jonathan@Smithy:~$ halcmd show Loaded HAL Components: ID Type Name PID State 20 User halcmd3713 3713 ready 18 User axisui 3522 ready 16 User inihal 3519 ready 15 User hal_manualtoolchange 3513 ready 13 RT charge_pump ready 12 RT __servo-thread ready 11 RT motmod ready 10 RT trivkins ready 9 RT hm2_pci ready 8 RT hostmot2 ready 7 User halui 3496 ready 5 User iocontrol 3494 ready Component Pins: Owner Type Dir Value Name 11 bit OUT TRUE axis.0.active 11 bit OUT FALSE axis.0.amp-enable-out ==> Xen 11 bit IN FALSE axis.0.amp-fault-in 11 float OUT 0 axis.0.backlash-corr 11 float OUT 0 axis.0.backlash-filt 11 float OUT 0 axis.0.backlash-vel 11 float OUT 0 axis.0.coarse-pos-cmd 11 bit OUT FALSE axis.0.error 11 float OUT 0 axis.0.f-error 11 float OUT 0.1 axis.0.f-error-lim 11 bit OUT FALSE axis.0.f-errored 11 bit OUT FALSE axis.0.faulted 11 float OUT 0 axis.0.free-pos-cmd 11 bit OUT FALSE axis.0.free-tp-enable 11 float OUT 0 axis.0.free-vel-lim 11 s32 OUT 0 axis.0.home-state 11 bit IN FALSE axis.0.home-sw-in <== Xmax 11 bit OUT FALSE axis.0.homed 11 bit OUT FALSE axis.0.homing 11 bit OUT TRUE axis.0.in-position 11 bit I/O FALSE axis.0.index-enable 11 s32 IN 0 axis.0.jog-counts 11 bit IN FALSE axis.0.jog-enable 11 float IN 0 axis.0.jog-scale 11 bit IN FALSE axis.0.jog-vel-mode <== Enable 11 float OUT 0 axis.0.joint-pos-cmd 11 float OUT 0 axis.0.joint-pos-fb 11 float OUT 0 axis.0.joint-vel-cmd 11 bit OUT FALSE axis.0.kb-jog-active 11 float OUT 0 axis.0.motor-offset 11 float OUT 0 axis.0.motor-pos-cmd ==> Xpos-cmd 11 float IN 0 axis.0.motor-pos-fb <== Xpos-fb 11 bit OUT FALSE axis.0.neg-hard-limit 11 bit IN FALSE axis.0.neg-lim-sw-in <== Xmin 11 bit OUT FALSE axis.0.pos-hard-limit 11 bit IN FALSE axis.0.pos-lim-sw-in <== Xmax 11 bit OUT FALSE axis.0.wheel-jog-active 11 bit OUT TRUE axis.1.active 11 bit OUT FALSE axis.1.amp-enable-out ==> Yen 11 bit IN FALSE axis.1.amp-fault-in 11 float OUT 0 axis.1.backlash-corr 11 float OUT 0 axis.1.backlash-filt 11 float OUT 0 axis.1.backlash-vel 11 float OUT 0 axis.1.coarse-pos-cmd 11 bit OUT FALSE axis.1.error 11 float OUT 0 axis.1.f-error 11 float OUT 0.1 axis.1.f-error-lim 11 bit OUT FALSE axis.1.f-errored 11 bit OUT FALSE axis.1.faulted 11 float OUT 0 axis.1.free-pos-cmd 11 bit OUT FALSE axis.1.free-tp-enable 11 float OUT 0 axis.1.free-vel-lim 11 s32 OUT 0 axis.1.home-state 11 bit IN FALSE axis.1.home-sw-in <== Ymax 11 bit OUT FALSE axis.1.homed 11 bit OUT FALSE axis.1.homing 11 bit OUT TRUE axis.1.in-position 11 bit I/O FALSE axis.1.index-enable 11 s32 IN 0 axis.1.jog-counts 11 bit IN FALSE axis.1.jog-enable 11 float IN 0 axis.1.jog-scale 11 bit IN FALSE axis.1.jog-vel-mode <== Enable 11 float OUT 0 axis.1.joint-pos-cmd 11 float OUT 0 axis.1.joint-pos-fb 11 float OUT 0 axis.1.joint-vel-cmd 11 bit OUT FALSE axis.1.kb-jog-active 11 float OUT 0 axis.1.motor-offset 11 float OUT 0 axis.1.motor-pos-cmd ==> Ypos-cmd 11 float IN 0 axis.1.motor-pos-fb <== Ypos-fb 11 bit OUT FALSE axis.1.neg-hard-limit 11 bit IN FALSE axis.1.neg-lim-sw-in <== Ymin 11 bit OUT FALSE axis.1.pos-hard-limit 11 bit IN FALSE axis.1.pos-lim-sw-in <== Ymax 11 bit OUT FALSE axis.1.wheel-jog-active 11 bit OUT TRUE axis.2.active 11 bit OUT FALSE axis.2.amp-enable-out ==> Zen 11 bit IN FALSE axis.2.amp-fault-in 11 float OUT 0 axis.2.backlash-corr 11 float OUT 0 axis.2.backlash-filt 11 float OUT 0 axis.2.backlash-vel 11 float OUT 0 axis.2.coarse-pos-cmd 11 bit OUT FALSE axis.2.error 11 float OUT 0 axis.2.f-error 11 float OUT 0.1 axis.2.f-error-lim 11 bit OUT FALSE axis.2.f-errored 11 bit OUT FALSE axis.2.faulted 11 float OUT 0 axis.2.free-pos-cmd 11 bit OUT FALSE axis.2.free-tp-enable 11 float OUT 0 axis.2.free-vel-lim 11 s32 OUT 0 axis.2.home-state 11 bit IN FALSE axis.2.home-sw-in <== Zmax 11 bit OUT FALSE axis.2.homed 11 bit OUT FALSE axis.2.homing 11 bit OUT TRUE axis.2.in-position 11 bit I/O FALSE axis.2.index-enable 11 s32 IN 0 axis.2.jog-counts 11 bit IN FALSE axis.2.jog-enable 11 float IN 0 axis.2.jog-scale 11 bit IN FALSE axis.2.jog-vel-mode <== Enable 11 float OUT 0 axis.2.joint-pos-cmd 11 float OUT 0 axis.2.joint-pos-fb 11 float OUT 0 axis.2.joint-vel-cmd 11 bit OUT FALSE axis.2.kb-jog-active 11 float OUT 0 axis.2.motor-offset 11 float OUT 0 axis.2.motor-pos-cmd ==> Zpos-cmd 11 float IN 0 axis.2.motor-pos-fb <== Zpos-fb 11 bit OUT FALSE axis.2.neg-hard-limit 11 bit IN FALSE axis.2.neg-lim-sw-in <== Zmin 11 bit OUT FALSE axis.2.pos-hard-limit 11 bit IN FALSE axis.2.pos-lim-sw-in <== Zmax 11 bit OUT FALSE axis.2.wheel-jog-active 18 bit OUT FALSE axisui.jog.a 18 bit OUT FALSE axisui.jog.b 18 bit OUT FALSE axisui.jog.c 18 float OUT 0 axisui.jog.increment 18 bit OUT FALSE axisui.jog.u 18 bit OUT FALSE axisui.jog.v 18 bit OUT FALSE axisui.jog.w 18 bit OUT TRUE axisui.jog.x 18 bit OUT FALSE axisui.jog.y 18 bit OUT FALSE axisui.jog.z 18 bit IN FALSE axisui.notifications-clear 18 bit IN FALSE axisui.notifications-clear-error 18 bit IN FALSE axisui.notifications-clear-info 18 bit IN FALSE axisui.resume-inhibit 13 bit IN FALSE charge-pump.enable <== Enable 13 bit OUT FALSE charge-pump.out ==> chargepump 13 bit OUT FALSE charge-pump.out-2 13 bit OUT FALSE charge-pump.out-4 13 s32 OUT 78 charge-pump.time 15 bit IN FALSE hal_manualtoolchange.change <== tool-change 15 bit IN FALSE hal_manualtoolchange.change_button 15 bit OUT FALSE hal_manualtoolchange.changed ==> tool-changed 15 s32 IN 0 hal_manualtoolchange.number <== tool-prep-number 7 bit IN FALSE halui.abort 7 float OUT 0 halui.axis.0.pos-commanded 7 float OUT 0 halui.axis.0.pos-feedback 7 float OUT 0 halui.axis.0.pos-relative 7 float OUT 0 halui.axis.1.pos-commanded 7 float OUT 0 halui.axis.1.pos-feedback 7 float OUT 0 halui.axis.1.pos-relative 7 float OUT 0 halui.axis.2.pos-commanded 7 float OUT 0 halui.axis.2.pos-feedback 7 float OUT 0 halui.axis.2.pos-relative 7 float OUT 0 halui.axis.3.pos-commanded 7 float OUT 0 halui.axis.3.pos-feedback 7 float OUT 0 halui.axis.3.pos-relative 7 float OUT 0 halui.axis.4.pos-commanded 7 float OUT 0 halui.axis.4.pos-feedback 7 float OUT 0 halui.axis.4.pos-relative 7 float OUT 0 halui.axis.5.pos-commanded 7 float OUT 0 halui.axis.5.pos-feedback 7 float OUT 0 halui.axis.5.pos-relative 7 float OUT 0 halui.axis.6.pos-commanded 7 float OUT 0 halui.axis.6.pos-feedback 7 float OUT 0 halui.axis.6.pos-relative 7 float OUT 0 halui.axis.7.pos-commanded 7 float OUT 0 halui.axis.7.pos-feedback 7 float OUT 0 halui.axis.7.pos-relative 7 float OUT 0 halui.axis.8.pos-commanded 7 float OUT 0 halui.axis.8.pos-feedback 7 float OUT 0 halui.axis.8.pos-relative 7 bit IN FALSE halui.estop.activate 7 bit OUT TRUE halui.estop.is-activated 7 bit IN FALSE halui.estop.reset 7 bit IN TRUE halui.feed-override.count-enable 7 s32 IN 0 halui.feed-override.counts 7 bit IN FALSE halui.feed-override.decrease 7 bit IN FALSE halui.feed-override.direct-value 7 bit IN FALSE halui.feed-override.increase 7 float IN 0.1 halui.feed-override.scale 7 float OUT 1 halui.feed-override.value 7 bit OUT FALSE halui.flood.is-on 7 bit IN FALSE halui.flood.off 7 bit IN FALSE halui.flood.on 7 bit IN FALSE halui.home-all 7 float IN 0.2 halui.jog-deadband 7 float IN 0 halui.jog-speed 7 float IN 0 halui.jog.0.analog 7 float IN 0 halui.jog.0.increment 7 bit IN FALSE halui.jog.0.increment-minus 7 bit IN FALSE halui.jog.0.increment-plus 7 bit IN FALSE halui.jog.0.minus 7 bit IN FALSE halui.jog.0.plus 7 float IN 0 halui.jog.1.analog 7 float IN 0 halui.jog.1.increment 7 bit IN FALSE halui.jog.1.increment-minus 7 bit IN FALSE halui.jog.1.increment-plus 7 bit IN FALSE halui.jog.1.minus 7 bit IN FALSE halui.jog.1.plus 7 float IN 0 halui.jog.2.analog 7 float IN 0 halui.jog.2.increment 7 bit IN FALSE halui.jog.2.increment-minus 7 bit IN FALSE halui.jog.2.increment-plus 7 bit IN FALSE halui.jog.2.minus 7 bit IN FALSE halui.jog.2.plus 7 float IN 0 halui.jog.selected.increment 7 bit IN FALSE halui.jog.selected.increment-minus 7 bit IN FALSE halui.jog.selected.increment-plus 7 bit IN FALSE halui.jog.selected.minus 7 bit IN FALSE halui.jog.selected.plus 7 bit OUT FALSE halui.joint.0.has-fault 7 bit IN FALSE halui.joint.0.home 7 bit OUT FALSE halui.joint.0.is-homed 7 bit OUT FALSE halui.joint.0.is-selected 7 bit OUT FALSE halui.joint.0.on-hard-max-limit 7 bit OUT FALSE halui.joint.0.on-hard-min-limit 7 bit OUT FALSE halui.joint.0.on-soft-max-limit 7 bit OUT FALSE halui.joint.0.on-soft-min-limit 7 bit IN FALSE halui.joint.0.select 7 bit IN FALSE halui.joint.0.unhome 7 bit OUT FALSE halui.joint.1.has-fault 7 bit IN FALSE halui.joint.1.home 7 bit OUT FALSE halui.joint.1.is-homed 7 bit OUT FALSE halui.joint.1.is-selected 7 bit OUT FALSE halui.joint.1.on-hard-max-limit 7 bit OUT FALSE halui.joint.1.on-hard-min-limit 7 bit OUT FALSE halui.joint.1.on-soft-max-limit 7 bit OUT FALSE halui.joint.1.on-soft-min-limit 7 bit IN FALSE halui.joint.1.select 7 bit IN FALSE halui.joint.1.unhome 7 bit OUT FALSE halui.joint.2.has-fault 7 bit IN FALSE halui.joint.2.home 7 bit OUT FALSE halui.joint.2.is-homed 7 bit OUT FALSE halui.joint.2.is-selected 7 bit OUT FALSE halui.joint.2.on-hard-max-limit 7 bit OUT FALSE halui.joint.2.on-hard-min-limit 7 bit OUT FALSE halui.joint.2.on-soft-max-limit 7 bit OUT FALSE halui.joint.2.on-soft-min-limit 7 bit IN FALSE halui.joint.2.select 7 bit IN FALSE halui.joint.2.unhome 7 u32 OUT 0x00000000 halui.joint.selected 7 bit OUT FALSE halui.joint.selected.has-fault 7 bit IN FALSE halui.joint.selected.home 7 bit OUT FALSE halui.joint.selected.is_homed 7 bit OUT FALSE halui.joint.selected.on-hard-max-limit 7 bit OUT FALSE halui.joint.selected.on-hard-min-limit 7 bit OUT FALSE halui.joint.selected.on-soft-limit 7 bit OUT FALSE halui.joint.selected.on-soft-min-limit 7 bit IN FALSE halui.joint.selected.unhome 7 bit OUT FALSE halui.lube.is-on 7 bit IN FALSE halui.lube.off 7 bit IN FALSE halui.lube.on 7 bit OUT FALSE halui.machine.is-on 7 bit IN FALSE halui.machine.off 7 bit IN TRUE halui.machine.on <== machine-on 7 bit IN TRUE halui.max-velocity.count-enable 7 s32 IN 0 halui.max-velocity.counts 7 bit IN FALSE halui.max-velocity.decrease 7 bit IN FALSE halui.max-velocity.direct-value 7 bit IN FALSE halui.max-velocity.increase 7 float IN 0 halui.max-velocity.scale 7 float OUT 3 halui.max-velocity.value 7 bit OUT FALSE halui.mist.is-on 7 bit IN FALSE halui.mist.off 7 bit IN FALSE halui.mist.on 7 bit IN FALSE halui.mode.auto 7 bit OUT TRUE halui.mode.is-auto 7 bit OUT TRUE halui.mode.is-joint 7 bit OUT FALSE halui.mode.is-manual 7 bit OUT FALSE halui.mode.is-mdi 7 bit OUT FALSE halui.mode.is-teleop 7 bit IN FALSE halui.mode.joint 7 bit IN FALSE halui.mode.manual 7 bit IN FALSE halui.mode.mdi 7 bit IN FALSE halui.mode.teleop 7 bit OUT TRUE halui.program.block-delete.is-on 7 bit IN FALSE halui.program.block-delete.off 7 bit IN FALSE halui.program.block-delete.on 7 bit OUT TRUE halui.program.is-idle 7 bit OUT FALSE halui.program.is-paused 7 bit OUT FALSE halui.program.is-running 7 bit OUT TRUE halui.program.optional-stop.is-on 7 bit IN FALSE halui.program.optional-stop.off 7 bit IN FALSE halui.program.optional-stop.on 7 bit IN TRUE halui.program.pause <== SOFF 7 bit IN FALSE halui.program.resume 7 bit IN FALSE halui.program.run 7 bit IN FALSE halui.program.step 7 bit IN FALSE halui.program.stop 7 bit IN TRUE halui.rapid-override.count-enable 7 s32 IN 0 halui.rapid-override.counts 7 bit IN FALSE halui.rapid-override.decrease 7 bit IN FALSE halui.rapid-override.direct-value 7 bit IN FALSE halui.rapid-override.increase 7 float IN 0.1 halui.rapid-override.scale 7 float OUT 1 halui.rapid-override.value 7 bit IN TRUE halui.spindle-override.count-enable 7 s32 IN 0 halui.spindle-override.counts 7 bit IN FALSE halui.spindle-override.decrease 7 bit IN FALSE halui.spindle-override.direct-value 7 bit IN FALSE halui.spindle-override.increase 7 float IN 0.1 halui.spindle-override.scale 7 float OUT 1 halui.spindle-override.value 7 bit OUT TRUE halui.spindle.brake-is-on 7 bit IN FALSE halui.spindle.brake-off 7 bit IN FALSE halui.spindle.brake-on 7 bit IN FALSE halui.spindle.decrease 7 bit IN FALSE halui.spindle.forward 7 bit IN FALSE halui.spindle.increase 7 bit OUT FALSE halui.spindle.is-on 7 bit IN FALSE halui.spindle.reverse 7 bit OUT FALSE halui.spindle.runs-backward 7 bit OUT FALSE halui.spindle.runs-forward 7 bit IN FALSE halui.spindle.start 7 bit IN FALSE halui.spindle.stop 7 float OUT 0 halui.tool.length_offset.a 7 float OUT 0 halui.tool.length_offset.b 7 float OUT 0 halui.tool.length_offset.c 7 float OUT 0 halui.tool.length_offset.u 7 float OUT 0 halui.tool.length_offset.v 7 float OUT 0 halui.tool.length_offset.w 7 float OUT 0 halui.tool.length_offset.x 7 float OUT 0 halui.tool.length_offset.y 7 float OUT 0 halui.tool.length_offset.z 7 u32 OUT 0x00000000 halui.tool.number 9 s32 OUT 0 hm2_5i20.0.encoder.00.count 9 s32 OUT 0 hm2_5i20.0.encoder.00.count-latched 9 bit I/O FALSE hm2_5i20.0.encoder.00.index-enable 9 bit OUT FALSE hm2_5i20.0.encoder.00.input-a 9 bit OUT FALSE hm2_5i20.0.encoder.00.input-b 9 bit OUT TRUE hm2_5i20.0.encoder.00.input-index 9 bit IN FALSE hm2_5i20.0.encoder.00.latch-enable 9 bit IN FALSE hm2_5i20.0.encoder.00.latch-polarity 9 float OUT 0 hm2_5i20.0.encoder.00.position 9 float OUT 0 hm2_5i20.0.encoder.00.position-latched 9 bit OUT FALSE hm2_5i20.0.encoder.00.quad-error 9 bit IN FALSE hm2_5i20.0.encoder.00.quad-error-enable 9 s32 OUT 0 hm2_5i20.0.encoder.00.rawcounts 9 s32 OUT 0 hm2_5i20.0.encoder.00.rawlatch 9 bit IN FALSE hm2_5i20.0.encoder.00.reset 9 float OUT 0 hm2_5i20.0.encoder.00.velocity 9 u32 IN 0x00001FC8 hm2_5i20.0.encoder.sample-frequency 9 bit OUT TRUE hm2_5i20.0.gpio.000.in 9 bit OUT FALSE hm2_5i20.0.gpio.000.in_not 9 bit OUT FALSE hm2_5i20.0.gpio.001.in 9 bit OUT TRUE hm2_5i20.0.gpio.001.in_not 9 bit OUT TRUE hm2_5i20.0.gpio.002.in 9 bit OUT FALSE hm2_5i20.0.gpio.002.in_not 9 bit OUT FALSE hm2_5i20.0.gpio.003.in 9 bit OUT TRUE hm2_5i20.0.gpio.003.in_not 9 bit OUT FALSE hm2_5i20.0.gpio.004.in 9 bit OUT TRUE hm2_5i20.0.gpio.004.in_not 9 bit OUT FALSE hm2_5i20.0.gpio.005.in 9 bit OUT TRUE hm2_5i20.0.gpio.005.in_not 9 bit IN FALSE hm2_5i20.0.gpio.005.out 9 bit OUT FALSE hm2_5i20.0.gpio.006.in 9 bit OUT TRUE hm2_5i20.0.gpio.006.in_not 9 bit OUT FALSE hm2_5i20.0.gpio.007.in 9 bit OUT TRUE hm2_5i20.0.gpio.007.in_not 9 bit IN FALSE hm2_5i20.0.gpio.007.out 9 bit OUT FALSE hm2_5i20.0.gpio.008.in 9 bit OUT TRUE hm2_5i20.0.gpio.008.in_not 9 bit OUT FALSE hm2_5i20.0.gpio.009.in 9 bit OUT TRUE hm2_5i20.0.gpio.009.in_not 9 bit IN FALSE hm2_5i20.0.gpio.009.out 9 bit OUT FALSE hm2_5i20.0.gpio.010.in 9 bit OUT TRUE hm2_5i20.0.gpio.010.in_not 9 bit IN FALSE hm2_5i20.0.gpio.010.out 9 bit OUT FALSE hm2_5i20.0.gpio.011.in 9 bit OUT TRUE hm2_5i20.0.gpio.011.in_not 9 bit IN FALSE hm2_5i20.0.gpio.011.out 9 bit OUT FALSE hm2_5i20.0.gpio.012.in 9 bit OUT TRUE hm2_5i20.0.gpio.012.in_not 9 bit IN FALSE hm2_5i20.0.gpio.012.out 9 bit OUT FALSE hm2_5i20.0.gpio.013.in 9 bit OUT TRUE hm2_5i20.0.gpio.013.in_not 9 bit IN FALSE hm2_5i20.0.gpio.013.out 9 bit OUT FALSE hm2_5i20.0.gpio.014.in 9 bit OUT TRUE hm2_5i20.0.gpio.014.in_not 9 bit IN FALSE hm2_5i20.0.gpio.014.out 9 bit OUT FALSE hm2_5i20.0.gpio.015.in 9 bit OUT TRUE hm2_5i20.0.gpio.015.in_not 9 bit IN FALSE hm2_5i20.0.gpio.015.out 9 bit OUT TRUE hm2_5i20.0.gpio.016.in 9 bit OUT FALSE hm2_5i20.0.gpio.016.in_not 9 bit OUT FALSE hm2_5i20.0.gpio.017.in 9 bit OUT TRUE hm2_5i20.0.gpio.017.in_not 9 bit OUT TRUE hm2_5i20.0.gpio.018.in 9 bit OUT FALSE hm2_5i20.0.gpio.018.in_not 9 bit OUT FALSE hm2_5i20.0.gpio.019.in 9 bit OUT TRUE hm2_5i20.0.gpio.019.in_not 9 bit OUT FALSE hm2_5i20.0.gpio.020.in 9 bit OUT TRUE hm2_5i20.0.gpio.020.in_not 9 bit OUT FALSE hm2_5i20.0.gpio.021.in 9 bit OUT TRUE hm2_5i20.0.gpio.021.in_not 9 bit OUT FALSE hm2_5i20.0.gpio.022.in 9 bit OUT TRUE hm2_5i20.0.gpio.022.in_not 9 bit IN FALSE hm2_5i20.0.gpio.022.out <== chargepump 9 bit OUT TRUE hm2_5i20.0.gpio.023.in 9 bit OUT FALSE hm2_5i20.0.gpio.023.in_not 9 bit IN FALSE hm2_5i20.0.gpio.023.out 9 bit OUT TRUE hm2_5i20.0.gpio.024.in 9 bit OUT FALSE hm2_5i20.0.gpio.024.in_not ==> Zmax 9 bit IN FALSE hm2_5i20.0.gpio.024.out 9 bit OUT TRUE hm2_5i20.0.gpio.025.in 9 bit OUT FALSE hm2_5i20.0.gpio.025.in_not ==> DRV1 9 bit IN FALSE hm2_5i20.0.gpio.025.out 9 bit OUT TRUE hm2_5i20.0.gpio.026.in 9 bit OUT FALSE hm2_5i20.0.gpio.026.in_not ==> Zmin 9 bit IN FALSE hm2_5i20.0.gpio.026.out 9 bit OUT TRUE hm2_5i20.0.gpio.027.in 9 bit OUT FALSE hm2_5i20.0.gpio.027.in_not ==> DRV3 9 bit IN FALSE hm2_5i20.0.gpio.027.out 9 bit OUT FALSE hm2_5i20.0.gpio.028.in ==> Ymax 9 bit OUT TRUE hm2_5i20.0.gpio.028.in_not 9 bit IN FALSE hm2_5i20.0.gpio.028.out 9 bit OUT FALSE hm2_5i20.0.gpio.029.in 9 bit OUT TRUE hm2_5i20.0.gpio.029.in_not 9 bit IN FALSE hm2_5i20.0.gpio.029.out 9 bit OUT FALSE hm2_5i20.0.gpio.030.in ==> Ymin 9 bit OUT TRUE hm2_5i20.0.gpio.030.in_not 9 bit IN FALSE hm2_5i20.0.gpio.030.out 9 bit OUT TRUE hm2_5i20.0.gpio.031.in 9 bit OUT FALSE hm2_5i20.0.gpio.031.in_not 9 bit IN FALSE hm2_5i20.0.gpio.031.out 9 bit OUT FALSE hm2_5i20.0.gpio.032.in ==> Xmax 9 bit OUT TRUE hm2_5i20.0.gpio.032.in_not 9 bit IN FALSE hm2_5i20.0.gpio.032.out 9 bit OUT TRUE hm2_5i20.0.gpio.033.in ==> SOFF 9 bit OUT FALSE hm2_5i20.0.gpio.033.in_not 9 bit IN FALSE hm2_5i20.0.gpio.033.out 9 bit OUT FALSE hm2_5i20.0.gpio.034.in ==> Xmin 9 bit OUT TRUE hm2_5i20.0.gpio.034.in_not 9 bit IN FALSE hm2_5i20.0.gpio.034.out 9 bit OUT TRUE hm2_5i20.0.gpio.035.in 9 bit OUT FALSE hm2_5i20.0.gpio.035.in_not ==> ACOK 9 bit IN FALSE hm2_5i20.0.gpio.035.out 9 bit OUT TRUE hm2_5i20.0.gpio.036.in 9 bit OUT FALSE hm2_5i20.0.gpio.036.in_not ==> DRV2 9 bit IN FALSE hm2_5i20.0.gpio.036.out 9 bit OUT FALSE hm2_5i20.0.gpio.037.in ==> estop-enable 9 bit OUT TRUE hm2_5i20.0.gpio.037.in_not 9 bit IN FALSE hm2_5i20.0.gpio.037.out 9 bit OUT TRUE hm2_5i20.0.gpio.038.in 9 bit OUT FALSE hm2_5i20.0.gpio.038.in_not ==> DRV4 9 bit IN FALSE hm2_5i20.0.gpio.038.out 9 bit OUT FALSE hm2_5i20.0.gpio.039.in 9 bit OUT TRUE hm2_5i20.0.gpio.039.in_not ==> machine-on 9 bit IN FALSE hm2_5i20.0.gpio.039.out 9 bit OUT TRUE hm2_5i20.0.gpio.040.in 9 bit OUT FALSE hm2_5i20.0.gpio.040.in_not 9 bit IN FALSE hm2_5i20.0.gpio.040.out <== KA1 9 bit OUT FALSE hm2_5i20.0.gpio.041.in 9 bit OUT TRUE hm2_5i20.0.gpio.041.in_not 9 bit IN FALSE hm2_5i20.0.gpio.041.out 9 bit OUT TRUE hm2_5i20.0.gpio.042.in 9 bit OUT FALSE hm2_5i20.0.gpio.042.in_not 9 bit IN FALSE hm2_5i20.0.gpio.042.out <== KA2 9 bit OUT TRUE hm2_5i20.0.gpio.043.in 9 bit OUT FALSE hm2_5i20.0.gpio.043.in_not 9 bit IN FALSE hm2_5i20.0.gpio.043.out <== M8 9 bit OUT TRUE hm2_5i20.0.gpio.044.in 9 bit OUT FALSE hm2_5i20.0.gpio.044.in_not 9 bit IN FALSE hm2_5i20.0.gpio.044.out 9 bit OUT TRUE hm2_5i20.0.gpio.045.in 9 bit OUT FALSE hm2_5i20.0.gpio.045.in_not 9 bit IN FALSE hm2_5i20.0.gpio.045.out <== M7 9 bit OUT TRUE hm2_5i20.0.gpio.046.in 9 bit OUT FALSE hm2_5i20.0.gpio.046.in_not 9 bit IN FALSE hm2_5i20.0.gpio.046.out 9 bit OUT TRUE hm2_5i20.0.gpio.047.in 9 bit OUT FALSE hm2_5i20.0.gpio.047.in_not 9 bit IN FALSE hm2_5i20.0.gpio.047.out 9 bit OUT TRUE hm2_5i20.0.gpio.048.in 9 bit OUT FALSE hm2_5i20.0.gpio.048.in_not 9 bit IN FALSE hm2_5i20.0.gpio.048.out 9 bit OUT TRUE hm2_5i20.0.gpio.049.in 9 bit OUT FALSE hm2_5i20.0.gpio.049.in_not 9 bit IN FALSE hm2_5i20.0.gpio.049.out 9 bit OUT TRUE hm2_5i20.0.gpio.050.in 9 bit OUT FALSE hm2_5i20.0.gpio.050.in_not 9 bit IN FALSE hm2_5i20.0.gpio.050.out 9 bit OUT TRUE hm2_5i20.0.gpio.051.in 9 bit OUT FALSE hm2_5i20.0.gpio.051.in_not 9 bit IN FALSE hm2_5i20.0.gpio.051.out 9 bit OUT TRUE hm2_5i20.0.gpio.052.in 9 bit OUT FALSE hm2_5i20.0.gpio.052.in_not 9 bit IN FALSE hm2_5i20.0.gpio.052.out 9 bit OUT TRUE hm2_5i20.0.gpio.053.in 9 bit OUT FALSE hm2_5i20.0.gpio.053.in_not 9 bit IN FALSE hm2_5i20.0.gpio.053.out 9 bit OUT TRUE hm2_5i20.0.gpio.054.in 9 bit OUT FALSE hm2_5i20.0.gpio.054.in_not 9 bit IN FALSE hm2_5i20.0.gpio.054.out 9 bit OUT TRUE hm2_5i20.0.gpio.055.in 9 bit OUT FALSE hm2_5i20.0.gpio.055.in_not 9 bit IN FALSE hm2_5i20.0.gpio.055.out 9 bit OUT TRUE hm2_5i20.0.gpio.056.in 9 bit OUT FALSE hm2_5i20.0.gpio.056.in_not 9 bit IN FALSE hm2_5i20.0.gpio.056.out 9 bit OUT TRUE hm2_5i20.0.gpio.057.in 9 bit OUT FALSE hm2_5i20.0.gpio.057.in_not 9 bit IN FALSE hm2_5i20.0.gpio.057.out 9 bit OUT TRUE hm2_5i20.0.gpio.058.in 9 bit OUT FALSE hm2_5i20.0.gpio.058.in_not 9 bit IN FALSE hm2_5i20.0.gpio.058.out 9 bit OUT TRUE hm2_5i20.0.gpio.059.in 9 bit OUT FALSE hm2_5i20.0.gpio.059.in_not 9 bit IN FALSE hm2_5i20.0.gpio.059.out 9 bit OUT TRUE hm2_5i20.0.gpio.060.in 9 bit OUT FALSE hm2_5i20.0.gpio.060.in_not 9 bit IN FALSE hm2_5i20.0.gpio.060.out 9 bit OUT TRUE hm2_5i20.0.gpio.061.in 9 bit OUT FALSE hm2_5i20.0.gpio.061.in_not 9 bit IN FALSE hm2_5i20.0.gpio.061.out 9 bit OUT TRUE hm2_5i20.0.gpio.062.in 9 bit OUT FALSE hm2_5i20.0.gpio.062.in_not 9 bit IN FALSE hm2_5i20.0.gpio.062.out 9 bit OUT TRUE hm2_5i20.0.gpio.063.in 9 bit OUT FALSE hm2_5i20.0.gpio.063.in_not 9 bit IN FALSE hm2_5i20.0.gpio.063.out 9 bit OUT TRUE hm2_5i20.0.gpio.064.in 9 bit OUT FALSE hm2_5i20.0.gpio.064.in_not 9 bit IN FALSE hm2_5i20.0.gpio.064.out 9 bit OUT TRUE hm2_5i20.0.gpio.065.in 9 bit OUT FALSE hm2_5i20.0.gpio.065.in_not 9 bit IN FALSE hm2_5i20.0.gpio.065.out 9 bit OUT TRUE hm2_5i20.0.gpio.066.in 9 bit OUT FALSE hm2_5i20.0.gpio.066.in_not 9 bit IN FALSE hm2_5i20.0.gpio.066.out 9 bit OUT TRUE hm2_5i20.0.gpio.067.in 9 bit OUT FALSE hm2_5i20.0.gpio.067.in_not 9 bit IN FALSE hm2_5i20.0.gpio.067.out 9 bit OUT TRUE hm2_5i20.0.gpio.068.in 9 bit OUT FALSE hm2_5i20.0.gpio.068.in_not 9 bit IN FALSE hm2_5i20.0.gpio.068.out 9 bit OUT TRUE hm2_5i20.0.gpio.069.in 9 bit OUT FALSE hm2_5i20.0.gpio.069.in_not 9 bit IN FALSE hm2_5i20.0.gpio.069.out 9 bit OUT TRUE hm2_5i20.0.gpio.070.in 9 bit OUT FALSE hm2_5i20.0.gpio.070.in_not 9 bit IN FALSE hm2_5i20.0.gpio.070.out 9 bit OUT TRUE hm2_5i20.0.gpio.071.in 9 bit OUT FALSE hm2_5i20.0.gpio.071.in_not 9 bit IN FALSE hm2_5i20.0.gpio.071.out 9 bit IN FALSE hm2_5i20.0.led.CR01 9 bit IN FALSE hm2_5i20.0.led.CR02 9 bit IN FALSE hm2_5i20.0.led.CR03 9 bit IN FALSE hm2_5i20.0.led.CR04 9 bit IN FALSE hm2_5i20.0.led.CR05 9 bit IN FALSE hm2_5i20.0.led.CR06 9 bit IN FALSE hm2_5i20.0.led.CR07 9 bit IN FALSE hm2_5i20.0.led.CR08 9 bit IN FALSE hm2_5i20.0.pwmgen.00.enable <== Enable 9 float IN 0 hm2_5i20.0.pwmgen.00.value <== scmd 9 s32 OUT 40456 hm2_5i20.0.read.time 9 s32 OUT 10049 hm2_5i20.0.read_gpio.time 9 bit IN FALSE hm2_5i20.0.stepgen.00.control-type 9 s32 OUT 0 hm2_5i20.0.stepgen.00.counts 9 float OUT 0 hm2_5i20.0.stepgen.00.dbg_err_at_match 9 float OUT 0 hm2_5i20.0.stepgen.00.dbg_ff_vel 9 float OUT 0 hm2_5i20.0.stepgen.00.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_5i20.0.stepgen.00.dbg_s_to_match 9 s32 OUT 0 hm2_5i20.0.stepgen.00.dbg_step_rate 9 float OUT 0 hm2_5i20.0.stepgen.00.dbg_vel_error 9 bit IN FALSE hm2_5i20.0.stepgen.00.enable <== Xen 9 float IN 0 hm2_5i20.0.stepgen.00.position-cmd <== Xpos-cmd 9 float OUT 0 hm2_5i20.0.stepgen.00.position-fb ==> Xpos-fb 9 float IN 0 hm2_5i20.0.stepgen.00.velocity-cmd 9 float OUT 0 hm2_5i20.0.stepgen.00.velocity-fb 9 bit IN FALSE hm2_5i20.0.stepgen.01.control-type 9 s32 OUT 0 hm2_5i20.0.stepgen.01.counts 9 float OUT 0 hm2_5i20.0.stepgen.01.dbg_err_at_match 9 float OUT 0 hm2_5i20.0.stepgen.01.dbg_ff_vel 9 float OUT 0 hm2_5i20.0.stepgen.01.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_5i20.0.stepgen.01.dbg_s_to_match 9 s32 OUT 0 hm2_5i20.0.stepgen.01.dbg_step_rate 9 float OUT 0 hm2_5i20.0.stepgen.01.dbg_vel_error 9 bit IN FALSE hm2_5i20.0.stepgen.01.enable <== Yen 9 float IN 0 hm2_5i20.0.stepgen.01.position-cmd <== Ypos-cmd 9 float OUT 0 hm2_5i20.0.stepgen.01.position-fb ==> Ypos-fb 9 float IN 0 hm2_5i20.0.stepgen.01.velocity-cmd 9 float OUT 0 hm2_5i20.0.stepgen.01.velocity-fb 9 bit IN FALSE hm2_5i20.0.stepgen.02.control-type 9 s32 OUT 0 hm2_5i20.0.stepgen.02.counts 9 float OUT 0 hm2_5i20.0.stepgen.02.dbg_err_at_match 9 float OUT 0 hm2_5i20.0.stepgen.02.dbg_ff_vel 9 float OUT 0 hm2_5i20.0.stepgen.02.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_5i20.0.stepgen.02.dbg_s_to_match 9 s32 OUT 0 hm2_5i20.0.stepgen.02.dbg_step_rate 9 float OUT 0 hm2_5i20.0.stepgen.02.dbg_vel_error 9 bit IN FALSE hm2_5i20.0.stepgen.02.enable <== Zen 9 float IN 0 hm2_5i20.0.stepgen.02.position-cmd <== Zpos-cmd 9 float OUT 0 hm2_5i20.0.stepgen.02.position-fb ==> Zpos-fb 9 float IN 0 hm2_5i20.0.stepgen.02.velocity-cmd 9 float OUT 0 hm2_5i20.0.stepgen.02.velocity-fb 9 bit IN FALSE hm2_5i20.0.stepgen.03.control-type 9 s32 OUT 0 hm2_5i20.0.stepgen.03.counts 9 float OUT 0 hm2_5i20.0.stepgen.03.dbg_err_at_match 9 float OUT 0 hm2_5i20.0.stepgen.03.dbg_ff_vel 9 float OUT 0 hm2_5i20.0.stepgen.03.dbg_pos_minus_prev_cmd 9 float OUT 0 hm2_5i20.0.stepgen.03.dbg_s_to_match 9 s32 OUT 0 hm2_5i20.0.stepgen.03.dbg_step_rate 9 float OUT 0 hm2_5i20.0.stepgen.03.dbg_vel_error 9 bit IN FALSE hm2_5i20.0.stepgen.03.enable 9 float IN 0 hm2_5i20.0.stepgen.03.position-cmd 9 float OUT -0 hm2_5i20.0.stepgen.03.position-fb 9 float IN 0 hm2_5i20.0.stepgen.03.velocity-cmd 9 float OUT 0 hm2_5i20.0.stepgen.03.velocity-fb 9 bit I/O FALSE hm2_5i20.0.watchdog.has_bit 9 s32 OUT 7137 hm2_5i20.0.write.time 9 s32 OUT 2886 hm2_5i20.0.write_gpio.time 16 float IN 0 ini.0.backlash 16 float IN 0.25 ini.0.ferror 16 float IN 20 ini.0.max_acceleration 16 float IN 0.2 ini.0.max_limit 16 float IN 3 ini.0.max_velocity 16 float IN 0.1 ini.0.min_ferror 16 float IN -11.6 ini.0.min_limit 16 float IN 0 ini.1.backlash 16 float IN 0.25 ini.1.ferror 16 float IN 20 ini.1.max_acceleration 16 float IN 0.2 ini.1.max_limit 16 float IN 3 ini.1.max_velocity 16 float IN 0.1 ini.1.min_ferror 16 float IN -5.3 ini.1.min_limit 16 float IN 0 ini.2.backlash 16 float IN 0.25 ini.2.ferror 16 float IN 20 ini.2.max_acceleration 16 float IN 0.2 ini.2.max_limit 16 float IN 3 ini.2.max_velocity 16 float IN 0.1 ini.2.min_ferror 16 float IN -10.2 ini.2.min_limit 16 float IN 0 ini.3.backlash 16 float IN 0 ini.3.ferror 16 float IN 0 ini.3.max_acceleration 16 float IN 0 ini.3.max_limit 16 float IN 0 ini.3.max_velocity 16 float IN 0 ini.3.min_ferror 16 float IN 0 ini.3.min_limit 16 float IN 0 ini.4.backlash 16 float IN 0 ini.4.ferror 16 float IN 0 ini.4.max_acceleration 16 float IN 0 ini.4.max_limit 16 float IN 0 ini.4.max_velocity 16 float IN 0 ini.4.min_ferror 16 float IN 0 ini.4.min_limit 16 float IN 0 ini.5.backlash 16 float IN 0 ini.5.ferror 16 float IN 0 ini.5.max_acceleration 16 float IN 0 ini.5.max_limit 16 float IN 0 ini.5.max_velocity 16 float IN 0 ini.5.min_ferror 16 float IN 0 ini.5.min_limit 16 float IN 0 ini.6.backlash 16 float IN 0 ini.6.ferror 16 float IN 0 ini.6.max_acceleration 16 float IN 0 ini.6.max_limit 16 float IN 0 ini.6.max_velocity 16 float IN 0 ini.6.min_ferror 16 float IN 0 ini.6.min_limit 16 float IN 0 ini.7.backlash 16 float IN 0 ini.7.ferror 16 float IN 0 ini.7.max_acceleration 16 float IN 0 ini.7.max_limit 16 float IN 0 ini.7.max_velocity 16 float IN 0 ini.7.min_ferror 16 float IN 0 ini.7.min_limit 16 float IN 0 ini.8.backlash 16 float IN 0 ini.8.ferror 16 float IN 0 ini.8.max_acceleration 16 float IN 0 ini.8.max_limit 16 float IN 0 ini.8.max_velocity 16 float IN 0 ini.8.min_ferror 16 float IN 0 ini.8.min_limit 16 bit IN TRUE ini.traj_arc_blend_enable 16 bit IN FALSE ini.traj_arc_blend_fallback_enable 16 float IN 4 ini.traj_arc_blend_gap_cycles 16 s32 IN 50 ini.traj_arc_blend_optimization_depth 16 float IN 100 ini.traj_arc_blend_ramp_freq 16 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio 16 float IN 1e+99 ini.traj_default_acceleration 16 float IN 0.2 ini.traj_default_velocity 16 float IN 20 ini.traj_max_acceleration 16 float IN 3 ini.traj_max_velocity 5 bit OUT FALSE iocontrol.0.coolant-flood ==> M8 5 bit OUT FALSE iocontrol.0.coolant-mist ==> M7 5 bit IN FALSE iocontrol.0.emc-enable-in <== estop-enable 5 bit OUT FALSE iocontrol.0.lube 5 bit IN FALSE iocontrol.0.lube_level 5 bit OUT FALSE iocontrol.0.tool-change ==> tool-change 5 bit IN FALSE iocontrol.0.tool-changed <== tool-changed 5 s32 OUT 0 iocontrol.0.tool-number 5 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-prep-number 5 s32 OUT 0 iocontrol.0.tool-prep-pocket 5 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback 5 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback 5 bit OUT FALSE iocontrol.0.user-enable-out 5 bit OUT FALSE iocontrol.0.user-request-enable 11 s32 OUT 195 motion-command-handler.time 11 s32 OUT 3835 motion-controller.time 11 float IN 1 motion.adaptive-feed 11 float IN 0 motion.analog-in-00 11 float IN 0 motion.analog-in-01 11 float IN 0 motion.analog-in-02 11 float IN 0 motion.analog-in-03 11 float OUT 0 motion.analog-out-00 11 float OUT 0 motion.analog-out-01 11 float OUT 0 motion.analog-out-02 11 float OUT 0 motion.analog-out-03 11 bit OUT FALSE motion.coord-error 11 bit OUT TRUE motion.coord-mode 11 float OUT 0 motion.current-vel 11 bit IN FALSE motion.digital-in-00 11 bit IN FALSE motion.digital-in-01 11 bit IN FALSE motion.digital-in-02 11 bit IN FALSE motion.digital-in-03 11 bit OUT FALSE motion.digital-out-00 11 bit OUT FALSE motion.digital-out-01 11 bit OUT FALSE motion.digital-out-02 11 bit OUT FALSE motion.digital-out-03 11 float OUT 0 motion.distance-to-go 11 bit IN TRUE motion.enable 11 bit IN TRUE motion.feed-hold <== SOFF 11 bit IN FALSE motion.feed-inhibit 11 bit OUT TRUE motion.in-position 11 bit OUT FALSE motion.motion-enabled 11 s32 OUT 0 motion.motion-type 11 bit OUT FALSE motion.on-soft-limit 11 bit IN FALSE motion.probe-input 11 s32 OUT 0 motion.program-line 11 float OUT 0 motion.requested-vel 11 bit IN TRUE motion.spindle-at-speed 11 bit OUT TRUE motion.spindle-brake 11 bit OUT FALSE motion.spindle-forward 11 bit I/O FALSE motion.spindle-index-enable 11 bit IN FALSE motion.spindle-inhibit 11 bit IN FALSE motion.spindle-is-oriented 11 bit OUT FALSE motion.spindle-locked 11 bit OUT FALSE motion.spindle-on ==> KA2 11 bit OUT FALSE motion.spindle-orient 11 float OUT 0 motion.spindle-orient-angle 11 s32 IN 0 motion.spindle-orient-fault 11 s32 OUT 0 motion.spindle-orient-mode 11 bit OUT FALSE motion.spindle-reverse ==> KA1 11 float IN 0 motion.spindle-revs 11 float OUT 0 motion.spindle-speed-cmd-rps 11 float IN 0 motion.spindle-speed-in 11 float OUT 0 motion.spindle-speed-out ==> scmd 11 float OUT 0 motion.spindle-speed-out-abs 11 float OUT 0 motion.spindle-speed-out-rps 11 float OUT 0 motion.spindle-speed-out-rps-abs 11 bit OUT FALSE motion.teleop-mode 11 float OUT 0 motion.tooloffset.a 11 float OUT 0 motion.tooloffset.b 11 float OUT 0 motion.tooloffset.c 11 float OUT 0 motion.tooloffset.u 11 float OUT 0 motion.tooloffset.v 11 float OUT 0 motion.tooloffset.w 11 float OUT 0 motion.tooloffset.x 11 float OUT 0 motion.tooloffset.y 11 float OUT 0 motion.tooloffset.z 12 s32 OUT 74698 servo-thread.time Pin Aliases: Alias Original Name Signals: Type Value Name (linked to) bit FALSE ACOK <== hm2_5i20.0.gpio.035.in_not bit FALSE DRV1 <== hm2_5i20.0.gpio.025.in_not bit FALSE DRV2 <== hm2_5i20.0.gpio.036.in_not bit FALSE DRV3 <== hm2_5i20.0.gpio.027.in_not bit FALSE DRV4 <== hm2_5i20.0.gpio.038.in_not bit FALSE Enable ==> axis.0.jog-vel-mode ==> axis.1.jog-vel-mode ==> axis.2.jog-vel-mode ==> charge-pump.enable ==> hm2_5i20.0.pwmgen.00.enable bit FALSE KA1 ==> hm2_5i20.0.gpio.040.out <== motion.spindle-reverse bit FALSE KA2 ==> hm2_5i20.0.gpio.042.out <== motion.spindle-on bit FALSE M7 ==> hm2_5i20.0.gpio.045.out <== iocontrol.0.coolant-mist bit FALSE M8 ==> hm2_5i20.0.gpio.043.out <== iocontrol.0.coolant-flood bit TRUE SOFF ==> halui.program.pause <== hm2_5i20.0.gpio.033.in ==> motion.feed-hold bit FALSE Xen <== axis.0.amp-enable-out ==> hm2_5i20.0.stepgen.00.enable bit FALSE Xmax ==> axis.0.home-sw-in ==> axis.0.pos-lim-sw-in <== hm2_5i20.0.gpio.032.in bit FALSE Xmin ==> axis.0.neg-lim-sw-in <== hm2_5i20.0.gpio.034.in float 0 Xpos-cmd <== axis.0.motor-pos-cmd ==> hm2_5i20.0.stepgen.00.position-cmd float 0 Xpos-fb ==> axis.0.motor-pos-fb <== hm2_5i20.0.stepgen.00.position-fb bit FALSE Yen <== axis.1.amp-enable-out ==> hm2_5i20.0.stepgen.01.enable bit FALSE Ymax ==> axis.1.home-sw-in ==> axis.1.pos-lim-sw-in <== hm2_5i20.0.gpio.028.in bit FALSE Ymin ==> axis.1.neg-lim-sw-in <== hm2_5i20.0.gpio.030.in float 0 Ypos-cmd <== axis.1.motor-pos-cmd ==> hm2_5i20.0.stepgen.01.position-cmd float 0 Ypos-fb ==> axis.1.motor-pos-fb <== hm2_5i20.0.stepgen.01.position-fb bit FALSE Zen <== axis.2.amp-enable-out ==> hm2_5i20.0.stepgen.02.enable bit FALSE Zmax ==> axis.2.home-sw-in ==> axis.2.pos-lim-sw-in <== hm2_5i20.0.gpio.024.in_not bit FALSE Zmin ==> axis.2.neg-lim-sw-in <== hm2_5i20.0.gpio.026.in_not float 0 Zpos-cmd <== axis.2.motor-pos-cmd ==> hm2_5i20.0.stepgen.02.position-cmd float 0 Zpos-fb ==> axis.2.motor-pos-fb <== hm2_5i20.0.stepgen.02.position-fb bit FALSE chargepump <== charge-pump.out ==> hm2_5i20.0.gpio.022.out bit FALSE estop-enable <== hm2_5i20.0.gpio.037.in ==> iocontrol.0.emc-enable-in bit TRUE machine-on ==> halui.machine.on <== hm2_5i20.0.gpio.039.in_not float 0 scmd ==> hm2_5i20.0.pwmgen.00.value <== motion.spindle-speed-out bit FALSE tool-change ==> hal_manualtoolchange.change <== iocontrol.0.tool-change bit FALSE tool-change-loop bit FALSE tool-changed <== hal_manualtoolchange.changed ==> iocontrol.0.tool-changed s32 0 tool-prep-number ==> hal_manualtoolchange.number <== iocontrol.0.tool-prep-number bit FALSE tool-prepare-loopback <== iocontrol.0.tool-prepare ==> iocontrol.0.tool-prepared Parameters: Owner Type Dir Value Name 13 s32 RW 3861 charge-pump.tmax 13 bit RO FALSE charge-pump.tmax-increased 9 bit RW FALSE hm2_5i20.0.encoder.00.counter-mode 9 bit RW TRUE hm2_5i20.0.encoder.00.filter 9 bit RW FALSE hm2_5i20.0.encoder.00.index-invert 9 bit RW FALSE hm2_5i20.0.encoder.00.index-mask 9 bit RW FALSE hm2_5i20.0.encoder.00.index-mask-invert 9 float RW 1 hm2_5i20.0.encoder.00.scale 9 float RW 0.5 hm2_5i20.0.encoder.00.vel-timeout 9 bit RW TRUE hm2_5i20.0.gpio.000.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.000.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.001.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.001.is_opendrain 9 bit RW TRUE hm2_5i20.0.gpio.002.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.002.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.003.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.003.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.005.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.005.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.005.is_output 9 bit RW FALSE hm2_5i20.0.gpio.007.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.007.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.007.is_output 9 bit RW FALSE hm2_5i20.0.gpio.009.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.009.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.009.is_output 9 bit RW FALSE hm2_5i20.0.gpio.010.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.010.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.010.is_output 9 bit RW FALSE hm2_5i20.0.gpio.011.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.011.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.011.is_output 9 bit RW FALSE hm2_5i20.0.gpio.012.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.012.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.012.is_output 9 bit RW FALSE hm2_5i20.0.gpio.013.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.013.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.013.is_output 9 bit RW FALSE hm2_5i20.0.gpio.014.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.014.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.014.is_output 9 bit RW FALSE hm2_5i20.0.gpio.015.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.015.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.015.is_output 9 bit RW TRUE hm2_5i20.0.gpio.016.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.016.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.017.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.017.is_opendrain 9 bit RW TRUE hm2_5i20.0.gpio.018.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.018.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.019.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.019.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.020.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.020.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.021.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.021.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.022.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.022.is_opendrain 9 bit RW TRUE hm2_5i20.0.gpio.022.is_output 9 bit RW FALSE hm2_5i20.0.gpio.023.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.023.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.023.is_output 9 bit RW FALSE hm2_5i20.0.gpio.024.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.024.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.024.is_output 9 bit RW FALSE hm2_5i20.0.gpio.025.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.025.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.025.is_output 9 bit RW FALSE hm2_5i20.0.gpio.026.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.026.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.026.is_output 9 bit RW FALSE hm2_5i20.0.gpio.027.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.027.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.027.is_output 9 bit RW FALSE hm2_5i20.0.gpio.028.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.028.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.028.is_output 9 bit RW FALSE hm2_5i20.0.gpio.029.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.029.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.029.is_output 9 bit RW FALSE hm2_5i20.0.gpio.030.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.030.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.030.is_output 9 bit RW FALSE hm2_5i20.0.gpio.031.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.031.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.031.is_output 9 bit RW FALSE hm2_5i20.0.gpio.032.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.032.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.032.is_output 9 bit RW FALSE hm2_5i20.0.gpio.033.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.033.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.033.is_output 9 bit RW FALSE hm2_5i20.0.gpio.034.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.034.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.034.is_output 9 bit RW FALSE hm2_5i20.0.gpio.035.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.035.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.035.is_output 9 bit RW FALSE hm2_5i20.0.gpio.036.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.036.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.036.is_output 9 bit RW FALSE hm2_5i20.0.gpio.037.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.037.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.037.is_output 9 bit RW FALSE hm2_5i20.0.gpio.038.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.038.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.038.is_output 9 bit RW FALSE hm2_5i20.0.gpio.039.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.039.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.039.is_output 9 bit RW TRUE hm2_5i20.0.gpio.040.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.040.is_opendrain 9 bit RW TRUE hm2_5i20.0.gpio.040.is_output 9 bit RW FALSE hm2_5i20.0.gpio.041.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.041.is_opendrain 9 bit RW TRUE hm2_5i20.0.gpio.041.is_output 9 bit RW TRUE hm2_5i20.0.gpio.042.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.042.is_opendrain 9 bit RW TRUE hm2_5i20.0.gpio.042.is_output 9 bit RW TRUE hm2_5i20.0.gpio.043.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.043.is_opendrain 9 bit RW TRUE hm2_5i20.0.gpio.043.is_output 9 bit RW FALSE hm2_5i20.0.gpio.044.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.044.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.044.is_output 9 bit RW TRUE hm2_5i20.0.gpio.045.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.045.is_opendrain 9 bit RW TRUE hm2_5i20.0.gpio.045.is_output 9 bit RW FALSE hm2_5i20.0.gpio.046.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.046.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.046.is_output 9 bit RW FALSE hm2_5i20.0.gpio.047.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.047.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.047.is_output 9 bit RW FALSE hm2_5i20.0.gpio.048.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.048.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.048.is_output 9 bit RW FALSE hm2_5i20.0.gpio.049.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.049.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.049.is_output 9 bit RW FALSE hm2_5i20.0.gpio.050.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.050.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.050.is_output 9 bit RW FALSE hm2_5i20.0.gpio.051.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.051.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.051.is_output 9 bit RW FALSE hm2_5i20.0.gpio.052.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.052.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.052.is_output 9 bit RW FALSE hm2_5i20.0.gpio.053.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.053.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.053.is_output 9 bit RW FALSE hm2_5i20.0.gpio.054.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.054.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.054.is_output 9 bit RW FALSE hm2_5i20.0.gpio.055.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.055.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.055.is_output 9 bit RW FALSE hm2_5i20.0.gpio.056.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.056.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.056.is_output 9 bit RW FALSE hm2_5i20.0.gpio.057.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.057.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.057.is_output 9 bit RW FALSE hm2_5i20.0.gpio.058.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.058.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.058.is_output 9 bit RW FALSE hm2_5i20.0.gpio.059.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.059.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.059.is_output 9 bit RW FALSE hm2_5i20.0.gpio.060.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.060.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.060.is_output 9 bit RW FALSE hm2_5i20.0.gpio.061.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.061.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.061.is_output 9 bit RW FALSE hm2_5i20.0.gpio.062.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.062.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.062.is_output 9 bit RW FALSE hm2_5i20.0.gpio.063.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.063.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.063.is_output 9 bit RW FALSE hm2_5i20.0.gpio.064.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.064.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.064.is_output 9 bit RW FALSE hm2_5i20.0.gpio.065.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.065.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.065.is_output 9 bit RW FALSE hm2_5i20.0.gpio.066.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.066.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.066.is_output 9 bit RW FALSE hm2_5i20.0.gpio.067.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.067.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.067.is_output 9 bit RW FALSE hm2_5i20.0.gpio.068.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.068.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.068.is_output 9 bit RW FALSE hm2_5i20.0.gpio.069.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.069.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.069.is_output 9 bit RW FALSE hm2_5i20.0.gpio.070.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.070.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.070.is_output 9 bit RW FALSE hm2_5i20.0.gpio.071.invert_output 9 bit RW FALSE hm2_5i20.0.gpio.071.is_opendrain 9 bit RW FALSE hm2_5i20.0.gpio.071.is_output 9 bit RW FALSE hm2_5i20.0.io_error 9 s32 RW 1 hm2_5i20.0.pwmgen.00.output-type 9 float RW 5000 hm2_5i20.0.pwmgen.00.scale 9 u32 RW 0x00004E20 hm2_5i20.0.pwmgen.pdm_frequency 9 u32 RW 0x00000064 hm2_5i20.0.pwmgen.pwm_frequency 9 s32 RW 182013 hm2_5i20.0.read.tmax 9 bit RO FALSE hm2_5i20.0.read.tmax-increased 9 s32 RW 26325 hm2_5i20.0.read_gpio.tmax 9 bit RO FALSE hm2_5i20.0.read_gpio.tmax-increased 9 u32 RW 0x000004E2 hm2_5i20.0.stepgen.00.dirhold 9 u32 RW 0x00001388 hm2_5i20.0.stepgen.00.dirsetup 9 float RW 0 hm2_5i20.0.stepgen.00.maxaccel 9 float RW 0 hm2_5i20.0.stepgen.00.maxvel 9 float RW 63500 hm2_5i20.0.stepgen.00.position-scale 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.00.step_type 9 u32 RW 0x000004E2 hm2_5i20.0.stepgen.00.steplen 9 u32 RW 0x000004E2 hm2_5i20.0.stepgen.00.stepspace 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.00.table-data-0 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.00.table-data-1 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.00.table-data-2 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.00.table-data-3 9 u32 RW 0x000004E2 hm2_5i20.0.stepgen.01.dirhold 9 u32 RW 0x00001388 hm2_5i20.0.stepgen.01.dirsetup 9 float RW 0 hm2_5i20.0.stepgen.01.maxaccel 9 float RW 0 hm2_5i20.0.stepgen.01.maxvel 9 float RW 63500 hm2_5i20.0.stepgen.01.position-scale 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.01.step_type 9 u32 RW 0x000004E2 hm2_5i20.0.stepgen.01.steplen 9 u32 RW 0x000004E2 hm2_5i20.0.stepgen.01.stepspace 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.01.table-data-0 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.01.table-data-1 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.01.table-data-2 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.01.table-data-3 9 u32 RW 0x000004E2 hm2_5i20.0.stepgen.02.dirhold 9 u32 RW 0x00001388 hm2_5i20.0.stepgen.02.dirsetup 9 float RW 0 hm2_5i20.0.stepgen.02.maxaccel 9 float RW 0 hm2_5i20.0.stepgen.02.maxvel 9 float RW 63500 hm2_5i20.0.stepgen.02.position-scale 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.02.step_type 9 u32 RW 0x000004E2 hm2_5i20.0.stepgen.02.steplen 9 u32 RW 0x000004E2 hm2_5i20.0.stepgen.02.stepspace 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.02.table-data-0 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.02.table-data-1 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.02.table-data-2 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.02.table-data-3 9 u32 RW 0x000004E2 hm2_5i20.0.stepgen.03.dirhold 9 u32 RW 0x00001388 hm2_5i20.0.stepgen.03.dirsetup 9 float RW 0 hm2_5i20.0.stepgen.03.maxaccel 9 float RW 0 hm2_5i20.0.stepgen.03.maxvel 9 float RW -1111.111 hm2_5i20.0.stepgen.03.position-scale 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.03.step_type 9 u32 RW 0x000004E2 hm2_5i20.0.stepgen.03.steplen 9 u32 RW 0x000004E2 hm2_5i20.0.stepgen.03.stepspace 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.03.table-data-0 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.03.table-data-1 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.03.table-data-2 9 u32 RW 0x00000000 hm2_5i20.0.stepgen.03.table-data-3 9 u32 RW 0x004C4B40 hm2_5i20.0.watchdog.timeout_ns 9 s32 RW 85709 hm2_5i20.0.write.tmax 9 bit RO FALSE hm2_5i20.0.write.tmax-increased 9 s32 RW 17264 hm2_5i20.0.write_gpio.tmax 9 bit RO FALSE hm2_5i20.0.write_gpio.tmax-increased 5 s32 RO 0 iocontrol.0.tool-prep-index 11 s32 RW 41808 motion-command-handler.tmax 11 bit RO FALSE motion-command-handler.tmax-increased 11 s32 RW 90610 motion-controller.tmax 11 bit RO FALSE motion-controller.tmax-increased 11 bit RO FALSE motion.debug-bit-0 11 bit RO FALSE motion.debug-bit-1 11 float RO 0 motion.debug-float-0 11 float RO 0 motion.debug-float-1 11 float RO 0 motion.debug-float-2 11 float RO 1 motion.debug-float-3 11 s32 RO 0 motion.debug-s32-0 11 s32 RO 0 motion.debug-s32-1 11 u32 RO 0x0027B5A5 motion.servo.last-period 11 float RO 1000881 motion.servo.last-period-ns 11 u32 RW 0x00000000 motion.servo.overruns 12 s32 RW 359385 servo-thread.tmax 11 float RO 0 tc.0.acc 11 float RO 0 tc.0.pos 11 float RO 0 tc.0.vel 11 float RO 0 tc.1.acc 11 float RO 0 tc.1.pos 11 float RO 0 tc.1.vel 11 float RO 0 tc.2.acc 11 float RO 0 tc.2.pos 11 float RO 0 tc.2.vel 11 float RO 0 tc.3.acc 11 float RO 0 tc.3.pos 11 float RO 0 tc.3.vel 11 u32 RO 0x00000000 traj.active_tc 11 float RO 0 traj.pos_out 11 float RO 0 traj.vel_out Parameter Aliases: Alias Original Name Exported Functions: Owner CodeAddr Arg FP Users Name 00013 fad39000 fb50faa0 NO 1 charge-pump 00009 fb55a880 f46c6000 YES 1 hm2_5i20.0.read 00009 fb55a500 f46c6000 YES 1 hm2_5i20.0.read_gpio 00009 fb55a760 f46c6000 YES 1 hm2_5i20.0.write 00009 fb55a730 f46c6000 YES 1 hm2_5i20.0.write_gpio 00011 fb58e930 00000000 YES 1 motion-command-handler 00011 fb5913f0 00000000 YES 1 motion-controller Realtime Threads: Period FP Name ( Time, Max-Time ) 999939 YES servo-thread ( 59202, 359385 ) 1 hm2_5i20.0.read 2 hm2_5i20.0.read_gpio 3 motion-command-handler 4 motion-controller 5 hm2_5i20.0.write 6 hm2_5i20.0.write_gpio 7 charge-pump jonathan@Smithy:~$