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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 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 69157 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 5328 hm2_7i97.0.write.time
48 float IN 0 ini.0.backlash
48 float IN 1 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 0.001 ini.0.min_ferror
48 float IN 0 ini.0.min_limit
48 float IN 0 ini.1.backlash
48 float IN 1 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 0.001 ini.1.min_ferror
48 float IN 0 ini.1.min_limit
48 float IN 0 ini.2.backlash
48 float IN 1 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 0.001 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 joint.0.coarse-pos-cmd
23 bit OUT FALSE joint.0.error
23 float OUT 0 joint.0.f-error
23 float OUT 0.001 joint.0.f-error-lim
23 bit OUT FALSE joint.0.f-errored
23 bit OUT FALSE joint.0.faulted
23 float OUT 0 joint.0.free-pos-cmd
23 bit OUT FALSE joint.0.free-tp-enable
23 float OUT 0 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 -0.001175 joint.0.motor-pos-cmd ==> joint-0-pos-cmd
23 float IN -0.001175 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 -0.001175 joint.0.pos-cmd
23 float OUT -0.001175 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 joint.1.coarse-pos-cmd
23 bit OUT FALSE joint.1.error
23 float OUT 0 joint.1.f-error
23 float OUT 0.001 joint.1.f-error-lim
23 bit OUT FALSE joint.1.f-errored
23 bit OUT FALSE joint.1.faulted
23 float OUT 0 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 0 joint.1.motor-pos-cmd ==> joint-1-pos-cmd
23 float IN 0 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 0 joint.1.pos-cmd
23 float OUT 0 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 joint.2.coarse-pos-cmd
23 bit OUT FALSE joint.2.error
23 float OUT 0 joint.2.f-error
23 float OUT 0.001 joint.2.f-error-lim
23 bit OUT FALSE joint.2.f-errored
23 bit OUT FALSE joint.2.faulted
23 float OUT 0 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 joint.2.motor-pos-cmd ==> joint-2-pos-cmd
23 float IN 0 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 joint.2.pos-cmd
23 float OUT 0 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 82 motion-command-handler.time
23 s32 OUT 1598 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 0x000C33E2 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 -0.001175 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 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 -0.001175 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 0 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 0 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 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 35 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 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 69422 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 -0.001175 joint-0-pos-cmd
<== joint.0.motor-pos-cmd
==> pid.x.command
float -0.001175 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 0 joint-1-pos-cmd
<== joint.1.motor-pos-cmd
==> pid.y.command
float 0 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 joint-2-pos-cmd
<== joint.2.motor-pos-cmd
==> pid.z.command
float 0 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 143945 hm2_7i97.0.read.tmax
30 bit RO FALSE hm2_7i97.0.read.tmax-increased
30 u32 RW 0x004C4B40 hm2_7i97.0.watchdog.timeout_ns
30 s32 RW 24505 hm2_7i97.0.write.tmax
30 bit RO FALSE hm2_7i97.0.write.tmax-increased
23 s32 RW 4011 motion-command-handler.tmax
23 bit RO FALSE motion-command-handler.tmax-increased
23 s32 RW 24322 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 4618 pid.x.do-pid-calcs.tmax
33 bit RO FALSE pid.x.do-pid-calcs.tmax-increased
33 s32 RW 2554 pid.y.do-pid-calcs.tmax
33 bit RO FALSE pid.y.do-pid-calcs.tmax-increased
33 s32 RW 2090 pid.z.do-pid-calcs.tmax
33 bit RO FALSE pid.z.do-pid-calcs.tmax-increased
24 s32 RW 168007 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 7f454f271908 558d598d2b10 YES 1 hm2_7i97.0.read
00030 7f454f271891 558d598d2b10 YES 0 hm2_7i97.0.read-request
00030 7f454f271749 558d598d2b10 YES 1 hm2_7i97.0.write
00023 7f454f3b73ad 00000000 YES 1 motion-command-handler
00023 7f454f3b79a0 00000000 YES 1 motion-controller
00033 7f454f258240 7f454f6633f0 YES 1 pid.x.do-pid-calcs
00033 7f454f258240 7f454f663590 YES 1 pid.y.do-pid-calcs
00033 7f454f258240 7f454f663730 YES 1 pid.z.do-pid-calcs

Realtime Threads:
Period FP Name ( Time, Max-Time )
1000000 YES servo-thread ( 70409, 168007 )
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:~$ all,txt
bash: all,txt: command not found
kris@mill:~$ > all,txt
kris@mill:~$

Can you run this command (in a terminal) when LinuxCNC is running, has no faults and you
expect some analog output?

halcmd show all > all,txt

And the post all.txt here.

5i25_7i76x2_2pd.bit
 

They should be in the initial post, let me know if they are not please.

sorry my mistake i will post correct question below.

with this 7i76 i need 4 axis (for 4 motors) and i want to use the (what is normally the 5th axis) for a PWMGEN. Which if any firmware do i need to flash ?

this is to send pwm to a dac for one of my equipment features as i am already using the spindle output

@Aciera thank you very much. It worked flawlessly. I knew I can count on you guys

I wasn't thinking of putting it the connector shell but having a surface mount connector if they exist that plugs straight in like a raspberry pi hat.
The amphenol connector used by Hypertherm and Thermal Dynamics, I think comes with surface mount options....

Glad you like my idea, Pretty cool one I thought!

Ceres template for our codebase

Ceres example

7i76 has 5 step/dir outputs that you can use any way you need/like (it can do 5 more so total of 10 with an added BOB or 7i75 or another 7i76).
Is that for a tandem axis ( 1 axis with 2 motors and 2 drives) ?
The wizard can deal with that also, just choose a tandem X axis or tandem Y axis or whatever you need.

Thank you gentleman i disabled the secure boot also enabled legacy support not sure which it was but its working now.

One more question

with this 7i76 i need 4 axis and i want to use the (5th axis or what is normally) for a second stepgen. Which if any firmware do i need to flash ?

Looks fixed to me.

Wish the LinuxCNC X86 image had the RealTek DKMS driver pre-installed
as the stock driver is NG
 

-Disable secure boot in BIOS
-do not choose parallel port in the wizard
-might not need firmware at all, depends on use case and what is already in the card, check using mesaflash
-ignore the wizard complaining about Mesa firmware, only needed for older Mesa cards

Looks like a LinuxCNC build issue:

iopl() failed: Operation not permitted

cannot gain I/O privileges - forgot 'sudo make setuid' or using secure boot? -parallel port access is not allowed

 Also Mesaflash will fail if you use --device 6i25 since the 6I25 card has 5I25 firmware installed.

hello,

im sure this has been covered, i just cant seem to find specifically what i need.

I have an HP ProDesk 600 G1 SFF Desktop with no physical parallel port and a brand new from mesa 6i25 card.
computer has no pci sockets and 2 pci-e sockets
Installed is current stable release of debian 12 with linuxcnc 2.9. (The one and done install)

1st - install 6i25 (in both slots) and run lspci it is there.  (02:00.0 DPIO module: Device 2718:5125 (rev 01))
2nd - Tried to add firmware for 6i25 and it says  no card present or something to that effect
3rd - created a cnc setup with pncconfig wizard. Message (pasted below) i gather (-parallel port access is not allowed)
              Is the root of the problem.
4th - could not find anything in bios that jumped out at me. Pci-e auto detect is on and Pci-e power conserve is turned off
             those are the only 2 references to pci-e ports in bios
5th - checked hp website and it said no parallel port or driver installed. I know there is no driver for the 6i25.  Is there a                                  driver needed in debian for the pc ?

please share your thoughts and suggestions on how to proceed ???

Thank you
kent

Debug file information:
iopl() failed: Operation not permitted
cannot gain I/O privileges - forgot 'sudo make setuid' or using secure boot? -parallel port access is not allowed
Note: Using POSIX realtime
Failed to remap MMIO 0 of PCI device 0000:02:00.0: Operation not permitted
hm2_5i25.0: could not map in FPGA address space
Driver probe function failed!
hm2_pci: error registering PCI driver
hm2_pci: rtapi_app_main: Operation not permitted (-1)
./PDT_Laser_4_Axis_100_Watt.hal:9: waitpid failed /usr/bin/rtapi_app hm2_pci
./PDT_Laser_4_Axis_100_Watt.hal:9: /usr/bin/rtapi_app exited without becoming ready
./PDT_Laser_4_Axis_100_Watt.hal:9: insmod for hm2_pci failed, returned -1
2862
Stopping realtime threads
Unloading hal components
iopl() failed: Operation not permitted
cannot gain I/O privileges - forgot 'sudo make setuid' or using secure boot? -parallel port access is not allowed
Note: Using POSIX realtime 

tommylight, thank you for this tip! Yes indeed, I had the line sudo ethtool -C eno1 rx-usecs 0   on my Desktop to put it in the terminal each time after the PC starts. That helped a lot for the ping as I used the Intel NIC. So I gave Chatgpt the job to make a one-click file out of it, successfully. I can post it here asap, if I go down to my Linuxcnc PC tomorrow (Germany time)THe Realtec NIC is configured by start with coalescence=0, afaik.

PS: Below the file with double click function. delete the .txt and make it executable as a program. (ethool was the name Chatgpt gave it  )