I am having an issue with the 7i76e, I am not sure if it is a configuration issue or a hardware issue. I can successfully control my steppers, however when I went to add my limit switches ( the first thing trying to access the IO ports on TB5/TB6 ) I got an error that hm2_7i76e.0.7i76.0.0.input-04 was not a valid pin upon starting linuxcnc.
I dropped out to just a halrun, to show the pins and I did not see any of the expected 0.7i76.0.0.input / output pins.
Below is text file showing the output from a mesaflash verbose showing the card, and then the halrun commands showing the pins.
Any Help is greatly appreciated.
mesaflash --device 7i76e --addr 10.10.10.10 --verbose
ETH device 7I76E-16 at ip=10.10.10.10
Communication:
transport layer: ethernet IPv4 UDP
ip address: 10.10.10.10
mac address: 00:60:1B:10:44:B1
protocol: LBP16 version 3
Board info:
Flash size: 16Mb (id: 0x14)
Connectors count: 3
Pins per connector: 17
Connectors names: on-card P1 P2
FPGA type: 6slx16ftg256
Number of leds: 4
Board firmware info:
memory spaces:
0: HostMot2 (registers, RW, 32-bit) [size=64K]
1: KSZ8851 (registers, RW, 16-bit)
2: EtherEEP (EEPROM, RW, 16-bit) , page size: 1, erase size: 1
3: FPGAFlsh (flash, RW, 32-bit) [size=16M], page size: 256, erase size: 65536
4: Timers (memory, RW, 16-bit)
6: LBP16RW (memory, RW, 16-bit)
7: LBP16RO (memory, RO, 16-bit)
[space 0] HostMot2
[space 2] Ethernet eeprom:
mac address: 00:60:1B:10:44:B1
ip address: 10.10.10.10
board name: 7I76E-16
user leds: eth debug
[space 3] FPGA flash eeprom:
flash size: 16Mb (id: 0x14)
[space 4] timers:
uSTimeStampReg: 0x360E
WaituSReg: 0x0000
HM2Timeout: 0x0000
[space 6] LBP16 control/status:
packets received: all 589, UDP 586, bad 0
packets sended: all 512, UDP 510, bad 0
parse errors: 0, mem errors 0, write errors 0
error flags: 0x0000
debug LED ptr: 0x0008
scratch: 0x0000
[space 7] LBP16 info:
board name: 7I76E-16
LBP16 protocol version 3
board firmware version 17
IP address jumpers at boot: fixed from EEPROM
linuxcnc:~$ halrun
halcmd: loadrt hostmot2
oard_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx"Note: Using POSIX realtime
hm2: loading Mesa HostMot2 driver version 0.15
halcmd: loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx"
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 10.10.10.10: Hardware address: 00:60:1b:10:44:b1
hm2_eth: discovered 7I76E-16
hm2/hm2_7i76e.0: Smart Serial Firmware Version 43
hm2/hm2_7i76e.0: 51 I/O Pins used:
hm2/hm2_7i76e.0: IO Pin 000 (P1-01): StepGen #0, pin Direction (Output)
hm2/hm2_7i76e.0: IO Pin 001 (P1-14): StepGen #0, pin Step (Output)
hm2/hm2_7i76e.0: IO Pin 002 (P1-02): StepGen #1, pin Direction (Output)
hm2/hm2_7i76e.0: IO Pin 003 (P1-15): StepGen #1, pin Step (Output)
hm2/hm2_7i76e.0: IO Pin 004 (P1-03): StepGen #2, pin Direction (Output)
hm2/hm2_7i76e.0: IO Pin 005 (P1-16): StepGen #2, pin Step (Output)
hm2/hm2_7i76e.0: IO Pin 006 (P1-04): StepGen #3, pin Direction (Output)
hm2/hm2_7i76e.0: IO Pin 007 (P1-17): StepGen #3, pin Step (Output)
hm2/hm2_7i76e.0: IO Pin 008 (P1-05): StepGen #4, pin Direction (Output)
hm2/hm2_7i76e.0: IO Pin 009 (P1-06): StepGen #4, pin Step (Output)
hm2/hm2_7i76e.0: IO Pin 010 (P1-07): IOPort
hm2/hm2_7i76e.0: IO Pin 011 (P1-08): IOPort
hm2/hm2_7i76e.0: IO Pin 012 (P1-09): IOPort
hm2/hm2_7i76e.0: IO Pin 013 (P1-10): IOPort
hm2/hm2_7i76e.0: IO Pin 014 (P1-11): Encoder #0, pin Index (Input)
hm2/hm2_7i76e.0: IO Pin 015 (P1-12): Encoder #0, pin B (Input)
hm2/hm2_7i76e.0: IO Pin 016 (P1-13): Encoder #0, pin A (Input)
hm2/hm2_7i76e.0: IO Pin 017 (P2-01): IOPort
hm2/hm2_7i76e.0: IO Pin 018 (P2-14): IOPort
hm2/hm2_7i76e.0: IO Pin 019 (P2-02): IOPort
hm2/hm2_7i76e.0: IO Pin 020 (P2-15): IOPort
hm2/hm2_7i76e.0: IO Pin 021 (P2-03): IOPort
hm2/hm2_7i76e.0: IO Pin 022 (P2-16): IOPort
hm2/hm2_7i76e.0: IO Pin 023 (P2-04): IOPort
hm2/hm2_7i76e.0: IO Pin 024 (P2-17): IOPort
hm2/hm2_7i76e.0: IO Pin 025 (P2-05): IOPort
hm2/hm2_7i76e.0: IO Pin 026 (P2-06): IOPort
hm2/hm2_7i76e.0: IO Pin 027 (P2-07): IOPort
hm2/hm2_7i76e.0: IO Pin 028 (P2-08): IOPort
hm2/hm2_7i76e.0: IO Pin 029 (P2-09): IOPort
hm2/hm2_7i76e.0: IO Pin 030 (P2-10): IOPort
hm2/hm2_7i76e.0: IO Pin 031 (P2-11): IOPort
hm2/hm2_7i76e.0: IO Pin 032 (P2-12): IOPort
hm2/hm2_7i76e.0: IO Pin 033 (P2-13): IOPort
hm2/hm2_7i76e.0: IO Pin 034 (P3-01): IOPort
hm2/hm2_7i76e.0: IO Pin 035 (P3-14): IOPort
hm2/hm2_7i76e.0: IO Pin 036 (P3-02): IOPort
hm2/hm2_7i76e.0: IO Pin 037 (P3-15): IOPort
hm2/hm2_7i76e.0: IO Pin 038 (P3-03): IOPort
hm2/hm2_7i76e.0: IO Pin 039 (P3-16): IOPort
hm2/hm2_7i76e.0: IO Pin 040 (P3-04): IOPort
hm2/hm2_7i76e.0: IO Pin 041 (P3-17): IOPort
hm2/hm2_7i76e.0: IO Pin 042 (P3-05): IOPort
hm2/hm2_7i76e.0: IO Pin 043 (P3-06): IOPort
hm2/hm2_7i76e.0: IO Pin 044 (P3-07): IOPort
hm2/hm2_7i76e.0: IO Pin 045 (P3-08): IOPort
hm2/hm2_7i76e.0: IO Pin 046 (P3-09): IOPort
hm2/hm2_7i76e.0: IO Pin 047 (P3-10): IOPort
hm2/hm2_7i76e.0: IO Pin 048 (P3-11): IOPort
hm2/hm2_7i76e.0: IO Pin 049 (P3-12): IOPort
hm2/hm2_7i76e.0: IO Pin 050 (P3-13): IOPort
hm2/hm2_7i76e.0: registered
halcmd: show pin
Component Pins:
Owner Type Dir Value Name
9 float IN 100 hm2_7i76e.0.dpll.01.timer-us
9 float IN 100 hm2_7i76e.0.dpll.02.timer-us
9 float IN 100 hm2_7i76e.0.dpll.03.timer-us
9 float IN 100 hm2_7i76e.0.dpll.04.timer-us
9 float IN -1 hm2_7i76e.0.dpll.base-freq-khz
9 u32 OUT 0x00000000 hm2_7i76e.0.dpll.ddsize
9 float OUT 0 hm2_7i76e.0.dpll.phase-error-us
9 u32 IN 0x00400000 hm2_7i76e.0.dpll.plimit
9 u32 OUT 0x00000001 hm2_7i76e.0.dpll.prescale
9 u32 IN 0x000007D0 hm2_7i76e.0.dpll.time-const
9 s32 OUT 0 hm2_7i76e.0.encoder.00.count
9 s32 OUT 0 hm2_7i76e.0.encoder.00.count-latched
9 bit I/O FALSE hm2_7i76e.0.encoder.00.index-enable
9 bit OUT FALSE hm2_7i76e.0.encoder.00.input-a
9 bit OUT FALSE hm2_7i76e.0.encoder.00.input-b
9 bit OUT TRUE hm2_7i76e.0.encoder.00.input-index
9 bit IN FALSE hm2_7i76e.0.encoder.00.latch-enable
9 bit IN FALSE hm2_7i76e.0.encoder.00.latch-polarity
9 float OUT 0 hm2_7i76e.0.encoder.00.position
9 float OUT 0 hm2_7i76e.0.encoder.00.position-latched
9 bit OUT FALSE hm2_7i76e.0.encoder.00.quad-error
9 bit IN FALSE hm2_7i76e.0.encoder.00.quad-error-enable
9 s32 OUT 0 hm2_7i76e.0.encoder.00.rawcounts
9 s32 OUT 0 hm2_7i76e.0.encoder.00.rawlatch
9 bit IN FALSE hm2_7i76e.0.encoder.00.reset
9 float OUT 0 hm2_7i76e.0.encoder.00.velocity
9 u32 IN 0x017D7840 hm2_7i76e.0.encoder.sample-frequency
9 s32 IN -1 hm2_7i76e.0.encoder.timer-number
9 bit OUT FALSE hm2_7i76e.0.gpio.000.in
9 bit OUT TRUE hm2_7i76e.0.gpio.000.in_not
9 bit OUT FALSE hm2_7i76e.0.gpio.001.in
9 bit OUT TRUE hm2_7i76e.0.gpio.001.in_not
9 bit OUT FALSE hm2_7i76e.0.gpio.002.in
9 bit OUT TRUE hm2_7i76e.0.gpio.002.in_not
9 bit OUT FALSE hm2_7i76e.0.gpio.003.in
9 bit OUT TRUE hm2_7i76e.0.gpio.003.in_not
9 bit OUT FALSE hm2_7i76e.0.gpio.004.in
9 bit OUT TRUE hm2_7i76e.0.gpio.004.in_not
9 bit OUT FALSE hm2_7i76e.0.gpio.005.in
9 bit OUT TRUE hm2_7i76e.0.gpio.005.in_not
9 bit OUT FALSE hm2_7i76e.0.gpio.006.in
9 bit OUT TRUE hm2_7i76e.0.gpio.006.in_not
9 bit OUT FALSE hm2_7i76e.0.gpio.007.in
9 bit OUT TRUE hm2_7i76e.0.gpio.007.in_not
9 bit OUT FALSE hm2_7i76e.0.gpio.008.in
9 bit OUT TRUE hm2_7i76e.0.gpio.008.in_not
9 bit OUT FALSE hm2_7i76e.0.gpio.009.in
9 bit OUT TRUE hm2_7i76e.0.gpio.009.in_not
9 bit OUT TRUE hm2_7i76e.0.gpio.010.in
9 bit OUT FALSE hm2_7i76e.0.gpio.010.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.010.out
9 bit OUT FALSE hm2_7i76e.0.gpio.011.in
9 bit OUT TRUE hm2_7i76e.0.gpio.011.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.011.out
9 bit OUT TRUE hm2_7i76e.0.gpio.012.in
9 bit OUT FALSE hm2_7i76e.0.gpio.012.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.012.out
9 bit OUT TRUE hm2_7i76e.0.gpio.013.in
9 bit OUT FALSE hm2_7i76e.0.gpio.013.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.013.out
9 bit OUT FALSE hm2_7i76e.0.gpio.014.in
9 bit OUT TRUE hm2_7i76e.0.gpio.014.in_not
9 bit OUT FALSE hm2_7i76e.0.gpio.015.in
9 bit OUT TRUE hm2_7i76e.0.gpio.015.in_not
9 bit OUT FALSE hm2_7i76e.0.gpio.016.in
9 bit OUT TRUE hm2_7i76e.0.gpio.016.in_not
9 bit OUT TRUE hm2_7i76e.0.gpio.017.in
9 bit OUT FALSE hm2_7i76e.0.gpio.017.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.017.out
9 bit OUT TRUE hm2_7i76e.0.gpio.018.in
9 bit OUT FALSE hm2_7i76e.0.gpio.018.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.018.out
9 bit OUT TRUE hm2_7i76e.0.gpio.019.in
9 bit OUT FALSE hm2_7i76e.0.gpio.019.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.019.out
9 bit OUT TRUE hm2_7i76e.0.gpio.020.in
9 bit OUT FALSE hm2_7i76e.0.gpio.020.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.020.out
9 bit OUT TRUE hm2_7i76e.0.gpio.021.in
9 bit OUT FALSE hm2_7i76e.0.gpio.021.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.021.out
9 bit OUT TRUE hm2_7i76e.0.gpio.022.in
9 bit OUT FALSE hm2_7i76e.0.gpio.022.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.022.out
9 bit OUT TRUE hm2_7i76e.0.gpio.023.in
9 bit OUT FALSE hm2_7i76e.0.gpio.023.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.023.out
9 bit OUT TRUE hm2_7i76e.0.gpio.024.in
9 bit OUT FALSE hm2_7i76e.0.gpio.024.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.024.out
9 bit OUT TRUE hm2_7i76e.0.gpio.025.in
9 bit OUT FALSE hm2_7i76e.0.gpio.025.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.025.out
9 bit OUT TRUE hm2_7i76e.0.gpio.026.in
9 bit OUT FALSE hm2_7i76e.0.gpio.026.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.026.out
9 bit OUT TRUE hm2_7i76e.0.gpio.027.in
9 bit OUT FALSE hm2_7i76e.0.gpio.027.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.027.out
9 bit OUT TRUE hm2_7i76e.0.gpio.028.in
9 bit OUT FALSE hm2_7i76e.0.gpio.028.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.028.out
9 bit OUT TRUE hm2_7i76e.0.gpio.029.in
9 bit OUT FALSE hm2_7i76e.0.gpio.029.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.029.out
9 bit OUT TRUE hm2_7i76e.0.gpio.030.in
9 bit OUT FALSE hm2_7i76e.0.gpio.030.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.030.out
9 bit OUT TRUE hm2_7i76e.0.gpio.031.in
9 bit OUT FALSE hm2_7i76e.0.gpio.031.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.031.out
9 bit OUT TRUE hm2_7i76e.0.gpio.032.in
9 bit OUT FALSE hm2_7i76e.0.gpio.032.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.032.out
9 bit OUT TRUE hm2_7i76e.0.gpio.033.in
9 bit OUT FALSE hm2_7i76e.0.gpio.033.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.033.out
9 bit OUT TRUE hm2_7i76e.0.gpio.034.in
9 bit OUT FALSE hm2_7i76e.0.gpio.034.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.034.out
9 bit OUT TRUE hm2_7i76e.0.gpio.035.in
9 bit OUT FALSE hm2_7i76e.0.gpio.035.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.035.out
9 bit OUT TRUE hm2_7i76e.0.gpio.036.in
9 bit OUT FALSE hm2_7i76e.0.gpio.036.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.036.out
9 bit OUT TRUE hm2_7i76e.0.gpio.037.in
9 bit OUT FALSE hm2_7i76e.0.gpio.037.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.037.out
9 bit OUT TRUE hm2_7i76e.0.gpio.038.in
9 bit OUT FALSE hm2_7i76e.0.gpio.038.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.038.out
9 bit OUT TRUE hm2_7i76e.0.gpio.039.in
9 bit OUT FALSE hm2_7i76e.0.gpio.039.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.039.out
9 bit OUT TRUE hm2_7i76e.0.gpio.040.in
9 bit OUT FALSE hm2_7i76e.0.gpio.040.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.040.out
9 bit OUT TRUE hm2_7i76e.0.gpio.041.in
9 bit OUT FALSE hm2_7i76e.0.gpio.041.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.041.out
9 bit OUT TRUE hm2_7i76e.0.gpio.042.in
9 bit OUT FALSE hm2_7i76e.0.gpio.042.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.042.out
9 bit OUT TRUE hm2_7i76e.0.gpio.043.in
9 bit OUT FALSE hm2_7i76e.0.gpio.043.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.043.out
9 bit OUT TRUE hm2_7i76e.0.gpio.044.in
9 bit OUT FALSE hm2_7i76e.0.gpio.044.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.044.out
9 bit OUT TRUE hm2_7i76e.0.gpio.045.in
9 bit OUT FALSE hm2_7i76e.0.gpio.045.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.045.out
9 bit OUT TRUE hm2_7i76e.0.gpio.046.in
9 bit OUT FALSE hm2_7i76e.0.gpio.046.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.046.out
9 bit OUT TRUE hm2_7i76e.0.gpio.047.in
9 bit OUT FALSE hm2_7i76e.0.gpio.047.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.047.out
9 bit OUT TRUE hm2_7i76e.0.gpio.048.in
9 bit OUT FALSE hm2_7i76e.0.gpio.048.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.048.out
9 bit OUT TRUE hm2_7i76e.0.gpio.049.in
9 bit OUT FALSE hm2_7i76e.0.gpio.049.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.049.out
9 bit OUT TRUE hm2_7i76e.0.gpio.050.in
9 bit OUT FALSE hm2_7i76e.0.gpio.050.in_not
9 bit IN FALSE hm2_7i76e.0.gpio.050.out
9 bit IN FALSE hm2_7i76e.0.led.CR01
9 bit IN FALSE hm2_7i76e.0.led.CR02
9 bit IN FALSE hm2_7i76e.0.led.CR03
9 bit IN FALSE hm2_7i76e.0.led.CR04
9 bit OUT FALSE hm2_7i76e.0.packet-error
9 bit OUT FALSE hm2_7i76e.0.packet-error-exceeded
9 s32 OUT 0 hm2_7i76e.0.packet-error-level
9 s32 OUT 0 hm2_7i76e.0.read-request.time
9 s32 OUT 0 hm2_7i76e.0.read.time
9 bit IN FALSE hm2_7i76e.0.stepgen.00.control-type
9 s32 OUT 0 hm2_7i76e.0.stepgen.00.counts
9 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_err_at_match
9 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_ff_vel
9 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_pos_minus_prev_cmd
9 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_s_to_match
9 s32 OUT 0 hm2_7i76e.0.stepgen.00.dbg_step_rate
9 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_vel_error
9 bit IN FALSE hm2_7i76e.0.stepgen.00.enable
9 float IN 0 hm2_7i76e.0.stepgen.00.position-cmd
9 float OUT 0 hm2_7i76e.0.stepgen.00.position-fb
9 float IN 0 hm2_7i76e.0.stepgen.00.velocity-cmd
9 float OUT 0 hm2_7i76e.0.stepgen.00.velocity-fb
9 bit IN FALSE hm2_7i76e.0.stepgen.01.control-type
9 s32 OUT 0 hm2_7i76e.0.stepgen.01.counts
9 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_err_at_match
9 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_ff_vel
9 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_pos_minus_prev_cmd
9 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_s_to_match
9 s32 OUT 0 hm2_7i76e.0.stepgen.01.dbg_step_rate
9 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_vel_error
9 bit IN FALSE hm2_7i76e.0.stepgen.01.enable
9 float IN 0 hm2_7i76e.0.stepgen.01.position-cmd
9 float OUT 0 hm2_7i76e.0.stepgen.01.position-fb
9 float IN 0 hm2_7i76e.0.stepgen.01.velocity-cmd
9 float OUT 0 hm2_7i76e.0.stepgen.01.velocity-fb
9 bit IN FALSE hm2_7i76e.0.stepgen.02.control-type
9 s32 OUT 0 hm2_7i76e.0.stepgen.02.counts
9 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_err_at_match
9 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_ff_vel
9 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_pos_minus_prev_cmd
9 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_s_to_match
9 s32 OUT 0 hm2_7i76e.0.stepgen.02.dbg_step_rate
9 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_vel_error
9 bit IN FALSE hm2_7i76e.0.stepgen.02.enable
9 float IN 0 hm2_7i76e.0.stepgen.02.position-cmd
9 float OUT 0 hm2_7i76e.0.stepgen.02.position-fb
9 float IN 0 hm2_7i76e.0.stepgen.02.velocity-cmd
9 float OUT 0 hm2_7i76e.0.stepgen.02.velocity-fb
9 bit IN FALSE hm2_7i76e.0.stepgen.03.control-type
9 s32 OUT 0 hm2_7i76e.0.stepgen.03.counts
9 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_err_at_match
9 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_ff_vel
9 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_pos_minus_prev_cmd
9 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_s_to_match
9 s32 OUT 0 hm2_7i76e.0.stepgen.03.dbg_step_rate
9 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_vel_error
9 bit IN FALSE hm2_7i76e.0.stepgen.03.enable
9 float IN 0 hm2_7i76e.0.stepgen.03.position-cmd
9 float OUT 0 hm2_7i76e.0.stepgen.03.position-fb
9 float IN 0 hm2_7i76e.0.stepgen.03.velocity-cmd
9 float OUT 0 hm2_7i76e.0.stepgen.03.velocity-fb
9 bit IN FALSE hm2_7i76e.0.stepgen.04.control-type
9 s32 OUT 0 hm2_7i76e.0.stepgen.04.counts
9 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_err_at_match
9 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_ff_vel
9 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_pos_minus_prev_cmd
9 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_s_to_match
9 s32 OUT 0 hm2_7i76e.0.stepgen.04.dbg_step_rate
9 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_vel_error
9 bit IN FALSE hm2_7i76e.0.stepgen.04.enable
9 float IN 0 hm2_7i76e.0.stepgen.04.position-cmd
9 float OUT 0 hm2_7i76e.0.stepgen.04.position-fb
9 float IN 0 hm2_7i76e.0.stepgen.04.velocity-cmd
9 float OUT 0 hm2_7i76e.0.stepgen.04.velocity-fb
9 s32 IN -1 hm2_7i76e.0.stepgen.timer-number
9 bit I/O FALSE hm2_7i76e.0.watchdog.has_bit
9 s32 OUT 0 hm2_7i76e.0.write.time
halcmd: quit
hm2_eth: HostMot2 ethernet driver unloaded
hm2: unloading
Note: Using POSIX realtime
