Simple IO wiring not working (I know I am doing something wrong)

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6 years 2 months ago #177076 by jhandel
Simple IO wiring not working (I know I am doing something wrong) was created by jhandel
Howdy,
I am trying to get basic IO working as I dip my toes into getting this 7i76e wired up..

I am attempting to follow the wiring diagrams here :
forum.linuxcnc.org/media/kunena/attachme...hluss_2017-01-02.pdf

I figured starting with a simple digital input would be best given I have a proprietary BOB in the mix and its signals use to be read as digital by the ADTech Controller I am replacing.

Anyways, I used page 6, and Page 5, and messed with W1... I can't seem to get anything to "read" by linuxcnc..

I have attached images of the two attempts at wiring and what the 7i76 does..

I don't think this is HAL related.. I did go through PNCConfig and pick a few things but really its all just "trash" settings so that the HAL knows where my board is (10.10.10.10) and then I am looking at the HalMeter to try to find a reading anywhere (I expected it at 4 but I honestly tried every single io port on the HalMeter and non of them flipped from FALSE to TRUE while I was tapping on the sensor causing it to bounce.

I know for a fact that when closed (sensor see something there is 12v between TB1:2 and TB6:5 regardless of the wiring, and when the sensor sees nothing, there is 0 volts between those two pins regardless of wiring.

Any help would be great.. Unfortunately I am retrofitting so I have this BoB in the way, but from everything I have seen its converting everything to just a high/low vs the power supply.

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6 years 2 months ago #177077 by tommylight
Replied by tommylight on topic Simple IO wiring not working (I know I am doing something wrong)
From what i can gather, you would need a pull up resistor between the +12V and the input. A 4.7 to 10K one will do just fine.
Also notice that physical input number one ( the lowest on the Mesa board ) is input 00 in hal.

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6 years 2 months ago #177078 by jhandel
Replied by jhandel on topic Simple IO wiring not working (I know I am doing something wrong)
Because it is regularlly asked for...

mesaflash details
Code:
Configuration Name: HOSTMOT2 General configuration information: BoardName : MESA7I76 FPGA Size: 16 KGates FPGA Pins: 256 Number of IO Ports: 3 Width of one I/O port: 17 Clock Low frequency: 100.0000 MHz Clock High frequency: 200.0000 MHz IDROM Type: 3 Instance Stride 0: 4 Instance Stride 1: 64 Register Stride 0: 256 Register Stride 1: 256 Modules in configuration: Module: DPLL There are 1 of DPLL in configuration Version: 0 Registers: 7 BaseAddress: 7000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: WatchDog There are 1 of WatchDog in configuration Version: 0 Registers: 3 BaseAddress: 0C00 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: IOPort There are 3 of IOPort in configuration Version: 0 Registers: 5 BaseAddress: 1000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: StepGen There are 5 of StepGen in configuration Version: 2 Registers: 10 BaseAddress: 2000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: QCount There are 1 of QCount in configuration Version: 2 Registers: 5 BaseAddress: 3000 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Module: SSerial There are 1 of SSerial in configuration Version: 0 Registers: 6 BaseAddress: 5B00 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 64 bytes Module: LED There are 1 of LED in configuration Version: 0 Registers: 1 BaseAddress: 0200 ClockFrequency: 100.000 MHz Register Stride: 256 bytes Instance Stride: 4 bytes Configuration pin-out: IO Connections for on-card Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir 1 0 IOPort StepGen 0 Dir/Table2 (Out) 14 1 IOPort StepGen 0 Step/Table1 (Out) 2 2 IOPort StepGen 1 Dir/Table2 (Out) 15 3 IOPort StepGen 1 Step/Table1 (Out) 3 4 IOPort StepGen 2 Dir/Table2 (Out) 16 5 IOPort StepGen 2 Step/Table1 (Out) 4 6 IOPort StepGen 3 Dir/Table2 (Out) 17 7 IOPort StepGen 3 Step/Table1 (Out) 5 8 IOPort StepGen 4 Dir/Table2 (Out) 6 9 IOPort StepGen 4 Step/Table1 (Out) 7 10 IOPort SSerial 0 TXData1 (Out) 8 11 IOPort SSerial 0 RXData1 (In) 9 12 IOPort SSerial 0 TXData2 (Out) 10 13 IOPort SSerial 0 RXData2 (In) 11 14 IOPort QCount 0 Quad-IDX (In) 12 15 IOPort QCount 0 Quad-B (In) 13 16 IOPort QCount 0 Quad-A (In) IO Connections for P1 Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir 1 17 IOPort None 14 18 IOPort None 2 19 IOPort None 15 20 IOPort None 3 21 IOPort None 16 22 IOPort None 4 23 IOPort None 17 24 IOPort None 5 25 IOPort None 6 26 IOPort None 7 27 IOPort None 8 28 IOPort None 9 29 IOPort None 10 30 IOPort None 11 31 IOPort None 12 32 IOPort None 13 33 IOPort None IO Connections for P2 Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir 1 34 IOPort None 14 35 IOPort None 2 36 IOPort None 15 37 IOPort None 3 38 IOPort None 16 39 IOPort None 4 40 IOPort None 17 41 IOPort None 5 42 IOPort None 6 43 IOPort None 7 44 IOPort None 8 45 IOPort None 9 46 IOPort None 10 47 IOPort None 11 48 IOPort None 12 49 IOPort None 13 50 IOPort None

Hal
Code:
# Generated by PNCconf at Mon Aug 3 13:26:56 2020 # Using LinuxCNC version: UNAVAILABLE # If you make changes to this file, they will be # overwritten when you run PNCconf again loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx" setp hm2_7i76e.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.z,pid.s addf hm2_7i76e.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.y.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf hm2_7i76e.0.write servo-thread setp hm2_7i76e.0.dpll.01.timer-us -50 setp hm2_7i76e.0.stepgen.timer-number 1 # external output signals # external input signals # --- MIN-X --- net min-x <= hm2_7i76e.0.gpio.021.in # --- HOME-X --- net home-x <= hm2_7i76e.0.gpio.038.in #******************* # AXIS X JOINT 0 #******************* setp pid.x.Pgain [JOINT_0]P setp pid.x.Igain [JOINT_0]I setp pid.x.Dgain [JOINT_0]D setp pid.x.bias [JOINT_0]BIAS setp pid.x.FF0 [JOINT_0]FF0 setp pid.x.FF1 [JOINT_0]FF1 setp pid.x.FF2 [JOINT_0]FF2 setp pid.x.deadband [JOINT_0]DEADBAND setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT setp pid.x.error-previous-target true setp pid.x.maxerror .0005 net x-index-enable <=> pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-pos-fb => pid.x.feedback net x-output <= pid.x.output # Step Gen signals/setup setp hm2_7i76e.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_7i76e.0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_7i76e.0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_7i76e.0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_7i76e.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE setp hm2_7i76e.0.stepgen.00.step_type 0 setp hm2_7i76e.0.stepgen.00.control-type 1 setp hm2_7i76e.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp hm2_7i76e.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= joint.0.motor-pos-cmd net x-vel-cmd <= joint.0.vel-cmd net x-output <= hm2_7i76e.0.stepgen.00.velocity-cmd net x-pos-fb <= hm2_7i76e.0.stepgen.00.position-fb net x-pos-fb => joint.0.motor-pos-fb net x-enable <= joint.0.amp-enable-out net x-enable => hm2_7i76e.0.stepgen.00.enable # ---setup home / limit switch signals--- net home-x => joint.0.home-sw-in net min-x => joint.0.neg-lim-sw-in net x-pos-limit => joint.0.pos-lim-sw-in #******************* # AXIS Y JOINT 1 #******************* setp pid.y.Pgain [JOINT_1]P setp pid.y.Igain [JOINT_1]I setp pid.y.Dgain [JOINT_1]D setp pid.y.bias [JOINT_1]BIAS setp pid.y.FF0 [JOINT_1]FF0 setp pid.y.FF1 [JOINT_1]FF1 setp pid.y.FF2 [JOINT_1]FF2 setp pid.y.deadband [JOINT_1]DEADBAND setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT setp pid.y.error-previous-target true setp pid.y.maxerror .0005 net y-index-enable <=> pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command net y-pos-fb => pid.y.feedback net y-output <= pid.y.output # Step Gen signals/setup setp hm2_7i76e.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_7i76e.0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_7i76e.0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_7i76e.0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_7i76e.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE setp hm2_7i76e.0.stepgen.01.step_type 0 setp hm2_7i76e.0.stepgen.01.control-type 1 setp hm2_7i76e.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp hm2_7i76e.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= joint.1.motor-pos-cmd net y-vel-cmd <= joint.1.vel-cmd net y-output <= hm2_7i76e.0.stepgen.01.velocity-cmd net y-pos-fb <= hm2_7i76e.0.stepgen.01.position-fb net y-pos-fb => joint.1.motor-pos-fb net y-enable <= joint.1.amp-enable-out net y-enable => hm2_7i76e.0.stepgen.01.enable # ---setup home / limit switch signals--- net y-home-sw => joint.1.home-sw-in net y-neg-limit => joint.1.neg-lim-sw-in net y-pos-limit => joint.1.pos-lim-sw-in #******************* # AXIS Z JOINT 2 #******************* setp pid.z.Pgain [JOINT_2]P setp pid.z.Igain [JOINT_2]I setp pid.z.Dgain [JOINT_2]D setp pid.z.bias [JOINT_2]BIAS setp pid.z.FF0 [JOINT_2]FF0 setp pid.z.FF1 [JOINT_2]FF1 setp pid.z.FF2 [JOINT_2]FF2 setp pid.z.deadband [JOINT_2]DEADBAND setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT setp pid.z.error-previous-target true setp pid.z.maxerror .0005 net z-index-enable <=> pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command net z-pos-fb => pid.z.feedback net z-output <= pid.z.output # Step Gen signals/setup setp hm2_7i76e.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP setp hm2_7i76e.0.stepgen.02.dirhold [JOINT_2]DIRHOLD setp hm2_7i76e.0.stepgen.02.steplen [JOINT_2]STEPLEN setp hm2_7i76e.0.stepgen.02.stepspace [JOINT_2]STEPSPACE setp hm2_7i76e.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE setp hm2_7i76e.0.stepgen.02.step_type 0 setp hm2_7i76e.0.stepgen.02.control-type 1 setp hm2_7i76e.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL setp hm2_7i76e.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= joint.2.motor-pos-cmd net z-vel-cmd <= joint.2.vel-cmd net z-output <= hm2_7i76e.0.stepgen.02.velocity-cmd net z-pos-fb <= hm2_7i76e.0.stepgen.02.position-fb net z-pos-fb => joint.2.motor-pos-fb net z-enable <= joint.2.amp-enable-out net z-enable => hm2_7i76e.0.stepgen.02.enable # ---setup home / limit switch signals--- net z-home-sw => joint.2.home-sw-in net z-neg-limit => joint.2.neg-lim-sw-in net z-pos-limit => joint.2.pos-lim-sw-in #******************* # SPINDLE #******************* setp pid.s.Pgain [SPINDLE_0]P setp pid.s.Igain [SPINDLE_0]I setp pid.s.Dgain [SPINDLE_0]D setp pid.s.bias [SPINDLE_0]BIAS setp pid.s.FF0 [SPINDLE_0]FF0 setp pid.s.FF1 [SPINDLE_0]FF1 setp pid.s.FF2 [SPINDLE_0]FF2 setp pid.s.deadband [SPINDLE_0]DEADBAND setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT setp pid.s.error-previous-target true net spindle-index-enable <=> pid.s.index-enable net spindle-enable => pid.s.enable net spindle-vel-cmd-rpm => pid.s.command net spindle-vel-fb-rpm => pid.s.feedback net spindle-output <= pid.s.output # ---setup spindle control signals--- net spindle-vel-cmd-rps <= spindle.0.speed-out-rps net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs net spindle-vel-cmd-rpm <= spindle.0.speed-out net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs net spindle-enable <= spindle.0.on net spindle-cw <= spindle.0.forward net spindle-ccw <= spindle.0.reverse net spindle-brake <= spindle.0.brake net spindle-revs => spindle.0.revs net spindle-at-speed => spindle.0.at-speed net spindle-vel-fb-rps => spindle.0.speed-in net spindle-index-enable <=> spindle.0.index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net axis-select-x halui.axis.x.select net jog-x-pos halui.axis.x.plus net jog-x-neg halui.axis.x.minus net jog-x-analog halui.axis.x.analog net x-is-homed halui.joint.0.is-homed net axis-select-y halui.axis.y.select net jog-y-pos halui.axis.y.plus net jog-y-neg halui.axis.y.minus net jog-y-analog halui.axis.y.analog net y-is-homed halui.joint.1.is-homed net axis-select-z halui.axis.z.select net jog-z-pos halui.axis.z.plus net jog-z-neg halui.axis.z.minus net jog-z-analog halui.axis.z.analog net z-is-homed halui.joint.2.is-homed net jog-selected-pos halui.axis.selected.plus net jog-selected-neg halui.axis.selected.minus net spindle-manual-cw halui.spindle.0.forward net spindle-manual-ccw halui.spindle.0.reverse net spindle-manual-stop halui.spindle.0.stop net machine-is-on halui.machine.is-on net jog-speed halui.axis.jog-speed net MDI-mode halui.mode.is-mdi # ---coolant signals--- net coolant-mist <= iocontrol.0.coolant-mist net coolant-flood <= iocontrol.0.coolant-flood # ---probe signal--- net probe-in => motion.probe-input # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---digital in / out signals--- # ---estop signals--- net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in # ---manual tool change signals--- loadusr -W hal_manualtoolchange net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

Halcmd show all
Code:
Loaded HAL Components: ID Type Name PID State 50 User halcmd2898 2898 ready 46 User axisui 2888 ready 44 User inihal 2884 ready 33 User hal_manualtoolchange 2875 ready 29 RT pid ready 26 RT hm2_eth ready 23 RT hostmot2 ready 20 RT __servo-thread ready 19 RT motmod ready 16 RT trivkins ready 10 User halui 2846 ready 4 User iocontrol 2844 ready Component Pins: Owner Type Dir Value Name 19 float OUT 0 axis.a.eoffset 19 bit IN FALSE axis.a.eoffset-clear 19 s32 IN 0 axis.a.eoffset-counts 19 bit IN FALSE axis.a.eoffset-enable 19 float OUT 0 axis.a.eoffset-request 19 float IN 0 axis.a.eoffset-scale 19 float IN 1 axis.a.jog-accel-fraction 19 s32 IN 0 axis.a.jog-counts 19 bit IN FALSE axis.a.jog-enable 19 float IN 0 axis.a.jog-scale 19 bit IN FALSE axis.a.jog-vel-mode 19 bit OUT FALSE axis.a.kb-jog-active 19 float OUT 0 axis.a.pos-cmd 19 float OUT 0 axis.a.teleop-pos-cmd 19 bit OUT FALSE axis.a.teleop-tp-enable 19 float OUT 0 axis.a.teleop-vel-cmd 19 float OUT 0 axis.a.teleop-vel-lim 19 bit OUT FALSE axis.a.wheel-jog-active 19 float OUT 0 axis.b.eoffset 19 bit IN FALSE axis.b.eoffset-clear 19 s32 IN 0 axis.b.eoffset-counts 19 bit IN FALSE axis.b.eoffset-enable 19 float OUT 0 axis.b.eoffset-request 19 float IN 0 axis.b.eoffset-scale 19 float IN 1 axis.b.jog-accel-fraction 19 s32 IN 0 axis.b.jog-counts 19 bit IN FALSE axis.b.jog-enable 19 float IN 0 axis.b.jog-scale 19 bit IN FALSE axis.b.jog-vel-mode 19 bit OUT FALSE axis.b.kb-jog-active 19 float OUT 0 axis.b.pos-cmd 19 float OUT 0 axis.b.teleop-pos-cmd 19 bit OUT FALSE axis.b.teleop-tp-enable 19 float OUT 0 axis.b.teleop-vel-cmd 19 float OUT 0 axis.b.teleop-vel-lim 19 bit OUT FALSE axis.b.wheel-jog-active 19 float OUT 0 axis.c.eoffset 19 bit IN FALSE axis.c.eoffset-clear 19 s32 IN 0 axis.c.eoffset-counts 19 bit IN FALSE axis.c.eoffset-enable 19 float OUT 0 axis.c.eoffset-request 19 float IN 0 axis.c.eoffset-scale 19 float IN 1 axis.c.jog-accel-fraction 19 s32 IN 0 axis.c.jog-counts 19 bit IN FALSE axis.c.jog-enable 19 float IN 0 axis.c.jog-scale 19 bit IN FALSE axis.c.jog-vel-mode 19 bit OUT FALSE axis.c.kb-jog-active 19 float OUT 0 axis.c.pos-cmd 19 float OUT 0 axis.c.teleop-pos-cmd 19 bit OUT FALSE axis.c.teleop-tp-enable 19 float OUT 0 axis.c.teleop-vel-cmd 19 float OUT 0 axis.c.teleop-vel-lim 19 bit OUT FALSE axis.c.wheel-jog-active 19 float OUT 0 axis.u.eoffset 19 bit IN FALSE axis.u.eoffset-clear 19 s32 IN 0 axis.u.eoffset-counts 19 bit IN FALSE axis.u.eoffset-enable 19 float OUT 0 axis.u.eoffset-request 19 float IN 0 axis.u.eoffset-scale 19 float IN 1 axis.u.jog-accel-fraction 19 s32 IN 0 axis.u.jog-counts 19 bit IN FALSE axis.u.jog-enable 19 float IN 0 axis.u.jog-scale 19 bit IN FALSE axis.u.jog-vel-mode 19 bit OUT FALSE axis.u.kb-jog-active 19 float OUT 0 axis.u.pos-cmd 19 float OUT 0 axis.u.teleop-pos-cmd 19 bit OUT FALSE axis.u.teleop-tp-enable 19 float OUT 0 axis.u.teleop-vel-cmd 19 float OUT 0 axis.u.teleop-vel-lim 19 bit OUT FALSE axis.u.wheel-jog-active 19 float OUT 0 axis.v.eoffset 19 bit IN FALSE axis.v.eoffset-clear 19 s32 IN 0 axis.v.eoffset-counts 19 bit IN FALSE axis.v.eoffset-enable 19 float OUT 0 axis.v.eoffset-request 19 float IN 0 axis.v.eoffset-scale 19 float IN 1 axis.v.jog-accel-fraction 19 s32 IN 0 axis.v.jog-counts 19 bit IN FALSE axis.v.jog-enable 19 float IN 0 axis.v.jog-scale 19 bit IN FALSE axis.v.jog-vel-mode 19 bit OUT FALSE axis.v.kb-jog-active 19 float OUT 0 axis.v.pos-cmd 19 float OUT 0 axis.v.teleop-pos-cmd 19 bit OUT FALSE axis.v.teleop-tp-enable 19 float OUT 0 axis.v.teleop-vel-cmd 19 float OUT 0 axis.v.teleop-vel-lim 19 bit OUT FALSE axis.v.wheel-jog-active 19 float OUT 0 axis.w.eoffset 19 bit IN FALSE axis.w.eoffset-clear 19 s32 IN 0 axis.w.eoffset-counts 19 bit IN FALSE axis.w.eoffset-enable 19 float OUT 0 axis.w.eoffset-request 19 float IN 0 axis.w.eoffset-scale 19 float IN 1 axis.w.jog-accel-fraction 19 s32 IN 0 axis.w.jog-counts 19 bit IN FALSE axis.w.jog-enable 19 float IN 0 axis.w.jog-scale 19 bit IN FALSE axis.w.jog-vel-mode 19 bit OUT FALSE axis.w.kb-jog-active 19 float OUT 0 axis.w.pos-cmd 19 float OUT 0 axis.w.teleop-pos-cmd 19 bit OUT FALSE axis.w.teleop-tp-enable 19 float OUT 0 axis.w.teleop-vel-cmd 19 float OUT 0 axis.w.teleop-vel-lim 19 bit OUT FALSE axis.w.wheel-jog-active 19 float OUT 0 axis.x.eoffset 19 bit IN FALSE axis.x.eoffset-clear 19 s32 IN 0 axis.x.eoffset-counts 19 bit IN FALSE axis.x.eoffset-enable 19 float OUT 0 axis.x.eoffset-request 19 float IN 0 axis.x.eoffset-scale 19 float IN 1 axis.x.jog-accel-fraction 19 s32 IN 0 axis.x.jog-counts 19 bit IN FALSE axis.x.jog-enable 19 float IN 0 axis.x.jog-scale 19 bit IN FALSE axis.x.jog-vel-mode 19 bit OUT FALSE axis.x.kb-jog-active 19 float OUT 0 axis.x.pos-cmd 19 float OUT 0 axis.x.teleop-pos-cmd 19 bit OUT FALSE axis.x.teleop-tp-enable 19 float OUT 0 axis.x.teleop-vel-cmd 19 float OUT 0 axis.x.teleop-vel-lim 19 bit OUT FALSE axis.x.wheel-jog-active 19 float OUT 0 axis.y.eoffset 19 bit IN FALSE axis.y.eoffset-clear 19 s32 IN 0 axis.y.eoffset-counts 19 bit IN FALSE axis.y.eoffset-enable 19 float OUT 0 axis.y.eoffset-request 19 float IN 0 axis.y.eoffset-scale 19 float IN 1 axis.y.jog-accel-fraction 19 s32 IN 0 axis.y.jog-counts 19 bit IN FALSE axis.y.jog-enable 19 float IN 0 axis.y.jog-scale 19 bit IN FALSE axis.y.jog-vel-mode 19 bit OUT FALSE axis.y.kb-jog-active 19 float OUT 0 axis.y.pos-cmd 19 float OUT 0 axis.y.teleop-pos-cmd 19 bit OUT FALSE axis.y.teleop-tp-enable 19 float OUT 0 axis.y.teleop-vel-cmd 19 float OUT 0 axis.y.teleop-vel-lim 19 bit OUT FALSE axis.y.wheel-jog-active 19 float OUT 0 axis.z.eoffset 19 bit IN FALSE axis.z.eoffset-clear 19 s32 IN 0 axis.z.eoffset-counts 19 bit IN FALSE axis.z.eoffset-enable 19 float OUT 0 axis.z.eoffset-request 19 float IN 0 axis.z.eoffset-scale 19 float IN 1 axis.z.jog-accel-fraction 19 s32 IN 0 axis.z.jog-counts 19 bit IN FALSE axis.z.jog-enable 19 float IN 0 axis.z.jog-scale 19 bit IN FALSE axis.z.jog-vel-mode 19 bit OUT FALSE axis.z.kb-jog-active 19 float OUT 0 axis.z.pos-cmd 19 float OUT 0 axis.z.teleop-pos-cmd 19 bit OUT FALSE axis.z.teleop-tp-enable 19 float OUT 0 axis.z.teleop-vel-cmd 19 float OUT 0 axis.z.teleop-vel-lim 19 bit OUT FALSE axis.z.wheel-jog-active 46 bit OUT FALSE axisui.jog.a 46 bit OUT FALSE axisui.jog.b 46 bit OUT FALSE axisui.jog.c 46 float OUT 0 axisui.jog.increment 46 bit OUT FALSE axisui.jog.u 46 bit OUT FALSE axisui.jog.v 46 bit OUT FALSE axisui.jog.w 46 bit OUT TRUE axisui.jog.x 46 bit OUT FALSE axisui.jog.y 46 bit OUT FALSE axisui.jog.z 46 bit IN FALSE axisui.notifications-clear 46 bit IN FALSE axisui.notifications-clear-error 46 bit IN FALSE axisui.notifications-clear-info 46 bit IN FALSE axisui.resume-inhibit 33 bit IN FALSE hal_manualtoolchange.change <== tool-change-request 33 bit IN FALSE hal_manualtoolchange.change_button 33 bit OUT FALSE hal_manualtoolchange.changed ==> tool-change-confirmed 33 s32 IN 0 hal_manualtoolchange.number <== tool-number 10 bit IN FALSE halui.abort 10 float IN 0 halui.axis.a.analog 10 float IN 0 halui.axis.a.increment 10 bit IN FALSE halui.axis.a.increment-minus 10 bit IN FALSE halui.axis.a.increment-plus 10 bit IN FALSE halui.axis.a.minus 10 bit IN FALSE halui.axis.a.plus 10 bit IN FALSE halui.axis.a.select 10 float IN 0 halui.axis.b.analog 10 float IN 0 halui.axis.b.increment 10 bit IN FALSE halui.axis.b.increment-minus 10 bit IN FALSE halui.axis.b.increment-plus 10 bit IN FALSE halui.axis.b.minus 10 bit IN FALSE halui.axis.b.plus 10 bit IN FALSE halui.axis.b.select 10 float IN 0 halui.axis.c.analog 10 float IN 0 halui.axis.c.increment 10 bit IN FALSE halui.axis.c.increment-minus 10 bit IN FALSE halui.axis.c.increment-plus 10 bit IN FALSE halui.axis.c.minus 10 bit IN FALSE halui.axis.c.plus 10 bit IN FALSE halui.axis.c.select 10 float IN 0.2 halui.axis.jog-deadband 10 float IN 0 halui.axis.jog-speed <== jog-speed 10 u32 OUT 0x00000000 halui.axis.selected 10 float IN 0 halui.axis.selected.increment 10 bit IN FALSE halui.axis.selected.increment-minus 10 bit IN FALSE halui.axis.selected.increment-plus 10 bit IN FALSE halui.axis.selected.minus <== jog-selected-neg 10 bit IN FALSE halui.axis.selected.plus <== jog-selected-pos 10 float IN 0 halui.axis.u.analog 10 float IN 0 halui.axis.u.increment 10 bit IN FALSE halui.axis.u.increment-minus 10 bit IN FALSE halui.axis.u.increment-plus 10 bit IN FALSE halui.axis.u.minus 10 bit IN FALSE halui.axis.u.plus 10 bit IN FALSE halui.axis.u.select 10 float IN 0 halui.axis.v.analog 10 float IN 0 halui.axis.v.increment 10 bit IN FALSE halui.axis.v.increment-minus 10 bit IN FALSE halui.axis.v.increment-plus 10 bit IN FALSE halui.axis.v.minus 10 bit IN FALSE halui.axis.v.plus 10 bit IN FALSE halui.axis.v.select 10 float IN 0 halui.axis.w.analog 10 float IN 0 halui.axis.w.increment 10 bit IN FALSE halui.axis.w.increment-minus 10 bit IN FALSE halui.axis.w.increment-plus 10 bit IN FALSE halui.axis.w.minus 10 bit IN FALSE halui.axis.w.plus 10 bit IN FALSE halui.axis.w.select 10 float IN 0 halui.axis.x.analog <== jog-x-analog 10 float IN 0 halui.axis.x.increment 10 bit IN FALSE halui.axis.x.increment-minus 10 bit IN FALSE halui.axis.x.increment-plus 10 bit OUT TRUE halui.axis.x.is-selected 10 bit IN FALSE halui.axis.x.minus <== jog-x-neg 10 bit IN FALSE halui.axis.x.plus <== jog-x-pos 10 float OUT 0 halui.axis.x.pos-commanded 10 float OUT 0 halui.axis.x.pos-feedback 10 float OUT 0 halui.axis.x.pos-relative 10 bit IN FALSE halui.axis.x.select <== axis-select-x 10 float IN 0 halui.axis.y.analog <== jog-y-analog 10 float IN 0 halui.axis.y.increment 10 bit IN FALSE halui.axis.y.increment-minus 10 bit IN FALSE halui.axis.y.increment-plus 10 bit OUT FALSE halui.axis.y.is-selected 10 bit IN FALSE halui.axis.y.minus <== jog-y-neg 10 bit IN FALSE halui.axis.y.plus <== jog-y-pos 10 float OUT 0 halui.axis.y.pos-commanded 10 float OUT 0 halui.axis.y.pos-feedback 10 float OUT 0 halui.axis.y.pos-relative 10 bit IN FALSE halui.axis.y.select <== axis-select-y 10 float IN 0 halui.axis.z.analog <== jog-z-analog 10 float IN 0 halui.axis.z.increment 10 bit IN FALSE halui.axis.z.increment-minus 10 bit IN FALSE halui.axis.z.increment-plus 10 bit OUT FALSE halui.axis.z.is-selected 10 bit IN FALSE halui.axis.z.minus <== jog-z-neg 10 bit IN FALSE halui.axis.z.plus <== jog-z-pos 10 float OUT 0 halui.axis.z.pos-commanded 10 float OUT 0 halui.axis.z.pos-feedback 10 float OUT 0 halui.axis.z.pos-relative 10 bit IN FALSE halui.axis.z.select <== axis-select-z 10 bit IN FALSE halui.estop.activate 10 bit OUT TRUE halui.estop.is-activated 10 bit IN FALSE halui.estop.reset 10 bit IN TRUE halui.feed-override.count-enable 10 s32 IN 0 halui.feed-override.counts 10 bit IN FALSE halui.feed-override.decrease 10 bit IN FALSE halui.feed-override.direct-value 10 bit IN FALSE halui.feed-override.increase 10 float IN 0.1 halui.feed-override.scale 10 float OUT 1 halui.feed-override.value 10 bit OUT FALSE halui.flood.is-on 10 bit IN FALSE halui.flood.off 10 bit IN FALSE halui.flood.on 10 float IN 0 halui.joint.0.analog 10 bit OUT FALSE halui.joint.0.has-fault 10 bit IN FALSE halui.joint.0.home 10 float IN 0 halui.joint.0.increment 10 bit IN FALSE halui.joint.0.increment-minus 10 bit IN FALSE halui.joint.0.increment-plus 10 bit OUT FALSE halui.joint.0.is-homed ==> x-is-homed 10 bit OUT TRUE halui.joint.0.is-selected 10 bit IN FALSE halui.joint.0.minus 10 bit OUT FALSE halui.joint.0.on-hard-max-limit 10 bit OUT FALSE halui.joint.0.on-hard-min-limit 10 bit OUT FALSE halui.joint.0.on-soft-max-limit 10 bit OUT FALSE halui.joint.0.on-soft-min-limit 10 bit OUT FALSE halui.joint.0.override-limits 10 bit IN FALSE halui.joint.0.plus 10 bit IN FALSE halui.joint.0.select 10 bit IN FALSE halui.joint.0.unhome 10 float IN 0 halui.joint.1.analog 10 bit OUT FALSE halui.joint.1.has-fault 10 bit IN FALSE halui.joint.1.home 10 float IN 0 halui.joint.1.increment 10 bit IN FALSE halui.joint.1.increment-minus 10 bit IN FALSE halui.joint.1.increment-plus 10 bit OUT FALSE halui.joint.1.is-homed ==> y-is-homed 10 bit OUT FALSE halui.joint.1.is-selected 10 bit IN FALSE halui.joint.1.minus 10 bit OUT FALSE halui.joint.1.on-hard-max-limit 10 bit OUT FALSE halui.joint.1.on-hard-min-limit 10 bit OUT FALSE halui.joint.1.on-soft-max-limit 10 bit OUT FALSE halui.joint.1.on-soft-min-limit 10 bit OUT FALSE halui.joint.1.override-limits 10 bit IN FALSE halui.joint.1.plus 10 bit IN FALSE halui.joint.1.select 10 bit IN FALSE halui.joint.1.unhome 10 float IN 0 halui.joint.2.analog 10 bit OUT FALSE halui.joint.2.has-fault 10 bit IN FALSE halui.joint.2.home 10 float IN 0 halui.joint.2.increment 10 bit IN FALSE halui.joint.2.increment-minus 10 bit IN FALSE halui.joint.2.increment-plus 10 bit OUT FALSE halui.joint.2.is-homed ==> z-is-homed 10 bit OUT FALSE halui.joint.2.is-selected 10 bit IN FALSE halui.joint.2.minus 10 bit OUT FALSE halui.joint.2.on-hard-max-limit 10 bit OUT FALSE halui.joint.2.on-hard-min-limit 10 bit OUT FALSE halui.joint.2.on-soft-max-limit 10 bit OUT FALSE halui.joint.2.on-soft-min-limit 10 bit OUT FALSE halui.joint.2.override-limits 10 bit IN FALSE halui.joint.2.plus 10 bit IN FALSE halui.joint.2.select 10 bit IN FALSE halui.joint.2.unhome 10 float IN 0.2 halui.joint.jog-deadband 10 float IN 0 halui.joint.jog-speed 10 u32 OUT 0x00000000 halui.joint.selected 10 bit OUT FALSE halui.joint.selected.has-fault 10 bit IN FALSE halui.joint.selected.home 10 float IN 0 halui.joint.selected.increment 10 bit IN FALSE halui.joint.selected.increment-minus 10 bit IN FALSE halui.joint.selected.increment-plus 10 bit OUT FALSE halui.joint.selected.is-homed 10 bit IN FALSE halui.joint.selected.minus 10 bit OUT FALSE halui.joint.selected.on-hard-max-limit 10 bit OUT FALSE halui.joint.selected.on-hard-min-limit 10 bit OUT FALSE halui.joint.selected.on-soft-max-limit 10 bit OUT FALSE halui.joint.selected.on-soft-min-limit 10 bit OUT FALSE halui.joint.selected.override-limits 10 bit IN FALSE halui.joint.selected.plus 10 bit IN FALSE halui.joint.selected.unhome 10 bit OUT FALSE halui.lube.is-on 10 bit IN FALSE halui.lube.off 10 bit IN FALSE halui.lube.on 10 bit OUT FALSE halui.machine.is-on ==> machine-is-on 10 bit IN FALSE halui.machine.off 10 bit IN FALSE halui.machine.on 10 float OUT 0.03937008 halui.machine.units-per-mm 10 bit IN TRUE halui.max-velocity.count-enable 10 s32 IN 0 halui.max-velocity.counts 10 bit IN FALSE halui.max-velocity.decrease 10 bit IN FALSE halui.max-velocity.direct-value 10 bit IN FALSE halui.max-velocity.increase 10 float IN 0 halui.max-velocity.scale 10 float OUT 1 halui.max-velocity.value 10 bit OUT FALSE halui.mist.is-on 10 bit IN FALSE halui.mist.off 10 bit IN FALSE halui.mist.on 10 bit IN FALSE halui.mode.auto 10 bit OUT FALSE halui.mode.is-auto 10 bit OUT TRUE halui.mode.is-joint 10 bit OUT TRUE halui.mode.is-manual 10 bit OUT FALSE halui.mode.is-mdi ==> MDI-mode 10 bit OUT FALSE halui.mode.is-teleop 10 bit IN FALSE halui.mode.joint 10 bit IN FALSE halui.mode.manual 10 bit IN FALSE halui.mode.mdi 10 bit IN FALSE halui.mode.teleop 10 bit OUT TRUE halui.program.block-delete.is-on 10 bit IN FALSE halui.program.block-delete.off 10 bit IN FALSE halui.program.block-delete.on 10 bit OUT TRUE halui.program.is-idle 10 bit OUT FALSE halui.program.is-paused 10 bit OUT FALSE halui.program.is-running 10 bit OUT TRUE halui.program.optional-stop.is-on 10 bit IN FALSE halui.program.optional-stop.off 10 bit IN FALSE halui.program.optional-stop.on 10 bit IN FALSE halui.program.pause 10 bit IN FALSE halui.program.resume 10 bit IN FALSE halui.program.run 10 bit IN FALSE halui.program.step 10 bit IN FALSE halui.program.stop 10 bit IN TRUE halui.rapid-override.count-enable 10 s32 IN 0 halui.rapid-override.counts 10 bit IN FALSE halui.rapid-override.decrease 10 bit IN FALSE halui.rapid-override.direct-value 10 bit IN FALSE halui.rapid-override.increase 10 float IN 0.1 halui.rapid-override.scale 10 float OUT 1 halui.rapid-override.value 10 bit OUT TRUE halui.spindle.0.brake-is-on 10 bit IN FALSE halui.spindle.0.brake-off 10 bit IN FALSE halui.spindle.0.brake-on 10 bit IN FALSE halui.spindle.0.decrease 10 bit IN FALSE halui.spindle.0.forward <== spindle-manual-cw 10 bit IN FALSE halui.spindle.0.increase 10 bit OUT FALSE halui.spindle.0.is-on 10 bit IN TRUE halui.spindle.0.override.count-enable 10 s32 IN 0 halui.spindle.0.override.counts 10 bit IN FALSE halui.spindle.0.override.decrease 10 bit IN FALSE halui.spindle.0.override.direct-value 10 bit IN FALSE halui.spindle.0.override.increase 10 float IN 0.1 halui.spindle.0.override.scale 10 float OUT 1 halui.spindle.0.override.value 10 bit IN FALSE halui.spindle.0.reverse <== spindle-manual-ccw 10 bit OUT FALSE halui.spindle.0.runs-backward 10 bit OUT FALSE halui.spindle.0.runs-forward 10 bit IN FALSE halui.spindle.0.start 10 bit IN FALSE halui.spindle.0.stop <== spindle-manual-stop 10 float OUT 0 halui.tool.diameter 10 float OUT 0 halui.tool.length_offset.a 10 float OUT 0 halui.tool.length_offset.b 10 float OUT 0 halui.tool.length_offset.c 10 float OUT 0 halui.tool.length_offset.u 10 float OUT 0 halui.tool.length_offset.v 10 float OUT 0 halui.tool.length_offset.w 10 float OUT 0 halui.tool.length_offset.x 10 float OUT 0 halui.tool.length_offset.y 10 float OUT 0 halui.tool.length_offset.z 10 u32 OUT 0x00000000 halui.tool.number 26 s32 OUT 2098000000 hm2_7i76e.0.0.debug 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-00 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-00-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-01 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-01-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-02 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-02-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-03 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-03-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-04 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-04-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-05 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-05-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-06 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-06-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-07 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-07-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-08 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-08-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-09 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-09-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-10 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-10-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-11 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-11-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-12 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-12-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-13 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-13-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-14 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-14-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-15 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-15-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-16 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-16-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-17 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-17-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-18 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-18-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-19 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-19-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-20 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-20-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-21 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-21-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-22 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-22-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-23 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-23-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-24 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-24-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-25 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-25-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-26 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-26-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-27 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-27-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-28 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-28-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-29 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-29-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-30 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-30-not 26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-31 26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-31-not 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-00 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-01 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-02 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-03 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-04 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-05 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-06 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-07 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-08 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-09 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-10 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-11 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-12 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-13 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-14 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-15 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.spindir 26 bit IN FALSE hm2_7i76e.0.7i76.0.0.spinena 26 float IN 0 hm2_7i76e.0.7i76.0.0.spinout 26 float IN -50 hm2_7i76e.0.dpll.01.timer-us 26 float IN 100 hm2_7i76e.0.dpll.02.timer-us 26 float IN 100 hm2_7i76e.0.dpll.03.timer-us 26 float IN 100 hm2_7i76e.0.dpll.04.timer-us 26 float IN 1 hm2_7i76e.0.dpll.base-freq-khz 26 u32 OUT 0x0000002A hm2_7i76e.0.dpll.ddsize 26 float OUT -2.851113 hm2_7i76e.0.dpll.phase-error-us 26 u32 IN 0x00400000 hm2_7i76e.0.dpll.plimit 26 u32 OUT 0x00000018 hm2_7i76e.0.dpll.prescale 26 u32 IN 0x000007D0 hm2_7i76e.0.dpll.time-const 26 s32 OUT 0 hm2_7i76e.0.encoder.00.count 26 s32 OUT 0 hm2_7i76e.0.encoder.00.count-latched 26 bit I/O FALSE hm2_7i76e.0.encoder.00.index-enable 26 bit OUT FALSE hm2_7i76e.0.encoder.00.input-a 26 bit OUT FALSE hm2_7i76e.0.encoder.00.input-b 26 bit OUT TRUE hm2_7i76e.0.encoder.00.input-index 26 bit IN FALSE hm2_7i76e.0.encoder.00.latch-enable 26 bit IN FALSE hm2_7i76e.0.encoder.00.latch-polarity 26 float OUT 0 hm2_7i76e.0.encoder.00.position 26 float OUT 0 hm2_7i76e.0.encoder.00.position-latched 26 bit OUT FALSE hm2_7i76e.0.encoder.00.quad-error 26 bit IN FALSE hm2_7i76e.0.encoder.00.quad-error-enable 26 s32 OUT 0 hm2_7i76e.0.encoder.00.rawcounts 26 s32 OUT 0 hm2_7i76e.0.encoder.00.rawlatch 26 bit IN FALSE hm2_7i76e.0.encoder.00.reset 26 float OUT 0 hm2_7i76e.0.encoder.00.velocity 26 float OUT 0 hm2_7i76e.0.encoder.00.velocity-rpm 26 u32 IN 0x017D7840 hm2_7i76e.0.encoder.sample-frequency 26 s32 IN -1 hm2_7i76e.0.encoder.timer-number 26 bit OUT FALSE hm2_7i76e.0.gpio.000.in 26 bit OUT TRUE hm2_7i76e.0.gpio.000.in_not 26 bit OUT FALSE hm2_7i76e.0.gpio.001.in 26 bit OUT TRUE hm2_7i76e.0.gpio.001.in_not 26 bit OUT FALSE hm2_7i76e.0.gpio.002.in 26 bit OUT TRUE hm2_7i76e.0.gpio.002.in_not 26 bit OUT FALSE hm2_7i76e.0.gpio.003.in 26 bit OUT TRUE hm2_7i76e.0.gpio.003.in_not 26 bit OUT FALSE hm2_7i76e.0.gpio.004.in 26 bit OUT TRUE hm2_7i76e.0.gpio.004.in_not 26 bit OUT FALSE hm2_7i76e.0.gpio.005.in 26 bit OUT TRUE hm2_7i76e.0.gpio.005.in_not 26 bit OUT FALSE hm2_7i76e.0.gpio.006.in 26 bit OUT TRUE hm2_7i76e.0.gpio.006.in_not 26 bit OUT FALSE hm2_7i76e.0.gpio.007.in 26 bit OUT TRUE hm2_7i76e.0.gpio.007.in_not 26 bit OUT FALSE hm2_7i76e.0.gpio.008.in 26 bit OUT TRUE hm2_7i76e.0.gpio.008.in_not 26 bit OUT FALSE hm2_7i76e.0.gpio.009.in 26 bit OUT TRUE hm2_7i76e.0.gpio.009.in_not 26 bit OUT TRUE hm2_7i76e.0.gpio.010.in 26 bit OUT FALSE hm2_7i76e.0.gpio.010.in_not 26 bit OUT TRUE hm2_7i76e.0.gpio.011.in 26 bit OUT FALSE hm2_7i76e.0.gpio.011.in_not 26 bit OUT TRUE hm2_7i76e.0.gpio.012.in 26 bit OUT FALSE hm2_7i76e.0.gpio.012.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.012.out 26 bit OUT TRUE hm2_7i76e.0.gpio.013.in 26 bit OUT FALSE hm2_7i76e.0.gpio.013.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.013.out 26 bit OUT FALSE hm2_7i76e.0.gpio.014.in 26 bit OUT TRUE hm2_7i76e.0.gpio.014.in_not 26 bit OUT FALSE hm2_7i76e.0.gpio.015.in 26 bit OUT TRUE hm2_7i76e.0.gpio.015.in_not 26 bit OUT FALSE hm2_7i76e.0.gpio.016.in 26 bit OUT TRUE hm2_7i76e.0.gpio.016.in_not 26 bit OUT TRUE hm2_7i76e.0.gpio.017.in 26 bit OUT FALSE hm2_7i76e.0.gpio.017.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.017.out 26 bit OUT FALSE hm2_7i76e.0.gpio.018.in 26 bit OUT TRUE hm2_7i76e.0.gpio.018.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.018.out 26 bit OUT TRUE hm2_7i76e.0.gpio.019.in 26 bit OUT FALSE hm2_7i76e.0.gpio.019.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.019.out 26 bit OUT FALSE hm2_7i76e.0.gpio.020.in 26 bit OUT TRUE hm2_7i76e.0.gpio.020.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.020.out 26 bit OUT FALSE hm2_7i76e.0.gpio.021.in ==> min-x 26 bit OUT TRUE hm2_7i76e.0.gpio.021.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.021.out 26 bit OUT TRUE hm2_7i76e.0.gpio.022.in 26 bit OUT FALSE hm2_7i76e.0.gpio.022.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.022.out 26 bit OUT FALSE hm2_7i76e.0.gpio.023.in 26 bit OUT TRUE hm2_7i76e.0.gpio.023.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.023.out 26 bit OUT FALSE hm2_7i76e.0.gpio.024.in 26 bit OUT TRUE hm2_7i76e.0.gpio.024.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.024.out 26 bit OUT FALSE hm2_7i76e.0.gpio.025.in 26 bit OUT TRUE hm2_7i76e.0.gpio.025.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.025.out 26 bit OUT FALSE hm2_7i76e.0.gpio.026.in 26 bit OUT TRUE hm2_7i76e.0.gpio.026.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.026.out 26 bit OUT FALSE hm2_7i76e.0.gpio.027.in 26 bit OUT TRUE hm2_7i76e.0.gpio.027.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.027.out 26 bit OUT FALSE hm2_7i76e.0.gpio.028.in 26 bit OUT TRUE hm2_7i76e.0.gpio.028.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.028.out 26 bit OUT TRUE hm2_7i76e.0.gpio.029.in 26 bit OUT FALSE hm2_7i76e.0.gpio.029.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.029.out 26 bit OUT TRUE hm2_7i76e.0.gpio.030.in 26 bit OUT FALSE hm2_7i76e.0.gpio.030.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.030.out 26 bit OUT TRUE hm2_7i76e.0.gpio.031.in 26 bit OUT FALSE hm2_7i76e.0.gpio.031.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.031.out 26 bit OUT TRUE hm2_7i76e.0.gpio.032.in 26 bit OUT FALSE hm2_7i76e.0.gpio.032.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.032.out 26 bit OUT TRUE hm2_7i76e.0.gpio.033.in 26 bit OUT FALSE hm2_7i76e.0.gpio.033.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.033.out 26 bit OUT TRUE hm2_7i76e.0.gpio.034.in 26 bit OUT FALSE hm2_7i76e.0.gpio.034.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.034.out 26 bit OUT TRUE hm2_7i76e.0.gpio.035.in 26 bit OUT FALSE hm2_7i76e.0.gpio.035.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.035.out 26 bit OUT TRUE hm2_7i76e.0.gpio.036.in 26 bit OUT FALSE hm2_7i76e.0.gpio.036.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.036.out 26 bit OUT TRUE hm2_7i76e.0.gpio.037.in 26 bit OUT FALSE hm2_7i76e.0.gpio.037.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.037.out 26 bit OUT TRUE hm2_7i76e.0.gpio.038.in ==> home-x 26 bit OUT FALSE hm2_7i76e.0.gpio.038.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.038.out 26 bit OUT TRUE hm2_7i76e.0.gpio.039.in 26 bit OUT FALSE hm2_7i76e.0.gpio.039.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.039.out 26 bit OUT TRUE hm2_7i76e.0.gpio.040.in 26 bit OUT FALSE hm2_7i76e.0.gpio.040.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.040.out 26 bit OUT TRUE hm2_7i76e.0.gpio.041.in 26 bit OUT FALSE hm2_7i76e.0.gpio.041.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.041.out 26 bit OUT TRUE hm2_7i76e.0.gpio.042.in 26 bit OUT FALSE hm2_7i76e.0.gpio.042.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.042.out 26 bit OUT TRUE hm2_7i76e.0.gpio.043.in 26 bit OUT FALSE hm2_7i76e.0.gpio.043.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.043.out 26 bit OUT TRUE hm2_7i76e.0.gpio.044.in 26 bit OUT FALSE hm2_7i76e.0.gpio.044.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.044.out 26 bit OUT TRUE hm2_7i76e.0.gpio.045.in 26 bit OUT FALSE hm2_7i76e.0.gpio.045.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.045.out 26 bit OUT TRUE hm2_7i76e.0.gpio.046.in 26 bit OUT FALSE hm2_7i76e.0.gpio.046.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.046.out 26 bit OUT TRUE hm2_7i76e.0.gpio.047.in 26 bit OUT FALSE hm2_7i76e.0.gpio.047.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.047.out 26 bit OUT TRUE hm2_7i76e.0.gpio.048.in 26 bit OUT FALSE hm2_7i76e.0.gpio.048.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.048.out 26 bit OUT TRUE hm2_7i76e.0.gpio.049.in 26 bit OUT FALSE hm2_7i76e.0.gpio.049.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.049.out 26 bit OUT TRUE hm2_7i76e.0.gpio.050.in 26 bit OUT FALSE hm2_7i76e.0.gpio.050.in_not 26 bit IN FALSE hm2_7i76e.0.gpio.050.out 26 bit IN FALSE hm2_7i76e.0.led.CR01 26 bit IN FALSE hm2_7i76e.0.led.CR02 26 bit IN FALSE hm2_7i76e.0.led.CR03 26 bit IN FALSE hm2_7i76e.0.led.CR04 26 bit OUT FALSE hm2_7i76e.0.packet-error 26 bit OUT FALSE hm2_7i76e.0.packet-error-exceeded 26 s32 OUT 0 hm2_7i76e.0.packet-error-level 26 s32 OUT 0 hm2_7i76e.0.read-request.time 26 s32 OUT 178916 hm2_7i76e.0.read.time 26 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.fault-count 26 u32 OUT 0x00000003 hm2_7i76e.0.sserial.port-0.port_state 26 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.port_state2 26 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.port_state3 26 bit IN TRUE hm2_7i76e.0.sserial.port-0.run 26 bit IN TRUE hm2_7i76e.0.stepgen.00.control-type 26 s32 OUT 0 hm2_7i76e.0.stepgen.00.counts 26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_err_at_match 26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_ff_vel 26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_pos_minus_prev_cmd 26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_s_to_match 26 s32 OUT 0 hm2_7i76e.0.stepgen.00.dbg_step_rate 26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_vel_error 26 bit IN FALSE hm2_7i76e.0.stepgen.00.enable <== x-enable 26 float IN 0 hm2_7i76e.0.stepgen.00.position-cmd 26 float OUT 0 hm2_7i76e.0.stepgen.00.position-fb ==> x-pos-fb 26 float IN 0 hm2_7i76e.0.stepgen.00.velocity-cmd <== x-output 26 float OUT 0 hm2_7i76e.0.stepgen.00.velocity-fb 26 bit IN TRUE hm2_7i76e.0.stepgen.01.control-type 26 s32 OUT 0 hm2_7i76e.0.stepgen.01.counts 26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_err_at_match 26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_ff_vel 26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_pos_minus_prev_cmd 26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_s_to_match 26 s32 OUT 0 hm2_7i76e.0.stepgen.01.dbg_step_rate 26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_vel_error 26 bit IN FALSE hm2_7i76e.0.stepgen.01.enable <== y-enable 26 float IN 0 hm2_7i76e.0.stepgen.01.position-cmd 26 float OUT 0 hm2_7i76e.0.stepgen.01.position-fb ==> y-pos-fb 26 float IN 0 hm2_7i76e.0.stepgen.01.velocity-cmd <== y-output 26 float OUT 0 hm2_7i76e.0.stepgen.01.velocity-fb 26 bit IN TRUE hm2_7i76e.0.stepgen.02.control-type 26 s32 OUT 0 hm2_7i76e.0.stepgen.02.counts 26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_err_at_match 26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_ff_vel 26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_pos_minus_prev_cmd 26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_s_to_match 26 s32 OUT 0 hm2_7i76e.0.stepgen.02.dbg_step_rate 26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_vel_error 26 bit IN FALSE hm2_7i76e.0.stepgen.02.enable <== z-enable 26 float IN 0 hm2_7i76e.0.stepgen.02.position-cmd 26 float OUT 0 hm2_7i76e.0.stepgen.02.position-fb ==> z-pos-fb 26 float IN 0 hm2_7i76e.0.stepgen.02.velocity-cmd <== z-output 26 float OUT 0 hm2_7i76e.0.stepgen.02.velocity-fb 26 bit IN FALSE hm2_7i76e.0.stepgen.03.control-type 26 s32 OUT 0 hm2_7i76e.0.stepgen.03.counts 26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_err_at_match 26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_ff_vel 26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_pos_minus_prev_cmd 26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_s_to_match 26 s32 OUT 0 hm2_7i76e.0.stepgen.03.dbg_step_rate 26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_vel_error 26 bit IN FALSE hm2_7i76e.0.stepgen.03.enable 26 float IN 0 hm2_7i76e.0.stepgen.03.position-cmd 26 float OUT 0 hm2_7i76e.0.stepgen.03.position-fb 26 float IN 0 hm2_7i76e.0.stepgen.03.velocity-cmd 26 float OUT 0 hm2_7i76e.0.stepgen.03.velocity-fb 26 bit IN FALSE hm2_7i76e.0.stepgen.04.control-type 26 s32 OUT 0 hm2_7i76e.0.stepgen.04.counts 26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_err_at_match 26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_ff_vel 26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_pos_minus_prev_cmd 26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_s_to_match 26 s32 OUT 0 hm2_7i76e.0.stepgen.04.dbg_step_rate 26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_vel_error 26 bit IN FALSE hm2_7i76e.0.stepgen.04.enable 26 float IN 0 hm2_7i76e.0.stepgen.04.position-cmd 26 float OUT 0 hm2_7i76e.0.stepgen.04.position-fb 26 float IN 0 hm2_7i76e.0.stepgen.04.velocity-cmd 26 float OUT 0 hm2_7i76e.0.stepgen.04.velocity-fb 26 s32 IN 1 hm2_7i76e.0.stepgen.timer-number 26 bit I/O FALSE hm2_7i76e.0.watchdog.has_bit 26 s32 OUT 16754 hm2_7i76e.0.write.time 44 float IN 0 ini.0.backlash 44 float IN 0.5 ini.0.ferror 44 float IN 0 ini.0.home 44 float IN 0 ini.0.home_offset 44 s32 IN 999 ini.0.home_sequence 44 float IN 30 ini.0.max_acceleration 44 float IN 8 ini.0.max_limit 44 float IN 1 ini.0.max_velocity 44 float IN 0.05 ini.0.min_ferror 44 float IN -0.001 ini.0.min_limit 44 float IN 0 ini.1.backlash 44 float IN 0.5 ini.1.ferror 44 float IN 0 ini.1.home 44 float IN 0 ini.1.home_offset 44 s32 IN 999 ini.1.home_sequence 44 float IN 30 ini.1.max_acceleration 44 float IN 8 ini.1.max_limit 44 float IN 1 ini.1.max_velocity 44 float IN 0.05 ini.1.min_ferror 44 float IN -0.001 ini.1.min_limit 44 float IN 0 ini.2.backlash 44 float IN 0.5 ini.2.ferror 44 float IN 0 ini.2.home 44 float IN 0 ini.2.home_offset 44 s32 IN 999 ini.2.home_sequence 44 float IN 30 ini.2.max_acceleration 44 float IN 0.001 ini.2.max_limit 44 float IN 1 ini.2.max_velocity 44 float IN 0.05 ini.2.min_ferror 44 float IN -4 ini.2.min_limit 44 float IN 0 ini.a.max_acceleration 44 float IN 0 ini.a.max_limit 44 float IN 0 ini.a.max_velocity 44 float IN 0 ini.a.min_limit 44 float IN 0 ini.b.max_acceleration 44 float IN 0 ini.b.max_limit 44 float IN 0 ini.b.max_velocity 44 float IN 0 ini.b.min_limit 44 float IN 0 ini.c.max_acceleration 44 float IN 0 ini.c.max_limit 44 float IN 0 ini.c.max_velocity 44 float IN 0 ini.c.min_limit 44 bit IN TRUE ini.traj_arc_blend_enable 44 bit IN FALSE ini.traj_arc_blend_fallback_enable 44 float IN 4 ini.traj_arc_blend_gap_cycles 44 s32 IN 50 ini.traj_arc_blend_optimization_depth 44 float IN 100 ini.traj_arc_blend_ramp_freq 44 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio 44 float IN 1e+99 ini.traj_default_acceleration 44 float IN 0.1 ini.traj_default_velocity 44 float IN 1e+99 ini.traj_max_acceleration 44 float IN 1 ini.traj_max_velocity 44 float IN 0 ini.u.max_acceleration 44 float IN 0 ini.u.max_limit 44 float IN 0 ini.u.max_velocity 44 float IN 0 ini.u.min_limit 44 float IN 0 ini.v.max_acceleration 44 float IN 0 ini.v.max_limit 44 float IN 0 ini.v.max_velocity 44 float IN 0 ini.v.min_limit 44 float IN 0 ini.w.max_acceleration 44 float IN 0 ini.w.max_limit 44 float IN 0 ini.w.max_velocity 44 float IN 0 ini.w.min_limit 44 float IN 30 ini.x.max_acceleration 44 float IN 8 ini.x.max_limit 44 float IN 1 ini.x.max_velocity 44 float IN -0.001 ini.x.min_limit 44 float IN 30 ini.y.max_acceleration 44 float IN 8 ini.y.max_limit 44 float IN 1 ini.y.max_velocity 44 float IN -0.001 ini.y.min_limit 44 float IN 30 ini.z.max_acceleration 44 float IN 0.001 ini.z.max_limit 44 float IN 1 ini.z.max_velocity 44 float IN -4 ini.z.min_limit 4 bit OUT FALSE iocontrol.0.coolant-flood ==> coolant-flood 4 bit OUT FALSE iocontrol.0.coolant-mist ==> coolant-mist 4 bit IN FALSE iocontrol.0.emc-enable-in <== estop-out 4 bit OUT FALSE iocontrol.0.lube 4 bit IN FALSE iocontrol.0.lube_level 4 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-request 4 bit IN FALSE iocontrol.0.tool-changed <== tool-change-confirmed 4 s32 OUT 0 iocontrol.0.tool-number 4 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-number 4 s32 OUT 0 iocontrol.0.tool-prep-pocket 4 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback 4 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback 4 bit OUT FALSE iocontrol.0.user-enable-out ==> estop-out 4 bit OUT FALSE iocontrol.0.user-request-enable 19 float OUT 0 joint.0.acc-cmd 19 bit OUT TRUE joint.0.active 19 bit OUT FALSE joint.0.amp-enable-out ==> x-enable 19 bit IN FALSE joint.0.amp-fault-in 19 float OUT 0 joint.0.backlash-corr 19 float OUT 0 joint.0.backlash-filt 19 float OUT 0 joint.0.backlash-vel 19 float OUT 0 joint.0.coarse-pos-cmd 19 bit OUT FALSE joint.0.error 19 float OUT 0 joint.0.f-error 19 float OUT 0.05 joint.0.f-error-lim 19 bit OUT FALSE joint.0.f-errored 19 bit OUT FALSE joint.0.faulted 19 float OUT 0 joint.0.free-pos-cmd 19 bit OUT FALSE joint.0.free-tp-enable 19 float OUT 0 joint.0.free-vel-lim 19 s32 OUT 0 joint.0.home-state 19 bit IN TRUE joint.0.home-sw-in <== home-x 19 bit OUT FALSE joint.0.homed 19 bit OUT FALSE joint.0.homing 19 bit OUT TRUE joint.0.in-position 19 bit I/O FALSE joint.0.index-enable 19 float IN 1 joint.0.jog-accel-fraction 19 s32 IN 0 joint.0.jog-counts 19 bit IN FALSE joint.0.jog-enable 19 float IN 0 joint.0.jog-scale 19 bit IN FALSE joint.0.jog-vel-mode 19 bit OUT FALSE joint.0.kb-jog-active 19 float OUT 0 joint.0.motor-offset 19 float OUT 0 joint.0.motor-pos-cmd ==> x-pos-cmd 19 float IN 0 joint.0.motor-pos-fb <== x-pos-fb 19 bit OUT FALSE joint.0.neg-hard-limit 19 bit IN FALSE joint.0.neg-lim-sw-in <== min-x 19 float OUT 0 joint.0.pos-cmd 19 float OUT 0 joint.0.pos-fb 19 bit OUT FALSE joint.0.pos-hard-limit 19 bit IN FALSE joint.0.pos-lim-sw-in <== x-pos-limit 19 float OUT 0 joint.0.vel-cmd ==> x-vel-cmd 19 bit OUT FALSE joint.0.wheel-jog-active 19 float OUT 0 joint.1.acc-cmd 19 bit OUT TRUE joint.1.active 19 bit OUT FALSE joint.1.amp-enable-out ==> y-enable 19 bit IN FALSE joint.1.amp-fault-in 19 float OUT 0 joint.1.backlash-corr 19 float OUT 0 joint.1.backlash-filt 19 float OUT 0 joint.1.backlash-vel 19 float OUT 0 joint.1.coarse-pos-cmd 19 bit OUT FALSE joint.1.error 19 float OUT 0 joint.1.f-error 19 float OUT 0.05 joint.1.f-error-lim 19 bit OUT FALSE joint.1.f-errored 19 bit OUT FALSE joint.1.faulted 19 float OUT 0 joint.1.free-pos-cmd 19 bit OUT FALSE joint.1.free-tp-enable 19 float OUT 0 joint.1.free-vel-lim 19 s32 OUT 0 joint.1.home-state 19 bit IN FALSE joint.1.home-sw-in <== y-home-sw 19 bit OUT FALSE joint.1.homed 19 bit OUT FALSE joint.1.homing 19 bit OUT TRUE joint.1.in-position 19 bit I/O FALSE joint.1.index-enable 19 float IN 1 joint.1.jog-accel-fraction 19 s32 IN 0 joint.1.jog-counts 19 bit IN FALSE joint.1.jog-enable 19 float IN 0 joint.1.jog-scale 19 bit IN FALSE joint.1.jog-vel-mode 19 bit OUT FALSE joint.1.kb-jog-active 19 float OUT 0 joint.1.motor-offset 19 float OUT 0 joint.1.motor-pos-cmd ==> y-pos-cmd 19 float IN 0 joint.1.motor-pos-fb <== y-pos-fb 19 bit OUT FALSE joint.1.neg-hard-limit 19 bit IN FALSE joint.1.neg-lim-sw-in <== y-neg-limit 19 float OUT 0 joint.1.pos-cmd 19 float OUT 0 joint.1.pos-fb 19 bit OUT FALSE joint.1.pos-hard-limit 19 bit IN FALSE joint.1.pos-lim-sw-in <== y-pos-limit 19 float OUT 0 joint.1.vel-cmd ==> y-vel-cmd 19 bit OUT FALSE joint.1.wheel-jog-active 19 float OUT 0 joint.2.acc-cmd 19 bit OUT TRUE joint.2.active 19 bit OUT FALSE joint.2.amp-enable-out ==> z-enable 19 bit IN FALSE joint.2.amp-fault-in 19 float OUT 0 joint.2.backlash-corr 19 float OUT 0 joint.2.backlash-filt 19 float OUT 0 joint.2.backlash-vel 19 float OUT 0 joint.2.coarse-pos-cmd 19 bit OUT FALSE joint.2.error 19 float OUT 0 joint.2.f-error 19 float OUT 0.05 joint.2.f-error-lim 19 bit OUT FALSE joint.2.f-errored 19 bit OUT FALSE joint.2.faulted 19 float OUT 0 joint.2.free-pos-cmd 19 bit OUT FALSE joint.2.free-tp-enable 19 float OUT 0 joint.2.free-vel-lim 19 s32 OUT 0 joint.2.home-state 19 bit IN FALSE joint.2.home-sw-in <== z-home-sw 19 bit OUT FALSE joint.2.homed 19 bit OUT FALSE joint.2.homing 19 bit OUT TRUE joint.2.in-position 19 bit I/O FALSE joint.2.index-enable 19 float IN 1 joint.2.jog-accel-fraction 19 s32 IN 0 joint.2.jog-counts 19 bit IN FALSE joint.2.jog-enable 19 float IN 0 joint.2.jog-scale 19 bit IN FALSE joint.2.jog-vel-mode 19 bit OUT FALSE joint.2.kb-jog-active 19 float OUT 0 joint.2.motor-offset 19 float OUT 0 joint.2.motor-pos-cmd ==> z-pos-cmd 19 float IN 0 joint.2.motor-pos-fb <== z-pos-fb 19 bit OUT FALSE joint.2.neg-hard-limit 19 bit IN FALSE joint.2.neg-lim-sw-in <== z-neg-limit 19 float OUT 0 joint.2.pos-cmd 19 float OUT 0 joint.2.pos-fb 19 bit OUT FALSE joint.2.pos-hard-limit 19 bit IN FALSE joint.2.pos-lim-sw-in <== z-pos-limit 19 float OUT 0 joint.2.vel-cmd ==> z-vel-cmd 19 bit OUT FALSE joint.2.wheel-jog-active 19 s32 OUT 240 motion-command-handler.time 19 s32 OUT 4314 motion-controller.time 19 float IN 1 motion.adaptive-feed 19 float IN 0 motion.analog-in-00 19 float IN 0 motion.analog-in-01 19 float IN 0 motion.analog-in-02 19 float IN 0 motion.analog-in-03 19 float OUT 0 motion.analog-out-00 19 float OUT 0 motion.analog-out-01 19 float OUT 0 motion.analog-out-02 19 float OUT 0 motion.analog-out-03 19 bit OUT FALSE motion.coord-error 19 bit OUT FALSE motion.coord-mode 19 float OUT 0 motion.current-vel 19 bit IN FALSE motion.digital-in-00 19 bit IN FALSE motion.digital-in-01 19 bit IN FALSE motion.digital-in-02 19 bit IN FALSE motion.digital-in-03 19 bit OUT FALSE motion.digital-out-00 19 bit OUT FALSE motion.digital-out-01 19 bit OUT FALSE motion.digital-out-02 19 bit OUT FALSE motion.digital-out-03 19 float OUT 0 motion.distance-to-go 19 bit IN TRUE motion.enable 19 bit OUT FALSE motion.eoffset-active 19 bit OUT FALSE motion.eoffset-limited 19 bit IN FALSE motion.feed-hold 19 bit IN FALSE motion.feed-inhibit 19 bit IN FALSE motion.homing-inhibit 19 bit OUT TRUE motion.in-position ==> in-position 19 bit OUT FALSE motion.motion-enabled ==> machine-is-enabled 19 s32 OUT 0 motion.motion-type 19 bit OUT FALSE motion.on-soft-limit 19 bit IN FALSE motion.probe-input <== probe-in 19 s32 OUT 0 motion.program-line 19 float OUT 0 motion.requested-vel 19 u32 OUT 0x0016D8E4 motion.servo.last-period 19 bit OUT FALSE motion.teleop-mode 19 float OUT 0 motion.tooloffset.a 19 float OUT 0 motion.tooloffset.b 19 float OUT 0 motion.tooloffset.c 19 float OUT 0 motion.tooloffset.u 19 float OUT 0 motion.tooloffset.v 19 float OUT 0 motion.tooloffset.w 19 float OUT 0 motion.tooloffset.x 19 float OUT 0 motion.tooloffset.y 19 float OUT 0 motion.tooloffset.z 19 bit OUT FALSE motion.tp-reverse 29 float IN 0 pid.s.Dgain 29 float IN 1 pid.s.FF0 29 float IN 0 pid.s.FF1 29 float IN 0 pid.s.FF2 29 float IN 0 pid.s.FF3 29 float IN 0 pid.s.Igain 29 float IN 0 pid.s.Pgain 29 float IN 0 pid.s.bias 29 float IN 0 pid.s.command <== spindle-vel-cmd-rpm 29 float IN 0 pid.s.command-deriv 29 float IN 0 pid.s.deadband 29 s32 OUT 134 pid.s.do-pid-calcs.time 29 bit IN FALSE pid.s.enable <== spindle-enable 29 float OUT 0 pid.s.error 29 bit IN TRUE pid.s.error-previous-target 29 float IN 0 pid.s.feedback <== spindle-vel-fb-rpm 29 float IN 0 pid.s.feedback-deriv 29 bit IN FALSE pid.s.index-enable <== spindle-index-enable 29 float IN 0 pid.s.maxcmdD 29 float IN 0 pid.s.maxcmdDD 29 float IN 0 pid.s.maxcmdDDD 29 float IN 0 pid.s.maxerror 29 float IN 0 pid.s.maxerrorD 29 float IN 0 pid.s.maxerrorI 29 float IN 2000 pid.s.maxoutput 29 float OUT 0 pid.s.output ==> spindle-output 29 bit OUT FALSE pid.s.saturated 29 s32 OUT 0 pid.s.saturated-count 29 float OUT 0 pid.s.saturated-s 29 float IN 0 pid.x.Dgain 29 float IN 0 pid.x.FF0 29 float IN 1 pid.x.FF1 29 float IN 0 pid.x.FF2 29 float IN 0 pid.x.FF3 29 float IN 0 pid.x.Igain 29 float IN 1000 pid.x.Pgain 29 float IN 0 pid.x.bias 29 float IN 0 pid.x.command <== x-pos-cmd 29 float IN 0 pid.x.command-deriv 29 float IN 0 pid.x.deadband 29 s32 OUT 414 pid.x.do-pid-calcs.time 29 bit IN FALSE pid.x.enable <== x-enable 29 float OUT 0 pid.x.error 29 bit IN TRUE pid.x.error-previous-target 29 float IN 0 pid.x.feedback <== x-pos-fb 29 float IN 0 pid.x.feedback-deriv 29 bit IN FALSE pid.x.index-enable <== x-index-enable 29 float IN 0 pid.x.maxcmdD 29 float IN 0 pid.x.maxcmdDD 29 float IN 0 pid.x.maxcmdDDD 29 float IN 0.0005 pid.x.maxerror 29 float IN 0 pid.x.maxerrorD 29 float IN 0 pid.x.maxerrorI 29 float IN 0 pid.x.maxoutput 29 float OUT 0 pid.x.output ==> x-output 29 bit OUT FALSE pid.x.saturated 29 s32 OUT 0 pid.x.saturated-count 29 float OUT 0 pid.x.saturated-s 29 float IN 0 pid.y.Dgain 29 float IN 0 pid.y.FF0 29 float IN 1 pid.y.FF1 29 float IN 0 pid.y.FF2 29 float IN 0 pid.y.FF3 29 float IN 0 pid.y.Igain 29 float IN 1000 pid.y.Pgain 29 float IN 0 pid.y.bias 29 float IN 0 pid.y.command <== y-pos-cmd 29 float IN 0 pid.y.command-deriv 29 float IN 0 pid.y.deadband 29 s32 OUT 168 pid.y.do-pid-calcs.time 29 bit IN FALSE pid.y.enable <== y-enable 29 float OUT 0 pid.y.error 29 bit IN TRUE pid.y.error-previous-target 29 float IN 0 pid.y.feedback <== y-pos-fb 29 float IN 0 pid.y.feedback-deriv 29 bit IN FALSE pid.y.index-enable <== y-index-enable 29 float IN 0 pid.y.maxcmdD 29 float IN 0 pid.y.maxcmdDD 29 float IN 0 pid.y.maxcmdDDD 29 float IN 0.0005 pid.y.maxerror 29 float IN 0 pid.y.maxerrorD 29 float IN 0 pid.y.maxerrorI 29 float IN 0 pid.y.maxoutput 29 float OUT 0 pid.y.output ==> y-output 29 bit OUT FALSE pid.y.saturated 29 s32 OUT 0 pid.y.saturated-count 29 float OUT 0 pid.y.saturated-s 29 float IN 0 pid.z.Dgain 29 float IN 0 pid.z.FF0 29 float IN 1 pid.z.FF1 29 float IN 0 pid.z.FF2 29 float IN 0 pid.z.FF3 29 float IN 0 pid.z.Igain 29 float IN 1000 pid.z.Pgain 29 float IN 0 pid.z.bias 29 float IN 0 pid.z.command <== z-pos-cmd 29 float IN 0 pid.z.command-deriv 29 float IN 0 pid.z.deadband 29 s32 OUT 156 pid.z.do-pid-calcs.time 29 bit IN FALSE pid.z.enable <== z-enable 29 float OUT 0 pid.z.error 29 bit IN TRUE pid.z.error-previous-target 29 float IN 0 pid.z.feedback <== z-pos-fb 29 float IN 0 pid.z.feedback-deriv 29 bit IN FALSE pid.z.index-enable <== z-index-enable 29 float IN 0 pid.z.maxcmdD 29 float IN 0 pid.z.maxcmdDD 29 float IN 0 pid.z.maxcmdDDD 29 float IN 0.0005 pid.z.maxerror 29 float IN 0 pid.z.maxerrorD 29 float IN 0 pid.z.maxerrorI 29 float IN 0 pid.z.maxoutput 29 float OUT 0 pid.z.output ==> z-output 29 bit OUT FALSE pid.z.saturated 29 s32 OUT 0 pid.z.saturated-count 29 float OUT 0 pid.z.saturated-s 20 s32 OUT 203466 servo-thread.time 19 bit IN FALSE spindle.0.amp-fault-in 19 bit IN TRUE spindle.0.at-speed <== spindle-at-speed 19 bit OUT TRUE spindle.0.brake ==> spindle-brake 19 bit OUT FALSE spindle.0.forward ==> spindle-cw 19 bit I/O FALSE spindle.0.index-enable <=> spindle-index-enable 19 bit IN FALSE spindle.0.inhibit 19 bit IN FALSE spindle.0.is-oriented 19 bit OUT FALSE spindle.0.locked 19 bit OUT FALSE spindle.0.on ==> spindle-enable 19 bit OUT FALSE spindle.0.orient 19 float OUT 0 spindle.0.orient-angle 19 s32 IN 0 spindle.0.orient-fault 19 s32 OUT 0 spindle.0.orient-mode 19 bit OUT FALSE spindle.0.reverse ==> spindle-ccw 19 float IN 0 spindle.0.revs <== spindle-revs 19 float OUT 0 spindle.0.speed-cmd-rps 19 float IN 0 spindle.0.speed-in <== spindle-vel-fb-rps 19 float OUT 0 spindle.0.speed-out ==> spindle-vel-cmd-rpm 19 float OUT 0 spindle.0.speed-out-abs ==> spindle-vel-cmd-rpm-abs 19 float OUT 0 spindle.0.speed-out-rps ==> spindle-vel-cmd-rps 19 float OUT 0 spindle.0.speed-out-rps-abs ==> spindle-vel-cmd-rps-abs Pin Aliases: Alias Original Name Signals: Type Value Name (linked to) bit FALSE MDI-mode <== halui.mode.is-mdi bit FALSE axis-select-x ==> halui.axis.x.select bit FALSE axis-select-y ==> halui.axis.y.select bit FALSE axis-select-z ==> halui.axis.z.select bit FALSE coolant-flood <== iocontrol.0.coolant-flood bit FALSE coolant-mist <== iocontrol.0.coolant-mist bit FALSE estop-out ==> iocontrol.0.emc-enable-in <== iocontrol.0.user-enable-out bit TRUE home-x <== hm2_7i76e.0.gpio.038.in ==> joint.0.home-sw-in bit TRUE in-position <== motion.in-position bit FALSE jog-selected-neg ==> halui.axis.selected.minus bit FALSE jog-selected-pos ==> halui.axis.selected.plus float 0 jog-speed ==> halui.axis.jog-speed float 0 jog-x-analog ==> halui.axis.x.analog bit FALSE jog-x-neg ==> halui.axis.x.minus bit FALSE jog-x-pos ==> halui.axis.x.plus float 0 jog-y-analog ==> halui.axis.y.analog bit FALSE jog-y-neg ==> halui.axis.y.minus bit FALSE jog-y-pos ==> halui.axis.y.plus float 0 jog-z-analog ==> halui.axis.z.analog bit FALSE jog-z-neg ==> halui.axis.z.minus bit FALSE jog-z-pos ==> halui.axis.z.plus bit FALSE machine-is-enabled <== motion.motion-enabled bit FALSE machine-is-on <== halui.machine.is-on bit FALSE min-x <== hm2_7i76e.0.gpio.021.in ==> joint.0.neg-lim-sw-in bit FALSE probe-in ==> motion.probe-input bit TRUE spindle-at-speed ==> spindle.0.at-speed bit TRUE spindle-brake <== spindle.0.brake bit FALSE spindle-ccw <== spindle.0.reverse bit FALSE spindle-cw <== spindle.0.forward bit FALSE spindle-enable ==> pid.s.enable <== spindle.0.on bit FALSE spindle-index-enable ==> pid.s.index-enable <=> spindle.0.index-enable bit FALSE spindle-manual-ccw ==> halui.spindle.0.reverse bit FALSE spindle-manual-cw ==> halui.spindle.0.forward bit FALSE spindle-manual-stop ==> halui.spindle.0.stop float 0 spindle-output <== pid.s.output float 0 spindle-revs ==> spindle.0.revs float 0 spindle-vel-cmd-rpm ==> pid.s.command <== spindle.0.speed-out float 0 spindle-vel-cmd-rpm-abs <== spindle.0.speed-out-abs float 0 spindle-vel-cmd-rps <== spindle.0.speed-out-rps float 0 spindle-vel-cmd-rps-abs <== spindle.0.speed-out-rps-abs float 0 spindle-vel-fb-rpm ==> pid.s.feedback float 0 spindle-vel-fb-rps ==> spindle.0.speed-in bit FALSE tool-change-confirmed <== hal_manualtoolchange.changed ==> iocontrol.0.tool-changed bit FALSE tool-change-request ==> hal_manualtoolchange.change <== iocontrol.0.tool-change s32 0 tool-number ==> hal_manualtoolchange.number <== iocontrol.0.tool-prep-number bit FALSE tool-prepare-loopback <== iocontrol.0.tool-prepare ==> iocontrol.0.tool-prepared bit FALSE x-enable ==> hm2_7i76e.0.stepgen.00.enable <== joint.0.amp-enable-out ==> pid.x.enable bit FALSE x-index-enable ==> pid.x.index-enable bit FALSE x-is-homed <== halui.joint.0.is-homed float 0 x-output ==> hm2_7i76e.0.stepgen.00.velocity-cmd <== pid.x.output float 0 x-pos-cmd <== joint.0.motor-pos-cmd ==> pid.x.command float 0 x-pos-fb <== hm2_7i76e.0.stepgen.00.position-fb ==> joint.0.motor-pos-fb ==> pid.x.feedback bit FALSE x-pos-limit ==> joint.0.pos-lim-sw-in float 0 x-vel-cmd <== joint.0.vel-cmd bit FALSE y-enable ==> hm2_7i76e.0.stepgen.01.enable <== joint.1.amp-enable-out ==> pid.y.enable bit FALSE y-home-sw ==> joint.1.home-sw-in bit FALSE y-index-enable ==> pid.y.index-enable bit FALSE y-is-homed <== halui.joint.1.is-homed bit FALSE y-neg-limit ==> joint.1.neg-lim-sw-in float 0 y-output ==> hm2_7i76e.0.stepgen.01.velocity-cmd <== pid.y.output float 0 y-pos-cmd <== joint.1.motor-pos-cmd ==> pid.y.command float 0 y-pos-fb <== hm2_7i76e.0.stepgen.01.position-fb ==> joint.1.motor-pos-fb ==> pid.y.feedback bit FALSE y-pos-limit ==> joint.1.pos-lim-sw-in float 0 y-vel-cmd <== joint.1.vel-cmd bit FALSE z-enable ==> hm2_7i76e.0.stepgen.02.enable <== joint.2.amp-enable-out ==> pid.z.enable bit FALSE z-home-sw ==> joint.2.home-sw-in bit FALSE z-index-enable ==> pid.z.index-enable bit FALSE z-is-homed <== halui.joint.2.is-homed bit FALSE z-neg-limit ==> joint.2.neg-lim-sw-in float 0 z-output ==> hm2_7i76e.0.stepgen.02.velocity-cmd <== pid.z.output float 0 z-pos-cmd <== joint.2.motor-pos-cmd ==> pid.z.command float 0 z-pos-fb <== hm2_7i76e.0.stepgen.02.position-fb ==> joint.2.motor-pos-fb ==> pid.z.feedback bit FALSE z-pos-limit ==> joint.2.pos-lim-sw-in float 0 z-vel-cmd <== joint.2.vel-cmd Parameters: Owner Type Dir Value Name 26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.analogin0 26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.analogin1 26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.analogin2 26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.analogin3 26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.encmode0 26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.encmode1 26 u32 RO 0x00005500 hm2_7i76e.0.7i76.0.0.fieldvoltage 26 u32 RW 0x00000001 hm2_7i76e.0.7i76.0.0.hwrevision 26 u32 RW 0x00000009 hm2_7i76e.0.7i76.0.0.nvbaudrate 26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.nvencmode0 26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.nvencmode1 26 u32 RO 0x1A000094 hm2_7i76e.0.7i76.0.0.nvunitnumber 26 u32 RO 0x00000032 hm2_7i76e.0.7i76.0.0.nvwatchdogtimeout 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-00-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-01-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-02-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-03-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-04-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-05-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-06-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-07-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-08-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-09-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-10-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-11-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-12-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-13-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-14-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-15-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.spindir-invert 26 bit RW FALSE hm2_7i76e.0.7i76.0.0.spinena-invert 26 float RW 100 hm2_7i76e.0.7i76.0.0.spinout-maxlim 26 float RW 0 hm2_7i76e.0.7i76.0.0.spinout-minlim 26 float RW 100 hm2_7i76e.0.7i76.0.0.spinout-scalemax 26 u32 RW 0x0000000E hm2_7i76e.0.7i76.0.0.swrevision 26 bit RW FALSE hm2_7i76e.0.encoder.00.counter-mode 26 bit RW TRUE hm2_7i76e.0.encoder.00.filter 26 bit RW FALSE hm2_7i76e.0.encoder.00.index-invert 26 bit RW FALSE hm2_7i76e.0.encoder.00.index-mask 26 bit RW FALSE hm2_7i76e.0.encoder.00.index-mask-invert 26 float RW 1 hm2_7i76e.0.encoder.00.scale 26 float RW 0.5 hm2_7i76e.0.encoder.00.vel-timeout 26 bit RW FALSE hm2_7i76e.0.gpio.012.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.012.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.012.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.013.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.013.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.013.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.017.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.017.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.017.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.018.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.018.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.018.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.019.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.019.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.019.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.020.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.020.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.020.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.021.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.021.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.021.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.022.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.022.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.022.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.023.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.023.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.023.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.024.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.024.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.024.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.025.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.025.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.025.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.026.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.026.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.026.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.027.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.027.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.027.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.028.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.028.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.028.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.029.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.029.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.029.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.030.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.030.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.030.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.031.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.031.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.031.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.032.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.032.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.032.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.033.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.033.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.033.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.034.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.034.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.034.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.035.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.035.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.035.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.036.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.036.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.036.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.037.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.037.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.037.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.038.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.038.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.038.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.039.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.039.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.039.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.040.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.040.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.040.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.041.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.041.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.041.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.042.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.042.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.042.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.043.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.043.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.043.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.044.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.044.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.044.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.045.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.045.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.045.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.046.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.046.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.046.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.047.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.047.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.047.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.048.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.048.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.048.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.049.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.049.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.049.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.050.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.050.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.050.is_output 26 bit RW FALSE hm2_7i76e.0.io_error 26 s32 RO 1 hm2_7i76e.0.packet-error-decrement 26 s32 RW 2 hm2_7i76e.0.packet-error-increment 26 s32 RW 10 hm2_7i76e.0.packet-error-limit 26 s32 RW 80 hm2_7i76e.0.packet-read-timeout 26 s32 RW 0 hm2_7i76e.0.read-request.tmax 26 bit RO FALSE hm2_7i76e.0.read-request.tmax-increased 26 s32 RW 321612 hm2_7i76e.0.read.tmax 26 bit RO FALSE hm2_7i76e.0.read.tmax-increased 26 bit RW FALSE hm2_7i76e.0.sserial.00.tx0.invert_output 26 bit RW FALSE hm2_7i76e.0.sserial.00.tx0.is_opendrain 26 u32 RW 0x00000001 hm2_7i76e.0.sserial.port-0.fault-dec 26 u32 RW 0x0000000A hm2_7i76e.0.sserial.port-0.fault-inc 26 u32 RW 0x000000C8 hm2_7i76e.0.sserial.port-0.fault-lim 26 bit RW FALSE hm2_7i76e.0.stepgen.00.direction.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.00.direction.is_opendrain 26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.00.dirhold 26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.00.dirsetup 26 float RW 37.5 hm2_7i76e.0.stepgen.00.maxaccel 26 float RW 1.25 hm2_7i76e.0.stepgen.00.maxvel 26 float RW 200 hm2_7i76e.0.stepgen.00.position-scale 26 bit RW FALSE hm2_7i76e.0.stepgen.00.step.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.00.step.is_opendrain 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.step_type 26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.00.steplen 26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.00.stepspace 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-0 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-1 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-2 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-3 26 bit RW FALSE hm2_7i76e.0.stepgen.01.direction.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.01.direction.is_opendrain 26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.01.dirhold 26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.01.dirsetup 26 float RW 37.5 hm2_7i76e.0.stepgen.01.maxaccel 26 float RW 1.25 hm2_7i76e.0.stepgen.01.maxvel 26 float RW 200 hm2_7i76e.0.stepgen.01.position-scale 26 bit RW FALSE hm2_7i76e.0.stepgen.01.step.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.01.step.is_opendrain 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.step_type 26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.01.steplen 26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.01.stepspace 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-0 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-1 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-2 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-3 26 bit RW FALSE hm2_7i76e.0.stepgen.02.direction.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.02.direction.is_opendrain 26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.02.dirhold 26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.02.dirsetup 26 float RW 37.5 hm2_7i76e.0.stepgen.02.maxaccel 26 float RW 1.25 hm2_7i76e.0.stepgen.02.maxvel 26 float RW 200 hm2_7i76e.0.stepgen.02.position-scale 26 bit RW FALSE hm2_7i76e.0.stepgen.02.step.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.02.step.is_opendrain 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.step_type 26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.02.steplen 26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.02.stepspace 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-0 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-1 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-2 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-3 26 bit RW FALSE hm2_7i76e.0.stepgen.03.direction.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.03.direction.is_opendrain 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.dirhold 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.dirsetup 26 float RW 1 hm2_7i76e.0.stepgen.03.maxaccel 26 float RW 0 hm2_7i76e.0.stepgen.03.maxvel 26 float RW 1 hm2_7i76e.0.stepgen.03.position-scale 26 bit RW FALSE hm2_7i76e.0.stepgen.03.step.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.03.step.is_opendrain 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.step_type 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.steplen 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.stepspace 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-0 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-1 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-2 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-3 26 bit RW FALSE hm2_7i76e.0.stepgen.04.direction.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.04.direction.is_opendrain 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.dirhold 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.dirsetup 26 float RW 1 hm2_7i76e.0.stepgen.04.maxaccel 26 float RW 0 hm2_7i76e.0.stepgen.04.maxvel 26 float RW 1 hm2_7i76e.0.stepgen.04.position-scale 26 bit RW FALSE hm2_7i76e.0.stepgen.04.step.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.04.step.is_opendrain 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.step_type 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.steplen 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.stepspace 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-0 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-1 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-2 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-3 26 u32 RW 0x004C4B40 hm2_7i76e.0.watchdog.timeout_ns 26 s32 RW 89542 hm2_7i76e.0.write.tmax 26 bit RO FALSE hm2_7i76e.0.write.tmax-increased 4 s32 RO 0 iocontrol.0.tool-prep-index 19 s32 RW 5840 motion-command-handler.tmax 19 bit RO FALSE motion-command-handler.tmax-increased 19 s32 RW 35502 motion-controller.tmax 19 bit RO FALSE motion-controller.tmax-increased 19 bit RO FALSE motion.debug-bit-0 19 bit RO FALSE motion.debug-bit-1 19 float RO 0 motion.debug-float-0 19 float RO 0 motion.debug-float-1 19 float RO 0 motion.debug-float-2 19 float RO 1 motion.debug-float-3 19 s32 RO 0 motion.debug-s32-0 19 s32 RO 0 motion.debug-s32-1 29 s32 RW 1506 pid.s.do-pid-calcs.tmax 29 bit RO FALSE pid.s.do-pid-calcs.tmax-increased 29 s32 RW 3640 pid.x.do-pid-calcs.tmax 29 bit RO FALSE pid.x.do-pid-calcs.tmax-increased 29 s32 RW 1524 pid.y.do-pid-calcs.tmax 29 bit RO FALSE pid.y.do-pid-calcs.tmax-increased 29 s32 RW 1922 pid.z.do-pid-calcs.tmax 29 bit RO FALSE pid.z.do-pid-calcs.tmax-increased 20 s32 RW 432552 servo-thread.tmax 19 float RO 0 tc.0.acc 19 float RO 0 tc.0.pos 19 float RO 0 tc.0.vel 19 float RO 0 tc.1.acc 19 float RO 0 tc.1.pos 19 float RO 0 tc.1.vel 19 float RO 0 tc.2.acc 19 float RO 0 tc.2.pos 19 float RO 0 tc.2.vel 19 float RO 0 tc.3.acc 19 float RO 0 tc.3.pos 19 float RO 0 tc.3.vel 19 u32 RO 0x00000000 traj.active_tc 19 float RO 0 traj.pos_out 19 float RO 0 traj.vel_out Parameter Aliases: Alias Original Name hm2_7i76e.0.sserial.00.tx0.invert_output hm2_7i76e.0.gpio.010.invert_output hm2_7i76e.0.sserial.00.tx0.is_opendrain hm2_7i76e.0.gpio.010.is_opendrain hm2_7i76e.0.stepgen.00.direction.invert_output hm2_7i76e.0.gpio.000.invert_output hm2_7i76e.0.stepgen.00.direction.is_opendrain hm2_7i76e.0.gpio.000.is_opendrain hm2_7i76e.0.stepgen.00.step.invert_output hm2_7i76e.0.gpio.001.invert_output hm2_7i76e.0.stepgen.00.step.is_opendrain hm2_7i76e.0.gpio.001.is_opendrain hm2_7i76e.0.stepgen.01.direction.invert_output hm2_7i76e.0.gpio.002.invert_output hm2_7i76e.0.stepgen.01.direction.is_opendrain hm2_7i76e.0.gpio.002.is_opendrain hm2_7i76e.0.stepgen.01.step.invert_output hm2_7i76e.0.gpio.003.invert_output hm2_7i76e.0.stepgen.01.step.is_opendrain hm2_7i76e.0.gpio.003.is_opendrain hm2_7i76e.0.stepgen.02.direction.invert_output hm2_7i76e.0.gpio.004.invert_output hm2_7i76e.0.stepgen.02.direction.is_opendrain hm2_7i76e.0.gpio.004.is_opendrain hm2_7i76e.0.stepgen.02.step.invert_output hm2_7i76e.0.gpio.005.invert_output hm2_7i76e.0.stepgen.02.step.is_opendrain hm2_7i76e.0.gpio.005.is_opendrain hm2_7i76e.0.stepgen.03.direction.invert_output hm2_7i76e.0.gpio.006.invert_output hm2_7i76e.0.stepgen.03.direction.is_opendrain hm2_7i76e.0.gpio.006.is_opendrain hm2_7i76e.0.stepgen.03.step.invert_output hm2_7i76e.0.gpio.007.invert_output hm2_7i76e.0.stepgen.03.step.is_opendrain hm2_7i76e.0.gpio.007.is_opendrain hm2_7i76e.0.stepgen.04.direction.invert_output hm2_7i76e.0.gpio.008.invert_output hm2_7i76e.0.stepgen.04.direction.is_opendrain hm2_7i76e.0.gpio.008.is_opendrain hm2_7i76e.0.stepgen.04.step.invert_output hm2_7i76e.0.gpio.009.invert_output hm2_7i76e.0.stepgen.04.step.is_opendrain hm2_7i76e.0.gpio.009.is_opendrain Exported Functions: Owner CodeAddr Arg FP Users Name 00026 7f572926f75d 5613e29ebb20 YES 1 hm2_7i76e.0.read 00026 7f572926f6e9 5613e29ebb20 YES 0 hm2_7i76e.0.read-request 00026 7f572926f606 5613e29ebb20 YES 1 hm2_7i76e.0.write 00019 7f57297058d6 00000000 YES 1 motion-command-handler 00019 7f57297091a3 00000000 YES 1 motion-controller 00029 7f5728e5fd6a 7f572bc54da0 YES 1 pid.s.do-pid-calcs 00029 7f5728e5fd6a 7f572bc549e0 YES 1 pid.x.do-pid-calcs 00029 7f5728e5fd6a 7f572bc54b20 YES 1 pid.y.do-pid-calcs 00029 7f5728e5fd6a 7f572bc54c60 YES 1 pid.z.do-pid-calcs Realtime Threads: Period FP Name ( Time, Max-Time ) 1000000 YES servo-thread ( 225578, 432552 ) 1 hm2_7i76e.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 pid.s.do-pid-calcs 8 hm2_7i76e.0.write

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6 years 2 months ago #177081 by jhandel
Replied by jhandel on topic Simple IO wiring not working (I know I am doing something wrong)
I am specifically using ping 5 because that is the start of the digital IO pins, and this isn't "analog" from what I gather.. But I can try to add a resistor.. going to make wiring "fun" if I need to add another BOB to convert 20+ signals over with a pull up resistor.

currently the wiring is
Sensor -> Propritary Bob-> one to one DB25 to pins Bob-> 7i86e

If what you are suggesting is true I have to create another "space" to add 20+ resistors to all of those inputs?

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6 years 2 months ago #177083 by tommylight
Replied by tommylight on topic Simple IO wiring not working (I know I am doing something wrong)
hm2_7i76e.0.gpio.021.in
That is a pin on one of the two 26 pin headers on the 7i76E, so if they are not connected to a BOB and you have the sensor wired to that BOB, nothing will happen.
This is the pin in hal you should be using if the sensor is wired to the first input on 7i76E
hm2_7i76e.0.7i76.0.0.input-00

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6 years 2 months ago #177086 by jhandel
Replied by jhandel on topic Simple IO wiring not working (I know I am doing something wrong)
Wiring is to TB6:5 which is the first digital IO pin on the last set of plugs (right most edge of the diagram) according to forum.linuxcnc.org/media/kunena/attachme...hluss_2017-01-02.pdf page 6 (forum.linuxcnc.org/media/kunena/attachme...hluss_2017-01-02.pdf) according to that doc pin5 on TB6 is hm2_7i76e.0.7i76.0.0.input-20

Ignore the limit and home I picked in the Hal, that was just to get through PNCConfig so I could get to the HalMeter and HalScope.. I have tested every single of the IO pins in HalMeter (hm2_7i76e.0.7i76.0.0.input-00 through hm2_7i76e.0.7i76.0.0.input-30) and none of them are flipping as I tap a screw driver against the sensor.

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6 years 2 months ago #177098 by tommylight
Replied by tommylight on topic Simple IO wiring not working (I know I am doing something wrong)
Pin 5 on TB6 is input 04, not 20.
Input 20 is on pin 5 TB5.
And again, you might need a pull up resistor as described above.

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6 years 2 months ago #177102 by jhandel
Replied by jhandel on topic Simple IO wiring not working (I know I am doing something wrong)
having tried all of the pins, its in-material if it is 5 or 20.

would I need a pull-up resistor if this was a physical switch between the pin and common (0v)? because functionally that is what this is.. If the answer is yes "even with a physical switch between 0v and field (12v) you would need a pull up resistor then I guess, I do (100% suck for anyone using physical switches)..

I say that because that is how this digital switch from the BoB is behaving.. it is a connection to 0v when flipped.

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6 years 2 months ago #177113 by tommylight
Replied by tommylight on topic Simple IO wiring not working (I know I am doing something wrong)
No need for a resistor if using a switch.
There are several types of sensor outputs, NPN, PNP, and push-pull. The latter works with any type of inputs, while the former ones are for use with sinking or sourcing inputs, respectively.
So if the sensor in your case is of NPN type, you do need a resistor for 7i76E inputs but not for the 7i76ED.
In the attached diagram the sensor goes through something, so without knowing what that does, it is hard to know what exactly to do.
You can always test the inputs by wiring 12V to one of the inputs and monitoring them with halshow.

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6 years 2 months ago #177114 by jhandel
Replied by jhandel on topic Simple IO wiring not working (I know I am doing something wrong)
The propritary Bob converts all the sensors (and other IO) into digital signals connected to common (0v).. So when the sensor is on, the BoB makes a connection to common on that pin vs. the field 12v..

(Retro fit of something designed to interface with a Controller that worked with simple switches)

Effectively it is the same as this attached image.

I am going to grab a physical switch and test that field to common can be just a switch...

I did try a resistor.. when I did that the input would flip state once, and then get stuck, and wouldn't flip back..

Will post back when I try a physical switch between common & field.

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