Loaded HAL Components: ID Type Name PID State 68 User halcmd3685 3685 ready 56 User halcmd3674 3674 ready 44 User axisui 3662 ready 42 User inihal 3659 ready 35 User hal_manualtoolchange 3650 ready 31 RT pid ready 28 RT hm2_eth ready 25 RT hostmot2 ready 22 RT __servo-thread ready 21 RT motmod ready 18 RT trivkins ready 12 User halui 3614 ready 6 User iocontrol 3612 ready Component Pins: Owner Type Dir Value Name 21 bit OUT TRUE axis.0.active 21 bit OUT FALSE axis.0.amp-enable-out ==> x-enable 21 bit IN FALSE axis.0.amp-fault-in 21 float OUT 0 axis.0.backlash-corr 21 float OUT 0 axis.0.backlash-filt 21 float OUT 0 axis.0.backlash-vel 21 float OUT 0 axis.0.coarse-pos-cmd 21 bit OUT FALSE axis.0.error 21 float OUT 0 axis.0.f-error 21 float OUT 1 axis.0.f-error-lim 21 bit OUT FALSE axis.0.f-errored 21 bit OUT FALSE axis.0.faulted 21 float OUT 0 axis.0.free-pos-cmd 21 bit OUT FALSE axis.0.free-tp-enable 21 float OUT 0 axis.0.free-vel-lim 21 s32 OUT 0 axis.0.home-state 21 bit IN FALSE axis.0.home-sw-in <== home-x 21 bit OUT FALSE axis.0.homed 21 bit OUT FALSE axis.0.homing 21 bit OUT TRUE axis.0.in-position 21 bit I/O FALSE axis.0.index-enable 21 s32 IN 0 axis.0.jog-counts 21 bit IN FALSE axis.0.jog-enable 21 float IN 0 axis.0.jog-scale 21 bit IN FALSE axis.0.jog-vel-mode 21 float OUT 0 axis.0.joint-pos-cmd 21 float OUT 0 axis.0.joint-pos-fb 21 float OUT 0 axis.0.joint-vel-cmd ==> x-vel-cmd 21 bit OUT FALSE axis.0.kb-jog-active 21 float OUT 0 axis.0.motor-offset 21 float OUT 0 axis.0.motor-pos-cmd ==> x-pos-cmd 21 float IN 0 axis.0.motor-pos-fb <== x-pos-fb 21 bit OUT FALSE axis.0.neg-hard-limit 21 bit IN FALSE axis.0.neg-lim-sw-in <== x-neg-limit 21 bit OUT FALSE axis.0.pos-hard-limit 21 bit IN FALSE axis.0.pos-lim-sw-in <== x-pos-limit 21 bit OUT FALSE axis.0.wheel-jog-active 21 bit OUT TRUE axis.1.active 21 bit OUT FALSE axis.1.amp-enable-out ==> y-enable 21 bit IN FALSE axis.1.amp-fault-in 21 float OUT 0 axis.1.backlash-corr 21 float OUT 0 axis.1.backlash-filt 21 float OUT 0 axis.1.backlash-vel 21 float OUT 0 axis.1.coarse-pos-cmd 21 bit OUT FALSE axis.1.error 21 float OUT 0 axis.1.f-error 21 float OUT 1 axis.1.f-error-lim 21 bit OUT FALSE axis.1.f-errored 21 bit OUT FALSE axis.1.faulted 21 float OUT 0 axis.1.free-pos-cmd 21 bit OUT FALSE axis.1.free-tp-enable 21 float OUT 0 axis.1.free-vel-lim 21 s32 OUT 0 axis.1.home-state 21 bit IN FALSE axis.1.home-sw-in <== home-y 21 bit OUT FALSE axis.1.homed 21 bit OUT FALSE axis.1.homing 21 bit OUT TRUE axis.1.in-position 21 bit I/O FALSE axis.1.index-enable 21 s32 IN 0 axis.1.jog-counts 21 bit IN FALSE axis.1.jog-enable 21 float IN 0 axis.1.jog-scale 21 bit IN FALSE axis.1.jog-vel-mode 21 float OUT 0 axis.1.joint-pos-cmd 21 float OUT 0 axis.1.joint-pos-fb 21 float OUT 0 axis.1.joint-vel-cmd ==> y-vel-cmd 21 bit OUT FALSE axis.1.kb-jog-active 21 float OUT 0 axis.1.motor-offset 21 float OUT 0 axis.1.motor-pos-cmd ==> y-pos-cmd 21 float IN 0 axis.1.motor-pos-fb <== y-pos-fb 21 bit OUT FALSE axis.1.neg-hard-limit 21 bit IN FALSE axis.1.neg-lim-sw-in <== y-neg-limit 21 bit OUT FALSE axis.1.pos-hard-limit 21 bit IN FALSE axis.1.pos-lim-sw-in <== y-pos-limit 21 bit OUT FALSE axis.1.wheel-jog-active 21 bit OUT TRUE axis.2.active 21 bit OUT FALSE axis.2.amp-enable-out ==> z-enable 21 bit IN FALSE axis.2.amp-fault-in 21 float OUT 0 axis.2.backlash-corr 21 float OUT 0 axis.2.backlash-filt 21 float OUT 0 axis.2.backlash-vel 21 float OUT 0 axis.2.coarse-pos-cmd 21 bit OUT FALSE axis.2.error 21 float OUT 0 axis.2.f-error 21 float OUT 1 axis.2.f-error-lim 21 bit OUT FALSE axis.2.f-errored 21 bit OUT FALSE axis.2.faulted 21 float OUT 0 axis.2.free-pos-cmd 21 bit OUT FALSE axis.2.free-tp-enable 21 float OUT 0 axis.2.free-vel-lim 21 s32 OUT 0 axis.2.home-state 21 bit IN FALSE axis.2.home-sw-in <== home-z 21 bit OUT FALSE axis.2.homed 21 bit OUT FALSE axis.2.homing 21 bit OUT TRUE axis.2.in-position 21 bit I/O FALSE axis.2.index-enable 21 s32 IN 0 axis.2.jog-counts 21 bit IN FALSE axis.2.jog-enable 21 float IN 0 axis.2.jog-scale 21 bit IN FALSE axis.2.jog-vel-mode 21 float OUT 0 axis.2.joint-pos-cmd 21 float OUT 0 axis.2.joint-pos-fb 21 float OUT 0 axis.2.joint-vel-cmd ==> z-vel-cmd 21 bit OUT FALSE axis.2.kb-jog-active 21 float OUT 0 axis.2.motor-offset 21 float OUT 0 axis.2.motor-pos-cmd ==> z-pos-cmd 21 float IN 0 axis.2.motor-pos-fb <== z-pos-fb 21 bit OUT FALSE axis.2.neg-hard-limit 21 bit IN FALSE axis.2.neg-lim-sw-in <== z-neg-limit 21 bit OUT FALSE axis.2.pos-hard-limit 21 bit IN FALSE axis.2.pos-lim-sw-in <== z-pos-limit 21 bit OUT FALSE axis.2.wheel-jog-active 44 bit OUT FALSE axisui.jog.a 44 bit OUT FALSE axisui.jog.b 44 bit OUT FALSE axisui.jog.c 44 float OUT 0 axisui.jog.increment 44 bit OUT FALSE axisui.jog.u 44 bit OUT FALSE axisui.jog.v 44 bit OUT FALSE axisui.jog.w 44 bit OUT TRUE axisui.jog.x 44 bit OUT FALSE axisui.jog.y 44 bit OUT FALSE axisui.jog.z 44 bit IN FALSE axisui.notifications-clear 44 bit IN FALSE axisui.notifications-clear-error 44 bit IN FALSE axisui.notifications-clear-info 44 bit IN FALSE axisui.resume-inhibit 35 bit IN FALSE hal_manualtoolchange.change <== tool-change-request 35 bit IN FALSE hal_manualtoolchange.change_button 35 bit OUT FALSE hal_manualtoolchange.changed ==> tool-change-confirmed 35 s32 IN 0 hal_manualtoolchange.number <== tool-number 12 bit IN FALSE halui.abort 12 float OUT 0 halui.axis.0.pos-commanded 12 float OUT 0 halui.axis.0.pos-feedback 12 float OUT -8.04 halui.axis.0.pos-relative 12 float OUT 0 halui.axis.1.pos-commanded 12 float OUT 0 halui.axis.1.pos-feedback 12 float OUT -68.75 halui.axis.1.pos-relative 12 float OUT 0 halui.axis.2.pos-commanded 12 float OUT 0 halui.axis.2.pos-feedback 12 float OUT 37.675 halui.axis.2.pos-relative 12 float OUT 0 halui.axis.3.pos-commanded 12 float OUT 0 halui.axis.3.pos-feedback 12 float OUT 0 halui.axis.3.pos-relative 12 float OUT 0 halui.axis.4.pos-commanded 12 float OUT 0 halui.axis.4.pos-feedback 12 float OUT 0 halui.axis.4.pos-relative 12 float OUT 0 halui.axis.5.pos-commanded 12 float OUT 0 halui.axis.5.pos-feedback 12 float OUT 0 halui.axis.5.pos-relative 12 float OUT 0 halui.axis.6.pos-commanded 12 float OUT 0 halui.axis.6.pos-feedback 12 float OUT 0 halui.axis.6.pos-relative 12 float OUT 0 halui.axis.7.pos-commanded 12 float OUT 0 halui.axis.7.pos-feedback 12 float OUT 0 halui.axis.7.pos-relative 12 float OUT 0 halui.axis.8.pos-commanded 12 float OUT 0 halui.axis.8.pos-feedback 12 float OUT 0 halui.axis.8.pos-relative 12 bit IN FALSE halui.estop.activate 12 bit OUT TRUE halui.estop.is-activated 12 bit IN FALSE halui.estop.reset 12 bit IN TRUE halui.feed-override.count-enable 12 s32 IN 0 halui.feed-override.counts 12 bit IN FALSE halui.feed-override.decrease 12 bit IN FALSE halui.feed-override.direct-value 12 bit IN FALSE halui.feed-override.increase 12 float IN 0.1 halui.feed-override.scale 12 float OUT 1 halui.feed-override.value 12 bit OUT FALSE halui.flood.is-on 12 bit IN FALSE halui.flood.off 12 bit IN FALSE halui.flood.on 12 bit IN FALSE halui.home-all 12 float IN 0.2 halui.jog-deadband 12 float IN 0 halui.jog-speed <== jog-speed 12 float IN 0 halui.jog.0.analog <== jog-x-analog 12 float IN 0 halui.jog.0.increment 12 bit IN FALSE halui.jog.0.increment-minus 12 bit IN FALSE halui.jog.0.increment-plus 12 bit IN FALSE halui.jog.0.minus <== jog-x-neg 12 bit IN FALSE halui.jog.0.plus <== jog-x-pos 12 float IN 0 halui.jog.1.analog <== jog-y-analog 12 float IN 0 halui.jog.1.increment 12 bit IN FALSE halui.jog.1.increment-minus 12 bit IN FALSE halui.jog.1.increment-plus 12 bit IN FALSE halui.jog.1.minus <== jog-y-neg 12 bit IN FALSE halui.jog.1.plus <== jog-y-pos 12 float IN 0 halui.jog.2.analog <== jog-z-analog 12 float IN 0 halui.jog.2.increment 12 bit IN FALSE halui.jog.2.increment-minus 12 bit IN FALSE halui.jog.2.increment-plus 12 bit IN FALSE halui.jog.2.minus <== jog-z-neg 12 bit IN FALSE halui.jog.2.plus <== jog-z-pos 12 float IN 0 halui.jog.selected.increment 12 bit IN FALSE halui.jog.selected.increment-minus 12 bit IN FALSE halui.jog.selected.increment-plus 12 bit IN FALSE halui.jog.selected.minus <== jog-selected-neg 12 bit IN FALSE halui.jog.selected.plus <== jog-selected-pos 12 bit OUT FALSE halui.joint.0.has-fault 12 bit IN FALSE halui.joint.0.home 12 bit OUT FALSE halui.joint.0.is-homed ==> x-is-homed 12 bit OUT FALSE halui.joint.0.is-selected 12 bit OUT FALSE halui.joint.0.on-hard-max-limit 12 bit OUT FALSE halui.joint.0.on-hard-min-limit 12 bit OUT FALSE halui.joint.0.on-soft-max-limit 12 bit OUT FALSE halui.joint.0.on-soft-min-limit 12 bit IN FALSE halui.joint.0.select <== joint-select-a 12 bit IN FALSE halui.joint.0.unhome 12 bit OUT FALSE halui.joint.1.has-fault 12 bit IN FALSE halui.joint.1.home 12 bit OUT FALSE halui.joint.1.is-homed ==> y-is-homed 12 bit OUT FALSE halui.joint.1.is-selected 12 bit OUT FALSE halui.joint.1.on-hard-max-limit 12 bit OUT FALSE halui.joint.1.on-hard-min-limit 12 bit OUT FALSE halui.joint.1.on-soft-max-limit 12 bit OUT FALSE halui.joint.1.on-soft-min-limit 12 bit IN FALSE halui.joint.1.select <== joint-select-b 12 bit IN FALSE halui.joint.1.unhome 12 bit OUT FALSE halui.joint.2.has-fault 12 bit IN FALSE halui.joint.2.home 12 bit OUT FALSE halui.joint.2.is-homed ==> z-is-homed 12 bit OUT FALSE halui.joint.2.is-selected 12 bit OUT FALSE halui.joint.2.on-hard-max-limit 12 bit OUT FALSE halui.joint.2.on-hard-min-limit 12 bit OUT FALSE halui.joint.2.on-soft-max-limit 12 bit OUT FALSE halui.joint.2.on-soft-min-limit 12 bit IN FALSE halui.joint.2.select <== joint-select-c 12 bit IN FALSE halui.joint.2.unhome 12 u32 OUT 0x00000000 halui.joint.selected 12 bit OUT FALSE halui.joint.selected.has-fault 12 bit IN FALSE halui.joint.selected.home 12 bit OUT FALSE halui.joint.selected.is_homed 12 bit OUT FALSE halui.joint.selected.on-hard-max-limit 12 bit OUT FALSE halui.joint.selected.on-hard-min-limit 12 bit OUT FALSE halui.joint.selected.on-soft-limit 12 bit OUT FALSE halui.joint.selected.on-soft-min-limit 12 bit IN FALSE halui.joint.selected.unhome 12 bit OUT FALSE halui.lube.is-on 12 bit IN FALSE halui.lube.off 12 bit IN FALSE halui.lube.on 12 bit OUT FALSE halui.machine.is-on ==> machine-is-on 12 bit IN FALSE halui.machine.off 12 bit IN FALSE halui.machine.on 12 bit IN TRUE halui.max-velocity.count-enable 12 s32 IN 0 halui.max-velocity.counts 12 bit IN FALSE halui.max-velocity.decrease 12 bit IN FALSE halui.max-velocity.direct-value 12 bit IN FALSE halui.max-velocity.increase 12 float IN 0 halui.max-velocity.scale 12 float OUT 25 halui.max-velocity.value 12 bit OUT FALSE halui.mist.is-on 12 bit IN FALSE halui.mist.off 12 bit IN FALSE halui.mist.on 12 bit IN FALSE halui.mode.auto 12 bit OUT TRUE halui.mode.is-auto 12 bit OUT FALSE halui.mode.is-joint 12 bit OUT FALSE halui.mode.is-manual 12 bit OUT FALSE halui.mode.is-mdi ==> MDI-mode 12 bit OUT FALSE halui.mode.is-teleop 12 bit IN FALSE halui.mode.joint 12 bit IN FALSE halui.mode.manual 12 bit IN FALSE halui.mode.mdi 12 bit IN FALSE halui.mode.teleop 12 bit OUT TRUE halui.program.block-delete.is-on 12 bit IN FALSE halui.program.block-delete.off 12 bit IN FALSE halui.program.block-delete.on 12 bit OUT TRUE halui.program.is-idle 12 bit OUT FALSE halui.program.is-paused 12 bit OUT FALSE halui.program.is-running 12 bit OUT TRUE halui.program.optional-stop.is-on 12 bit IN FALSE halui.program.optional-stop.off 12 bit IN FALSE halui.program.optional-stop.on 12 bit IN FALSE halui.program.pause 12 bit IN FALSE halui.program.resume 12 bit IN FALSE halui.program.run 12 bit IN FALSE halui.program.step 12 bit IN FALSE halui.program.stop 12 bit IN TRUE halui.rapid-override.count-enable 12 s32 IN 0 halui.rapid-override.counts 12 bit IN FALSE halui.rapid-override.decrease 12 bit IN FALSE halui.rapid-override.direct-value 12 bit IN FALSE halui.rapid-override.increase 12 float IN 0.1 halui.rapid-override.scale 12 float OUT 1 halui.rapid-override.value 12 bit IN TRUE halui.spindle-override.count-enable 12 s32 IN 0 halui.spindle-override.counts 12 bit IN FALSE halui.spindle-override.decrease 12 bit IN FALSE halui.spindle-override.direct-value 12 bit IN FALSE halui.spindle-override.increase 12 float IN 0.1 halui.spindle-override.scale 12 float OUT 1 halui.spindle-override.value 12 bit OUT TRUE halui.spindle.brake-is-on 12 bit IN FALSE halui.spindle.brake-off 12 bit IN FALSE halui.spindle.brake-on 12 bit IN FALSE halui.spindle.decrease 12 bit IN FALSE halui.spindle.forward <== spindle-manual-cw 12 bit IN FALSE halui.spindle.increase 12 bit OUT FALSE halui.spindle.is-on 12 bit IN FALSE halui.spindle.reverse <== spindle-manual-ccw 12 bit OUT FALSE halui.spindle.runs-backward 12 bit OUT FALSE halui.spindle.runs-forward 12 bit IN FALSE halui.spindle.start 12 bit IN FALSE halui.spindle.stop <== spindle-manual-stop 12 float OUT 0 halui.tool.length_offset.a 12 float OUT 0 halui.tool.length_offset.b 12 float OUT 0 halui.tool.length_offset.c 12 float OUT 0 halui.tool.length_offset.u 12 float OUT 0 halui.tool.length_offset.v 12 float OUT 0 halui.tool.length_offset.w 12 float OUT 0 halui.tool.length_offset.x 12 float OUT 0 halui.tool.length_offset.y 12 float OUT 0 halui.tool.length_offset.z 12 u32 OUT 0x00000000 halui.tool.number 28 float OUT 0 hm2_7i76e.0.7i76.0.0.analogin0 28 float OUT 0 hm2_7i76e.0.7i76.0.0.analogin1 28 float OUT 0 hm2_7i76e.0.7i76.0.0.analogin2 28 float OUT 0 hm2_7i76e.0.7i76.0.0.analogin3 28 s32 OUT 0 hm2_7i76e.0.7i76.0.0.enc0.count 28 bit I/O FALSE hm2_7i76e.0.7i76.0.0.enc0.index-enable 28 float OUT 0 hm2_7i76e.0.7i76.0.0.enc0.position 28 s32 OUT 0 hm2_7i76e.0.7i76.0.0.enc0.rawcounts 28 bit I/O FALSE hm2_7i76e.0.7i76.0.0.enc0.reset 28 s32 OUT 0 hm2_7i76e.0.7i76.0.0.enc1.count 28 bit I/O FALSE hm2_7i76e.0.7i76.0.0.enc1.index-enable 28 float OUT 0 hm2_7i76e.0.7i76.0.0.enc1.position 28 s32 OUT 0 hm2_7i76e.0.7i76.0.0.enc1.rawcounts 28 bit I/O FALSE hm2_7i76e.0.7i76.0.0.enc1.reset 28 float OUT 11.80477 hm2_7i76e.0.7i76.0.0.fieldvoltage 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-00 ==> home-x 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-00-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-01 ==> home-y 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-01-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-02 ==> home-z 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-02-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-03 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-03-not ==> probe-in 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-04 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-04-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-05 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-05-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-06 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-06-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-07 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-07-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-08 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-08-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-09 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-09-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-10 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-10-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-11 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-11-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-12 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-12-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-13 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-13-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-14 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-14-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-15 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-15-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-16 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-16-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-17 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-17-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-18 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-18-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-19 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-19-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-20 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-20-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-21 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-21-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-22 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-22-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-23 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-23-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-24 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-24-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-25 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-25-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-26 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-26-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-27 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-27-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-28 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-28-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-29 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-29-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-30 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-30-not 28 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-31 28 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-31-not 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-00 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-01 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-02 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-03 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-04 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-05 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-06 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-07 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-08 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-09 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-10 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-11 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-12 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-13 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-14 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-15 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.spindir 28 bit IN FALSE hm2_7i76e.0.7i76.0.0.spinena 28 float IN 0 hm2_7i76e.0.7i76.0.0.spinout 28 float IN -50 hm2_7i76e.0.dpll.01.timer-us 28 float IN 100 hm2_7i76e.0.dpll.02.timer-us 28 float IN 100 hm2_7i76e.0.dpll.03.timer-us 28 float IN 100 hm2_7i76e.0.dpll.04.timer-us 28 float IN 1 hm2_7i76e.0.dpll.base-freq-khz 28 u32 OUT 0x0000002A hm2_7i76e.0.dpll.ddsize 28 float OUT 1.621581 hm2_7i76e.0.dpll.phase-error-us 28 u32 IN 0x00400000 hm2_7i76e.0.dpll.plimit 28 u32 OUT 0x00000018 hm2_7i76e.0.dpll.prescale 28 u32 IN 0x000007D0 hm2_7i76e.0.dpll.time-const 28 s32 OUT 0 hm2_7i76e.0.encoder.00.count 28 s32 OUT 0 hm2_7i76e.0.encoder.00.count-latched 28 bit I/O FALSE hm2_7i76e.0.encoder.00.index-enable 28 bit OUT FALSE hm2_7i76e.0.encoder.00.input-a 28 bit OUT FALSE hm2_7i76e.0.encoder.00.input-b 28 bit OUT TRUE hm2_7i76e.0.encoder.00.input-index 28 bit IN FALSE hm2_7i76e.0.encoder.00.latch-enable 28 bit IN FALSE hm2_7i76e.0.encoder.00.latch-polarity 28 float OUT 0 hm2_7i76e.0.encoder.00.position 28 float OUT 0 hm2_7i76e.0.encoder.00.position-latched 28 bit OUT FALSE hm2_7i76e.0.encoder.00.quad-error 28 bit IN FALSE hm2_7i76e.0.encoder.00.quad-error-enable 28 s32 OUT 0 hm2_7i76e.0.encoder.00.rawcounts 28 s32 OUT 0 hm2_7i76e.0.encoder.00.rawlatch 28 bit IN FALSE hm2_7i76e.0.encoder.00.reset 28 float OUT 0 hm2_7i76e.0.encoder.00.velocity 28 u32 IN 0x017D7840 hm2_7i76e.0.encoder.sample-frequency 28 bit OUT TRUE hm2_7i76e.0.gpio.000.in 28 bit OUT FALSE hm2_7i76e.0.gpio.000.in_not 28 bit OUT FALSE hm2_7i76e.0.gpio.001.in 28 bit OUT TRUE hm2_7i76e.0.gpio.001.in_not 28 bit OUT FALSE hm2_7i76e.0.gpio.002.in 28 bit OUT TRUE hm2_7i76e.0.gpio.002.in_not 28 bit OUT FALSE hm2_7i76e.0.gpio.003.in 28 bit OUT TRUE hm2_7i76e.0.gpio.003.in_not 28 bit OUT FALSE hm2_7i76e.0.gpio.004.in 28 bit OUT TRUE hm2_7i76e.0.gpio.004.in_not 28 bit OUT FALSE hm2_7i76e.0.gpio.005.in 28 bit OUT TRUE hm2_7i76e.0.gpio.005.in_not 28 bit OUT FALSE hm2_7i76e.0.gpio.006.in 28 bit OUT TRUE hm2_7i76e.0.gpio.006.in_not 28 bit OUT FALSE hm2_7i76e.0.gpio.007.in 28 bit OUT TRUE hm2_7i76e.0.gpio.007.in_not 28 bit OUT FALSE hm2_7i76e.0.gpio.008.in 28 bit OUT TRUE hm2_7i76e.0.gpio.008.in_not 28 bit OUT FALSE hm2_7i76e.0.gpio.009.in 28 bit OUT TRUE hm2_7i76e.0.gpio.009.in_not 28 bit OUT TRUE hm2_7i76e.0.gpio.010.in 28 bit OUT FALSE hm2_7i76e.0.gpio.010.in_not 28 bit OUT TRUE hm2_7i76e.0.gpio.011.in 28 bit OUT FALSE hm2_7i76e.0.gpio.011.in_not 28 bit OUT TRUE hm2_7i76e.0.gpio.012.in 28 bit OUT FALSE hm2_7i76e.0.gpio.012.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.012.out 28 bit OUT TRUE hm2_7i76e.0.gpio.013.in 28 bit OUT FALSE hm2_7i76e.0.gpio.013.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.013.out 28 bit OUT FALSE hm2_7i76e.0.gpio.014.in 28 bit OUT TRUE hm2_7i76e.0.gpio.014.in_not 28 bit OUT FALSE hm2_7i76e.0.gpio.015.in 28 bit OUT TRUE hm2_7i76e.0.gpio.015.in_not 28 bit OUT FALSE hm2_7i76e.0.gpio.016.in 28 bit OUT TRUE hm2_7i76e.0.gpio.016.in_not 28 bit OUT TRUE hm2_7i76e.0.gpio.017.in 28 bit OUT FALSE hm2_7i76e.0.gpio.017.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.017.out 28 bit OUT TRUE hm2_7i76e.0.gpio.018.in 28 bit OUT FALSE hm2_7i76e.0.gpio.018.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.018.out 28 bit OUT TRUE hm2_7i76e.0.gpio.019.in 28 bit OUT FALSE hm2_7i76e.0.gpio.019.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.019.out 28 bit OUT TRUE hm2_7i76e.0.gpio.020.in 28 bit OUT FALSE hm2_7i76e.0.gpio.020.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.020.out 28 bit OUT TRUE hm2_7i76e.0.gpio.021.in 28 bit OUT FALSE hm2_7i76e.0.gpio.021.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.021.out 28 bit OUT TRUE hm2_7i76e.0.gpio.022.in 28 bit OUT FALSE hm2_7i76e.0.gpio.022.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.022.out 28 bit OUT TRUE hm2_7i76e.0.gpio.023.in 28 bit OUT FALSE hm2_7i76e.0.gpio.023.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.023.out 28 bit OUT TRUE hm2_7i76e.0.gpio.024.in 28 bit OUT FALSE hm2_7i76e.0.gpio.024.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.024.out 28 bit OUT TRUE hm2_7i76e.0.gpio.025.in 28 bit OUT FALSE hm2_7i76e.0.gpio.025.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.025.out 28 bit OUT TRUE hm2_7i76e.0.gpio.026.in 28 bit OUT FALSE hm2_7i76e.0.gpio.026.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.026.out 28 bit OUT TRUE hm2_7i76e.0.gpio.027.in 28 bit OUT FALSE hm2_7i76e.0.gpio.027.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.027.out 28 bit OUT TRUE hm2_7i76e.0.gpio.028.in 28 bit OUT FALSE hm2_7i76e.0.gpio.028.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.028.out 28 bit OUT TRUE hm2_7i76e.0.gpio.029.in 28 bit OUT FALSE hm2_7i76e.0.gpio.029.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.029.out 28 bit OUT TRUE hm2_7i76e.0.gpio.030.in 28 bit OUT FALSE hm2_7i76e.0.gpio.030.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.030.out 28 bit OUT TRUE hm2_7i76e.0.gpio.031.in 28 bit OUT FALSE hm2_7i76e.0.gpio.031.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.031.out 28 bit OUT TRUE hm2_7i76e.0.gpio.032.in 28 bit OUT FALSE hm2_7i76e.0.gpio.032.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.032.out 28 bit OUT TRUE hm2_7i76e.0.gpio.033.in 28 bit OUT FALSE hm2_7i76e.0.gpio.033.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.033.out 28 bit OUT TRUE hm2_7i76e.0.gpio.034.in 28 bit OUT FALSE hm2_7i76e.0.gpio.034.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.034.out 28 bit OUT TRUE hm2_7i76e.0.gpio.035.in 28 bit OUT FALSE hm2_7i76e.0.gpio.035.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.035.out 28 bit OUT TRUE hm2_7i76e.0.gpio.036.in 28 bit OUT FALSE hm2_7i76e.0.gpio.036.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.036.out 28 bit OUT TRUE hm2_7i76e.0.gpio.037.in 28 bit OUT FALSE hm2_7i76e.0.gpio.037.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.037.out 28 bit OUT TRUE hm2_7i76e.0.gpio.038.in 28 bit OUT FALSE hm2_7i76e.0.gpio.038.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.038.out 28 bit OUT TRUE hm2_7i76e.0.gpio.039.in 28 bit OUT FALSE hm2_7i76e.0.gpio.039.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.039.out 28 bit OUT TRUE hm2_7i76e.0.gpio.040.in 28 bit OUT FALSE hm2_7i76e.0.gpio.040.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.040.out 28 bit OUT TRUE hm2_7i76e.0.gpio.041.in 28 bit OUT FALSE hm2_7i76e.0.gpio.041.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.041.out 28 bit OUT TRUE hm2_7i76e.0.gpio.042.in 28 bit OUT FALSE hm2_7i76e.0.gpio.042.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.042.out 28 bit OUT TRUE hm2_7i76e.0.gpio.043.in 28 bit OUT FALSE hm2_7i76e.0.gpio.043.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.043.out 28 bit OUT TRUE hm2_7i76e.0.gpio.044.in 28 bit OUT FALSE hm2_7i76e.0.gpio.044.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.044.out 28 bit OUT TRUE hm2_7i76e.0.gpio.045.in 28 bit OUT FALSE hm2_7i76e.0.gpio.045.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.045.out 28 bit OUT TRUE hm2_7i76e.0.gpio.046.in 28 bit OUT FALSE hm2_7i76e.0.gpio.046.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.046.out 28 bit OUT TRUE hm2_7i76e.0.gpio.047.in 28 bit OUT FALSE hm2_7i76e.0.gpio.047.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.047.out 28 bit OUT TRUE hm2_7i76e.0.gpio.048.in 28 bit OUT FALSE hm2_7i76e.0.gpio.048.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.048.out 28 bit OUT TRUE hm2_7i76e.0.gpio.049.in 28 bit OUT FALSE hm2_7i76e.0.gpio.049.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.049.out 28 bit OUT TRUE hm2_7i76e.0.gpio.050.in 28 bit OUT FALSE hm2_7i76e.0.gpio.050.in_not 28 bit IN FALSE hm2_7i76e.0.gpio.050.out 28 bit IN FALSE hm2_7i76e.0.led.CR01 28 bit IN FALSE hm2_7i76e.0.led.CR02 28 bit IN FALSE hm2_7i76e.0.led.CR03 28 bit IN FALSE hm2_7i76e.0.led.CR04 28 bit OUT FALSE hm2_7i76e.0.packet-error 28 bit OUT FALSE hm2_7i76e.0.packet-error-exceeded 28 s32 OUT 0 hm2_7i76e.0.packet-error-level 28 s32 OUT 0 hm2_7i76e.0.read-request.time 28 s32 OUT 886800 hm2_7i76e.0.read.time 28 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.fault-count 28 u32 OUT 0x00000001 hm2_7i76e.0.sserial.port-0.port_state 28 bit IN TRUE hm2_7i76e.0.sserial.port-0.run 28 bit IN TRUE hm2_7i76e.0.stepgen.00.control-type 28 s32 OUT 0 hm2_7i76e.0.stepgen.00.counts 28 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_err_at_match 28 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_ff_vel 28 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_pos_minus_prev_cmd 28 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_s_to_match 28 s32 OUT 0 hm2_7i76e.0.stepgen.00.dbg_step_rate 28 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_vel_error 28 bit IN FALSE hm2_7i76e.0.stepgen.00.enable <== x-enable 28 float IN 0 hm2_7i76e.0.stepgen.00.position-cmd 28 float OUT 0 hm2_7i76e.0.stepgen.00.position-fb ==> x-pos-fb 28 float IN 0 hm2_7i76e.0.stepgen.00.velocity-cmd <== x-output 28 float OUT 0 hm2_7i76e.0.stepgen.00.velocity-fb 28 bit IN TRUE hm2_7i76e.0.stepgen.01.control-type 28 s32 OUT 0 hm2_7i76e.0.stepgen.01.counts 28 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_err_at_match 28 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_ff_vel 28 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_pos_minus_prev_cmd 28 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_s_to_match 28 s32 OUT 0 hm2_7i76e.0.stepgen.01.dbg_step_rate 28 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_vel_error 28 bit IN FALSE hm2_7i76e.0.stepgen.01.enable <== y-enable 28 float IN 0 hm2_7i76e.0.stepgen.01.position-cmd 28 float OUT 0 hm2_7i76e.0.stepgen.01.position-fb ==> y-pos-fb 28 float IN 0 hm2_7i76e.0.stepgen.01.velocity-cmd <== y-output 28 float OUT 0 hm2_7i76e.0.stepgen.01.velocity-fb 28 bit IN TRUE hm2_7i76e.0.stepgen.02.control-type 28 s32 OUT 0 hm2_7i76e.0.stepgen.02.counts 28 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_err_at_match 28 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_ff_vel 28 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_pos_minus_prev_cmd 28 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_s_to_match 28 s32 OUT 0 hm2_7i76e.0.stepgen.02.dbg_step_rate 28 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_vel_error 28 bit IN FALSE hm2_7i76e.0.stepgen.02.enable <== z-enable 28 float IN 0 hm2_7i76e.0.stepgen.02.position-cmd 28 float OUT 0 hm2_7i76e.0.stepgen.02.position-fb ==> z-pos-fb 28 float IN 0 hm2_7i76e.0.stepgen.02.velocity-cmd <== z-output 28 float OUT 0 hm2_7i76e.0.stepgen.02.velocity-fb 28 bit IN FALSE hm2_7i76e.0.stepgen.03.control-type 28 s32 OUT 0 hm2_7i76e.0.stepgen.03.counts 28 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_err_at_match 28 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_ff_vel 28 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_pos_minus_prev_cmd 28 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_s_to_match 28 s32 OUT 0 hm2_7i76e.0.stepgen.03.dbg_step_rate 28 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_vel_error 28 bit IN FALSE hm2_7i76e.0.stepgen.03.enable 28 float IN 0 hm2_7i76e.0.stepgen.03.position-cmd 28 float OUT 0 hm2_7i76e.0.stepgen.03.position-fb 28 float IN 0 hm2_7i76e.0.stepgen.03.velocity-cmd 28 float OUT 0 hm2_7i76e.0.stepgen.03.velocity-fb 28 bit IN FALSE hm2_7i76e.0.stepgen.04.control-type 28 s32 OUT 0 hm2_7i76e.0.stepgen.04.counts 28 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_err_at_match 28 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_ff_vel 28 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_pos_minus_prev_cmd 28 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_s_to_match 28 s32 OUT 0 hm2_7i76e.0.stepgen.04.dbg_step_rate 28 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_vel_error 28 bit IN FALSE hm2_7i76e.0.stepgen.04.enable 28 float IN 0 hm2_7i76e.0.stepgen.04.position-cmd 28 float OUT 0 hm2_7i76e.0.stepgen.04.position-fb 28 float IN 0 hm2_7i76e.0.stepgen.04.velocity-cmd 28 float OUT 0 hm2_7i76e.0.stepgen.04.velocity-fb 28 s32 IN 1 hm2_7i76e.0.stepgen.timer-number 28 bit I/O FALSE hm2_7i76e.0.watchdog.has_bit 28 s32 OUT 54180 hm2_7i76e.0.write.time 42 float IN 0 ini.0.backlash 42 float IN 10 ini.0.ferror 42 float IN 1000 ini.0.max_acceleration 42 float IN 800 ini.0.max_limit 42 float IN 26.66667 ini.0.max_velocity 42 float IN 1 ini.0.min_ferror 42 float IN -0.01 ini.0.min_limit 42 float IN 0 ini.1.backlash 42 float IN 10 ini.1.ferror 42 float IN 1000 ini.1.max_acceleration 42 float IN 600 ini.1.max_limit 42 float IN 26.66667 ini.1.max_velocity 42 float IN 1 ini.1.min_ferror 42 float IN -0.01 ini.1.min_limit 42 float IN 0 ini.2.backlash 42 float IN 10 ini.2.ferror 42 float IN 1000 ini.2.max_acceleration 42 float IN 0.01 ini.2.max_limit 42 float IN 20 ini.2.max_velocity 42 float IN 1 ini.2.min_ferror 42 float IN -110 ini.2.min_limit 42 float IN 0 ini.3.backlash 42 float IN 0 ini.3.ferror 42 float IN 0 ini.3.max_acceleration 42 float IN 0 ini.3.max_limit 42 float IN 0 ini.3.max_velocity 42 float IN 0 ini.3.min_ferror 42 float IN 0 ini.3.min_limit 42 float IN 0 ini.4.backlash 42 float IN 0 ini.4.ferror 42 float IN 0 ini.4.max_acceleration 42 float IN 0 ini.4.max_limit 42 float IN 0 ini.4.max_velocity 42 float IN 0 ini.4.min_ferror 42 float IN 0 ini.4.min_limit 42 float IN 0 ini.5.backlash 42 float IN 0 ini.5.ferror 42 float IN 0 ini.5.max_acceleration 42 float IN 0 ini.5.max_limit 42 float IN 0 ini.5.max_velocity 42 float IN 0 ini.5.min_ferror 42 float IN 0 ini.5.min_limit 42 float IN 0 ini.6.backlash 42 float IN 0 ini.6.ferror 42 float IN 0 ini.6.max_acceleration 42 float IN 0 ini.6.max_limit 42 float IN 0 ini.6.max_velocity 42 float IN 0 ini.6.min_ferror 42 float IN 0 ini.6.min_limit 42 float IN 0 ini.7.backlash 42 float IN 0 ini.7.ferror 42 float IN 0 ini.7.max_acceleration 42 float IN 0 ini.7.max_limit 42 float IN 0 ini.7.max_velocity 42 float IN 0 ini.7.min_ferror 42 float IN 0 ini.7.min_limit 42 float IN 0 ini.8.backlash 42 float IN 0 ini.8.ferror 42 float IN 0 ini.8.max_acceleration 42 float IN 0 ini.8.max_limit 42 float IN 0 ini.8.max_velocity 42 float IN 0 ini.8.min_ferror 42 float IN 0 ini.8.min_limit 42 bit IN TRUE ini.traj_arc_blend_enable 42 bit IN FALSE ini.traj_arc_blend_fallback_enable 42 float IN 4 ini.traj_arc_blend_gap_cycles 42 s32 IN 50 ini.traj_arc_blend_optimization_depth 42 float IN 100 ini.traj_arc_blend_ramp_freq 42 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio 42 float IN 1e+99 ini.traj_default_acceleration 42 float IN 10 ini.traj_default_velocity 42 float IN 1e+99 ini.traj_max_acceleration 42 float IN 1e+99 ini.traj_max_velocity 6 bit OUT FALSE iocontrol.0.coolant-flood ==> coolant-flood 6 bit OUT FALSE iocontrol.0.coolant-mist ==> coolant-mist 6 bit IN FALSE iocontrol.0.emc-enable-in <== estop-out 6 bit OUT FALSE iocontrol.0.lube 6 bit IN FALSE iocontrol.0.lube_level 6 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-request 6 bit IN FALSE iocontrol.0.tool-changed <== tool-change-confirmed 6 s32 OUT 0 iocontrol.0.tool-number 6 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-number 6 s32 OUT 0 iocontrol.0.tool-prep-pocket 6 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback 6 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback 6 bit OUT FALSE iocontrol.0.user-enable-out ==> estop-out 6 bit OUT FALSE iocontrol.0.user-request-enable 21 s32 OUT 1005 motion-command-handler.time 21 s32 OUT 10020 motion-controller.time 21 float IN 1 motion.adaptive-feed 21 float IN 0 motion.analog-in-00 21 float IN 0 motion.analog-in-01 21 float IN 0 motion.analog-in-02 21 float IN 0 motion.analog-in-03 21 float OUT 0 motion.analog-out-00 21 float OUT 0 motion.analog-out-01 21 float OUT 0 motion.analog-out-02 21 float OUT 0 motion.analog-out-03 21 bit OUT FALSE motion.coord-error 21 bit OUT TRUE motion.coord-mode 21 float OUT 0 motion.current-vel 21 bit IN FALSE motion.digital-in-00 21 bit IN FALSE motion.digital-in-01 21 bit IN FALSE motion.digital-in-02 21 bit IN FALSE motion.digital-in-03 21 bit OUT FALSE motion.digital-out-00 21 bit OUT FALSE motion.digital-out-01 21 bit OUT FALSE motion.digital-out-02 21 bit OUT FALSE motion.digital-out-03 21 float OUT 0 motion.distance-to-go 21 bit IN TRUE motion.enable 21 bit IN FALSE motion.feed-hold 21 bit IN FALSE motion.feed-inhibit 21 bit OUT TRUE motion.in-position ==> in-position 21 bit OUT FALSE motion.motion-enabled ==> machine-is-enabled 21 s32 OUT 0 motion.motion-type 21 bit OUT FALSE motion.on-soft-limit 21 bit IN TRUE motion.probe-input <== probe-in 21 s32 OUT 0 motion.program-line 21 float OUT 0 motion.requested-vel 21 bit IN TRUE motion.spindle-at-speed <== spindle-at-speed 21 bit OUT TRUE motion.spindle-brake ==> spindle-brake 21 bit OUT FALSE motion.spindle-forward ==> spindle-cw 21 bit I/O FALSE motion.spindle-index-enable <=> spindle-index-enable 21 bit IN FALSE motion.spindle-inhibit 21 bit IN FALSE motion.spindle-is-oriented 21 bit OUT FALSE motion.spindle-locked 21 bit OUT FALSE motion.spindle-on ==> spindle-enable 21 bit OUT FALSE motion.spindle-orient 21 float OUT 0 motion.spindle-orient-angle 21 s32 IN 0 motion.spindle-orient-fault 21 s32 OUT 0 motion.spindle-orient-mode 21 bit OUT FALSE motion.spindle-reverse ==> spindle-ccw 21 float IN 0 motion.spindle-revs <== spindle-revs 21 float OUT 0 motion.spindle-speed-cmd-rps 21 float IN 0 motion.spindle-speed-in <== spindle-vel-fb-rps 21 float OUT 0 motion.spindle-speed-out ==> spindle-vel-cmd-rpm 21 float OUT 0 motion.spindle-speed-out-abs ==> spindle-vel-cmd-rpm-abs 21 float OUT 0 motion.spindle-speed-out-rps ==> spindle-vel-cmd-rps 21 float OUT 0 motion.spindle-speed-out-rps-abs ==> spindle-vel-cmd-rps-abs 21 bit OUT FALSE motion.teleop-mode 21 float OUT 0 motion.tooloffset.a 21 float OUT 0 motion.tooloffset.b 21 float OUT 0 motion.tooloffset.c 21 float OUT 0 motion.tooloffset.u 21 float OUT 0 motion.tooloffset.v 21 float OUT 0 motion.tooloffset.w 21 float OUT 0 motion.tooloffset.x 21 float OUT 0 motion.tooloffset.y 21 float OUT 0 motion.tooloffset.z 31 float IN 0 pid.s.Dgain 31 float IN 1 pid.s.FF0 31 float IN 0 pid.s.FF1 31 float IN 0 pid.s.FF2 31 float IN 0 pid.s.Igain 31 float IN 0 pid.s.Pgain 31 float IN 0 pid.s.bias 31 float IN 0 pid.s.command <== spindle-vel-cmd-rpm 31 float IN 0 pid.s.command-deriv 31 float IN 0 pid.s.deadband 31 s32 OUT 540 pid.s.do-pid-calcs.time 31 bit IN FALSE pid.s.enable <== spindle-enable 31 float OUT 0 pid.s.error 31 bit IN TRUE pid.s.error-previous-target 31 float IN 0 pid.s.feedback <== spindle-vel-fb-rpm 31 float IN 0 pid.s.feedback-deriv 31 bit IN FALSE pid.s.index-enable <== spindle-index-enable 31 float IN 0 pid.s.maxcmdD 31 float IN 0 pid.s.maxcmdDD 31 float IN 0 pid.s.maxerror 31 float IN 0 pid.s.maxerrorD 31 float IN 0 pid.s.maxerrorI 31 float IN 2000 pid.s.maxoutput 31 float OUT 0 pid.s.output ==> spindle-output 31 bit OUT FALSE pid.s.saturated 31 s32 OUT 0 pid.s.saturated-count 31 float OUT 0 pid.s.saturated-s 31 float IN 0 pid.x.Dgain 31 float IN 0 pid.x.FF0 31 float IN 1 pid.x.FF1 31 float IN 0 pid.x.FF2 31 float IN 0 pid.x.Igain 31 float IN 1000 pid.x.Pgain 31 float IN 0 pid.x.bias 31 float IN 0 pid.x.command <== x-pos-cmd 31 float IN 0 pid.x.command-deriv <== x-vel-cmd 31 float IN 0 pid.x.deadband 31 s32 OUT 1110 pid.x.do-pid-calcs.time 31 bit IN FALSE pid.x.enable <== x-enable 31 float OUT 0 pid.x.error 31 bit IN TRUE pid.x.error-previous-target 31 float IN 0 pid.x.feedback <== x-pos-fb 31 float IN 0 pid.x.feedback-deriv 31 bit IN FALSE pid.x.index-enable <== x-index-enable 31 float IN 0 pid.x.maxcmdD 31 float IN 0 pid.x.maxcmdDD 31 float IN 0.0005 pid.x.maxerror 31 float IN 0 pid.x.maxerrorD 31 float IN 0 pid.x.maxerrorI 31 float IN 0 pid.x.maxoutput 31 float OUT 0 pid.x.output ==> x-output 31 bit OUT FALSE pid.x.saturated 31 s32 OUT 0 pid.x.saturated-count 31 float OUT 0 pid.x.saturated-s 31 float IN 0 pid.y.Dgain 31 float IN 0 pid.y.FF0 31 float IN 1 pid.y.FF1 31 float IN 0 pid.y.FF2 31 float IN 0 pid.y.Igain 31 float IN 1000 pid.y.Pgain 31 float IN 0 pid.y.bias 31 float IN 0 pid.y.command <== y-pos-cmd 31 float IN 0 pid.y.command-deriv <== y-vel-cmd 31 float IN 0 pid.y.deadband 31 s32 OUT 360 pid.y.do-pid-calcs.time 31 bit IN FALSE pid.y.enable <== y-enable 31 float OUT 0 pid.y.error 31 bit IN TRUE pid.y.error-previous-target 31 float IN 0 pid.y.feedback <== y-pos-fb 31 float IN 0 pid.y.feedback-deriv 31 bit IN FALSE pid.y.index-enable <== y-index-enable 31 float IN 0 pid.y.maxcmdD 31 float IN 0 pid.y.maxcmdDD 31 float IN 0.0005 pid.y.maxerror 31 float IN 0 pid.y.maxerrorD 31 float IN 0 pid.y.maxerrorI 31 float IN 0 pid.y.maxoutput 31 float OUT 0 pid.y.output ==> y-output 31 bit OUT FALSE pid.y.saturated 31 s32 OUT 0 pid.y.saturated-count 31 float OUT 0 pid.y.saturated-s 31 float IN 0 pid.z.Dgain 31 float IN 0 pid.z.FF0 31 float IN 1 pid.z.FF1 31 float IN 0 pid.z.FF2 31 float IN 0 pid.z.Igain 31 float IN 1000 pid.z.Pgain 31 float IN 0 pid.z.bias 31 float IN 0 pid.z.command <== z-pos-cmd 31 float IN 0 pid.z.command-deriv <== z-vel-cmd 31 float IN 0 pid.z.deadband 31 s32 OUT 390 pid.z.do-pid-calcs.time 31 bit IN FALSE pid.z.enable <== z-enable 31 float OUT 0 pid.z.error 31 bit IN TRUE pid.z.error-previous-target 31 float IN 0 pid.z.feedback <== z-pos-fb 31 float IN 0 pid.z.feedback-deriv 31 bit IN FALSE pid.z.index-enable <== z-index-enable 31 float IN 0 pid.z.maxcmdD 31 float IN 0 pid.z.maxcmdDD 31 float IN 0.0005 pid.z.maxerror 31 float IN 0 pid.z.maxerrorD 31 float IN 0 pid.z.maxerrorI 31 float IN 0 pid.z.maxoutput 31 float OUT 0 pid.z.output ==> z-output 31 bit OUT FALSE pid.z.saturated 31 s32 OUT 0 pid.z.saturated-count 31 float OUT 0 pid.z.saturated-s 22 s32 OUT 907035 servo-thread.time Pin Aliases: Alias Original Name Signals: Type Value Name (linked to) bit FALSE MDI-mode <== halui.mode.is-mdi 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 FALSE home-x ==> axis.0.home-sw-in <== hm2_7i76e.0.7i76.0.0.input-00 bit FALSE home-y ==> axis.1.home-sw-in <== hm2_7i76e.0.7i76.0.0.input-01 bit FALSE home-z ==> axis.2.home-sw-in <== hm2_7i76e.0.7i76.0.0.input-02 bit TRUE in-position <== motion.in-position bit FALSE jog-selected-neg ==> halui.jog.selected.minus bit FALSE jog-selected-pos ==> halui.jog.selected.plus float 0 jog-speed ==> halui.jog-speed float 0 jog-x-analog ==> halui.jog.0.analog bit FALSE jog-x-neg ==> halui.jog.0.minus bit FALSE jog-x-pos ==> halui.jog.0.plus float 0 jog-y-analog ==> halui.jog.1.analog bit FALSE jog-y-neg ==> halui.jog.1.minus bit FALSE jog-y-pos ==> halui.jog.1.plus float 0 jog-z-analog ==> halui.jog.2.analog bit FALSE jog-z-neg ==> halui.jog.2.minus bit FALSE jog-z-pos ==> halui.jog.2.plus bit FALSE joint-select-a ==> halui.joint.0.select bit FALSE joint-select-b ==> halui.joint.1.select bit FALSE joint-select-c ==> halui.joint.2.select bit FALSE machine-is-enabled <== motion.motion-enabled bit FALSE machine-is-on <== halui.machine.is-on bit TRUE probe-in <== hm2_7i76e.0.7i76.0.0.input-03-not ==> motion.probe-input bit TRUE spindle-at-speed ==> motion.spindle-at-speed bit TRUE spindle-brake <== motion.spindle-brake bit FALSE spindle-ccw <== motion.spindle-reverse bit FALSE spindle-cw <== motion.spindle-forward bit FALSE spindle-enable <== motion.spindle-on ==> pid.s.enable bit FALSE spindle-index-enable <=> motion.spindle-index-enable ==> pid.s.index-enable bit FALSE spindle-manual-ccw ==> halui.spindle.reverse bit FALSE spindle-manual-cw ==> halui.spindle.forward bit FALSE spindle-manual-stop ==> halui.spindle.stop float 0 spindle-output <== pid.s.output float 0 spindle-revs ==> motion.spindle-revs float 0 spindle-vel-cmd-rpm <== motion.spindle-speed-out ==> pid.s.command float 0 spindle-vel-cmd-rpm-abs <== motion.spindle-speed-out-abs float 0 spindle-vel-cmd-rps <== motion.spindle-speed-out-rps float 0 spindle-vel-cmd-rps-abs <== motion.spindle-speed-out-rps-abs float 0 spindle-vel-fb-rpm ==> pid.s.feedback float 0 spindle-vel-fb-rps ==> motion.spindle-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 <== axis.0.amp-enable-out ==> hm2_7i76e.0.stepgen.00.enable ==> pid.x.enable bit FALSE x-index-enable ==> pid.x.index-enable bit FALSE x-is-homed <== halui.joint.0.is-homed bit FALSE x-neg-limit ==> axis.0.neg-lim-sw-in float 0 x-output ==> hm2_7i76e.0.stepgen.00.velocity-cmd <== pid.x.output float 0 x-pos-cmd <== axis.0.motor-pos-cmd ==> pid.x.command float 0 x-pos-fb ==> axis.0.motor-pos-fb <== hm2_7i76e.0.stepgen.00.position-fb ==> pid.x.feedback bit FALSE x-pos-limit ==> axis.0.pos-lim-sw-in float 0 x-vel-cmd <== axis.0.joint-vel-cmd ==> pid.x.command-deriv bit FALSE y-enable <== axis.1.amp-enable-out ==> hm2_7i76e.0.stepgen.01.enable ==> pid.y.enable bit FALSE y-index-enable ==> pid.y.index-enable bit FALSE y-is-homed <== halui.joint.1.is-homed bit FALSE y-neg-limit ==> axis.1.neg-lim-sw-in float 0 y-output ==> hm2_7i76e.0.stepgen.01.velocity-cmd <== pid.y.output float 0 y-pos-cmd <== axis.1.motor-pos-cmd ==> pid.y.command float 0 y-pos-fb ==> axis.1.motor-pos-fb <== hm2_7i76e.0.stepgen.01.position-fb ==> pid.y.feedback bit FALSE y-pos-limit ==> axis.1.pos-lim-sw-in float 0 y-vel-cmd <== axis.1.joint-vel-cmd ==> pid.y.command-deriv bit FALSE z-enable <== axis.2.amp-enable-out ==> hm2_7i76e.0.stepgen.02.enable ==> pid.z.enable bit FALSE z-index-enable ==> pid.z.index-enable bit FALSE z-is-homed <== halui.joint.2.is-homed bit FALSE z-neg-limit ==> axis.2.neg-lim-sw-in float 0 z-output ==> hm2_7i76e.0.stepgen.02.velocity-cmd <== pid.z.output float 0 z-pos-cmd <== axis.2.motor-pos-cmd ==> pid.z.command float 0 z-pos-fb ==> axis.2.motor-pos-fb <== hm2_7i76e.0.stepgen.02.position-fb ==> pid.z.feedback bit FALSE z-pos-limit ==> axis.2.pos-lim-sw-in float 0 z-vel-cmd <== axis.2.joint-vel-cmd ==> pid.z.command-deriv Parameters: Owner Type Dir Value Name 28 float RW 36.3 hm2_7i76e.0.7i76.0.0.analogin0-scalemax 28 float RW 36.3 hm2_7i76e.0.7i76.0.0.analogin1-scalemax 28 float RW 36.3 hm2_7i76e.0.7i76.0.0.analogin2-scalemax 28 float RW 36.3 hm2_7i76e.0.7i76.0.0.analogin3-scalemax 28 u32 RW 0x00000100 hm2_7i76e.0.7i76.0.0.enc0.counts-per-rev 28 float RW 1 hm2_7i76e.0.7i76.0.0.enc0.scale 28 u32 RW 0x00000100 hm2_7i76e.0.7i76.0.0.enc1.counts-per-rev 28 float RW 1 hm2_7i76e.0.7i76.0.0.enc1.scale 28 float RW 36.3 hm2_7i76e.0.7i76.0.0.fieldvoltage-scalemax 28 u32 RO 0x00000009 hm2_7i76e.0.7i76.0.0.nvbaudrate 28 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.nvencmode0 28 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.nvencmode1 28 u32 RO 0x1A0001FE hm2_7i76e.0.7i76.0.0.nvunitnumber 28 u32 RO 0x00000032 hm2_7i76e.0.7i76.0.0.nvwatchdogtimeout 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-00-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-01-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-02-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-03-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-04-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-05-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-06-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-07-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-08-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-09-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-10-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-11-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-12-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-13-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-14-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-15-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.spindir-invert 28 bit RW FALSE hm2_7i76e.0.7i76.0.0.spinena-invert 28 float RW 100 hm2_7i76e.0.7i76.0.0.spinout-maxlim 28 float RW 0 hm2_7i76e.0.7i76.0.0.spinout-minlim 28 float RW 100 hm2_7i76e.0.7i76.0.0.spinout-scalemax 28 u32 RO 0x0000000E hm2_7i76e.0.7i76.0.0.swrevision 28 bit RW FALSE hm2_7i76e.0.encoder.00.counter-mode 28 bit RW TRUE hm2_7i76e.0.encoder.00.filter 28 bit RW FALSE hm2_7i76e.0.encoder.00.index-invert 28 bit RW FALSE hm2_7i76e.0.encoder.00.index-mask 28 bit RW FALSE hm2_7i76e.0.encoder.00.index-mask-invert 28 float RW 1 hm2_7i76e.0.encoder.00.scale 28 float RW 0.5 hm2_7i76e.0.encoder.00.vel-timeout 28 bit RW TRUE hm2_7i76e.0.gpio.000.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.000.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.001.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.001.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.002.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.002.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.003.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.003.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.004.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.004.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.005.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.005.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.006.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.006.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.007.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.007.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.008.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.008.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.009.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.009.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.010.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.010.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.012.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.012.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.012.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.013.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.013.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.013.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.017.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.017.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.017.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.018.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.018.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.018.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.019.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.019.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.019.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.020.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.020.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.020.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.021.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.021.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.021.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.022.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.022.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.022.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.023.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.023.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.023.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.024.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.024.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.024.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.025.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.025.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.025.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.026.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.026.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.026.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.027.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.027.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.027.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.028.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.028.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.028.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.029.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.029.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.029.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.030.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.030.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.030.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.031.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.031.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.031.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.032.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.032.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.032.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.033.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.033.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.033.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.034.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.034.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.034.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.035.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.035.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.035.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.036.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.036.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.036.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.037.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.037.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.037.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.038.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.038.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.038.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.039.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.039.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.039.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.040.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.040.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.040.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.041.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.041.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.041.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.042.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.042.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.042.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.043.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.043.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.043.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.044.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.044.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.044.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.045.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.045.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.045.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.046.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.046.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.046.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.047.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.047.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.047.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.048.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.048.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.048.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.049.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.049.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.049.is_output 28 bit RW FALSE hm2_7i76e.0.gpio.050.invert_output 28 bit RW FALSE hm2_7i76e.0.gpio.050.is_opendrain 28 bit RW FALSE hm2_7i76e.0.gpio.050.is_output 28 bit RW FALSE hm2_7i76e.0.io_error 28 s32 RO 1 hm2_7i76e.0.packet-error-decrement 28 s32 RW 2 hm2_7i76e.0.packet-error-increment 28 s32 RW 10 hm2_7i76e.0.packet-error-limit 28 s32 RW 80 hm2_7i76e.0.packet-read-timeout 28 s32 RW 0 hm2_7i76e.0.read-request.tmax 28 bit RO FALSE hm2_7i76e.0.read-request.tmax-increased 28 s32 RW 1298100 hm2_7i76e.0.read.tmax 28 bit RO FALSE hm2_7i76e.0.read.tmax-increased 28 u32 RW 0x00000001 hm2_7i76e.0.sserial.port-0.fault-dec 28 u32 RW 0x0000000A hm2_7i76e.0.sserial.port-0.fault-inc 28 u32 RW 0x000000C8 hm2_7i76e.0.sserial.port-0.fault-lim 28 u32 RW 0x00002710 hm2_7i76e.0.stepgen.00.dirhold 28 u32 RW 0x00002710 hm2_7i76e.0.stepgen.00.dirsetup 28 float RW 1250 hm2_7i76e.0.stepgen.00.maxaccel 28 float RW 33.33 hm2_7i76e.0.stepgen.00.maxvel 28 float RW 80 hm2_7i76e.0.stepgen.00.position-scale 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.step_type 28 u32 RW 0x00001F40 hm2_7i76e.0.stepgen.00.steplen 28 u32 RW 0x00001F40 hm2_7i76e.0.stepgen.00.stepspace 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-0 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-1 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-2 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-3 28 u32 RW 0x00002710 hm2_7i76e.0.stepgen.01.dirhold 28 u32 RW 0x00002710 hm2_7i76e.0.stepgen.01.dirsetup 28 float RW 1250 hm2_7i76e.0.stepgen.01.maxaccel 28 float RW 33.33 hm2_7i76e.0.stepgen.01.maxvel 28 float RW 80 hm2_7i76e.0.stepgen.01.position-scale 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.step_type 28 u32 RW 0x00001F40 hm2_7i76e.0.stepgen.01.steplen 28 u32 RW 0x00001F40 hm2_7i76e.0.stepgen.01.stepspace 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-0 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-1 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-2 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-3 28 u32 RW 0x00002710 hm2_7i76e.0.stepgen.02.dirhold 28 u32 RW 0x00002710 hm2_7i76e.0.stepgen.02.dirsetup 28 float RW 1250 hm2_7i76e.0.stepgen.02.maxaccel 28 float RW 25 hm2_7i76e.0.stepgen.02.maxvel 28 float RW 80 hm2_7i76e.0.stepgen.02.position-scale 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.step_type 28 u32 RW 0x00001F40 hm2_7i76e.0.stepgen.02.steplen 28 u32 RW 0x00001388 hm2_7i76e.0.stepgen.02.stepspace 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-0 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-1 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-2 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-3 28 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.dirhold 28 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.dirsetup 28 float RW 1 hm2_7i76e.0.stepgen.03.maxaccel 28 float RW 0 hm2_7i76e.0.stepgen.03.maxvel 28 float RW 1 hm2_7i76e.0.stepgen.03.position-scale 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.step_type 28 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.steplen 28 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.stepspace 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-0 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-1 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-2 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-3 28 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.dirhold 28 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.dirsetup 28 float RW 1 hm2_7i76e.0.stepgen.04.maxaccel 28 float RW 0 hm2_7i76e.0.stepgen.04.maxvel 28 float RW 1 hm2_7i76e.0.stepgen.04.position-scale 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.step_type 28 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.steplen 28 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.stepspace 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-0 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-1 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-2 28 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-3 28 u32 RW 0x004C4B40 hm2_7i76e.0.watchdog.timeout_ns 28 s32 RW 490875 hm2_7i76e.0.write.tmax 28 bit RO FALSE hm2_7i76e.0.write.tmax-increased 6 s32 RO 0 iocontrol.0.tool-prep-index 21 s32 RW 15990 motion-command-handler.tmax 21 bit RO FALSE motion-command-handler.tmax-increased 21 s32 RW 43815 motion-controller.tmax 21 bit RO FALSE motion-controller.tmax-increased 21 bit RO FALSE motion.debug-bit-0 21 bit RO FALSE motion.debug-bit-1 21 float RO 1 motion.debug-float-0 21 float RO 0 motion.debug-float-1 21 float RO 0 motion.debug-float-2 21 float RO 1 motion.debug-float-3 21 s32 RO 0 motion.debug-s32-0 21 s32 RO 0 motion.debug-s32-1 21 u32 RO 0x002DB1A8 motion.servo.last-period 31 s32 RW 3330 pid.s.do-pid-calcs.tmax 31 bit RO FALSE pid.s.do-pid-calcs.tmax-increased 31 s32 RW 5235 pid.x.do-pid-calcs.tmax 31 bit RO FALSE pid.x.do-pid-calcs.tmax-increased 31 s32 RW 2910 pid.y.do-pid-calcs.tmax 31 bit RO FALSE pid.y.do-pid-calcs.tmax-increased 31 s32 RW 2805 pid.z.do-pid-calcs.tmax 31 bit RO FALSE pid.z.do-pid-calcs.tmax-increased 22 s32 RW 1398825 servo-thread.tmax 21 float RO 0 tc.0.acc 21 float RO 0 tc.0.pos 21 float RO 0 tc.0.vel 21 float RO 0 tc.1.acc 21 float RO 0 tc.1.pos 21 float RO 0 tc.1.vel 21 float RO 0 tc.2.acc 21 float RO 0 tc.2.pos 21 float RO 0 tc.2.vel 21 float RO 0 tc.3.acc 21 float RO 0 tc.3.pos 21 float RO 0 tc.3.vel 21 u32 RO 0x00000000 traj.active_tc 21 float RO 0 traj.pos_out 21 float RO 0 traj.vel_out Parameter Aliases: Alias Original Name Exported Functions: Owner CodeAddr Arg FP Users Name 00028 b70e2f22 08533880 YES 1 hm2_7i76e.0.read 00028 b70e2ea4 08533880 YES 0 hm2_7i76e.0.read-request 00028 b70e2dc9 08533880 YES 1 hm2_7i76e.0.write 00021 b745c775 00000000 YES 1 motion-command-handler 00021 b745ee59 00000000 YES 1 motion-controller 00031 b778cab0 b746f284 YES 1 pid.s.do-pid-calcs 00031 b778cab0 b746f098 YES 1 pid.x.do-pid-calcs 00031 b778cab0 b746f13c YES 1 pid.y.do-pid-calcs 00031 b778cab0 b746f1e0 YES 1 pid.z.do-pid-calcs Realtime Threads: Period FP Name ( Time, Max-Time ) 1000000 YES servo-thread ( 908880, 1398825 ) 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