juanjo@syilx7:~$ halrun
halcmd: loadrt hostmot2
halcmd: loadrt hm2_pci config=" num_encoders=2 num_pwmgens=1 num_stepgens=4" 
halcmd: show pin
Component Pins:
Owner   Type  Dir         Value  Name
     5  s32   OUT             0  hm2_5i25.0.encoder.00.count
     5  s32   OUT             0  hm2_5i25.0.encoder.00.count-latched
     5  bit   I/O         FALSE  hm2_5i25.0.encoder.00.index-enable
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.00.input-a
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.00.input-b
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.00.input-index
     5  bit   IN          FALSE  hm2_5i25.0.encoder.00.latch-enable
     5  bit   IN          FALSE  hm2_5i25.0.encoder.00.latch-polarity
     5  float OUT             0  hm2_5i25.0.encoder.00.position
     5  float OUT             0  hm2_5i25.0.encoder.00.position-latched
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.00.quad-error
     5  bit   IN          FALSE  hm2_5i25.0.encoder.00.quad-error-enable
     5  s32   OUT             0  hm2_5i25.0.encoder.00.rawcounts
     5  s32   OUT             0  hm2_5i25.0.encoder.00.rawlatch
     5  bit   IN          FALSE  hm2_5i25.0.encoder.00.reset
     5  float OUT             0  hm2_5i25.0.encoder.00.velocity
     5  s32   OUT             0  hm2_5i25.0.encoder.01.count
     5  s32   OUT             0  hm2_5i25.0.encoder.01.count-latched
     5  bit   I/O         FALSE  hm2_5i25.0.encoder.01.index-enable
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.01.input-a
     5  bit   OUT          TRUE  hm2_5i25.0.encoder.01.input-b
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.01.input-index
     5  bit   IN          FALSE  hm2_5i25.0.encoder.01.latch-enable
     5  bit   IN          FALSE  hm2_5i25.0.encoder.01.latch-polarity
     5  float OUT             0  hm2_5i25.0.encoder.01.position
     5  float OUT             0  hm2_5i25.0.encoder.01.position-latched
     5  bit   OUT         FALSE  hm2_5i25.0.encoder.01.quad-error
     5  bit   IN          FALSE  hm2_5i25.0.encoder.01.quad-error-enable
     5  s32   OUT             0  hm2_5i25.0.encoder.01.rawcounts
     5  s32   OUT             0  hm2_5i25.0.encoder.01.rawlatch
     5  bit   IN          FALSE  hm2_5i25.0.encoder.01.reset
     5  float OUT             0  hm2_5i25.0.encoder.01.velocity
     5  u32   IN     0x00001FC8  hm2_5i25.0.encoder.sample-frequency
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.000.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.000.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.000.out
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.001.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.001.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.002.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.002.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.003.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.003.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.003.out
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.004.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.004.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.005.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.005.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.006.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.006.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.007.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.007.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.007.out
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.008.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.008.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.009.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.009.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.010.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.010.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.011.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.011.in_not
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.012.in
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.012.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.013.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.013.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.013.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.014.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.014.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.015.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.015.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.016.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.016.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.017.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.017.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.017.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.018.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.018.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.018.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.019.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.019.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.019.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.020.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.020.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.020.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.021.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.021.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.021.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.022.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.022.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.022.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.023.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.023.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.023.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.024.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.024.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.024.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.025.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.025.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.025.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.026.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.026.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.026.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.027.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.027.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.027.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.028.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.028.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.028.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.029.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.029.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.029.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.030.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.030.in_not
     5  bit   IN          FALSE  hm2_5i25.0.gpio.030.out
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.031.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.031.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.032.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.032.in_not
     5  bit   OUT          TRUE  hm2_5i25.0.gpio.033.in
     5  bit   OUT         FALSE  hm2_5i25.0.gpio.033.in_not
     5  bit   IN          FALSE  hm2_5i25.0.led.CR01
     5  bit   IN          FALSE  hm2_5i25.0.led.CR02
     5  bit   IN          FALSE  hm2_5i25.0.pwmgen.00.enable
     5  float IN              0  hm2_5i25.0.pwmgen.00.value
     5  s32   OUT             0  hm2_5i25.0.read.time
     5  s32   OUT             0  hm2_5i25.0.read_gpio.time
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.00.control-type
     5  s32   OUT             0  hm2_5i25.0.stepgen.00.counts
     5  float OUT             0  hm2_5i25.0.stepgen.00.dbg_err_at_match
     5  float OUT             0  hm2_5i25.0.stepgen.00.dbg_ff_vel
     5  float OUT             0  hm2_5i25.0.stepgen.00.dbg_pos_minus_prev_cmd
     5  float OUT             0  hm2_5i25.0.stepgen.00.dbg_s_to_match
     5  s32   OUT             0  hm2_5i25.0.stepgen.00.dbg_step_rate
     5  float OUT             0  hm2_5i25.0.stepgen.00.dbg_vel_error
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.00.enable
     5  float IN              0  hm2_5i25.0.stepgen.00.position-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.00.position-fb
     5  float IN              0  hm2_5i25.0.stepgen.00.velocity-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.00.velocity-fb
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.01.control-type
     5  s32   OUT             0  hm2_5i25.0.stepgen.01.counts
     5  float OUT             0  hm2_5i25.0.stepgen.01.dbg_err_at_match
     5  float OUT             0  hm2_5i25.0.stepgen.01.dbg_ff_vel
     5  float OUT             0  hm2_5i25.0.stepgen.01.dbg_pos_minus_prev_cmd
     5  float OUT             0  hm2_5i25.0.stepgen.01.dbg_s_to_match
     5  s32   OUT             0  hm2_5i25.0.stepgen.01.dbg_step_rate
     5  float OUT             0  hm2_5i25.0.stepgen.01.dbg_vel_error
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.01.enable
     5  float IN              0  hm2_5i25.0.stepgen.01.position-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.01.position-fb
     5  float IN              0  hm2_5i25.0.stepgen.01.velocity-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.01.velocity-fb
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.02.control-type
     5  s32   OUT             0  hm2_5i25.0.stepgen.02.counts
     5  float OUT             0  hm2_5i25.0.stepgen.02.dbg_err_at_match
     5  float OUT             0  hm2_5i25.0.stepgen.02.dbg_ff_vel
     5  float OUT             0  hm2_5i25.0.stepgen.02.dbg_pos_minus_prev_cmd
     5  float OUT             0  hm2_5i25.0.stepgen.02.dbg_s_to_match
     5  s32   OUT             0  hm2_5i25.0.stepgen.02.dbg_step_rate
     5  float OUT             0  hm2_5i25.0.stepgen.02.dbg_vel_error
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.02.enable
     5  float IN              0  hm2_5i25.0.stepgen.02.position-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.02.position-fb
     5  float IN              0  hm2_5i25.0.stepgen.02.velocity-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.02.velocity-fb
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.03.control-type
     5  s32   OUT             0  hm2_5i25.0.stepgen.03.counts
     5  float OUT             0  hm2_5i25.0.stepgen.03.dbg_err_at_match
     5  float OUT             0  hm2_5i25.0.stepgen.03.dbg_ff_vel
     5  float OUT             0  hm2_5i25.0.stepgen.03.dbg_pos_minus_prev_cmd
     5  float OUT             0  hm2_5i25.0.stepgen.03.dbg_s_to_match
     5  s32   OUT             0  hm2_5i25.0.stepgen.03.dbg_step_rate
     5  float OUT             0  hm2_5i25.0.stepgen.03.dbg_vel_error
     5  bit   IN          FALSE  hm2_5i25.0.stepgen.03.enable
     5  float IN              0  hm2_5i25.0.stepgen.03.position-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.03.position-fb
     5  float IN              0  hm2_5i25.0.stepgen.03.velocity-cmd
     5  float OUT             0  hm2_5i25.0.stepgen.03.velocity-fb
     5  bit   I/O         FALSE  hm2_5i25.0.watchdog.has_bit
     5  s32   OUT             0  hm2_5i25.0.write.time
     5  s32   OUT             0  hm2_5i25.0.write_gpio.time

halcmd: