd
23 float IN -0.751275 joint.0.motor-pos-fb <== joint-0-pos-fb
23 bit OUT FALSE joint.0.neg-hard-limit
23 bit IN FALSE joint.0.neg-lim-sw-in <== plus-minus-home-joint-0
23 float OUT -0.630975 joint.0.pos-cmd
23 float OUT -0.751275 joint.0.pos-fb
23 bit OUT FALSE joint.0.pos-hard-limit
23 bit IN FALSE joint.0.pos-lim-sw-in <== plus-minus-home-joint-0
23 float OUT 0 joint.0.vel-cmd
23 bit OUT FALSE joint.0.wheel-jog-active
23 float OUT 0 joint.1.acc-cmd
23 bit OUT TRUE joint.1.active
23 bit OUT TRUE joint.1.amp-enable-out ==> joint-1-enable
23 bit IN FALSE joint.1.amp-fault-in
23 float OUT 0 joint.1.backlash-corr
23 float OUT 0 joint.1.backlash-filt
23 float OUT 0 joint.1.backlash-vel
23 float OUT -1.054875 joint.1.coarse-pos-cmd
23 bit OUT FALSE joint.1.error
23 float OUT 0.20085 joint.1.f-error
23 float OUT 1 joint.1.f-error-lim
23 bit OUT FALSE joint.1.f-errored
23 bit OUT FALSE joint.1.faulted
23 float OUT -1.054875 joint.1.free-pos-cmd
23 bit OUT FALSE joint.1.free-tp-enable
23 float OUT 0 joint.1.free-vel-lim
23 s32 OUT 0 joint.1.home-state
23 bit IN FALSE joint.1.home-sw-in <== minus-home-joint-1
23 bit OUT FALSE joint.1.homed
23 bit OUT FALSE joint.1.homing
23 bit OUT TRUE joint.1.in-position
23 bit I/O FALSE joint.1.index-enable <=> joint-1-index-enable
23 float IN 1 joint.1.jog-accel-fraction
23 s32 IN 0 joint.1.jog-counts
23 bit IN FALSE joint.1.jog-enable
23 float IN 0 joint.1.jog-scale
23 bit IN FALSE joint.1.jog-vel-mode
23 bit OUT FALSE joint.1.kb-jog-active
23 float OUT 0 joint.1.motor-offset
23 float OUT -1.054875 joint.1.motor-pos-cmd ==> joint-1-pos-cmd
23 float IN -1.255725 joint.1.motor-pos-fb <== joint-1-pos-fb
23 bit OUT FALSE joint.1.neg-hard-limit
23 bit IN FALSE joint.1.neg-lim-sw-in <== minus-home-joint-1
23 float OUT -1.054875 joint.1.pos-cmd
23 float OUT -1.255725 joint.1.pos-fb
23 bit OUT FALSE joint.1.pos-hard-limit
23 bit IN FALSE joint.1.pos-lim-sw-in <== pos-limit-joint-1
23 float OUT 0 joint.1.vel-cmd
23 bit OUT FALSE joint.1.wheel-jog-active
23 float OUT 0 joint.2.acc-cmd
23 bit OUT TRUE joint.2.active
23 bit OUT TRUE joint.2.amp-enable-out ==> joint-2-enable
23 bit IN FALSE joint.2.amp-fault-in
23 float OUT 0 joint.2.backlash-corr
23 float OUT 0 joint.2.backlash-filt
23 float OUT 0 joint.2.backlash-vel
23 float OUT 0.5312 joint.2.coarse-pos-cmd
23 bit OUT FALSE joint.2.error
23 float OUT -0.101125 joint.2.f-error
23 float OUT 1 joint.2.f-error-lim
23 bit OUT FALSE joint.2.f-errored
23 bit OUT FALSE joint.2.faulted
23 float OUT 0.5312 joint.2.free-pos-cmd
23 bit OUT FALSE joint.2.free-tp-enable
23 float OUT 0 joint.2.free-vel-lim
23 s32 OUT 0 joint.2.home-state
23 bit IN FALSE joint.2.home-sw-in <== plus-home-joint-2
23 bit OUT FALSE joint.2.homed
23 bit OUT FALSE joint.2.homing
23 bit OUT TRUE joint.2.in-position
23 bit I/O FALSE joint.2.index-enable <=> joint-2-index-enable
23 float IN 1 joint.2.jog-accel-fraction
23 s32 IN 0 joint.2.jog-counts
23 bit IN FALSE joint.2.jog-enable
23 float IN 0 joint.2.jog-scale
23 bit IN FALSE joint.2.jog-vel-mode
23 bit OUT FALSE joint.2.kb-jog-active
23 float OUT 0 joint.2.motor-offset
23 float OUT 0.5312 joint.2.motor-pos-cmd ==> joint-2-pos-cmd
23 float IN 0.632325 joint.2.motor-pos-fb <== joint-2-pos-fb
23 bit OUT FALSE joint.2.neg-hard-limit
23 bit IN FALSE joint.2.neg-lim-sw-in <== neg-limit-joint-2
23 float OUT 0.5312 joint.2.pos-cmd
23 float OUT 0.632325 joint.2.pos-fb
23 bit OUT FALSE joint.2.pos-hard-limit
23 bit IN FALSE joint.2.pos-lim-sw-in <== plus-home-joint-2
23 float OUT 0 joint.2.vel-cmd
23 bit OUT FALSE joint.2.wheel-jog-active
23 s32 OUT 84 motion-command-handler.time
23 s32 OUT 1653 motion-controller.time
23 float IN 1 motion.adaptive-feed
23 float IN 0 motion.analog-in-00
23 float IN 0 motion.analog-in-01
23 float IN 0 motion.analog-in-02
23 float IN 0 motion.analog-in-03
23 float OUT 0 motion.analog-out-00
23 float OUT 0 motion.analog-out-01
23 float OUT 0 motion.analog-out-02
23 float OUT 0 motion.analog-out-03
23 bit OUT FALSE motion.coord-error
23 bit OUT FALSE motion.coord-mode
23 float OUT 0 motion.current-vel
23 bit IN FALSE motion.digital-in-00
23 bit IN FALSE motion.digital-in-01
23 bit IN FALSE motion.digital-in-02
23 bit IN FALSE motion.digital-in-03
23 bit OUT FALSE motion.digital-out-00
23 bit OUT FALSE motion.digital-out-01
23 bit OUT FALSE motion.digital-out-02
23 bit OUT FALSE motion.digital-out-03
23 float OUT 0 motion.distance-to-go
23 bit IN TRUE motion.enable
23 bit OUT FALSE motion.eoffset-active
23 bit OUT FALSE motion.eoffset-limited
23 bit IN FALSE motion.feed-hold
23 float OUT 0 motion.feed-inches-per-minute
23 float OUT 0 motion.feed-inches-per-second
23 bit IN FALSE motion.feed-inhibit
23 float OUT 0 motion.feed-mm-per-minute
23 float OUT 0 motion.feed-mm-per-second
23 float OUT 0 motion.feed-upm
23 bit IN FALSE motion.homing-inhibit
23 bit OUT TRUE motion.in-position
23 bit OUT FALSE motion.is-all-homed
23 bit IN FALSE motion.jog-inhibit
23 bit OUT FALSE motion.jog-is-active
23 bit IN FALSE motion.jog-stop
23 bit IN FALSE motion.jog-stop-immediate
23 bit OUT TRUE motion.motion-enabled ==> motion-enable
23 s32 OUT 0 motion.motion-type
23 bit OUT FALSE motion.on-soft-limit
23 bit IN FALSE motion.probe-input
23 s32 OUT 0 motion.program-line
23 float OUT 0 motion.requested-vel
23 u32 OUT 0x000623D1 motion.servo.last-period
23 bit OUT FALSE motion.teleop-mode
23 float OUT 0 motion.tooloffset.a
23 float OUT 0 motion.tooloffset.b
23 float OUT 0 motion.tooloffset.c
23 float OUT 0 motion.tooloffset.u
23 float OUT 0 motion.tooloffset.v
23 float OUT 0 motion.tooloffset.w
23 float OUT 0 motion.tooloffset.x
23 float OUT 0 motion.tooloffset.y
23 float OUT 0 motion.tooloffset.z
23 bit OUT FALSE motion.tp-reverse
33 float IN 0 pid.x.Dgain
33 float IN 0 pid.x.FF0
33 float IN 0 pid.x.FF1
33 float IN 0 pid.x.FF2
33 float IN 0 pid.x.FF3
33 float IN 0 pid.x.Igain
33 float IN 1 pid.x.Pgain
33 float IN 0 pid.x.bias
33 float IN -0.630975 pid.x.command <== joint-0-pos-cmd
33 float IN 0 pid.x.command-deriv
33 float IN 0 pid.x.deadband
33 s32 OUT 84 pid.x.do-pid-calcs.time
33 bit IN TRUE pid.x.enable <== joint-0-enable
33 float OUT 0.1203 pid.x.error
33 bit IN TRUE pid.x.error-previous-target
33 float IN -0.751275 pid.x.feedback <== joint-0-pos-fb
33 float IN 0 pid.x.feedback-deriv
33 bit IN FALSE pid.x.index-enable <== joint-0-index-enable
33 float IN 0 pid.x.maxcmdD
33 float IN 0 pid.x.maxcmdDD
33 float IN 0 pid.x.maxcmdDDD
33 float IN 0 pid.x.maxerror
33 float IN 0 pid.x.maxerrorD
33 float IN 0 pid.x.maxerrorI
33 float IN 10 pid.x.maxoutput
33 float OUT 0.12035 pid.x.output ==> joint.0.output
33 bit OUT FALSE pid.x.saturated
33 s32 OUT 0 pid.x.saturated-count
33 float OUT 0 pid.x.saturated-s
33 u32 I/O 0x00000032 pid.x.tune-cycles
33 float I/O 0.5 pid.x.tune-effort
33 bit IN FALSE pid.x.tune-mode
33 bit I/O FALSE pid.x.tune-start
33 u32 I/O 0x00000000 pid.x.tune-type
33 float IN 0 pid.y.Dgain
33 float IN 0 pid.y.FF0
33 float IN 0 pid.y.FF1
33 float IN 0 pid.y.FF2
33 float IN 0 pid.y.FF3
33 float IN 0 pid.y.Igain
33 float IN 1 pid.y.Pgain
33 float IN 0 pid.y.bias
33 float IN -1.054875 pid.y.command <== joint-1-pos-cmd
33 float IN 0 pid.y.command-deriv
33 float IN 0 pid.y.deadband
33 s32 OUT 52 pid.y.do-pid-calcs.time
33 bit IN TRUE pid.y.enable <== joint-1-enable
33 float OUT 0.2009 pid.y.error
33 bit IN TRUE pid.y.error-previous-target
33 float IN -1.255775 pid.y.feedback <== joint-1-pos-fb
33 float IN 0 pid.y.feedback-deriv
33 bit IN FALSE pid.y.index-enable <== joint-1-index-enable
33 float IN 0 pid.y.maxcmdD
33 float IN 0 pid.y.maxcmdDD
33 float IN 0 pid.y.maxcmdDDD
33 float IN 0 pid.y.maxerror
33 float IN 0 pid.y.maxerrorD
33 float IN 0 pid.y.maxerrorI
33 float IN 10 pid.y.maxoutput
33 float OUT 0.2009 pid.y.output ==> joint.1.output
33 bit OUT FALSE pid.y.saturated
33 s32 OUT 0 pid.y.saturated-count
33 float OUT 0 pid.y.saturated-s
33 u32 I/O 0x00000032 pid.y.tune-cycles
33 float I/O 0.5 pid.y.tune-effort
33 bit IN FALSE pid.y.tune-mode
33 bit I/O FALSE pid.y.tune-start
33 u32 I/O 0x00000000 pid.y.tune-type
33 float IN 0 pid.z.Dgain
33 float IN 0 pid.z.FF0
33 float IN 0 pid.z.FF1
33 float IN 0 pid.z.FF2
33 float IN 0 pid.z.FF3
33 float IN 0 pid.z.Igain
33 float IN 1 pid.z.Pgain
33 float IN 0 pid.z.bias
33 float IN 0.5312 pid.z.command <== joint-2-pos-cmd
33 float IN 0 pid.z.command-deriv
33 float IN 0 pid.z.deadband
33 s32 OUT 82 pid.z.do-pid-calcs.time
33 bit IN TRUE pid.z.enable <== joint-2-enable
33 float OUT -0.10115 pid.z.error
33 bit IN TRUE pid.z.error-previous-target
33 float IN 0.63235 pid.z.feedback <== joint-2-pos-fb
33 float IN 0 pid.z.feedback-deriv
33 bit IN FALSE pid.z.index-enable <== joint-2-index-enable
33 float IN 0 pid.z.maxcmdD
33 float IN 0 pid.z.maxcmdDD
33 float IN 0 pid.z.maxcmdDDD
33 float IN 0 pid.z.maxerror
33 float IN 0 pid.z.maxerrorD
33 float IN 0 pid.z.maxerrorI
33 float IN 10 pid.z.maxoutput
33 float OUT -0.10115 pid.z.output ==> joint.2.output
33 bit OUT FALSE pid.z.saturated
33 s32 OUT 0 pid.z.saturated-count
33 float OUT 0 pid.z.saturated-s
33 u32 I/O 0x00000032 pid.z.tune-cycles
33 float I/O 0.5 pid.z.tune-effort
33 bit IN FALSE pid.z.tune-mode
33 bit I/O FALSE pid.z.tune-start
33 u32 I/O 0x00000000 pid.z.tune-type
24 s32 OUT 71363 servo-thread.time
23 bit IN FALSE spindle.0.amp-fault-in
23 bit IN TRUE spindle.0.at-speed
23 bit OUT TRUE spindle.0.brake
23 bit OUT FALSE spindle.0.forward
23 bit I/O FALSE spindle.0.index-enable
23 bit IN FALSE spindle.0.inhibit
23 bit IN FALSE spindle.0.is-oriented
23 bit OUT FALSE spindle.0.locked
23 bit OUT FALSE spindle.0.on
23 bit OUT FALSE spindle.0.orient
23 float OUT 0 spindle.0.orient-angle
23 s32 IN 0 spindle.0.orient-fault
23 s32 OUT 0 spindle.0.orient-mode
23 bit OUT FALSE spindle.0.reverse
23 float IN 0 spindle.0.revs
23 float OUT 0 spindle.0.speed-cmd-rps
23 float IN 0 spindle.0.speed-in
23 float OUT 0 spindle.0.speed-out
23 float OUT 0 spindle.0.speed-out-abs
23 float OUT 0 spindle.0.speed-out-rps
23 float OUT 0 spindle.0.speed-out-rps-abs

Pin Aliases:
Alias Original Name

Signals:
Type Value Name (linked to)
bit TRUE estop-loopback
==> iocontrol.0.emc-enable-in
<== iocontrol.0.user-enable-out
bit TRUE joint-0-enable
==> hm2_7i97.0.pwmgen.00.enable
<== joint.0.amp-enable-out
==> pid.x.enable
bit FALSE joint-0-index-enable
<=> hm2_7i97.0.encoder.00.index-enable
<=> joint.0.index-enable
==> pid.x.index-enable
float -0.630975 joint-0-pos-cmd
<== joint.0.motor-pos-cmd
==> pid.x.command
float -0.751325 joint-0-pos-fb
<== hm2_7i97.0.encoder.00.position
==> joint.0.motor-pos-fb
==> pid.x.feedback
bit TRUE joint-1-enable
==> hm2_7i97.0.pwmgen.01.enable
<== joint.1.amp-enable-out
==> pid.y.enable
bit FALSE joint-1-index-enable
<=> hm2_7i97.0.encoder.01.index-enable
<=> joint.1.index-enable
==> pid.y.index-enable
float -1.054875 joint-1-pos-cmd
<== joint.1.motor-pos-cmd
==> pid.y.command
float -1.255775 joint-1-pos-fb
<== hm2_7i97.0.encoder.01.position
==> joint.1.motor-pos-fb
==> pid.y.feedback
bit TRUE joint-2-enable
==> hm2_7i97.0.pwmgen.02.enable
<== joint.2.amp-enable-out
==> pid.z.enable
bit FALSE joint-2-index-enable
<=> hm2_7i97.0.encoder.02.index-enable
<=> joint.2.index-enable
==> pid.z.index-enable
float 0.5312 joint-2-pos-cmd
<== joint.2.motor-pos-cmd
==> pid.z.command
float 0.63235 joint-2-pos-fb
<== hm2_7i97.0.encoder.02.position
==> joint.2.motor-pos-fb
==> pid.z.feedback
float 0.12035 joint.0.output
==> hm2_7i97.0.pwmgen.00.value
<== pid.x.output
float 0.2009 joint.1.output
==> hm2_7i97.0.pwmgen.01.value
<== pid.y.output
float -0.10115 joint.2.output
==> hm2_7i97.0.pwmgen.02.value
<== pid.z.output
bit FALSE minus-home-joint-1
<== hm2_7i97.0.inmux.00.input-01-not
==> joint.1.home-sw-in
==> joint.1.neg-lim-sw-in
bit TRUE motion-enable
<== motion.motion-enabled
bit FALSE neg-limit-joint-2
<== hm2_7i97.0.inmux.00.input-04-not
==> joint.2.neg-lim-sw-in
bit FALSE plus-home-joint-2
<== hm2_7i97.0.inmux.00.input-03-not
==> joint.2.home-sw-in
==> joint.2.pos-lim-sw-in
bit FALSE plus-minus-home-joint-0
<== hm2_7i97.0.inmux.00.input-00-not
==> joint.0.home-sw-in
==> joint.0.neg-lim-sw-in
==> joint.0.pos-lim-sw-in
bit FALSE pos-limit-joint-1
<== hm2_7i97.0.inmux.00.input-02-not
==> joint.1.pos-lim-sw-in
bit FALSE tool-change-confirmed
<== hal_manualtoolchange.changed
bit FALSE tool-change-loop
<== iocontrol.0.tool-change
==> iocontrol.0.tool-changed
bit FALSE tool-change-request
==> hal_manualtoolchange.change
s32 0 tool-number
==> hal_manualtoolchange.number
bit FALSE tool-prep-loop
<== iocontrol.0.tool-prepare
==> iocontrol.0.tool-prepared

Parameters:
Owner Type Dir Value Name
30 bit RW FALSE hm2_7i97.0.encoder.00.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.00.filter
30 bit RW FALSE hm2_7i97.0.encoder.00.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.00.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.00.index-mask-invert
30 float RW 40000 hm2_7i97.0.encoder.00.scale
30 bit RW FALSE hm2_7i97.0.encoder.00.sel0.invert_output
30 bit RW FALSE hm2_7i97.0.encoder.00.sel0.is_opendrain
30 float RW 0.5 hm2_7i97.0.encoder.00.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.01.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.01.filter
30 bit RW FALSE hm2_7i97.0.encoder.01.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.01.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.01.index-mask-invert
30 float RW 40000 hm2_7i97.0.encoder.01.scale
30 float RW 0.5 hm2_7i97.0.encoder.01.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.02.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.02.filter
30 bit RW FALSE hm2_7i97.0.encoder.02.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.02.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.02.index-mask-invert
30 float RW 40000 hm2_7i97.0.encoder.02.scale
30 float RW 0.5 hm2_7i97.0.encoder.02.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.03.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.03.filter
30 bit RW FALSE hm2_7i97.0.encoder.03.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.03.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.03.index-mask-invert
30 float RW 1 hm2_7i97.0.encoder.03.scale
30 float RW 0.5 hm2_7i97.0.encoder.03.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.04.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.04.filter
30 bit RW FALSE hm2_7i97.0.encoder.04.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.04.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.04.index-mask-invert
30 float RW 1 hm2_7i97.0.encoder.04.scale
30 float RW 0.5 hm2_7i97.0.encoder.04.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.05.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.05.filter
30 bit RW FALSE hm2_7i97.0.encoder.05.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.05.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.05.index-mask-invert
30 float RW 1 hm2_7i97.0.encoder.05.scale
30 float RW 0.5 hm2_7i97.0.encoder.05.vel-timeout
30 bit RW FALSE hm2_7i97.0.gpio.019.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.019.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.020.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.020.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.021.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.021.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.022.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.022.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.023.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.023.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.024.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.024.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.025.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.025.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.026.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.026.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.027.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.027.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.028.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.028.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.029.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.029.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.031.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.031.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.031.is_output
30 bit RW FALSE hm2_7i97.0.gpio.032.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.032.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.032.is_output
30 bit RW FALSE hm2_7i97.0.gpio.033.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.033.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.033.is_output
30 bit RW FALSE hm2_7i97.0.gpio.034.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.034.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.034.is_output
30 bit RW FALSE hm2_7i97.0.gpio.035.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.035.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.035.is_output
30 bit RW FALSE hm2_7i97.0.gpio.036.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.036.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.036.is_output
30 bit RW FALSE hm2_7i97.0.gpio.037.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.037.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.037.is_output
30 bit RW FALSE hm2_7i97.0.gpio.038.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.038.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.038.is_output
30 bit RW FALSE hm2_7i97.0.gpio.039.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.039.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.039.is_output
30 bit RW FALSE hm2_7i97.0.gpio.040.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.040.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.040.is_output
30 bit RW FALSE hm2_7i97.0.gpio.041.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.041.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.041.is_output
30 bit RW FALSE hm2_7i97.0.gpio.042.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.042.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.042.is_output
30 bit RW FALSE hm2_7i97.0.gpio.043.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.043.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.043.is_output
30 bit RW FALSE hm2_7i97.0.gpio.044.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.044.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.044.is_output
30 bit RW FALSE hm2_7i97.0.gpio.045.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.045.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.045.is_output
30 bit RW FALSE hm2_7i97.0.gpio.046.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.046.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.046.is_output
30 bit RW FALSE hm2_7i97.0.gpio.047.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.047.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.047.is_output
30 bit RW FALSE hm2_7i97.0.gpio.048.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.048.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.048.is_output
30 bit RW FALSE hm2_7i97.0.gpio.049.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.049.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.049.is_output
30 bit RW FALSE hm2_7i97.0.gpio.050.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.050.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.050.is_output
30 bit RW FALSE hm2_7i97.0.inmux.00.enc0_4xmode
30 bit RW FALSE hm2_7i97.0.inmux.00.enc1_4xmode
30 bit RW FALSE hm2_7i97.0.inmux.00.enc2_4xmode
30 bit RW FALSE hm2_7i97.0.inmux.00.enc3_4xmode
30 u32 RW 0x00000005 hm2_7i97.0.inmux.00.fast_scans
30 u32 RW 0x00004E20 hm2_7i97.0.inmux.00.scan_rate
30 u32 RO 0x00000010 hm2_7i97.0.inmux.00.scan_width
30 u32 RW 0x000001F4 hm2_7i97.0.inmux.00.slow_scans
30 bit RW FALSE hm2_7i97.0.io_error
30 s32 RO 1 hm2_7i97.0.packet-error-decrement
30 s32 RW 2 hm2_7i97.0.packet-error-increment
30 s32 RW 10 hm2_7i97.0.packet-error-limit
30 s32 RW 80 hm2_7i97.0.packet-read-timeout
30 bit RW TRUE hm2_7i97.0.pwmgen.00.dither
30 bit RW FALSE hm2_7i97.0.pwmgen.00.enable.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.00.enable.is_opendrain
30 bit RW TRUE hm2_7i97.0.pwmgen.00.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.00.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.00.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.00.output-type
30 float RW 40000 hm2_7i97.0.pwmgen.00.scale
30 bit RW TRUE hm2_7i97.0.pwmgen.01.dither
30 bit RW TRUE hm2_7i97.0.pwmgen.01.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.01.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.01.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.01.output-type
30 float RW 40000 hm2_7i97.0.pwmgen.01.scale
30 bit RW TRUE hm2_7i97.0.pwmgen.02.dither
30 bit RW TRUE hm2_7i97.0.pwmgen.02.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.02.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.02.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.02.output-type
30 float RW 40000 hm2_7i97.0.pwmgen.02.scale
30 bit RW FALSE hm2_7i97.0.pwmgen.03.dither
30 bit RW FALSE hm2_7i97.0.pwmgen.03.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.03.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.03.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.03.output-type
30 float RW 1 hm2_7i97.0.pwmgen.03.scale
30 bit RW FALSE hm2_7i97.0.pwmgen.04.dither
30 bit RW FALSE hm2_7i97.0.pwmgen.04.enable.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.04.enable.is_opendrain
30 bit RW FALSE hm2_7i97.0.pwmgen.04.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.04.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.04.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.04.output-type
30 float RW 1 hm2_7i97.0.pwmgen.04.scale
30 bit RW FALSE hm2_7i97.0.pwmgen.05.dither
30 bit RW FALSE hm2_7i97.0.pwmgen.05.enable.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.05.enable.is_opendrain
30 bit RW FALSE hm2_7i97.0.pwmgen.05.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.05.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.05.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.05.output-type
30 float RW 1 hm2_7i97.0.pwmgen.05.scale
30 u32 RW 0x00004E20 hm2_7i97.0.pwmgen.pdm_frequency
30 u32 RW 0x000124F8 hm2_7i97.0.pwmgen.pwm_frequency
30 s32 RW 0 hm2_7i97.0.read-request.tmax
30 bit RO FALSE hm2_7i97.0.read-request.tmax-increased
30 s32 RW 132904 hm2_7i97.0.read.tmax
30 bit RO FALSE hm2_7i97.0.read.tmax-increased
30 u32 RW 0x002625A0 hm2_7i97.0.watchdog.timeout_ns
30 s32 RW 17481 hm2_7i97.0.write.tmax
30 bit RO FALSE hm2_7i97.0.write.tmax-increased
23 s32 RW 2184 motion-command-handler.tmax
23 bit RO FALSE motion-command-handler.tmax-increased
23 s32 RW 19708 motion-controller.tmax
23 bit RO FALSE motion-controller.tmax-increased
23 bit RO FALSE motion.debug-bit-0
23 bit RO FALSE motion.debug-bit-1
23 float RO 0 motion.debug-float-0
23 float RO 0 motion.debug-float-1
23 float RO 0 motion.debug-float-2
23 float RO 1 motion.debug-float-3
23 s32 RO 0 motion.debug-s32-0
23 s32 RO 0 motion.debug-s32-1
33 s32 RW 2501 pid.x.do-pid-calcs.tmax
33 bit RO FALSE pid.x.do-pid-calcs.tmax-increased
33 s32 RW 1806 pid.y.do-pid-calcs.tmax
33 bit RO FALSE pid.y.do-pid-calcs.tmax-increased
33 s32 RW 3372 pid.z.do-pid-calcs.tmax
33 bit RO FALSE pid.z.do-pid-calcs.tmax-increased
24 s32 RW 145431 servo-thread.tmax
23 float RO 0 tc.0.acc
23 float RO 0 tc.0.pos
23 float RO 0 tc.0.vel
23 float RO 0 tc.1.acc
23 float RO 0 tc.1.pos
23 float RO 0 tc.1.vel
23 float RO 0 tc.2.acc
23 float RO 0 tc.2.pos
23 float RO 0 tc.2.vel
23 float RO 0 tc.3.acc
23 float RO 0 tc.3.pos
23 float RO 0 tc.3.vel
23 u32 RO 0x00000000 traj.active_tc
23 float RO 0 traj.pos_out
23 float RO 0 traj.vel_out

Parameter Aliases:
Alias Original Name
hm2_7i97.0.encoder.00.sel0.invert_output hm2_7i97.0.gpio.018.invert_output
hm2_7i97.0.encoder.00.sel0.is_opendrain hm2_7i97.0.gpio.018.is_opendrain
hm2_7i97.0.pwmgen.00.enable.invert_output hm2_7i97.0.gpio.008.invert_output
hm2_7i97.0.pwmgen.00.enable.is_opendrain hm2_7i97.0.gpio.008.is_opendrain
hm2_7i97.0.pwmgen.00.out0.invert_output hm2_7i97.0.gpio.000.invert_output
hm2_7i97.0.pwmgen.00.out0.is_opendrain hm2_7i97.0.gpio.000.is_opendrain
hm2_7i97.0.pwmgen.01.out0.invert_output hm2_7i97.0.gpio.001.invert_output
hm2_7i97.0.pwmgen.01.out0.is_opendrain hm2_7i97.0.gpio.001.is_opendrain
hm2_7i97.0.pwmgen.02.out0.invert_output hm2_7i97.0.gpio.002.invert_output
hm2_7i97.0.pwmgen.02.out0.is_opendrain hm2_7i97.0.gpio.002.is_opendrain
hm2_7i97.0.pwmgen.03.out0.invert_output hm2_7i97.0.gpio.003.invert_output
hm2_7i97.0.pwmgen.03.out0.is_opendrain hm2_7i97.0.gpio.003.is_opendrain
hm2_7i97.0.pwmgen.04.enable.invert_output hm2_7i97.0.gpio.005.invert_output
hm2_7i97.0.pwmgen.04.enable.is_opendrain hm2_7i97.0.gpio.005.is_opendrain
hm2_7i97.0.pwmgen.04.out0.invert_output hm2_7i97.0.gpio.004.invert_output
hm2_7i97.0.pwmgen.04.out0.is_opendrain hm2_7i97.0.gpio.004.is_opendrain
hm2_7i97.0.pwmgen.05.enable.invert_output hm2_7i97.0.gpio.007.invert_output
hm2_7i97.0.pwmgen.05.enable.is_opendrain hm2_7i97.0.gpio.007.is_opendrain
hm2_7i97.0.pwmgen.05.out0.invert_output hm2_7i97.0.gpio.006.invert_output
hm2_7i97.0.pwmgen.05.out0.is_opendrain hm2_7i97.0.gpio.006.is_opendrain

Exported Functions:
Owner CodeAddr Arg FP Users Name
00030 7f040c653908 5654a25d5b10 YES 1 hm2_7i97.0.read
00030 7f040c653891 5654a25d5b10 YES 0 hm2_7i97.0.read-request
00030 7f040c653749 5654a25d5b10 YES 1 hm2_7i97.0.write
00023 7f040c7993ad 00000000 YES 1 motion-command-handler
00023 7f040c7999a0 00000000 YES 1 motion-controller
00033 7f040c63a240 7f040ca453f0 YES 1 pid.x.do-pid-calcs
00033 7f040c63a240 7f040ca45590 YES 1 pid.y.do-pid-calcs
00033 7f040c63a240 7f040ca45730 YES 1 pid.z.do-pid-calcs

Realtime Threads:
Period FP Name ( Time, Max-Time )
500000 YES servo-thread ( 79516, 145431 )
1 hm2_7i97.0.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 hm2_7i97.0.write

kris@mill:~$

Please Log in or Create an account to join the conversation.

PCW
Offline
Moderator

23 Feb 2025 21:36 - 23 Feb 2025 21:39 #322408 by PCW

Replied by PCW on topic 7I97T joint following error

You are not in machine on state:

30 bit IN FALSE hm2_7i97.0.pwmgen.00.enable <== joint-0-enable

This may be because you did not set LinuxCNC to machine on state
or because you had a following error, because of a runaway in turn
because feedback was reversed.

When you first set LinuxCNC into the machine on state, (with deadzones = 0)
do you get motion?

is it the same as before (slow drift)?

Last edit: 23 Feb 2025 21:39 by PCW.

Please Log in or Create an account to join the conversation.

Tinker
Offline
Junior Member

23 Feb 2025 21:46 #322410 by Tinker

Replied by Tinker on topic 7I97T joint following error

Sorry about that.. Yes, when I enable Lncnc all three of my servos slowly drift in the negative direction. I am unable to actually comand any movement though, i just sit and watch them drift off into the unknown..LOL

30 bit OUT FALSE hm2_7i97.0.gpio.022.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.023.in
30 bit OUT FALSE hm2_7i97.0.gpio.023.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.024.in
30 bit OUT FALSE hm2_7i97.0.gpio.024.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.025.in
30 bit OUT FALSE hm2_7i97.0.gpio.025.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.026.in
30 bit OUT FALSE hm2_7i97.0.gpio.026.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.027.in
30 bit OUT FALSE hm2_7i97.0.gpio.027.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.028.in
30 bit OUT FALSE hm2_7i97.0.gpio.028.in_not
30 bit OUT FALSE hm2_7i97.0.gpio.029.in
30 bit OUT TRUE hm2_7i97.0.gpio.029.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.030.in
30 bit OUT FALSE hm2_7i97.0.gpio.030.in_not
30 bit OUT TRUE hm2_7i97.0.gpio.031.in
30 bit OUT FALSE hm2_7i97.0.gpio.031.in_not
30 bit IN FALSE hm2_7i97.0.gpio.031.out
30 bit OUT FALSE hm2_7i97.0.gpio.032.in
30 bit OUT TRUE hm2_7i97.0.gpio.032.in_not
30 bit IN FALSE hm2_7i97.0.gpio.032.out
30 bit OUT TRUE hm2_7i97.0.gpio.033.in
30 bit OUT FALSE hm2_7i97.0.gpio.033.in_not
30 bit IN FALSE hm2_7i97.0.gpio.033.out
30 bit OUT TRUE hm2_7i97.0.gpio.034.in
30 bit OUT FALSE hm2_7i97.0.gpio.034.in_not
30 bit IN FALSE hm2_7i97.0.gpio.034.out
30 bit OUT TRUE hm2_7i97.0.gpio.035.in
30 bit OUT FALSE hm2_7i97.0.gpio.035.in_not
30 bit IN FALSE hm2_7i97.0.gpio.035.out
30 bit OUT TRUE hm2_7i97.0.gpio.036.in
30 bit OUT FALSE hm2_7i97.0.gpio.036.in_not
30 bit IN FALSE hm2_7i97.0.gpio.036.out
30 bit OUT TRUE hm2_7i97.0.gpio.037.in
30 bit OUT FALSE hm2_7i97.0.gpio.037.in_not
30 bit IN FALSE hm2_7i97.0.gpio.037.out
30 bit OUT TRUE hm2_7i97.0.gpio.038.in
30 bit OUT FALSE hm2_7i97.0.gpio.038.in_not
30 bit IN FALSE hm2_7i97.0.gpio.038.out
30 bit OUT TRUE hm2_7i97.0.gpio.039.in
30 bit OUT FALSE hm2_7i97.0.gpio.039.in_not
30 bit IN FALSE hm2_7i97.0.gpio.039.out
30 bit OUT TRUE hm2_7i97.0.gpio.040.in
30 bit OUT FALSE hm2_7i97.0.gpio.040.in_not
30 bit IN FALSE hm2_7i97.0.gpio.040.out
30 bit OUT TRUE hm2_7i97.0.gpio.041.in
30 bit OUT FALSE hm2_7i97.0.gpio.041.in_not
30 bit IN FALSE hm2_7i97.0.gpio.041.out
30 bit OUT TRUE hm2_7i97.0.gpio.042.in
30 bit OUT FALSE hm2_7i97.0.gpio.042.in_not
30 bit IN FALSE hm2_7i97.0.gpio.042.out
30 bit OUT TRUE hm2_7i97.0.gpio.043.in
30 bit OUT FALSE hm2_7i97.0.gpio.043.in_not
30 bit IN FALSE hm2_7i97.0.gpio.043.out
30 bit OUT TRUE hm2_7i97.0.gpio.044.in
30 bit OUT FALSE hm2_7i97.0.gpio.044.in_not
30 bit IN FALSE hm2_7i97.0.gpio.044.out
30 bit OUT TRUE hm2_7i97.0.gpio.045.in
30 bit OUT FALSE hm2_7i97.0.gpio.045.in_not
30 bit IN FALSE hm2_7i97.0.gpio.045.out
30 bit OUT TRUE hm2_7i97.0.gpio.046.in
30 bit OUT FALSE hm2_7i97.0.gpio.046.in_not
30 bit IN FALSE hm2_7i97.0.gpio.046.out
30 bit OUT TRUE hm2_7i97.0.gpio.047.in
30 bit OUT FALSE hm2_7i97.0.gpio.047.in_not
30 bit IN FALSE hm2_7i97.0.gpio.047.out
30 bit OUT TRUE hm2_7i97.0.gpio.048.in
30 bit OUT FALSE hm2_7i97.0.gpio.048.in_not
30 bit IN FALSE hm2_7i97.0.gpio.048.out
30 bit OUT TRUE hm2_7i97.0.gpio.049.in
30 bit OUT FALSE hm2_7i97.0.gpio.049.in_not
30 bit IN FALSE hm2_7i97.0.gpio.049.out
30 bit OUT TRUE hm2_7i97.0.gpio.050.in
30 bit OUT FALSE hm2_7i97.0.gpio.050.in_not
30 bit IN FALSE hm2_7i97.0.gpio.050.out
30 s32 OUT 1 hm2_7i97.0.inmux.00.enc0-count
30 bit IN FALSE hm2_7i97.0.inmux.00.enc0-reset
30 s32 OUT 1 hm2_7i97.0.inmux.00.enc1-count
30 bit IN FALSE hm2_7i97.0.inmux.00.enc1-reset
30 s32 OUT 0 hm2_7i97.0.inmux.00.enc2-count
30 bit IN FALSE hm2_7i97.0.inmux.00.enc2-reset
30 s32 OUT 0 hm2_7i97.0.inmux.00.enc3-count
30 bit IN FALSE hm2_7i97.0.inmux.00.enc3-reset
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-00
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-00-not ==> plus-minus-home-joint-0
30 bit IN FALSE hm2_7i97.0.inmux.00.input-00-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-01
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-01-not ==> minus-home-joint-1
30 bit IN FALSE hm2_7i97.0.inmux.00.input-01-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-02
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-02-not ==> pos-limit-joint-1
30 bit IN FALSE hm2_7i97.0.inmux.00.input-02-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-03
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-03-not ==> plus-home-joint-2
30 bit IN FALSE hm2_7i97.0.inmux.00.input-03-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-04
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-04-not ==> neg-limit-joint-2
30 bit IN FALSE hm2_7i97.0.inmux.00.input-04-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-05
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-05-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-05-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-06
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-06-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-06-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-07
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-07-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-07-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-08
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-08-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-08-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-09
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-09-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-09-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-10
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-10-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-10-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-11
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-11-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-11-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-12
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-12-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-12-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-13
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-13-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-13-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-14
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-14-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-14-slow
30 bit OUT FALSE hm2_7i97.0.inmux.00.input-15
30 bit OUT TRUE hm2_7i97.0.inmux.00.input-15-not
30 bit IN FALSE hm2_7i97.0.inmux.00.input-15-slow
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-00
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-00-not
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-01
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-01-not
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-02
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-02-not
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-03
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-03-not
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-04
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-04-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-05
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-05-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-06
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-06-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-07
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-07-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-08
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-08-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-09
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-09-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-10
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-10-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-11
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-11-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-12
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-12-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-13
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-13-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-14
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-14-not
30 bit OUT FALSE hm2_7i97.0.inmux.00.raw-input-15
30 bit OUT TRUE hm2_7i97.0.inmux.00.raw-input-15-not
30 bit IN FALSE hm2_7i97.0.led.CR01
30 bit IN FALSE hm2_7i97.0.led.CR02
30 bit IN FALSE hm2_7i97.0.led.CR03
30 bit IN FALSE hm2_7i97.0.led.CR04
30 bit OUT FALSE hm2_7i97.0.packet-error
30 bit OUT FALSE hm2_7i97.0.packet-error-exceeded
30 s32 OUT 0 hm2_7i97.0.packet-error-level
30 u32 I/O 0x00000000 hm2_7i97.0.packet-error-total
30 bit IN TRUE hm2_7i97.0.pwmgen.00.enable <== joint-0-enable
30 float IN 0.0163 hm2_7i97.0.pwmgen.00.value <== joint.0.output
30 bit IN TRUE hm2_7i97.0.pwmgen.01.enable <== joint-1-enable
30 float IN 0.0272 hm2_7i97.0.pwmgen.01.value <== joint.1.output
30 bit IN TRUE hm2_7i97.0.pwmgen.02.enable <== joint-2-enable
30 float IN -0.013725 hm2_7i97.0.pwmgen.02.value <== joint.2.output
30 bit IN FALSE hm2_7i97.0.pwmgen.03.enable
30 float IN 0 hm2_7i97.0.pwmgen.03.value
30 bit IN FALSE hm2_7i97.0.pwmgen.04.enable
30 float IN 0 hm2_7i97.0.pwmgen.04.value
30 bit IN FALSE hm2_7i97.0.pwmgen.05.enable
30 float IN 0 hm2_7i97.0.pwmgen.05.value
30 s32 OUT 0 hm2_7i97.0.read-request.time
30 s32 OUT 72920 hm2_7i97.0.read.time
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-00
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-01
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-02
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-03
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-04
30 bit IN FALSE hm2_7i97.0.ssr.00.invert-05
30 bit IN FALSE hm2_7i97.0.ssr.00.out-00
30 bit IN FALSE hm2_7i97.0.ssr.00.out-01
30 bit IN FALSE hm2_7i97.0.ssr.00.out-02
30 bit IN FALSE hm2_7i97.0.ssr.00.out-03
30 bit IN FALSE hm2_7i97.0.ssr.00.out-04
30 bit IN FALSE hm2_7i97.0.ssr.00.out-05
30 u32 IN 0x000F4240 hm2_7i97.0.ssr.00.rate
30 bit I/O FALSE hm2_7i97.0.watchdog.has_bit
30 s32 OUT 4555 hm2_7i97.0.write.time
48 float IN 0 ini.0.backlash
48 float IN 25 ini.0.ferror
48 float IN 0 ini.0.home
48 float IN 0 ini.0.home_offset
48 s32 IN 999 ini.0.home_sequence
48 float IN 200 ini.0.max_acceleration
48 float IN 1 ini.0.max_limit
48 float IN 200 ini.0.max_velocity
48 float IN 1 ini.0.min_ferror
48 float IN 0 ini.0.min_limit
48 float IN 0 ini.1.backlash
48 float IN 25 ini.1.ferror
48 float IN 0 ini.1.home
48 float IN 0 ini.1.home_offset
48 s32 IN 999 ini.1.home_sequence
48 float IN 200 ini.1.max_acceleration
48 float IN 1 ini.1.max_limit
48 float IN 200 ini.1.max_velocity
48 float IN 1 ini.1.min_ferror
48 float IN 0 ini.1.min_limit
48 float IN 0 ini.2.backlash
48 float IN 25 ini.2.ferror
48 float IN 0 ini.2.home
48 float IN 0 ini.2.home_offset
48 s32 IN 999 ini.2.home_sequence
48 float IN 200 ini.2.max_acceleration
48 float IN 1 ini.2.max_limit
48 float IN 200 ini.2.max_velocity
48 float IN 1 ini.2.min_ferror
48 float IN 0 ini.2.min_limit
48 float IN 0 ini.a.max_acceleration
48 float IN 0 ini.a.max_limit
48 float IN 0 ini.a.max_velocity
48 float IN 0 ini.a.min_limit
48 float IN 0 ini.b.max_acceleration
48 float IN 0 ini.b.max_limit
48 float IN 0 ini.b.max_velocity
48 float IN 0 ini.b.min_limit
48 float IN 0 ini.c.max_acceleration
48 float IN 0 ini.c.max_limit
48 float IN 0 ini.c.max_velocity
48 float IN 0 ini.c.min_limit
48 bit IN TRUE ini.traj_arc_blend_enable
48 bit IN FALSE ini.traj_arc_blend_fallback_enable
48 float IN 4 ini.traj_arc_blend_gap_cycles
48 s32 IN 50 ini.traj_arc_blend_optimization_depth
48 float IN 100 ini.traj_arc_blend_ramp_freq
48 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio
48 float IN 1e+99 ini.traj_default_acceleration
48 float IN 1 ini.traj_default_velocity
48 float IN 1e+99 ini.traj_max_acceleration
48 float IN 5.1 ini.traj_max_velocity
48 float IN 0 ini.u.max_acceleration
48 float IN 0 ini.u.max_limit
48 float IN 0 ini.u.max_velocity
48 float IN 0 ini.u.min_limit
48 float IN 0 ini.v.max_acceleration
48 float IN 0 ini.v.max_limit
48 float IN 0 ini.v.max_velocity
48 float IN 0 ini.v.min_limit
48 float IN 0 ini.w.max_acceleration
48 float IN 0 ini.w.max_limit
48 float IN 0 ini.w.max_velocity
48 float IN 0 ini.w.min_limit
48 float IN 200 ini.x.max_acceleration
48 float IN 1 ini.x.max_limit
48 float IN 200 ini.x.max_velocity
48 float IN 0 ini.x.min_limit
48 float IN 200 ini.y.max_acceleration
48 float IN 1 ini.y.max_limit
48 float IN 200 ini.y.max_velocity
48 float IN 0 ini.y.min_limit
48 float IN 200 ini.z.max_acceleration
48 float IN 1 ini.z.max_limit
48 float IN 200 ini.z.max_velocity
48 float IN 0 ini.z.min_limit
4 bit OUT FALSE iocontrol.0.coolant-flood
4 bit OUT FALSE iocontrol.0.coolant-mist
4 bit OUT TRUE iocontrol.0.emc-abort
4 bit IN FALSE iocontrol.0.emc-abort-ack
4 bit IN TRUE iocontrol.0.emc-enable-in <== estop-loopback
4 s32 OUT 7 iocontrol.0.emc-reason
4 bit OUT TRUE iocontrol.0.lube
4 bit IN FALSE iocontrol.0.lube_level
4 bit OUT FALSE iocontrol.0.start-change
4 bit IN FALSE iocontrol.0.start-change-ack
4 s32 OUT 4 iocontrol.0.state
4 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-loop
4 bit IN FALSE iocontrol.0.tool-changed <== tool-change-loop
4 s32 OUT 0 iocontrol.0.tool-number
4 s32 OUT 0 iocontrol.0.tool-prep-index
4 s32 OUT 0 iocontrol.0.tool-prep-number
4 s32 OUT 0 iocontrol.0.tool-prep-pocket
4 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prep-loop
4 bit IN FALSE iocontrol.0.tool-prepared <== tool-prep-loop
4 bit IN FALSE iocontrol.0.toolchanger-clear-fault
4 bit IN FALSE iocontrol.0.toolchanger-fault
4 bit OUT FALSE iocontrol.0.toolchanger-fault-ack
4 bit OUT FALSE iocontrol.0.toolchanger-faulted
4 s32 IN 0 iocontrol.0.toolchanger-reason
4 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-loopback
4 bit OUT FALSE iocontrol.0.user-request-enable
23 float OUT 0 joint.0.acc-cmd
23 bit OUT TRUE joint.0.active
23 bit OUT TRUE joint.0.amp-enable-out ==> joint-0-enable
23 bit IN FALSE joint.0.amp-fault-in
23 float OUT 0 joint.0.backlash-corr
23 float OUT 0 joint.0.backlash-filt
23 float OUT 0 joint.0.backlash-vel
23 float OUT -1.389925 joint.0.coarse-pos-cmd
23 bit OUT FALSE joint.0.error
23 float OUT 0.0163 joint.0.f-error
23 float OUT 1 joint.0.f-error-lim
23 bit OUT FALSE joint.0.f-errored
23 bit OUT FALSE joint.0.faulted
23 float OUT -1.389925 joint.0.free-pos-cmd
23 bit OUT FALSE joint.0.free-tp-enable
23 float OUT 3.4 joint.0.free-vel-lim
23 s32 OUT 0 joint.0.home-state
23 bit IN FALSE joint.0.home-sw-in <== plus-minus-home-joint-0
23 bit OUT FALSE joint.0.homed
23 bit OUT FALSE joint.0.homing
23 bit OUT TRUE joint.0.in-position
23 bit I/O FALSE joint.0.index-enable <=> joint-0-index-enable
23 float IN 1 joint.0.jog-accel-fraction
23 s32 IN 0 joint.0.jog-counts
23 bit IN FALSE joint.0.jog-enable
23 float IN 0 joint.0.jog-scale
23 bit IN FALSE joint.0.jog-vel-mode
23 bit OUT FALSE joint.0.kb-jog-active
23 float OUT 0 joint.0.motor-offset
23 float OUT -1.389925 joint.0.motor-pos-cmd ==> joint-0-pos-cmd
23 float IN -1.406225 joint.0.motor-pos-fb <== joint-0-pos-fb
23 bit OUT FALSE joint.0.neg-hard-limit
23 bit IN FALSE joint.0.neg-lim-sw-in <== plus-minus-home-joint-0
23 float OUT -1.389925 joint.0.pos-cmd
23 float OUT -1.406225 joint.0.pos-fb
23 bit OUT FALSE joint.0.pos-hard-limit
23 bit IN FALSE joint.0.pos-lim-sw-in <== plus-minus-home-joint-0
23 float OUT 0 joint.0.vel-cmd
23 bit OUT FALSE joint.0.wheel-jog-active
23 float OUT 0 joint.1.acc-cmd
23 bit OUT TRUE joint.1.active
23 bit OUT TRUE joint.1.amp-enable-out ==> joint-1-enable
23 bit IN FALSE joint.1.amp-fault-in
23 float OUT 0 joint.1.backlash-corr
23 float OUT 0 joint.1.backlash-filt
23 float OUT 0 joint.1.backlash-vel
23 float OUT -2.320875 joint.1.coarse-pos-cmd
23 bit OUT FALSE joint.1.error
23 float OUT 0.0272 joint.1.f-error
23 float OUT 1 joint.1.f-error-lim
23 bit OUT FALSE joint.1.f-errored
23 bit OUT FALSE joint.1.faulted
23 float OUT -2.320875 joint.1.free-pos-cmd
23 bit OUT FALSE joint.1.free-tp-enable
23 float OUT 0 joint.1.free-vel-lim
23 s32 OUT 0 joint.1.home-state
23 bit IN FALSE joint.1.home-sw-in <== minus-home-joint-1
23 bit OUT FALSE joint.1.homed
23 bit OUT FALSE joint.1.homing
23 bit OUT TRUE joint.1.in-position
23 bit I/O FALSE joint.1.index-enable <=> joint-1-index-enable
23 float IN 1 joint.1.jog-accel-fraction
23 s32 IN 0 joint.1.jog-counts
23 bit IN FALSE joint.1.jog-enable
23 float IN 0 joint.1.jog-scale
23 bit IN FALSE joint.1.jog-vel-mode
23 bit OUT FALSE joint.1.kb-jog-active
23 float OUT 0 joint.1.motor-offset
23 float OUT -2.320875 joint.1.motor-pos-cmd ==> joint-1-pos-cmd
23 float IN -2.348075 joint.1.motor-pos-fb <== joint-1-pos-fb
23 bit OUT FALSE joint.1.neg-hard-limit
23 bit IN FALSE joint.1.neg-lim-sw-in <== minus-home-joint-1
23 float OUT -2.320875 joint.1.pos-cmd
23 float OUT -2.348075 joint.1.pos-fb
23 bit OUT FALSE joint.1.pos-hard-limit
23 bit IN FALSE joint.1.pos-lim-sw-in <== pos-limit-joint-1
23 float OUT 0 joint.1.vel-cmd
23 bit OUT FALSE joint.1.wheel-jog-active
23 float OUT 0 joint.2.acc-cmd
23 bit OUT TRUE joint.2.active
23 bit OUT TRUE joint.2.amp-enable-out ==> joint-2-enable
23 bit IN FALSE joint.2.amp-fault-in
23 float OUT 0 joint.2.backlash-corr
23 float OUT 0 joint.2.backlash-filt
23 float OUT 0 joint.2.backlash-vel
23 float OUT 1.17025 joint.2.coarse-pos-cmd
23 bit OUT FALSE joint.2.error
23 float OUT -0.013725 joint.2.f-error
23 float OUT 1 joint.2.f-error-lim
23 bit OUT FALSE joint.2.f-errored
23 bit OUT FALSE joint.2.faulted
23 float OUT 1.17025 joint.2.free-pos-cmd
23 bit OUT FALSE joint.2.free-tp-enable
23 float OUT 0 joint.2.free-vel-lim
23 s32 OUT 0 joint.2.home-state
23 bit IN FALSE joint.2.home-sw-in <== plus-home-joint-2
23 bit OUT FALSE joint.2.homed
23 bit OUT FALSE joint.2.homing
23 bit OUT TRUE joint.2.in-position
23 bit I/O FALSE joint.2.index-enable <=> joint-2-index-enable
23 float IN 1 joint.2.jog-accel-fraction
23 s32 IN 0 joint.2.jog-counts
23 bit IN FALSE joint.2.jog-enable
23 float IN 0 joint.2.jog-scale
23 bit IN FALSE joint.2.jog-vel-mode
23 bit OUT FALSE joint.2.kb-jog-active
23 float OUT 0 joint.2.motor-offset
23 float OUT 1.17025 joint.2.motor-pos-cmd ==> joint-2-pos-cmd
23 float IN 1.183975 joint.2.motor-pos-fb <== joint-2-pos-fb
23 bit OUT FALSE joint.2.neg-hard-limit
23 bit IN FALSE joint.2.neg-lim-sw-in <== neg-limit-joint-2
23 float OUT 1.17025 joint.2.pos-cmd
23 float OUT 1.183975 joint.2.pos-fb
23 bit OUT FALSE joint.2.pos-hard-limit
23 bit IN FALSE joint.2.pos-lim-sw-in <== plus-home-joint-2
23 float OUT 0 joint.2.vel-cmd
23 bit OUT FALSE joint.2.wheel-jog-active
23 s32 OUT 89 motion-command-handler.time
23 s32 OUT 1654 motion-controller.time
23 float IN 1 motion.adaptive-feed
23 float IN 0 motion.analog-in-00
23 float IN 0 motion.analog-in-01
23 float IN 0 motion.analog-in-02
23 float IN 0 motion.analog-in-03
23 float OUT 0 motion.analog-out-00
23 float OUT 0 motion.analog-out-01
23 float OUT 0 motion.analog-out-02
23 float OUT 0 motion.analog-out-03
23 bit OUT FALSE motion.coord-error
23 bit OUT FALSE motion.coord-mode
23 float OUT 0 motion.current-vel
23 bit IN FALSE motion.digital-in-00
23 bit IN FALSE motion.digital-in-01
23 bit IN FALSE motion.digital-in-02
23 bit IN FALSE motion.digital-in-03
23 bit OUT FALSE motion.digital-out-00
23 bit OUT FALSE motion.digital-out-01
23 bit OUT FALSE motion.digital-out-02
23 bit OUT FALSE motion.digital-out-03
23 float OUT 0 motion.distance-to-go
23 bit IN TRUE motion.enable
23 bit OUT FALSE motion.eoffset-active
23 bit OUT FALSE motion.eoffset-limited
23 bit IN FALSE motion.feed-hold
23 float OUT 0 motion.feed-inches-per-minute
23 float OUT 0 motion.feed-inches-per-second
23 bit IN FALSE motion.feed-inhibit
23 float OUT 0 motion.feed-mm-per-minute
23 float OUT 0 motion.feed-mm-per-second
23 float OUT 0 motion.feed-upm
23 bit IN FALSE motion.homing-inhibit
23 bit OUT TRUE motion.in-position
23 bit OUT FALSE motion.is-all-homed
23 bit IN FALSE motion.jog-inhibit
23 bit OUT FALSE motion.jog-is-active
23 bit IN FALSE motion.jog-stop
23 bit IN FALSE motion.jog-stop-immediate
23 bit OUT TRUE motion.motion-enabled ==> motion-enable
23 s32 OUT 0 motion.motion-type
23 bit OUT FALSE motion.on-soft-limit
23 bit IN FALSE motion.probe-input
23 s32 OUT 0 motion.program-line
23 float OUT 0 motion.requested-vel
23 u32 OUT 0x0005EF64 motion.servo.last-period
23 bit OUT FALSE motion.teleop-mode
23 float OUT 0 motion.tooloffset.a
23 float OUT 0 motion.tooloffset.b
23 float OUT 0 motion.tooloffset.c
23 float OUT 0 motion.tooloffset.u
23 float OUT 0 motion.tooloffset.v
23 float OUT 0 motion.tooloffset.w
23 float OUT 0 motion.tooloffset.x
23 float OUT 0 motion.tooloffset.y
23 float OUT 0 motion.tooloffset.z
23 bit OUT FALSE motion.tp-reverse
33 float IN 0 pid.x.Dgain
33 float IN 0 pid.x.FF0
33 float IN 0 pid.x.FF1
33 float IN 0 pid.x.FF2
33 float IN 0 pid.x.FF3
33 float IN 0 pid.x.Igain
33 float IN 1 pid.x.Pgain
33 float IN 0 pid.x.bias
33 float IN -1.389925 pid.x.command <== joint-0-pos-cmd
33 float IN 0 pid.x.command-deriv
33 float IN 0 pid.x.deadband
33 s32 OUT 93 pid.x.do-pid-calcs.time
33 bit IN TRUE pid.x.enable <== joint-0-enable
33 float OUT 0.0163 pid.x.error
33 bit IN TRUE pid.x.error-previous-target
33 float IN -1.40625 pid.x.feedback <== joint-0-pos-fb
33 float IN 0 pid.x.feedback-deriv
33 bit IN FALSE pid.x.index-enable <== joint-0-index-enable
33 float IN 0 pid.x.maxcmdD
33 float IN 0 pid.x.maxcmdDD
33 float IN 0 pid.x.maxcmdDDD
33 float IN 0 pid.x.maxerror
33 float IN 0 pid.x.maxerrorD
33 float IN 0 pid.x.maxerrorI
33 float IN 10 pid.x.maxoutput
33 float OUT 0.016325 pid.x.output ==> joint.0.output
33 bit OUT FALSE pid.x.saturated
33 s32 OUT 0 pid.x.saturated-count
33 float OUT 0 pid.x.saturated-s
33 u32 I/O 0x00000032 pid.x.tune-cycles
33 float I/O 0.5 pid.x.tune-effort
33 bit IN FALSE pid.x.tune-mode
33 bit I/O FALSE pid.x.tune-start
33 u32 I/O 0x00000000 pid.x.tune-type
33 float IN 0 pid.y.Dgain
33 float IN 0 pid.y.FF0
33 float IN 0 pid.y.FF1
33 float IN 0 pid.y.FF2
33 float IN 0 pid.y.FF3
33 float IN 0 pid.y.Igain
33 float IN 1 pid.y.Pgain
33 float IN 0 pid.y.bias
33 float IN -2.320875 pid.y.command <== joint-1-pos-cmd
33 float IN 0 pid.y.command-deriv
33 float IN 0 pid.y.deadband
33 s32 OUT 35 pid.y.do-pid-calcs.time
33 bit IN TRUE pid.y.enable <== joint-1-enable
33 float OUT 0.02725 pid.y.error
33 bit IN TRUE pid.y.error-previous-target
33 float IN -2.348125 pid.y.feedback <== joint-1-pos-fb
33 float IN 0 pid.y.feedback-deriv
33 bit IN FALSE pid.y.index-enable <== joint-1-index-enable
33 float IN 0 pid.y.maxcmdD
33 float IN 0 pid.y.maxcmdDD
33 float IN 0 pid.y.maxcmdDDD
33 float IN 0 pid.y.maxerror
33 float IN 0 pid.y.maxerrorD
33 float IN 0 pid.y.maxerrorI
33 float IN 10 pid.y.maxoutput
33 float OUT 0.02725 pid.y.output ==> joint.1.output
33 bit OUT FALSE pid.y.saturated
33 s32 OUT 0 pid.y.saturated-count
33 float OUT 0 pid.y.saturated-s
33 u32 I/O 0x00000032 pid.y.tune-cycles
33 float I/O 0.5 pid.y.tune-effort
33 bit IN FALSE pid.y.tune-mode
33 bit I/O FALSE pid.y.tune-start
33 u32 I/O 0x00000000 pid.y.tune-type
33 float IN 0 pid.z.Dgain
33 float IN 0 pid.z.FF0
33 float IN 0 pid.z.FF1
33 float IN 0 pid.z.FF2
33 float IN 0 pid.z.FF3
33 float IN 0 pid.z.Igain
33 float IN 1 pid.z.Pgain
33 float IN 0 pid.z.bias
33 float IN 1.17025 pid.z.command <== joint-2-pos-cmd
33 float IN 0 pid.z.command-deriv
33 float IN 0 pid.z.deadband
33 s32 OUT 34 pid.z.do-pid-calcs.time
33 bit IN TRUE pid.z.enable <== joint-2-enable
33 float OUT -0.01375 pid.z.error
33 bit IN TRUE pid.z.error-previous-target
33 float IN 1.184 pid.z.feedback <== joint-2-pos-fb
33 float IN 0 pid.z.feedback-deriv
33 bit IN FALSE pid.z.index-enable <== joint-2-index-enable
33 float IN 0 pid.z.maxcmdD
33 float IN 0 pid.z.maxcmdDD
33 float IN 0 pid.z.maxcmdDDD
33 float IN 0 pid.z.maxerror
33 float IN 0 pid.z.maxerrorD
33 float IN 0 pid.z.maxerrorI
33 float IN 10 pid.z.maxoutput
33 float OUT -0.01375 pid.z.output ==> joint.2.output
33 bit OUT FALSE pid.z.saturated
33 s32 OUT 0 pid.z.saturated-count
33 float OUT 0 pid.z.saturated-s
33 u32 I/O 0x00000032 pid.z.tune-cycles
33 float I/O 0.5 pid.z.tune-effort
33 bit IN FALSE pid.z.tune-mode
33 bit I/O FALSE pid.z.tune-start
33 u32 I/O 0x00000000 pid.z.tune-type
24 s32 OUT 68393 servo-thread.time
23 bit IN FALSE spindle.0.amp-fault-in
23 bit IN TRUE spindle.0.at-speed
23 bit OUT TRUE spindle.0.brake
23 bit OUT FALSE spindle.0.forward
23 bit I/O FALSE spindle.0.index-enable
23 bit IN FALSE spindle.0.inhibit
23 bit IN FALSE spindle.0.is-oriented
23 bit OUT FALSE spindle.0.locked
23 bit OUT FALSE spindle.0.on
23 bit OUT FALSE spindle.0.orient
23 float OUT 0 spindle.0.orient-angle
23 s32 IN 0 spindle.0.orient-fault
23 s32 OUT 0 spindle.0.orient-mode
23 bit OUT FALSE spindle.0.reverse
23 float IN 0 spindle.0.revs
23 float OUT 0 spindle.0.speed-cmd-rps
23 float IN 0 spindle.0.speed-in
23 float OUT 0 spindle.0.speed-out
23 float OUT 0 spindle.0.speed-out-abs
23 float OUT 0 spindle.0.speed-out-rps
23 float OUT 0 spindle.0.speed-out-rps-abs

Pin Aliases:
Alias Original Name

Signals:
Type Value Name (linked to)
bit TRUE estop-loopback
==> iocontrol.0.emc-enable-in
<== iocontrol.0.user-enable-out
bit TRUE joint-0-enable
==> hm2_7i97.0.pwmgen.00.enable
<== joint.0.amp-enable-out
==> pid.x.enable
bit FALSE joint-0-index-enable
<=> hm2_7i97.0.encoder.00.index-enable
<=> joint.0.index-enable
==> pid.x.index-enable
float -1.389925 joint-0-pos-cmd
<== joint.0.motor-pos-cmd
==> pid.x.command
float -1.40625 joint-0-pos-fb
<== hm2_7i97.0.encoder.00.position
==> joint.0.motor-pos-fb
==> pid.x.feedback
bit TRUE joint-1-enable
==> hm2_7i97.0.pwmgen.01.enable
<== joint.1.amp-enable-out
==> pid.y.enable
bit FALSE joint-1-index-enable
<=> hm2_7i97.0.encoder.01.index-enable
<=> joint.1.index-enable
==> pid.y.index-enable
float -2.320875 joint-1-pos-cmd
<== joint.1.motor-pos-cmd
==> pid.y.command
float -2.348125 joint-1-pos-fb
<== hm2_7i97.0.encoder.01.position
==> joint.1.motor-pos-fb
==> pid.y.feedback
bit TRUE joint-2-enable
==> hm2_7i97.0.pwmgen.02.enable
<== joint.2.amp-enable-out
==> pid.z.enable
bit FALSE joint-2-index-enable
<=> hm2_7i97.0.encoder.02.index-enable
<=> joint.2.index-enable
==> pid.z.index-enable
float 1.17025 joint-2-pos-cmd
<== joint.2.motor-pos-cmd
==> pid.z.command
float 1.184 joint-2-pos-fb
<== hm2_7i97.0.encoder.02.position
==> joint.2.motor-pos-fb
==> pid.z.feedback
float 0.016325 joint.0.output
==> hm2_7i97.0.pwmgen.00.value
<== pid.x.output
float 0.02725 joint.1.output
==> hm2_7i97.0.pwmgen.01.value
<== pid.y.output
float -0.01375 joint.2.output
==> hm2_7i97.0.pwmgen.02.value
<== pid.z.output
bit FALSE minus-home-joint-1
<== hm2_7i97.0.inmux.00.input-01-not
==> joint.1.home-sw-in
==> joint.1.neg-lim-sw-in
bit TRUE motion-enable
<== motion.motion-enabled
bit FALSE neg-limit-joint-2
<== hm2_7i97.0.inmux.00.input-04-not
==> joint.2.neg-lim-sw-in
bit FALSE plus-home-joint-2
<== hm2_7i97.0.inmux.00.input-03-not
==> joint.2.home-sw-in
==> joint.2.pos-lim-sw-in
bit FALSE plus-minus-home-joint-0
<== hm2_7i97.0.inmux.00.input-00-not
==> joint.0.home-sw-in
==> joint.0.neg-lim-sw-in
==> joint.0.pos-lim-sw-in
bit FALSE pos-limit-joint-1
<== hm2_7i97.0.inmux.00.input-02-not
==> joint.1.pos-lim-sw-in
bit FALSE tool-change-confirmed
<== hal_manualtoolchange.changed
bit FALSE tool-change-loop
<== iocontrol.0.tool-change
==> iocontrol.0.tool-changed
bit FALSE tool-change-request
==> hal_manualtoolchange.change
s32 0 tool-number
==> hal_manualtoolchange.number
bit FALSE tool-prep-loop
<== iocontrol.0.tool-prepare
==> iocontrol.0.tool-prepared

Parameters:
Owner Type Dir Value Name
30 bit RW FALSE hm2_7i97.0.encoder.00.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.00.filter
30 bit RW FALSE hm2_7i97.0.encoder.00.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.00.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.00.index-mask-invert
30 float RW 40000 hm2_7i97.0.encoder.00.scale
30 bit RW FALSE hm2_7i97.0.encoder.00.sel0.invert_output
30 bit RW FALSE hm2_7i97.0.encoder.00.sel0.is_opendrain
30 float RW 0.5 hm2_7i97.0.encoder.00.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.01.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.01.filter
30 bit RW FALSE hm2_7i97.0.encoder.01.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.01.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.01.index-mask-invert
30 float RW 40000 hm2_7i97.0.encoder.01.scale
30 float RW 0.5 hm2_7i97.0.encoder.01.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.02.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.02.filter
30 bit RW FALSE hm2_7i97.0.encoder.02.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.02.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.02.index-mask-invert
30 float RW 40000 hm2_7i97.0.encoder.02.scale
30 float RW 0.5 hm2_7i97.0.encoder.02.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.03.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.03.filter
30 bit RW FALSE hm2_7i97.0.encoder.03.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.03.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.03.index-mask-invert
30 float RW 1 hm2_7i97.0.encoder.03.scale
30 float RW 0.5 hm2_7i97.0.encoder.03.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.04.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.04.filter
30 bit RW FALSE hm2_7i97.0.encoder.04.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.04.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.04.index-mask-invert
30 float RW 1 hm2_7i97.0.encoder.04.scale
30 float RW 0.5 hm2_7i97.0.encoder.04.vel-timeout
30 bit RW FALSE hm2_7i97.0.encoder.05.counter-mode
30 bit RW TRUE hm2_7i97.0.encoder.05.filter
30 bit RW FALSE hm2_7i97.0.encoder.05.index-invert
30 bit RW FALSE hm2_7i97.0.encoder.05.index-mask
30 bit RW FALSE hm2_7i97.0.encoder.05.index-mask-invert
30 float RW 1 hm2_7i97.0.encoder.05.scale
30 float RW 0.5 hm2_7i97.0.encoder.05.vel-timeout
30 bit RW FALSE hm2_7i97.0.gpio.019.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.019.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.020.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.020.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.021.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.021.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.022.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.022.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.023.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.023.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.024.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.024.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.025.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.025.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.026.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.026.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.027.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.027.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.028.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.028.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.029.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.029.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.031.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.031.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.031.is_output
30 bit RW FALSE hm2_7i97.0.gpio.032.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.032.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.032.is_output
30 bit RW FALSE hm2_7i97.0.gpio.033.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.033.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.033.is_output
30 bit RW FALSE hm2_7i97.0.gpio.034.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.034.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.034.is_output
30 bit RW FALSE hm2_7i97.0.gpio.035.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.035.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.035.is_output
30 bit RW FALSE hm2_7i97.0.gpio.036.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.036.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.036.is_output
30 bit RW FALSE hm2_7i97.0.gpio.037.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.037.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.037.is_output
30 bit RW FALSE hm2_7i97.0.gpio.038.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.038.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.038.is_output
30 bit RW FALSE hm2_7i97.0.gpio.039.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.039.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.039.is_output
30 bit RW FALSE hm2_7i97.0.gpio.040.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.040.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.040.is_output
30 bit RW FALSE hm2_7i97.0.gpio.041.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.041.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.041.is_output
30 bit RW FALSE hm2_7i97.0.gpio.042.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.042.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.042.is_output
30 bit RW FALSE hm2_7i97.0.gpio.043.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.043.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.043.is_output
30 bit RW FALSE hm2_7i97.0.gpio.044.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.044.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.044.is_output
30 bit RW FALSE hm2_7i97.0.gpio.045.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.045.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.045.is_output
30 bit RW FALSE hm2_7i97.0.gpio.046.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.046.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.046.is_output
30 bit RW FALSE hm2_7i97.0.gpio.047.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.047.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.047.is_output
30 bit RW FALSE hm2_7i97.0.gpio.048.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.048.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.048.is_output
30 bit RW FALSE hm2_7i97.0.gpio.049.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.049.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.049.is_output
30 bit RW FALSE hm2_7i97.0.gpio.050.invert_output
30 bit RW FALSE hm2_7i97.0.gpio.050.is_opendrain
30 bit RW FALSE hm2_7i97.0.gpio.050.is_output
30 bit RW FALSE hm2_7i97.0.inmux.00.enc0_4xmode
30 bit RW FALSE hm2_7i97.0.inmux.00.enc1_4xmode
30 bit RW FALSE hm2_7i97.0.inmux.00.enc2_4xmode
30 bit RW FALSE hm2_7i97.0.inmux.00.enc3_4xmode
30 u32 RW 0x00000005 hm2_7i97.0.inmux.00.fast_scans
30 u32 RW 0x00004E20 hm2_7i97.0.inmux.00.scan_rate
30 u32 RO 0x00000010 hm2_7i97.0.inmux.00.scan_width
30 u32 RW 0x000001F4 hm2_7i97.0.inmux.00.slow_scans
30 bit RW FALSE hm2_7i97.0.io_error
30 s32 RO 1 hm2_7i97.0.packet-error-decrement
30 s32 RW 2 hm2_7i97.0.packet-error-increment
30 s32 RW 10 hm2_7i97.0.packet-error-limit
30 s32 RW 80 hm2_7i97.0.packet-read-timeout
30 bit RW TRUE hm2_7i97.0.pwmgen.00.dither
30 bit RW FALSE hm2_7i97.0.pwmgen.00.enable.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.00.enable.is_opendrain
30 bit RW TRUE hm2_7i97.0.pwmgen.00.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.00.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.00.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.00.output-type
30 float RW 40000 hm2_7i97.0.pwmgen.00.scale
30 bit RW TRUE hm2_7i97.0.pwmgen.01.dither
30 bit RW TRUE hm2_7i97.0.pwmgen.01.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.01.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.01.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.01.output-type
30 float RW 40000 hm2_7i97.0.pwmgen.01.scale
30 bit RW TRUE hm2_7i97.0.pwmgen.02.dither
30 bit RW TRUE hm2_7i97.0.pwmgen.02.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.02.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.02.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.02.output-type
30 float RW 40000 hm2_7i97.0.pwmgen.02.scale
30 bit RW FALSE hm2_7i97.0.pwmgen.03.dither
30 bit RW FALSE hm2_7i97.0.pwmgen.03.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.03.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.03.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.03.output-type
30 float RW 1 hm2_7i97.0.pwmgen.03.scale
30 bit RW FALSE hm2_7i97.0.pwmgen.04.dither
30 bit RW FALSE hm2_7i97.0.pwmgen.04.enable.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.04.enable.is_opendrain
30 bit RW FALSE hm2_7i97.0.pwmgen.04.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.04.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.04.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.04.output-type
30 float RW 1 hm2_7i97.0.pwmgen.04.scale
30 bit RW FALSE hm2_7i97.0.pwmgen.05.dither
30 bit RW FALSE hm2_7i97.0.pwmgen.05.enable.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.05.enable.is_opendrain
30 bit RW FALSE hm2_7i97.0.pwmgen.05.offset-mode
30 bit RW FALSE hm2_7i97.0.pwmgen.05.out0.invert_output
30 bit RW FALSE hm2_7i97.0.pwmgen.05.out0.is_opendrain
30 s32 RW 1 hm2_7i97.0.pwmgen.05.output-type
30 float RW 1 hm2_7i97.0.pwmgen.05.scale
30 u32 RW 0x00004E20 hm2_7i97.0.pwmgen.pdm_frequency
30 u32 RW 0x000124F8 hm2_7i97.0.pwmgen.pwm_frequency
30 s32 RW 0 hm2_7i97.0.read-request.tmax
30 bit RO FALSE hm2_7i97.0.read-request.tmax-increased
30 s32 RW 132904 hm2_7i97.0.read.tmax
30 bit RO FALSE hm2_7i97.0.read.tmax-increased
30 u32 RW 0x002625A0 hm2_7i97.0.watchdog.timeout_ns
30 s32 RW 17481 hm2_7i97.0.write.tmax
30 bit RO FALSE hm2_7i97.0.write.tmax-increased
23 s32 RW 2543 motion-command-handler.tmax
23 bit RO FALSE motion-command-handler.tmax-increased
23 s32 RW 19708 motion-controller.tmax
23 bit RO FALSE motion-controller.tmax-increased
23 bit RO FALSE motion.debug-bit-0
23 bit RO FALSE motion.debug-bit-1
23 float RO 0 motion.debug-float-0
23 float RO 0 motion.debug-float-1
23 float RO 0 motion.debug-float-2
23 float RO 1 motion.debug-float-3
23 s32 RO 0 motion.debug-s32-0
23 s32 RO 0 motion.debug-s32-1
33 s32 RW 2749 pid.x.do-pid-calcs.tmax
33 bit RO FALSE pid.x.do-pid-calcs.tmax-increased
33 s32 RW 2100 pid.y.do-pid-calcs.tmax
33 bit RO FALSE pid.y.do-pid-calcs.tmax-increased
33 s32 RW 3372 pid.z.do-pid-calcs.tmax
33 bit RO FALSE pid.z.do-pid-calcs.tmax-increased
24 s32 RW 145431 servo-thread.tmax
23 float RO 0 tc.0.acc
23 float RO 0 tc.0.pos
23 float RO 0 tc.0.vel
23 float RO 0 tc.1.acc
23 float RO 0 tc.1.pos
23 float RO 0 tc.1.vel
23 float RO 0 tc.2.acc
23 float RO 0 tc.2.pos
23 float RO 0 tc.2.vel
23 float RO 0 tc.3.acc
23 float RO 0 tc.3.pos
23 float RO 0 tc.3.vel
23 u32 RO 0x00000000 traj.active_tc
23 float RO 0 traj.pos_out
23 float RO 0 traj.vel_out

Parameter Aliases:
Alias Original Name
hm2_7i97.0.encoder.00.sel0.invert_output hm2_7i97.0.gpio.018.invert_output
hm2_7i97.0.encoder.00.sel0.is_opendrain hm2_7i97.0.gpio.018.is_opendrain
hm2_7i97.0.pwmgen.00.enable.invert_output hm2_7i97.0.gpio.008.invert_output
hm2_7i97.0.pwmgen.00.enable.is_opendrain hm2_7i97.0.gpio.008.is_opendrain
hm2_7i97.0.pwmgen.00.out0.invert_output hm2_7i97.0.gpio.000.invert_output
hm2_7i97.0.pwmgen.00.out0.is_opendrain hm2_7i97.0.gpio.000.is_opendrain
hm2_7i97.0.pwmgen.01.out0.invert_output hm2_7i97.0.gpio.001.invert_output
hm2_7i97.0.pwmgen.01.out0.is_opendrain hm2_7i97.0.gpio.001.is_opendrain
hm2_7i97.0.pwmgen.02.out0.invert_output hm2_7i97.0.gpio.002.invert_output
hm2_7i97.0.pwmgen.02.out0.is_opendrain hm2_7i97.0.gpio.002.is_opendrain
hm2_7i97.0.pwmgen.03.out0.invert_output hm2_7i97.0.gpio.003.invert_output
hm2_7i97.0.pwmgen.03.out0.is_opendrain hm2_7i97.0.gpio.003.is_opendrain
hm2_7i97.0.pwmgen.04.enable.invert_output hm2_7i97.0.gpio.005.invert_output
hm2_7i97.0.pwmgen.04.enable.is_opendrain hm2_7i97.0.gpio.005.is_opendrain
hm2_7i97.0.pwmgen.04.out0.invert_output hm2_7i97.0.gpio.004.invert_output
hm2_7i97.0.pwmgen.04.out0.is_opendrain hm2_7i97.0.gpio.004.is_opendrain
hm2_7i97.0.pwmgen.05.enable.invert_output hm2_7i97.0.gpio.007.invert_output
hm2_7i97.0.pwmgen.05.enable.is_opendrain hm2_7i97.0.gpio.007.is_opendrain
hm2_7i97.0.pwmgen.05.out0.invert_output hm2_7i97.0.gpio.006.invert_output
hm2_7i97.0.pwmgen.05.out0.is_opendrain hm2_7i97.0.gpio.006.is_opendrain

Exported Functions:
Owner CodeAddr Arg FP Users Name
00030 7f040c653908 5654a25d5b10 YES 1 hm2_7i97.0.read
00030 7f040c653891 5654a25d5b10 YES 0 hm2_7i97.0.read-request
00030 7f040c653749 5654a25d5b10 YES 1 hm2_7i97.0.write
00023 7f040c7993ad 00000000 YES 1 motion-command-handler
00023 7f040c7999a0 00000000 YES 1 motion-controller
00033 7f040c63a240 7f040ca453f0 YES 1 pid.x.do-pid-calcs
00033 7f040c63a240 7f040ca45590 YES 1 pid.y.do-pid-calcs
00033 7f040c63a240 7f040ca45730 YES 1 pid.z.do-pid-calcs

Realtime Threads:
Period FP Name ( Time, Max-Time )
500000 YES servo-thread ( 78141, 145431 )
1 hm2_7i97.0.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 hm2_7i97.0.write

kris@mill:~$

Please Log in or Create an account to join the conversation.

Time to create page: 0.111 seconds