7i76e with PWM, 4 step gen AND TB5 and TB6

# Generated by PNCconf at Mon May 9 20:00:07 2022 # Using LinuxCNC version: 2.8 # If you make changes to this file, they will be # overwritten when you run PNCconf again loadusr -Wn pyvcp pyvcp -c pyvcp [DISPLAY](PYVCP) source postgui_call_list.hal loadrt [KINS]KINEMATICS loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS loadrt hostmot2 loadrt hm2_eth board_ip="10.10.10.10" config=" num_encoders=1 num_pwmgens=1 num_stepgens=4 sserial_port_0=00xxxx" setp hm2_7i76.0.pwmgen.pwm_frequency 20000 setp hm2_7i76.0.pwmgen.pdm_frequency 6000000 setp hm2_7i76.0.watchdog.timeout_ns 5000000 loadrt pid names=pid.x,pid.y,pid.y2,pid.z,pid.s loadrt abs names=abs.spindle loadrt lowpass names=lowpass.spindle addf hm2_7i76.0.read servo-thread addf motion-command-handler servo-thread addf motion-controller servo-thread addf pid.x.do-pid-calcs servo-thread addf pid.y.do-pid-calcs servo-thread addf pid.y2.do-pid-calcs servo-thread addf pid.z.do-pid-calcs servo-thread addf pid.s.do-pid-calcs servo-thread addf abs.spindle servo-thread addf lowpass.spindle servo-thread addf hm2_7i76.0.write servo-thread # external output signals # --- MACHINE-IS-ENABLED --- setp hm2_7i76.0.gpio.048.is_output true net machine-is-enabled => hm2_7i76.0.gpio.048.out # external input signals # --- MAX-HOME-X --- net max-home-x <= hm2_7i76.0.gpio.024.in # --- MAX-HOME-Y --- net max-home-y <= hm2_7i76.0.gpio.025.in # --- MAX-HOME-Z --- net max-home-z <= hm2_7i76.0.gpio.026.in #******************* # AXIS X JOINT 0 #******************* setp pid.x.Pgain [JOINT_0]P setp pid.x.Igain [JOINT_0]I setp pid.x.Dgain [JOINT_0]D setp pid.x.bias [JOINT_0]BIAS setp pid.x.FF0 [JOINT_0]FF0 setp pid.x.FF1 [JOINT_0]FF1 setp pid.x.FF2 [JOINT_0]FF2 setp pid.x.deadband [JOINT_0]DEADBAND setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT setp pid.x.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.x.maxerror 0.012700 net x-index-enable <=> pid.x.index-enable net x-enable => pid.x.enable net x-pos-cmd => pid.x.command net x-pos-fb => pid.x.feedback net x-output <= pid.x.output # Step Gen signals/setup setp hm2_7i76.0.stepgen.00.dirsetup [JOINT_0]DIRSETUP setp hm2_7i76.0.stepgen.00.dirhold [JOINT_0]DIRHOLD setp hm2_7i76.0.stepgen.00.steplen [JOINT_0]STEPLEN setp hm2_7i76.0.stepgen.00.stepspace [JOINT_0]STEPSPACE setp hm2_7i76.0.stepgen.00.position-scale [JOINT_0]STEP_SCALE setp hm2_7i76.0.stepgen.00.step_type 0 setp hm2_7i76.0.stepgen.00.control-type 1 setp hm2_7i76.0.stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL setp hm2_7i76.0.stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL # ---closedloop stepper signals--- net x-pos-cmd <= joint.0.motor-pos-cmd net x-vel-cmd <= joint.0.vel-cmd net x-output <= hm2_7i76.0.stepgen.00.velocity-cmd net x-pos-fb <= hm2_7i76.0.stepgen.00.position-fb net x-pos-fb => joint.0.motor-pos-fb net x-enable <= joint.0.amp-enable-out net x-enable => hm2_7i76.0.stepgen.00.enable # ---setup home / limit switch signals--- net max-home-x => joint.0.home-sw-in net x-neg-limit => joint.0.neg-lim-sw-in net max-home-x => joint.0.pos-lim-sw-in #******************* # AXIS Y JOINT 1 #******************* setp pid.y.Pgain [JOINT_1]P setp pid.y.Igain [JOINT_1]I setp pid.y.Dgain [JOINT_1]D setp pid.y.bias [JOINT_1]BIAS setp pid.y.FF0 [JOINT_1]FF0 setp pid.y.FF1 [JOINT_1]FF1 setp pid.y.FF2 [JOINT_1]FF2 setp pid.y.deadband [JOINT_1]DEADBAND setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT setp pid.y.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.y.maxerror 0.012700 net y-index-enable <=> pid.y.index-enable net y-enable => pid.y.enable net y-pos-cmd => pid.y.command net y-pos-fb => pid.y.feedback net y-output <= pid.y.output # Step Gen signals/setup setp hm2_7i76.0.stepgen.01.dirsetup [JOINT_1]DIRSETUP setp hm2_7i76.0.stepgen.01.dirhold [JOINT_1]DIRHOLD setp hm2_7i76.0.stepgen.01.steplen [JOINT_1]STEPLEN setp hm2_7i76.0.stepgen.01.stepspace [JOINT_1]STEPSPACE setp hm2_7i76.0.stepgen.01.position-scale [JOINT_1]STEP_SCALE setp hm2_7i76.0.stepgen.01.step_type 0 setp hm2_7i76.0.stepgen.01.control-type 1 setp hm2_7i76.0.stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL setp hm2_7i76.0.stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y-pos-cmd <= joint.1.motor-pos-cmd net y-vel-cmd <= joint.1.vel-cmd net y-output <= hm2_7i76.0.stepgen.01.velocity-cmd net y-pos-fb <= hm2_7i76.0.stepgen.01.position-fb net y-pos-fb => joint.1.motor-pos-fb net y-enable <= joint.1.amp-enable-out net y-enable => hm2_7i76.0.stepgen.01.enable # ---setup home / limit switch signals--- net max-home-y => joint.1.home-sw-in net y-neg-limit => joint.1.neg-lim-sw-in net max-home-y => joint.1.pos-lim-sw-in #******************* # Tandem AXIS Y2 JOINT 2 #******************* setp pid.y2.Pgain [JOINT_2]P setp pid.y2.Igain [JOINT_2]I setp pid.y2.Dgain [JOINT_2]D setp pid.y2.bias [JOINT_2]BIAS setp pid.y2.FF0 [JOINT_2]FF0 setp pid.y2.FF1 [JOINT_2]FF1 setp pid.y2.FF2 [JOINT_2]FF2 setp pid.y2.deadband [JOINT_2]DEADBAND setp pid.y2.maxoutput [JOINT_2]MAX_OUTPUT setp pid.y2.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.y2.maxerror 0.012700 net y2-index-enable <=> pid.y2.index-enable net y2-enable => pid.y2.enable net y2-pos-cmd => pid.y2.command net y2-pos-fb => pid.y2.feedback net y2-output <= pid.y2.output # Step Gen signals/setup for tandem axis setp hm2_7i76.0.stepgen.02.dirsetup [JOINT_2]DIRSETUP setp hm2_7i76.0.stepgen.02.dirhold [JOINT_2]DIRHOLD setp hm2_7i76.0.stepgen.02.steplen [JOINT_2]STEPLEN setp hm2_7i76.0.stepgen.02.stepspace [JOINT_2]STEPSPACE setp hm2_7i76.0.stepgen.02.position-scale [JOINT_2]STEP_SCALE setp hm2_7i76.0.stepgen.02.step_type 0 setp hm2_7i76.0.stepgen.02.control-type 1 setp hm2_7i76.0.stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL setp hm2_7i76.0.stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL # ---closedloop stepper signals--- net y2-pos-cmd <= joint.2.motor-pos-cmd net y2-vel-cmd <= joint.2.vel-cmd net y2-output <= hm2_7i76.0.stepgen.02.velocity-cmd net y2-pos-fb <= hm2_7i76.0.stepgen.02.position-fb net y2-pos-fb => joint.2.motor-pos-fb net y2-enable <= joint.2.amp-enable-out net y2-enable => hm2_7i76.0.stepgen.02.enable # ---setup home / limit switch signals--- net y2-home-sw => joint.2.home-sw-in net y2-neg-limit => joint.2.neg-lim-sw-in net y2-pos-limit => joint.2.pos-lim-sw-in #******************* # AXIS Z JOINT 3 #******************* setp pid.z.Pgain [JOINT_3]P setp pid.z.Igain [JOINT_3]I setp pid.z.Dgain [JOINT_3]D setp pid.z.bias [JOINT_3]BIAS setp pid.z.FF0 [JOINT_3]FF0 setp pid.z.FF1 [JOINT_3]FF1 setp pid.z.FF2 [JOINT_3]FF2 setp pid.z.deadband [JOINT_3]DEADBAND setp pid.z.maxoutput [JOINT_3]MAX_OUTPUT setp pid.z.error-previous-target true # This setting is to limit bogus stepgen # velocity corrections caused by position # feedback sample time jitter. setp pid.z.maxerror 0.012700 net z-index-enable <=> pid.z.index-enable net z-enable => pid.z.enable net z-pos-cmd => pid.z.command net z-pos-fb => pid.z.feedback net z-output <= pid.z.output # Step Gen signals/setup setp hm2_7i76.0.stepgen.03.dirsetup [JOINT_3]DIRSETUP setp hm2_7i76.0.stepgen.03.dirhold [JOINT_3]DIRHOLD setp hm2_7i76.0.stepgen.03.steplen [JOINT_3]STEPLEN setp hm2_7i76.0.stepgen.03.stepspace [JOINT_3]STEPSPACE setp hm2_7i76.0.stepgen.03.position-scale [JOINT_3]STEP_SCALE setp hm2_7i76.0.stepgen.03.step_type 0 setp hm2_7i76.0.stepgen.03.control-type 1 setp hm2_7i76.0.stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL setp hm2_7i76.0.stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL # ---closedloop stepper signals--- net z-pos-cmd <= joint.3.motor-pos-cmd net z-vel-cmd <= joint.3.vel-cmd net z-output <= hm2_7i76.0.stepgen.03.velocity-cmd net z-pos-fb <= hm2_7i76.0.stepgen.03.position-fb net z-pos-fb => joint.3.motor-pos-fb net z-enable <= joint.3.amp-enable-out net z-enable => hm2_7i76.0.stepgen.03.enable # ---setup home / limit switch signals--- net max-home-z => joint.3.home-sw-in net z-neg-limit => joint.3.neg-lim-sw-in net max-home-z => joint.3.pos-lim-sw-in #******************* # SPINDLE #******************* setp pid.s.Pgain [SPINDLE_0]P setp pid.s.Igain [SPINDLE_0]I setp pid.s.Dgain [SPINDLE_0]D setp pid.s.bias [SPINDLE_0]BIAS setp pid.s.FF0 [SPINDLE_0]FF0 setp pid.s.FF1 [SPINDLE_0]FF1 setp pid.s.FF2 [SPINDLE_0]FF2 setp pid.s.deadband [SPINDLE_0]DEADBAND setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT setp pid.s.error-previous-target true net spindle-index-enable <=> pid.s.index-enable net spindle-enable => pid.s.enable net spindle-vel-cmd-rpm-abs => pid.s.command net spindle-vel-fb-rpm-abs => pid.s.feedback net spindle-output <= pid.s.output # ---PWM Generator signals/setup--- setp hm2_7i76.0.pwmgen.00.output-type 1 setp hm2_7i76.0.pwmgen.00.scale [SPINDLE_0]OUTPUT_SCALE net spindle-vel-cmd-rpm => hm2_7i76.0.pwmgen.00.value net spindle-enable => hm2_7i76.0.pwmgen.00.enable # ---setup spindle control signals--- net spindle-vel-cmd-rps <= spindle.0.speed-out-rps net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs net spindle-vel-cmd-rpm <= spindle.0.speed-out net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs net spindle-enable <= spindle.0.on net spindle-cw <= spindle.0.forward net spindle-ccw <= spindle.0.reverse net spindle-brake <= spindle.0.brake net spindle-revs => spindle.0.revs net spindle-at-speed => spindle.0.at-speed net spindle-vel-fb-rps => spindle.0.speed-in net spindle-index-enable <=> spindle.0.index-enable # ---Setup spindle at speed signals--- sets spindle-at-speed true #****************************** # connect miscellaneous signals #****************************** # ---HALUI signals--- net axis-select-x halui.axis.x.select net jog-x-pos halui.axis.x.plus net jog-x-neg halui.axis.x.minus net jog-x-analog halui.axis.x.analog net x-is-homed halui.joint.0.is-homed net axis-select-y halui.axis.y.select net jog-y-pos halui.axis.y.plus net jog-y-neg halui.axis.y.minus net jog-y-analog halui.axis.y.analog net y-is-homed halui.joint.1.is-homed net axis-select-z halui.axis.z.select net jog-z-pos halui.axis.z.plus net jog-z-neg halui.axis.z.minus net jog-z-analog halui.axis.z.analog net z-is-homed halui.joint.2.is-homed net jog-selected-pos halui.axis.selected.plus net jog-selected-neg halui.axis.selected.minus net spindle-manual-cw halui.spindle.0.forward net spindle-manual-ccw halui.spindle.0.reverse net spindle-manual-stop halui.spindle.0.stop net machine-is-on halui.machine.is-on net jog-speed halui.axis.jog-speed net MDI-mode halui.mode.is-mdi # ---coolant signals--- net coolant-mist <= iocontrol.0.coolant-mist net coolant-flood <= iocontrol.0.coolant-flood # ---probe signal--- net probe-in => motion.probe-input # ---motion control signals--- net in-position <= motion.in-position net machine-is-enabled <= motion.motion-enabled # ---digital in / out signals--- # ---estop signals--- net estop-out <= iocontrol.0.user-enable-out net estop-out => iocontrol.0.emc-enable-in # ---manual tool change signals--- loadusr -W hal_manualtoolchange net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

greg@cutty:~/linuxcnc/configs/shapeoko$ halrun halcmd: loadrt hostmot2 Note: Using POSIX realtime hm2: loading Mesa HostMot2 driver version 0.15 halcmd: loadrt hm2_eth board_ip="10.10.10.10 <stdin>:2: unterminated quoted string halcmd: loadrt hm2_eth board_ip="10.10.10.10" hm2_eth: loading Mesa AnyIO HostMot2 ethernet driver version 0.2 hm2_eth: 10.10.10.10: INFO: Hardware address (MAC): 00:60:1b:10:4c:54 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): PWMGen #0, pin Out1 (Dir or Down) (Output) hm2/hm2_7i76e.0: IO Pin 009 (P1-06): PWMGen #0, pin Out0 (PWM or Up) (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: registered halcmd: show pin Component Pins: Owner Type Dir Value Name 7 s32 OUT 0 hm2_7i76e.0.0.debug 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-00 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-00-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-01 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-01-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-02 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-02-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-03 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-03-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-04 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-04-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-05 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-05-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-06 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-06-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-07 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-07-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-08 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-08-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-09 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-09-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-10 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-10-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-11 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-11-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-12 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-12-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-13 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-13-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-14 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-14-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-15 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-15-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-16 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-16-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-17 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-17-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-18 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-18-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-19 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-19-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-20 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-20-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-21 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-21-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-22 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-22-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-23 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-23-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-24 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-24-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-25 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-25-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-26 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-26-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-27 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-27-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-28 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-28-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-29 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-29-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-30 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-30-not 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-31 7 bit OUT FALSE hm2_7i76e.0.7i76.0.0.input-31-not 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-00 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-01 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-02 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-03 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-04 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-05 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-06 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-07 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-08 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-09 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-10 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-11 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-12 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-13 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-14 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.output-15 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.spindir 7 bit IN FALSE hm2_7i76e.0.7i76.0.0.spinena 7 float IN 0 hm2_7i76e.0.7i76.0.0.spinout 7 float IN 100 hm2_7i76e.0.dpll.01.timer-us 7 float IN 100 hm2_7i76e.0.dpll.02.timer-us 7 float IN 100 hm2_7i76e.0.dpll.03.timer-us 7 float IN 100 hm2_7i76e.0.dpll.04.timer-us 7 float IN -1 hm2_7i76e.0.dpll.base-freq-khz 7 u32 OUT 0x00000000 hm2_7i76e.0.dpll.ddsize 7 float OUT 0 hm2_7i76e.0.dpll.phase-error-us 7 u32 IN 0x00400000 hm2_7i76e.0.dpll.plimit 7 u32 OUT 0x00000001 hm2_7i76e.0.dpll.prescale 7 u32 IN 0x000007D0 hm2_7i76e.0.dpll.time-const 7 s32 OUT 0 hm2_7i76e.0.encoder.00.count 7 s32 OUT 0 hm2_7i76e.0.encoder.00.count-latched 7 bit I/O FALSE hm2_7i76e.0.encoder.00.index-enable 7 bit OUT FALSE hm2_7i76e.0.encoder.00.input-a 7 bit OUT FALSE hm2_7i76e.0.encoder.00.input-b 7 bit OUT TRUE hm2_7i76e.0.encoder.00.input-index 7 bit IN FALSE hm2_7i76e.0.encoder.00.latch-enable 7 bit IN FALSE hm2_7i76e.0.encoder.00.latch-polarity 7 float OUT 0 hm2_7i76e.0.encoder.00.position 7 float OUT 0 hm2_7i76e.0.encoder.00.position-latched 7 bit OUT FALSE hm2_7i76e.0.encoder.00.quad-error 7 bit IN FALSE hm2_7i76e.0.encoder.00.quad-error-enable 7 s32 OUT 0 hm2_7i76e.0.encoder.00.rawcounts 7 s32 OUT 0 hm2_7i76e.0.encoder.00.rawlatch 7 bit IN FALSE hm2_7i76e.0.encoder.00.reset 7 float OUT 0 hm2_7i76e.0.encoder.00.velocity 7 float OUT 0 hm2_7i76e.0.encoder.00.velocity-rpm 7 bit IN FALSE hm2_7i76e.0.encoder.hires-timestamp 7 u32 IN 0x017D7840 hm2_7i76e.0.encoder.sample-frequency 7 s32 IN -1 hm2_7i76e.0.encoder.timer-number 7 bit OUT TRUE hm2_7i76e.0.gpio.000.in 7 bit OUT FALSE hm2_7i76e.0.gpio.000.in_not 7 bit OUT TRUE hm2_7i76e.0.gpio.001.in 7 bit OUT FALSE hm2_7i76e.0.gpio.001.in_not 7 bit OUT TRUE hm2_7i76e.0.gpio.002.in 7 bit OUT FALSE hm2_7i76e.0.gpio.002.in_not 7 bit OUT TRUE hm2_7i76e.0.gpio.003.in 7 bit OUT FALSE hm2_7i76e.0.gpio.003.in_not 7 bit OUT TRUE hm2_7i76e.0.gpio.004.in 7 bit OUT FALSE hm2_7i76e.0.gpio.004.in_not 7 bit OUT TRUE hm2_7i76e.0.gpio.005.in 7 bit OUT FALSE hm2_7i76e.0.gpio.005.in_not 7 bit OUT TRUE hm2_7i76e.0.gpio.006.in 7 bit OUT FALSE hm2_7i76e.0.gpio.006.in_not 7 bit OUT TRUE hm2_7i76e.0.gpio.007.in 7 bit OUT FALSE hm2_7i76e.0.gpio.007.in_not 7 bit OUT TRUE hm2_7i76e.0.gpio.008.in 7 bit OUT FALSE hm2_7i76e.0.gpio.008.in_not 7 bit OUT TRUE hm2_7i76e.0.gpio.009.in 7 bit OUT FALSE hm2_7i76e.0.gpio.009.in_not 7 bit OUT TRUE hm2_7i76e.0.gpio.010.in 7 bit OUT FALSE hm2_7i76e.0.gpio.010.in_not 7 bit OUT TRUE hm2_7i76e.0.gpio.011.in 7 bit OUT FALSE hm2_7i76e.0.gpio.011.in_not 7 bit OUT TRUE hm2_7i76e.0.gpio.012.in 7 bit OUT FALSE hm2_7i76e.0.gpio.012.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.012.out 7 bit OUT FALSE hm2_7i76e.0.gpio.013.in 7 bit OUT TRUE hm2_7i76e.0.gpio.013.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.013.out 7 bit OUT FALSE hm2_7i76e.0.gpio.014.in 7 bit OUT TRUE hm2_7i76e.0.gpio.014.in_not 7 bit OUT FALSE hm2_7i76e.0.gpio.015.in 7 bit OUT TRUE hm2_7i76e.0.gpio.015.in_not 7 bit OUT FALSE hm2_7i76e.0.gpio.016.in 7 bit OUT TRUE hm2_7i76e.0.gpio.016.in_not 7 bit OUT TRUE hm2_7i76e.0.gpio.017.in 7 bit OUT FALSE hm2_7i76e.0.gpio.017.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.017.out 7 bit OUT TRUE hm2_7i76e.0.gpio.018.in 7 bit OUT FALSE hm2_7i76e.0.gpio.018.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.018.out 7 bit OUT TRUE hm2_7i76e.0.gpio.019.in 7 bit OUT FALSE hm2_7i76e.0.gpio.019.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.019.out 7 bit OUT TRUE hm2_7i76e.0.gpio.020.in 7 bit OUT FALSE hm2_7i76e.0.gpio.020.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.020.out 7 bit OUT TRUE hm2_7i76e.0.gpio.021.in 7 bit OUT FALSE hm2_7i76e.0.gpio.021.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.021.out 7 bit OUT TRUE hm2_7i76e.0.gpio.022.in 7 bit OUT FALSE hm2_7i76e.0.gpio.022.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.022.out 7 bit OUT TRUE hm2_7i76e.0.gpio.023.in 7 bit OUT FALSE hm2_7i76e.0.gpio.023.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.023.out 7 bit OUT TRUE hm2_7i76e.0.gpio.024.in 7 bit OUT FALSE hm2_7i76e.0.gpio.024.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.024.out 7 bit OUT TRUE hm2_7i76e.0.gpio.025.in 7 bit OUT FALSE hm2_7i76e.0.gpio.025.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.025.out 7 bit OUT TRUE hm2_7i76e.0.gpio.026.in 7 bit OUT FALSE hm2_7i76e.0.gpio.026.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.026.out 7 bit OUT TRUE hm2_7i76e.0.gpio.027.in 7 bit OUT FALSE hm2_7i76e.0.gpio.027.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.027.out 7 bit OUT TRUE hm2_7i76e.0.gpio.028.in 7 bit OUT FALSE hm2_7i76e.0.gpio.028.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.028.out 7 bit OUT TRUE hm2_7i76e.0.gpio.029.in 7 bit OUT FALSE hm2_7i76e.0.gpio.029.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.029.out 7 bit OUT TRUE hm2_7i76e.0.gpio.030.in 7 bit OUT FALSE hm2_7i76e.0.gpio.030.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.030.out 7 bit OUT TRUE hm2_7i76e.0.gpio.031.in 7 bit OUT FALSE hm2_7i76e.0.gpio.031.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.031.out 7 bit OUT TRUE hm2_7i76e.0.gpio.032.in 7 bit OUT FALSE hm2_7i76e.0.gpio.032.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.032.out 7 bit OUT TRUE hm2_7i76e.0.gpio.033.in 7 bit OUT FALSE hm2_7i76e.0.gpio.033.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.033.out 7 bit OUT TRUE hm2_7i76e.0.gpio.034.in 7 bit OUT FALSE hm2_7i76e.0.gpio.034.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.034.out 7 bit OUT TRUE hm2_7i76e.0.gpio.035.in 7 bit OUT FALSE hm2_7i76e.0.gpio.035.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.035.out 7 bit OUT TRUE hm2_7i76e.0.gpio.036.in 7 bit OUT FALSE hm2_7i76e.0.gpio.036.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.036.out 7 bit OUT TRUE hm2_7i76e.0.gpio.037.in 7 bit OUT FALSE hm2_7i76e.0.gpio.037.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.037.out 7 bit OUT TRUE hm2_7i76e.0.gpio.038.in 7 bit OUT FALSE hm2_7i76e.0.gpio.038.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.038.out 7 bit OUT TRUE hm2_7i76e.0.gpio.039.in 7 bit OUT FALSE hm2_7i76e.0.gpio.039.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.039.out 7 bit OUT TRUE hm2_7i76e.0.gpio.040.in 7 bit OUT FALSE hm2_7i76e.0.gpio.040.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.040.out 7 bit OUT TRUE hm2_7i76e.0.gpio.041.in 7 bit OUT FALSE hm2_7i76e.0.gpio.041.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.041.out 7 bit OUT TRUE hm2_7i76e.0.gpio.042.in 7 bit OUT FALSE hm2_7i76e.0.gpio.042.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.042.out 7 bit OUT TRUE hm2_7i76e.0.gpio.043.in 7 bit OUT FALSE hm2_7i76e.0.gpio.043.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.043.out 7 bit OUT TRUE hm2_7i76e.0.gpio.044.in 7 bit OUT FALSE hm2_7i76e.0.gpio.044.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.044.out 7 bit OUT TRUE hm2_7i76e.0.gpio.045.in 7 bit OUT FALSE hm2_7i76e.0.gpio.045.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.045.out 7 bit OUT TRUE hm2_7i76e.0.gpio.046.in 7 bit OUT FALSE hm2_7i76e.0.gpio.046.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.046.out 7 bit OUT TRUE hm2_7i76e.0.gpio.047.in 7 bit OUT FALSE hm2_7i76e.0.gpio.047.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.047.out 7 bit OUT TRUE hm2_7i76e.0.gpio.048.in 7 bit OUT FALSE hm2_7i76e.0.gpio.048.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.048.out 7 bit OUT TRUE hm2_7i76e.0.gpio.049.in 7 bit OUT FALSE hm2_7i76e.0.gpio.049.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.049.out 7 bit OUT TRUE hm2_7i76e.0.gpio.050.in 7 bit OUT FALSE hm2_7i76e.0.gpio.050.in_not 7 bit IN FALSE hm2_7i76e.0.gpio.050.out 7 bit IN FALSE hm2_7i76e.0.led.CR01 7 bit IN FALSE hm2_7i76e.0.led.CR02 7 bit IN FALSE hm2_7i76e.0.led.CR03 7 bit IN FALSE hm2_7i76e.0.led.CR04 7 bit OUT FALSE hm2_7i76e.0.packet-error 7 bit OUT FALSE hm2_7i76e.0.packet-error-exceeded 7 s32 OUT 0 hm2_7i76e.0.packet-error-level 7 bit IN FALSE hm2_7i76e.0.pwmgen.00.enable 7 float IN 0 hm2_7i76e.0.pwmgen.00.value 7 s32 OUT 0 hm2_7i76e.0.read-request.time 7 s32 OUT 0 hm2_7i76e.0.read.time 7 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.fault-count 7 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.port_state 7 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.port_state2 7 u32 OUT 0x00000000 hm2_7i76e.0.sserial.port-0.port_state3 7 bit IN TRUE hm2_7i76e.0.sserial.port-0.run 7 bit IN FALSE hm2_7i76e.0.stepgen.00.control-type 7 s32 OUT 0 hm2_7i76e.0.stepgen.00.counts 7 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_err_at_match 7 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_ff_vel 7 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_pos_minus_prev_cmd 7 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_s_to_match 7 s32 OUT 0 hm2_7i76e.0.stepgen.00.dbg_step_rate 7 float OUT 0 hm2_7i76e.0.stepgen.00.dbg_vel_error 7 bit IN FALSE hm2_7i76e.0.stepgen.00.enable 7 float IN 0 hm2_7i76e.0.stepgen.00.position-cmd 7 float OUT 0 hm2_7i76e.0.stepgen.00.position-fb 7 float IN 0 hm2_7i76e.0.stepgen.00.velocity-cmd 7 float OUT 0 hm2_7i76e.0.stepgen.00.velocity-fb 7 bit IN FALSE hm2_7i76e.0.stepgen.01.control-type 7 s32 OUT 0 hm2_7i76e.0.stepgen.01.counts 7 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_err_at_match 7 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_ff_vel 7 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_pos_minus_prev_cmd 7 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_s_to_match 7 s32 OUT 0 hm2_7i76e.0.stepgen.01.dbg_step_rate 7 float OUT 0 hm2_7i76e.0.stepgen.01.dbg_vel_error 7 bit IN FALSE hm2_7i76e.0.stepgen.01.enable 7 float IN 0 hm2_7i76e.0.stepgen.01.position-cmd 7 float OUT 0 hm2_7i76e.0.stepgen.01.position-fb 7 float IN 0 hm2_7i76e.0.stepgen.01.velocity-cmd 7 float OUT 0 hm2_7i76e.0.stepgen.01.velocity-fb 7 bit IN FALSE hm2_7i76e.0.stepgen.02.control-type 7 s32 OUT 0 hm2_7i76e.0.stepgen.02.counts 7 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_err_at_match 7 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_ff_vel 7 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_pos_minus_prev_cmd 7 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_s_to_match 7 s32 OUT 0 hm2_7i76e.0.stepgen.02.dbg_step_rate 7 float OUT 0 hm2_7i76e.0.stepgen.02.dbg_vel_error 7 bit IN FALSE hm2_7i76e.0.stepgen.02.enable 7 float IN 0 hm2_7i76e.0.stepgen.02.position-cmd 7 float OUT 0 hm2_7i76e.0.stepgen.02.position-fb 7 float IN 0 hm2_7i76e.0.stepgen.02.velocity-cmd 7 float OUT 0 hm2_7i76e.0.stepgen.02.velocity-fb 7 bit IN FALSE hm2_7i76e.0.stepgen.03.control-type 7 s32 OUT 0 hm2_7i76e.0.stepgen.03.counts 7 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_err_at_match 7 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_ff_vel 7 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_pos_minus_prev_cmd 7 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_s_to_match 7 s32 OUT 0 hm2_7i76e.0.stepgen.03.dbg_step_rate 7 float OUT 0 hm2_7i76e.0.stepgen.03.dbg_vel_error 7 bit IN FALSE hm2_7i76e.0.stepgen.03.enable 7 float IN 0 hm2_7i76e.0.stepgen.03.position-cmd 7 float OUT 0 hm2_7i76e.0.stepgen.03.position-fb 7 float IN 0 hm2_7i76e.0.stepgen.03.velocity-cmd 7 float OUT 0 hm2_7i76e.0.stepgen.03.velocity-fb 7 s32 IN -1 hm2_7i76e.0.stepgen.timer-number 7 bit I/O FALSE hm2_7i76e.0.watchdog.has_bit 7 s32 OUT 0 hm2_7i76e.0.write.time halcmd: