Advanced Search

There's a +.5281 difference in joint 0 position and feedback

23 float OUT -0.0911 joint.0.motor-pos-cmd ==> joint-0-pos-cmd
23 float IN -0.6192 joint.0.motor-pos-fb <== joint-0-pos-fb

This should result in a 0.5281 PID output (when P=1) which is connected
to the PWM value, but in fact, the PWM value is zero:

30 float IN 0 hm2_7i97.0.pwmgen.00.value <== joint.0.output

Did you set all deadzones to zero?

 

This is with the machine in the on state. The servos are drifting in the - directoin and do not respond to jog comands.


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 FALSE hm2_7i97.0.gpio.026.in
30 bit OUT TRUE 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 TRUE hm2_7i97.0.gpio.028.in
30 bit OUT FALSE 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 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 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 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 67784 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 4757 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 -0.0911 joint.0.coarse-pos-cmd
23 bit OUT FALSE joint.0.error
23 float OUT 0.5281 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 -0.0911 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 -0.0911 joint.0.motor-pos-cmd ==> joint-0-pos-cmd
23 float IN -0.6192 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 -0.0911 joint.0.pos-cmd
23 float OUT -0.6192 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 0.006225 joint.1.coarse-pos-cmd
23 bit OUT FALSE joint.1.error
23 float OUT 0.002075 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 0.006225 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 0.006225 joint.1.motor-pos-cmd ==> joint-1-pos-cmd
23 float IN 0.00415 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 0.006225 joint.1.pos-cmd
23 float OUT 0.00415 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 -0.012925 joint.2.coarse-pos-cmd
23 bit OUT FALSE joint.2.error
23 float OUT 0.03755 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 -0.012925 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 -0.012925 joint.2.motor-pos-cmd ==> joint-2-pos-cmd
23 float IN -0.050475 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 -0.012925 joint.2.pos-cmd
23 float OUT -0.050475 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 130 motion-command-handler.time
23 s32 OUT 2590 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 0x000632DC 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 -0.0911 pid.x.command <== joint-0-pos-cmd
33 float IN 0 pid.x.command-deriv
33 float IN 1 pid.x.deadband
33 s32 OUT 142 pid.x.do-pid-calcs.time
33 bit IN TRUE pid.x.enable <== joint-0-enable
33 float OUT 0.528125 pid.x.error
33 bit IN TRUE pid.x.error-previous-target
33 float IN -0.619225 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 0.006225 pid.y.command <== joint-1-pos-cmd
33 float IN 0 pid.y.command-deriv
33 float IN 1 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 0.002075 pid.y.error
33 bit IN TRUE pid.y.error-previous-target
33 float IN 0.00415 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 -0.012925 pid.z.command <== joint-2-pos-cmd
33 float IN 0 pid.z.command-deriv
33 float IN 1 pid.z.deadband
33 s32 OUT 63 pid.z.do-pid-calcs.time
33 bit IN TRUE pid.z.enable <== joint-2-enable
33 float OUT 0.03755 pid.z.error
33 bit IN TRUE pid.z.error-previous-target
33 float IN -0.050475 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 79374 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 -0.0911 joint-0-pos-cmd
<== joint.0.motor-pos-cmd
==> pid.x.command
float -0.619225 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 0.006225 joint-1-pos-cmd
<== joint.1.motor-pos-cmd
==> pid.y.command
float 0.00415 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 -0.012925 joint-2-pos-cmd
<== joint.2.motor-pos-cmd
==> pid.z.command
float -0.050475 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 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 115492 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 17642 hm2_7i97.0.write.tmax
30 bit RO FALSE hm2_7i97.0.write.tmax-increased
23 s32 RW 2198 motion-command-handler.tmax
23 bit RO FALSE motion-command-handler.tmax-increased
23 s32 RW 21328 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 2480 pid.x.do-pid-calcs.tmax
33 bit RO FALSE pid.x.do-pid-calcs.tmax-increased
33 s32 RW 1760 pid.y.do-pid-calcs.tmax
33 bit RO FALSE pid.y.do-pid-calcs.tmax-increased
33 s32 RW 1673 pid.z.do-pid-calcs.tmax
33 bit RO FALSE pid.z.do-pid-calcs.tmax-increased
24 s32 RW 145962 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 7f8d53a76908 559ef76c6b10 YES 1 hm2_7i97.0.read
00030 7f8d53a76891 559ef76c6b10 YES 0 hm2_7i97.0.read-request
00030 7f8d53a76749 559ef76c6b10 YES 1 hm2_7i97.0.write
00023 7f8d53bbc3ad 00000000 YES 1 motion-command-handler
00023 7f8d53bbc9a0 00000000 YES 1 motion-controller
00033 7f8d53a5d240 7f8d53e683f0 YES 1 pid.x.do-pid-calcs
00033 7f8d53a5d240 7f8d53e68590 YES 1 pid.y.do-pid-calcs
00033 7f8d53a5d240 7f8d53e68730 YES 1 pid.z.do-pid-calcs

Realtime Threads:
Period FP Name ( Time, Max-Time )
500000 YES servo-thread ( 80041, 145962 )
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:~$

I have a plasma cutter, I attach the ground/work lead to the steel sheet and cut. Simple as that, and everything follows from that. That PE isn't connected to the ground clamp is what I measure.

The Herocut uses a IPT60 or IPTM60 which is the straight one I have on the plasma table. Blowback start.
 
The electrode and the tip are normally shortened, separated when cutting. Copper tip is electrically connected to the work piece.

My work trip has gotten delay a couple of times, and I have had time to get some things done on the Maho during this week.

The last oscilloscope screenshot in the last post showed that the index signal for the vertical axis only barely made it past the "zero" point (which for the EXE 602 is 2.5V and vertically in the middle of the oscilloscope screen). I did have at least one missed zero on the vertical axis with the EXE 602 as well. So I hacked in a 1 Mohm resistor between the 2.5V reference to the transimpedance amplifier and ground, which pulled the index signal down by approximately 0.2V. So now it should be more in line with the signals for the other scales, and I have not missed zero since that modification. The root cause of this issue has the be inside the linear scale. Anyway, below some photos measuring the voltage on the index signal (away from the zero mark) before and after the resistor hack.
 
 
 

I have also done quite a few other things:

• Installed EXE 602:s for all axes (I hope to still revert to my own boards at some point)
• Adjusted hardwired end stops and scale position so I have travels (and overtravels) approximately according to the MH600T manual
• Created a central lubrication realtime HAL component
• Introduced some air bubbles in all lubrication lines so I could verify that oil is moving in all lines
• Took a gearbox realtime HAL component I had written into use
• Created a realtime component for spindle speed control to the VFD
• Did at least basic servo tuning for all axes. With this I stay below 0.01 mm f-error on 1000 mm/min moves with 0.5m/s² acceleration.

I guess it slowly starts getting ready for use (apart from the control panel).

Here a photo of the air bubbles in the lubrication lines to verify that they are all working. Quite easy to see that all the bubbles are moving when the lubrication pump starts.
 

Thanks!

I have a last problem that I don’t understand, there is no game on all axis, the torch is perfectly straight on X and Y (perpendicular with the table) but the cuts aren’t straight along Y axis only.
I will print a new torch support with adjustable angle too see if it can solve the problem.

Thanks for the tip. I will give it a try.
EndeavourOS only has 2.9.3 and there are problems installing it.
A live version might be a better idea - especially to see if it works the way you want it to.

My problem was a while back, but thanks for getting on that.

For what its worth, I spent a period of a few years being volentold to act as whipping boy for issues related to certificates that had to be created / distributed / installed on various systems that I had inconsistent install & admin privileges on.

So I very much understand your pain!

LOL

Download ISO from here
www.linuxcnc.org/iso/linuxcnc_2.9.4-amd64.hybrid.iso
Write it to a USB, use that USB to boot the PC from it (google how to do that for your actual PC by entering BIOS), do NOT install anything just use Live mode, go to CNC menu and choose LinuxCNC, on the opened window on the left side choose sim and start any of those sims, play with them, close, start another sim, etc etc.

If you are using the byte to bot supplied files they won't work .
The images you supplied aren't really readable.
What I would suggest is read the docs for the hal_gpio driver and modify your files to suit.
Then loudly complain to byte2bot their files are useless for the raspberry pi .
Also when asking for help attaching your hal & ini files is most helpful.
Also attaching the error files rather than photos of the screen helps as well.

Ok. then I'll see if there's something for me.
 
Since I have no idea how to install the GUI's or which one I should use, I would be open to suggestions.

You seem to have asked this very same question some years ago:
forum.linuxcnc.org/38-general-linuxcnc-q...rogrammieren?start=0

Nothing has fundamentally changed since so those answers are still valid.