Smart Serial not working in pathpilot

######################################################################## # # Tormach PCNC mill HAL config for 5i25 I/O # loadrt trivkins loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[TRAJ]AXES num_dio=64 num_aio=64 loadrt hostmot2 loadrt hm2_pci config=" num_encoders=0 num_pwmgens=0 num_3pwmgens=0 num_stepgens=5 sserial_port_0=00xxxx" loadrt estop_latch loadrt toggle count=1 loadrt not names=prog-not-idle,axis3-not-homing,x-homing-not2 loadrt gearchange count=1 loadrt xor2 names=probe-active-hi-lo loadrt debounce cfg=5 loadrt pid num_chan=4 loadrt tormachspindle names=tormachspindle loadrt and2 names=enable-limit-z,probe-enable-input,door-limit-in,y-axis-lim-sw-and2 loadrt lut5 names=door-limit-x-lut,door-limit-y-lut #################################################################### # Z_BOT ATC HAL COMPONENT loadusr -Wn zbotatc python/hal_zbotatc.py -n zbotatc # END ATC HAL COMPONENT ################################################################### #################################################################### # Z_BOT SMART COOL HAL COMPONENT - DISABLED FOR NOW # loadusr -Wn zbotschnozz python/hal_zbotschnozz.py -n zbotschnozz # END SMART COOL HAL COMPONENT ##################################################################### loadusr -W tormachheightgauge loadusr -W usbio ######################################################################## # servo thread addf hm2_5i25.0.read servo-thread addf hm2_5i25.0.write servo-thread addf hm2_5i25.0.pet_watchdog servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf estop-latch.0 servo-thread addf toggle.0 servo-thread addf prog-not-idle servo-thread addf axis3-not-homing servo-thread addf x-homing-not2 servo-thread addf gearchange.0 servo-thread addf probe-active-hi-lo servo-thread addf debounce.0 servo-thread addf pid.0.do-pid-calcs servo-thread addf pid.1.do-pid-calcs servo-thread addf pid.2.do-pid-calcs servo-thread addf pid.3.do-pid-calcs servo-thread addf tormachspindle servo-thread addf enable-limit-z servo-thread addf probe-enable-input servo-thread addf door-limit-in servo-thread addf y-axis-lim-sw-and2 servo-thread addf door-limit-x-lut servo-thread addf door-limit-y-lut servo-thread ######################################################################## # noise debounce for home switches and estop setp debounce.0.delay 1 ######################################################################## # 5i25 watchdog timeout # 10 milliseconds (~10 times the servo loop period) setp hm2_5i25.0.watchdog.timeout_ns 10000000 ######################################################################## # 5i25 # Configuration pin-out: # # IO Connections for P3 # Mill Function Pin# I/O Pri. func Sec. func Chan Pin func Pin Dir # # Spindle Speed 1 0 IOPort StepGen 4 Step/Table1 (Out) # Coolant 14 1 IOPort None (Out) # X Direction 2 2 IOPort StepGen 0 Dir/Table2 (Out) # Estop Reset 15 3 IOPort None (In) # X Step 3 4 IOPort StepGen 0 Step/Table1 (Out) # Spindle Dir 16 5 IOPort None (Out) # Y Direction 4 6 IOPort StepGen 1 Dir/Table2 (Out) # Charge Pump 17 7 IOPort PWM 0 PWM (Out) # Y Step 5 8 IOPort StepGen 1 Step/Table1 (Out) # Z Direction 6 9 IOPort StepGen 2 Dir/Table2 (Out) # Z Step 7 10 IOPort StepGen 2 Step/Table1 (Out) # A Direction 8 11 IOPort StepGen 3 Dir/Table2 (Out) # A Step 9 12 IOPort StepGen 3 Step/Table1 (Out) # X Limit 10 13 IOPort None (In) # Y Limit 11 14 IOPort None (In) # Z Limit 12 15 IOPort None (In) # Probe In 13 16 IOPort None (In) # ######################################################################## # Spindle speed control # # stepgen outputs the frequency it is told by tormachspindle comp # # type 1 velocity control mode setp hm2_5i25.0.stepgen.04.control-type 1 # step/dir # type 2 quadrature output for 50% duty cycle setp hm2_5i25.0.stepgen.04.step_type 2 # no scaling 1:1 setp hm2_5i25.0.stepgen.04.position-scale 1.0 # handle spindle at speed via separate component setp hm2_5i25.0.stepgen.04.maxaccel 0 # stepspace in nanoseconds setp hm2_5i25.0.stepgen.04.stepspace 0 # steplen in nanoseconds (10 microseconds) setp hm2_5i25.0.stepgen.04.steplen 10000 # assume standard spindle until UI sets it setp tormachspindle.spindle-type 0 # hispeed spindle min/max setp tormachspindle.hispeed-min 1000 setp tormachspindle.hispeed-max 24000 # allow UI to access min/max for high speed spindle # do not net these until the UI code is changed to set them explicitly # or the setp command above will not stick and they will be set to 0 net spindle-hispeed-min tormachspindle.hispeed-min net spindle-hispeed-max tormachspindle.hispeed-max # these let the UI read the min/max maintained by the comp based on spindle type net spindle-min-speed tormachspindle.min-speed net spindle-max-speed tormachspindle.max-speed # the UI sets the spindle type net spindle-type tormachspindle.spindle-type # assume high range until UI sets it setp tormachspindle.belt-position 1 net spindle-range tormachspindle.belt-position net spindle-range-alarm tormachspindle.speed-alarm setp tormachspindle.lowbelt-min-rpm [SPINDLE]LO_RANGE_MIN setp tormachspindle.lowbelt-max-rpm [SPINDLE]LO_RANGE_MAX setp tormachspindle.highbelt-min-rpm [SPINDLE]HI_RANGE_MIN setp tormachspindle.highbelt-max-rpm [SPINDLE]HI_RANGE_MAX # frequencies sent to stepgen to achieve low belt speeds # 500 Hz -> 6 Hz at VFD -> 175 RPM at spindle (770) # 10900 Hz -> 120 Hz at VFD -> 3250 RPM at spindle (770) # 500 Hz -> 6 Hz at VFD -> 100 RPM at spindle (1100-2-3) # 10900 Hz -> 120 Hz at VFD -> 2000 RPM at spindle (1100-2-3) # 1600 Hz -> 300 RPM at spindle (1100-1) # 10900 Hz -> 1750 RPM at spindle (1100-1) setp tormachspindle.lowbelt-min-mcb-freq [SPINDLE]MIN_MCB_FREQUENCY setp tormachspindle.lowbelt-max-mcb-freq [SPINDLE]MAX_MCB_FREQUENCY # frequencies sent to stepgen to achieve high belt speeds # 500 Hz -> 6 Hz at VFD -> 525 RPM at spindle (770) # 10900 Hz -> 120 Hz at VFD -> 10200 RPM at spindle (770) # 500 Hz -> 6 Hz at VFD -> 250 RPM at spindle (1100-2-3) # 10900 Hz -> 120 Hz at VFD -> 5140 RPM at spindle (1100-2-3) # 1600 Hz -> 800 RPM at spindle (1100-1) # 10900 Hz -> 4500 RPM at spindle (1100-1) setp tormachspindle.highbelt-min-mcb-freq [SPINDLE]MIN_MCB_FREQUENCY setp tormachspindle.highbelt-max-mcb-freq [SPINDLE]MAX_MCB_FREQUENCY # speed-out is displayed by UI when program running net spindle-speed-fb-rpm tormachspindle.speed-out # connect motion speed-out to input of spindle comp net spindle-speed-raw motion.spindle-speed-out tormachspindle.speed-in # connect output of spindle comp to stepgen net spindle-speed tormachspindle.mcb-freq-out hm2_5i25.0.stepgen.04.velocity-cmd # spindle at speed parameters for tormachspindle component setp tormachspindle.startup-delay [SPINDLE]STARTUP_DELAY # time to reach max speed from stopped setp tormachspindle.seconds-to-max-rpm [SPINDLE]SECONDS_TO_MAX_RPM # connect spindle comp at-speed output to motion net spindle-at-speed tormachspindle.at-speed motion.spindle-at-speed # connect motion spindle enable to stepgen enable and spindle comp net spindle-on motion.spindle-on hm2_5i25.0.stepgen.04.enable tormachspindle.spindle-on # spindle direction # P3 pin 16 gpio 005 #setp hm2_5i25.0.gpio.005.is_output 1 net spindle-cw hm2_5i25.0.7i76.0.0.output-01 # UI access to stop spindle while in feedhold / INTERP_PAUSED net spindle-disable tormachspindle.disable # max RPM when enclosure door open net enc-door-open-max-rpm tormachspindle.enc-door-open-max-rpm ######################################################################## # Coolant # P3 pin 14 gpio 001 #setp hm2_5i25.0.gpio.001.is_output 1 #setp hm2_5i25.0.gpio.001.is_opendrain 0 #net coolant-flood hm2_5i25.0.gpio.001.out net coolant-flood hm2_5i25.0.7i76.0.0.output-04 net coolant-flood-io iocontrol.0.coolant-flood ######################################################################## # Charge pump # pin set by 5i25 configuration # P3 pin 17 gpio 007 # dc = (value/scale) #setp hm2_5i25.0.pwmgen.00.output-type 1 #setp hm2_5i25.0.pwmgen.pwm_frequency 500 #setp hm2_5i25.0.pwmgen.00.scale 100 #setp hm2_5i25.0.pwmgen.00.value 5 ######################################################################## # E stop # P3 pin 15 gpio 003 # estop noise debounce # use this line with a machine attached net machine-ok-raw <= hm2_5i25.0.7i76.0.0.input-00 => debounce.0.3.in # use the setp line below without a machine attached # this isn't useful unless a properly flashed 5i25 is present # no machine attached #setp debounce.0.3.in 1 net machine-ok debounce.0.3.out => estop-latch.0.ok-in net estop-reset iocontrol.0.user-request-enable => estop-latch.0.reset net estop-out <= iocontrol.0.user-enable-out ######################################################################## # Probe # P3 pin 13 gpio 016 setp hm2_5i25.0.gpio.016.is_output 0 net probe-in hm2_5i25.0.gpio.016.in debounce.0.4.in net probe-active-high probe-active-hi-lo.in0 net probe-debounced debounce.0.4.out probe-active-hi-lo.in1 # connect 4th axis home input directly to debounced accessory input net probe-debounced axis.3.home-sw-in # probe active hi-low output signal to AND input with probe-enable signal net probe-hi-lo probe-active-hi-lo.out probe-enable-input.in1 # do this to only disable the probe input during 4th axis homing net ax3-is-homing axis.3.homing axis3-not-homing.in net ax3-not-homing axis3-not-homing.out probe-enable-input.in0 net probe-input probe-enable-input.out motion.probe-input ######################################################################## # X axis # step/dir setp hm2_5i25.0.stepgen.00.step_type 0 # velocity control setp hm2_5i25.0.stepgen.00.control-type 1 # scaling for position feedback, position command, and velocity command, in steps per length unit. # converts from counts to position units. position = counts / position_scale setp hm2_5i25.0.stepgen.00.position-scale [AXIS_0]SCALE # stepper driver timing parameters setp hm2_5i25.0.stepgen.00.steplen [AXIS_0]STEPLEN setp hm2_5i25.0.stepgen.00.stepspace [AXIS_0]STEPSPACE setp hm2_5i25.0.stepgen.00.dirhold [AXIS_0]DIRHOLD setp hm2_5i25.0.stepgen.00.dirsetup [AXIS_0]DIRSETUP setp hm2_5i25.0.stepgen.00.maxvel [AXIS_0]STEPGEN_MAX_VEL setp hm2_5i25.0.stepgen.00.maxaccel [AXIS_0]STEPGEN_MAXACCEL # axis enable chain newsig emcmot.00.enable bit sets emcmot.00.enable FALSE net emcmot.00.enable <= axis.0.amp-enable-out net emcmot.00.enable => hm2_5i25.0.stepgen.00.enable pid.0.enable # position command and feedback net emcmot.00.pos-cmd axis.0.motor-pos-cmd => pid.0.command net emcmot.00.vel-cmd axis.0.joint-vel-cmd => pid.0.command-deriv net motor.00.pos-fb <= hm2_5i25.0.stepgen.00.position-fb axis.0.motor-pos-fb pid.0.feedback net motor.00.command pid.0.output hm2_5i25.0.stepgen.00.velocity-cmd setp pid.0.error-previous-target true # PID parameters setp pid.0.Pgain [AXIS_0]P setp pid.0.Igain [AXIS_0]I setp pid.0.Dgain [AXIS_0]D setp pid.0.bias [AXIS_0]BIAS setp pid.0.FF0 [AXIS_0]FF0 setp pid.0.FF1 [AXIS_0]FF1 setp pid.0.FF2 [AXIS_0]FF2 setp pid.0.deadband [AXIS_0]DEADBAND setp pid.0.maxoutput [AXIS_0]MAX_OUTPUT setp pid.0.maxerror [AXIS_0]MAX_ERROR # P3 pin 3 gpio 004 # X step setp hm2_5i25.0.gpio.004.invert_output 1 ######################################################################## # Y axis # step/dir setp hm2_5i25.0.stepgen.01.step_type 0 # velocity control setp hm2_5i25.0.stepgen.01.control-type 1 # scaling for position feedback, position command, and velocity command, in steps per length unit. # converts from counts to position units. position = counts / position_scale setp hm2_5i25.0.stepgen.01.position-scale [AXIS_1]SCALE # stepper driver timing parameters setp hm2_5i25.0.stepgen.01.steplen [AXIS_1]STEPLEN setp hm2_5i25.0.stepgen.01.stepspace [AXIS_1]STEPSPACE setp hm2_5i25.0.stepgen.01.dirhold [AXIS_1]DIRHOLD setp hm2_5i25.0.stepgen.01.dirsetup [AXIS_1]DIRSETUP setp hm2_5i25.0.stepgen.01.maxvel [AXIS_1]STEPGEN_MAX_VEL setp hm2_5i25.0.stepgen.01.maxaccel [AXIS_1]STEPGEN_MAXACCEL # axis enable chain newsig emcmot.01.enable bit sets emcmot.01.enable FALSE net emcmot.01.enable <= axis.1.amp-enable-out net emcmot.01.enable => hm2_5i25.0.stepgen.01.enable pid.1.enable # position command and feedback net emcmot.01.pos-cmd axis.1.motor-pos-cmd => pid.1.command net emcmot.01.vel-cmd axis.1.joint-vel-cmd => pid.1.command-deriv net motor.01.pos-fb <= hm2_5i25.0.stepgen.01.position-fb axis.1.motor-pos-fb pid.1.feedback net motor.01.command pid.1.output hm2_5i25.0.stepgen.01.velocity-cmd setp pid.1.error-previous-target true # PID parameters setp pid.1.Pgain [AXIS_1]P setp pid.1.Igain [AXIS_1]I setp pid.1.Dgain [AXIS_1]D setp pid.1.bias [AXIS_1]BIAS setp pid.1.FF0 [AXIS_1]FF0 setp pid.1.FF1 [AXIS_1]FF1 setp pid.1.FF2 [AXIS_1]FF2 setp pid.1.deadband [AXIS_1]DEADBAND setp pid.1.maxoutput [AXIS_1]MAX_OUTPUT setp pid.1.maxerror [AXIS_1]MAX_ERROR # P3 pin 5 gpio 008 # Y step setp hm2_5i25.0.gpio.008.invert_output 1 ######################################################################## # Z axis # step/dir setp hm2_5i25.0.stepgen.02.step_type 0 # velocity control setp hm2_5i25.0.stepgen.02.control-type 1 # scaling for position feedback, position command, and velocity command, in steps per length unit. # converts from counts to position units. position = counts / position_scale setp hm2_5i25.0.stepgen.02.position-scale [AXIS_2]SCALE # stepper driver timing parameters setp hm2_5i25.0.stepgen.02.steplen [AXIS_2]STEPLEN setp hm2_5i25.0.stepgen.02.stepspace [AXIS_2]STEPSPACE setp hm2_5i25.0.stepgen.02.dirhold [AXIS_2]DIRHOLD setp hm2_5i25.0.stepgen.02.dirsetup [AXIS_2]DIRSETUP setp hm2_5i25.0.stepgen.02.maxvel [AXIS_2]STEPGEN_MAX_VEL setp hm2_5i25.0.stepgen.02.maxaccel [AXIS_2]STEPGEN_MAXACCEL # axis enable chain newsig emcmot.02.enable bit sets emcmot.02.enable FALSE net emcmot.02.enable <= axis.2.amp-enable-out net emcmot.02.enable => hm2_5i25.0.stepgen.02.enable pid.2.enable # position command and feedback net emcmot.02.pos-cmd axis.2.motor-pos-cmd => pid.2.command net emcmot.02.vel-cmd axis.2.joint-vel-cmd => pid.2.command-deriv net motor.02.pos-fb <= hm2_5i25.0.stepgen.02.position-fb axis.2.motor-pos-fb pid.2.feedback net motor.02.command pid.2.output hm2_5i25.0.stepgen.02.velocity-cmd setp pid.2.error-previous-target true # PID parameters setp pid.2.Pgain [AXIS_2]P setp pid.2.Igain [AXIS_2]I setp pid.2.Dgain [AXIS_2]D setp pid.2.bias [AXIS_2]BIAS setp pid.2.FF0 [AXIS_2]FF0 setp pid.2.FF1 [AXIS_2]FF1 setp pid.2.FF2 [AXIS_2]FF2 setp pid.2.deadband [AXIS_2]DEADBAND setp pid.2.maxoutput [AXIS_2]MAX_OUTPUT setp pid.2.maxerror [AXIS_2]MAX_ERROR # P3 pin 7 gpio 010 # Z step setp hm2_5i25.0.gpio.010.invert_output 1 ######################################################################## # A axis # step/dir setp hm2_5i25.0.stepgen.03.step_type 0 # velocity control setp hm2_5i25.0.stepgen.03.control-type 1 # scaling for position feedback, position command, and velocity command, in steps per length unit. # converts from counts to position units. position = counts / position_scale setp hm2_5i25.0.stepgen.03.position-scale [AXIS_3]SCALE # stepper driver timing parameters setp hm2_5i25.0.stepgen.03.steplen [AXIS_3]STEPLEN setp hm2_5i25.0.stepgen.03.stepspace [AXIS_3]STEPSPACE setp hm2_5i25.0.stepgen.03.dirhold [AXIS_3]DIRHOLD setp hm2_5i25.0.stepgen.03.dirsetup [AXIS_3]DIRSETUP setp hm2_5i25.0.stepgen.03.maxvel [AXIS_3]STEPGEN_MAX_VEL setp hm2_5i25.0.stepgen.03.maxaccel [AXIS_3]STEPGEN_MAXACCEL # axis enable chain newsig emcmot.03.enable bit sets emcmot.03.enable FALSE net emcmot.03.enable <= axis.3.amp-enable-out net emcmot.03.enable => hm2_5i25.0.stepgen.03.enable pid.3.enable # position command and feedback net emcmot.03.pos-cmd axis.3.motor-pos-cmd => pid.3.command net emcmot.03.vel-cmd axis.3.joint-vel-cmd => pid.3.command-deriv net motor.03.pos-fb <= hm2_5i25.0.stepgen.03.position-fb axis.3.motor-pos-fb pid.3.feedback net motor.03.command pid.3.output hm2_5i25.0.stepgen.03.velocity-cmd setp pid.3.error-previous-target true # PID parameters setp pid.3.Pgain [AXIS_3]P setp pid.3.Igain [AXIS_3]I setp pid.3.Dgain [AXIS_3]D setp pid.3.bias [AXIS_3]BIAS setp pid.3.FF0 [AXIS_3]FF0 setp pid.3.FF1 [AXIS_3]FF1 setp pid.3.FF2 [AXIS_3]FF2 setp pid.3.deadband [AXIS_3]DEADBAND setp pid.3.maxoutput [AXIS_3]MAX_OUTPUT setp pid.3.maxerror [AXIS_3]MAX_ERROR # P3 pin 9 gpio 012 # A step setp hm2_5i25.0.gpio.012.invert_output 1 ######################################################################## # home switches # enclosure door support # door-sw-installed post-gui HAL pin changes HAL routing of signals # x-axis 5i25 limit input becomes door switch input # x-axis switch gets rewired in series with y switch # # controlled by door-sw-installed # a lut5 comp as a bit mux switches axis.0.home-sw-in axis.0.neg-lim-sw-in axis.0.pos-lim-sw-in # between receiving x-axis switch input or y-axis switch input # another mux2 comp switches door-sw-in between receiving FALSE or x/door switch input # # door-sw-in is an input pin to the spindle comp # when TRUE the spindle comp limits RPM to a slow value, e.g. 1000 RPM # when FALSE the spindle comp does not limit spindle RPM # # when door-sw-installed is TRUE UI homing routines must reference x and Y mutually exclusively # must noise debounce inputs - otherwise coolant on/off can cause spurious estops net home-limit-x-raw <= hm2_5i25.0.gpio.013.in => debounce.0.0.in net home-limit-y-raw <= hm2_5i25.0.gpio.014.in => debounce.0.1.in net home-limit-z-raw <= hm2_5i25.0.gpio.015.in => debounce.0.2.in #setp debounce.0.0.in 1 #setp debounce.0.1.in 1 #setp debounce.0.2.in 1 # route limit inputs through AND gates to enable switches via UI # also net x-axis switch input to door-limit-in.in1 net and-home-x debounce.0.0.out door-limit-x-lut.in-0 door-limit-in.in1 net and-home-y debounce.0.1.out door-limit-x-lut.in-1 door-limit-y-lut.in-0 net and-home-z debounce.0.2.out enable-limit-z.in1 # post gui connects this to the UI for disabling the limit switch inputs net limit-switch-enable door-limit-x-lut.in-4 door-limit-y-lut.in-3 enable-limit-z.in0 # door/ # limit-sw-enable x-homing door-sw-configured - Y in - X in -- out axis.0.*-lim-sw-in -- lut5 weight # 0 X X X X | 0 # 1 0 0 0 0 | 0 # 1 0 0 0 1 | 1 0x00020000 # 1 0 0 1 0 | 0 # 1 0 0 1 1 | 1 0x00080000 # 1 1 0 0 0 | 0 # 1 1 0 0 1 | 1 0x02000000 # 1 1 0 1 0 | 0 # 1 1 0 1 1 | 1 0x08000000 # 1 1 1 0 0 | 0 # 1 1 1 0 1 | 0 # 1 1 1 1 0 | 1 0x40000000 # 1 1 1 1 1 | 1 0x80000000 # ---- # 0xCA0A0000 setp door-limit-x-lut.function 0xCA0A0000 # connect X and Y to axis.0.*-lim-sw-in via lut5-based mux configured as above net x-lim-out door-limit-x-lut.out axis.0.home-sw-in axis.0.neg-lim-sw-in axis.0.pos-lim-sw-in # # limit-sw-enable x-homing door-sw-configured - Y in -- out axis.1.*-lim-sw-in -- lut5 weight # 0 X X X | 0 # 1 0 0 0 | 0 # 1 0 0 1 | 1 0x00000200 # 1 0 1 0 | 0 # 1 0 1 1 | 1 0x00000800 # # 1 1 0 0 | 0 # 1 1 0 1 | 1 0x00002000 # 1 1 1 0 | 0 # 1 1 1 1 | 0 # ---- # 0x00002A00 setp door-limit-y-lut.function 0x00002A00 net y-lim-out door-limit-y-lut.out axis.1.home-sw-in axis.1.neg-lim-sw-in axis.1.pos-lim-sw-in net x-is-homing axis.0.homing door-limit-x-lut.in-3 door-limit-y-lut.in-2 # door switch to spindle comp is former x-axis limit input ANDed with NOT door-sw-configured from UI # if door-sw-configured is TRUE then the spindle comp input follows the X limit input # if door-sw-configured is FALSE the the spindle comp input is always FALSE # inverter NOT gate net enc-door-switch-configured door-limit-x-lut.in-2 door-limit-y-lut.in-1 door-limit-in.in0 tormachspindle.enc-door-switch-configured # connect X limit inputs to axis.2.*-sw-* net z-lim-out enable-limit-z.out axis.2.home-sw-in axis.2.neg-lim-sw-in axis.2.pos-lim-sw-in # UI can display this net enc-door-switch-status door-limit-in.out tormachspindle.enc-door-switch-status ######################################################################## # # tool change # # loopback tool-change to tool-changed net tool-change iocontrol.0.tool-change => iocontrol.0.tool-changed # loopback prepare to prepared net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared ####################################################################### # IO Board ####################################################################### net dig-out-0 motion.digital-out-00 => usbio.relay-0 net dig-out-1 motion.digital-out-01 => usbio.relay-1 net dig-out-2 motion.digital-out-02 => usbio.relay-2 net dig-out-3 motion.digital-out-03 => usbio.relay-3 net dig-in-0 motion.digital-in-00 => usbio.input-0 net dig-in-1 motion.digital-in-01 => usbio.input-1 net dig-in-2 motion.digital-in-02 => usbio.input-2 net dig-in-3 motion.digital-in-03 => usbio.input-3