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 200 ini.traj_default_velocity 44 float IN 1e+99 ini.traj_max_acceleration 44 float IN 300 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 1000 ini.x.max_acceleration 44 float IN 1e+99 ini.x.max_limit 44 float IN 245 ini.x.max_velocity 44 float IN -1e+99 ini.x.min_limit 44 float IN 750 ini.y.max_acceleration 44 float IN 200 ini.y.max_limit 44 float IN 25 ini.y.max_velocity 44 float IN -0.01 ini.y.min_limit 44 float IN 750 ini.z.max_acceleration 44 float IN 0.01 ini.z.max_limit 44 float IN 25 ini.z.max_velocity 44 float IN -100 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 58.10075 joint.0.coarse-pos-cmd 19 bit OUT FALSE joint.0.error 19 float OUT 0 joint.0.f-error 19 float OUT 2 joint.0.f-error-lim 19 bit OUT FALSE joint.0.f-errored 19 bit OUT FALSE joint.0.faulted 19 float OUT 58.10075 joint.0.free-pos-cmd 19 bit OUT FALSE joint.0.free-tp-enable 19 float OUT 99.31667 joint.0.free-vel-lim 19 s32 OUT 0 joint.0.home-state 19 bit IN FALSE joint.0.home-sw-in <== x-home-sw 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 <=> x-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 58.1015 joint.0.motor-pos-cmd ==> x-pos-cmd 19 float IN 58.1015 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 <== x-neg-limit 19 float OUT 58.1015 joint.0.pos-cmd 19 float OUT 58.1015 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 1 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 1 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 885 motion-command-handler.time 19 s32 OUT 18900 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 0x002EB0F3 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 390 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 0.01 pid.x.Igain 29 float IN 10 pid.x.Pgain 29 float IN 0 pid.x.bias 29 float IN 58.1015 pid.x.command <== x-pos-cmd 29 float IN 0 pid.x.command-deriv 29 float IN 0.001 pid.x.deadband 29 s32 OUT 1335 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 58.1015 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 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 960 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 270 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 996930 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 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 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-home-sw ==> joint.0.home-sw-in bit FALSE x-index-enable <=> hm2_7i76e.0.encoder.00.index-enable <=> joint.0.index-enable ==> pid.x.index-enable bit FALSE x-is-homed <== halui.joint.0.is-homed bit FALSE x-neg-limit ==> joint.0.neg-lim-sw-in float 0 x-output ==> hm2_7i76e.0.stepgen.00.velocity-cmd <== pid.x.output float 58.1015 x-pos-cmd <== joint.0.motor-pos-cmd ==> pid.x.command float 58.1015 x-pos-fb <== hm2_7i76e.0.encoder.00.position ==> joint.0.motor-pos-fb ==> pid.x.feedback bit FALSE x-pos-limit ==> joint.0.pos-lim-sw-in s32 -116203 x-pos-rawcounts <== hm2_7i76e.0.encoder.00.rawcounts float 0 x-vel-cmd <== joint.0.vel-cmd float 0 x-vel-fb <== hm2_7i76e.0.encoder.00.velocity 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 0x00008CC0 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 0x1A00032E 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 -2000 hm2_7i76e.0.encoder.00.scale 26 bit RW FALSE hm2_7i76e.0.encoder.00.sel0.invert_output 26 bit RW FALSE hm2_7i76e.0.encoder.00.sel0.is_opendrain 26 float RW 0.5 hm2_7i76e.0.encoder.00.vel-timeout 26 bit RW FALSE hm2_7i76e.0.encoder.01.counter-mode 26 bit RW TRUE hm2_7i76e.0.encoder.01.filter 26 bit RW FALSE hm2_7i76e.0.encoder.01.index-invert 26 bit RW FALSE hm2_7i76e.0.encoder.01.index-mask 26 bit RW FALSE hm2_7i76e.0.encoder.01.index-mask-invert 26 float RW 1 hm2_7i76e.0.encoder.01.scale 26 float RW 0.5 hm2_7i76e.0.encoder.01.vel-timeout 26 bit RW FALSE hm2_7i76e.0.encoder.02.counter-mode 26 bit RW TRUE hm2_7i76e.0.encoder.02.filter 26 bit RW FALSE hm2_7i76e.0.encoder.02.index-invert 26 bit RW FALSE hm2_7i76e.0.encoder.02.index-mask 26 bit RW FALSE hm2_7i76e.0.encoder.02.index-mask-invert 26 float RW 1 hm2_7i76e.0.encoder.02.scale 26 float RW 0.5 hm2_7i76e.0.encoder.02.vel-timeout 26 bit RW FALSE hm2_7i76e.0.encoder.03.counter-mode 26 bit RW TRUE hm2_7i76e.0.encoder.03.filter 26 bit RW FALSE hm2_7i76e.0.encoder.03.index-invert 26 bit RW FALSE hm2_7i76e.0.encoder.03.index-mask 26 bit RW FALSE hm2_7i76e.0.encoder.03.index-mask-invert 26 float RW 1 hm2_7i76e.0.encoder.03.scale 26 float RW 0.5 hm2_7i76e.0.encoder.03.vel-timeout 26 bit RW FALSE hm2_7i76e.0.encoder.04.counter-mode 26 bit RW TRUE hm2_7i76e.0.encoder.04.filter 26 bit RW FALSE hm2_7i76e.0.encoder.04.index-invert 26 bit RW FALSE hm2_7i76e.0.encoder.04.index-mask 26 bit RW FALSE hm2_7i76e.0.encoder.04.index-mask-invert 26 float RW 1 hm2_7i76e.0.encoder.04.scale 26 float RW 0.5 hm2_7i76e.0.encoder.04.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.014.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.014.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.014.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.015.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.015.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.015.is_output 26 bit RW FALSE hm2_7i76e.0.gpio.016.invert_output 26 bit RW FALSE hm2_7i76e.0.gpio.016.is_opendrain 26 bit RW FALSE hm2_7i76e.0.gpio.016.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.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.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 2488980 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 0x00004E20 hm2_7i76e.0.stepgen.00.dirhold 26 u32 RW 0x00004E20 hm2_7i76e.0.stepgen.00.dirsetup 26 float RW 1500 hm2_7i76e.0.stepgen.00.maxaccel 26 float RW 277.7778 hm2_7i76e.0.stepgen.00.maxvel 26 float RW 2000 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 0x00000384 hm2_7i76e.0.stepgen.00.steplen 26 u32 RW 0x00000384 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 937.5 hm2_7i76e.0.stepgen.01.maxaccel 26 float RW 31.25 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 937.5 hm2_7i76e.0.stepgen.02.maxaccel 26 float RW 31.25 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 bit RW FALSE hm2_7i76e.0.stepgen.05.direction.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.05.direction.is_opendrain 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.05.dirhold 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.05.dirsetup 26 float RW 1 hm2_7i76e.0.stepgen.05.maxaccel 26 float RW 0 hm2_7i76e.0.stepgen.05.maxvel 26 float RW 1 hm2_7i76e.0.stepgen.05.position-scale 26 bit RW FALSE hm2_7i76e.0.stepgen.05.step.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.05.step.is_opendrain 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.05.step_type 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.05.steplen 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.05.stepspace 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.05.table-data-0 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.05.table-data-1 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.05.table-data-2 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.05.table-data-3 26 bit RW FALSE hm2_7i76e.0.stepgen.06.direction.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.06.direction.is_opendrain 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.06.dirhold 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.06.dirsetup 26 float RW 1 hm2_7i76e.0.stepgen.06.maxaccel 26 float RW 0 hm2_7i76e.0.stepgen.06.maxvel 26 float RW 1 hm2_7i76e.0.stepgen.06.position-scale 26 bit RW FALSE hm2_7i76e.0.stepgen.06.step.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.06.step.is_opendrain 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.06.step_type 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.06.steplen 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.06.stepspace 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.06.table-data-0 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.06.table-data-1 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.06.table-data-2 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.06.table-data-3 26 bit RW FALSE hm2_7i76e.0.stepgen.07.direction.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.07.direction.is_opendrain 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.07.dirhold 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.07.dirsetup 26 float RW 1 hm2_7i76e.0.stepgen.07.maxaccel 26 float RW 0 hm2_7i76e.0.stepgen.07.maxvel 26 float RW 1 hm2_7i76e.0.stepgen.07.position-scale 26 bit RW FALSE hm2_7i76e.0.stepgen.07.step.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.07.step.is_opendrain 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.07.step_type 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.07.steplen 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.07.stepspace 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.07.table-data-0 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.07.table-data-1 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.07.table-data-2 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.07.table-data-3 26 bit RW FALSE hm2_7i76e.0.stepgen.08.direction.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.08.direction.is_opendrain 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.08.dirhold 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.08.dirsetup 26 float RW 1 hm2_7i76e.0.stepgen.08.maxaccel 26 float RW 0 hm2_7i76e.0.stepgen.08.maxvel 26 float RW 1 hm2_7i76e.0.stepgen.08.position-scale 26 bit RW FALSE hm2_7i76e.0.stepgen.08.step.invert_output 26 bit RW FALSE hm2_7i76e.0.stepgen.08.step.is_opendrain 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.08.step_type 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.08.steplen 26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.08.stepspace 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.08.table-data-0 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.08.table-data-1 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.08.table-data-2 26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.08.table-data-3 26 u32 RW 0x004C4B40 hm2_7i76e.0.watchdog.timeout_ns 26 s32 RW 132705 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 19875 motion-command-handler.tmax 19 bit RO FALSE motion-command-handler.tmax-increased 19 s32 RW 62580 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 14640 pid.s.do-pid-calcs.tmax 29 bit RO FALSE pid.s.do-pid-calcs.tmax-increased 29 s32 RW 19680 pid.x.do-pid-calcs.tmax 29 bit RO FALSE pid.x.do-pid-calcs.tmax-increased 29 s32 RW 19380 pid.y.do-pid-calcs.tmax 29 bit RO FALSE pid.y.do-pid-calcs.tmax-increased 29 s32 RW 19530 pid.z.do-pid-calcs.tmax 29 bit RO FALSE pid.z.do-pid-calcs.tmax-increased 20 s32 RW 2645415 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.encoder.00.sel0.invert_output hm2_7i76e.0.gpio.027.invert_output hm2_7i76e.0.encoder.00.sel0.is_opendrain hm2_7i76e.0.gpio.027.is_opendrain 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 hm2_7i76e.0.stepgen.05.direction.invert_output hm2_7i76e.0.gpio.026.invert_output hm2_7i76e.0.stepgen.05.direction.is_opendrain hm2_7i76e.0.gpio.026.is_opendrain hm2_7i76e.0.stepgen.05.step.invert_output hm2_7i76e.0.gpio.025.invert_output hm2_7i76e.0.stepgen.05.step.is_opendrain hm2_7i76e.0.gpio.025.is_opendrain hm2_7i76e.0.stepgen.06.direction.invert_output hm2_7i76e.0.gpio.024.invert_output hm2_7i76e.0.stepgen.06.direction.is_opendrain hm2_7i76e.0.gpio.024.is_opendrain hm2_7i76e.0.stepgen.06.step.invert_output hm2_7i76e.0.gpio.023.invert_output hm2_7i76e.0.stepgen.06.step.is_opendrain hm2_7i76e.0.gpio.023.is_opendrain hm2_7i76e.0.stepgen.07.direction.invert_output hm2_7i76e.0.gpio.022.invert_output hm2_7i76e.0.stepgen.07.direction.is_opendrain hm2_7i76e.0.gpio.022.is_opendrain hm2_7i76e.0.stepgen.07.step.invert_output hm2_7i76e.0.gpio.021.invert_output hm2_7i76e.0.stepgen.07.step.is_opendrain hm2_7i76e.0.gpio.021.is_opendrain hm2_7i76e.0.stepgen.08.direction.invert_output hm2_7i76e.0.gpio.020.invert_output hm2_7i76e.0.stepgen.08.direction.is_opendrain hm2_7i76e.0.gpio.020.is_opendrain hm2_7i76e.0.stepgen.08.step.invert_output hm2_7i76e.0.gpio.019.invert_output hm2_7i76e.0.stepgen.08.step.is_opendrain hm2_7i76e.0.gpio.019.is_opendrain Exported Functions: Owner CodeAddr Arg FP Users Name 00026 7fea9068976f 5562f183f6d0 YES 1 hm2_7i76e.0.read 00026 7fea906896ff 5562f183f6d0 YES 0 hm2_7i76e.0.read-request 00026 7fea906895f4 5562f183f6d0 YES 1 hm2_7i76e.0.write 00019 7fea90b302ed 00000000 YES 1 motion-command-handler 00019 7fea90b33b84 00000000 YES 1 motion-controller 00029 7fea90276d70 7fea92d4e168 YES 1 pid.s.do-pid-calcs 00029 7fea90276d70 7fea92d4dda8 YES 1 pid.x.do-pid-calcs 00029 7fea90276d70 7fea92d4dee8 YES 1 pid.y.do-pid-calcs 00029 7fea90276d70 7fea92d4e028 YES 1 pid.z.do-pid-calcs Realtime Threads: Period FP Name ( Time, Max-Time ) 1000000 YES servo-thread ( 1018860, 2645415 ) 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