pi@pi4-mate:~ $ halrun
halcmd: loadusr -W xhc-whb04b-6 -H
halcmd: show pin
Component Pins:
Owner Type Dir Value Name
4 s32 OUT 0 whb.axis.a.jog-counts
4 bit OUT FALSE whb.axis.a.jog-enable
4 float OUT 0 whb.axis.a.jog-scale
4 bit OUT FALSE whb.axis.a.jog-vel-mode
4 s32 OUT 0 whb.axis.b.jog-counts
4 bit OUT FALSE whb.axis.b.jog-enable
4 float OUT 0 whb.axis.b.jog-scale
4 bit OUT FALSE whb.axis.b.jog-vel-mode
4 s32 OUT 0 whb.axis.c.jog-counts
4 bit OUT FALSE whb.axis.c.jog-enable
4 float OUT 0 whb.axis.c.jog-scale
4 bit OUT FALSE whb.axis.c.jog-vel-mode
4 s32 OUT 0 whb.axis.x.jog-counts
4 bit OUT TRUE whb.axis.x.jog-enable
4 float OUT 0 whb.axis.x.jog-scale
4 bit OUT FALSE whb.axis.x.jog-vel-mode
4 s32 OUT 0 whb.axis.y.jog-counts
4 bit OUT FALSE whb.axis.y.jog-enable
4 float OUT 0 whb.axis.y.jog-scale
4 bit OUT FALSE whb.axis.y.jog-vel-mode
4 s32 OUT 0 whb.axis.z.jog-counts
4 bit OUT FALSE whb.axis.z.jog-enable
4 float OUT 0 whb.axis.z.jog-scale
4 bit OUT FALSE whb.axis.z.jog-vel-mode
4 bit OUT FALSE whb.button.feed-minus
4 bit OUT FALSE whb.button.feed-plus
4 bit OUT FALSE whb.button.fn
4 bit OUT FALSE whb.button.m-home
4 bit OUT FALSE whb.button.macro-1
4 bit OUT FALSE whb.button.macro-10
4 bit OUT FALSE whb.button.macro-11
4 bit OUT FALSE whb.button.macro-12
4 bit OUT FALSE whb.button.macro-13
4 bit OUT FALSE whb.button.macro-14
4 bit OUT FALSE whb.button.macro-15
4 bit OUT FALSE whb.button.macro-16
4 bit OUT FALSE whb.button.macro-2
4 bit OUT FALSE whb.button.macro-3
4 bit OUT FALSE whb.button.macro-4
4 bit OUT FALSE whb.button.macro-5
4 bit OUT FALSE whb.button.macro-6
4 bit OUT FALSE whb.button.macro-7
4 bit OUT FALSE whb.button.macro-8
4 bit OUT FALSE whb.button.macro-9
4 bit OUT FALSE whb.button.mode-continuous
4 bit OUT FALSE whb.button.mode-step
4 bit OUT FALSE whb.button.probe-z
4 bit OUT FALSE whb.button.reset
4 bit OUT FALSE whb.button.s-on-off
4 bit OUT FALSE whb.button.safe-z
4 bit OUT FALSE whb.button.spindle-minus
4 bit OUT FALSE whb.button.spindle-plus
4 bit OUT FALSE whb.button.start-pause
4 bit OUT FALSE whb.button.stop
4 bit OUT FALSE whb.button.w-home
4 float IN 0 whb.halui.axis.a.pos-feedback
4 float IN 0 whb.halui.axis.a.pos-relative
4 bit OUT FALSE whb.halui.axis.a.select
4 float IN 0 whb.halui.axis.b.pos-feedback
4 float IN 0 whb.halui.axis.b.pos-relative
4 bit OUT FALSE whb.halui.axis.b.select
4 float IN 0 whb.halui.axis.c.pos-feedback
4 float IN 0 whb.halui.axis.c.pos-relative
4 bit OUT FALSE whb.halui.axis.c.select
4 float IN 0 whb.halui.axis.x.pos-feedback
4 float IN 0 whb.halui.axis.x.pos-relative
4 bit OUT TRUE whb.halui.axis.x.select
4 float IN 0 whb.halui.axis.y.pos-feedback
4 float IN 0 whb.halui.axis.y.pos-relative
4 bit OUT FALSE whb.halui.axis.y.select
4 float IN 0 whb.halui.axis.z.pos-feedback
4 float IN 0 whb.halui.axis.z.pos-relative
4 bit OUT FALSE whb.halui.axis.z.select
4 bit OUT FALSE whb.halui.feed-override.decrease
4 bit OUT FALSE whb.halui.feed-override.increase
4 float OUT 0 whb.halui.feed-override.scale
4 float IN 0 whb.halui.feed-override.value
4 bit OUT FALSE whb.halui.feed.selected-10
4 bit OUT FALSE whb.halui.feed.selected-100
4 bit OUT FALSE whb.halui.feed.selected-2
4 bit OUT TRUE whb.halui.feed.selected-30
4 bit OUT FALSE whb.halui.feed.selected-5
4 bit OUT FALSE whb.halui.feed.selected-60
4 bit OUT FALSE whb.halui.feed.selected-continuous
4 bit OUT FALSE whb.halui.feed.selected-lead
4 bit OUT TRUE whb.halui.feed.selected-mpg-feed
4 bit OUT FALSE whb.halui.feed.selected-step
4 bit IN FALSE whb.halui.flood.is-on
4 bit OUT FALSE whb.halui.flood.off
4 bit OUT FALSE whb.halui.flood.on
4 bit IN FALSE whb.halui.lube.is-on
4 bit OUT FALSE whb.halui.lube.off
4 bit OUT FALSE whb.halui.lube.on
4 bit IN FALSE whb.halui.machine.is-on
4 bit OUT FALSE whb.halui.machine.off
4 bit OUT FALSE whb.halui.machine.on
4 float IN 0 whb.halui.max-velocity.value
4 bit IN FALSE whb.halui.mist.is-on
4 bit OUT FALSE whb.halui.mist.off
4 bit OUT FALSE whb.halui.mist.on
4 bit OUT FALSE whb.halui.mode.auto
4 bit IN FALSE whb.halui.mode.is-auto
4 bit IN FALSE whb.halui.mode.is-joint
4 bit IN FALSE whb.halui.mode.is-manual
4 bit IN FALSE whb.halui.mode.is-mdi
4 bit IN FALSE whb.halui.mode.is-teleop
4 bit OUT FALSE whb.halui.mode.joint
4 bit OUT FALSE whb.halui.mode.manual
4 bit OUT FALSE whb.halui.mode.mdi
4 bit OUT FALSE whb.halui.mode.teleop
4 bit IN FALSE whb.halui.program.is-idle
4 bit IN FALSE whb.halui.program.is-paused
4 bit IN FALSE whb.halui.program.is-running
4 bit OUT FALSE whb.halui.program.pause
4 bit OUT FALSE whb.halui.program.resume
4 bit OUT FALSE whb.halui.program.run
4 bit OUT FALSE whb.halui.program.stop
4 bit OUT FALSE whb.halui.spindle-override.decrease
4 bit OUT FALSE whb.halui.spindle-override.increase
4 float OUT 0 whb.halui.spindle-override.scale
4 float IN 0 whb.halui.spindle-override.value
4 float IN 0 whb.halui.spindle-speed-cmd
4 bit OUT FALSE whb.halui.spindle.decrease
4 bit OUT FALSE whb.halui.spindle.forward
4 bit OUT FALSE whb.halui.spindle.increase
4 bit IN FALSE whb.halui.spindle.is-on
4 bit OUT FALSE whb.halui.spindle.reverse
4 bit OUT FALSE whb.halui.spindle.start
4 bit OUT FALSE whb.halui.spindle.stop
4 bit OUT TRUE whb.pendant.is-connected
4 bit OUT FALSE whb.pendant.is-sleeping
halcmd: