stefan@StefansDebian:~$ halrun halcmd: loadrt hostmot2 halcmd: loadrt hm2_pci halcmd: show pin Component Pins: Owner Type Dir Value Name 5 s32 OUT 0 hm2_5i25.0.encoder.00.count 5 s32 OUT 0 hm2_5i25.0.encoder.00.count-latched 5 bit I/O FALSE hm2_5i25.0.encoder.00.index-enable 5 bit OUT TRUE hm2_5i25.0.encoder.00.input-a 5 bit OUT TRUE hm2_5i25.0.encoder.00.input-b 5 bit OUT FALSE hm2_5i25.0.encoder.00.input-index 5 bit IN FALSE hm2_5i25.0.encoder.00.latch-enable 5 bit IN FALSE hm2_5i25.0.encoder.00.latch-polarity 5 float OUT 0 hm2_5i25.0.encoder.00.position 5 float OUT 0 hm2_5i25.0.encoder.00.position-latched 5 bit OUT FALSE hm2_5i25.0.encoder.00.quad-error 5 bit IN FALSE hm2_5i25.0.encoder.00.quad-error-enable 5 s32 OUT 0 hm2_5i25.0.encoder.00.rawcounts 5 s32 OUT 0 hm2_5i25.0.encoder.00.rawlatch 5 bit IN FALSE hm2_5i25.0.encoder.00.reset 5 float OUT 0 hm2_5i25.0.encoder.00.velocity 5 s32 OUT 0 hm2_5i25.0.encoder.01.count 5 s32 OUT 0 hm2_5i25.0.encoder.01.count-latched 5 bit I/O FALSE hm2_5i25.0.encoder.01.index-enable 5 bit OUT TRUE hm2_5i25.0.encoder.01.input-a 5 bit OUT TRUE hm2_5i25.0.encoder.01.input-b 5 bit OUT FALSE hm2_5i25.0.encoder.01.input-index 5 bit IN FALSE hm2_5i25.0.encoder.01.latch-enable 5 bit IN FALSE hm2_5i25.0.encoder.01.latch-polarity 5 float OUT 0 hm2_5i25.0.encoder.01.position 5 float OUT 0 hm2_5i25.0.encoder.01.position-latched 5 bit OUT FALSE hm2_5i25.0.encoder.01.quad-error 5 bit IN FALSE hm2_5i25.0.encoder.01.quad-error-enable 5 s32 OUT 0 hm2_5i25.0.encoder.01.rawcounts 5 s32 OUT 0 hm2_5i25.0.encoder.01.rawlatch 5 bit IN FALSE hm2_5i25.0.encoder.01.reset 5 float OUT 0 hm2_5i25.0.encoder.01.velocity 5 u32 IN 0x00001FC8 hm2_5i25.0.encoder.sample-frequency 5 bit OUT FALSE hm2_5i25.0.gpio.000.in 5 bit OUT TRUE hm2_5i25.0.gpio.000.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.001.in 5 bit OUT TRUE hm2_5i25.0.gpio.001.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.002.in 5 bit OUT TRUE hm2_5i25.0.gpio.002.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.003.in 5 bit OUT TRUE hm2_5i25.0.gpio.003.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.004.in 5 bit OUT TRUE hm2_5i25.0.gpio.004.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.005.in 5 bit OUT TRUE hm2_5i25.0.gpio.005.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.006.in 5 bit OUT TRUE hm2_5i25.0.gpio.006.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.007.in 5 bit OUT TRUE hm2_5i25.0.gpio.007.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.008.in 5 bit OUT TRUE hm2_5i25.0.gpio.008.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.009.in 5 bit OUT TRUE hm2_5i25.0.gpio.009.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.010.in 5 bit OUT TRUE hm2_5i25.0.gpio.010.in_not 5 bit IN FALSE hm2_5i25.0.gpio.010.out 5 bit OUT FALSE hm2_5i25.0.gpio.011.in 5 bit OUT TRUE hm2_5i25.0.gpio.011.in_not 5 bit IN FALSE hm2_5i25.0.gpio.011.out 5 bit OUT FALSE hm2_5i25.0.gpio.012.in 5 bit OUT TRUE hm2_5i25.0.gpio.012.in_not 5 bit IN FALSE hm2_5i25.0.gpio.012.out 5 bit OUT TRUE hm2_5i25.0.gpio.013.in 5 bit OUT FALSE hm2_5i25.0.gpio.013.in_not 5 bit IN FALSE hm2_5i25.0.gpio.013.out 5 bit OUT TRUE hm2_5i25.0.gpio.014.in 5 bit OUT FALSE hm2_5i25.0.gpio.014.in_not 5 bit OUT TRUE hm2_5i25.0.gpio.015.in 5 bit OUT FALSE hm2_5i25.0.gpio.015.in_not 5 bit OUT TRUE hm2_5i25.0.gpio.016.in 5 bit OUT FALSE hm2_5i25.0.gpio.016.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.017.in 5 bit OUT TRUE hm2_5i25.0.gpio.017.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.018.in 5 bit OUT TRUE hm2_5i25.0.gpio.018.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.019.in 5 bit OUT TRUE hm2_5i25.0.gpio.019.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.020.in 5 bit OUT TRUE hm2_5i25.0.gpio.020.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.021.in 5 bit OUT TRUE hm2_5i25.0.gpio.021.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.022.in 5 bit OUT TRUE hm2_5i25.0.gpio.022.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.023.in 5 bit OUT TRUE hm2_5i25.0.gpio.023.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.024.in 5 bit OUT TRUE hm2_5i25.0.gpio.024.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.025.in 5 bit OUT TRUE hm2_5i25.0.gpio.025.in_not 5 bit OUT FALSE hm2_5i25.0.gpio.026.in 5 bit OUT TRUE hm2_5i25.0.gpio.026.in_not 5 bit OUT TRUE hm2_5i25.0.gpio.027.in 5 bit OUT FALSE hm2_5i25.0.gpio.027.in_not 5 bit IN FALSE hm2_5i25.0.gpio.027.out 5 bit OUT TRUE hm2_5i25.0.gpio.028.in 5 bit OUT FALSE hm2_5i25.0.gpio.028.in_not 5 bit IN FALSE hm2_5i25.0.gpio.028.out 5 bit OUT TRUE hm2_5i25.0.gpio.029.in 5 bit OUT FALSE hm2_5i25.0.gpio.029.in_not 5 bit IN FALSE hm2_5i25.0.gpio.029.out 5 bit OUT TRUE hm2_5i25.0.gpio.030.in 5 bit OUT FALSE hm2_5i25.0.gpio.030.in_not 5 bit IN FALSE hm2_5i25.0.gpio.030.out 5 bit OUT TRUE hm2_5i25.0.gpio.031.in 5 bit OUT FALSE hm2_5i25.0.gpio.031.in_not 5 bit OUT TRUE hm2_5i25.0.gpio.032.in 5 bit OUT FALSE hm2_5i25.0.gpio.032.in_not 5 bit OUT TRUE hm2_5i25.0.gpio.033.in 5 bit OUT FALSE hm2_5i25.0.gpio.033.in_not 5 bit IN FALSE hm2_5i25.0.led.CR01 5 bit IN FALSE hm2_5i25.0.led.CR02 5 s32 OUT 0 hm2_5i25.0.read.time 5 s32 OUT 0 hm2_5i25.0.read_gpio.time 5 bit IN FALSE hm2_5i25.0.stepgen.00.control-type 5 s32 OUT 0 hm2_5i25.0.stepgen.00.counts 5 float OUT 0 hm2_5i25.0.stepgen.00.dbg_err_at_match 5 float OUT 0 hm2_5i25.0.stepgen.00.dbg_ff_vel 5 float OUT 0 hm2_5i25.0.stepgen.00.dbg_pos_minus_prev_cmd 5 float OUT 0 hm2_5i25.0.stepgen.00.dbg_s_to_match 5 s32 OUT 0 hm2_5i25.0.stepgen.00.dbg_step_rate 5 float OUT 0 hm2_5i25.0.stepgen.00.dbg_vel_error 5 bit IN FALSE hm2_5i25.0.stepgen.00.enable 5 float IN 0 hm2_5i25.0.stepgen.00.position-cmd 5 float OUT 0 hm2_5i25.0.stepgen.00.position-fb 5 float IN 0 hm2_5i25.0.stepgen.00.velocity-cmd 5 float OUT 0 hm2_5i25.0.stepgen.00.velocity-fb 5 bit IN FALSE hm2_5i25.0.stepgen.01.control-type 5 s32 OUT 0 hm2_5i25.0.stepgen.01.counts 5 float OUT 0 hm2_5i25.0.stepgen.01.dbg_err_at_match 5 float OUT 0 hm2_5i25.0.stepgen.01.dbg_ff_vel 5 float OUT 0 hm2_5i25.0.stepgen.01.dbg_pos_minus_prev_cmd 5 float OUT 0 hm2_5i25.0.stepgen.01.dbg_s_to_match 5 s32 OUT 0 hm2_5i25.0.stepgen.01.dbg_step_rate 5 float OUT 0 hm2_5i25.0.stepgen.01.dbg_vel_error 5 bit IN FALSE hm2_5i25.0.stepgen.01.enable 5 float IN 0 hm2_5i25.0.stepgen.01.position-cmd 5 float OUT 0 hm2_5i25.0.stepgen.01.position-fb 5 float IN 0 hm2_5i25.0.stepgen.01.velocity-cmd 5 float OUT 0 hm2_5i25.0.stepgen.01.velocity-fb 5 bit IN FALSE hm2_5i25.0.stepgen.02.control-type 5 s32 OUT 0 hm2_5i25.0.stepgen.02.counts 5 float OUT 0 hm2_5i25.0.stepgen.02.dbg_err_at_match 5 float OUT 0 hm2_5i25.0.stepgen.02.dbg_ff_vel 5 float OUT 0 hm2_5i25.0.stepgen.02.dbg_pos_minus_prev_cmd 5 float OUT 0 hm2_5i25.0.stepgen.02.dbg_s_to_match 5 s32 OUT 0 hm2_5i25.0.stepgen.02.dbg_step_rate 5 float OUT 0 hm2_5i25.0.stepgen.02.dbg_vel_error 5 bit IN FALSE hm2_5i25.0.stepgen.02.enable 5 float IN 0 hm2_5i25.0.stepgen.02.position-cmd 5 float OUT 0 hm2_5i25.0.stepgen.02.position-fb 5 float IN 0 hm2_5i25.0.stepgen.02.velocity-cmd 5 float OUT 0 hm2_5i25.0.stepgen.02.velocity-fb 5 bit IN FALSE hm2_5i25.0.stepgen.03.control-type 5 s32 OUT 0 hm2_5i25.0.stepgen.03.counts 5 float OUT 0 hm2_5i25.0.stepgen.03.dbg_err_at_match 5 float OUT 0 hm2_5i25.0.stepgen.03.dbg_ff_vel 5 float OUT 0 hm2_5i25.0.stepgen.03.dbg_pos_minus_prev_cmd 5 float OUT 0 hm2_5i25.0.stepgen.03.dbg_s_to_match 5 s32 OUT 0 hm2_5i25.0.stepgen.03.dbg_step_rate 5 float OUT 0 hm2_5i25.0.stepgen.03.dbg_vel_error 5 bit IN FALSE hm2_5i25.0.stepgen.03.enable 5 float IN 0 hm2_5i25.0.stepgen.03.position-cmd 5 float OUT 0 hm2_5i25.0.stepgen.03.position-fb 5 float IN 0 hm2_5i25.0.stepgen.03.velocity-cmd 5 float OUT 0 hm2_5i25.0.stepgen.03.velocity-fb 5 bit IN FALSE hm2_5i25.0.stepgen.04.control-type 5 s32 OUT 0 hm2_5i25.0.stepgen.04.counts 5 float OUT 0 hm2_5i25.0.stepgen.04.dbg_err_at_match 5 float OUT 0 hm2_5i25.0.stepgen.04.dbg_ff_vel 5 float OUT 0 hm2_5i25.0.stepgen.04.dbg_pos_minus_prev_cmd 5 float OUT 0 hm2_5i25.0.stepgen.04.dbg_s_to_match 5 s32 OUT 0 hm2_5i25.0.stepgen.04.dbg_step_rate 5 float OUT 0 hm2_5i25.0.stepgen.04.dbg_vel_error 5 bit IN FALSE hm2_5i25.0.stepgen.04.enable 5 float IN 0 hm2_5i25.0.stepgen.04.position-cmd 5 float OUT 0 hm2_5i25.0.stepgen.04.position-fb 5 float IN 0 hm2_5i25.0.stepgen.04.velocity-cmd 5 float OUT 0 hm2_5i25.0.stepgen.04.velocity-fb 5 bit IN FALSE hm2_5i25.0.stepgen.05.control-type 5 s32 OUT 0 hm2_5i25.0.stepgen.05.counts 5 float OUT 0 hm2_5i25.0.stepgen.05.dbg_err_at_match 5 float OUT 0 hm2_5i25.0.stepgen.05.dbg_ff_vel 5 float OUT 0 hm2_5i25.0.stepgen.05.dbg_pos_minus_prev_cmd 5 float OUT 0 hm2_5i25.0.stepgen.05.dbg_s_to_match 5 s32 OUT 0 hm2_5i25.0.stepgen.05.dbg_step_rate 5 float OUT 0 hm2_5i25.0.stepgen.05.dbg_vel_error 5 bit IN FALSE hm2_5i25.0.stepgen.05.enable 5 float IN 0 hm2_5i25.0.stepgen.05.position-cmd 5 float OUT 0 hm2_5i25.0.stepgen.05.position-fb 5 float IN 0 hm2_5i25.0.stepgen.05.velocity-cmd 5 float OUT 0 hm2_5i25.0.stepgen.05.velocity-fb 5 bit IN FALSE hm2_5i25.0.stepgen.06.control-type 5 s32 OUT 0 hm2_5i25.0.stepgen.06.counts 5 float OUT 0 hm2_5i25.0.stepgen.06.dbg_err_at_match 5 float OUT 0 hm2_5i25.0.stepgen.06.dbg_ff_vel 5 float OUT 0 hm2_5i25.0.stepgen.06.dbg_pos_minus_prev_cmd 5 float OUT 0 hm2_5i25.0.stepgen.06.dbg_s_to_match 5 s32 OUT 0 hm2_5i25.0.stepgen.06.dbg_step_rate 5 float OUT 0 hm2_5i25.0.stepgen.06.dbg_vel_error 5 bit IN FALSE hm2_5i25.0.stepgen.06.enable 5 float IN 0 hm2_5i25.0.stepgen.06.position-cmd 5 float OUT 0 hm2_5i25.0.stepgen.06.position-fb 5 float IN 0 hm2_5i25.0.stepgen.06.velocity-cmd 5 float OUT 0 hm2_5i25.0.stepgen.06.velocity-fb 5 bit IN FALSE hm2_5i25.0.stepgen.07.control-type 5 s32 OUT 0 hm2_5i25.0.stepgen.07.counts 5 float OUT 0 hm2_5i25.0.stepgen.07.dbg_err_at_match 5 float OUT 0 hm2_5i25.0.stepgen.07.dbg_ff_vel 5 float OUT 0 hm2_5i25.0.stepgen.07.dbg_pos_minus_prev_cmd 5 float OUT 0 hm2_5i25.0.stepgen.07.dbg_s_to_match 5 s32 OUT 0 hm2_5i25.0.stepgen.07.dbg_step_rate 5 float OUT 0 hm2_5i25.0.stepgen.07.dbg_vel_error 5 bit IN FALSE hm2_5i25.0.stepgen.07.enable 5 float IN 0 hm2_5i25.0.stepgen.07.position-cmd 5 float OUT 0 hm2_5i25.0.stepgen.07.position-fb 5 float IN 0 hm2_5i25.0.stepgen.07.velocity-cmd 5 float OUT 0 hm2_5i25.0.stepgen.07.velocity-fb 5 bit IN FALSE hm2_5i25.0.stepgen.08.control-type 5 s32 OUT 0 hm2_5i25.0.stepgen.08.counts 5 float OUT 0 hm2_5i25.0.stepgen.08.dbg_err_at_match 5 float OUT 0 hm2_5i25.0.stepgen.08.dbg_ff_vel 5 float OUT 0 hm2_5i25.0.stepgen.08.dbg_pos_minus_prev_cmd 5 float OUT 0 hm2_5i25.0.stepgen.08.dbg_s_to_match 5 s32 OUT 0 hm2_5i25.0.stepgen.08.dbg_step_rate 5 float OUT 0 hm2_5i25.0.stepgen.08.dbg_vel_error 5 bit IN FALSE hm2_5i25.0.stepgen.08.enable 5 float IN 0 hm2_5i25.0.stepgen.08.position-cmd 5 float OUT 0 hm2_5i25.0.stepgen.08.position-fb 5 float IN 0 hm2_5i25.0.stepgen.08.velocity-cmd 5 float OUT 0 hm2_5i25.0.stepgen.08.velocity-fb 5 bit IN FALSE hm2_5i25.0.stepgen.09.control-type 5 s32 OUT 0 hm2_5i25.0.stepgen.09.counts 5 float OUT 0 hm2_5i25.0.stepgen.09.dbg_err_at_match 5 float OUT 0 hm2_5i25.0.stepgen.09.dbg_ff_vel 5 float OUT 0 hm2_5i25.0.stepgen.09.dbg_pos_minus_prev_cmd 5 float OUT 0 hm2_5i25.0.stepgen.09.dbg_s_to_match 5 s32 OUT 0 hm2_5i25.0.stepgen.09.dbg_step_rate 5 float OUT 0 hm2_5i25.0.stepgen.09.dbg_vel_error 5 bit IN FALSE hm2_5i25.0.stepgen.09.enable 5 float IN 0 hm2_5i25.0.stepgen.09.position-cmd 5 float OUT 0 hm2_5i25.0.stepgen.09.position-fb 5 float IN 0 hm2_5i25.0.stepgen.09.velocity-cmd 5 float OUT 0 hm2_5i25.0.stepgen.09.velocity-fb 5 bit I/O FALSE hm2_5i25.0.watchdog.has_bit 5 s32 OUT 0 hm2_5i25.0.write.time 5 s32 OUT 0 hm2_5i25.0.write_gpio.time halcmd: