debian@debian:~$ sudo dmesg -c [sudo] password for debian: [ 143.485717] ip_tables: (C) 2000-2006 Netfilter Core Team [ 148.547148] WARNING! power/level is deprecated; use power/control instead [ 148.624690] usb 1-4: USB disconnect, device number 3 [ 252.808330] e100 0000:05:08.0: eth0: NIC Link is Down [ 9604.808152] e100 0000:05:08.0: eth0: NIC Link is Up 100 Mbps Full Duplex [ 9604.808763] ADDRCONF(NETDEV_CHANGE): eth0: link becomes ready [ 9663.020022] usb 1-4: new high-speed USB device number 4 using ehci_hcd [ 9663.270454] usb 1-4: New USB device found, idVendor=1b1c, idProduct=1ab1 [ 9663.270460] usb 1-4: New USB device strings: Mfr=1, Product=2, SerialNumber=3 [ 9663.270464] usb 1-4: Product: Voyager [ 9663.270468] usb 1-4: Manufacturer: Corsair [ 9663.270471] usb 1-4: SerialNumber: AA00000000000070 [ 9663.271944] scsi6 : usb-storage 1-4:1.0 [ 9665.210404] scsi 6:0:0:0: Direct-Access Corsair Voyager 1100 PQ: 0 ANSI: 0 CCS [ 9665.214316] sd 6:0:0:0: Attached scsi generic sg6 type 0 [ 9666.288990] sd 6:0:0:0: [sdf] 15663104 512-byte logical blocks: (8.01 GB/7.46 GiB) [ 9666.290102] sd 6:0:0:0: [sdf] Write Protect is off [ 9666.290108] sd 6:0:0:0: [sdf] Mode Sense: 43 00 00 00 [ 9666.291228] sd 6:0:0:0: [sdf] No Caching mode page found [ 9666.291235] sd 6:0:0:0: [sdf] Assuming drive cache: write through [ 9667.934102] sd 6:0:0:0: [sdf] No Caching mode page found [ 9667.934111] sd 6:0:0:0: [sdf] Assuming drive cache: write through [ 9667.935139] sdf: sdf1 [ 9667.938731] sd 6:0:0:0: [sdf] No Caching mode page found [ 9667.938739] sd 6:0:0:0: [sdf] Assuming drive cache: write through [ 9667.938747] sd 6:0:0:0: [sdf] Attached SCSI removable disk [ 9668.179157] FAT-fs (sdf1): utf8 is not a recommended IO charset for FAT filesystems, filesystem will be case sensitive! debian@debian:~$ 17 float OUT 0 axis.1.coarse-pos-cmd 17 bit OUT FALSE axis.1.error 17 float OUT 0 axis.1.f-error 17 float OUT 0.0001 axis.1.f-error-lim 17 bit OUT FALSE axis.1.f-errored 17 bit OUT FALSE axis.1.faulted 17 float OUT 0 axis.1.free-pos-cmd 17 bit OUT FALSE axis.1.free-tp-enable 17 float OUT 0 axis.1.free-vel-lim 17 s32 OUT 0 axis.1.home-state 17 bit IN FALSE axis.1.home-sw-in 17 bit OUT FALSE axis.1.homed 17 bit OUT FALSE axis.1.homing 17 bit OUT TRUE axis.1.in-position 17 bit I/O FALSE axis.1.index-enable 17 s32 IN 0 axis.1.jog-counts 17 bit IN FALSE axis.1.jog-enable 17 float IN 0 axis.1.jog-scale 17 bit IN FALSE axis.1.jog-vel-mode 17 float OUT 0 axis.1.joint-pos-cmd 17 float OUT 0 axis.1.joint-pos-fb 17 float OUT 0 axis.1.joint-vel-cmd ==> emcmot.01.vel-cmd 17 bit OUT FALSE axis.1.kb-jog-active 17 float OUT 0 axis.1.motor-offset 17 float OUT 0 axis.1.motor-pos-cmd ==> emcmot.01.pos-cmd 17 float IN 0 axis.1.motor-pos-fb <== motor.01.pos-fb 17 bit OUT FALSE axis.1.neg-hard-limit 17 bit IN FALSE axis.1.neg-lim-sw-in 17 bit OUT FALSE axis.1.pos-hard-limit 17 bit IN FALSE axis.1.pos-lim-sw-in 17 bit OUT FALSE axis.1.wheel-jog-active 17 bit OUT TRUE axis.2.active 17 bit OUT FALSE axis.2.amp-enable-out ==> emcmot.02.enable 17 bit IN FALSE axis.2.amp-fault-in 17 float OUT 0 axis.2.backlash-corr 17 float OUT 0 axis.2.backlash-filt 17 float OUT 0 axis.2.backlash-vel 17 float OUT 0 axis.2.coarse-pos-cmd 17 bit OUT FALSE axis.2.error 17 float OUT 0 axis.2.f-error 17 float OUT 0.0001 axis.2.f-error-lim 17 bit OUT FALSE axis.2.f-errored 17 bit OUT FALSE axis.2.faulted 17 float OUT 0 axis.2.free-pos-cmd 17 bit OUT FALSE axis.2.free-tp-enable 17 float OUT 0 axis.2.free-vel-lim 17 s32 OUT 0 axis.2.home-state 17 bit IN FALSE axis.2.home-sw-in 17 bit OUT FALSE axis.2.homed 17 bit OUT FALSE axis.2.homing 17 bit OUT TRUE axis.2.in-position 17 bit I/O FALSE axis.2.index-enable 17 s32 IN 0 axis.2.jog-counts 17 bit IN FALSE axis.2.jog-enable 17 float IN 0 axis.2.jog-scale 17 bit IN FALSE axis.2.jog-vel-mode 17 float OUT 0 axis.2.joint-pos-cmd 17 float OUT 0 axis.2.joint-pos-fb 17 float OUT 0 axis.2.joint-vel-cmd ==> emcmot.02.vel-cmd 17 bit OUT FALSE axis.2.kb-jog-active 17 float OUT 0 axis.2.motor-offset 17 float OUT 0 axis.2.motor-pos-cmd ==> emcmot.02.pos-cmd 17 float IN 0 axis.2.motor-pos-fb <== motor.02.pos-fb 17 bit OUT FALSE axis.2.neg-hard-limit 17 bit IN FALSE axis.2.neg-lim-sw-in 17 bit OUT FALSE axis.2.pos-hard-limit 17 bit IN FALSE axis.2.pos-lim-sw-in 17 bit OUT FALSE axis.2.wheel-jog-active 34 bit OUT FALSE axisui.jog.a 34 bit OUT FALSE axisui.jog.b 34 bit OUT FALSE axisui.jog.c 34 float OUT 0 axisui.jog.increment 34 bit OUT FALSE axisui.jog.u 34 bit OUT FALSE axisui.jog.v 34 bit OUT FALSE axisui.jog.w 34 bit OUT TRUE axisui.jog.x 34 bit OUT FALSE axisui.jog.y 34 bit OUT FALSE axisui.jog.z 34 bit IN FALSE axisui.notifications-clear 34 bit IN FALSE axisui.notifications-clear-error 34 bit IN FALSE axisui.notifications-clear-info 34 bit IN FALSE axisui.resume-inhibit 27 float IN -50 hm2_7i92.0.dpll.01.timer-us 27 float IN 100 hm2_7i92.0.dpll.02.timer-us 27 float IN 100 hm2_7i92.0.dpll.03.timer-us 27 float IN 100 hm2_7i92.0.dpll.04.timer-us 27 float IN 1 hm2_7i92.0.dpll.base-freq-khz 27 u32 OUT 0x0000002A hm2_7i92.0.dpll.ddsize 27 float OUT -0.5486074 hm2_7i92.0.dpll.phase-error-us 27 u32 IN 0x00400000 hm2_7i92.0.dpll.plimit 27 u32 OUT 0x00000018 hm2_7i92.0.dpll.prescale 27 u32 IN 0x000007D0 hm2_7i92.0.dpll.time-const 27 bit OUT FALSE hm2_7i92.0.gpio.000.in 27 bit OUT TRUE hm2_7i92.0.gpio.000.in_not 27 bit IN FALSE hm2_7i92.0.gpio.000.out 27 bit OUT FALSE hm2_7i92.0.gpio.001.in 27 bit OUT TRUE hm2_7i92.0.gpio.001.in_not 27 bit OUT FALSE hm2_7i92.0.gpio.002.in 27 bit OUT TRUE hm2_7i92.0.gpio.002.in_not 27 bit OUT TRUE hm2_7i92.0.gpio.003.in 27 bit OUT FALSE hm2_7i92.0.gpio.003.in_not 27 bit IN FALSE hm2_7i92.0.gpio.003.out 27 bit OUT FALSE hm2_7i92.0.gpio.004.in 27 bit OUT TRUE hm2_7i92.0.gpio.004.in_not 27 bit OUT TRUE hm2_7i92.0.gpio.005.in 27 bit OUT FALSE hm2_7i92.0.gpio.005.in_not 27 bit IN FALSE hm2_7i92.0.gpio.005.out 27 bit OUT FALSE hm2_7i92.0.gpio.006.in 27 bit OUT TRUE hm2_7i92.0.gpio.006.in_not 27 bit OUT FALSE hm2_7i92.0.gpio.007.in 27 bit OUT TRUE hm2_7i92.0.gpio.007.in_not 27 bit IN FALSE hm2_7i92.0.gpio.007.out 27 bit OUT FALSE hm2_7i92.0.gpio.008.in 27 bit OUT TRUE hm2_7i92.0.gpio.008.in_not 27 bit OUT FALSE hm2_7i92.0.gpio.009.in 27 bit OUT TRUE hm2_7i92.0.gpio.009.in_not 27 bit OUT FALSE hm2_7i92.0.gpio.010.in 27 bit OUT TRUE hm2_7i92.0.gpio.010.in_not 27 bit OUT TRUE hm2_7i92.0.gpio.011.in 27 bit OUT FALSE hm2_7i92.0.gpio.011.in_not 27 bit IN FALSE hm2_7i92.0.gpio.011.out 27 bit OUT TRUE hm2_7i92.0.gpio.012.in 27 bit OUT FALSE hm2_7i92.0.gpio.012.in_not 27 bit IN FALSE hm2_7i92.0.gpio.012.out 27 bit OUT TRUE hm2_7i92.0.gpio.013.in 27 bit OUT FALSE hm2_7i92.0.gpio.013.in_not 27 bit IN FALSE hm2_7i92.0.gpio.013.out 27 bit OUT FALSE hm2_7i92.0.gpio.014.in 27 bit OUT TRUE hm2_7i92.0.gpio.014.in_not 27 bit IN FALSE hm2_7i92.0.gpio.014.out 27 bit OUT FALSE hm2_7i92.0.gpio.015.in 27 bit OUT TRUE hm2_7i92.0.gpio.015.in_not 27 bit IN FALSE hm2_7i92.0.gpio.015.out 27 bit OUT TRUE hm2_7i92.0.gpio.016.in 27 bit OUT FALSE hm2_7i92.0.gpio.016.in_not 27 bit IN FALSE hm2_7i92.0.gpio.016.out 27 bit OUT TRUE hm2_7i92.0.gpio.017.in 27 bit OUT FALSE hm2_7i92.0.gpio.017.in_not 27 bit IN FALSE hm2_7i92.0.gpio.017.out 27 bit OUT FALSE hm2_7i92.0.gpio.018.in 27 bit OUT TRUE hm2_7i92.0.gpio.018.in_not 27 bit OUT TRUE hm2_7i92.0.gpio.019.in 27 bit OUT FALSE hm2_7i92.0.gpio.019.in_not 27 bit IN FALSE hm2_7i92.0.gpio.019.out 27 bit OUT TRUE hm2_7i92.0.gpio.020.in 27 bit OUT FALSE hm2_7i92.0.gpio.020.in_not 27 bit IN FALSE hm2_7i92.0.gpio.020.out 27 bit OUT TRUE hm2_7i92.0.gpio.021.in 27 bit OUT FALSE hm2_7i92.0.gpio.021.in_not 27 bit IN FALSE hm2_7i92.0.gpio.021.out 27 bit OUT TRUE hm2_7i92.0.gpio.022.in 27 bit OUT FALSE hm2_7i92.0.gpio.022.in_not 27 bit IN FALSE hm2_7i92.0.gpio.022.out 27 bit OUT TRUE hm2_7i92.0.gpio.023.in 27 bit OUT FALSE hm2_7i92.0.gpio.023.in_not 27 bit IN FALSE hm2_7i92.0.gpio.023.out 27 bit OUT TRUE hm2_7i92.0.gpio.024.in 27 bit OUT FALSE hm2_7i92.0.gpio.024.in_not 27 bit IN FALSE hm2_7i92.0.gpio.024.out 27 bit OUT TRUE hm2_7i92.0.gpio.025.in 27 bit OUT FALSE hm2_7i92.0.gpio.025.in_not 27 bit IN FALSE hm2_7i92.0.gpio.025.out 27 bit OUT TRUE hm2_7i92.0.gpio.026.in 27 bit OUT FALSE hm2_7i92.0.gpio.026.in_not 27 bit IN FALSE hm2_7i92.0.gpio.026.out 27 bit OUT TRUE hm2_7i92.0.gpio.027.in 27 bit OUT FALSE hm2_7i92.0.gpio.027.in_not 27 bit IN FALSE hm2_7i92.0.gpio.027.out 27 bit OUT TRUE hm2_7i92.0.gpio.028.in 27 bit OUT FALSE hm2_7i92.0.gpio.028.in_not 27 bit IN FALSE hm2_7i92.0.gpio.028.out 27 bit OUT TRUE hm2_7i92.0.gpio.029.in 27 bit OUT FALSE hm2_7i92.0.gpio.029.in_not 27 bit IN FALSE hm2_7i92.0.gpio.029.out 27 bit OUT TRUE hm2_7i92.0.gpio.030.in 27 bit OUT FALSE hm2_7i92.0.gpio.030.in_not 27 bit IN FALSE hm2_7i92.0.gpio.030.out 27 bit OUT TRUE hm2_7i92.0.gpio.031.in 27 bit OUT FALSE hm2_7i92.0.gpio.031.in_not 27 bit IN FALSE hm2_7i92.0.gpio.031.out 27 bit OUT TRUE hm2_7i92.0.gpio.032.in 27 bit OUT FALSE hm2_7i92.0.gpio.032.in_not 27 bit IN FALSE hm2_7i92.0.gpio.032.out 27 bit OUT TRUE hm2_7i92.0.gpio.033.in 27 bit OUT FALSE hm2_7i92.0.gpio.033.in_not 27 bit IN FALSE hm2_7i92.0.gpio.033.out 27 bit IN FALSE hm2_7i92.0.led.CR01 27 bit IN FALSE hm2_7i92.0.led.CR02 27 bit IN FALSE hm2_7i92.0.led.CR03 27 bit IN FALSE hm2_7i92.0.led.CR04 27 bit OUT FALSE hm2_7i92.0.packet-error 27 bit OUT FALSE hm2_7i92.0.packet-error-exceeded 27 s32 OUT 0 hm2_7i92.0.packet-error-level 27 bit IN FALSE hm2_7i92.0.pwmgen.00.enable <== emcmot.00.enable 27 float IN 0.5 hm2_7i92.0.pwmgen.00.value 27 bit IN FALSE hm2_7i92.0.pwmgen.01.enable 27 float IN 0 hm2_7i92.0.pwmgen.01.value 27 s32 OUT 0 hm2_7i92.0.read-request.time 27 s32 OUT 288995 hm2_7i92.0.read.time 27 bit IN TRUE hm2_7i92.0.stepgen.00.control-type 27 s32 OUT 0 hm2_7i92.0.stepgen.00.counts 27 float OUT 0 hm2_7i92.0.stepgen.00.dbg_err_at_match 27 float OUT 0 hm2_7i92.0.stepgen.00.dbg_ff_vel 27 float OUT 0 hm2_7i92.0.stepgen.00.dbg_pos_minus_prev_cmd 27 float OUT 0 hm2_7i92.0.stepgen.00.dbg_s_to_match 27 s32 OUT 0 hm2_7i92.0.stepgen.00.dbg_step_rate 27 float OUT 0 hm2_7i92.0.stepgen.00.dbg_vel_error 27 bit IN FALSE hm2_7i92.0.stepgen.00.enable <== emcmot.00.enable 27 float IN 0 hm2_7i92.0.stepgen.00.position-cmd 27 float OUT 0 hm2_7i92.0.stepgen.00.position-fb ==> motor.00.pos-fb 27 float IN 0 hm2_7i92.0.stepgen.00.velocity-cmd <== motor.00.command 27 float OUT 0 hm2_7i92.0.stepgen.00.velocity-fb 27 bit IN TRUE hm2_7i92.0.stepgen.01.control-type 27 s32 OUT 0 hm2_7i92.0.stepgen.01.counts 27 float OUT 0 hm2_7i92.0.stepgen.01.dbg_err_at_match 27 float OUT 0 hm2_7i92.0.stepgen.01.dbg_ff_vel 27 float OUT 0 hm2_7i92.0.stepgen.01.dbg_pos_minus_prev_cmd 27 float OUT 0 hm2_7i92.0.stepgen.01.dbg_s_to_match 27 s32 OUT 0 hm2_7i92.0.stepgen.01.dbg_step_rate 27 float OUT 0 hm2_7i92.0.stepgen.01.dbg_vel_error 27 bit IN FALSE hm2_7i92.0.stepgen.01.enable <== emcmot.01.enable 27 float IN 0 hm2_7i92.0.stepgen.01.position-cmd 27 float OUT 0 hm2_7i92.0.stepgen.01.position-fb ==> motor.01.pos-fb 27 float IN 0 hm2_7i92.0.stepgen.01.velocity-cmd <== motor.01.command 27 float OUT 0 hm2_7i92.0.stepgen.01.velocity-fb 27 bit IN TRUE hm2_7i92.0.stepgen.02.control-type 27 s32 OUT 0 hm2_7i92.0.stepgen.02.counts 27 float OUT 0 hm2_7i92.0.stepgen.02.dbg_err_at_match 27 float OUT 0 hm2_7i92.0.stepgen.02.dbg_ff_vel 27 float OUT 0 hm2_7i92.0.stepgen.02.dbg_pos_minus_prev_cmd 27 float OUT 0 hm2_7i92.0.stepgen.02.dbg_s_to_match 27 s32 OUT 0 hm2_7i92.0.stepgen.02.dbg_step_rate 27 float OUT 0 hm2_7i92.0.stepgen.02.dbg_vel_error 27 bit IN FALSE hm2_7i92.0.stepgen.02.enable <== emcmot.02.enable 27 float IN 0 hm2_7i92.0.stepgen.02.position-cmd 27 float OUT 0 hm2_7i92.0.stepgen.02.position-fb ==> motor.02.pos-fb 27 float IN 0 hm2_7i92.0.stepgen.02.velocity-cmd <== motor.02.command 27 float OUT 0 hm2_7i92.0.stepgen.02.velocity-fb 27 s32 IN 1 hm2_7i92.0.stepgen.timer-number 27 bit I/O FALSE hm2_7i92.0.watchdog.has_bit 27 s32 OUT 36064 hm2_7i92.0.write.time 32 float IN 0 ini.0.backlash 32 float IN 0.0002 ini.0.ferror 32 float IN 100 ini.0.max_acceleration 32 float IN 30 ini.0.max_limit 32 float IN 15 ini.0.max_velocity 32 float IN 0.0001 ini.0.min_ferror 32 float IN -30 ini.0.min_limit 32 float IN 0 ini.1.backlash 32 float IN 0.0002 ini.1.ferror 32 float IN 100 ini.1.max_acceleration 32 float IN 30 ini.1.max_limit 32 float IN 15 ini.1.max_velocity 32 float IN 0.0001 ini.1.min_ferror 32 float IN -30 ini.1.min_limit 32 float IN 0 ini.2.backlash 32 float IN 0.0002 ini.2.ferror 32 float IN 100 ini.2.max_acceleration 32 float IN 30 ini.2.max_limit 32 float IN 15 ini.2.max_velocity 32 float IN 0.0001 ini.2.min_ferror 32 float IN -30 ini.2.min_limit 32 float IN 0 ini.3.backlash 32 float IN 0 ini.3.ferror 32 float IN 0 ini.3.max_acceleration 32 float IN 0 ini.3.max_limit 32 float IN 0 ini.3.max_velocity 32 float IN 0 ini.3.min_ferror 32 float IN 0 ini.3.min_limit 32 float IN 0 ini.4.backlash 32 float IN 0 ini.4.ferror 32 float IN 0 ini.4.max_acceleration 32 float IN 0 ini.4.max_limit 32 float IN 0 ini.4.max_velocity 32 float IN 0 ini.4.min_ferror 32 float IN 0 ini.4.min_limit 32 float IN 0 ini.5.backlash 32 float IN 0 ini.5.ferror 32 float IN 0 ini.5.max_acceleration 32 float IN 0 ini.5.max_limit 32 float IN 0 ini.5.max_velocity 32 float IN 0 ini.5.min_ferror 32 float IN 0 ini.5.min_limit 32 float IN 0 ini.6.backlash 32 float IN 0 ini.6.ferror 32 float IN 0 ini.6.max_acceleration 32 float IN 0 ini.6.max_limit 32 float IN 0 ini.6.max_velocity 32 float IN 0 ini.6.min_ferror 32 float IN 0 ini.6.min_limit 32 float IN 0 ini.7.backlash 32 float IN 0 ini.7.ferror 32 float IN 0 ini.7.max_acceleration 32 float IN 0 ini.7.max_limit 32 float IN 0 ini.7.max_velocity 32 float IN 0 ini.7.min_ferror 32 float IN 0 ini.7.min_limit 32 float IN 0 ini.8.backlash 32 float IN 0 ini.8.ferror 32 float IN 0 ini.8.max_acceleration 32 float IN 0 ini.8.max_limit 32 float IN 0 ini.8.max_velocity 32 float IN 0 ini.8.min_ferror 32 float IN 0 ini.8.min_limit 32 bit IN TRUE ini.traj_arc_blend_enable 32 bit IN FALSE ini.traj_arc_blend_fallback_enable 32 float IN 4 ini.traj_arc_blend_gap_cycles 32 s32 IN 50 ini.traj_arc_blend_optimization_depth 32 float IN 100 ini.traj_arc_blend_ramp_freq 32 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio 32 float IN 1e+99 ini.traj_default_acceleration 32 float IN 1 ini.traj_default_velocity 32 float IN 1e+99 ini.traj_max_acceleration 32 float IN 1e+99 ini.traj_max_velocity 8 bit OUT FALSE iocontrol.0.coolant-flood 8 bit OUT FALSE iocontrol.0.coolant-mist 8 bit IN FALSE iocontrol.0.emc-enable-in <== estop-loop 8 bit OUT FALSE iocontrol.0.lube 8 bit IN FALSE iocontrol.0.lube_level 8 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-loop 8 bit IN FALSE iocontrol.0.tool-changed <== tool-change-loop 8 s32 OUT 0 iocontrol.0.tool-number 8 s32 OUT 0 iocontrol.0.tool-prep-number 8 s32 OUT 0 iocontrol.0.tool-prep-pocket 8 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prep-loop 8 bit IN FALSE iocontrol.0.tool-prepared <== tool-prep-loop 8 bit OUT FALSE iocontrol.0.user-enable-out ==> estop-loop 8 bit OUT FALSE iocontrol.0.user-request-enable 17 s32 OUT 931 motion-command-handler.time 17 s32 OUT 13489 motion-controller.time 17 float IN 1 motion.adaptive-feed 17 float IN 0 motion.analog-in-00 17 float IN 0 motion.analog-in-01 17 float IN 0 motion.analog-in-02 17 float IN 0 motion.analog-in-03 17 float OUT 0 motion.analog-out-00 17 float OUT 0 motion.analog-out-01 17 float OUT 0 motion.analog-out-02 17 float OUT 0 motion.analog-out-03 17 bit OUT FALSE motion.coord-error 17 bit OUT TRUE motion.coord-mode 17 float OUT 0 motion.current-vel 17 bit IN FALSE motion.digital-in-00 17 bit IN FALSE motion.digital-in-01 17 bit IN FALSE motion.digital-in-02 17 bit IN FALSE motion.digital-in-03 17 bit OUT FALSE motion.digital-out-00 17 bit OUT FALSE motion.digital-out-01 17 bit OUT FALSE motion.digital-out-02 17 bit OUT FALSE motion.digital-out-03 17 float OUT 0 motion.distance-to-go 17 bit IN TRUE motion.enable 17 bit IN FALSE motion.feed-hold 17 bit IN FALSE motion.feed-inhibit 17 bit OUT TRUE motion.in-position 17 bit OUT FALSE motion.motion-enabled 17 s32 OUT 0 motion.motion-type 17 bit OUT FALSE motion.on-soft-limit 17 bit IN FALSE motion.probe-input 17 s32 OUT 0 motion.program-line 17 float OUT 0 motion.requested-vel 17 bit IN TRUE motion.spindle-at-speed 17 bit OUT TRUE motion.spindle-brake 17 bit OUT FALSE motion.spindle-forward 17 bit I/O FALSE motion.spindle-index-enable 17 bit IN FALSE motion.spindle-inhibit 17 bit IN FALSE motion.spindle-is-oriented 17 bit OUT FALSE motion.spindle-locked 17 bit OUT FALSE motion.spindle-on 17 bit OUT FALSE motion.spindle-orient 17 float OUT 0 motion.spindle-orient-angle 17 s32 IN 0 motion.spindle-orient-fault 17 s32 OUT 0 motion.spindle-orient-mode 17 bit OUT FALSE motion.spindle-reverse 17 float IN 0 motion.spindle-revs 17 float OUT 0 motion.spindle-speed-cmd-rps 17 float IN 0 motion.spindle-speed-in 17 float OUT 0 motion.spindle-speed-out 17 float OUT 0 motion.spindle-speed-out-abs 17 float OUT 0 motion.spindle-speed-out-rps 17 float OUT 0 motion.spindle-speed-out-rps-abs 17 bit OUT FALSE motion.teleop-mode 17 float OUT 0 motion.tooloffset.a 17 float OUT 0 motion.tooloffset.b 17 float OUT 0 motion.tooloffset.c 17 float OUT 0 motion.tooloffset.u 17 float OUT 0 motion.tooloffset.v 17 float OUT 0 motion.tooloffset.w 17 float OUT 0 motion.tooloffset.x 17 float OUT 0 motion.tooloffset.y 17 float OUT 0 motion.tooloffset.z 21 float IN 0 pid.0.Dgain 21 float IN 0 pid.0.FF0 21 float IN 1 pid.0.FF1 21 float IN 0.00011 pid.0.FF2 21 float IN 0 pid.0.Igain 21 float IN 1000 pid.0.Pgain 21 float IN 0 pid.0.bias 21 float IN 0 pid.0.command <== emcmot.00.pos-cmd 21 float IN 0 pid.0.command-deriv <== emcmot.00.vel-cmd 21 float IN 0 pid.0.deadband 21 s32 OUT 2499 pid.0.do-pid-calcs.time 21 bit IN FALSE pid.0.enable <== emcmot.00.enable 21 float OUT 0 pid.0.error 21 bit IN TRUE pid.0.error-previous-target 21 float IN 0 pid.0.feedback <== motor.00.pos-fb 21 float IN 0 pid.0.feedback-deriv 21 bit IN FALSE pid.0.index-enable 21 float IN 0 pid.0.maxcmdD 21 float IN 0 pid.0.maxcmdDD 21 float IN 0.0005 pid.0.maxerror 21 float IN 0 pid.0.maxerrorD 21 float IN 0 pid.0.maxerrorI 21 float IN 0 pid.0.maxoutput 21 float OUT 0 pid.0.output ==> motor.00.command 21 bit OUT FALSE pid.0.saturated 21 s32 OUT 0 pid.0.saturated-count 21 float OUT 0 pid.0.saturated-s 21 float IN 0 pid.1.Dgain 21 float IN 0 pid.1.FF0 21 float IN 1 pid.1.FF1 21 float IN 0.00011 pid.1.FF2 21 float IN 0 pid.1.Igain 21 float IN 1000 pid.1.Pgain 21 float IN 0 pid.1.bias 21 float IN 0 pid.1.command <== emcmot.01.pos-cmd 21 float IN 0 pid.1.command-deriv <== emcmot.01.vel-cmd 21 float IN 0 pid.1.deadband 21 s32 OUT 945 pid.1.do-pid-calcs.time 21 bit IN FALSE pid.1.enable <== emcmot.01.enable 21 float OUT 0 pid.1.error 21 bit IN TRUE pid.1.error-previous-target 21 float IN 0 pid.1.feedback <== motor.01.pos-fb 21 float IN 0 pid.1.feedback-deriv 21 bit IN FALSE pid.1.index-enable 21 float IN 0 pid.1.maxcmdD 21 float IN 0 pid.1.maxcmdDD 21 float IN 0.0005 pid.1.maxerror 21 float IN 0 pid.1.maxerrorD 21 float IN 0 pid.1.maxerrorI 21 float IN 0 pid.1.maxoutput 21 float OUT 0 pid.1.output ==> motor.01.command 21 bit OUT FALSE pid.1.saturated 21 s32 OUT 0 pid.1.saturated-count 21 float OUT 0 pid.1.saturated-s 21 float IN 0 pid.2.Dgain 21 float IN 0 pid.2.FF0 21 float IN 1 pid.2.FF1 21 float IN 0.00011 pid.2.FF2 21 float IN 0 pid.2.Igain 21 float IN 1000 pid.2.Pgain 21 float IN 0 pid.2.bias 21 float IN 0 pid.2.command <== emcmot.02.pos-cmd 21 float IN 0 pid.2.command-deriv <== emcmot.02.vel-cmd 21 float IN 0 pid.2.deadband 21 s32 OUT 399 pid.2.do-pid-calcs.time 21 bit IN FALSE pid.2.enable <== emcmot.02.enable 21 float OUT 0 pid.2.error 21 bit IN TRUE pid.2.error-previous-target 21 float IN 0 pid.2.feedback <== motor.02.pos-fb 21 float IN 0 pid.2.feedback-deriv 21 bit IN FALSE pid.2.index-enable 21 float IN 0 pid.2.maxcmdD 21 float IN 0 pid.2.maxcmdDD 21 float IN 0.0005 pid.2.maxerror 21 float IN 0 pid.2.maxerrorD 21 float IN 0 pid.2.maxerrorI 21 float IN 0 pid.2.maxoutput 21 float OUT 0 pid.2.output ==> motor.02.command 21 bit OUT FALSE pid.2.saturated 21 s32 OUT 0 pid.2.saturated-count 21 float OUT 0 pid.2.saturated-s 21 float IN 0.2 pid.3.Dgain 21 float IN 0 pid.3.FF0 21 float IN 0 pid.3.FF1 21 float IN 0 pid.3.FF2 21 float IN 200 pid.3.Igain 21 float IN 50 pid.3.Pgain 21 float IN 0 pid.3.bias 21 float IN 0 pid.3.command 21 float IN 0 pid.3.command-deriv 21 float IN 0 pid.3.deadband 21 s32 OUT 287 pid.3.do-pid-calcs.time 21 bit IN FALSE pid.3.enable 21 float OUT 0 pid.3.error 21 bit IN TRUE pid.3.error-previous-target 21 float IN 0 pid.3.feedback 21 float IN 0 pid.3.feedback-deriv 21 bit IN FALSE pid.3.index-enable 21 float IN 0 pid.3.maxcmdD 21 float IN 0 pid.3.maxcmdDD 21 float IN 50 pid.3.maxerror 21 float IN 0 pid.3.maxerrorD 21 float IN 0 pid.3.maxerrorI 21 float IN 0 pid.3.maxoutput 21 float OUT 0 pid.3.output 21 bit OUT FALSE pid.3.saturated 21 s32 OUT 0 pid.3.saturated-count 21 float OUT 0 pid.3.saturated-s 18 s32 OUT 350427 servo-thread.time debian@debian:~$ debian@debian:~$ halcmd show param Parameters: Owner Type Dir Value Name 27 bit RW FALSE hm2_7i92.0.gpio.000.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.000.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.000.is_output 27 bit RW FALSE hm2_7i92.0.gpio.001.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.001.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.002.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.002.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.003.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.003.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.003.is_output 27 bit RW FALSE hm2_7i92.0.gpio.004.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.004.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.005.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.005.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.005.is_output 27 bit RW FALSE hm2_7i92.0.gpio.006.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.006.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.007.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.007.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.007.is_output 27 bit RW FALSE hm2_7i92.0.gpio.008.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.008.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.009.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.009.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.010.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.010.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.011.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.011.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.011.is_output 27 bit RW FALSE hm2_7i92.0.gpio.012.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.012.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.012.is_output 27 bit RW FALSE hm2_7i92.0.gpio.013.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.013.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.013.is_output 27 bit RW FALSE hm2_7i92.0.gpio.014.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.014.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.014.is_output 27 bit RW FALSE hm2_7i92.0.gpio.015.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.015.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.015.is_output 27 bit RW FALSE hm2_7i92.0.gpio.016.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.016.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.016.is_output 27 bit RW FALSE hm2_7i92.0.gpio.017.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.017.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.017.is_output 27 bit RW FALSE hm2_7i92.0.gpio.018.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.018.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.019.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.019.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.019.is_output 27 bit RW FALSE hm2_7i92.0.gpio.020.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.020.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.020.is_output 27 bit RW FALSE hm2_7i92.0.gpio.021.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.021.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.021.is_output 27 bit RW FALSE hm2_7i92.0.gpio.022.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.022.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.022.is_output 27 bit RW FALSE hm2_7i92.0.gpio.023.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.023.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.023.is_output 27 bit RW FALSE hm2_7i92.0.gpio.024.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.024.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.024.is_output 27 bit RW FALSE hm2_7i92.0.gpio.025.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.025.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.025.is_output 27 bit RW FALSE hm2_7i92.0.gpio.026.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.026.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.026.is_output 27 bit RW FALSE hm2_7i92.0.gpio.027.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.027.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.027.is_output 27 bit RW FALSE hm2_7i92.0.gpio.028.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.028.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.028.is_output 27 bit RW FALSE hm2_7i92.0.gpio.029.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.029.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.029.is_output 27 bit RW FALSE hm2_7i92.0.gpio.030.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.030.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.030.is_output 27 bit RW FALSE hm2_7i92.0.gpio.031.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.031.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.031.is_output 27 bit RW FALSE hm2_7i92.0.gpio.032.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.032.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.032.is_output 27 bit RW FALSE hm2_7i92.0.gpio.033.invert_output 27 bit RW FALSE hm2_7i92.0.gpio.033.is_opendrain 27 bit RW FALSE hm2_7i92.0.gpio.033.is_output 27 bit RW FALSE hm2_7i92.0.io_error 27 s32 RO 1 hm2_7i92.0.packet-error-decrement 27 s32 RW 2 hm2_7i92.0.packet-error-increment 27 s32 RW 10 hm2_7i92.0.packet-error-limit 27 s32 RW 80 hm2_7i92.0.packet-read-timeout 27 s32 RW 1 hm2_7i92.0.pwmgen.00.output-type 27 float RW 1 hm2_7i92.0.pwmgen.00.scale 27 s32 RW 1 hm2_7i92.0.pwmgen.01.output-type 27 float RW 1 hm2_7i92.0.pwmgen.01.scale 27 u32 RW 0x00004E20 hm2_7i92.0.pwmgen.pdm_frequency 27 u32 RW 0x00002710 hm2_7i92.0.pwmgen.pwm_frequency 27 s32 RW 0 hm2_7i92.0.read-request.tmax 27 bit RO FALSE hm2_7i92.0.read-request.tmax-increased 27 s32 RW 633822 hm2_7i92.0.read.tmax 27 bit RO FALSE hm2_7i92.0.read.tmax-increased 27 u32 RW 0x000007D0 hm2_7i92.0.stepgen.00.dirhold 27 u32 RW 0x000007D0 hm2_7i92.0.stepgen.00.dirsetup 27 float RW 120 hm2_7i92.0.stepgen.00.maxaccel 27 float RW 18 hm2_7i92.0.stepgen.00.maxvel 27 float RW 9970 hm2_7i92.0.stepgen.00.position-scale 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.00.step_type 27 u32 RW 0x000009C4 hm2_7i92.0.stepgen.00.steplen 27 u32 RW 0x000009C4 hm2_7i92.0.stepgen.00.stepspace 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.00.table-data-0 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.00.table-data-1 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.00.table-data-2 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.00.table-data-3 27 u32 RW 0x000007D0 hm2_7i92.0.stepgen.01.dirhold 27 u32 RW 0x000007D0 hm2_7i92.0.stepgen.01.dirsetup 27 float RW 120 hm2_7i92.0.stepgen.01.maxaccel 27 float RW 18 hm2_7i92.0.stepgen.01.maxvel 27 float RW 10000 hm2_7i92.0.stepgen.01.position-scale 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.01.step_type 27 u32 RW 0x000009C4 hm2_7i92.0.stepgen.01.steplen 27 u32 RW 0x000009C4 hm2_7i92.0.stepgen.01.stepspace 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.01.table-data-0 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.01.table-data-1 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.01.table-data-2 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.01.table-data-3 27 u32 RW 0x000007D0 hm2_7i92.0.stepgen.02.dirhold 27 u32 RW 0x000007D0 hm2_7i92.0.stepgen.02.dirsetup 27 float RW 120 hm2_7i92.0.stepgen.02.maxaccel 27 float RW 18 hm2_7i92.0.stepgen.02.maxvel 27 float RW 10000 hm2_7i92.0.stepgen.02.position-scale 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.02.step_type 27 u32 RW 0x000009C4 hm2_7i92.0.stepgen.02.steplen 27 u32 RW 0x000009C4 hm2_7i92.0.stepgen.02.stepspace 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.02.table-data-0 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.02.table-data-1 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.02.table-data-2 27 u32 RW 0x00000000 hm2_7i92.0.stepgen.02.table-data-3 27 u32 RW 0x017D7840 hm2_7i92.0.watchdog.timeout_ns 27 s32 RW 243425 hm2_7i92.0.write.tmax 27 bit RO FALSE hm2_7i92.0.write.tmax-increased 8 s32 RO 0 iocontrol.0.tool-prep-index 17 s32 RW 16653 motion-command-handler.tmax 17 bit RO FALSE motion-command-handler.tmax-increased 17 s32 RW 65317 motion-controller.tmax 17 bit RO FALSE motion-controller.tmax-increased 17 bit RO FALSE motion.debug-bit-0 17 bit RO FALSE motion.debug-bit-1 17 float RO 1 motion.debug-float-0 17 float RO 0 motion.debug-float-1 17 float RO 0 motion.debug-float-2 17 float RO 1 motion.debug-float-3 17 s32 RO 0 motion.debug-s32-0 17 s32 RO 0 motion.debug-s32-1 17 u32 RO 0x002A6C02 motion.servo.last-period 21 s32 RW 17325 pid.0.do-pid-calcs.tmax 21 bit RO FALSE pid.0.do-pid-calcs.tmax-increased 21 s32 RW 5467 pid.1.do-pid-calcs.tmax 21 bit RO FALSE pid.1.do-pid-calcs.tmax-increased 21 s32 RW 12439 pid.2.do-pid-calcs.tmax 21 bit RO FALSE pid.2.do-pid-calcs.tmax-increased 21 s32 RW 13629 pid.3.do-pid-calcs.tmax 21 bit RO FALSE pid.3.do-pid-calcs.tmax-increased 18 s32 RW 725333 servo-thread.tmax 17 float RO 0 tc.0.acc 17 float RO 0 tc.0.pos 17 float RO 0 tc.0.vel 17 float RO 0 tc.1.acc 17 float RO 0 tc.1.pos 17 float RO 0 tc.1.vel 17 float RO 0 tc.2.acc 17 float RO 0 tc.2.pos 17 float RO 0 tc.2.vel 17 float RO 0 tc.3.acc 17 float RO 0 tc.3.pos 17 float RO 0 tc.3.vel 17 u32 RO 0x00000000 traj.active_tc 17 float RO 0 traj.pos_out 17 float RO 0 traj.vel_out debian@debian:~$