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: