Charge pump from Mesa 7i96 in 4+1 config?

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6 years 4 months ago #170347 by msageryd
Charge pump from Mesa 7i96 in 4+1 config? was created by msageryd
I have my 7i96 in 4+1 configuration, because I need a PWM signal for spindle control.

I also need a charge pump signal. I think this should be about 10 kHz. I haven't found any way to disable the need for a charge pump in my controller. ( www.cnc-step.com/5-channel-stepper-motor-controller/ )

Is it possible to get a 10kHz output from 7i96?

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6 years 4 months ago #170369 by PCW
Replied by PCW on topic Charge pump from Mesa 7i96 in 4+1 config?
Hmm that looks like you would have been better off connecting that box to a 7I92
(or the expansion connector of the 7I96) because you could have a 1:1 cable connection

You can use a free stepgen as a charge-pump signal by setting it into velocity mode
with quadrature outputs and setting the velocity to 10000, something like:
Code:
setp hm2_7i96.0.stepgen.03.control-type 1 # velocity mode setp hm2_7i96.0.stepgen.03.step_type 2 # Quadrature so square wave setp hm2_7i96.0.stepgen.03.maxaccel 0 # default '1' is very slow setp hm2_7i96.0.stepgen.03.maxvel 0 # don't bound frequency setp hm2_7i96.0.stepgen.03.steplen 100 # short so won't interfere with frequency setting setp hm2_7i96.0.stepgen.03.stepspace 100 # short so won't interfere with frequency setting setp hm2_7i96.0.stepgen.03.velocity-cmd 10000 # set frequency to 10 KHz net [some_enable_signal] hm2_7i96.0.stepgen.03.enable # only enable charge pump when desired

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6 years 4 months ago #170370 by msageryd
Replied by msageryd on topic Charge pump from Mesa 7i96 in 4+1 config?
Wow thanks!
Yeah, I suppose a 7i92 would have been way easier. But I also wanted a serial connection for a remote 7i73 which I'll connect to my physical control panel.

I hooked up the step3+ pin to an osciloscope in the hope to see a frequency. All I get is a steady +5V, even after issuing the commands you stated in halcmd. Shouldn't the signal start to oscillate when I manually set enable to true?
setp hm2_7i96.0.stepgen.03.enable true

I've probably missed something stupid.

I can confirm that I have contact with 7i96 by reading input pins.

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6 years 4 months ago #170371 by msageryd
Replied by msageryd on topic Charge pump from Mesa 7i96 in 4+1 config?
@PCW In what way could I have a 1-1 connection from the expansion connector? Do you mean that this connector can output step/dir for my axes as well as chargepump, spindle-pwn, e-stop input, limit inputs, etc?

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6 years 4 months ago #170372 by PCW
Replied by PCW on topic Charge pump from Mesa 7i96 in 4+1 config?
You need to do all the mentioned setup (especially the control_type and step type)

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6 years 4 months ago #170373 by PCW
Replied by PCW on topic Charge pump from Mesa 7i96 in 4+1 config?

msageryd wrote: @PCW In what way could I have a 1-1 connection from the expansion connector? Do you mean that this connector can output step/dir for my axes as well as chargepump, spindle-pwn, e-stop input, limit inputs, etc?


Yes, the 7I96 expansion port can emulate any parallel port type configuration with the appropriate firmware

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6 years 4 months ago #170376 by msageryd
Replied by msageryd on topic Charge pump from Mesa 7i96 in 4+1 config?
Wohoo!
At last I can see the frequency in the oscilloscope. Unfortunately, I don't know what I did. I simply restarted LCNC and halcmd. After issuing the exact same commands again it works.

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6 years 4 months ago #172275 by Zacharius
Replied by Zacharius on topic Charge pump from Mesa 7i96 in 4+1 config?
hello,
don't you mind to share full hal file for 7i96+7i73?
i'm struggling to get MPG controller working
linuxcnc drops message like Pin 'hm2_7i96.0.7i73.0.1.input-03' does not exist
appreciate any clue on that.

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6 years 4 months ago #172295 by PCW
Replied by PCW on topic Charge pump from Mesa 7i96 in 4+1 config?
Did you list the available hardware pins?

with

halcmd show pin hm2*

(when linuxcnc is running)

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6 years 4 months ago #172301 by Zacharius
Replied by Zacharius on topic Charge pump from Mesa 7i96 in 4+1 config?
Sure, this example above is how pncconf created example pin in hal.- linuxcnc 2.9
basically what want to achieve there (connected to 7i73) is 2004 LCD + axis selector (multi position switch) + increment selector (multi position switch) + 11 buttons + 100ppr hand wheel for all axes

here is the output from command
and i probably see the issue :)
hm2_7i96.0.7i73.0.0.input-03
which helped a bit but still have no blind idea how to setup LCD to work and join all the things together
7i73 in 4x8keypad + lcd mode by jumpers
LCD, handwheel are connected as per manual
Code:
olo@debian:~$ halcmd show pin hm2 Component Pins: Owner Type Dir Value Name 26 s32 OUT 2097400000 hm2_7i96.0.0.debug 26 u32 IN 0x00000000 hm2_7i96.0.7i73.0.0.display 26 s32 OUT 1 hm2_7i96.0.7i73.0.0.enc0.count 26 bit I/O FALSE hm2_7i96.0.7i73.0.0.enc0.index-enable 26 float OUT 1 hm2_7i96.0.7i73.0.0.enc0.position 26 s32 OUT 1 hm2_7i96.0.7i73.0.0.enc0.rawcounts 26 bit I/O FALSE hm2_7i96.0.7i73.0.0.enc0.reset 26 s32 OUT 0 hm2_7i96.0.7i73.0.0.enc1.count 26 bit I/O FALSE hm2_7i96.0.7i73.0.0.enc1.index-enable 26 float OUT 0 hm2_7i96.0.7i73.0.0.enc1.position 26 s32 OUT 0 hm2_7i96.0.7i73.0.0.enc1.rawcounts 26 bit I/O FALSE hm2_7i96.0.7i73.0.0.enc1.reset 26 s32 OUT 0 hm2_7i96.0.7i73.0.0.enc2.count 26 bit I/O FALSE hm2_7i96.0.7i73.0.0.enc2.index-enable 26 float OUT 0 hm2_7i96.0.7i73.0.0.enc2.position 26 s32 OUT 0 hm2_7i96.0.7i73.0.0.enc2.rawcounts 26 bit I/O FALSE hm2_7i96.0.7i73.0.0.enc2.reset 26 s32 OUT 0 hm2_7i96.0.7i73.0.0.enc3.count 26 bit I/O FALSE hm2_7i96.0.7i73.0.0.enc3.index-enable 26 float OUT 0 hm2_7i96.0.7i73.0.0.enc3.position 26 s32 OUT 0 hm2_7i96.0.7i73.0.0.enc3.rawcounts 26 bit I/O FALSE hm2_7i96.0.7i73.0.0.enc3.reset 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-00 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-00-not 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-01 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-01-not 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-02 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-02-not 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-03 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-03-not 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-04 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-04-not 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-05 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-05-not 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-06 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-06-not 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-07 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-07-not 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-08 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-08-not 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-09 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-09-not 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-10 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-10-not 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-11 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-11-not 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-12 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-12-not 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-13 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-13-not 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-14 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-14-not 26 bit OUT TRUE hm2_7i96.0.7i73.0.0.input-15 26 bit OUT FALSE hm2_7i96.0.7i73.0.0.input-15-not 26 u32 OUT 0x00000040 hm2_7i96.0.7i73.0.0.keycode 26 bit IN FALSE hm2_7i96.0.7i73.0.0.output-00 26 bit IN FALSE hm2_7i96.0.7i73.0.0.output-01 26 bit IN FALSE hm2_7i96.0.7i73.0.0.output-02 26 bit IN FALSE hm2_7i96.0.7i73.0.0.output-03 26 bit IN FALSE hm2_7i96.0.7i73.0.0.output-04 26 bit IN FALSE hm2_7i96.0.7i73.0.0.output-05 26 bit IN FALSE hm2_7i96.0.7i73.0.0.output-06 26 bit IN FALSE hm2_7i96.0.7i73.0.0.output-07 26 bit IN FALSE hm2_7i96.0.7i73.0.0.output-08 26 bit IN FALSE hm2_7i96.0.7i73.0.0.output-09 26 float IN 100 hm2_7i96.0.dpll.01.timer-us 26 float IN 100 hm2_7i96.0.dpll.02.timer-us 26 float IN 100 hm2_7i96.0.dpll.03.timer-us 26 float IN 100 hm2_7i96.0.dpll.04.timer-us 26 float IN 0.7692308 hm2_7i96.0.dpll.base-freq-khz 26 u32 OUT 0x0000002A hm2_7i96.0.dpll.ddsize 26 float OUT -0.9942497 hm2_7i96.0.dpll.phase-error-us 26 u32 IN 0x00400000 hm2_7i96.0.dpll.plimit 26 u32 OUT 0x0000001F hm2_7i96.0.dpll.prescale 26 u32 IN 0x000007D0 hm2_7i96.0.dpll.time-const 26 bit OUT TRUE hm2_7i96.0.gpio.000.in ==> min-home-x 26 bit OUT FALSE hm2_7i96.0.gpio.000.in_not 26 bit IN FALSE hm2_7i96.0.gpio.000.out 26 bit OUT TRUE hm2_7i96.0.gpio.001.in ==> min-home-y 26 bit OUT FALSE hm2_7i96.0.gpio.001.in_not 26 bit IN FALSE hm2_7i96.0.gpio.001.out 26 bit OUT TRUE hm2_7i96.0.gpio.002.in ==> max-home-z 26 bit OUT FALSE hm2_7i96.0.gpio.002.in_not 26 bit IN FALSE hm2_7i96.0.gpio.002.out 26 bit OUT FALSE hm2_7i96.0.gpio.003.in ==> max-x 26 bit OUT TRUE hm2_7i96.0.gpio.003.in_not 26 bit IN FALSE hm2_7i96.0.gpio.003.out 26 bit OUT TRUE hm2_7i96.0.gpio.004.in ==> max-y 26 bit OUT FALSE hm2_7i96.0.gpio.004.in_not 26 bit IN FALSE hm2_7i96.0.gpio.004.out 26 bit OUT TRUE hm2_7i96.0.gpio.005.in ==> min-z 26 bit OUT FALSE hm2_7i96.0.gpio.005.in_not 26 bit IN FALSE hm2_7i96.0.gpio.005.out 26 bit OUT TRUE hm2_7i96.0.gpio.006.in ==> home-a 26 bit OUT FALSE hm2_7i96.0.gpio.006.in_not 26 bit IN FALSE hm2_7i96.0.gpio.006.out 26 bit OUT TRUE hm2_7i96.0.gpio.007.in ==> estop-ext 26 bit OUT FALSE hm2_7i96.0.gpio.007.in_not 26 bit IN FALSE hm2_7i96.0.gpio.007.out 26 bit OUT FALSE hm2_7i96.0.gpio.008.in 26 bit OUT TRUE hm2_7i96.0.gpio.008.in_not 26 bit IN FALSE hm2_7i96.0.gpio.008.out 26 bit OUT FALSE hm2_7i96.0.gpio.009.in 26 bit OUT TRUE hm2_7i96.0.gpio.009.in_not 26 bit IN FALSE hm2_7i96.0.gpio.009.out 26 bit OUT FALSE hm2_7i96.0.gpio.010.in 26 bit OUT TRUE hm2_7i96.0.gpio.010.in_not 26 bit IN FALSE hm2_7i96.0.gpio.010.out 26 bit OUT TRUE hm2_7i96.0.gpio.011.in 26 bit OUT FALSE hm2_7i96.0.gpio.011.in_not 26 bit OUT TRUE hm2_7i96.0.gpio.012.in 26 bit OUT FALSE hm2_7i96.0.gpio.012.in_not 26 bit OUT TRUE hm2_7i96.0.gpio.013.in 26 bit OUT FALSE hm2_7i96.0.gpio.013.in_not 26 bit OUT TRUE hm2_7i96.0.gpio.014.in 26 bit OUT FALSE hm2_7i96.0.gpio.014.in_not 26 bit OUT TRUE hm2_7i96.0.gpio.015.in 26 bit OUT FALSE hm2_7i96.0.gpio.015.in_not 26 bit OUT TRUE hm2_7i96.0.gpio.016.in 26 bit OUT FALSE hm2_7i96.0.gpio.016.in_not 26 bit OUT FALSE hm2_7i96.0.gpio.017.in 26 bit OUT TRUE hm2_7i96.0.gpio.017.in_not 26 bit OUT FALSE hm2_7i96.0.gpio.018.in 26 bit OUT TRUE hm2_7i96.0.gpio.018.in_not 26 bit OUT FALSE hm2_7i96.0.gpio.019.in 26 bit OUT TRUE hm2_7i96.0.gpio.019.in_not 26 bit OUT FALSE hm2_7i96.0.gpio.020.in 26 bit OUT TRUE hm2_7i96.0.gpio.020.in_not 26 bit OUT FALSE hm2_7i96.0.gpio.021.in 26 bit OUT TRUE hm2_7i96.0.gpio.021.in_not 26 bit OUT FALSE hm2_7i96.0.gpio.022.in 26 bit OUT TRUE hm2_7i96.0.gpio.022.in_not 26 bit OUT FALSE hm2_7i96.0.gpio.023.in 26 bit OUT TRUE hm2_7i96.0.gpio.023.in_not 26 bit OUT FALSE hm2_7i96.0.gpio.024.in 26 bit OUT TRUE hm2_7i96.0.gpio.024.in_not 26 bit OUT TRUE hm2_7i96.0.gpio.025.in 26 bit OUT FALSE hm2_7i96.0.gpio.025.in_not 26 bit IN FALSE hm2_7i96.0.gpio.025.out 26 bit OUT TRUE hm2_7i96.0.gpio.026.in 26 bit OUT FALSE hm2_7i96.0.gpio.026.in_not 26 bit IN FALSE hm2_7i96.0.gpio.026.out 26 bit OUT FALSE hm2_7i96.0.gpio.027.in 26 bit OUT TRUE hm2_7i96.0.gpio.027.in_not 26 bit IN FALSE hm2_7i96.0.gpio.027.out 26 bit OUT FALSE hm2_7i96.0.gpio.028.in 26 bit OUT TRUE hm2_7i96.0.gpio.028.in_not 26 bit IN FALSE hm2_7i96.0.gpio.028.out 26 bit OUT FALSE hm2_7i96.0.gpio.029.in 26 bit OUT TRUE hm2_7i96.0.gpio.029.in_not 26 bit IN FALSE hm2_7i96.0.gpio.029.out 26 bit OUT TRUE hm2_7i96.0.gpio.030.in 26 bit OUT FALSE hm2_7i96.0.gpio.030.in_not 26 bit OUT TRUE hm2_7i96.0.gpio.031.in 26 bit OUT FALSE hm2_7i96.0.gpio.031.in_not 26 bit OUT FALSE hm2_7i96.0.gpio.032.in 26 bit OUT TRUE hm2_7i96.0.gpio.032.in_not 26 bit OUT FALSE hm2_7i96.0.gpio.033.in 26 bit OUT TRUE hm2_7i96.0.gpio.033.in_not 26 bit OUT TRUE hm2_7i96.0.gpio.034.in 26 bit OUT FALSE hm2_7i96.0.gpio.034.in_not 26 bit IN FALSE hm2_7i96.0.gpio.034.out 26 bit OUT TRUE hm2_7i96.0.gpio.035.in 26 bit OUT FALSE hm2_7i96.0.gpio.035.in_not 26 bit IN FALSE hm2_7i96.0.gpio.035.out 26 bit OUT TRUE hm2_7i96.0.gpio.036.in 26 bit OUT FALSE hm2_7i96.0.gpio.036.in_not 26 bit IN FALSE hm2_7i96.0.gpio.036.out 26 bit OUT TRUE hm2_7i96.0.gpio.037.in 26 bit OUT FALSE hm2_7i96.0.gpio.037.in_not 26 bit IN FALSE hm2_7i96.0.gpio.037.out 26 bit OUT TRUE hm2_7i96.0.gpio.038.in 26 bit OUT FALSE hm2_7i96.0.gpio.038.in_not 26 bit IN FALSE hm2_7i96.0.gpio.038.out 26 bit OUT TRUE hm2_7i96.0.gpio.039.in 26 bit OUT FALSE hm2_7i96.0.gpio.039.in_not 26 bit IN FALSE hm2_7i96.0.gpio.039.out 26 bit OUT TRUE hm2_7i96.0.gpio.040.in 26 bit OUT FALSE hm2_7i96.0.gpio.040.in_not 26 bit IN FALSE hm2_7i96.0.gpio.040.out 26 bit OUT TRUE hm2_7i96.0.gpio.041.in 26 bit OUT FALSE hm2_7i96.0.gpio.041.in_not 26 bit IN FALSE hm2_7i96.0.gpio.041.out 26 bit OUT TRUE hm2_7i96.0.gpio.042.in 26 bit OUT FALSE hm2_7i96.0.gpio.042.in_not 26 bit IN FALSE hm2_7i96.0.gpio.042.out 26 bit OUT TRUE hm2_7i96.0.gpio.043.in 26 bit OUT FALSE hm2_7i96.0.gpio.043.in_not 26 bit IN FALSE hm2_7i96.0.gpio.043.out 26 bit OUT TRUE hm2_7i96.0.gpio.044.in 26 bit OUT FALSE hm2_7i96.0.gpio.044.in_not 26 bit IN FALSE hm2_7i96.0.gpio.044.out 26 bit OUT TRUE hm2_7i96.0.gpio.045.in 26 bit OUT FALSE hm2_7i96.0.gpio.045.in_not 26 bit IN FALSE hm2_7i96.0.gpio.045.out 26 bit OUT TRUE hm2_7i96.0.gpio.046.in 26 bit OUT FALSE hm2_7i96.0.gpio.046.in_not 26 bit IN FALSE hm2_7i96.0.gpio.046.out 26 bit OUT TRUE hm2_7i96.0.gpio.047.in 26 bit OUT FALSE hm2_7i96.0.gpio.047.in_not 26 bit IN FALSE hm2_7i96.0.gpio.047.out 26 bit OUT TRUE hm2_7i96.0.gpio.048.in 26 bit OUT FALSE hm2_7i96.0.gpio.048.in_not 26 bit IN FALSE hm2_7i96.0.gpio.048.out 26 bit OUT TRUE hm2_7i96.0.gpio.049.in 26 bit OUT FALSE hm2_7i96.0.gpio.049.in_not 26 bit IN FALSE hm2_7i96.0.gpio.049.out 26 bit OUT TRUE hm2_7i96.0.gpio.050.in 26 bit OUT FALSE hm2_7i96.0.gpio.050.in_not 26 bit IN FALSE hm2_7i96.0.gpio.050.out 26 bit IN FALSE hm2_7i96.0.led.CR01 26 bit IN FALSE hm2_7i96.0.led.CR02 26 bit IN FALSE hm2_7i96.0.led.CR03 26 bit IN FALSE hm2_7i96.0.led.CR04 26 bit OUT FALSE hm2_7i96.0.packet-error 26 bit OUT FALSE hm2_7i96.0.packet-error-exceeded 26 s32 OUT 0 hm2_7i96.0.packet-error-level 26 s32 OUT 0 hm2_7i96.0.read-request.time 26 s32 OUT 724273 hm2_7i96.0.read.time 26 u32 OUT 0x00000000 hm2_7i96.0.sserial.port-0.fault-count 26 u32 OUT 0x00000003 hm2_7i96.0.sserial.port-0.port_state 26 u32 OUT 0x00000000 hm2_7i96.0.sserial.port-0.port_state2 26 u32 OUT 0x00000000 hm2_7i96.0.sserial.port-0.port_state3 26 bit IN TRUE hm2_7i96.0.sserial.port-0.run 26 bit IN FALSE hm2_7i96.0.ssr.00.out-00 26 bit IN FALSE hm2_7i96.0.ssr.00.out-01 26 bit IN FALSE hm2_7i96.0.ssr.00.out-02 26 bit IN FALSE hm2_7i96.0.ssr.00.out-03 26 bit IN FALSE hm2_7i96.0.ssr.00.out-04 26 bit IN FALSE hm2_7i96.0.ssr.00.out-05 26 u32 IN 0x000F4240 hm2_7i96.0.ssr.00.rate 26 bit IN TRUE hm2_7i96.0.stepgen.00.control-type 26 s32 OUT 0 hm2_7i96.0.stepgen.00.counts 26 float OUT 0 hm2_7i96.0.stepgen.00.dbg_err_at_match 26 float OUT 0 hm2_7i96.0.stepgen.00.dbg_ff_vel 26 float OUT 0 hm2_7i96.0.stepgen.00.dbg_pos_minus_prev_cmd 26 float OUT 0 hm2_7i96.0.stepgen.00.dbg_s_to_match 26 s32 OUT 0 hm2_7i96.0.stepgen.00.dbg_step_rate 26 float OUT 0 hm2_7i96.0.stepgen.00.dbg_vel_error 26 bit IN FALSE hm2_7i96.0.stepgen.00.enable <== x-enable 26 float IN 0 hm2_7i96.0.stepgen.00.position-cmd 26 float OUT -0 hm2_7i96.0.stepgen.00.position-fb ==> x-pos-fb 26 float IN 0 hm2_7i96.0.stepgen.00.velocity-cmd <== x-output 26 float OUT 0 hm2_7i96.0.stepgen.00.velocity-fb 26 bit IN TRUE hm2_7i96.0.stepgen.01.control-type 26 s32 OUT 0 hm2_7i96.0.stepgen.01.counts 26 float OUT 0 hm2_7i96.0.stepgen.01.dbg_err_at_match 26 float OUT 0 hm2_7i96.0.stepgen.01.dbg_ff_vel 26 float OUT 0 hm2_7i96.0.stepgen.01.dbg_pos_minus_prev_cmd 26 float OUT 0 hm2_7i96.0.stepgen.01.dbg_s_to_match 26 s32 OUT 0 hm2_7i96.0.stepgen.01.dbg_step_rate 26 float OUT 0 hm2_7i96.0.stepgen.01.dbg_vel_error 26 bit IN FALSE hm2_7i96.0.stepgen.01.enable <== y-enable 26 float IN 0 hm2_7i96.0.stepgen.01.position-cmd 26 float OUT -0 hm2_7i96.0.stepgen.01.position-fb ==> y-pos-fb 26 float IN 0 hm2_7i96.0.stepgen.01.velocity-cmd <== y-output 26 float OUT 0 hm2_7i96.0.stepgen.01.velocity-fb 26 bit IN TRUE hm2_7i96.0.stepgen.02.control-type 26 s32 OUT 0 hm2_7i96.0.stepgen.02.counts 26 float OUT 0 hm2_7i96.0.stepgen.02.dbg_err_at_match 26 float OUT 0 hm2_7i96.0.stepgen.02.dbg_ff_vel 26 float OUT 0 hm2_7i96.0.stepgen.02.dbg_pos_minus_prev_cmd 26 float OUT 0 hm2_7i96.0.stepgen.02.dbg_s_to_match 26 s32 OUT 0 hm2_7i96.0.stepgen.02.dbg_step_rate 26 float OUT 0 hm2_7i96.0.stepgen.02.dbg_vel_error 26 bit IN FALSE hm2_7i96.0.stepgen.02.enable <== z-enable 26 float IN 0 hm2_7i96.0.stepgen.02.position-cmd 26 float OUT 0 hm2_7i96.0.stepgen.02.position-fb ==> z-pos-fb 26 float IN 0 hm2_7i96.0.stepgen.02.velocity-cmd <== z-output 26 float OUT 0 hm2_7i96.0.stepgen.02.velocity-fb 26 bit IN FALSE hm2_7i96.0.stepgen.03.control-type 26 s32 OUT 0 hm2_7i96.0.stepgen.03.counts 26 float OUT 0 hm2_7i96.0.stepgen.03.dbg_err_at_match 26 float OUT 0 hm2_7i96.0.stepgen.03.dbg_ff_vel 26 float OUT 0 hm2_7i96.0.stepgen.03.dbg_pos_minus_prev_cmd 26 float OUT 0 hm2_7i96.0.stepgen.03.dbg_s_to_match 26 s32 OUT 0 hm2_7i96.0.stepgen.03.dbg_step_rate 26 float OUT 0 hm2_7i96.0.stepgen.03.dbg_vel_error 26 bit IN FALSE hm2_7i96.0.stepgen.03.enable 26 float IN 0 hm2_7i96.0.stepgen.03.position-cmd 26 float OUT 0 hm2_7i96.0.stepgen.03.position-fb 26 float IN 0 hm2_7i96.0.stepgen.03.velocity-cmd 26 float OUT 0 hm2_7i96.0.stepgen.03.velocity-fb 26 s32 IN -1 hm2_7i96.0.stepgen.timer-number 26 bit I/O FALSE hm2_7i96.0.watchdog.has_bit 26 s32 OUT 39479 hm2_7i96.0.write.time

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