Loaded HAL Components: ID Type Name PID State 65 User halcmd3788 3788 ready 53 User axisui 3728 ready 51 User inihal 3725 ready 40 RT cia402 ready 37 RT lcec ready 34 User lcec_conf 3712 ready 30 RT __servo-thread ready 29 RT motmod ready 26 RT trivkins ready 21 RT homemod ready 16 RT tpmod ready 10 User halui 3697 ready 4 User iocontrol 3695 ready Component Pins: Owner Type Dir Value Name 29 float OUT 0 axis.a.eoffset 29 bit IN FALSE axis.a.eoffset-clear 29 s32 IN 0 axis.a.eoffset-counts 29 bit IN FALSE axis.a.eoffset-enable 29 float OUT 0 axis.a.eoffset-request 29 float IN 0 axis.a.eoffset-scale 29 float IN 1 axis.a.jog-accel-fraction 29 s32 IN 0 axis.a.jog-counts 29 bit IN FALSE axis.a.jog-enable 29 float IN 0 axis.a.jog-scale 29 bit IN FALSE axis.a.jog-vel-mode 29 bit OUT FALSE axis.a.kb-jog-active 29 float OUT 0 axis.a.pos-cmd 29 float OUT 0 axis.a.teleop-pos-cmd 29 bit OUT FALSE axis.a.teleop-tp-enable 29 float OUT 0 axis.a.teleop-vel-cmd 29 float OUT 0 axis.a.teleop-vel-lim 29 bit OUT FALSE axis.a.wheel-jog-active 29 float OUT 0 axis.b.eoffset 29 bit IN FALSE axis.b.eoffset-clear 29 s32 IN 0 axis.b.eoffset-counts 29 bit IN FALSE axis.b.eoffset-enable 29 float OUT 0 axis.b.eoffset-request 29 float IN 0 axis.b.eoffset-scale 29 float IN 1 axis.b.jog-accel-fraction 29 s32 IN 0 axis.b.jog-counts 29 bit IN FALSE axis.b.jog-enable 29 float IN 0 axis.b.jog-scale 29 bit IN FALSE axis.b.jog-vel-mode 29 bit OUT FALSE axis.b.kb-jog-active 29 float OUT 0 axis.b.pos-cmd 29 float OUT 0 axis.b.teleop-pos-cmd 29 bit OUT FALSE axis.b.teleop-tp-enable 29 float OUT 0 axis.b.teleop-vel-cmd 29 float OUT 0 axis.b.teleop-vel-lim 29 bit OUT FALSE axis.b.wheel-jog-active 29 float OUT 0 axis.c.eoffset 29 bit IN FALSE axis.c.eoffset-clear 29 s32 IN 0 axis.c.eoffset-counts 29 bit IN FALSE axis.c.eoffset-enable 29 float OUT 0 axis.c.eoffset-request 29 float IN 0 axis.c.eoffset-scale 29 float IN 1 axis.c.jog-accel-fraction 29 s32 IN 0 axis.c.jog-counts 29 bit IN FALSE axis.c.jog-enable 29 float IN 0 axis.c.jog-scale 29 bit IN FALSE axis.c.jog-vel-mode 29 bit OUT FALSE axis.c.kb-jog-active 29 float OUT 0 axis.c.pos-cmd 29 float OUT 0 axis.c.teleop-pos-cmd 29 bit OUT FALSE axis.c.teleop-tp-enable 29 float OUT 0 axis.c.teleop-vel-cmd 29 float OUT 0 axis.c.teleop-vel-lim 29 bit OUT FALSE axis.c.wheel-jog-active 29 float OUT 0 axis.u.eoffset 29 bit IN FALSE axis.u.eoffset-clear 29 s32 IN 0 axis.u.eoffset-counts 29 bit IN FALSE axis.u.eoffset-enable 29 float OUT 0 axis.u.eoffset-request 29 float IN 0 axis.u.eoffset-scale 29 float IN 1 axis.u.jog-accel-fraction 29 s32 IN 0 axis.u.jog-counts 29 bit IN FALSE axis.u.jog-enable 29 float IN 0 axis.u.jog-scale 29 bit IN FALSE axis.u.jog-vel-mode 29 bit OUT FALSE axis.u.kb-jog-active 29 float OUT 0 axis.u.pos-cmd 29 float OUT 0 axis.u.teleop-pos-cmd 29 bit OUT FALSE axis.u.teleop-tp-enable 29 float OUT 0 axis.u.teleop-vel-cmd 29 float OUT 0 axis.u.teleop-vel-lim 29 bit OUT FALSE axis.u.wheel-jog-active 29 float OUT 0 axis.v.eoffset 29 bit IN FALSE axis.v.eoffset-clear 29 s32 IN 0 axis.v.eoffset-counts 29 bit IN FALSE axis.v.eoffset-enable 29 float OUT 0 axis.v.eoffset-request 29 float IN 0 axis.v.eoffset-scale 29 float IN 1 axis.v.jog-accel-fraction 29 s32 IN 0 axis.v.jog-counts 29 bit IN FALSE axis.v.jog-enable 29 float IN 0 axis.v.jog-scale 29 bit IN FALSE axis.v.jog-vel-mode 29 bit OUT FALSE axis.v.kb-jog-active 29 float OUT 0 axis.v.pos-cmd 29 float OUT 0 axis.v.teleop-pos-cmd 29 bit OUT FALSE axis.v.teleop-tp-enable 29 float OUT 0 axis.v.teleop-vel-cmd 29 float OUT 0 axis.v.teleop-vel-lim 29 bit OUT FALSE axis.v.wheel-jog-active 29 float OUT 0 axis.w.eoffset 29 bit IN FALSE axis.w.eoffset-clear 29 s32 IN 0 axis.w.eoffset-counts 29 bit IN FALSE axis.w.eoffset-enable 29 float OUT 0 axis.w.eoffset-request 29 float IN 0 axis.w.eoffset-scale 29 float IN 1 axis.w.jog-accel-fraction 29 s32 IN 0 axis.w.jog-counts 29 bit IN FALSE axis.w.jog-enable 29 float IN 0 axis.w.jog-scale 29 bit IN FALSE axis.w.jog-vel-mode 29 bit OUT FALSE axis.w.kb-jog-active 29 float OUT 0 axis.w.pos-cmd 29 float OUT 0 axis.w.teleop-pos-cmd 29 bit OUT FALSE axis.w.teleop-tp-enable 29 float OUT 0 axis.w.teleop-vel-cmd 29 float OUT 0 axis.w.teleop-vel-lim 29 bit OUT FALSE axis.w.wheel-jog-active 29 float OUT 0 axis.x.eoffset 29 bit IN FALSE axis.x.eoffset-clear 29 s32 IN 0 axis.x.eoffset-counts 29 bit IN FALSE axis.x.eoffset-enable 29 float OUT 0 axis.x.eoffset-request 29 float IN 0 axis.x.eoffset-scale 29 float IN 1 axis.x.jog-accel-fraction 29 s32 IN 0 axis.x.jog-counts 29 bit IN FALSE axis.x.jog-enable 29 float IN 0 axis.x.jog-scale 29 bit IN FALSE axis.x.jog-vel-mode 29 bit OUT FALSE axis.x.kb-jog-active 29 float OUT 0 axis.x.pos-cmd 29 float OUT 0.3595 axis.x.teleop-pos-cmd 29 bit OUT FALSE axis.x.teleop-tp-enable 29 float OUT 0 axis.x.teleop-vel-cmd 29 float OUT 0.25 axis.x.teleop-vel-lim 29 bit OUT FALSE axis.x.wheel-jog-active 29 float OUT 0 axis.y.eoffset 29 bit IN FALSE axis.y.eoffset-clear 29 s32 IN 0 axis.y.eoffset-counts 29 bit IN FALSE axis.y.eoffset-enable 29 float OUT 0 axis.y.eoffset-request 29 float IN 0 axis.y.eoffset-scale 29 float IN 1 axis.y.jog-accel-fraction 29 s32 IN 0 axis.y.jog-counts 29 bit IN FALSE axis.y.jog-enable 29 float IN 0 axis.y.jog-scale 29 bit IN FALSE axis.y.jog-vel-mode 29 bit OUT FALSE axis.y.kb-jog-active 29 float OUT 0 axis.y.pos-cmd 29 float OUT 0 axis.y.teleop-pos-cmd 29 bit OUT FALSE axis.y.teleop-tp-enable 29 float OUT 0 axis.y.teleop-vel-cmd 29 float OUT 0 axis.y.teleop-vel-lim 29 bit OUT FALSE axis.y.wheel-jog-active 29 float OUT 0 axis.z.eoffset 29 bit IN FALSE axis.z.eoffset-clear 29 s32 IN 0 axis.z.eoffset-counts 29 bit IN FALSE axis.z.eoffset-enable 29 float OUT 0 axis.z.eoffset-request 29 float IN 0 axis.z.eoffset-scale 29 float IN 1 axis.z.jog-accel-fraction 29 s32 IN 0 axis.z.jog-counts 29 bit IN FALSE axis.z.jog-enable 29 float IN 0 axis.z.jog-scale 29 bit IN FALSE axis.z.jog-vel-mode 29 bit OUT FALSE axis.z.kb-jog-active 29 float OUT 0 axis.z.pos-cmd 29 float OUT 0 axis.z.teleop-pos-cmd 29 bit OUT FALSE axis.z.teleop-tp-enable 29 float OUT 0 axis.z.teleop-vel-cmd 29 float OUT 0 axis.z.teleop-vel-lim 29 bit OUT FALSE axis.z.wheel-jog-active 53 bit OUT FALSE axisui.abort 53 bit OUT FALSE axisui.error 53 bit OUT FALSE axisui.jog.a 53 bit OUT FALSE axisui.jog.b 53 bit OUT FALSE axisui.jog.c 53 float OUT 0 axisui.jog.increment 53 bit OUT FALSE axisui.jog.u 53 bit OUT FALSE axisui.jog.v 53 bit OUT FALSE axisui.jog.w 53 bit OUT TRUE axisui.jog.x 53 bit OUT FALSE axisui.jog.y 53 bit OUT FALSE axisui.jog.z 53 bit IN FALSE axisui.notifications-clear 53 bit IN FALSE axisui.notifications-clear-error 53 bit IN FALSE axisui.notifications-clear-info 53 bit IN FALSE axisui.resume-inhibit 40 u32 OUT 0x00000004 cia402.0.controlword ==> x-controlword 40 s32 IN 0 cia402.0.drv-actual-position <== x-drv-act-pos 40 s32 IN 0 cia402.0.drv-actual-velocity 40 bit OUT FALSE cia402.0.drv-fault ==> x-amp-fault 40 s32 OUT 0 cia402.0.drv-target-position ==> x-drv-target-pos 40 s32 OUT 0 cia402.0.drv-target-velocity ==> x-drv-target-velo 40 bit IN FALSE cia402.0.enable <== x-enable 40 bit IN FALSE cia402.0.fault-reset 40 bit I/O FALSE cia402.0.home 40 s32 OUT 0 cia402.0.opmode ==> x-modes-of-operation 40 bit OUT FALSE cia402.0.opmode-cyclic-position 40 bit OUT FALSE cia402.0.opmode-cyclic-velocity 40 s32 IN 0 cia402.0.opmode-display <== x-opmode-display 40 bit OUT FALSE cia402.0.opmode-homing 40 bit OUT TRUE cia402.0.opmode-no-mode 40 float IN 0 cia402.0.pos-cmd <== x-pos-cmd 40 float OUT 0 cia402.0.pos-fb ==> x-pos-fb 40 s32 OUT 232 cia402.0.read-all.time 40 bit OUT FALSE cia402.0.stat-fault 40 bit OUT FALSE cia402.0.stat-homed 40 bit OUT FALSE cia402.0.stat-homing 40 bit OUT FALSE cia402.0.stat-op-enabled 40 bit OUT FALSE cia402.0.stat-quick-stop 40 bit OUT FALSE cia402.0.stat-remote 40 bit OUT FALSE cia402.0.stat-switched-on 40 bit OUT FALSE cia402.0.stat-switchon-disabled 40 bit OUT FALSE cia402.0.stat-switchon-ready 40 bit OUT FALSE cia402.0.stat-target-reached 40 bit OUT FALSE cia402.0.stat-voltage-enabled 40 bit OUT FALSE cia402.0.stat-warning 40 u32 IN 0x00000000 cia402.0.statusword <== x-statusword 40 float IN 0 cia402.0.velocity-cmd 40 float OUT 0 cia402.0.velocity-fb 40 s32 OUT 78 cia402.0.write-all.time 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 bit IN FALSE halui.feed-override.reset 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 bit IN FALSE halui.home-all 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 TRUE 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 TRUE 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 FALSE halui.machine.is-on 10 bit IN FALSE halui.machine.off 10 bit IN FALSE halui.machine.on 10 float OUT 0.03937008 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 1 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 FALSE halui.mode.is-joint 10 bit OUT TRUE halui.mode.is-manual 10 bit OUT FALSE halui.mode.is-mdi 10 bit OUT TRUE 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 bit IN FALSE halui.rapid-override.reset 10 float IN 0.1 halui.rapid-override.scale 10 float OUT 1 halui.rapid-override.value 10 bit OUT TRUE 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 FALSE 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 bit IN FALSE halui.spindle.0.override.reset 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 FALSE 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 51 float IN 0 ini.0.backlash 51 float IN 50 ini.0.ferror 51 float IN 0 ini.0.home 51 float IN 0 ini.0.home_offset 51 s32 IN 1 ini.0.home_sequence 51 float IN 30 ini.0.max_acceleration 51 float IN 24 ini.0.max_limit 51 float IN 1 ini.0.max_velocity 51 float IN 0.05 ini.0.min_ferror 51 float IN -0.001 ini.0.min_limit 51 float IN 0 ini.a.max_acceleration 51 float IN 0 ini.a.max_limit 51 float IN 0 ini.a.max_velocity 51 float IN 0 ini.a.min_limit 51 float IN 0 ini.b.max_acceleration 51 float IN 0 ini.b.max_limit 51 float IN 0 ini.b.max_velocity 51 float IN 0 ini.b.min_limit 51 float IN 0 ini.c.max_acceleration 51 float IN 0 ini.c.max_limit 51 float IN 0 ini.c.max_velocity 51 float IN 0 ini.c.min_limit 51 bit IN TRUE ini.traj_arc_blend_enable 51 bit IN FALSE ini.traj_arc_blend_fallback_enable 51 float IN 4 ini.traj_arc_blend_gap_cycles 51 s32 IN 50 ini.traj_arc_blend_optimization_depth 51 float IN 100 ini.traj_arc_blend_ramp_freq 51 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio 51 float IN 1e+99 ini.traj_default_acceleration 51 float IN 0.1 ini.traj_default_velocity 51 float IN 1e+99 ini.traj_max_acceleration 51 float IN 1 ini.traj_max_velocity 51 float IN 0 ini.u.max_acceleration 51 float IN 0 ini.u.max_limit 51 float IN 0 ini.u.max_velocity 51 float IN 0 ini.u.min_limit 51 float IN 0 ini.v.max_acceleration 51 float IN 0 ini.v.max_limit 51 float IN 0 ini.v.max_velocity 51 float IN 0 ini.v.min_limit 51 float IN 0 ini.w.max_acceleration 51 float IN 0 ini.w.max_limit 51 float IN 0 ini.w.max_velocity 51 float IN 0 ini.w.min_limit 51 float IN 30 ini.x.max_acceleration 51 float IN 24 ini.x.max_limit 51 float IN 1 ini.x.max_velocity 51 float IN -0.001 ini.x.min_limit 51 float IN 0 ini.y.max_acceleration 51 float IN 0 ini.y.max_limit 51 float IN 0 ini.y.max_velocity 51 float IN 0 ini.y.min_limit 51 float IN 0 ini.z.max_acceleration 51 float IN 0 ini.z.max_limit 51 float IN 0 ini.z.max_velocity 51 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 IN TRUE iocontrol.0.emc-enable-in 4 bit OUT TRUE iocontrol.0.lube 4 bit IN FALSE iocontrol.0.lube_level 4 bit OUT FALSE iocontrol.0.tool-change 4 bit IN FALSE iocontrol.0.tool-changed 4 s32 OUT 0 iocontrol.0.tool-from-pocket 4 s32 OUT 0 iocontrol.0.tool-number 4 s32 OUT 0 iocontrol.0.tool-prep-index 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 OUT FALSE iocontrol.0.user-enable-out 4 bit OUT FALSE iocontrol.0.user-request-enable 29 float OUT 0 joint.0.acc-cmd 29 bit OUT TRUE joint.0.active 29 bit OUT FALSE joint.0.amp-enable-out ==> x-enable 29 bit IN FALSE joint.0.amp-fault-in <== x-amp-fault 29 float OUT 0 joint.0.backlash-corr 29 float OUT 0 joint.0.backlash-filt 29 float OUT 0 joint.0.backlash-vel 29 float OUT 0.3595 joint.0.coarse-pos-cmd 29 bit OUT FALSE joint.0.error 29 float OUT 0 joint.0.f-error 29 float OUT 0.05 joint.0.f-error-lim 29 bit OUT FALSE joint.0.f-errored 29 bit OUT FALSE joint.0.faulted 29 float OUT 0 joint.0.free-pos-cmd 29 bit OUT FALSE joint.0.free-tp-enable 29 float OUT 1 joint.0.free-vel-lim 29 s32 OUT 0 joint.0.home-state 29 bit IN FALSE joint.0.home-sw-in 29 bit OUT TRUE joint.0.homed 29 bit OUT FALSE joint.0.homing 29 bit OUT TRUE joint.0.in-position 29 bit I/O FALSE joint.0.index-enable 29 float IN 1 joint.0.jog-accel-fraction 29 s32 IN 0 joint.0.jog-counts 29 bit IN FALSE joint.0.jog-enable 29 float IN 0 joint.0.jog-scale 29 bit IN FALSE joint.0.jog-vel-mode 29 bit OUT FALSE joint.0.kb-jog-active 29 float OUT 0 joint.0.motor-offset 29 float OUT 0 joint.0.motor-pos-cmd ==> x-pos-cmd 29 float IN 0 joint.0.motor-pos-fb <== x-pos-fb 29 bit OUT FALSE joint.0.neg-hard-limit 29 bit IN FALSE joint.0.neg-lim-sw-in 29 float OUT 0 joint.0.pos-cmd 29 float OUT 0 joint.0.pos-fb 29 bit OUT FALSE joint.0.pos-hard-limit 29 bit IN FALSE joint.0.pos-lim-sw-in 29 float OUT 0 joint.0.vel-cmd 29 bit OUT FALSE joint.0.wheel-jog-active 37 u32 IN 0x00000004 lcec.0.A6.control-word <== x-controlword 37 u32 OUT 0x00000000 lcec.0.A6.digital-inputs 37 float OUT 0 lcec.0.A6.fault-code 37 s32 OUT 0 lcec.0.A6.get-mode ==> x-opmode-display 37 u32 IN 0x00000000 lcec.0.A6.max-profile-velocity 37 float IN 0 lcec.0.A6.negative-torque-limit-val 37 s32 OUT 0 lcec.0.A6.position-actual-value ==> x-drv-act-pos 37 float IN 0 lcec.0.A6.positive-torque-limit-val 37 s32 IN 0 lcec.0.A6.set-mode <== x-modes-of-operation 37 bit OUT TRUE lcec.0.A6.slave-online 37 bit OUT FALSE lcec.0.A6.slave-oper 37 bit OUT FALSE lcec.0.A6.slave-state-init 37 bit OUT FALSE lcec.0.A6.slave-state-op 37 bit OUT TRUE lcec.0.A6.slave-state-preop 37 bit OUT FALSE lcec.0.A6.slave-state-safeop 37 u32 OUT 0x00000000 lcec.0.A6.status-word ==> x-statusword 37 s32 IN 0 lcec.0.A6.target-position <== x-drv-target-pos 37 float IN 0 lcec.0.A6.target-torque 37 s32 IN 0 lcec.0.A6.target-velocity <== x-drv-target-velo 37 float OUT 0 lcec.0.A6.torque-feedback 37 s32 OUT 0 lcec.0.A6.touch-probe-1-pos-edge 37 s32 OUT 0 lcec.0.A6.touch-probe-2-pos edge 37 float IN 0 lcec.0.A6.touch-probe-function 37 float OUT 0 lcec.0.A6.touch-probe-status 37 bit OUT FALSE lcec.0.all-op 37 bit OUT TRUE lcec.0.link-up 37 s32 OUT 0 lcec.0.pll-err 37 s32 OUT 0 lcec.0.pll-out 37 u32 OUT 0x00000000 lcec.0.pll-reset-count 37 s32 OUT 0 lcec.0.read.time 37 u32 OUT 0x00000001 lcec.0.slaves-responding 37 bit OUT FALSE lcec.0.state-init 37 bit OUT FALSE lcec.0.state-op 37 bit OUT TRUE lcec.0.state-preop 37 bit OUT FALSE lcec.0.state-safeop 37 s32 OUT 0 lcec.0.write.time 37 bit OUT FALSE lcec.all-op 34 u32 OUT 0x00000001 lcec.conf.master-count 34 u32 OUT 0x00000001 lcec.conf.slave-count 37 bit OUT TRUE lcec.link-up 37 s32 OUT 9458 lcec.read-all.time 37 u32 OUT 0x00000001 lcec.slaves-responding 37 bit OUT FALSE lcec.state-init 37 bit OUT FALSE lcec.state-op 37 bit OUT TRUE lcec.state-preop 37 bit OUT FALSE lcec.state-safeop 37 s32 OUT 21828 lcec.write-all.time 29 s32 OUT 268 motion-command-handler.time 29 s32 OUT 3160 motion-controller.time 29 float IN 1 motion.adaptive-feed 29 float IN 0 motion.analog-in-00 29 float IN 0 motion.analog-in-01 29 float IN 0 motion.analog-in-02 29 float IN 0 motion.analog-in-03 29 float OUT 0 motion.analog-out-00 29 float OUT 0 motion.analog-out-01 29 float OUT 0 motion.analog-out-02 29 float OUT 0 motion.analog-out-03 29 bit OUT FALSE motion.coord-error 29 bit OUT FALSE motion.coord-mode 29 float OUT 0 motion.current-vel 29 bit IN FALSE motion.digital-in-00 29 bit IN FALSE motion.digital-in-01 29 bit IN FALSE motion.digital-in-02 29 bit IN FALSE motion.digital-in-03 29 bit OUT FALSE motion.digital-out-00 29 bit OUT FALSE motion.digital-out-01 29 bit OUT FALSE motion.digital-out-02 29 bit OUT FALSE motion.digital-out-03 29 float OUT 0 motion.distance-to-go 29 bit IN TRUE motion.enable 29 bit OUT FALSE motion.eoffset-active 29 bit OUT FALSE motion.eoffset-limited 29 bit IN FALSE motion.feed-hold 29 float OUT 0 motion.feed-inches-per-minute 29 float OUT 0 motion.feed-inches-per-second 29 bit IN FALSE motion.feed-inhibit 29 float OUT 0 motion.feed-mm-per-minute 29 float OUT 0 motion.feed-mm-per-second 29 float OUT 0 motion.feed-upm 29 bit IN FALSE motion.homing-inhibit 29 bit OUT TRUE motion.in-position 29 bit OUT TRUE motion.is-all-homed 29 bit IN FALSE motion.jog-inhibit 29 bit OUT FALSE motion.jog-is-active 29 bit IN FALSE motion.jog-stop 29 bit IN FALSE motion.jog-stop-immediate 29 bit OUT FALSE motion.motion-enabled 29 s32 OUT 0 motion.motion-type 29 bit OUT FALSE motion.on-soft-limit 29 bit IN FALSE motion.probe-input 29 s32 OUT 0 motion.program-line 29 float OUT 0 motion.requested-vel 29 u32 OUT 0x00261122 motion.servo.last-period 29 bit OUT TRUE motion.teleop-mode 29 float OUT 0 motion.tooloffset.a 29 float OUT 0 motion.tooloffset.b 29 float OUT 0 motion.tooloffset.c 29 float OUT 0 motion.tooloffset.u 29 float OUT 0 motion.tooloffset.v 29 float OUT 0 motion.tooloffset.w 29 float OUT 0 motion.tooloffset.x 29 float OUT 0 motion.tooloffset.y 29 float OUT 0 motion.tooloffset.z 29 bit OUT FALSE motion.tp-reverse 30 s32 OUT 35024 servo-thread.time 29 bit IN FALSE spindle.0.amp-fault-in 29 bit IN TRUE spindle.0.at-speed 29 bit OUT TRUE spindle.0.brake 29 bit OUT FALSE spindle.0.forward 29 bit I/O FALSE spindle.0.index-enable 29 bit IN FALSE spindle.0.inhibit 29 bit IN FALSE spindle.0.is-oriented 29 bit OUT FALSE spindle.0.locked 29 bit OUT FALSE spindle.0.on 29 bit OUT FALSE spindle.0.orient 29 float OUT 0 spindle.0.orient-angle 29 s32 IN 0 spindle.0.orient-fault 29 s32 OUT 0 spindle.0.orient-mode 29 bit OUT FALSE spindle.0.reverse 29 float IN 0 spindle.0.revs 29 float OUT 0 spindle.0.speed-cmd-rps 29 float IN 0 spindle.0.speed-in 29 float OUT 0 spindle.0.speed-out 29 float OUT 0 spindle.0.speed-out-abs 29 float OUT 0 spindle.0.speed-out-rps 29 float OUT 0 spindle.0.speed-out-rps-abs Pin Aliases: Alias Original Name Signals: Type Value Name (linked to) bit FALSE x-amp-fault <== cia402.0.drv-fault ==> joint.0.amp-fault-in u32 0x00000004 x-controlword <== cia402.0.controlword ==> lcec.0.A6.control-word s32 0 x-drv-act-pos ==> cia402.0.drv-actual-position <== lcec.0.A6.position-actual-value s32 0 x-drv-target-pos <== cia402.0.drv-target-position ==> lcec.0.A6.target-position s32 0 x-drv-target-velo <== cia402.0.drv-target-velocity ==> lcec.0.A6.target-velocity bit FALSE x-enable ==> cia402.0.enable <== joint.0.amp-enable-out s32 0 x-modes-of-operation <== cia402.0.opmode ==> lcec.0.A6.set-mode s32 0 x-opmode-display ==> cia402.0.opmode-display <== lcec.0.A6.get-mode float 0 x-pos-cmd ==> cia402.0.pos-cmd <== joint.0.motor-pos-cmd float 0 x-pos-fb <== cia402.0.pos-fb ==> joint.0.motor-pos-fb u32 0x00000000 x-statusword ==> cia402.0.statusword <== lcec.0.A6.status-word Parameters: Owner Type Dir Value Name 40 bit RW TRUE cia402.0.auto-fault-reset 40 bit RW TRUE cia402.0.csp-mode 40 float RW 350000 cia402.0.pos-scale 40 s32 RW 13760 cia402.0.read-all.tmax 40 bit RO FALSE cia402.0.read-all.tmax-increased 40 float RW 350000 cia402.0.velo-scale 40 s32 RW 8132 cia402.0.write-all.tmax 40 bit RO FALSE cia402.0.write-all.tmax-increased 37 u32 RW 0x000F4240 lcec.0.pll-max-err 37 u32 RW 0x000003E8 lcec.0.pll-step 37 s32 RW 0 lcec.0.read.tmax 37 bit RO FALSE lcec.0.read.tmax-increased 37 s32 RW 0 lcec.0.write.tmax 37 bit RO FALSE lcec.0.write.tmax-increased 37 s32 RW 268836 lcec.read-all.tmax 37 bit RO FALSE lcec.read-all.tmax-increased 37 s32 RW 131242 lcec.write-all.tmax 37 bit RO FALSE lcec.write-all.tmax-increased 29 s32 RW 6878 motion-command-handler.tmax 29 bit RO FALSE motion-command-handler.tmax-increased 29 s32 RW 44384 motion-controller.tmax 29 bit RO FALSE motion-controller.tmax-increased 29 bit RO FALSE motion.debug-bit-0 29 bit RO FALSE motion.debug-bit-1 29 float RO 0 motion.debug-float-0 29 float RO 0 motion.debug-float-1 29 float RO 0 motion.debug-float-2 29 float RO 1 motion.debug-float-3 29 s32 RO 0 motion.debug-s32-0 29 s32 RO 0 motion.debug-s32-1 30 s32 RW 301524 servo-thread.tmax 29 float RO 0 tc.0.acc 29 float RO 0 tc.0.pos 29 float RO 0 tc.0.vel 29 float RO 0 tc.1.acc 29 float RO 0 tc.1.pos 29 float RO 0 tc.1.vel 29 float RO 0 tc.2.acc 29 float RO 0 tc.2.pos 29 float RO 0 tc.2.vel 29 float RO 0 tc.3.acc 29 float RO 0 tc.3.pos 29 float RO 0 tc.3.vel 29 u32 RO 0x00000000 traj.active_tc 29 float RO 0 traj.pos_out 29 float RO 0 traj.vel_out Parameter Aliases: Alias Original Name Exported Functions: Owner CodeAddr Arg FP Users Name 00040 7f80d63c3c14 7f80d67e6080 YES 1 cia402.0.read-all 00040 7f80d63c31d9 7f80d67e6080 YES 1 cia402.0.write-all 00037 7f80d63e83ec 555786ffb060 NO 0 lcec.0.read 00037 7f80d63e6d4f 555786ffb060 NO 0 lcec.0.write 00037 7f80d63e8548 00000000 NO 1 lcec.read-all 00037 7f80d63e6ed3 00000000 NO 1 lcec.write-all 00029 7f80d65363ad 00000000 YES 1 motion-command-handler 00029 7f80d65369a0 00000000 YES 1 motion-controller Realtime Threads: Period FP Name ( Time, Max-Time ) 1000000 YES servo-thread ( 35024, 301524 ) 1 cia402.0.read-all 2 lcec.read-all 3 motion-command-handler 4 motion-controller 5 lcec.write-all 6 cia402.0.write-all