Mesa 7i76 - can't read inputs on field inputs (TB5, TB6)
05 Jun 2020 22:16 #170290
by anli
Mesa 7i76 - can't read inputs on field inputs (TB5, TB6) was created by anli
Hello,
I want to read the field inputs on TB5 and TB6 on my brand new Mesa 7i76e card. If I run halcmd and connect via halcmd: loadrt hm2_eth board_ip=192.168.1.121 the following is shown:I'm not sure if 7I76E-16 is the right board name. How can I read inputs 0-31 on TB6/TB5 (with halshow)? Thank you for your help in advance!
I want to read the field inputs on TB5 and TB6 on my brand new Mesa 7i76e card. If I run halcmd and connect via halcmd: loadrt hm2_eth board_ip=192.168.1.121 the following is shown:
hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2
hm2_eth: 192.168.1.121: Hardware address: 00:60:1b:10:45:c5
hm2_eth: discovered 7I76E-16
hm2/hm2_7i76e.0: Low Level init 0.15
hm2/hm2_7i76e.0: Smart Serial Firmware Version 43
Board hm2_7i76e.0.7i76.0.0 Hardware Mode 0 = standard
Board hm2_7i76e.0.7i76.0.0 Software Mode 0 = io_spin
Board hm2_7i76e.0.7i76.0.0 Software Mode 1 = io_ana_spin
Board hm2_7i76e.0.7i76.0.0 Software Mode 2 = io_enc_ana_spin_fv
hm2/hm2_7i76e.0: 51 I/O Pins used:
hm2/hm2_7i76e.0: IO Pin 000 (P1-01): StepGen #0, pin Direction (Output)
hm2/hm2_7i76e.0: IO Pin 001 (P1-14): StepGen #0, pin Step (Output)
hm2/hm2_7i76e.0: IO Pin 002 (P1-02): StepGen #1, pin Direction (Output)
hm2/hm2_7i76e.0: IO Pin 003 (P1-15): StepGen #1, pin Step (Output)
hm2/hm2_7i76e.0: IO Pin 004 (P1-03): StepGen #2, pin Direction (Output)
hm2/hm2_7i76e.0: IO Pin 005 (P1-16): StepGen #2, pin Step (Output)
hm2/hm2_7i76e.0: IO Pin 006 (P1-04): StepGen #3, pin Direction (Output)
hm2/hm2_7i76e.0: IO Pin 007 (P1-17): StepGen #3, pin Step (Output)
hm2/hm2_7i76e.0: IO Pin 008 (P1-05): StepGen #4, pin Direction (Output)
hm2/hm2_7i76e.0: IO Pin 009 (P1-06): StepGen #4, pin Step (Output)
hm2/hm2_7i76e.0: IO Pin 010 (P1-07): Smart Serial Interface #0, pin tx0 (Output)
hm2/hm2_7i76e.0: IO Pin 011 (P1-08): Smart Serial Interface #0, pin rx0 (Input)
hm2/hm2_7i76e.0: IO Pin 012 (P1-09): IOPort
hm2/hm2_7i76e.0: IO Pin 013 (P1-10): IOPort
hm2/hm2_7i76e.0: IO Pin 014 (P1-11): Encoder #0, pin Index (Input)
hm2/hm2_7i76e.0: IO Pin 015 (P1-12): Encoder #0, pin B (Input)
hm2/hm2_7i76e.0: IO Pin 016 (P1-13): Encoder #0, pin A (Input)
hm2/hm2_7i76e.0: IO Pin 017 (P2-01): IOPort
hm2/hm2_7i76e.0: IO Pin 018 (P2-14): IOPort
hm2/hm2_7i76e.0: IO Pin 019 (P2-02): IOPort
hm2/hm2_7i76e.0: IO Pin 020 (P2-15): IOPort
hm2/hm2_7i76e.0: IO Pin 021 (P2-03): IOPort
hm2/hm2_7i76e.0: IO Pin 022 (P2-16): IOPort
hm2/hm2_7i76e.0: IO Pin 023 (P2-04): IOPort
hm2/hm2_7i76e.0: IO Pin 024 (P2-17): IOPort
hm2/hm2_7i76e.0: IO Pin 025 (P2-05): IOPort
hm2/hm2_7i76e.0: IO Pin 026 (P2-06): IOPort
hm2/hm2_7i76e.0: IO Pin 027 (P2-07): IOPort
hm2/hm2_7i76e.0: IO Pin 028 (P2-08): IOPort
hm2/hm2_7i76e.0: IO Pin 029 (P2-09): IOPort
hm2/hm2_7i76e.0: IO Pin 030 (P2-10): IOPort
hm2/hm2_7i76e.0: IO Pin 031 (P2-11): IOPort
hm2/hm2_7i76e.0: IO Pin 032 (P2-12): IOPort
hm2/hm2_7i76e.0: IO Pin 033 (P2-13): IOPort
hm2/hm2_7i76e.0: IO Pin 034 (P3-01): IOPort
hm2/hm2_7i76e.0: IO Pin 035 (P3-14): IOPort
hm2/hm2_7i76e.0: IO Pin 036 (P3-02): IOPort
hm2/hm2_7i76e.0: IO Pin 037 (P3-15): IOPort
hm2/hm2_7i76e.0: IO Pin 038 (P3-03): IOPort
hm2/hm2_7i76e.0: IO Pin 039 (P3-16): IOPort
hm2/hm2_7i76e.0: IO Pin 040 (P3-04): IOPort
hm2/hm2_7i76e.0: IO Pin 041 (P3-17): IOPort
hm2/hm2_7i76e.0: IO Pin 042 (P3-05): IOPort
hm2/hm2_7i76e.0: IO Pin 043 (P3-06): IOPort
hm2/hm2_7i76e.0: IO Pin 044 (P3-07): IOPort
hm2/hm2_7i76e.0: IO Pin 045 (P3-08): IOPort
hm2/hm2_7i76e.0: IO Pin 046 (P3-09): IOPort
hm2/hm2_7i76e.0: IO Pin 047 (P3-10): IOPort
hm2/hm2_7i76e.0: IO Pin 048 (P3-11): IOPort
hm2/hm2_7i76e.0: IO Pin 049 (P3-12): IOPort
hm2/hm2_7i76e.0: IO Pin 050 (P3-13): IOPort
hm2/hm2_7i76e.0: registeredPlease Log in or Create an account to join the conversation.
05 Jun 2020 22:26 - 05 Jun 2020 22:30 #170291
by PCW
Replied by PCW on topic Mesa 7i76 - can't read inputs on field inputs (TB5, TB6)
To get a list of all pins, parameters, signals and functions, run
halcmd show all
(with LinuxCNC running)
You cannot read the inputs or set outputs without LinuxCNC running
or seting up a thread with halcmd and addf-ing the low level
read and write functions to that thread
halcmd show all
(with LinuxCNC running)
You cannot read the inputs or set outputs without LinuxCNC running
or seting up a thread with halcmd and addf-ing the low level
read and write functions to that thread
Last edit: 05 Jun 2020 22:30 by PCW.
Please Log in or Create an account to join the conversation.
06 Jun 2020 05:15 #170313
by anli
Replied by anli on topic Mesa 7i76 - can't read inputs on field inputs (TB5, TB6)
Thank you for your super-fast answer!
I triedwith linuxcnc running. This is the answer:
I attached my hal and ini. I tried the pins like hm2_7i76e.0.7i76.0.0.input-xx where xx is the number, e. g. 00 and hm2_7i76e.0.gpio.xxx.in where xxx is the number, e. g. 000. Do I need to connect field power to all input pins while powering up the mesa board?
A second problem I have with this configuration is the message <2hm2/hm2_7i76e.0: Smart serial card hm2_7i76e.0.7i76.0.0.remote nerror = (29) Under voltage when I start linuxcnc. How can I solve this? Disable the smart serial port in linuxcnc config?
I tried
halcmd show allLoaded HAL Components:
ID Type Name PID State
52 User halcmd2469 2469 ready
46 User gmoccapy 1933 ready
44 User inihal 1929 ready
33 User hal_manualtoolchange 1920 ready
29 RT pid ready
26 RT hm2_eth ready
23 RT hostmot2 ready
20 RT __servo-thread ready
19 RT motmod ready
16 RT trivkins ready
10 User halui 1878 ready
4 User iocontrol 1876 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
46 float OUT 0 gmoccapy.blockheight
46 bit IN FALSE gmoccapy.delete-message
46 bit OUT TRUE gmoccapy.error
46 bit IN FALSE gmoccapy.feed.feed-override.analog-enable
46 bit IN FALSE gmoccapy.feed.feed-override.count-enable
46 s32 IN 0 gmoccapy.feed.feed-override.counts
46 float IN 0 gmoccapy.feed.feed-override.direct-value
46 bit IN FALSE gmoccapy.feed.reset-feed-override
46 bit IN FALSE gmoccapy.h-button.button-0
46 bit IN FALSE gmoccapy.h-button.button-1
46 bit IN FALSE gmoccapy.h-button.button-2
46 bit IN FALSE gmoccapy.h-button.button-3
46 bit IN FALSE gmoccapy.h-button.button-4
46 bit IN FALSE gmoccapy.h-button.button-5
46 bit IN FALSE gmoccapy.h-button.button-6
46 bit IN FALSE gmoccapy.h-button.button-7
46 bit IN FALSE gmoccapy.h-button.button-8
46 bit IN FALSE gmoccapy.h-button.button-9
46 bit IN FALSE gmoccapy.ignore-limits
46 bit IN FALSE gmoccapy.jog.axis.jog-x-minus
46 bit IN FALSE gmoccapy.jog.axis.jog-x-plus
46 bit IN FALSE gmoccapy.jog.axis.jog-y-minus
46 bit IN FALSE gmoccapy.jog.axis.jog-y-plus
46 bit IN FALSE gmoccapy.jog.axis.jog-z-minus
46 bit IN FALSE gmoccapy.jog.axis.jog-z-plus
46 bit IN FALSE gmoccapy.jog.jog-inc-0
46 bit IN FALSE gmoccapy.jog.jog-inc-1
46 bit IN FALSE gmoccapy.jog.jog-inc-2
46 bit IN FALSE gmoccapy.jog.jog-inc-3
46 bit IN FALSE gmoccapy.jog.jog-inc-4
46 bit IN FALSE gmoccapy.jog.jog-inc-5
46 bit IN FALSE gmoccapy.jog.jog-inc-6
46 bit IN FALSE gmoccapy.jog.jog-inc-7
46 float OUT 0 gmoccapy.jog.jog-increment
46 bit IN FALSE gmoccapy.jog.jog-velocity.analog-enable
46 bit IN FALSE gmoccapy.jog.jog-velocity.count-enable
46 s32 IN 0 gmoccapy.jog.jog-velocity.counts
46 float IN 0 gmoccapy.jog.jog-velocity.direct-value
46 bit IN FALSE gmoccapy.jog.turtle-jog
46 float OUT 0 gmoccapy.probeheight
46 float OUT 0 gmoccapy.probevel
46 s32 OUT 0 gmoccapy.program.current-line
46 s32 OUT 0 gmoccapy.program.length
46 float OUT 0 gmoccapy.program.progress
46 bit IN FALSE gmoccapy.rapid.rapid-override.analog-enable
46 bit IN FALSE gmoccapy.rapid.rapid-override.count-enable
46 s32 IN 0 gmoccapy.rapid.rapid-override.counts
46 float IN 0 gmoccapy.rapid.rapid-override.direct-value
46 bit IN FALSE gmoccapy.rapid.reset-rapid-override
46 float OUT 0 gmoccapy.searchvel
46 bit IN FALSE gmoccapy.spc_ang_jog_vel.decrease
46 bit IN FALSE gmoccapy.spc_ang_jog_vel.increase
46 float IN 60 gmoccapy.spc_ang_jog_vel.scale
46 float OUT 6 gmoccapy.spc_ang_jog_vel.scaled-value
46 float OUT 360 gmoccapy.spc_ang_jog_vel.value
46 bit IN FALSE gmoccapy.spc_feed.decrease
46 bit IN FALSE gmoccapy.spc_feed.increase
46 float IN 60 gmoccapy.spc_feed.scale
46 float OUT 1.666667 gmoccapy.spc_feed.scaled-value
46 float OUT 100 gmoccapy.spc_feed.value
46 bit IN FALSE gmoccapy.spc_lin_jog_vel.decrease
46 bit IN FALSE gmoccapy.spc_lin_jog_vel.increase
46 float IN 60 gmoccapy.spc_lin_jog_vel.scale
46 float OUT 2.5 gmoccapy.spc_lin_jog_vel.scaled-value
46 float OUT 150 gmoccapy.spc_lin_jog_vel.value
46 bit IN FALSE gmoccapy.spc_rapid.decrease
46 bit IN FALSE gmoccapy.spc_rapid.increase
46 float IN 60 gmoccapy.spc_rapid.scale
46 float OUT 1.666667 gmoccapy.spc_rapid.scaled-value
46 float OUT 100 gmoccapy.spc_rapid.value
46 bit IN FALSE gmoccapy.spc_spindle.decrease
46 bit IN FALSE gmoccapy.spc_spindle.increase
46 float IN 60 gmoccapy.spc_spindle.scale
46 float OUT 1.666667 gmoccapy.spc_spindle.scaled-value
46 float OUT 100 gmoccapy.spc_spindle.value
46 bit IN FALSE gmoccapy.spindle.reset-spindle-override
46 bit IN FALSE gmoccapy.spindle.spindle-override.analog-enable
46 bit IN FALSE gmoccapy.spindle.spindle-override.count-enable
46 s32 IN 0 gmoccapy.spindle.spindle-override.counts
46 float IN 0 gmoccapy.spindle.spindle-override.direct-value
46 bit IN FALSE gmoccapy.spindle_at_speed_led
46 float IN 0 gmoccapy.spindle_feedback_bar
46 float OUT 0 gmoccapy.tool-diameter
46 bit IN FALSE gmoccapy.toolchange-change
46 bit OUT FALSE gmoccapy.toolchange-changed
46 s32 IN 0 gmoccapy.toolchange-number
46 bit OUT FALSE gmoccapy.toolmeasurement
46 float IN 0 gmoccapy.tooloffset-x
46 float IN 0 gmoccapy.tooloffset-z
46 bit IN FALSE gmoccapy.unlock-settings
46 bit IN FALSE gmoccapy.v-button.button-0
46 bit IN FALSE gmoccapy.v-button.button-1
46 bit IN FALSE gmoccapy.v-button.button-2
46 bit IN FALSE gmoccapy.v-button.button-3
46 bit IN FALSE gmoccapy.v-button.button-4
46 bit IN FALSE gmoccapy.v-button.button-5
46 bit IN FALSE gmoccapy.v-button.button-6
33 bit IN FALSE hal_manualtoolchange.change <== tool-change-request
33 bit IN FALSE hal_manualtoolchange.change_button
33 bit OUT FALSE hal_manualtoolchange.changed ==> tool-change-confirmed
33 s32 IN 0 hal_manualtoolchange.number <== tool-number
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 <== 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 <== jog-selected-neg
10 bit IN FALSE halui.axis.selected.plus <== jog-selected-pos
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 <== jog-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 <== jog-x-neg
10 bit IN FALSE halui.axis.x.plus <== jog-x-pos
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 <== axis-select-x
10 float IN 0 halui.axis.y.analog <== jog-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 OUT FALSE halui.axis.y.is-selected
10 bit IN FALSE halui.axis.y.minus <== jog-y-neg
10 bit IN FALSE halui.axis.y.plus <== jog-y-pos
10 float OUT 0 halui.axis.y.pos-commanded
10 float OUT 0 halui.axis.y.pos-feedback
10 float OUT 0 halui.axis.y.pos-relative
10 bit IN FALSE halui.axis.y.select <== axis-select-y
10 float IN 0 halui.axis.z.analog <== jog-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 OUT FALSE halui.axis.z.is-selected
10 bit IN FALSE halui.axis.z.minus <== jog-z-neg
10 bit IN FALSE halui.axis.z.plus <== jog-z-pos
10 float OUT 0 halui.axis.z.pos-commanded
10 float OUT 0 halui.axis.z.pos-feedback
10 float OUT 0 halui.axis.z.pos-relative
10 bit IN FALSE halui.axis.z.select <== axis-select-z
10 bit IN FALSE halui.estop.activate
10 bit OUT TRUE 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 ==> x-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 halui.joint.1.analog
10 bit OUT FALSE halui.joint.1.has-fault
10 bit IN FALSE halui.joint.1.home
10 float IN 0 halui.joint.1.increment
10 bit IN FALSE halui.joint.1.increment-minus
10 bit IN FALSE halui.joint.1.increment-plus
10 bit OUT FALSE halui.joint.1.is-homed ==> y-is-homed
10 bit OUT FALSE halui.joint.1.is-selected
10 bit IN FALSE halui.joint.1.minus
10 bit OUT FALSE halui.joint.1.on-hard-max-limit
10 bit OUT FALSE halui.joint.1.on-hard-min-limit
10 bit OUT FALSE halui.joint.1.on-soft-max-limit
10 bit OUT FALSE halui.joint.1.on-soft-min-limit
10 bit OUT FALSE halui.joint.1.override-limits
10 bit IN FALSE halui.joint.1.plus
10 bit IN FALSE halui.joint.1.select
10 bit IN FALSE halui.joint.1.unhome
10 float IN 0 halui.joint.2.analog
10 bit OUT FALSE halui.joint.2.has-fault
10 bit IN FALSE halui.joint.2.home
10 float IN 0 halui.joint.2.increment
10 bit IN FALSE halui.joint.2.increment-minus
10 bit IN FALSE halui.joint.2.increment-plus
10 bit OUT FALSE halui.joint.2.is-homed ==> z-is-homed
10 bit OUT FALSE halui.joint.2.is-selected
10 bit IN FALSE halui.joint.2.minus
10 bit OUT FALSE halui.joint.2.on-hard-max-limit
10 bit OUT FALSE halui.joint.2.on-hard-min-limit
10 bit OUT FALSE halui.joint.2.on-soft-max-limit
10 bit OUT FALSE halui.joint.2.on-soft-min-limit
10 bit OUT FALSE halui.joint.2.override-limits
10 bit IN FALSE halui.joint.2.plus
10 bit IN FALSE halui.joint.2.select
10 bit IN FALSE halui.joint.2.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 FALSE 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 ==> 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 25 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 ==> MDI-mode
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 FALSE 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 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 <== spindle-manual-cw
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 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 <== spindle-manual-ccw
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 <== spindle-manual-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
26 s32 OUT 2097000000 hm2_7i76e.0.0.debug
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-00
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-00-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-01
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-01-not
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-02
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-02-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-03
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-03-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-04
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-04-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-05
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-05-not
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-06
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-06-not
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-07
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-07-not
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-08
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-08-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-09
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-09-not
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-10
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-10-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-11
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-11-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-12
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-12-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-13
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-13-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-14
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-14-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-15
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-15-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-16
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-16-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-17
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-17-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-18
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-18-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-19
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-19-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-20
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-20-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-21
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-21-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-22
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-22-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-23
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-23-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-24
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-24-not
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-25
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-25-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-26
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-26-not
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-27
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-27-not
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-28
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-28-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-29
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-29-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-30
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-30-not
26 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-31
26 bit OUT TRUE hm2_7i76e.0.7i76.0.0.input-31-not
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-00
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-01
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-02
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-03
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-04
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-05
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-06
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-07
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-08
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-09
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-10
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-11
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-12
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-13
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-14
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-15
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.spindir
26 bit IN FALSE hm2_7i76e.0.7i76.0.0.spinena
26 float IN 0 hm2_7i76e.0.7i76.0.0.spinout
26 float IN -50 hm2_7i76e.0.dpll.01.timer-us
26 float IN 100 hm2_7i76e.0.dpll.02.timer-us
26 float IN 100 hm2_7i76e.0.dpll.03.timer-us
26 float IN 100 hm2_7i76e.0.dpll.04.timer-us
26 float IN 1 hm2_7i76e.0.dpll.base-freq-khz
26 u32 OUT 0x0000002A hm2_7i76e.0.dpll.ddsize
26 float OUT 2.361445 hm2_7i76e.0.dpll.phase-error-us
26 u32 IN 0x00400000 hm2_7i76e.0.dpll.plimit
26 u32 OUT 0x00000018 hm2_7i76e.0.dpll.prescale
26 u32 IN 0x000007D0 hm2_7i76e.0.dpll.time-const
26 s32 OUT 0 hm2_7i76e.0.encoder.00.count
26 s32 OUT 0 hm2_7i76e.0.encoder.00.count-latched
26 bit I/O FALSE hm2_7i76e.0.encoder.00.index-enable
26 bit OUT FALSE hm2_7i76e.0.encoder.00.input-a
26 bit OUT FALSE hm2_7i76e.0.encoder.00.input-b
26 bit OUT TRUE hm2_7i76e.0.encoder.00.input-index
26 bit IN FALSE hm2_7i76e.0.encoder.00.latch-enable
26 bit IN FALSE hm2_7i76e.0.encoder.00.latch-polarity
26 float OUT 0 hm2_7i76e.0.encoder.00.position
26 float OUT 0 hm2_7i76e.0.encoder.00.position-latched
26 bit OUT FALSE hm2_7i76e.0.encoder.00.quad-error
26 bit IN FALSE hm2_7i76e.0.encoder.00.quad-error-enable
26 s32 OUT 0 hm2_7i76e.0.encoder.00.rawcounts
26 s32 OUT 0 hm2_7i76e.0.encoder.00.rawlatch
26 bit IN FALSE hm2_7i76e.0.encoder.00.reset
26 float OUT 0 hm2_7i76e.0.encoder.00.velocity
26 float OUT 0 hm2_7i76e.0.encoder.00.velocity-rpm
26 bit IN FALSE hm2_7i76e.0.encoder.hires-timestamp
26 u32 IN 0x017D7840 hm2_7i76e.0.encoder.sample-frequency
26 s32 IN -1 hm2_7i76e.0.encoder.timer-number
26 bit OUT FALSE hm2_7i76e.0.gpio.000.in
26 bit OUT TRUE hm2_7i76e.0.gpio.000.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.001.in
26 bit OUT TRUE hm2_7i76e.0.gpio.001.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.002.in
26 bit OUT TRUE hm2_7i76e.0.gpio.002.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.003.in
26 bit OUT TRUE hm2_7i76e.0.gpio.003.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.004.in
26 bit OUT TRUE hm2_7i76e.0.gpio.004.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.005.in
26 bit OUT TRUE hm2_7i76e.0.gpio.005.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.006.in
26 bit OUT TRUE hm2_7i76e.0.gpio.006.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.007.in
26 bit OUT TRUE hm2_7i76e.0.gpio.007.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.008.in
26 bit OUT TRUE hm2_7i76e.0.gpio.008.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.009.in
26 bit OUT TRUE hm2_7i76e.0.gpio.009.in_not
26 bit OUT TRUE hm2_7i76e.0.gpio.010.in
26 bit OUT FALSE hm2_7i76e.0.gpio.010.in_not
26 bit OUT TRUE hm2_7i76e.0.gpio.011.in
26 bit OUT FALSE hm2_7i76e.0.gpio.011.in_not
26 bit OUT TRUE hm2_7i76e.0.gpio.012.in
26 bit OUT FALSE hm2_7i76e.0.gpio.012.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.012.out
26 bit OUT TRUE hm2_7i76e.0.gpio.013.in
26 bit OUT FALSE hm2_7i76e.0.gpio.013.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.013.out
26 bit OUT FALSE hm2_7i76e.0.gpio.014.in
26 bit OUT TRUE hm2_7i76e.0.gpio.014.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.015.in
26 bit OUT TRUE hm2_7i76e.0.gpio.015.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.016.in
26 bit OUT TRUE hm2_7i76e.0.gpio.016.in_not
26 bit OUT FALSE hm2_7i76e.0.gpio.017.in
26 bit OUT TRUE hm2_7i76e.0.gpio.017.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.017.out
26 bit OUT FALSE hm2_7i76e.0.gpio.018.in
26 bit OUT TRUE hm2_7i76e.0.gpio.018.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.018.out
26 bit OUT FALSE hm2_7i76e.0.gpio.019.in
26 bit OUT TRUE hm2_7i76e.0.gpio.019.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.019.out
26 bit OUT FALSE hm2_7i76e.0.gpio.020.in
26 bit OUT TRUE hm2_7i76e.0.gpio.020.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.020.out
26 bit OUT FALSE hm2_7i76e.0.gpio.021.in
26 bit OUT TRUE hm2_7i76e.0.gpio.021.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.021.out
26 bit OUT FALSE hm2_7i76e.0.gpio.022.in
26 bit OUT TRUE hm2_7i76e.0.gpio.022.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.022.out
26 bit OUT FALSE hm2_7i76e.0.gpio.023.in
26 bit OUT TRUE hm2_7i76e.0.gpio.023.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.023.out
26 bit OUT FALSE hm2_7i76e.0.gpio.024.in
26 bit OUT TRUE hm2_7i76e.0.gpio.024.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.024.out
26 bit OUT FALSE hm2_7i76e.0.gpio.025.in
26 bit OUT TRUE hm2_7i76e.0.gpio.025.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.025.out
26 bit OUT FALSE hm2_7i76e.0.gpio.026.in
26 bit OUT TRUE hm2_7i76e.0.gpio.026.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.026.out
26 bit OUT FALSE hm2_7i76e.0.gpio.027.in
26 bit OUT TRUE hm2_7i76e.0.gpio.027.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.027.out
26 bit OUT FALSE hm2_7i76e.0.gpio.028.in
26 bit OUT TRUE hm2_7i76e.0.gpio.028.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.028.out
26 bit OUT FALSE hm2_7i76e.0.gpio.029.in
26 bit OUT TRUE hm2_7i76e.0.gpio.029.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.029.out
26 bit OUT FALSE hm2_7i76e.0.gpio.030.in
26 bit OUT TRUE hm2_7i76e.0.gpio.030.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.030.out
26 bit OUT FALSE hm2_7i76e.0.gpio.031.in
26 bit OUT TRUE hm2_7i76e.0.gpio.031.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.031.out
26 bit OUT FALSE hm2_7i76e.0.gpio.032.in
26 bit OUT TRUE hm2_7i76e.0.gpio.032.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.032.out
26 bit OUT FALSE hm2_7i76e.0.gpio.033.in
26 bit OUT TRUE hm2_7i76e.0.gpio.033.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.033.out
26 bit OUT FALSE hm2_7i76e.0.gpio.034.in ==> both-x
26 bit OUT TRUE hm2_7i76e.0.gpio.034.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.034.out
26 bit OUT FALSE hm2_7i76e.0.gpio.035.in ==> both-y
26 bit OUT TRUE hm2_7i76e.0.gpio.035.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.035.out
26 bit OUT FALSE hm2_7i76e.0.gpio.036.in ==> both-z
26 bit OUT TRUE hm2_7i76e.0.gpio.036.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.036.out
26 bit OUT FALSE hm2_7i76e.0.gpio.037.in
26 bit OUT TRUE hm2_7i76e.0.gpio.037.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.037.out
26 bit OUT FALSE hm2_7i76e.0.gpio.038.in
26 bit OUT TRUE hm2_7i76e.0.gpio.038.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.038.out
26 bit OUT FALSE hm2_7i76e.0.gpio.039.in
26 bit OUT TRUE hm2_7i76e.0.gpio.039.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.039.out
26 bit OUT FALSE hm2_7i76e.0.gpio.040.in
26 bit OUT TRUE hm2_7i76e.0.gpio.040.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.040.out
26 bit OUT FALSE hm2_7i76e.0.gpio.041.in
26 bit OUT TRUE hm2_7i76e.0.gpio.041.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.041.out
26 bit OUT FALSE hm2_7i76e.0.gpio.042.in
26 bit OUT TRUE hm2_7i76e.0.gpio.042.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.042.out
26 bit OUT FALSE hm2_7i76e.0.gpio.043.in
26 bit OUT TRUE hm2_7i76e.0.gpio.043.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.043.out
26 bit OUT FALSE hm2_7i76e.0.gpio.044.in
26 bit OUT TRUE hm2_7i76e.0.gpio.044.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.044.out
26 bit OUT FALSE hm2_7i76e.0.gpio.045.in
26 bit OUT TRUE hm2_7i76e.0.gpio.045.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.045.out
26 bit OUT FALSE hm2_7i76e.0.gpio.046.in
26 bit OUT TRUE hm2_7i76e.0.gpio.046.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.046.out
26 bit OUT FALSE hm2_7i76e.0.gpio.047.in
26 bit OUT TRUE hm2_7i76e.0.gpio.047.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.047.out
26 bit OUT FALSE hm2_7i76e.0.gpio.048.in
26 bit OUT TRUE hm2_7i76e.0.gpio.048.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.048.out
26 bit OUT FALSE hm2_7i76e.0.gpio.049.in
26 bit OUT TRUE hm2_7i76e.0.gpio.049.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.049.out
26 bit OUT FALSE hm2_7i76e.0.gpio.050.in
26 bit OUT TRUE hm2_7i76e.0.gpio.050.in_not
26 bit IN FALSE hm2_7i76e.0.gpio.050.out
26 bit IN FALSE hm2_7i76e.0.led.CR01
26 bit IN FALSE hm2_7i76e.0.led.CR02
26 bit IN FALSE hm2_7i76e.0.led.CR03
26 bit IN FALSE hm2_7i76e.0.led.CR04
26 bit OUT FALSE hm2_7i76e.0.packet-error
26 bit OUT FALSE hm2_7i76e.0.packet-error-exceeded
26 s32 OUT 0 hm2_7i76e.0.packet-error-level
26 s32 OUT 0 hm2_7i76e.0.read-request.time
26 s32 OUT 498478 hm2_7i76e.0.read.time
26 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.fault-count
26 u32 OUT 0x00000003 hm2_7i76e.0.sserial.port-0.port_state
26 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.port_state2
26 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.port_state3
26 bit IN TRUE hm2_7i76e.0.sserial.port-0.run
26 bit IN TRUE hm2_7i76e.0.stepgen.00.control-type
26 s32 OUT 0 hm2_7i76e.0.stepgen.00.counts
26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_err_at_match
26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_ff_vel
26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_s_to_match
26 s32 OUT 0 hm2_7i76e.0.stepgen.00.dbg_step_rate
26 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_vel_error
26 bit IN FALSE hm2_7i76e.0.stepgen.00.enable <== x-enable
26 float IN 0 hm2_7i76e.0.stepgen.00.position-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.00.position-fb ==> x-pos-fb
26 float IN 0 hm2_7i76e.0.stepgen.00.velocity-cmd <== x-output
26 float OUT 0 hm2_7i76e.0.stepgen.00.velocity-fb
26 bit IN TRUE hm2_7i76e.0.stepgen.01.control-type
26 s32 OUT 0 hm2_7i76e.0.stepgen.01.counts
26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_err_at_match
26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_ff_vel
26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_s_to_match
26 s32 OUT 0 hm2_7i76e.0.stepgen.01.dbg_step_rate
26 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_vel_error
26 bit IN FALSE hm2_7i76e.0.stepgen.01.enable <== y-enable
26 float IN 0 hm2_7i76e.0.stepgen.01.position-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.01.position-fb ==> y-pos-fb
26 float IN 0 hm2_7i76e.0.stepgen.01.velocity-cmd <== y-output
26 float OUT 0 hm2_7i76e.0.stepgen.01.velocity-fb
26 bit IN TRUE hm2_7i76e.0.stepgen.02.control-type
26 s32 OUT 0 hm2_7i76e.0.stepgen.02.counts
26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_err_at_match
26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_ff_vel
26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_s_to_match
26 s32 OUT 0 hm2_7i76e.0.stepgen.02.dbg_step_rate
26 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_vel_error
26 bit IN FALSE hm2_7i76e.0.stepgen.02.enable <== z-enable
26 float IN 0 hm2_7i76e.0.stepgen.02.position-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.02.position-fb ==> z-pos-fb
26 float IN 0 hm2_7i76e.0.stepgen.02.velocity-cmd <== z-output
26 float OUT 0 hm2_7i76e.0.stepgen.02.velocity-fb
26 bit IN FALSE hm2_7i76e.0.stepgen.03.control-type
26 s32 OUT 0 hm2_7i76e.0.stepgen.03.counts
26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_err_at_match
26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_ff_vel
26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_s_to_match
26 s32 OUT 0 hm2_7i76e.0.stepgen.03.dbg_step_rate
26 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_vel_error
26 bit IN FALSE hm2_7i76e.0.stepgen.03.enable
26 float IN 0 hm2_7i76e.0.stepgen.03.position-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.03.position-fb
26 float IN 0 hm2_7i76e.0.stepgen.03.velocity-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.03.velocity-fb
26 bit IN FALSE hm2_7i76e.0.stepgen.04.control-type
26 s32 OUT 0 hm2_7i76e.0.stepgen.04.counts
26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_err_at_match
26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_ff_vel
26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_pos_minus_prev_cmd
26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_s_to_match
26 s32 OUT 0 hm2_7i76e.0.stepgen.04.dbg_step_rate
26 float OUT 0 hm2_7i76e.0.stepgen.04.dbg_vel_error
26 bit IN FALSE hm2_7i76e.0.stepgen.04.enable
26 float IN 0 hm2_7i76e.0.stepgen.04.position-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.04.position-fb
26 float IN 0 hm2_7i76e.0.stepgen.04.velocity-cmd
26 float OUT 0 hm2_7i76e.0.stepgen.04.velocity-fb
26 s32 IN 1 hm2_7i76e.0.stepgen.timer-number
26 bit I/O FALSE hm2_7i76e.0.watchdog.has_bit
26 s32 OUT 5628 hm2_7i76e.0.write.time
44 float IN 0 ini.0.backlash
44 float IN 10 ini.0.ferror
44 float IN 0 ini.0.home
44 float IN 0 ini.0.home_offset
44 s32 IN 999 ini.0.home_sequence
44 float IN 750 ini.0.max_acceleration
44 float IN 200 ini.0.max_limit
44 float IN 25 ini.0.max_velocity
44 float IN 1 ini.0.min_ferror
44 float IN -0.01 ini.0.min_limit
44 float IN 0 ini.1.backlash
44 float IN 10 ini.1.ferror
44 float IN 0 ini.1.home
44 float IN 0 ini.1.home_offset
44 s32 IN 999 ini.1.home_sequence
44 float IN 750 ini.1.max_acceleration
44 float IN 200 ini.1.max_limit
44 float IN 25 ini.1.max_velocity
44 float IN 1 ini.1.min_ferror
44 float IN -0.01 ini.1.min_limit
44 float IN 0 ini.2.backlash
44 float IN 10 ini.2.ferror
44 float IN 0 ini.2.home
44 float IN 0 ini.2.home_offset
44 s32 IN 999 ini.2.home_sequence
44 float IN 750 ini.2.max_acceleration
44 float IN 0.01 ini.2.max_limit
44 float IN 25 ini.2.max_velocity
44 float IN 1 ini.2.min_ferror
44 float IN -100 ini.2.min_limit
44 float IN 0 ini.a.max_acceleration
44 float IN 0 ini.a.max_limit
44 float IN 0 ini.a.max_velocity
44 float IN 0 ini.a.min_limit
44 float IN 0 ini.b.max_acceleration
44 float IN 0 ini.b.max_limit
44 float IN 0 ini.b.max_velocity
44 float IN 0 ini.b.min_limit
44 float IN 0 ini.c.max_acceleration
44 float IN 0 ini.c.max_limit
44 float IN 0 ini.c.max_velocity
44 float IN 0 ini.c.min_limit
44 bit IN TRUE ini.traj_arc_blend_enable
44 bit IN FALSE ini.traj_arc_blend_fallback_enable
44 float IN 4 ini.traj_arc_blend_gap_cycles
44 s32 IN 50 ini.traj_arc_blend_optimization_depth
44 float IN 100 ini.traj_arc_blend_ramp_freq
44 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio
44 float IN 1e+99 ini.traj_default_acceleration
44 float IN 2.5 ini.traj_default_velocity
44 float IN 1e+99 ini.traj_max_acceleration
44 float IN 25 ini.traj_max_velocity
44 float IN 0 ini.u.max_acceleration
44 float IN 0 ini.u.max_limit
44 float IN 0 ini.u.max_velocity
44 float IN 0 ini.u.min_limit
44 float IN 0 ini.v.max_acceleration
44 float IN 0 ini.v.max_limit
44 float IN 0 ini.v.max_velocity
44 float IN 0 ini.v.min_limit
44 float IN 0 ini.w.max_acceleration
44 float IN 0 ini.w.max_limit
44 float IN 0 ini.w.max_velocity
44 float IN 0 ini.w.min_limit
44 float IN 750 ini.x.max_acceleration
44 float IN 200 ini.x.max_limit
44 float IN 25 ini.x.max_velocity
44 float IN -0.01 ini.x.min_limit
44 float IN 750 ini.y.max_acceleration
44 float IN 200 ini.y.max_limit
44 float IN 25 ini.y.max_velocity
44 float IN -0.01 ini.y.min_limit
44 float IN 750 ini.z.max_acceleration
44 float IN 0.01 ini.z.max_limit
44 float IN 25 ini.z.max_velocity
44 float IN -100 ini.z.min_limit
4 bit OUT FALSE iocontrol.0.coolant-flood ==> coolant-flood
4 bit OUT FALSE iocontrol.0.coolant-mist ==> coolant-mist
4 bit IN FALSE iocontrol.0.emc-enable-in <== estop-out
4 bit OUT FALSE iocontrol.0.lube
4 bit IN FALSE iocontrol.0.lube_level
4 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-request
4 bit IN FALSE iocontrol.0.tool-changed <== tool-change-confirmed
4 s32 OUT 0 iocontrol.0.tool-number
4 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-number
4 s32 OUT 0 iocontrol.0.tool-prep-pocket
4 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback
4 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback
4 bit OUT FALSE iocontrol.0.user-enable-out ==> estop-out
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 FALSE joint.0.amp-enable-out ==> x-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 1 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 <== x-home-sw
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 ==> x-pos-cmd
19 float IN 0 joint.0.motor-pos-fb <== x-pos-fb
19 bit OUT FALSE joint.0.neg-hard-limit
19 bit IN FALSE joint.0.neg-lim-sw-in <== both-x
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 <== both-x
19 float OUT 0 joint.0.vel-cmd ==> x-vel-cmd
19 bit OUT FALSE joint.0.wheel-jog-active
19 float OUT 0 joint.1.acc-cmd
19 bit OUT TRUE joint.1.active
19 bit OUT FALSE joint.1.amp-enable-out ==> y-enable
19 bit IN FALSE joint.1.amp-fault-in
19 float OUT 0 joint.1.backlash-corr
19 float OUT 0 joint.1.backlash-filt
19 float OUT 0 joint.1.backlash-vel
19 float OUT 0 joint.1.coarse-pos-cmd
19 bit OUT FALSE joint.1.error
19 float OUT 0 joint.1.f-error
19 float OUT 1 joint.1.f-error-lim
19 bit OUT FALSE joint.1.f-errored
19 bit OUT FALSE joint.1.faulted
19 float OUT 0 joint.1.free-pos-cmd
19 bit OUT FALSE joint.1.free-tp-enable
19 float OUT 0 joint.1.free-vel-lim
19 s32 OUT 0 joint.1.home-state
19 bit IN FALSE joint.1.home-sw-in <== y-home-sw
19 bit OUT FALSE joint.1.homed
19 bit OUT FALSE joint.1.homing
19 bit OUT TRUE joint.1.in-position
19 bit I/O FALSE joint.1.index-enable
19 float IN 1 joint.1.jog-accel-fraction
19 s32 IN 0 joint.1.jog-counts
19 bit IN FALSE joint.1.jog-enable
19 float IN 0 joint.1.jog-scale
19 bit IN FALSE joint.1.jog-vel-mode
19 bit OUT FALSE joint.1.kb-jog-active
19 float OUT 0 joint.1.motor-offset
19 float OUT 0 joint.1.motor-pos-cmd ==> y-pos-cmd
19 float IN 0 joint.1.motor-pos-fb <== y-pos-fb
19 bit OUT FALSE joint.1.neg-hard-limit
19 bit IN FALSE joint.1.neg-lim-sw-in <== both-y
19 float OUT 0 joint.1.pos-cmd
19 float OUT 0 joint.1.pos-fb
19 bit OUT FALSE joint.1.pos-hard-limit
19 bit IN FALSE joint.1.pos-lim-sw-in <== both-y
19 float OUT 0 joint.1.vel-cmd ==> y-vel-cmd
19 bit OUT FALSE joint.1.wheel-jog-active
19 float OUT 0 joint.2.acc-cmd
19 bit OUT TRUE joint.2.active
19 bit OUT FALSE joint.2.amp-enable-out ==> z-enable
19 bit IN FALSE joint.2.amp-fault-in
19 float OUT 0 joint.2.backlash-corr
19 float OUT 0 joint.2.backlash-filt
19 float OUT 0 joint.2.backlash-vel
19 float OUT 0 joint.2.coarse-pos-cmd
19 bit OUT FALSE joint.2.error
19 float OUT 0 joint.2.f-error
19 float OUT 1 joint.2.f-error-lim
19 bit OUT FALSE joint.2.f-errored
19 bit OUT FALSE joint.2.faulted
19 float OUT 0 joint.2.free-pos-cmd
19 bit OUT FALSE joint.2.free-tp-enable
19 float OUT 0 joint.2.free-vel-lim
19 s32 OUT 0 joint.2.home-state
19 bit IN FALSE joint.2.home-sw-in <== z-home-sw
19 bit OUT FALSE joint.2.homed
19 bit OUT FALSE joint.2.homing
19 bit OUT TRUE joint.2.in-position
19 bit I/O FALSE joint.2.index-enable
19 float IN 1 joint.2.jog-accel-fraction
19 s32 IN 0 joint.2.jog-counts
19 bit IN FALSE joint.2.jog-enable
19 float IN 0 joint.2.jog-scale
19 bit IN FALSE joint.2.jog-vel-mode
19 bit OUT FALSE joint.2.kb-jog-active
19 float OUT 0 joint.2.motor-offset
19 float OUT 0 joint.2.motor-pos-cmd ==> z-pos-cmd
19 float IN 0 joint.2.motor-pos-fb <== z-pos-fb
19 bit OUT FALSE joint.2.neg-hard-limit
19 bit IN FALSE joint.2.neg-lim-sw-in <== both-z
19 float OUT 0 joint.2.pos-cmd
19 float OUT 0 joint.2.pos-fb
19 bit OUT FALSE joint.2.pos-hard-limit
19 bit IN FALSE joint.2.pos-lim-sw-in <== both-z
19 float OUT 0 joint.2.vel-cmd ==> z-vel-cmd
19 bit OUT FALSE joint.2.wheel-jog-active
19 s32 OUT 10 motion-command-handler.time
19 s32 OUT 2079 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 ==> in-position
19 bit OUT FALSE motion.motion-enabled ==> machine-is-enabled
19 s32 OUT 0 motion.motion-type
19 bit OUT FALSE motion.on-soft-limit
19 bit IN FALSE motion.probe-input <== probe-in
19 s32 OUT 0 motion.program-line
19 float OUT 0 motion.requested-vel
19 u32 OUT 0x0018FB8F 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
29 float IN 0 pid.s.Dgain
29 float IN 1 pid.s.FF0
29 float IN 0 pid.s.FF1
29 float IN 0 pid.s.FF2
29 float IN 0 pid.s.FF3
29 float IN 0 pid.s.Igain
29 float IN 0 pid.s.Pgain
29 float IN 0 pid.s.bias
29 float IN 0 pid.s.command <== spindle-vel-cmd-rpm
29 float IN 0 pid.s.command-deriv
29 float IN 0 pid.s.deadband
29 s32 OUT 83 pid.s.do-pid-calcs.time
29 bit IN FALSE pid.s.enable <== spindle-enable
29 float OUT 0 pid.s.error
29 bit IN TRUE pid.s.error-previous-target
29 float IN 0 pid.s.feedback <== spindle-vel-fb-rpm
29 float IN 0 pid.s.feedback-deriv
29 bit IN FALSE pid.s.index-enable <== spindle-index-enable
29 float IN 0 pid.s.maxcmdD
29 float IN 0 pid.s.maxcmdDD
29 float IN 0 pid.s.maxcmdDDD
29 float IN 0 pid.s.maxerror
29 float IN 0 pid.s.maxerrorD
29 float IN 0 pid.s.maxerrorI
29 float IN 2000 pid.s.maxoutput
29 float OUT 0 pid.s.output ==> spindle-output
29 bit OUT FALSE pid.s.saturated
29 s32 OUT 0 pid.s.saturated-count
29 float OUT 0 pid.s.saturated-s
29 float IN 0 pid.x.Dgain
29 float IN 0 pid.x.FF0
29 float IN 1 pid.x.FF1
29 float IN 0 pid.x.FF2
29 float IN 0 pid.x.FF3
29 float IN 0 pid.x.Igain
29 float IN 1000 pid.x.Pgain
29 float IN 0 pid.x.bias
29 float IN 0 pid.x.command <== x-pos-cmd
29 float IN 0 pid.x.command-deriv
29 float IN 0 pid.x.deadband
29 s32 OUT 57 pid.x.do-pid-calcs.time
29 bit IN FALSE pid.x.enable <== x-enable
29 float OUT 0 pid.x.error
29 bit IN TRUE pid.x.error-previous-target
29 float IN 0 pid.x.feedback <== x-pos-fb
29 float IN 0 pid.x.feedback-deriv
29 bit IN FALSE pid.x.index-enable <== x-index-enable
29 float IN 0 pid.x.maxcmdD
29 float IN 0 pid.x.maxcmdDD
29 float IN 0 pid.x.maxcmdDDD
29 float IN 0.0005 pid.x.maxerror
29 float IN 0 pid.x.maxerrorD
29 float IN 0 pid.x.maxerrorI
29 float IN 0 pid.x.maxoutput
29 float OUT 0 pid.x.output ==> x-output
29 bit OUT FALSE pid.x.saturated
29 s32 OUT 0 pid.x.saturated-count
29 float OUT 0 pid.x.saturated-s
29 float IN 0 pid.y.Dgain
29 float IN 0 pid.y.FF0
29 float IN 1 pid.y.FF1
29 float IN 0 pid.y.FF2
29 float IN 0 pid.y.FF3
29 float IN 0 pid.y.Igain
29 float IN 1000 pid.y.Pgain
29 float IN 0 pid.y.bias
29 float IN 0 pid.y.command <== y-pos-cmd
29 float IN 0 pid.y.command-deriv
29 float IN 0 pid.y.deadband
29 s32 OUT 43 pid.y.do-pid-calcs.time
29 bit IN FALSE pid.y.enable <== y-enable
29 float OUT 0 pid.y.error
29 bit IN TRUE pid.y.error-previous-target
29 float IN 0 pid.y.feedback <== y-pos-fb
29 float IN 0 pid.y.feedback-deriv
29 bit IN FALSE pid.y.index-enable <== y-index-enable
29 float IN 0 pid.y.maxcmdD
29 float IN 0 pid.y.maxcmdDD
29 float IN 0 pid.y.maxcmdDDD
29 float IN 0.0005 pid.y.maxerror
29 float IN 0 pid.y.maxerrorD
29 float IN 0 pid.y.maxerrorI
29 float IN 0 pid.y.maxoutput
29 float OUT 0 pid.y.output ==> y-output
29 bit OUT FALSE pid.y.saturated
29 s32 OUT 0 pid.y.saturated-count
29 float OUT 0 pid.y.saturated-s
29 float IN 0 pid.z.Dgain
29 float IN 0 pid.z.FF0
29 float IN 1 pid.z.FF1
29 float IN 0 pid.z.FF2
29 float IN 0 pid.z.FF3
29 float IN 0 pid.z.Igain
29 float IN 1000 pid.z.Pgain
29 float IN 0 pid.z.bias
29 float IN 0 pid.z.command <== z-pos-cmd
29 float IN 0 pid.z.command-deriv
29 float IN 0 pid.z.deadband
29 s32 OUT 49 pid.z.do-pid-calcs.time
29 bit IN FALSE pid.z.enable <== z-enable
29 float OUT 0 pid.z.error
29 bit IN TRUE pid.z.error-previous-target
29 float IN 0 pid.z.feedback <== z-pos-fb
29 float IN 0 pid.z.feedback-deriv
29 bit IN FALSE pid.z.index-enable <== z-index-enable
29 float IN 0 pid.z.maxcmdD
29 float IN 0 pid.z.maxcmdDD
29 float IN 0 pid.z.maxcmdDDD
29 float IN 0.0005 pid.z.maxerror
29 float IN 0 pid.z.maxerrorD
29 float IN 0 pid.z.maxerrorI
29 float IN 0 pid.z.maxoutput
29 float OUT 0 pid.z.output ==> z-output
29 bit OUT FALSE pid.z.saturated
29 s32 OUT 0 pid.z.saturated-count
29 float OUT 0 pid.z.saturated-s
20 s32 OUT 506427 servo-thread.time
19 bit IN FALSE spindle.0.amp-fault-in
19 bit IN TRUE spindle.0.at-speed <== spindle-at-speed
19 bit OUT TRUE spindle.0.brake ==> spindle-brake
19 bit OUT FALSE spindle.0.forward ==> spindle-cw
19 bit I/O FALSE spindle.0.index-enable <=> spindle-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 FALSE spindle.0.on ==> spindle-enable
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 ==> spindle-ccw
19 float IN 0 spindle.0.revs <== spindle-revs
19 float OUT 0 spindle.0.speed-cmd-rps
19 float IN 0 spindle.0.speed-in <== spindle-vel-fb-rps
19 float OUT 0 spindle.0.speed-out ==> spindle-vel-cmd-rpm
19 float OUT 0 spindle.0.speed-out-abs ==> spindle-vel-cmd-rpm-abs
19 float OUT 0 spindle.0.speed-out-rps ==> spindle-vel-cmd-rps
19 float OUT 0 spindle.0.speed-out-rps-abs ==> spindle-vel-cmd-rps-abs
Pin Aliases:
Alias Original Name
Signals:
Type Value Name (linked to)
bit FALSE MDI-mode
<== halui.mode.is-mdi
bit FALSE axis-select-x
==> halui.axis.x.select
bit FALSE axis-select-y
==> halui.axis.y.select
bit FALSE axis-select-z
==> halui.axis.z.select
bit FALSE both-x
<== hm2_7i76e.0.gpio.034.in
==> joint.0.neg-lim-sw-in
==> joint.0.pos-lim-sw-in
bit FALSE both-y
<== hm2_7i76e.0.gpio.035.in
==> joint.1.neg-lim-sw-in
==> joint.1.pos-lim-sw-in
bit FALSE both-z
<== hm2_7i76e.0.gpio.036.in
==> joint.2.neg-lim-sw-in
==> joint.2.pos-lim-sw-in
bit FALSE coolant-flood
<== iocontrol.0.coolant-flood
bit FALSE coolant-mist
<== iocontrol.0.coolant-mist
bit FALSE estop-out
==> iocontrol.0.emc-enable-in
<== iocontrol.0.user-enable-out
bit TRUE in-position
<== motion.in-position
bit FALSE jog-selected-neg
==> halui.axis.selected.minus
bit FALSE jog-selected-pos
==> halui.axis.selected.plus
float 0 jog-speed
==> halui.axis.jog-speed
float 0 jog-x-analog
==> halui.axis.x.analog
bit FALSE jog-x-neg
==> halui.axis.x.minus
bit FALSE jog-x-pos
==> halui.axis.x.plus
float 0 jog-y-analog
==> halui.axis.y.analog
bit FALSE jog-y-neg
==> halui.axis.y.minus
bit FALSE jog-y-pos
==> halui.axis.y.plus
float 0 jog-z-analog
==> halui.axis.z.analog
bit FALSE jog-z-neg
==> halui.axis.z.minus
bit FALSE jog-z-pos
==> halui.axis.z.plus
bit FALSE machine-is-enabled
<== motion.motion-enabled
bit FALSE machine-is-on
<== halui.machine.is-on
bit FALSE probe-in
==> motion.probe-input
bit TRUE spindle-at-speed
==> spindle.0.at-speed
bit TRUE spindle-brake
<== spindle.0.brake
bit FALSE spindle-ccw
<== spindle.0.reverse
bit FALSE spindle-cw
<== spindle.0.forward
bit FALSE spindle-enable
==> pid.s.enable
<== spindle.0.on
bit FALSE spindle-index-enable
==> pid.s.index-enable
<=> spindle.0.index-enable
bit FALSE spindle-manual-ccw
==> halui.spindle.0.reverse
bit FALSE spindle-manual-cw
==> halui.spindle.0.forward
bit FALSE spindle-manual-stop
==> halui.spindle.0.stop
float 0 spindle-output
<== pid.s.output
float 0 spindle-revs
==> spindle.0.revs
float 0 spindle-vel-cmd-rpm
==> pid.s.command
<== spindle.0.speed-out
float 0 spindle-vel-cmd-rpm-abs
<== spindle.0.speed-out-abs
float 0 spindle-vel-cmd-rps
<== spindle.0.speed-out-rps
float 0 spindle-vel-cmd-rps-abs
<== spindle.0.speed-out-rps-abs
float 0 spindle-vel-fb-rpm
==> pid.s.feedback
float 0 spindle-vel-fb-rps
==> spindle.0.speed-in
bit FALSE tool-change-confirmed
<== hal_manualtoolchange.changed
==> iocontrol.0.tool-changed
bit FALSE tool-change-request
==> hal_manualtoolchange.change
<== iocontrol.0.tool-change
s32 0 tool-number
==> hal_manualtoolchange.number
<== iocontrol.0.tool-prep-number
bit FALSE tool-prepare-loopback
<== iocontrol.0.tool-prepare
==> iocontrol.0.tool-prepared
bit FALSE x-enable
==> hm2_7i76e.0.stepgen.00.enable
<== joint.0.amp-enable-out
==> pid.x.enable
bit FALSE x-home-sw
==> joint.0.home-sw-in
bit FALSE x-index-enable
==> pid.x.index-enable
bit FALSE x-is-homed
<== halui.joint.0.is-homed
float 0 x-output
==> hm2_7i76e.0.stepgen.00.velocity-cmd
<== pid.x.output
float 0 x-pos-cmd
<== joint.0.motor-pos-cmd
==> pid.x.command
float 0 x-pos-fb
<== hm2_7i76e.0.stepgen.00.position-fb
==> joint.0.motor-pos-fb
==> pid.x.feedback
float 0 x-vel-cmd
<== joint.0.vel-cmd
bit FALSE y-enable
==> hm2_7i76e.0.stepgen.01.enable
<== joint.1.amp-enable-out
==> pid.y.enable
bit FALSE y-home-sw
==> joint.1.home-sw-in
bit FALSE y-index-enable
==> pid.y.index-enable
bit FALSE y-is-homed
<== halui.joint.1.is-homed
float 0 y-output
==> hm2_7i76e.0.stepgen.01.velocity-cmd
<== pid.y.output
float 0 y-pos-cmd
<== joint.1.motor-pos-cmd
==> pid.y.command
float 0 y-pos-fb
<== hm2_7i76e.0.stepgen.01.position-fb
==> joint.1.motor-pos-fb
==> pid.y.feedback
float 0 y-vel-cmd
<== joint.1.vel-cmd
bit FALSE z-enable
==> hm2_7i76e.0.stepgen.02.enable
<== joint.2.amp-enable-out
==> pid.z.enable
bit FALSE z-home-sw
==> joint.2.home-sw-in
bit FALSE z-index-enable
==> pid.z.index-enable
bit FALSE z-is-homed
<== halui.joint.2.is-homed
float 0 z-output
==> hm2_7i76e.0.stepgen.02.velocity-cmd
<== pid.z.output
float 0 z-pos-cmd
<== joint.2.motor-pos-cmd
==> pid.z.command
float 0 z-pos-fb
<== hm2_7i76e.0.stepgen.02.position-fb
==> joint.2.motor-pos-fb
==> pid.z.feedback
float 0 z-vel-cmd
<== joint.2.vel-cmd
Parameters:
Owner Type Dir Value Name
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.analogin0
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.analogin1
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.analogin2
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.analogin3
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.encmode0
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.encmode1
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.fieldvoltage
26 u32 RW 0x00000001 hm2_7i76e.0.7i76.0.0.hwrevision
26 u32 RW 0x00000009 hm2_7i76e.0.7i76.0.0.nvbaudrate
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.nvencmode0
26 u32 RO 0x00000000 hm2_7i76e.0.7i76.0.0.nvencmode1
26 u32 RO 0x1A0005C5 hm2_7i76e.0.7i76.0.0.nvunitnumber
26 u32 RO 0x00000032 hm2_7i76e.0.7i76.0.0.nvwatchdogtimeout
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-00-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-01-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-02-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-03-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-04-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-05-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-06-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-07-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-08-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-09-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-10-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-11-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-12-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-13-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-14-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.output-15-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.spindir-invert
26 bit RW FALSE hm2_7i76e.0.7i76.0.0.spinena-invert
26 float RW 100 hm2_7i76e.0.7i76.0.0.spinout-maxlim
26 float RW 0 hm2_7i76e.0.7i76.0.0.spinout-minlim
26 float RW 100 hm2_7i76e.0.7i76.0.0.spinout-scalemax
26 u32 RW 0x0000000E hm2_7i76e.0.7i76.0.0.swrevision
26 bit RW FALSE hm2_7i76e.0.encoder.00.counter-mode
26 bit RW TRUE hm2_7i76e.0.encoder.00.filter
26 bit RW FALSE hm2_7i76e.0.encoder.00.index-invert
26 bit RW FALSE hm2_7i76e.0.encoder.00.index-mask
26 bit RW FALSE hm2_7i76e.0.encoder.00.index-mask-invert
26 float RW 1 hm2_7i76e.0.encoder.00.scale
26 float RW 0.5 hm2_7i76e.0.encoder.00.vel-timeout
26 bit RW FALSE hm2_7i76e.0.gpio.012.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.012.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.012.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.013.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.013.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.013.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.017.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.017.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.017.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.018.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.018.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.018.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.019.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.019.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.019.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.020.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.020.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.020.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.021.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.021.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.021.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.022.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.022.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.022.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.023.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.023.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.023.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.024.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.024.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.024.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.025.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.025.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.025.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.026.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.026.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.026.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.027.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.027.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.027.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.028.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.028.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.028.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.029.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.029.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.029.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.030.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.030.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.030.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.031.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.031.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.031.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.032.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.032.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.032.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.033.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.033.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.033.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.034.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.034.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.034.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.035.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.035.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.035.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.036.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.036.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.036.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.037.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.037.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.037.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.038.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.038.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.038.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.039.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.039.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.039.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.040.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.040.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.040.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.041.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.041.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.041.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.042.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.042.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.042.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.043.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.043.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.043.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.044.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.044.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.044.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.045.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.045.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.045.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.046.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.046.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.046.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.047.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.047.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.047.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.048.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.048.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.048.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.049.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.049.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.049.is_output
26 bit RW FALSE hm2_7i76e.0.gpio.050.invert_output
26 bit RW FALSE hm2_7i76e.0.gpio.050.is_opendrain
26 bit RW FALSE hm2_7i76e.0.gpio.050.is_output
26 bit RW FALSE hm2_7i76e.0.io_error
26 s32 RO 1 hm2_7i76e.0.packet-error-decrement
26 s32 RW 2 hm2_7i76e.0.packet-error-increment
26 s32 RW 10 hm2_7i76e.0.packet-error-limit
26 s32 RW 80 hm2_7i76e.0.packet-read-timeout
26 s32 RW 0 hm2_7i76e.0.read-request.tmax
26 bit RO FALSE hm2_7i76e.0.read-request.tmax-increased
26 s32 RW 1010386 hm2_7i76e.0.read.tmax
26 bit RO FALSE hm2_7i76e.0.read.tmax-increased
26 bit RW FALSE hm2_7i76e.0.sserial.00.tx0.invert_output
26 bit RW FALSE hm2_7i76e.0.sserial.00.tx0.is_opendrain
26 u32 RW 0x00000001 hm2_7i76e.0.sserial.port-0.fault-dec
26 u32 RW 0x0000000A hm2_7i76e.0.sserial.port-0.fault-inc
26 u32 RW 0x000000C8 hm2_7i76e.0.sserial.port-0.fault-lim
26 bit RW FALSE hm2_7i76e.0.stepgen.00.direction.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.00.direction.is_opendrain
26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.00.dirhold
26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.00.dirsetup
26 float RW 937.5 hm2_7i76e.0.stepgen.00.maxaccel
26 float RW 31.25 hm2_7i76e.0.stepgen.00.maxvel
26 float RW 40 hm2_7i76e.0.stepgen.00.position-scale
26 bit RW FALSE hm2_7i76e.0.stepgen.00.step.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.00.step.is_opendrain
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.step_type
26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.00.steplen
26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.00.stepspace
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-0
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-1
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-2
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.00.table-data-3
26 bit RW FALSE hm2_7i76e.0.stepgen.01.direction.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.01.direction.is_opendrain
26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.01.dirhold
26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.01.dirsetup
26 float RW 937.5 hm2_7i76e.0.stepgen.01.maxaccel
26 float RW 31.25 hm2_7i76e.0.stepgen.01.maxvel
26 float RW 40 hm2_7i76e.0.stepgen.01.position-scale
26 bit RW FALSE hm2_7i76e.0.stepgen.01.step.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.01.step.is_opendrain
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.step_type
26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.01.steplen
26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.01.stepspace
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-0
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-1
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-2
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.01.table-data-3
26 bit RW FALSE hm2_7i76e.0.stepgen.02.direction.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.02.direction.is_opendrain
26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.02.dirhold
26 u32 RW 0x00002710 hm2_7i76e.0.stepgen.02.dirsetup
26 float RW 937.5 hm2_7i76e.0.stepgen.02.maxaccel
26 float RW 31.25 hm2_7i76e.0.stepgen.02.maxvel
26 float RW 40 hm2_7i76e.0.stepgen.02.position-scale
26 bit RW FALSE hm2_7i76e.0.stepgen.02.step.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.02.step.is_opendrain
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.step_type
26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.02.steplen
26 u32 RW 0x00001388 hm2_7i76e.0.stepgen.02.stepspace
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-0
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-1
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-2
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.02.table-data-3
26 bit RW FALSE hm2_7i76e.0.stepgen.03.direction.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.03.direction.is_opendrain
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.dirhold
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.dirsetup
26 float RW 1 hm2_7i76e.0.stepgen.03.maxaccel
26 float RW 0 hm2_7i76e.0.stepgen.03.maxvel
26 float RW 1 hm2_7i76e.0.stepgen.03.position-scale
26 bit RW FALSE hm2_7i76e.0.stepgen.03.step.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.03.step.is_opendrain
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.step_type
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.steplen
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.03.stepspace
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-0
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-1
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-2
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.03.table-data-3
26 bit RW FALSE hm2_7i76e.0.stepgen.04.direction.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.04.direction.is_opendrain
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.dirhold
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.dirsetup
26 float RW 1 hm2_7i76e.0.stepgen.04.maxaccel
26 float RW 0 hm2_7i76e.0.stepgen.04.maxvel
26 float RW 1 hm2_7i76e.0.stepgen.04.position-scale
26 bit RW FALSE hm2_7i76e.0.stepgen.04.step.invert_output
26 bit RW FALSE hm2_7i76e.0.stepgen.04.step.is_opendrain
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.step_type
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.steplen
26 u32 RW 0x00027FF6 hm2_7i76e.0.stepgen.04.stepspace
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-0
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-1
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-2
26 u32 RW 0x00000000 hm2_7i76e.0.stepgen.04.table-data-3
26 u32 RW 0x004C4B40 hm2_7i76e.0.watchdog.timeout_ns
26 s32 RW 96517 hm2_7i76e.0.write.tmax
26 bit RO FALSE hm2_7i76e.0.write.tmax-increased
4 s32 RO 0 iocontrol.0.tool-prep-index
19 s32 RW 52591 motion-command-handler.tmax
19 bit RO FALSE motion-command-handler.tmax-increased
19 s32 RW 83969 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 0 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
29 s32 RW 53646 pid.s.do-pid-calcs.tmax
29 bit RO FALSE pid.s.do-pid-calcs.tmax-increased
29 s32 RW 34587 pid.x.do-pid-calcs.tmax
29 bit RO FALSE pid.x.do-pid-calcs.tmax-increased
29 s32 RW 33098 pid.y.do-pid-calcs.tmax
29 bit RO FALSE pid.y.do-pid-calcs.tmax-increased
29 s32 RW 51292 pid.z.do-pid-calcs.tmax
29 bit RO FALSE pid.z.do-pid-calcs.tmax-increased
20 s32 RW 1017906 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_7i76e.0.sserial.00.tx0.invert_output hm2_7i76e.0.gpio.010.invert_output
hm2_7i76e.0.sserial.00.tx0.is_opendrain hm2_7i76e.0.gpio.010.is_opendrain
hm2_7i76e.0.stepgen.00.direction.invert_output hm2_7i76e.0.gpio.000.invert_output
hm2_7i76e.0.stepgen.00.direction.is_opendrain hm2_7i76e.0.gpio.000.is_opendrain
hm2_7i76e.0.stepgen.00.step.invert_output hm2_7i76e.0.gpio.001.invert_output
hm2_7i76e.0.stepgen.00.step.is_opendrain hm2_7i76e.0.gpio.001.is_opendrain
hm2_7i76e.0.stepgen.01.direction.invert_output hm2_7i76e.0.gpio.002.invert_output
hm2_7i76e.0.stepgen.01.direction.is_opendrain hm2_7i76e.0.gpio.002.is_opendrain
hm2_7i76e.0.stepgen.01.step.invert_output hm2_7i76e.0.gpio.003.invert_output
hm2_7i76e.0.stepgen.01.step.is_opendrain hm2_7i76e.0.gpio.003.is_opendrain
hm2_7i76e.0.stepgen.02.direction.invert_output hm2_7i76e.0.gpio.004.invert_output
hm2_7i76e.0.stepgen.02.direction.is_opendrain hm2_7i76e.0.gpio.004.is_opendrain
hm2_7i76e.0.stepgen.02.step.invert_output hm2_7i76e.0.gpio.005.invert_output
hm2_7i76e.0.stepgen.02.step.is_opendrain hm2_7i76e.0.gpio.005.is_opendrain
hm2_7i76e.0.stepgen.03.direction.invert_output hm2_7i76e.0.gpio.006.invert_output
hm2_7i76e.0.stepgen.03.direction.is_opendrain hm2_7i76e.0.gpio.006.is_opendrain
hm2_7i76e.0.stepgen.03.step.invert_output hm2_7i76e.0.gpio.007.invert_output
hm2_7i76e.0.stepgen.03.step.is_opendrain hm2_7i76e.0.gpio.007.is_opendrain
hm2_7i76e.0.stepgen.04.direction.invert_output hm2_7i76e.0.gpio.008.invert_output
hm2_7i76e.0.stepgen.04.direction.is_opendrain hm2_7i76e.0.gpio.008.is_opendrain
hm2_7i76e.0.stepgen.04.step.invert_output hm2_7i76e.0.gpio.009.invert_output
hm2_7i76e.0.stepgen.04.step.is_opendrain hm2_7i76e.0.gpio.009.is_opendrain
Exported Functions:
Owner CodeAddr Arg FP Users Name
00026 7fee239df7b5 55bd05587b60 YES 1 hm2_7i76e.0.read
00026 7fee239df741 55bd05587b60 YES 0 hm2_7i76e.0.read-request
00026 7fee239df626 55bd05587b60 YES 1 hm2_7i76e.0.write
00019 7fee23ea7aaa 00000000 YES 1 motion-command-handler
00019 7fee23eab43a 00000000 YES 1 motion-controller
00029 7fee235ccd6a 7fee263f7a98 YES 1 pid.s.do-pid-calcs
00029 7fee235ccd6a 7fee263f76d8 YES 1 pid.x.do-pid-calcs
00029 7fee235ccd6a 7fee263f7818 YES 1 pid.y.do-pid-calcs
00029 7fee235ccd6a 7fee263f7958 YES 1 pid.z.do-pid-calcs
Realtime Threads:
Period FP Name ( Time, Max-Time )
1000000 YES servo-thread ( 506427, 1017906 )
1 hm2_7i76e.0.read
2 motion-command-handler
3 motion-controller
4 pid.x.do-pid-calcs
5 pid.y.do-pid-calcs
6 pid.z.do-pid-calcs
7 pid.s.do-pid-calcs
8 hm2_7i76e.0.writeI attached my hal and ini. I tried the pins like hm2_7i76e.0.7i76.0.0.input-xx where xx is the number, e. g. 00 and hm2_7i76e.0.gpio.xxx.in where xxx is the number, e. g. 000. Do I need to connect field power to all input pins while powering up the mesa board?
A second problem I have with this configuration is the message <2hm2/hm2_7i76e.0: Smart serial card hm2_7i76e.0.7i76.0.0.remote nerror = (29) Under voltage when I start linuxcnc. How can I solve this? Disable the smart serial port in linuxcnc config?
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06 Jun 2020 07:00 #170316
by anli
Replied by anli on topic Mesa 7i76 - can't read inputs on field inputs (TB5, TB6)
OK, I found the solution: W1 was set in the wrong position. I use the field power connector TB1 and W1 was set to 2-3. If I set W1 to 1-2 (VIN CON) everything works well. Thanks a lot for your help!
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06 Jun 2020 08:31 #170319
by bbsr_5a
Replied by bbsr_5a on topic Mesa 7i76 - can't read inputs on field inputs (TB5, TB6)
the default setting is for safty reason and gives lots of people headbangs to find this
as so many do not read the Manual ,woudt be fine to get a quick one Page Info Jumpers,power,ip
as so many do not read the Manual ,woudt be fine to get a quick one Page Info Jumpers,power,ip
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06 Jun 2020 15:59 #170374
by anli
Replied by anli on topic Mesa 7i76 - can't read inputs on field inputs (TB5, TB6)
Hm, I read the manual, but maybe didn't understand it. I connected TB1.5 to +24VDC and TB1.8 to GND and thought then setting W1 to 2-3 (VIN SEP) would be right.
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06 Jun 2020 17:12 #170379
by PCW
Replied by PCW on topic Mesa 7i76 - can't read inputs on field inputs (TB5, TB6)
I think you have things backwards
Field power for I/O should go to TB1 pin 1 (2,3,4) and pin 5 (VIN)
should be left open if W1 is in the left hand position.
Otherwise you are powering the outputs (which might draw 2 A or more)
via the jumper W1
Field power for I/O should go to TB1 pin 1 (2,3,4) and pin 5 (VIN)
should be left open if W1 is in the left hand position.
Otherwise you are powering the outputs (which might draw 2 A or more)
via the jumper W1
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07 Jun 2020 10:15 #170464
by anli
Replied by anli on topic Mesa 7i76 - can't read inputs on field inputs (TB5, TB6)
Hi Peter, OK, thank you, got it!
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