Component Pins: Owner Type Dir Value Name 38 s32 OUT 11726 ADS1158_SPIhal_F.count 38 float IN 0 ADS1158_SPIhal_F.in 38 float OUT 2397.07 ADS1158_SPIhal_F.out ==> ypos-fb 17 float OUT 0 axis.a.eoffset 17 bit IN FALSE axis.a.eoffset-clear 17 s32 IN 0 axis.a.eoffset-counts 17 bit IN FALSE axis.a.eoffset-enable 17 float OUT 0 axis.a.eoffset-request 17 float IN 0 axis.a.eoffset-scale 17 float IN 1 axis.a.jog-accel-fraction 17 s32 IN 0 axis.a.jog-counts 17 bit IN FALSE axis.a.jog-enable 17 float IN 0 axis.a.jog-scale 17 bit IN FALSE axis.a.jog-vel-mode 17 bit OUT FALSE axis.a.kb-jog-active 17 float OUT 0 axis.a.pos-cmd 17 float OUT 0 axis.a.teleop-pos-cmd 17 bit OUT FALSE axis.a.teleop-tp-enable 17 float OUT 0 axis.a.teleop-vel-cmd 17 float OUT 0 axis.a.teleop-vel-lim 17 bit OUT FALSE axis.a.wheel-jog-active 17 float OUT 0 axis.b.eoffset 17 bit IN FALSE axis.b.eoffset-clear 17 s32 IN 0 axis.b.eoffset-counts 17 bit IN FALSE axis.b.eoffset-enable 17 float OUT 0 axis.b.eoffset-request 17 float IN 0 axis.b.eoffset-scale 17 float IN 1 axis.b.jog-accel-fraction 17 s32 IN 0 axis.b.jog-counts 17 bit IN FALSE axis.b.jog-enable 17 float IN 0 axis.b.jog-scale 17 bit IN FALSE axis.b.jog-vel-mode 17 bit OUT FALSE axis.b.kb-jog-active 17 float OUT 0 axis.b.pos-cmd 17 float OUT 0 axis.b.teleop-pos-cmd 17 bit OUT FALSE axis.b.teleop-tp-enable 17 float OUT 0 axis.b.teleop-vel-cmd 17 float OUT 0 axis.b.teleop-vel-lim 17 bit OUT FALSE axis.b.wheel-jog-active 17 float OUT 0 axis.c.eoffset 17 bit IN FALSE axis.c.eoffset-clear 17 s32 IN 0 axis.c.eoffset-counts 17 bit IN FALSE axis.c.eoffset-enable 17 float OUT 0 axis.c.eoffset-request 17 float IN 0 axis.c.eoffset-scale 17 float IN 1 axis.c.jog-accel-fraction 17 s32 IN 0 axis.c.jog-counts 17 bit IN FALSE axis.c.jog-enable 17 float IN 0 axis.c.jog-scale 17 bit IN FALSE axis.c.jog-vel-mode 17 bit OUT FALSE axis.c.kb-jog-active 17 float OUT 0 axis.c.pos-cmd 17 float OUT 0 axis.c.teleop-pos-cmd 17 bit OUT FALSE axis.c.teleop-tp-enable 17 float OUT 0 axis.c.teleop-vel-cmd 17 float OUT 0 axis.c.teleop-vel-lim 17 bit OUT FALSE axis.c.wheel-jog-active 17 float OUT 0 axis.u.eoffset 17 bit IN FALSE axis.u.eoffset-clear 17 s32 IN 0 axis.u.eoffset-counts 17 bit IN FALSE axis.u.eoffset-enable 17 float OUT 0 axis.u.eoffset-request 17 float IN 0 axis.u.eoffset-scale 17 float IN 1 axis.u.jog-accel-fraction 17 s32 IN 0 axis.u.jog-counts 17 bit IN FALSE axis.u.jog-enable 17 float IN 0 axis.u.jog-scale 17 bit IN FALSE axis.u.jog-vel-mode 17 bit OUT FALSE axis.u.kb-jog-active 17 float OUT 0 axis.u.pos-cmd 17 float OUT 0 axis.u.teleop-pos-cmd 17 bit OUT FALSE axis.u.teleop-tp-enable 17 float OUT 0 axis.u.teleop-vel-cmd 17 float OUT 0 axis.u.teleop-vel-lim 17 bit OUT FALSE axis.u.wheel-jog-active 17 float OUT 0 axis.v.eoffset 17 bit IN FALSE axis.v.eoffset-clear 17 s32 IN 0 axis.v.eoffset-counts 17 bit IN FALSE axis.v.eoffset-enable 17 float OUT 0 axis.v.eoffset-request 17 float IN 0 axis.v.eoffset-scale 17 float IN 1 axis.v.jog-accel-fraction 17 s32 IN 0 axis.v.jog-counts 17 bit IN FALSE axis.v.jog-enable 17 float IN 0 axis.v.jog-scale 17 bit IN FALSE axis.v.jog-vel-mode 17 bit OUT FALSE axis.v.kb-jog-active 17 float OUT 0 axis.v.pos-cmd 17 float OUT 0 axis.v.teleop-pos-cmd 17 bit OUT FALSE axis.v.teleop-tp-enable 17 float OUT 0 axis.v.teleop-vel-cmd 17 float OUT 0 axis.v.teleop-vel-lim 17 bit OUT FALSE axis.v.wheel-jog-active 17 float OUT 0 axis.w.eoffset 17 bit IN FALSE axis.w.eoffset-clear 17 s32 IN 0 axis.w.eoffset-counts 17 bit IN FALSE axis.w.eoffset-enable 17 float OUT 0 axis.w.eoffset-request 17 float IN 0 axis.w.eoffset-scale 17 float IN 1 axis.w.jog-accel-fraction 17 s32 IN 0 axis.w.jog-counts 17 bit IN FALSE axis.w.jog-enable 17 float IN 0 axis.w.jog-scale 17 bit IN FALSE axis.w.jog-vel-mode 17 bit OUT FALSE axis.w.kb-jog-active 17 float OUT 0 axis.w.pos-cmd 17 float OUT 0 axis.w.teleop-pos-cmd 17 bit OUT FALSE axis.w.teleop-tp-enable 17 float OUT 0 axis.w.teleop-vel-cmd 17 float OUT 0 axis.w.teleop-vel-lim 17 bit OUT FALSE axis.w.wheel-jog-active 17 float OUT 0 axis.x.eoffset 17 bit IN FALSE axis.x.eoffset-clear 17 s32 IN 0 axis.x.eoffset-counts 17 bit IN FALSE axis.x.eoffset-enable 17 float OUT 0 axis.x.eoffset-request 17 float IN 0 axis.x.eoffset-scale 17 float IN 1 axis.x.jog-accel-fraction 17 s32 IN 0 axis.x.jog-counts 17 bit IN FALSE axis.x.jog-enable 17 float IN 0 axis.x.jog-scale 17 bit IN FALSE axis.x.jog-vel-mode 17 bit OUT FALSE axis.x.kb-jog-active 17 float OUT 0 axis.x.pos-cmd 17 float OUT 0 axis.x.teleop-pos-cmd 17 bit OUT FALSE axis.x.teleop-tp-enable 17 float OUT 0 axis.x.teleop-vel-cmd 17 float OUT 0 axis.x.teleop-vel-lim 17 bit OUT FALSE axis.x.wheel-jog-active 17 float OUT 0 axis.y.eoffset 17 bit IN FALSE axis.y.eoffset-clear 17 s32 IN 0 axis.y.eoffset-counts 17 bit IN FALSE axis.y.eoffset-enable 17 float OUT 0 axis.y.eoffset-request 17 float IN 0 axis.y.eoffset-scale 17 float IN 1 axis.y.jog-accel-fraction 17 s32 IN 0 axis.y.jog-counts 17 bit IN FALSE axis.y.jog-enable 17 float IN 0 axis.y.jog-scale 17 bit IN FALSE axis.y.jog-vel-mode 17 bit OUT FALSE axis.y.kb-jog-active 17 float OUT 0 axis.y.pos-cmd 17 float OUT 3.018418e-09 axis.y.teleop-pos-cmd 17 bit OUT FALSE axis.y.teleop-tp-enable 17 float OUT 0 axis.y.teleop-vel-cmd 17 float OUT 0 axis.y.teleop-vel-lim 17 bit OUT FALSE axis.y.wheel-jog-active 17 float OUT 0 axis.z.eoffset 17 bit IN FALSE axis.z.eoffset-clear 17 s32 IN 0 axis.z.eoffset-counts 17 bit IN FALSE axis.z.eoffset-enable 17 float OUT 0 axis.z.eoffset-request 17 float IN 0 axis.z.eoffset-scale 17 float IN 1 axis.z.jog-accel-fraction 17 s32 IN 0 axis.z.jog-counts 17 bit IN FALSE axis.z.jog-enable 17 float IN 0 axis.z.jog-scale 17 bit IN FALSE axis.z.jog-vel-mode 17 bit OUT FALSE axis.z.kb-jog-active 17 float OUT 0 axis.z.pos-cmd 17 float OUT 0 axis.z.teleop-pos-cmd 17 bit OUT FALSE axis.z.teleop-tp-enable 17 float OUT 0 axis.z.teleop-vel-cmd 17 float OUT 0 axis.z.teleop-vel-lim 17 bit OUT FALSE axis.z.wheel-jog-active 18 s32 OUT 4481 base-thread.time 28 float IN 0 ddt_x.in 28 float OUT 0 ddt_x.out ==> Xvel 28 s32 OUT 777 ddt_x.time 28 float IN 0 ddt_xv.in <== Xvel 28 float OUT 0 ddt_xv.out ==> Xacc 28 s32 OUT 648 ddt_xv.time 28 float IN 0 ddt_y.in 28 float OUT 0 ddt_y.out ==> Yvel 28 s32 OUT 741 ddt_y.time 28 float IN 0 ddt_yv.in <== Yvel 28 float OUT 0 ddt_yv.out ==> Yacc 28 s32 OUT 500 ddt_yv.time 28 float IN 0 ddt_z.in 28 float OUT 0 ddt_z.out ==> Zvel 28 s32 OUT 519 ddt_z.time 28 float IN 0 ddt_zv.in <== Zvel 28 float OUT 0 ddt_zv.out ==> Zacc 28 s32 OUT 537 ddt_zv.time 61 float OUT 0 gmoccapy.blockheight 61 bit IN FALSE gmoccapy.delete-message 61 bit OUT FALSE gmoccapy.error 61 bit IN FALSE gmoccapy.feed.feed-override.analog-enable 61 bit IN FALSE gmoccapy.feed.feed-override.count-enable 61 s32 IN 0 gmoccapy.feed.feed-override.counts 61 float IN 0 gmoccapy.feed.feed-override.direct-value 61 bit IN FALSE gmoccapy.feed.reset-feed-override 61 bit IN FALSE gmoccapy.h-button.button-0 61 bit IN FALSE gmoccapy.h-button.button-1 61 bit IN FALSE gmoccapy.h-button.button-2 61 bit IN FALSE gmoccapy.h-button.button-3 61 bit IN FALSE gmoccapy.h-button.button-4 61 bit IN FALSE gmoccapy.h-button.button-5 61 bit IN FALSE gmoccapy.h-button.button-6 61 bit IN FALSE gmoccapy.h-button.button-7 61 bit IN FALSE gmoccapy.h-button.button-8 61 bit IN FALSE gmoccapy.h-button.button-9 61 bit IN FALSE gmoccapy.ignore-limits 61 bit IN FALSE gmoccapy.jog.axis.jog-a-minus 61 bit IN FALSE gmoccapy.jog.axis.jog-a-plus 61 bit IN FALSE gmoccapy.jog.axis.jog-b-minus 61 bit IN FALSE gmoccapy.jog.axis.jog-b-plus 61 bit IN FALSE gmoccapy.jog.axis.jog-x-minus 61 bit IN FALSE gmoccapy.jog.axis.jog-x-plus 61 bit IN FALSE gmoccapy.jog.axis.jog-y-minus 61 bit IN FALSE gmoccapy.jog.axis.jog-y-plus 61 bit IN FALSE gmoccapy.jog.axis.jog-z-minus 61 bit IN FALSE gmoccapy.jog.axis.jog-z-plus 61 bit IN FALSE gmoccapy.jog.jog-inc-0 61 bit IN FALSE gmoccapy.jog.jog-inc-1 61 bit IN FALSE gmoccapy.jog.jog-inc-2 61 bit IN FALSE gmoccapy.jog.jog-inc-3 61 bit IN FALSE gmoccapy.jog.jog-inc-4 61 bit IN FALSE gmoccapy.jog.jog-inc-5 61 bit IN FALSE gmoccapy.jog.jog-inc-6 61 bit IN FALSE gmoccapy.jog.jog-inc-7 61 float OUT 0 gmoccapy.jog.jog-increment 61 bit IN FALSE gmoccapy.jog.jog-velocity.analog-enable 61 bit IN FALSE gmoccapy.jog.jog-velocity.count-enable 61 s32 IN 0 gmoccapy.jog.jog-velocity.counts 61 float IN 0 gmoccapy.jog.jog-velocity.direct-value 61 bit IN FALSE gmoccapy.jog.turtle-jog 61 float OUT 0 gmoccapy.probeheight 61 float OUT 0 gmoccapy.probevel 61 s32 OUT 0 gmoccapy.program.current-line 61 s32 OUT 0 gmoccapy.program.length 61 float OUT 0 gmoccapy.program.progress 61 bit IN FALSE gmoccapy.rapid.rapid-override.analog-enable 61 bit IN FALSE gmoccapy.rapid.rapid-override.count-enable 61 s32 IN 0 gmoccapy.rapid.rapid-override.counts 61 float IN 0 gmoccapy.rapid.rapid-override.direct-value 61 bit IN FALSE gmoccapy.rapid.reset-rapid-override 61 float OUT 0 gmoccapy.searchvel 61 bit IN FALSE gmoccapy.spc_ang_jog_vel.decrease 61 bit IN FALSE gmoccapy.spc_ang_jog_vel.increase 61 float IN 60 gmoccapy.spc_ang_jog_vel.scale 61 float OUT 0.6 gmoccapy.spc_ang_jog_vel.scaled-value 61 float OUT 36 gmoccapy.spc_ang_jog_vel.value 61 bit IN FALSE gmoccapy.spc_feed.decrease 61 bit IN FALSE gmoccapy.spc_feed.increase 61 float IN 60 gmoccapy.spc_feed.scale 61 float OUT 1.666667 gmoccapy.spc_feed.scaled-value 61 float OUT 100 gmoccapy.spc_feed.value 61 bit IN FALSE gmoccapy.spc_lin_jog_vel.decrease 61 bit IN FALSE gmoccapy.spc_lin_jog_vel.increase 61 float IN 60 gmoccapy.spc_lin_jog_vel.scale 61 float OUT 50 gmoccapy.spc_lin_jog_vel.scaled-value 61 float OUT 3000 gmoccapy.spc_lin_jog_vel.value 61 bit IN FALSE gmoccapy.spc_rapid.decrease 61 bit IN FALSE gmoccapy.spc_rapid.increase 61 float IN 60 gmoccapy.spc_rapid.scale 61 float OUT 1.666667 gmoccapy.spc_rapid.scaled-value 61 float OUT 100 gmoccapy.spc_rapid.value 61 bit IN FALSE gmoccapy.spc_spindle.decrease 61 bit IN FALSE gmoccapy.spc_spindle.increase 61 float IN 60 gmoccapy.spc_spindle.scale 61 float OUT 1.666667 gmoccapy.spc_spindle.scaled-value 61 float OUT 100 gmoccapy.spc_spindle.value 61 bit IN FALSE gmoccapy.spindle.reset-spindle-override 61 bit IN FALSE gmoccapy.spindle.spindle-override.analog-enable 61 bit IN FALSE gmoccapy.spindle.spindle-override.count-enable 61 s32 IN 0 gmoccapy.spindle.spindle-override.counts 61 float IN 0 gmoccapy.spindle.spindle-override.direct-value 61 bit IN FALSE gmoccapy.spindle_at_speed_led 61 float IN 0 gmoccapy.spindle_feedback_bar 61 float OUT 0 gmoccapy.tool-diameter 61 bit IN FALSE gmoccapy.toolchange-change 61 bit OUT FALSE gmoccapy.toolchange-changed 61 s32 IN 0 gmoccapy.toolchange-number 61 bit OUT FALSE gmoccapy.toolmeasurement 61 float IN 0 gmoccapy.tooloffset-x 61 float IN 0 gmoccapy.tooloffset-z 61 bit IN FALSE gmoccapy.unlock-settings 61 bit IN FALSE gmoccapy.v-button.button-0 61 bit IN FALSE gmoccapy.v-button.button-1 61 bit IN FALSE gmoccapy.v-button.button-2 61 bit IN FALSE gmoccapy.v-button.button-3 61 bit IN FALSE gmoccapy.v-button.button-4 61 bit IN FALSE gmoccapy.v-button.button-5 61 bit IN FALSE gmoccapy.v-button.button-6 48 bit IN FALSE hal_manualtoolchange.change <== tool-change 48 bit IN FALSE hal_manualtoolchange.change_button 48 bit OUT FALSE hal_manualtoolchange.changed ==> tool-changed 48 s32 IN 0 hal_manualtoolchange.number <== tool-number 34 bit IN FALSE hal_pi_gpio.pin-03-out 34 bit IN FALSE hal_pi_gpio.pin-05-out 34 bit IN FALSE hal_pi_gpio.pin-07-out 34 bit IN FALSE hal_pi_gpio.pin-08-out 34 bit IN FALSE hal_pi_gpio.pin-10-out <== dout-01 34 bit IN FALSE hal_pi_gpio.pin-11-out <== xdir 34 bit IN FALSE hal_pi_gpio.pin-12-out <== adir 34 bit IN FALSE hal_pi_gpio.pin-13-out <== xstep 34 bit IN FALSE hal_pi_gpio.pin-15-out <== dout-03 34 bit IN FALSE hal_pi_gpio.pin-16-out <== astep 34 bit IN FALSE hal_pi_gpio.pin-18-out <== dout-00 34 bit IN FALSE hal_pi_gpio.pin-22-out <== bstep 34 bit IN FALSE hal_pi_gpio.pin-26-out <== dout-03 34 bit IN FALSE hal_pi_gpio.pin-29-out <== ustep 34 bit IN FALSE hal_pi_gpio.pin-31-out <== vstep 34 bit IN TRUE hal_pi_gpio.pin-32-out <== ydir 34 bit IN TRUE hal_pi_gpio.pin-33-out <== Nzdir 34 bit IN FALSE hal_pi_gpio.pin-35-out <== zstep 34 bit IN FALSE hal_pi_gpio.pin-36-out <== udir 34 bit IN FALSE hal_pi_gpio.pin-37-out <== bdir 34 bit IN FALSE hal_pi_gpio.pin-38-out <== ystep 34 bit IN FALSE hal_pi_gpio.pin-40-out <== dout-02 34 s32 OUT 648 hal_pi_gpio.read.time 34 s32 OUT 871 hal_pi_gpio.write.time 59 float IN 0 ini.0.backlash 59 float IN 5 ini.0.ferror 59 float IN 0 ini.0.home 59 float IN 0 ini.0.home_offset 59 s32 IN 999 ini.0.home_sequence 59 float IN 300 ini.0.max_acceleration 59 float IN 2000 ini.0.max_limit 59 float IN 150.75 ini.0.max_velocity 59 float IN 1 ini.0.min_ferror 59 float IN -900 ini.0.min_limit 59 float IN 0 ini.1.backlash 59 float IN 1000 ini.1.ferror 59 float IN 0 ini.1.home 59 float IN 0 ini.1.home_offset 59 s32 IN 999 ini.1.home_sequence 59 float IN 300 ini.1.max_acceleration 59 float IN 99999 ini.1.max_limit 59 float IN 150.75 ini.1.max_velocity 59 float IN 200 ini.1.min_ferror 59 float IN -99999 ini.1.min_limit 59 float IN 0 ini.2.backlash 59 float IN 5 ini.2.ferror 59 float IN 0 ini.2.home 59 float IN 0 ini.2.home_offset 59 s32 IN 999 ini.2.home_sequence 59 float IN 300 ini.2.max_acceleration 59 float IN 2100.001 ini.2.max_limit 59 float IN 25 ini.2.max_velocity 59 float IN 1 ini.2.min_ferror 59 float IN -1000 ini.2.min_limit 59 float IN 0 ini.3.backlash 59 float IN 5 ini.3.ferror 59 float IN 0 ini.3.home 59 float IN 0 ini.3.home_offset 59 s32 IN 999 ini.3.home_sequence 59 float IN 3600 ini.3.max_acceleration 59 float IN 999999 ini.3.max_limit 59 float IN 360 ini.3.max_velocity 59 float IN 1 ini.3.min_ferror 59 float IN -999999 ini.3.min_limit 59 float IN 0 ini.4.backlash 59 float IN 5 ini.4.ferror 59 float IN 0 ini.4.home 59 float IN 0 ini.4.home_offset 59 s32 IN 999 ini.4.home_sequence 59 float IN 3600 ini.4.max_acceleration 59 float IN 999999 ini.4.max_limit 59 float IN 1 ini.4.max_velocity 59 float IN 1 ini.4.min_ferror 59 float IN -999999 ini.4.min_limit 59 float IN 3600 ini.a.max_acceleration 59 float IN 999999 ini.a.max_limit 59 float IN 360 ini.a.max_velocity 59 float IN -999999 ini.a.min_limit 59 float IN 3600 ini.b.max_acceleration 59 float IN 999999 ini.b.max_limit 59 float IN 1 ini.b.max_velocity 59 float IN -999999 ini.b.min_limit 59 float IN 0 ini.c.max_acceleration 59 float IN 0 ini.c.max_limit 59 float IN 0 ini.c.max_velocity 59 float IN 0 ini.c.min_limit 59 bit IN TRUE ini.traj_arc_blend_enable 59 bit IN FALSE ini.traj_arc_blend_fallback_enable 59 float IN 4 ini.traj_arc_blend_gap_cycles 59 s32 IN 50 ini.traj_arc_blend_optimization_depth 59 float IN 100 ini.traj_arc_blend_ramp_freq 59 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio 59 float IN 1e+99 ini.traj_default_acceleration 59 float IN 50 ini.traj_default_velocity 59 float IN 1e+99 ini.traj_max_acceleration 59 float IN 150 ini.traj_max_velocity 59 float IN 0 ini.u.max_acceleration 59 float IN 0 ini.u.max_limit 59 float IN 0 ini.u.max_velocity 59 float IN 0 ini.u.min_limit 59 float IN 0 ini.v.max_acceleration 59 float IN 0 ini.v.max_limit 59 float IN 0 ini.v.max_velocity 59 float IN 0 ini.v.min_limit 59 float IN 0 ini.w.max_acceleration 59 float IN 0 ini.w.max_limit 59 float IN 0 ini.w.max_velocity 59 float IN 0 ini.w.min_limit 59 float IN 300 ini.x.max_acceleration 59 float IN 2000 ini.x.max_limit 59 float IN 150.75 ini.x.max_velocity 59 float IN -900 ini.x.min_limit 59 float IN 300 ini.y.max_acceleration 59 float IN 99999 ini.y.max_limit 59 float IN 150.75 ini.y.max_velocity 59 float IN -99999 ini.y.min_limit 59 float IN 300 ini.z.max_acceleration 59 float IN 2100.001 ini.z.max_limit 59 float IN 25 ini.z.max_velocity 59 float IN -1000 ini.z.min_limit 8 bit OUT FALSE iocontrol.0.coolant-flood ==> coolant-flood 8 bit OUT FALSE iocontrol.0.coolant-mist 8 bit IN TRUE iocontrol.0.emc-enable-in <== estop-out 8 bit OUT TRUE iocontrol.0.lube 8 bit IN FALSE iocontrol.0.lube_level 8 bit OUT FALSE iocontrol.0.tool-change ==> tool-change 8 bit IN FALSE iocontrol.0.tool-changed <== tool-changed 8 s32 OUT 1 iocontrol.0.tool-number 8 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-number 8 s32 OUT 0 iocontrol.0.tool-prep-pocket 8 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback 8 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback 8 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-out 8 bit OUT FALSE iocontrol.0.user-request-enable 17 float OUT 0 joint.0.acc-cmd 17 bit OUT TRUE joint.0.active 17 bit OUT TRUE joint.0.amp-enable-out ==> xenable 17 bit IN FALSE joint.0.amp-fault-in 17 float OUT 0 joint.0.backlash-corr 17 float OUT 0 joint.0.backlash-filt 17 float OUT 0 joint.0.backlash-vel 17 float OUT 0 joint.0.coarse-pos-cmd 17 bit OUT FALSE joint.0.error 17 float OUT 0 joint.0.f-error 17 float OUT 1 joint.0.f-error-lim 17 bit OUT FALSE joint.0.f-errored 17 bit OUT FALSE joint.0.faulted 17 float OUT 0 joint.0.free-pos-cmd 17 bit OUT FALSE joint.0.free-tp-enable 17 float OUT 150.75 joint.0.free-vel-lim 17 s32 OUT 0 joint.0.home-state 17 bit IN FALSE joint.0.home-sw-in 17 bit OUT TRUE joint.0.homed 17 bit OUT FALSE joint.0.homing 17 bit OUT TRUE joint.0.in-position 17 bit I/O FALSE joint.0.index-enable 17 float IN 1 joint.0.jog-accel-fraction 17 s32 IN 0 joint.0.jog-counts 17 bit IN FALSE joint.0.jog-enable 17 float IN 0 joint.0.jog-scale 17 bit IN FALSE joint.0.jog-vel-mode 17 bit OUT FALSE joint.0.kb-jog-active 17 float OUT 0 joint.0.motor-offset 17 float OUT 0 joint.0.motor-pos-cmd ==> xpos-cmd 17 float IN 0 joint.0.motor-pos-fb <== xpos-fb 17 bit OUT FALSE joint.0.neg-hard-limit 17 bit IN FALSE joint.0.neg-lim-sw-in 17 float OUT 0 joint.0.pos-cmd 17 float OUT 0 joint.0.pos-fb 17 bit OUT FALSE joint.0.pos-hard-limit 17 bit IN FALSE joint.0.pos-lim-sw-in 17 float OUT 0 joint.0.vel-cmd 17 bit OUT FALSE joint.0.wheel-jog-active 17 float OUT 0 joint.1.acc-cmd 17 bit OUT TRUE joint.1.active 17 bit OUT TRUE joint.1.amp-enable-out ==> yenable 17 bit IN FALSE joint.1.amp-fault-in 17 float OUT -0 joint.1.backlash-corr 17 float OUT 0 joint.1.backlash-filt 17 float OUT 0 joint.1.backlash-vel 17 float OUT 0 joint.1.coarse-pos-cmd 17 bit OUT FALSE joint.1.error 17 float OUT 4.75728 joint.1.f-error 17 float OUT 200 joint.1.f-error-lim 17 bit OUT FALSE joint.1.f-errored 17 bit OUT FALSE joint.1.faulted 17 float OUT 3.018418e-09 joint.1.free-pos-cmd 17 bit OUT FALSE joint.1.free-tp-enable 17 float OUT 150.75 joint.1.free-vel-lim 17 s32 OUT 0 joint.1.home-state 17 bit IN FALSE joint.1.home-sw-in 17 bit OUT TRUE joint.1.homed 17 bit OUT FALSE joint.1.homing 17 bit OUT TRUE joint.1.in-position 17 bit I/O FALSE joint.1.index-enable 17 float IN 1 joint.1.jog-accel-fraction 17 s32 IN 0 joint.1.jog-counts 17 bit IN FALSE joint.1.jog-enable 17 float IN 0 joint.1.jog-scale 17 bit IN FALSE joint.1.jog-vel-mode 17 bit OUT FALSE joint.1.kb-jog-active 17 float OUT 2401.827 joint.1.motor-offset 17 float OUT 2401.827 joint.1.motor-pos-cmd ==> ypos-cmd 17 float IN 2397.07 joint.1.motor-pos-fb <== ypos-fb 17 bit OUT FALSE joint.1.neg-hard-limit 17 bit IN FALSE joint.1.neg-lim-sw-in 17 float OUT 0 joint.1.pos-cmd 17 float OUT -4.75728 joint.1.pos-fb 17 bit OUT FALSE joint.1.pos-hard-limit 17 bit IN FALSE joint.1.pos-lim-sw-in 17 float OUT 0 joint.1.vel-cmd ==> yvel-cmd 17 bit OUT FALSE joint.1.wheel-jog-active 17 float OUT 0 joint.2.acc-cmd 17 bit OUT TRUE joint.2.active 17 bit OUT TRUE joint.2.amp-enable-out ==> zenable 17 bit IN FALSE joint.2.amp-fault-in 17 float OUT 0 joint.2.backlash-corr 17 float OUT 0 joint.2.backlash-filt 17 float OUT 0 joint.2.backlash-vel 17 float OUT 0 joint.2.coarse-pos-cmd 17 bit OUT FALSE joint.2.error 17 float OUT 0 joint.2.f-error 17 float OUT 1 joint.2.f-error-lim 17 bit OUT FALSE joint.2.f-errored 17 bit OUT FALSE joint.2.faulted 17 float OUT 0 joint.2.free-pos-cmd 17 bit OUT FALSE joint.2.free-tp-enable 17 float OUT 25 joint.2.free-vel-lim 17 s32 OUT 0 joint.2.home-state 17 bit IN FALSE joint.2.home-sw-in 17 bit OUT TRUE joint.2.homed 17 bit OUT FALSE joint.2.homing 17 bit OUT TRUE joint.2.in-position 17 bit I/O FALSE joint.2.index-enable 17 float IN 1 joint.2.jog-accel-fraction 17 s32 IN 0 joint.2.jog-counts 17 bit IN FALSE joint.2.jog-enable 17 float IN 0 joint.2.jog-scale 17 bit IN FALSE joint.2.jog-vel-mode 17 bit OUT FALSE joint.2.kb-jog-active 17 float OUT 0 joint.2.motor-offset 17 float OUT 0 joint.2.motor-pos-cmd ==> zpos-cmd 17 float IN 0 joint.2.motor-pos-fb <== zpos-fb 17 bit OUT FALSE joint.2.neg-hard-limit 17 bit IN FALSE joint.2.neg-lim-sw-in 17 float OUT 0 joint.2.pos-cmd 17 float OUT 0 joint.2.pos-fb 17 bit OUT FALSE joint.2.pos-hard-limit 17 bit IN FALSE joint.2.pos-lim-sw-in 17 float OUT 0 joint.2.vel-cmd 17 bit OUT FALSE joint.2.wheel-jog-active 17 float OUT 0 joint.3.acc-cmd 17 bit OUT TRUE joint.3.active 17 bit OUT TRUE joint.3.amp-enable-out ==> aenable 17 bit IN FALSE joint.3.amp-fault-in 17 float OUT 0 joint.3.backlash-corr 17 float OUT 0 joint.3.backlash-filt 17 float OUT 0 joint.3.backlash-vel 17 float OUT 0 joint.3.coarse-pos-cmd 17 bit OUT FALSE joint.3.error 17 float OUT 0 joint.3.f-error 17 float OUT 1 joint.3.f-error-lim 17 bit OUT FALSE joint.3.f-errored 17 bit OUT FALSE joint.3.faulted 17 float OUT 0 joint.3.free-pos-cmd 17 bit OUT FALSE joint.3.free-tp-enable 17 float OUT 360 joint.3.free-vel-lim 17 s32 OUT 0 joint.3.home-state 17 bit IN FALSE joint.3.home-sw-in 17 bit OUT TRUE joint.3.homed 17 bit OUT FALSE joint.3.homing 17 bit OUT TRUE joint.3.in-position 17 bit I/O FALSE joint.3.index-enable 17 float IN 1 joint.3.jog-accel-fraction 17 s32 IN 0 joint.3.jog-counts 17 bit IN FALSE joint.3.jog-enable 17 float IN 0 joint.3.jog-scale 17 bit IN FALSE joint.3.jog-vel-mode 17 bit OUT FALSE joint.3.kb-jog-active 17 float OUT 0 joint.3.motor-offset 17 float OUT 0 joint.3.motor-pos-cmd ==> apos-cmd 17 float IN 0 joint.3.motor-pos-fb <== apos-fb 17 bit OUT FALSE joint.3.neg-hard-limit 17 bit IN FALSE joint.3.neg-lim-sw-in 17 float OUT 0 joint.3.pos-cmd 17 float OUT 0 joint.3.pos-fb 17 bit OUT FALSE joint.3.pos-hard-limit 17 bit IN FALSE joint.3.pos-lim-sw-in 17 float OUT 0 joint.3.vel-cmd 17 bit OUT FALSE joint.3.wheel-jog-active 17 float OUT 0 joint.4.acc-cmd 17 bit OUT TRUE joint.4.active 17 bit OUT TRUE joint.4.amp-enable-out ==> benable 17 bit IN FALSE joint.4.amp-fault-in 17 float OUT 0 joint.4.backlash-corr 17 float OUT 0 joint.4.backlash-filt 17 float OUT 0 joint.4.backlash-vel 17 float OUT 0 joint.4.coarse-pos-cmd 17 bit OUT FALSE joint.4.error 17 float OUT 0 joint.4.f-error 17 float OUT 1 joint.4.f-error-lim 17 bit OUT FALSE joint.4.f-errored 17 bit OUT FALSE joint.4.faulted 17 float OUT 0 joint.4.free-pos-cmd 17 bit OUT FALSE joint.4.free-tp-enable 17 float OUT 1 joint.4.free-vel-lim 17 s32 OUT 0 joint.4.home-state 17 bit IN FALSE joint.4.home-sw-in 17 bit OUT TRUE joint.4.homed 17 bit OUT FALSE joint.4.homing 17 bit OUT TRUE joint.4.in-position 17 bit I/O FALSE joint.4.index-enable 17 float IN 1 joint.4.jog-accel-fraction 17 s32 IN 0 joint.4.jog-counts 17 bit IN FALSE joint.4.jog-enable 17 float IN 0 joint.4.jog-scale 17 bit IN FALSE joint.4.jog-vel-mode 17 bit OUT FALSE joint.4.kb-jog-active 17 float OUT 0 joint.4.motor-offset 17 float OUT 0 joint.4.motor-pos-cmd ==> bpos-cmd 17 float IN 0 joint.4.motor-pos-fb <== bpos-fb 17 bit OUT FALSE joint.4.neg-hard-limit 17 bit IN FALSE joint.4.neg-lim-sw-in 17 float OUT 0 joint.4.pos-cmd 17 float OUT 0 joint.4.pos-fb 17 bit OUT FALSE joint.4.pos-hard-limit 17 bit IN FALSE joint.4.pos-lim-sw-in 17 float OUT 0 joint.4.vel-cmd 17 bit OUT FALSE joint.4.wheel-jog-active 17 s32 OUT 760 motion-command-handler.time 17 s32 OUT 10888 motion-controller.time 17 float IN 1 motion.adaptive-feed 17 float IN 0 motion.analog-in-00 17 float IN 0 motion.analog-in-01 17 float IN 0 motion.analog-in-02 17 float IN 0 motion.analog-in-03 17 float OUT 0 motion.analog-out-00 17 float OUT 0 motion.analog-out-01 17 float OUT 0 motion.analog-out-02 17 float OUT 0 motion.analog-out-03 17 bit OUT FALSE motion.coord-error 17 bit OUT TRUE motion.coord-mode 17 float OUT 0 motion.current-vel 17 bit IN FALSE motion.digital-in-00 17 bit IN FALSE motion.digital-in-01 17 bit IN FALSE motion.digital-in-02 17 bit IN FALSE motion.digital-in-03 17 bit OUT FALSE motion.digital-out-00 ==> dout-00 17 bit OUT FALSE motion.digital-out-01 ==> dout-01 17 bit OUT FALSE motion.digital-out-02 ==> dout-02 17 bit OUT FALSE motion.digital-out-03 ==> dout-03 17 float OUT 0 motion.distance-to-go 17 bit IN TRUE motion.enable 17 bit OUT FALSE motion.eoffset-active 17 bit OUT FALSE motion.eoffset-limited 17 bit IN FALSE motion.feed-hold 17 bit IN FALSE motion.feed-inhibit 17 bit IN FALSE motion.homing-inhibit 17 bit OUT TRUE motion.in-position 17 bit OUT TRUE motion.motion-enabled 17 s32 OUT 0 motion.motion-type 17 bit OUT FALSE motion.on-soft-limit 17 bit IN FALSE motion.probe-input 17 s32 OUT 0 motion.program-line 17 float OUT 0 motion.requested-vel 17 u32 OUT 0x000F3E44 motion.servo.last-period 17 bit OUT FALSE motion.teleop-mode 17 float OUT 0 motion.tooloffset.a 17 float OUT 0 motion.tooloffset.b 17 float OUT 0 motion.tooloffset.c 17 float OUT 0 motion.tooloffset.u 17 float OUT 0 motion.tooloffset.v 17 float OUT 0 motion.tooloffset.w 17 float OUT 0 motion.tooloffset.x 17 float OUT 0 motion.tooloffset.y 17 float OUT 0 motion.tooloffset.z 17 bit OUT FALSE motion.tp-reverse 44 bit IN TRUE not.0.in <== ydir 44 bit OUT FALSE not.0.out ==> udir 44 s32 OUT 15944 not.0.time 44 bit IN FALSE not.1.in <== spindle-on 44 bit OUT TRUE not.1.out ==> spindle-off 44 s32 OUT 555 not.1.time 44 bit IN FALSE not.2.in <== zdir 44 bit OUT TRUE not.2.out ==> Nzdir 44 s32 OUT 556 not.2.time 44 bit IN FALSE not.3.in <== spindle-ccw 44 bit OUT TRUE not.3.out ==> not-ccw 44 s32 OUT 518 not.3.time 44 bit IN FALSE not.4.in <== spindle-cw 44 bit OUT TRUE not.4.out ==> not-cool 44 s32 OUT 648 not.4.time 25 float OUT 0 pwmgen.0.curr-dc 25 bit OUT FALSE pwmgen.0.dir 25 bit I/O TRUE pwmgen.0.dither-pwm 25 bit IN FALSE pwmgen.0.enable <== spindle-on 25 float I/O 1 pwmgen.0.max-dc 25 float I/O 0 pwmgen.0.min-dc 25 float I/O 0 pwmgen.0.offset 25 bit OUT FALSE pwmgen.0.pwm ==> spindle-pwm 25 float I/O 1000 pwmgen.0.pwm-freq 25 float I/O 10000 pwmgen.0.scale 25 float IN 0 pwmgen.0.value <== spindle-cmd-rpm 25 s32 OUT 611 pwmgen.make-pulses.time 25 s32 OUT 722 pwmgen.update.time 19 s32 OUT 35147 servo-thread.time 17 bit IN FALSE spindle.0.amp-fault-in 17 bit IN TRUE spindle.0.at-speed <== spindle-at-speed 17 bit OUT TRUE spindle.0.brake 17 bit OUT FALSE spindle.0.forward ==> spindle-cw 17 bit I/O FALSE spindle.0.index-enable 17 bit IN FALSE spindle.0.inhibit 17 bit IN FALSE spindle.0.is-oriented 17 bit OUT FALSE spindle.0.locked 17 bit OUT FALSE spindle.0.on ==> spindle-on 17 bit OUT FALSE spindle.0.orient 17 float OUT 0 spindle.0.orient-angle 17 s32 IN 0 spindle.0.orient-fault 17 s32 OUT 0 spindle.0.orient-mode 17 bit OUT FALSE spindle.0.reverse ==> spindle-ccw 17 float IN 0 spindle.0.revs 17 float OUT 0 spindle.0.speed-cmd-rps 17 float IN 0 spindle.0.speed-in 17 float OUT 0 spindle.0.speed-out ==> spindle-cmd-rpm 17 float OUT 0 spindle.0.speed-out-abs ==> spindle-cmd-rpm-abs 17 float OUT 0 spindle.0.speed-out-rps ==> spindle-cmd-rps 17 float OUT 0 spindle.0.speed-out-rps-abs ==> spindle-cmd-rps-abs 22 s32 OUT 0 stepgen.0.counts 22 bit OUT FALSE stepgen.0.dir ==> xdir 22 bit IN TRUE stepgen.0.enable <== xenable 22 float IN 0 stepgen.0.position-cmd <== xpos-cmd 22 float OUT 0 stepgen.0.position-fb ==> xpos-fb 22 bit OUT FALSE stepgen.0.step ==> xstep 22 s32 OUT -43 stepgen.1.counts 22 bit OUT TRUE stepgen.1.dir ==> ydir 22 bit IN TRUE stepgen.1.enable <== yenable 22 float OUT -5.15362 stepgen.1.position-fb 22 bit OUT FALSE stepgen.1.step ==> ystep 22 float IN 0 stepgen.1.velocity-cmd <== yvel-cmd 22 s32 OUT 0 stepgen.2.counts 22 bit OUT FALSE stepgen.2.dir ==> zdir 22 bit IN TRUE stepgen.2.enable <== zenable 22 float IN 0 stepgen.2.position-cmd <== zpos-cmd 22 float OUT 0 stepgen.2.position-fb ==> zpos-fb 22 bit OUT FALSE stepgen.2.step ==> zstep 22 s32 OUT 0 stepgen.3.counts 22 bit OUT FALSE stepgen.3.dir ==> adir 22 bit IN TRUE stepgen.3.enable <== aenable 22 float IN 0 stepgen.3.position-cmd <== apos-cmd 22 float OUT 0 stepgen.3.position-fb ==> apos-fb 22 bit OUT FALSE stepgen.3.step ==> astep 22 s32 OUT 0 stepgen.4.counts 22 bit OUT FALSE stepgen.4.dir ==> bdir 22 bit IN TRUE stepgen.4.enable <== benable 22 float IN 0 stepgen.4.position-cmd <== bpos-cmd 22 float OUT 0 stepgen.4.position-fb ==> bpos-fb 22 bit OUT FALSE stepgen.4.step ==> bstep 22 s32 OUT 0 stepgen.5.counts 22 bit OUT FALSE stepgen.5.dir 22 bit IN TRUE stepgen.5.enable <== zenable 22 float IN 0 stepgen.5.position-cmd <== zpos-cmd 22 float OUT 0 stepgen.5.position-fb 22 bit OUT FALSE stepgen.5.step ==> vstep 22 s32 OUT -43 stepgen.6.counts 22 bit OUT TRUE stepgen.6.dir 22 bit IN TRUE stepgen.6.enable <== yenable 22 float OUT -5.15362 stepgen.6.position-fb 22 bit OUT FALSE stepgen.6.step ==> ustep 22 float IN 0 stepgen.6.velocity-cmd <== yvel-cmd 22 s32 OUT 2648 stepgen.capture-position.time 22 s32 OUT 2093 stepgen.make-pulses.time 22 s32 OUT 2000 stepgen.update-freq.time 41 float IN 0 sum2.0.in0 41 float IN 0 sum2.0.in1 41 float OUT 0 sum2.0.out 41 s32 OUT 0 sum2.0.time 31 float IN 0 vel_xy.in0 <== Xvel 31 float IN 0 vel_xy.in1 <== Yvel 31 float IN 0 vel_xy.in2 31 float OUT 0 vel_xy.out ==> XYvel 31 s32 OUT 1240 vel_xy.time 31 float IN 0 vel_xyz.in0 <== Zvel 31 float IN 0 vel_xyz.in1 <== XYvel 31 float IN 0 vel_xyz.in2 31 float OUT 0 vel_xyz.out ==> XYZvel 31 s32 OUT 537 vel_xyz.time