Loaded HAL Components: ID Type Name PID State 48 User halcmd27487 27487 ready 42 User axisui 27456 ready 40 User inihal 27453 ready 29 RT hm2_eth ready 26 RT hostmot2 ready 23 RT pid ready 20 RT __servo-thread ready 19 RT motmod ready 16 RT trivkins ready 10 User halui 27417 ready 4 User iocontrol 27415 ready Component Pins: Owner Type Dir Value Name 19 float OUT 0 axis.a.eoffset 19 bit IN FALSE axis.a.eoffset-clear 19 s32 IN 0 axis.a.eoffset-counts 19 bit IN FALSE axis.a.eoffset-enable 19 float OUT 0 axis.a.eoffset-request 19 float IN 0 axis.a.eoffset-scale 19 float IN 1 axis.a.jog-accel-fraction 19 s32 IN 0 axis.a.jog-counts 19 bit IN FALSE axis.a.jog-enable 19 float IN 0 axis.a.jog-scale 19 bit IN FALSE axis.a.jog-vel-mode 19 bit OUT FALSE axis.a.kb-jog-active 19 float OUT 0 axis.a.pos-cmd 19 float OUT 0 axis.a.teleop-pos-cmd 19 bit OUT FALSE axis.a.teleop-tp-enable 19 float OUT 0 axis.a.teleop-vel-cmd 19 float OUT 0 axis.a.teleop-vel-lim 19 bit OUT FALSE axis.a.wheel-jog-active 19 float OUT 0 axis.b.eoffset 19 bit IN FALSE axis.b.eoffset-clear 19 s32 IN 0 axis.b.eoffset-counts 19 bit IN FALSE axis.b.eoffset-enable 19 float OUT 0 axis.b.eoffset-request 19 float IN 0 axis.b.eoffset-scale 19 float IN 1 axis.b.jog-accel-fraction 19 s32 IN 0 axis.b.jog-counts 19 bit IN FALSE axis.b.jog-enable 19 float IN 0 axis.b.jog-scale 19 bit IN FALSE axis.b.jog-vel-mode 19 bit OUT FALSE axis.b.kb-jog-active 19 float OUT 0 axis.b.pos-cmd 19 float OUT 0 axis.b.teleop-pos-cmd 19 bit OUT FALSE axis.b.teleop-tp-enable 19 float OUT 0 axis.b.teleop-vel-cmd 19 float OUT 0 axis.b.teleop-vel-lim 19 bit OUT FALSE axis.b.wheel-jog-active 19 float OUT 0 axis.c.eoffset 19 bit IN FALSE axis.c.eoffset-clear 19 s32 IN 0 axis.c.eoffset-counts 19 bit IN FALSE axis.c.eoffset-enable 19 float OUT 0 axis.c.eoffset-request 19 float IN 0 axis.c.eoffset-scale 19 float IN 1 axis.c.jog-accel-fraction 19 s32 IN 0 axis.c.jog-counts 19 bit IN FALSE axis.c.jog-enable 19 float IN 0 axis.c.jog-scale 19 bit IN FALSE axis.c.jog-vel-mode 19 bit OUT FALSE axis.c.kb-jog-active 19 float OUT 0 axis.c.pos-cmd 19 float OUT 0 axis.c.teleop-pos-cmd 19 bit OUT FALSE axis.c.teleop-tp-enable 19 float OUT 0 axis.c.teleop-vel-cmd 19 float OUT 0 axis.c.teleop-vel-lim 19 bit OUT FALSE axis.c.wheel-jog-active 19 float OUT 0 axis.u.eoffset 19 bit IN FALSE axis.u.eoffset-clear 19 s32 IN 0 axis.u.eoffset-counts 19 bit IN FALSE axis.u.eoffset-enable 19 float OUT 0 axis.u.eoffset-request 19 float IN 0 axis.u.eoffset-scale 19 float IN 1 axis.u.jog-accel-fraction 19 s32 IN 0 axis.u.jog-counts 19 bit IN FALSE axis.u.jog-enable 19 float IN 0 axis.u.jog-scale 19 bit IN FALSE axis.u.jog-vel-mode 19 bit OUT FALSE axis.u.kb-jog-active 19 float OUT 0 axis.u.pos-cmd 19 float OUT 0 axis.u.teleop-pos-cmd 19 bit OUT FALSE axis.u.teleop-tp-enable 19 float OUT 0 axis.u.teleop-vel-cmd 19 float OUT 0 axis.u.teleop-vel-lim 19 bit OUT FALSE axis.u.wheel-jog-active 19 float OUT 0 axis.v.eoffset 19 bit IN FALSE axis.v.eoffset-clear 19 s32 IN 0 axis.v.eoffset-counts 19 bit IN FALSE axis.v.eoffset-enable 19 float OUT 0 axis.v.eoffset-request 19 float IN 0 axis.v.eoffset-scale 19 float IN 1 axis.v.jog-accel-fraction 19 s32 IN 0 axis.v.jog-counts 19 bit IN FALSE axis.v.jog-enable 19 float IN 0 axis.v.jog-scale 19 bit IN FALSE axis.v.jog-vel-mode 19 bit OUT FALSE axis.v.kb-jog-active 19 float OUT 0 axis.v.pos-cmd 19 float OUT 0 axis.v.teleop-pos-cmd 19 bit OUT FALSE axis.v.teleop-tp-enable 19 float OUT 0 axis.v.teleop-vel-cmd 19 float OUT 0 axis.v.teleop-vel-lim 19 bit OUT FALSE axis.v.wheel-jog-active 19 float OUT 0 axis.w.eoffset 19 bit IN FALSE axis.w.eoffset-clear 19 s32 IN 0 axis.w.eoffset-counts 19 bit IN FALSE axis.w.eoffset-enable 19 float OUT 0 axis.w.eoffset-request 19 float IN 0 axis.w.eoffset-scale 19 float IN 1 axis.w.jog-accel-fraction 19 s32 IN 0 axis.w.jog-counts 19 bit IN FALSE axis.w.jog-enable 19 float IN 0 axis.w.jog-scale 19 bit IN FALSE axis.w.jog-vel-mode 19 bit OUT FALSE axis.w.kb-jog-active 19 float OUT 0 axis.w.pos-cmd 19 float OUT 0 axis.w.teleop-pos-cmd 19 bit OUT FALSE axis.w.teleop-tp-enable 19 float OUT 0 axis.w.teleop-vel-cmd 19 float OUT 0 axis.w.teleop-vel-lim 19 bit OUT FALSE axis.w.wheel-jog-active 19 float OUT 0 axis.x.eoffset 19 bit IN FALSE axis.x.eoffset-clear 19 s32 IN 0 axis.x.eoffset-counts 19 bit IN FALSE axis.x.eoffset-enable 19 float OUT 0 axis.x.eoffset-request 19 float IN 0 axis.x.eoffset-scale 19 float IN 1 axis.x.jog-accel-fraction 19 s32 IN 0 axis.x.jog-counts 19 bit IN FALSE axis.x.jog-enable 19 float IN 0 axis.x.jog-scale 19 bit IN FALSE axis.x.jog-vel-mode 19 bit OUT FALSE axis.x.kb-jog-active 19 float OUT 0 axis.x.pos-cmd 19 float OUT 0 axis.x.teleop-pos-cmd 19 bit OUT FALSE axis.x.teleop-tp-enable 19 float OUT 0 axis.x.teleop-vel-cmd 19 float OUT 0 axis.x.teleop-vel-lim 19 bit OUT FALSE axis.x.wheel-jog-active 19 float OUT 0 axis.y.eoffset 19 bit IN FALSE axis.y.eoffset-clear 19 s32 IN 0 axis.y.eoffset-counts 19 bit IN FALSE axis.y.eoffset-enable 19 float OUT 0 axis.y.eoffset-request 19 float IN 0 axis.y.eoffset-scale 19 float IN 1 axis.y.jog-accel-fraction 19 s32 IN 0 axis.y.jog-counts 19 bit IN FALSE axis.y.jog-enable 19 float IN 0 axis.y.jog-scale 19 bit IN FALSE axis.y.jog-vel-mode 19 bit OUT FALSE axis.y.kb-jog-active 19 float OUT 0 axis.y.pos-cmd 19 float OUT 0 axis.y.teleop-pos-cmd 19 bit OUT FALSE axis.y.teleop-tp-enable 19 float OUT 0 axis.y.teleop-vel-cmd 19 float OUT 0 axis.y.teleop-vel-lim 19 bit OUT FALSE axis.y.wheel-jog-active 19 float OUT 0 axis.z.eoffset 19 bit IN FALSE axis.z.eoffset-clear 19 s32 IN 0 axis.z.eoffset-counts 19 bit IN FALSE axis.z.eoffset-enable 19 float OUT 0 axis.z.eoffset-request 19 float IN 0 axis.z.eoffset-scale 19 float IN 1 axis.z.jog-accel-fraction 19 s32 IN 0 axis.z.jog-counts 19 bit IN FALSE axis.z.jog-enable 19 float IN 0 axis.z.jog-scale 19 bit IN FALSE axis.z.jog-vel-mode 19 bit OUT FALSE axis.z.kb-jog-active 19 float OUT 0 axis.z.pos-cmd 19 float OUT 0 axis.z.teleop-pos-cmd 19 bit OUT FALSE axis.z.teleop-tp-enable 19 float OUT 0 axis.z.teleop-vel-cmd 19 float OUT 0 axis.z.teleop-vel-lim 19 bit OUT FALSE axis.z.wheel-jog-active 42 bit OUT FALSE axisui.abort 42 bit OUT TRUE axisui.error 42 bit OUT FALSE axisui.jog.a 42 bit OUT FALSE axisui.jog.b 42 bit OUT FALSE axisui.jog.c 42 float OUT 0 axisui.jog.increment 42 bit OUT FALSE axisui.jog.u 42 bit OUT FALSE axisui.jog.v 42 bit OUT FALSE axisui.jog.w 42 bit OUT TRUE axisui.jog.x 42 bit OUT FALSE axisui.jog.y 42 bit OUT FALSE axisui.jog.z 42 bit IN FALSE axisui.notifications-clear 42 bit IN FALSE axisui.notifications-clear-error 42 bit IN FALSE axisui.notifications-clear-info 42 bit IN FALSE axisui.resume-inhibit 10 bit IN FALSE halui.abort 10 float IN 0 halui.axis.a.analog 10 float IN 0 halui.axis.a.increment 10 bit IN FALSE halui.axis.a.increment-minus 10 bit IN FALSE halui.axis.a.increment-plus 10 bit IN FALSE halui.axis.a.minus 10 bit IN FALSE halui.axis.a.plus 10 bit IN FALSE halui.axis.a.select 10 float IN 0 halui.axis.b.analog 10 float IN 0 halui.axis.b.increment 10 bit IN FALSE halui.axis.b.increment-minus 10 bit IN FALSE halui.axis.b.increment-plus 10 bit IN FALSE halui.axis.b.minus 10 bit IN FALSE halui.axis.b.plus 10 bit IN FALSE halui.axis.b.select 10 float IN 0 halui.axis.c.analog 10 float IN 0 halui.axis.c.increment 10 bit IN FALSE halui.axis.c.increment-minus 10 bit IN FALSE halui.axis.c.increment-plus 10 bit IN FALSE halui.axis.c.minus 10 bit IN FALSE halui.axis.c.plus 10 bit IN FALSE halui.axis.c.select 10 float IN 0.2 halui.axis.jog-deadband 10 float IN 0 halui.axis.jog-speed 10 u32 OUT 0x00000000 halui.axis.selected 10 float IN 0 halui.axis.selected.increment 10 bit IN FALSE halui.axis.selected.increment-minus 10 bit IN FALSE halui.axis.selected.increment-plus 10 bit IN FALSE halui.axis.selected.minus 10 bit IN FALSE halui.axis.selected.plus 10 float IN 0 halui.axis.u.analog 10 float IN 0 halui.axis.u.increment 10 bit IN FALSE halui.axis.u.increment-minus 10 bit IN FALSE halui.axis.u.increment-plus 10 bit IN FALSE halui.axis.u.minus 10 bit IN FALSE halui.axis.u.plus 10 bit IN FALSE halui.axis.u.select 10 float IN 0 halui.axis.v.analog 10 float IN 0 halui.axis.v.increment 10 bit IN FALSE halui.axis.v.increment-minus 10 bit IN FALSE halui.axis.v.increment-plus 10 bit IN FALSE halui.axis.v.minus 10 bit IN FALSE halui.axis.v.plus 10 bit IN FALSE halui.axis.v.select 10 float IN 0 halui.axis.w.analog 10 float IN 0 halui.axis.w.increment 10 bit IN FALSE halui.axis.w.increment-minus 10 bit IN FALSE halui.axis.w.increment-plus 10 bit IN FALSE halui.axis.w.minus 10 bit IN FALSE halui.axis.w.plus 10 bit IN FALSE halui.axis.w.select 10 float IN 0 halui.axis.x.analog 10 float IN 0 halui.axis.x.increment 10 bit IN FALSE halui.axis.x.increment-minus 10 bit IN FALSE halui.axis.x.increment-plus 10 bit OUT TRUE halui.axis.x.is-selected 10 bit IN FALSE halui.axis.x.minus 10 bit IN FALSE halui.axis.x.plus 10 float OUT 0 halui.axis.x.pos-commanded 10 float OUT 0 halui.axis.x.pos-feedback 10 float OUT 0 halui.axis.x.pos-relative 10 bit IN FALSE halui.axis.x.select 10 float IN 0 halui.axis.y.analog 10 float IN 0 halui.axis.y.increment 10 bit IN FALSE halui.axis.y.increment-minus 10 bit IN FALSE halui.axis.y.increment-plus 10 bit IN FALSE halui.axis.y.minus 10 bit IN FALSE halui.axis.y.plus 10 bit IN FALSE halui.axis.y.select 10 float IN 0 halui.axis.z.analog 10 float IN 0 halui.axis.z.increment 10 bit IN FALSE halui.axis.z.increment-minus 10 bit IN FALSE halui.axis.z.increment-plus 10 bit IN FALSE halui.axis.z.minus 10 bit IN FALSE halui.axis.z.plus 10 bit IN FALSE halui.axis.z.select 10 bit IN FALSE halui.estop.activate 10 bit OUT FALSE halui.estop.is-activated 10 bit IN FALSE halui.estop.reset 10 bit IN TRUE halui.feed-override.count-enable 10 s32 IN 0 halui.feed-override.counts 10 bit IN FALSE halui.feed-override.decrease 10 bit IN FALSE halui.feed-override.direct-value 10 bit IN FALSE halui.feed-override.increase 10 float IN 0.1 halui.feed-override.scale 10 float OUT 1 halui.feed-override.value 10 bit OUT FALSE halui.flood.is-on 10 bit IN FALSE halui.flood.off 10 bit IN FALSE halui.flood.on 10 float IN 0 halui.joint.0.analog 10 bit OUT FALSE halui.joint.0.has-fault 10 bit IN FALSE halui.joint.0.home 10 float IN 0 halui.joint.0.increment 10 bit IN FALSE halui.joint.0.increment-minus 10 bit IN FALSE halui.joint.0.increment-plus 10 bit OUT FALSE halui.joint.0.is-homed 10 bit OUT TRUE halui.joint.0.is-selected 10 bit IN FALSE halui.joint.0.minus 10 bit OUT FALSE halui.joint.0.on-hard-max-limit 10 bit OUT FALSE halui.joint.0.on-hard-min-limit 10 bit OUT FALSE halui.joint.0.on-soft-max-limit 10 bit OUT FALSE halui.joint.0.on-soft-min-limit 10 bit OUT FALSE halui.joint.0.override-limits 10 bit IN FALSE halui.joint.0.plus 10 bit IN FALSE halui.joint.0.select 10 bit IN FALSE halui.joint.0.unhome 10 float IN 0.2 halui.joint.jog-deadband 10 float IN 0 halui.joint.jog-speed 10 u32 OUT 0x00000000 halui.joint.selected 10 bit OUT FALSE halui.joint.selected.has-fault 10 bit IN FALSE halui.joint.selected.home 10 float IN 0 halui.joint.selected.increment 10 bit IN FALSE halui.joint.selected.increment-minus 10 bit IN FALSE halui.joint.selected.increment-plus 10 bit OUT FALSE halui.joint.selected.is-homed 10 bit IN FALSE halui.joint.selected.minus 10 bit OUT FALSE halui.joint.selected.on-hard-max-limit 10 bit OUT FALSE halui.joint.selected.on-hard-min-limit 10 bit OUT FALSE halui.joint.selected.on-soft-max-limit 10 bit OUT FALSE halui.joint.selected.on-soft-min-limit 10 bit OUT FALSE halui.joint.selected.override-limits 10 bit IN FALSE halui.joint.selected.plus 10 bit IN FALSE halui.joint.selected.unhome 10 bit OUT TRUE halui.lube.is-on 10 bit IN FALSE halui.lube.off 10 bit IN FALSE halui.lube.on 10 bit OUT TRUE halui.machine.is-on 10 bit IN FALSE halui.machine.off 10 bit IN FALSE halui.machine.on 10 float OUT 1 halui.machine.units-per-mm 10 bit IN TRUE halui.max-velocity.count-enable 10 s32 IN 0 halui.max-velocity.counts 10 bit IN FALSE halui.max-velocity.decrease 10 bit IN FALSE halui.max-velocity.direct-value 10 bit IN FALSE halui.max-velocity.increase 10 float IN 0 halui.max-velocity.scale 10 float OUT 300 halui.max-velocity.value 10 bit OUT FALSE halui.mist.is-on 10 bit IN FALSE halui.mist.off 10 bit IN FALSE halui.mist.on 10 bit IN FALSE halui.mode.auto 10 bit OUT FALSE halui.mode.is-auto 10 bit OUT TRUE halui.mode.is-joint 10 bit OUT TRUE halui.mode.is-manual 10 bit OUT FALSE halui.mode.is-mdi 10 bit OUT FALSE halui.mode.is-teleop 10 bit IN FALSE halui.mode.joint 10 bit IN FALSE halui.mode.manual 10 bit IN FALSE halui.mode.mdi 10 bit IN FALSE halui.mode.teleop 10 bit OUT TRUE halui.program.block-delete.is-on 10 bit IN FALSE halui.program.block-delete.off 10 bit IN FALSE halui.program.block-delete.on 10 bit OUT TRUE halui.program.is-idle 10 bit OUT FALSE halui.program.is-paused 10 bit OUT FALSE halui.program.is-running 10 bit OUT TRUE halui.program.optional-stop.is-on 10 bit IN FALSE halui.program.optional-stop.off 10 bit IN FALSE halui.program.optional-stop.on 10 bit IN FALSE halui.program.pause 10 bit IN FALSE halui.program.resume 10 bit IN FALSE halui.program.run 10 bit IN FALSE halui.program.step 10 bit IN FALSE halui.program.stop 10 bit IN TRUE halui.rapid-override.count-enable 10 s32 IN 0 halui.rapid-override.counts 10 bit IN FALSE halui.rapid-override.decrease 10 bit IN FALSE halui.rapid-override.direct-value 10 bit IN FALSE halui.rapid-override.increase 10 float IN 0.1 halui.rapid-override.scale 10 float OUT 1 halui.rapid-override.value 10 bit OUT FALSE halui.spindle.0.brake-is-on 10 bit IN FALSE halui.spindle.0.brake-off 10 bit IN FALSE halui.spindle.0.brake-on 10 bit IN FALSE halui.spindle.0.decrease 10 bit IN FALSE halui.spindle.0.forward 10 bit IN FALSE halui.spindle.0.increase 10 bit OUT TRUE halui.spindle.0.is-on 10 bit IN TRUE halui.spindle.0.override.count-enable 10 s32 IN 0 halui.spindle.0.override.counts 10 bit IN FALSE halui.spindle.0.override.decrease 10 bit IN FALSE halui.spindle.0.override.direct-value 10 bit IN FALSE halui.spindle.0.override.increase 10 float IN 0.1 halui.spindle.0.override.scale 10 float OUT 1 halui.spindle.0.override.value 10 bit IN FALSE halui.spindle.0.reverse 10 bit OUT FALSE halui.spindle.0.runs-backward 10 bit OUT TRUE halui.spindle.0.runs-forward 10 bit IN FALSE halui.spindle.0.start 10 bit IN FALSE halui.spindle.0.stop 10 float OUT 0 halui.tool.diameter 10 float OUT 0 halui.tool.length_offset.a 10 float OUT 0 halui.tool.length_offset.b 10 float OUT 0 halui.tool.length_offset.c 10 float OUT 0 halui.tool.length_offset.u 10 float OUT 0 halui.tool.length_offset.v 10 float OUT 0 halui.tool.length_offset.w 10 float OUT 0 halui.tool.length_offset.x 10 float OUT 0 halui.tool.length_offset.y 10 float OUT 0 halui.tool.length_offset.z 10 u32 OUT 0x00000000 halui.tool.number 29 float IN -100 hm2_7i96.0.dpll.01.timer-us 29 float IN 100 hm2_7i96.0.dpll.02.timer-us 29 float IN 100 hm2_7i96.0.dpll.03.timer-us 29 float IN 100 hm2_7i96.0.dpll.04.timer-us 29 float IN 1 hm2_7i96.0.dpll.base-freq-khz 29 u32 OUT 0x0000002A hm2_7i96.0.dpll.ddsize 29 float OUT 9.387448 hm2_7i96.0.dpll.phase-error-us 29 u32 IN 0x00400000 hm2_7i96.0.dpll.plimit 29 u32 OUT 0x00000018 hm2_7i96.0.dpll.prescale 29 u32 IN 0x000007D0 hm2_7i96.0.dpll.time-const 29 s32 OUT 0 hm2_7i96.0.encoder.00.count 29 s32 OUT 0 hm2_7i96.0.encoder.00.count-latched 29 bit I/O FALSE hm2_7i96.0.encoder.00.index-enable 29 bit OUT FALSE hm2_7i96.0.encoder.00.input-a 29 bit OUT TRUE hm2_7i96.0.encoder.00.input-b 29 bit OUT TRUE hm2_7i96.0.encoder.00.input-index 29 bit IN FALSE hm2_7i96.0.encoder.00.latch-enable 29 bit IN FALSE hm2_7i96.0.encoder.00.latch-polarity 29 float OUT 0 hm2_7i96.0.encoder.00.position 29 float OUT 0 hm2_7i96.0.encoder.00.position-latched 29 bit OUT FALSE hm2_7i96.0.encoder.00.quad-error 29 bit IN FALSE hm2_7i96.0.encoder.00.quad-error-enable 29 s32 OUT 1 hm2_7i96.0.encoder.00.rawcounts 29 s32 OUT 1 hm2_7i96.0.encoder.00.rawlatch 29 bit IN FALSE hm2_7i96.0.encoder.00.reset 29 float OUT 0 hm2_7i96.0.encoder.00.velocity 29 float OUT 0 hm2_7i96.0.encoder.00.velocity-rpm 29 bit IN FALSE hm2_7i96.0.encoder.hires-timestamp 29 u32 IN 0x017D7840 hm2_7i96.0.encoder.sample-frequency 29 s32 IN -1 hm2_7i96.0.encoder.timer-number 29 bit OUT FALSE hm2_7i96.0.gpio.000.in 29 bit OUT TRUE hm2_7i96.0.gpio.000.in_not 29 bit IN FALSE hm2_7i96.0.gpio.000.out 29 bit OUT TRUE hm2_7i96.0.gpio.001.in 29 bit OUT FALSE hm2_7i96.0.gpio.001.in_not 29 bit IN FALSE hm2_7i96.0.gpio.001.out 29 bit OUT TRUE hm2_7i96.0.gpio.002.in 29 bit OUT FALSE hm2_7i96.0.gpio.002.in_not 29 bit IN FALSE hm2_7i96.0.gpio.002.out 29 bit OUT TRUE hm2_7i96.0.gpio.003.in 29 bit OUT FALSE hm2_7i96.0.gpio.003.in_not 29 bit IN FALSE hm2_7i96.0.gpio.003.out 29 bit OUT FALSE hm2_7i96.0.gpio.004.in 29 bit OUT TRUE hm2_7i96.0.gpio.004.in_not 29 bit IN FALSE hm2_7i96.0.gpio.004.out 29 bit OUT FALSE hm2_7i96.0.gpio.005.in 29 bit OUT TRUE hm2_7i96.0.gpio.005.in_not 29 bit IN FALSE hm2_7i96.0.gpio.005.out 29 bit OUT FALSE hm2_7i96.0.gpio.006.in 29 bit OUT TRUE hm2_7i96.0.gpio.006.in_not 29 bit IN FALSE hm2_7i96.0.gpio.006.out 29 bit OUT FALSE hm2_7i96.0.gpio.007.in 29 bit OUT TRUE hm2_7i96.0.gpio.007.in_not 29 bit IN FALSE hm2_7i96.0.gpio.007.out 29 bit OUT FALSE hm2_7i96.0.gpio.008.in 29 bit OUT TRUE hm2_7i96.0.gpio.008.in_not 29 bit IN FALSE hm2_7i96.0.gpio.008.out 29 bit OUT FALSE hm2_7i96.0.gpio.009.in 29 bit OUT TRUE hm2_7i96.0.gpio.009.in_not 29 bit IN FALSE hm2_7i96.0.gpio.009.out 29 bit OUT FALSE hm2_7i96.0.gpio.010.in 29 bit OUT TRUE hm2_7i96.0.gpio.010.in_not 29 bit IN FALSE hm2_7i96.0.gpio.010.out 29 bit OUT TRUE hm2_7i96.0.gpio.011.in 29 bit OUT FALSE hm2_7i96.0.gpio.011.in_not 29 bit OUT FALSE hm2_7i96.0.gpio.012.in 29 bit OUT TRUE hm2_7i96.0.gpio.012.in_not 29 bit OUT FALSE hm2_7i96.0.gpio.013.in 29 bit OUT TRUE hm2_7i96.0.gpio.013.in_not 29 bit OUT FALSE hm2_7i96.0.gpio.014.in 29 bit OUT TRUE hm2_7i96.0.gpio.014.in_not 29 bit OUT FALSE hm2_7i96.0.gpio.015.in 29 bit OUT TRUE hm2_7i96.0.gpio.015.in_not 29 bit OUT FALSE hm2_7i96.0.gpio.016.in 29 bit OUT TRUE hm2_7i96.0.gpio.016.in_not 29 bit OUT FALSE hm2_7i96.0.gpio.017.in 29 bit OUT TRUE hm2_7i96.0.gpio.017.in_not 29 bit OUT FALSE hm2_7i96.0.gpio.018.in 29 bit OUT TRUE hm2_7i96.0.gpio.018.in_not 29 bit OUT TRUE hm2_7i96.0.gpio.019.in 29 bit OUT FALSE hm2_7i96.0.gpio.019.in_not 29 bit IN FALSE hm2_7i96.0.gpio.019.out 29 bit OUT TRUE hm2_7i96.0.gpio.020.in 29 bit OUT FALSE hm2_7i96.0.gpio.020.in_not 29 bit IN FALSE hm2_7i96.0.gpio.020.out 29 bit OUT TRUE hm2_7i96.0.gpio.021.in 29 bit OUT FALSE hm2_7i96.0.gpio.021.in_not 29 bit IN FALSE hm2_7i96.0.gpio.021.out 29 bit OUT TRUE hm2_7i96.0.gpio.022.in 29 bit OUT FALSE hm2_7i96.0.gpio.022.in_not 29 bit IN FALSE hm2_7i96.0.gpio.022.out 29 bit OUT TRUE hm2_7i96.0.gpio.023.in 29 bit OUT FALSE hm2_7i96.0.gpio.023.in_not 29 bit IN FALSE hm2_7i96.0.gpio.023.out 29 bit OUT TRUE hm2_7i96.0.gpio.024.in 29 bit OUT FALSE hm2_7i96.0.gpio.024.in_not 29 bit IN FALSE hm2_7i96.0.gpio.024.out 29 bit OUT FALSE hm2_7i96.0.gpio.025.in 29 bit OUT TRUE hm2_7i96.0.gpio.025.in_not 29 bit OUT FALSE hm2_7i96.0.gpio.026.in 29 bit OUT TRUE hm2_7i96.0.gpio.026.in_not 29 bit OUT FALSE hm2_7i96.0.gpio.027.in 29 bit OUT TRUE hm2_7i96.0.gpio.027.in_not 29 bit OUT TRUE hm2_7i96.0.gpio.028.in 29 bit OUT FALSE hm2_7i96.0.gpio.028.in_not 29 bit OUT FALSE hm2_7i96.0.gpio.029.in 29 bit OUT TRUE hm2_7i96.0.gpio.029.in_not 29 bit OUT TRUE hm2_7i96.0.gpio.030.in 29 bit OUT FALSE hm2_7i96.0.gpio.030.in_not 29 bit IN FALSE hm2_7i96.0.gpio.030.out 29 bit OUT FALSE hm2_7i96.0.gpio.031.in 29 bit OUT TRUE hm2_7i96.0.gpio.031.in_not 29 bit IN FALSE hm2_7i96.0.gpio.031.out 29 bit OUT FALSE hm2_7i96.0.gpio.032.in 29 bit OUT TRUE hm2_7i96.0.gpio.032.in_not 29 bit IN FALSE hm2_7i96.0.gpio.032.out 29 bit OUT FALSE hm2_7i96.0.gpio.033.in 29 bit OUT TRUE hm2_7i96.0.gpio.033.in_not 29 bit OUT TRUE hm2_7i96.0.gpio.034.in 29 bit OUT FALSE hm2_7i96.0.gpio.034.in_not 29 bit IN FALSE hm2_7i96.0.gpio.034.out 29 bit OUT TRUE hm2_7i96.0.gpio.035.in 29 bit OUT FALSE hm2_7i96.0.gpio.035.in_not 29 bit IN FALSE hm2_7i96.0.gpio.035.out 29 bit OUT TRUE hm2_7i96.0.gpio.036.in 29 bit OUT FALSE hm2_7i96.0.gpio.036.in_not 29 bit IN FALSE hm2_7i96.0.gpio.036.out 29 bit OUT TRUE hm2_7i96.0.gpio.037.in 29 bit OUT FALSE hm2_7i96.0.gpio.037.in_not 29 bit IN FALSE hm2_7i96.0.gpio.037.out 29 bit OUT TRUE hm2_7i96.0.gpio.038.in 29 bit OUT FALSE hm2_7i96.0.gpio.038.in_not 29 bit IN FALSE hm2_7i96.0.gpio.038.out 29 bit OUT TRUE hm2_7i96.0.gpio.039.in 29 bit OUT FALSE hm2_7i96.0.gpio.039.in_not 29 bit IN FALSE hm2_7i96.0.gpio.039.out 29 bit OUT TRUE hm2_7i96.0.gpio.040.in 29 bit OUT FALSE hm2_7i96.0.gpio.040.in_not 29 bit IN FALSE hm2_7i96.0.gpio.040.out 29 bit OUT TRUE hm2_7i96.0.gpio.041.in 29 bit OUT FALSE hm2_7i96.0.gpio.041.in_not 29 bit IN FALSE hm2_7i96.0.gpio.041.out 29 bit OUT TRUE hm2_7i96.0.gpio.042.in 29 bit OUT FALSE hm2_7i96.0.gpio.042.in_not 29 bit IN FALSE hm2_7i96.0.gpio.042.out 29 bit OUT TRUE hm2_7i96.0.gpio.043.in 29 bit OUT FALSE hm2_7i96.0.gpio.043.in_not 29 bit IN FALSE hm2_7i96.0.gpio.043.out 29 bit OUT TRUE hm2_7i96.0.gpio.044.in 29 bit OUT FALSE hm2_7i96.0.gpio.044.in_not 29 bit IN FALSE hm2_7i96.0.gpio.044.out 29 bit OUT TRUE hm2_7i96.0.gpio.045.in 29 bit OUT FALSE hm2_7i96.0.gpio.045.in_not 29 bit IN FALSE hm2_7i96.0.gpio.045.out 29 bit OUT TRUE hm2_7i96.0.gpio.046.in 29 bit OUT FALSE hm2_7i96.0.gpio.046.in_not 29 bit IN FALSE hm2_7i96.0.gpio.046.out 29 bit OUT TRUE hm2_7i96.0.gpio.047.in 29 bit OUT FALSE hm2_7i96.0.gpio.047.in_not 29 bit IN FALSE hm2_7i96.0.gpio.047.out 29 bit OUT TRUE hm2_7i96.0.gpio.048.in 29 bit OUT FALSE hm2_7i96.0.gpio.048.in_not 29 bit IN FALSE hm2_7i96.0.gpio.048.out 29 bit OUT TRUE hm2_7i96.0.gpio.049.in 29 bit OUT FALSE hm2_7i96.0.gpio.049.in_not 29 bit IN FALSE hm2_7i96.0.gpio.049.out 29 bit OUT TRUE hm2_7i96.0.gpio.050.in 29 bit OUT FALSE hm2_7i96.0.gpio.050.in_not 29 bit IN FALSE hm2_7i96.0.gpio.050.out 29 bit IN FALSE hm2_7i96.0.led.CR01 29 bit IN FALSE hm2_7i96.0.led.CR02 29 bit IN FALSE hm2_7i96.0.led.CR03 29 bit IN FALSE hm2_7i96.0.led.CR04 29 bit OUT FALSE hm2_7i96.0.packet-error 29 bit OUT FALSE hm2_7i96.0.packet-error-exceeded 29 s32 OUT 0 hm2_7i96.0.packet-error-level 29 bit IN TRUE hm2_7i96.0.pwmgen.00.enable <== spindle-on 29 float IN 0 hm2_7i96.0.pwmgen.00.value <== spindle-output 29 s32 OUT 0 hm2_7i96.0.read-request.time 29 s32 OUT 280260 hm2_7i96.0.read.time 29 bit IN TRUE hm2_7i96.0.ssr.00.out-00 <== spindle-on 29 bit IN FALSE hm2_7i96.0.ssr.00.out-01 29 bit IN FALSE hm2_7i96.0.ssr.00.out-02 29 bit IN FALSE hm2_7i96.0.ssr.00.out-03 29 bit IN FALSE hm2_7i96.0.ssr.00.out-04 29 bit IN FALSE hm2_7i96.0.ssr.00.out-05 29 u32 IN 0x000F4240 hm2_7i96.0.ssr.00.rate 29 bit IN TRUE hm2_7i96.0.stepgen.00.control-type 29 s32 OUT 0 hm2_7i96.0.stepgen.00.counts 29 float OUT 0 hm2_7i96.0.stepgen.00.dbg_err_at_match 29 float OUT 0 hm2_7i96.0.stepgen.00.dbg_ff_vel 29 float OUT 0 hm2_7i96.0.stepgen.00.dbg_pos_minus_prev_cmd 29 float OUT 0 hm2_7i96.0.stepgen.00.dbg_s_to_match 29 s32 OUT 0 hm2_7i96.0.stepgen.00.dbg_step_rate 29 float OUT 0 hm2_7i96.0.stepgen.00.dbg_vel_error 29 bit IN TRUE hm2_7i96.0.stepgen.00.enable <== emcmot.0.enable 29 float IN 0 hm2_7i96.0.stepgen.00.position-cmd 29 float OUT 0 hm2_7i96.0.stepgen.00.position-fb ==> motor.0.pos-fb 29 float IN 0 hm2_7i96.0.stepgen.00.velocity-cmd <== motor.0.command 29 float OUT 0 hm2_7i96.0.stepgen.00.velocity-fb 29 s32 IN 1 hm2_7i96.0.stepgen.timer-number 29 bit I/O FALSE hm2_7i96.0.watchdog.has_bit 29 s32 OUT 25220 hm2_7i96.0.write.time 40 float IN 0 ini.0.backlash 40 float IN 0.0051 ini.0.ferror 40 float IN 0 ini.0.home 40 float IN 0 ini.0.home_offset 40 s32 IN 999 ini.0.home_sequence 40 float IN 20 ini.0.max_acceleration 40 float IN 220 ini.0.max_limit 40 float IN 300 ini.0.max_velocity 40 float IN 0.0025 ini.0.min_ferror 40 float IN 0 ini.0.min_limit 40 float IN 0 ini.a.max_acceleration 40 float IN 0 ini.a.max_limit 40 float IN 0 ini.a.max_velocity 40 float IN 0 ini.a.min_limit 40 float IN 0 ini.b.max_acceleration 40 float IN 0 ini.b.max_limit 40 float IN 0 ini.b.max_velocity 40 float IN 0 ini.b.min_limit 40 float IN 0 ini.c.max_acceleration 40 float IN 0 ini.c.max_limit 40 float IN 0 ini.c.max_velocity 40 float IN 0 ini.c.min_limit 40 bit IN TRUE ini.traj_arc_blend_enable 40 bit IN FALSE ini.traj_arc_blend_fallback_enable 40 float IN 4 ini.traj_arc_blend_gap_cycles 40 s32 IN 50 ini.traj_arc_blend_optimization_depth 40 float IN 100 ini.traj_arc_blend_ramp_freq 40 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio 40 float IN 1e+99 ini.traj_default_acceleration 40 float IN 1 ini.traj_default_velocity 40 float IN 1e+99 ini.traj_max_acceleration 40 float IN 300 ini.traj_max_velocity 40 float IN 0 ini.u.max_acceleration 40 float IN 0 ini.u.max_limit 40 float IN 0 ini.u.max_velocity 40 float IN 0 ini.u.min_limit 40 float IN 0 ini.v.max_acceleration 40 float IN 0 ini.v.max_limit 40 float IN 0 ini.v.max_velocity 40 float IN 0 ini.v.min_limit 40 float IN 0 ini.w.max_acceleration 40 float IN 0 ini.w.max_limit 40 float IN 0 ini.w.max_velocity 40 float IN 0 ini.w.min_limit 40 float IN 20 ini.x.max_acceleration 40 float IN 220 ini.x.max_limit 40 float IN 300 ini.x.max_velocity 40 float IN 0 ini.x.min_limit 40 float IN 0 ini.y.max_acceleration 40 float IN 0 ini.y.max_limit 40 float IN 0 ini.y.max_velocity 40 float IN 0 ini.y.min_limit 40 float IN 0 ini.z.max_acceleration 40 float IN 0 ini.z.max_limit 40 float IN 0 ini.z.max_velocity 40 float IN 0 ini.z.min_limit 4 bit OUT FALSE iocontrol.0.coolant-flood 4 bit OUT FALSE iocontrol.0.coolant-mist 4 bit OUT TRUE iocontrol.0.emc-abort 4 bit IN FALSE iocontrol.0.emc-abort-ack 4 bit IN TRUE iocontrol.0.emc-enable-in <== estop-loopback 4 s32 OUT 5 iocontrol.0.emc-reason 4 bit OUT TRUE iocontrol.0.lube 4 bit IN FALSE iocontrol.0.lube_level 4 bit OUT FALSE iocontrol.0.start-change 4 bit IN FALSE iocontrol.0.start-change-ack 4 s32 OUT 4 iocontrol.0.state 4 bit OUT FALSE iocontrol.0.tool-change 4 bit IN FALSE iocontrol.0.tool-changed 4 s32 OUT 0 iocontrol.0.tool-number 4 s32 OUT 0 iocontrol.0.tool-prep-number 4 s32 OUT 0 iocontrol.0.tool-prep-pocket 4 bit OUT FALSE iocontrol.0.tool-prepare 4 bit IN FALSE iocontrol.0.tool-prepared 4 bit IN FALSE iocontrol.0.toolchanger-clear-fault 4 bit IN FALSE iocontrol.0.toolchanger-fault 4 bit OUT FALSE iocontrol.0.toolchanger-fault-ack 4 bit OUT FALSE iocontrol.0.toolchanger-faulted 4 s32 IN 0 iocontrol.0.toolchanger-reason 4 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-loopback 4 bit OUT FALSE iocontrol.0.user-request-enable 19 float OUT 0 joint.0.acc-cmd 19 bit OUT TRUE joint.0.active 19 bit OUT TRUE joint.0.amp-enable-out ==> emcmot.0.enable 19 bit IN FALSE joint.0.amp-fault-in 19 float OUT 0 joint.0.backlash-corr 19 float OUT 0 joint.0.backlash-filt 19 float OUT 0 joint.0.backlash-vel 19 float OUT 0 joint.0.coarse-pos-cmd 19 bit OUT FALSE joint.0.error 19 float OUT 0 joint.0.f-error 19 float OUT 0.0025 joint.0.f-error-lim 19 bit OUT FALSE joint.0.f-errored 19 bit OUT FALSE joint.0.faulted 19 float OUT 0 joint.0.free-pos-cmd 19 bit OUT FALSE joint.0.free-tp-enable 19 float OUT 0 joint.0.free-vel-lim 19 s32 OUT 0 joint.0.home-state 19 bit IN FALSE joint.0.home-sw-in 19 bit OUT FALSE joint.0.homed 19 bit OUT FALSE joint.0.homing 19 bit OUT TRUE joint.0.in-position 19 bit I/O FALSE joint.0.index-enable 19 float IN 1 joint.0.jog-accel-fraction 19 s32 IN 0 joint.0.jog-counts 19 bit IN FALSE joint.0.jog-enable 19 float IN 0 joint.0.jog-scale 19 bit IN FALSE joint.0.jog-vel-mode 19 bit OUT FALSE joint.0.kb-jog-active 19 float OUT 0 joint.0.motor-offset 19 float OUT 0 joint.0.motor-pos-cmd ==> emcmot.0.pos-cmd 19 float IN 0 joint.0.motor-pos-fb <== motor.0.pos-fb 19 bit OUT FALSE joint.0.neg-hard-limit 19 bit IN FALSE joint.0.neg-lim-sw-in 19 float OUT 0 joint.0.pos-cmd 19 float OUT 0 joint.0.pos-fb 19 bit OUT FALSE joint.0.pos-hard-limit 19 bit IN FALSE joint.0.pos-lim-sw-in 19 float OUT 0 joint.0.vel-cmd 19 bit OUT FALSE joint.0.wheel-jog-active 19 s32 OUT 512 motion-command-handler.time 19 s32 OUT 8236 motion-controller.time 19 float IN 1 motion.adaptive-feed 19 float IN 0 motion.analog-in-00 19 float IN 0 motion.analog-in-01 19 float IN 0 motion.analog-in-02 19 float IN 0 motion.analog-in-03 19 float OUT 0 motion.analog-out-00 19 float OUT 0 motion.analog-out-01 19 float OUT 0 motion.analog-out-02 19 float OUT 0 motion.analog-out-03 19 bit OUT FALSE motion.coord-error 19 bit OUT FALSE motion.coord-mode 19 float OUT 0 motion.current-vel 19 bit IN FALSE motion.digital-in-00 19 bit IN FALSE motion.digital-in-01 19 bit IN FALSE motion.digital-in-02 19 bit IN FALSE motion.digital-in-03 19 bit OUT FALSE motion.digital-out-00 19 bit OUT FALSE motion.digital-out-01 19 bit OUT FALSE motion.digital-out-02 19 bit OUT FALSE motion.digital-out-03 19 float OUT 0 motion.distance-to-go 19 bit IN TRUE motion.enable 19 bit OUT FALSE motion.eoffset-active 19 bit OUT FALSE motion.eoffset-limited 19 bit IN FALSE motion.feed-hold 19 bit IN FALSE motion.feed-inhibit 19 bit IN FALSE motion.homing-inhibit 19 bit OUT TRUE motion.in-position 19 bit OUT TRUE motion.motion-enabled 19 s32 OUT 0 motion.motion-type 19 bit OUT FALSE motion.on-soft-limit 19 bit IN FALSE motion.probe-input 19 s32 OUT 0 motion.program-line 19 float OUT 0 motion.requested-vel 19 u32 OUT 0x002925F8 motion.servo.last-period 19 bit OUT FALSE motion.teleop-mode 19 float OUT 0 motion.tooloffset.a 19 float OUT 0 motion.tooloffset.b 19 float OUT 0 motion.tooloffset.c 19 float OUT 0 motion.tooloffset.u 19 float OUT 0 motion.tooloffset.v 19 float OUT 0 motion.tooloffset.w 19 float OUT 0 motion.tooloffset.x 19 float OUT 0 motion.tooloffset.y 19 float OUT 0 motion.tooloffset.z 19 bit OUT FALSE motion.tp-reverse 23 float IN 0 pid.0.Dgain 23 float IN 0 pid.0.FF0 23 float IN 1 pid.0.FF1 23 float IN 0.00013 pid.0.FF2 23 float IN 0 pid.0.FF3 23 float IN 0 pid.0.Igain 23 float IN 1000 pid.0.Pgain 23 float IN 0 pid.0.bias 23 float IN 0 pid.0.command <== emcmot.0.pos-cmd 23 float IN 0 pid.0.command-deriv 23 float IN 0 pid.0.deadband 23 s32 OUT 808 pid.0.do-pid-calcs.time 23 bit IN TRUE pid.0.enable <== emcmot.0.enable 23 float OUT 0 pid.0.error 23 bit IN TRUE pid.0.error-previous-target 23 float IN 0 pid.0.feedback <== motor.0.pos-fb 23 float IN 0 pid.0.feedback-deriv 23 bit IN FALSE pid.0.index-enable 23 float IN 0 pid.0.maxcmdD 23 float IN 0 pid.0.maxcmdDD 23 float IN 0 pid.0.maxcmdDDD 23 float IN 0.0127 pid.0.maxerror 23 float IN 0 pid.0.maxerrorD 23 float IN 0 pid.0.maxerrorI 23 float IN 0 pid.0.maxoutput 23 float OUT 0 pid.0.output ==> motor.0.command 23 bit OUT FALSE pid.0.saturated 23 s32 OUT 0 pid.0.saturated-count 23 float OUT 0 pid.0.saturated-s 23 float IN 0 pid.1.Dgain 23 float IN 1 pid.1.FF0 23 float IN 0 pid.1.FF1 23 float IN 0 pid.1.FF2 23 float IN 0 pid.1.FF3 23 float IN 0 pid.1.Igain 23 float IN 0 pid.1.Pgain 23 float IN 0 pid.1.bias 23 float IN 1 pid.1.command <== spindle-vel-cmd-rpm 23 float IN 0 pid.1.command-deriv 23 float IN 0 pid.1.deadband 23 s32 OUT 0 pid.1.do-pid-calcs.time 23 bit IN FALSE pid.1.enable <== spindle-enable 23 float OUT 0 pid.1.error 23 bit IN TRUE pid.1.error-previous-target 23 float IN 0 pid.1.feedback <== spindle-vel-fb-rpm 23 float IN 0 pid.1.feedback-deriv 23 bit IN FALSE pid.1.index-enable <== spindle-index-enable 23 float IN 0 pid.1.maxcmdD 23 float IN 0 pid.1.maxcmdDD 23 float IN 0 pid.1.maxcmdDDD 23 float IN 0 pid.1.maxerror 23 float IN 0 pid.1.maxerrorD 23 float IN 0 pid.1.maxerrorI 23 float IN 0 pid.1.maxoutput 23 float OUT 0 pid.1.output ==> spindle-output 23 bit OUT FALSE pid.1.saturated 23 s32 OUT 0 pid.1.saturated-count 23 float OUT 0 pid.1.saturated-s 20 s32 OUT 315036 servo-thread.time 19 bit IN FALSE spindle.0.amp-fault-in 19 bit IN TRUE spindle.0.at-speed 19 bit OUT FALSE spindle.0.brake 19 bit OUT TRUE spindle.0.forward 19 bit I/O FALSE spindle.0.index-enable 19 bit IN FALSE spindle.0.inhibit 19 bit IN FALSE spindle.0.is-oriented 19 bit OUT FALSE spindle.0.locked 19 bit OUT TRUE spindle.0.on ==> spindle-on 19 bit OUT FALSE spindle.0.orient 19 float OUT 0 spindle.0.orient-angle 19 s32 IN 0 spindle.0.orient-fault 19 s32 OUT 0 spindle.0.orient-mode 19 bit OUT FALSE spindle.0.reverse 19 float IN 0 spindle.0.revs 19 float OUT 0.01666667 spindle.0.speed-cmd-rps 19 float IN 0 spindle.0.speed-in 19 float OUT 1 spindle.0.speed-out ==> spindle-vel-cmd-rpm 19 float OUT 1 spindle.0.speed-out-abs ==> spindle-vel-cmd-rpm-abs 19 float OUT 0.01666667 spindle.0.speed-out-rps ==> spindle-vel-cmd-rps 19 float OUT 0.01666667 spindle.0.speed-out-rps-abs ==> spindle-vel-cmd-rps-abs Pin Aliases: Alias Original Name Signals: Type Value Name (linked to) bit TRUE emcmot.0.enable ==> hm2_7i96.0.stepgen.00.enable <== joint.0.amp-enable-out ==> pid.0.enable float 0 emcmot.0.pos-cmd <== joint.0.motor-pos-cmd ==> pid.0.command bit TRUE estop-loopback ==> iocontrol.0.emc-enable-in <== iocontrol.0.user-enable-out float 0 motor.0.command ==> hm2_7i96.0.stepgen.00.velocity-cmd <== pid.0.output float 0 motor.0.pos-fb <== hm2_7i96.0.stepgen.00.position-fb ==> joint.0.motor-pos-fb ==> pid.0.feedback bit FALSE spindle-enable ==> pid.1.enable bit FALSE spindle-index-enable ==> pid.1.index-enable bit TRUE spindle-on ==> hm2_7i96.0.pwmgen.00.enable ==> hm2_7i96.0.ssr.00.out-00 <== spindle.0.on float 0 spindle-output ==> hm2_7i96.0.pwmgen.00.value <== pid.1.output float 1 spindle-vel-cmd-rpm ==> pid.1.command <== spindle.0.speed-out float 1 spindle-vel-cmd-rpm-abs <== spindle.0.speed-out-abs float 0.01666667 spindle-vel-cmd-rps <== spindle.0.speed-out-rps float 0.01666667 spindle-vel-cmd-rps-abs <== spindle.0.speed-out-rps-abs float 0 spindle-vel-fb-rpm ==> pid.1.feedback Parameters: Owner Type Dir Value Name 29 bit RW FALSE hm2_7i96.0.encoder.00.counter-mode 29 bit RW TRUE hm2_7i96.0.encoder.00.filter 29 bit RW FALSE hm2_7i96.0.encoder.00.index-invert 29 bit RW FALSE hm2_7i96.0.encoder.00.index-mask 29 bit RW FALSE hm2_7i96.0.encoder.00.index-mask-invert 29 float RW 1 hm2_7i96.0.encoder.00.scale 29 float RW 0.5 hm2_7i96.0.encoder.00.vel-timeout 29 bit RW FALSE hm2_7i96.0.gpio.000.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.000.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.000.is_output 29 bit RW FALSE hm2_7i96.0.gpio.001.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.001.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.001.is_output 29 bit RW FALSE hm2_7i96.0.gpio.002.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.002.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.002.is_output 29 bit RW FALSE hm2_7i96.0.gpio.003.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.003.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.003.is_output 29 bit RW FALSE hm2_7i96.0.gpio.004.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.004.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.004.is_output 29 bit RW FALSE hm2_7i96.0.gpio.005.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.005.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.005.is_output 29 bit RW FALSE hm2_7i96.0.gpio.006.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.006.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.006.is_output 29 bit RW FALSE hm2_7i96.0.gpio.007.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.007.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.007.is_output 29 bit RW FALSE hm2_7i96.0.gpio.008.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.008.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.008.is_output 29 bit RW FALSE hm2_7i96.0.gpio.009.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.009.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.009.is_output 29 bit RW FALSE hm2_7i96.0.gpio.010.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.010.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.010.is_output 29 bit RW FALSE hm2_7i96.0.gpio.011.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.011.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.012.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.012.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.013.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.013.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.014.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.014.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.015.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.015.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.016.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.016.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.019.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.019.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.019.is_output 29 bit RW FALSE hm2_7i96.0.gpio.020.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.020.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.020.is_output 29 bit RW FALSE hm2_7i96.0.gpio.021.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.021.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.021.is_output 29 bit RW FALSE hm2_7i96.0.gpio.022.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.022.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.022.is_output 29 bit RW FALSE hm2_7i96.0.gpio.023.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.023.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.023.is_output 29 bit RW FALSE hm2_7i96.0.gpio.024.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.024.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.024.is_output 29 bit RW FALSE hm2_7i96.0.gpio.030.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.030.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.030.is_output 29 bit RW FALSE hm2_7i96.0.gpio.031.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.031.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.031.is_output 29 bit RW FALSE hm2_7i96.0.gpio.032.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.032.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.032.is_output 29 bit RW FALSE hm2_7i96.0.gpio.033.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.033.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.034.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.034.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.034.is_output 29 bit RW FALSE hm2_7i96.0.gpio.035.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.035.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.035.is_output 29 bit RW FALSE hm2_7i96.0.gpio.036.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.036.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.036.is_output 29 bit RW FALSE hm2_7i96.0.gpio.037.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.037.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.037.is_output 29 bit RW FALSE hm2_7i96.0.gpio.038.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.038.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.038.is_output 29 bit RW FALSE hm2_7i96.0.gpio.039.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.039.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.039.is_output 29 bit RW FALSE hm2_7i96.0.gpio.040.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.040.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.040.is_output 29 bit RW FALSE hm2_7i96.0.gpio.041.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.041.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.041.is_output 29 bit RW FALSE hm2_7i96.0.gpio.042.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.042.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.042.is_output 29 bit RW FALSE hm2_7i96.0.gpio.043.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.043.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.043.is_output 29 bit RW FALSE hm2_7i96.0.gpio.044.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.044.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.044.is_output 29 bit RW FALSE hm2_7i96.0.gpio.045.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.045.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.045.is_output 29 bit RW FALSE hm2_7i96.0.gpio.046.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.046.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.046.is_output 29 bit RW FALSE hm2_7i96.0.gpio.047.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.047.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.047.is_output 29 bit RW FALSE hm2_7i96.0.gpio.048.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.048.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.048.is_output 29 bit RW FALSE hm2_7i96.0.gpio.049.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.049.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.049.is_output 29 bit RW FALSE hm2_7i96.0.gpio.050.invert_output 29 bit RW FALSE hm2_7i96.0.gpio.050.is_opendrain 29 bit RW FALSE hm2_7i96.0.gpio.050.is_output 29 bit RW FALSE hm2_7i96.0.io_error 29 s32 RO 1 hm2_7i96.0.packet-error-decrement 29 s32 RW 2 hm2_7i96.0.packet-error-increment 29 s32 RW 10 hm2_7i96.0.packet-error-limit 29 s32 RW 80 hm2_7i96.0.packet-read-timeout 29 bit RW FALSE hm2_7i96.0.pwmgen.00.offset-mode 29 bit RW FALSE hm2_7i96.0.pwmgen.00.out0.invert_output 29 bit RW FALSE hm2_7i96.0.pwmgen.00.out0.is_opendrain 29 bit RW FALSE hm2_7i96.0.pwmgen.00.out1.invert_output 29 bit RW FALSE hm2_7i96.0.pwmgen.00.out1.is_opendrain 29 s32 RW 1 hm2_7i96.0.pwmgen.00.output-type 29 float RW 1600 hm2_7i96.0.pwmgen.00.scale 29 u32 RW 0x00004E20 hm2_7i96.0.pwmgen.pdm_frequency 29 u32 RW 0x00001388 hm2_7i96.0.pwmgen.pwm_frequency 29 s32 RW 0 hm2_7i96.0.read-request.tmax 29 bit RO FALSE hm2_7i96.0.read-request.tmax-increased 29 s32 RW 1074000 hm2_7i96.0.read.tmax 29 bit RO FALSE hm2_7i96.0.read.tmax-increased 29 bit RW FALSE hm2_7i96.0.stepgen.00.direction.invert_output 29 bit RW FALSE hm2_7i96.0.stepgen.00.direction.is_opendrain 29 u32 RW 0x00001388 hm2_7i96.0.stepgen.00.dirhold 29 u32 RW 0x00001388 hm2_7i96.0.stepgen.00.dirsetup 29 float RW 24 hm2_7i96.0.stepgen.00.maxaccel 29 float RW 62.5 hm2_7i96.0.stepgen.00.maxvel 29 float RW 1600 hm2_7i96.0.stepgen.00.position-scale 29 bit RW FALSE hm2_7i96.0.stepgen.00.step.invert_output 29 bit RW FALSE hm2_7i96.0.stepgen.00.step.is_opendrain 29 u32 RW 0x00000000 hm2_7i96.0.stepgen.00.step_type 29 u32 RW 0x00001388 hm2_7i96.0.stepgen.00.steplen 29 u32 RW 0x00001388 hm2_7i96.0.stepgen.00.stepspace 29 u32 RW 0x00000000 hm2_7i96.0.stepgen.00.table-data-0 29 u32 RW 0x00000000 hm2_7i96.0.stepgen.00.table-data-1 29 u32 RW 0x00000000 hm2_7i96.0.stepgen.00.table-data-2 29 u32 RW 0x00000000 hm2_7i96.0.stepgen.00.table-data-3 29 u32 RW 0x004C4B40 hm2_7i96.0.watchdog.timeout_ns 29 s32 RW 141464 hm2_7i96.0.write.tmax 29 bit RO FALSE hm2_7i96.0.write.tmax-increased 4 s32 RO 0 iocontrol.0.tool-prep-index 19 s32 RW 15864 motion-command-handler.tmax 19 bit RO FALSE motion-command-handler.tmax-increased 19 s32 RW 118096 motion-controller.tmax 19 bit RO FALSE motion-controller.tmax-increased 19 bit RO FALSE motion.debug-bit-0 19 bit RO FALSE motion.debug-bit-1 19 float RO 1 motion.debug-float-0 19 float RO 0 motion.debug-float-1 19 float RO 0 motion.debug-float-2 19 float RO 1 motion.debug-float-3 19 s32 RO 0 motion.debug-s32-0 19 s32 RO 0 motion.debug-s32-1 23 s32 RW 17260 pid.0.do-pid-calcs.tmax 23 bit RO FALSE pid.0.do-pid-calcs.tmax-increased 23 s32 RW 0 pid.1.do-pid-calcs.tmax 23 bit RO FALSE pid.1.do-pid-calcs.tmax-increased 20 s32 RW 1324500 servo-thread.tmax 19 float RO 0 tc.0.acc 19 float RO 0 tc.0.pos 19 float RO 0 tc.0.vel 19 float RO 0 tc.1.acc 19 float RO 0 tc.1.pos 19 float RO 0 tc.1.vel 19 float RO 0 tc.2.acc 19 float RO 0 tc.2.pos 19 float RO 0 tc.2.vel 19 float RO 0 tc.3.acc 19 float RO 0 tc.3.pos 19 float RO 0 tc.3.vel 19 u32 RO 0x00000000 traj.active_tc 19 float RO 0 traj.pos_out 19 float RO 0 traj.vel_out Parameter Aliases: Alias Original Name hm2_7i96.0.pwmgen.00.out0.invert_output hm2_7i96.0.gpio.025.invert_output hm2_7i96.0.pwmgen.00.out0.is_opendrain hm2_7i96.0.gpio.025.is_opendrain hm2_7i96.0.pwmgen.00.out1.invert_output hm2_7i96.0.gpio.026.invert_output hm2_7i96.0.pwmgen.00.out1.is_opendrain hm2_7i96.0.gpio.026.is_opendrain hm2_7i96.0.stepgen.00.direction.invert_output hm2_7i96.0.gpio.018.invert_output hm2_7i96.0.stepgen.00.direction.is_opendrain hm2_7i96.0.gpio.018.is_opendrain hm2_7i96.0.stepgen.00.step.invert_output hm2_7i96.0.gpio.017.invert_output hm2_7i96.0.stepgen.00.step.is_opendrain hm2_7i96.0.gpio.017.is_opendrain Exported Functions: Owner CodeAddr Arg FP Users Name 00029 7f856a16a8a5 5609e65125a0 YES 1 hm2_7i96.0.read 00029 7f856a16a831 5609e65125a0 YES 0 hm2_7i96.0.read-request 00029 7f856a16a701 5609e65125a0 YES 1 hm2_7i96.0.write 00019 7f856a5096e5 00000000 YES 1 motion-command-handler 00019 7f856a50cf31 00000000 YES 1 motion-controller 00023 7f856b2bd1b5 7f856a5214c0 YES 1 pid.0.do-pid-calcs 00023 7f856b2bd1b5 7f856a521600 YES 0 pid.1.do-pid-calcs Realtime Threads: Period FP Name ( Time, Max-Time ) 1000000 YES servo-thread ( 315036, 1324500 ) 1 hm2_7i96.0.read 2 motion-command-handler 3 motion-controller 4 pid.0.do-pid-calcs 5 hm2_7i96.0.write