jonathan@Smithy:~$ halcmd show 
Loaded HAL Components: 
ID      Type  Name                                            PID   State 
    20  User  halcmd3713                                       3713 ready 
    18  User  axisui                                           3522 ready 
    16  User  inihal                                           3519 ready 
    15  User  hal_manualtoolchange                             3513 ready 
    13  RT    charge_pump                                           ready 
    12  RT    __servo-thread                                        ready 
    11  RT    motmod                                                ready 
    10  RT    trivkins                                              ready 
     9  RT    hm2_pci                                               ready 
     8  RT    hostmot2                                              ready 
     7  User  halui                                            3496 ready 
     5  User  iocontrol                                        3494 ready 

Component Pins: 
Owner   Type  Dir         Value  Name 
    11  bit   OUT          TRUE  axis.0.active 
    11  bit   OUT         FALSE  axis.0.amp-enable-out ==> Xen 
    11  bit   IN          FALSE  axis.0.amp-fault-in 
    11  float OUT             0  axis.0.backlash-corr 
    11  float OUT             0  axis.0.backlash-filt 
    11  float OUT             0  axis.0.backlash-vel 
    11  float OUT             0  axis.0.coarse-pos-cmd 
    11  bit   OUT         FALSE  axis.0.error 
    11  float OUT             0  axis.0.f-error 
    11  float OUT           0.1  axis.0.f-error-lim 
    11  bit   OUT         FALSE  axis.0.f-errored 
    11  bit   OUT         FALSE  axis.0.faulted 
    11  float OUT             0  axis.0.free-pos-cmd 
    11  bit   OUT         FALSE  axis.0.free-tp-enable 
    11  float OUT             0  axis.0.free-vel-lim 
    11  s32   OUT             0  axis.0.home-state 
    11  bit   IN          FALSE  axis.0.home-sw-in <== Xmax 
    11  bit   OUT         FALSE  axis.0.homed 
    11  bit   OUT         FALSE  axis.0.homing 
    11  bit   OUT          TRUE  axis.0.in-position 
    11  bit   I/O         FALSE  axis.0.index-enable 
    11  s32   IN              0  axis.0.jog-counts 
    11  bit   IN          FALSE  axis.0.jog-enable 
    11  float IN              0  axis.0.jog-scale 
    11  bit   IN          FALSE  axis.0.jog-vel-mode <== Enable 
    11  float OUT             0  axis.0.joint-pos-cmd 
    11  float OUT             0  axis.0.joint-pos-fb 
    11  float OUT             0  axis.0.joint-vel-cmd 
    11  bit   OUT         FALSE  axis.0.kb-jog-active 
    11  float OUT             0  axis.0.motor-offset 
    11  float OUT             0  axis.0.motor-pos-cmd ==> Xpos-cmd 
    11  float IN              0  axis.0.motor-pos-fb <== Xpos-fb 
    11  bit   OUT         FALSE  axis.0.neg-hard-limit 
    11  bit   IN          FALSE  axis.0.neg-lim-sw-in <== Xmin 
    11  bit   OUT         FALSE  axis.0.pos-hard-limit 
    11  bit   IN          FALSE  axis.0.pos-lim-sw-in <== Xmax 
    11  bit   OUT         FALSE  axis.0.wheel-jog-active 
    11  bit   OUT          TRUE  axis.1.active 
    11  bit   OUT         FALSE  axis.1.amp-enable-out ==> Yen 
    11  bit   IN          FALSE  axis.1.amp-fault-in 
    11  float OUT             0  axis.1.backlash-corr 
    11  float OUT             0  axis.1.backlash-filt 
    11  float OUT             0  axis.1.backlash-vel 
    11  float OUT             0  axis.1.coarse-pos-cmd 
    11  bit   OUT         FALSE  axis.1.error 
    11  float OUT             0  axis.1.f-error 
    11  float OUT           0.1  axis.1.f-error-lim 
    11  bit   OUT         FALSE  axis.1.f-errored 
    11  bit   OUT         FALSE  axis.1.faulted 
    11  float OUT             0  axis.1.free-pos-cmd 
    11  bit   OUT         FALSE  axis.1.free-tp-enable 
    11  float OUT             0  axis.1.free-vel-lim 
    11  s32   OUT             0  axis.1.home-state 
    11  bit   IN          FALSE  axis.1.home-sw-in <== Ymax 
    11  bit   OUT         FALSE  axis.1.homed 
    11  bit   OUT         FALSE  axis.1.homing 
    11  bit   OUT          TRUE  axis.1.in-position 
    11  bit   I/O         FALSE  axis.1.index-enable 
    11  s32   IN              0  axis.1.jog-counts 
    11  bit   IN          FALSE  axis.1.jog-enable 
    11  float IN              0  axis.1.jog-scale 
    11  bit   IN          FALSE  axis.1.jog-vel-mode <== Enable 
    11  float OUT             0  axis.1.joint-pos-cmd 
    11  float OUT             0  axis.1.joint-pos-fb 
    11  float OUT             0  axis.1.joint-vel-cmd 
    11  bit   OUT         FALSE  axis.1.kb-jog-active 
    11  float OUT             0  axis.1.motor-offset 
    11  float OUT             0  axis.1.motor-pos-cmd ==> Ypos-cmd 
    11  float IN              0  axis.1.motor-pos-fb <== Ypos-fb 
    11  bit   OUT         FALSE  axis.1.neg-hard-limit 
    11  bit   IN          FALSE  axis.1.neg-lim-sw-in <== Ymin 
    11  bit   OUT         FALSE  axis.1.pos-hard-limit 
    11  bit   IN          FALSE  axis.1.pos-lim-sw-in <== Ymax 
    11  bit   OUT         FALSE  axis.1.wheel-jog-active 
    11  bit   OUT          TRUE  axis.2.active 
    11  bit   OUT         FALSE  axis.2.amp-enable-out ==> Zen 
    11  bit   IN          FALSE  axis.2.amp-fault-in 
    11  float OUT             0  axis.2.backlash-corr 
    11  float OUT             0  axis.2.backlash-filt 
    11  float OUT             0  axis.2.backlash-vel 
    11  float OUT             0  axis.2.coarse-pos-cmd 
    11  bit   OUT         FALSE  axis.2.error 
    11  float OUT             0  axis.2.f-error 
    11  float OUT           0.1  axis.2.f-error-lim 
    11  bit   OUT         FALSE  axis.2.f-errored 
    11  bit   OUT         FALSE  axis.2.faulted 
    11  float OUT             0  axis.2.free-pos-cmd 
    11  bit   OUT         FALSE  axis.2.free-tp-enable 
    11  float OUT             0  axis.2.free-vel-lim 
    11  s32   OUT             0  axis.2.home-state 
    11  bit   IN          FALSE  axis.2.home-sw-in <== Zmax 
    11  bit   OUT         FALSE  axis.2.homed 
    11  bit   OUT         FALSE  axis.2.homing 
    11  bit   OUT          TRUE  axis.2.in-position 
    11  bit   I/O         FALSE  axis.2.index-enable 
    11  s32   IN              0  axis.2.jog-counts 
    11  bit   IN          FALSE  axis.2.jog-enable 
    11  float IN              0  axis.2.jog-scale 
    11  bit   IN          FALSE  axis.2.jog-vel-mode <== Enable 
    11  float OUT             0  axis.2.joint-pos-cmd 
    11  float OUT             0  axis.2.joint-pos-fb 
    11  float OUT             0  axis.2.joint-vel-cmd 
    11  bit   OUT         FALSE  axis.2.kb-jog-active 
    11  float OUT             0  axis.2.motor-offset 
    11  float OUT             0  axis.2.motor-pos-cmd ==> Zpos-cmd 
    11  float IN              0  axis.2.motor-pos-fb <== Zpos-fb 
    11  bit   OUT         FALSE  axis.2.neg-hard-limit 
    11  bit   IN          FALSE  axis.2.neg-lim-sw-in <== Zmin 
    11  bit   OUT         FALSE  axis.2.pos-hard-limit 
    11  bit   IN          FALSE  axis.2.pos-lim-sw-in <== Zmax 
    11  bit   OUT         FALSE  axis.2.wheel-jog-active 
    18  bit   OUT         FALSE  axisui.jog.a 
    18  bit   OUT         FALSE  axisui.jog.b 
    18  bit   OUT         FALSE  axisui.jog.c 
    18  float OUT             0  axisui.jog.increment 
    18  bit   OUT         FALSE  axisui.jog.u 
    18  bit   OUT         FALSE  axisui.jog.v 
    18  bit   OUT         FALSE  axisui.jog.w 
    18  bit   OUT          TRUE  axisui.jog.x 
    18  bit   OUT         FALSE  axisui.jog.y 
    18  bit   OUT         FALSE  axisui.jog.z 
    18  bit   IN          FALSE  axisui.notifications-clear 
    18  bit   IN          FALSE  axisui.notifications-clear-error 
    18  bit   IN          FALSE  axisui.notifications-clear-info 
    18  bit   IN          FALSE  axisui.resume-inhibit 
    13  bit   IN          FALSE  charge-pump.enable <== Enable 
    13  bit   OUT         FALSE  charge-pump.out ==> chargepump 
    13  bit   OUT         FALSE  charge-pump.out-2 
    13  bit   OUT         FALSE  charge-pump.out-4 
    13  s32   OUT            78  charge-pump.time 
    15  bit   IN          FALSE  hal_manualtoolchange.change <== tool-change 
    15  bit   IN          FALSE  hal_manualtoolchange.change_button 
    15  bit   OUT         FALSE  hal_manualtoolchange.changed ==> tool-changed 
    15  s32   IN              0  hal_manualtoolchange.number <== tool-prep-number 
     7  bit   IN          FALSE  halui.abort 
     7  float OUT             0  halui.axis.0.pos-commanded 
     7  float OUT             0  halui.axis.0.pos-feedback 
     7  float OUT             0  halui.axis.0.pos-relative 
     7  float OUT             0  halui.axis.1.pos-commanded 
     7  float OUT             0  halui.axis.1.pos-feedback 
     7  float OUT             0  halui.axis.1.pos-relative 
     7  float OUT             0  halui.axis.2.pos-commanded 
     7  float OUT             0  halui.axis.2.pos-feedback 
     7  float OUT             0  halui.axis.2.pos-relative 
     7  float OUT             0  halui.axis.3.pos-commanded 
     7  float OUT             0  halui.axis.3.pos-feedback 
     7  float OUT             0  halui.axis.3.pos-relative 
     7  float OUT             0  halui.axis.4.pos-commanded 
     7  float OUT             0  halui.axis.4.pos-feedback 
     7  float OUT             0  halui.axis.4.pos-relative 
     7  float OUT             0  halui.axis.5.pos-commanded 
     7  float OUT             0  halui.axis.5.pos-feedback 
     7  float OUT             0  halui.axis.5.pos-relative 
     7  float OUT             0  halui.axis.6.pos-commanded 
     7  float OUT             0  halui.axis.6.pos-feedback 
     7  float OUT             0  halui.axis.6.pos-relative 
     7  float OUT             0  halui.axis.7.pos-commanded 
     7  float OUT             0  halui.axis.7.pos-feedback 
     7  float OUT             0  halui.axis.7.pos-relative 
     7  float OUT             0  halui.axis.8.pos-commanded 
     7  float OUT             0  halui.axis.8.pos-feedback 
     7  float OUT             0  halui.axis.8.pos-relative 
     7  bit   IN          FALSE  halui.estop.activate 
     7  bit   OUT          TRUE  halui.estop.is-activated 
     7  bit   IN          FALSE  halui.estop.reset 
     7  bit   IN           TRUE  halui.feed-override.count-enable 
     7  s32   IN              0  halui.feed-override.counts 
     7  bit   IN          FALSE  halui.feed-override.decrease 
     7  bit   IN          FALSE  halui.feed-override.direct-value 
     7  bit   IN          FALSE  halui.feed-override.increase 
     7  float IN            0.1  halui.feed-override.scale 
     7  float OUT             1  halui.feed-override.value 
     7  bit   OUT         FALSE  halui.flood.is-on 
     7  bit   IN          FALSE  halui.flood.off 
     7  bit   IN          FALSE  halui.flood.on 
     7  bit   IN          FALSE  halui.home-all 
     7  float IN            0.2  halui.jog-deadband 
     7  float IN              0  halui.jog-speed 
     7  float IN              0  halui.jog.0.analog 
     7  float IN              0  halui.jog.0.increment 
     7  bit   IN          FALSE  halui.jog.0.increment-minus 
     7  bit   IN          FALSE  halui.jog.0.increment-plus 
     7  bit   IN          FALSE  halui.jog.0.minus 
     7  bit   IN          FALSE  halui.jog.0.plus 
     7  float IN              0  halui.jog.1.analog 
     7  float IN              0  halui.jog.1.increment 
     7  bit   IN          FALSE  halui.jog.1.increment-minus 
     7  bit   IN          FALSE  halui.jog.1.increment-plus 
     7  bit   IN          FALSE  halui.jog.1.minus 
     7  bit   IN          FALSE  halui.jog.1.plus 
     7  float IN              0  halui.jog.2.analog 
     7  float IN              0  halui.jog.2.increment 
     7  bit   IN          FALSE  halui.jog.2.increment-minus 
     7  bit   IN          FALSE  halui.jog.2.increment-plus 
     7  bit   IN          FALSE  halui.jog.2.minus 
     7  bit   IN          FALSE  halui.jog.2.plus 
     7  float IN              0  halui.jog.selected.increment 
     7  bit   IN          FALSE  halui.jog.selected.increment-minus 
     7  bit   IN          FALSE  halui.jog.selected.increment-plus 
     7  bit   IN          FALSE  halui.jog.selected.minus 
     7  bit   IN          FALSE  halui.jog.selected.plus 
     7  bit   OUT         FALSE  halui.joint.0.has-fault 
     7  bit   IN          FALSE  halui.joint.0.home 
     7  bit   OUT         FALSE  halui.joint.0.is-homed 
     7  bit   OUT         FALSE  halui.joint.0.is-selected 
     7  bit   OUT         FALSE  halui.joint.0.on-hard-max-limit 
     7  bit   OUT         FALSE  halui.joint.0.on-hard-min-limit 
     7  bit   OUT         FALSE  halui.joint.0.on-soft-max-limit 
     7  bit   OUT         FALSE  halui.joint.0.on-soft-min-limit 
     7  bit   IN          FALSE  halui.joint.0.select 
     7  bit   IN          FALSE  halui.joint.0.unhome 
     7  bit   OUT         FALSE  halui.joint.1.has-fault 
     7  bit   IN          FALSE  halui.joint.1.home 
     7  bit   OUT         FALSE  halui.joint.1.is-homed 
     7  bit   OUT         FALSE  halui.joint.1.is-selected 
     7  bit   OUT         FALSE  halui.joint.1.on-hard-max-limit 
     7  bit   OUT         FALSE  halui.joint.1.on-hard-min-limit 
     7  bit   OUT         FALSE  halui.joint.1.on-soft-max-limit 
     7  bit   OUT         FALSE  halui.joint.1.on-soft-min-limit 
     7  bit   IN          FALSE  halui.joint.1.select 
     7  bit   IN          FALSE  halui.joint.1.unhome 
     7  bit   OUT         FALSE  halui.joint.2.has-fault 
     7  bit   IN          FALSE  halui.joint.2.home 
     7  bit   OUT         FALSE  halui.joint.2.is-homed 
     7  bit   OUT         FALSE  halui.joint.2.is-selected 
     7  bit   OUT         FALSE  halui.joint.2.on-hard-max-limit 
     7  bit   OUT         FALSE  halui.joint.2.on-hard-min-limit 
     7  bit   OUT         FALSE  halui.joint.2.on-soft-max-limit 
     7  bit   OUT         FALSE  halui.joint.2.on-soft-min-limit 
     7  bit   IN          FALSE  halui.joint.2.select 
     7  bit   IN          FALSE  halui.joint.2.unhome 
     7  u32   OUT    0x00000000  halui.joint.selected 
     7  bit   OUT         FALSE  halui.joint.selected.has-fault 
     7  bit   IN          FALSE  halui.joint.selected.home 
     7  bit   OUT         FALSE  halui.joint.selected.is_homed 
     7  bit   OUT         FALSE  halui.joint.selected.on-hard-max-limit 
     7  bit   OUT         FALSE  halui.joint.selected.on-hard-min-limit 
     7  bit   OUT         FALSE  halui.joint.selected.on-soft-limit 
     7  bit   OUT         FALSE  halui.joint.selected.on-soft-min-limit 
     7  bit   IN          FALSE  halui.joint.selected.unhome 
     7  bit   OUT         FALSE  halui.lube.is-on 
     7  bit   IN          FALSE  halui.lube.off 
     7  bit   IN          FALSE  halui.lube.on 
     7  bit   OUT         FALSE  halui.machine.is-on 
     7  bit   IN          FALSE  halui.machine.off 
     7  bit   IN           TRUE  halui.machine.on <== machine-on 
     7  bit   IN           TRUE  halui.max-velocity.count-enable 
     7  s32   IN              0  halui.max-velocity.counts 
     7  bit   IN          FALSE  halui.max-velocity.decrease 
     7  bit   IN          FALSE  halui.max-velocity.direct-value 
     7  bit   IN          FALSE  halui.max-velocity.increase 
     7  float IN              0  halui.max-velocity.scale 
     7  float OUT             3  halui.max-velocity.value 
     7  bit   OUT         FALSE  halui.mist.is-on 
     7  bit   IN          FALSE  halui.mist.off 
     7  bit   IN          FALSE  halui.mist.on 
     7  bit   IN          FALSE  halui.mode.auto 
     7  bit   OUT          TRUE  halui.mode.is-auto 
     7  bit   OUT          TRUE  halui.mode.is-joint 
     7  bit   OUT         FALSE  halui.mode.is-manual 
     7  bit   OUT         FALSE  halui.mode.is-mdi 
     7  bit   OUT         FALSE  halui.mode.is-teleop 
     7  bit   IN          FALSE  halui.mode.joint 
     7  bit   IN          FALSE  halui.mode.manual 
     7  bit   IN          FALSE  halui.mode.mdi 
     7  bit   IN          FALSE  halui.mode.teleop 
     7  bit   OUT          TRUE  halui.program.block-delete.is-on 
     7  bit   IN          FALSE  halui.program.block-delete.off 
     7  bit   IN          FALSE  halui.program.block-delete.on 
     7  bit   OUT          TRUE  halui.program.is-idle 
     7  bit   OUT         FALSE  halui.program.is-paused 
     7  bit   OUT         FALSE  halui.program.is-running 
     7  bit   OUT          TRUE  halui.program.optional-stop.is-on 
     7  bit   IN          FALSE  halui.program.optional-stop.off 
     7  bit   IN          FALSE  halui.program.optional-stop.on 
     7  bit   IN           TRUE  halui.program.pause <== SOFF 
     7  bit   IN          FALSE  halui.program.resume 
     7  bit   IN          FALSE  halui.program.run 
     7  bit   IN          FALSE  halui.program.step 
     7  bit   IN          FALSE  halui.program.stop 
     7  bit   IN           TRUE  halui.rapid-override.count-enable 
     7  s32   IN              0  halui.rapid-override.counts 
     7  bit   IN          FALSE  halui.rapid-override.decrease 
     7  bit   IN          FALSE  halui.rapid-override.direct-value 
     7  bit   IN          FALSE  halui.rapid-override.increase 
     7  float IN            0.1  halui.rapid-override.scale 
     7  float OUT             1  halui.rapid-override.value 
     7  bit   IN           TRUE  halui.spindle-override.count-enable 
     7  s32   IN              0  halui.spindle-override.counts 
     7  bit   IN          FALSE  halui.spindle-override.decrease 
     7  bit   IN          FALSE  halui.spindle-override.direct-value 
     7  bit   IN          FALSE  halui.spindle-override.increase 
     7  float IN            0.1  halui.spindle-override.scale 
     7  float OUT             1  halui.spindle-override.value 
     7  bit   OUT          TRUE  halui.spindle.brake-is-on 
     7  bit   IN          FALSE  halui.spindle.brake-off 
     7  bit   IN          FALSE  halui.spindle.brake-on 
     7  bit   IN          FALSE  halui.spindle.decrease 
     7  bit   IN          FALSE  halui.spindle.forward 
     7  bit   IN          FALSE  halui.spindle.increase 
     7  bit   OUT         FALSE  halui.spindle.is-on 
     7  bit   IN          FALSE  halui.spindle.reverse 
     7  bit   OUT         FALSE  halui.spindle.runs-backward 
     7  bit   OUT         FALSE  halui.spindle.runs-forward 
     7  bit   IN          FALSE  halui.spindle.start 
     7  bit   IN          FALSE  halui.spindle.stop 
     7  float OUT             0  halui.tool.length_offset.a 
     7  float OUT             0  halui.tool.length_offset.b 
     7  float OUT             0  halui.tool.length_offset.c 
     7  float OUT             0  halui.tool.length_offset.u 
     7  float OUT             0  halui.tool.length_offset.v 
     7  float OUT             0  halui.tool.length_offset.w 
     7  float OUT             0  halui.tool.length_offset.x 
     7  float OUT             0  halui.tool.length_offset.y 
     7  float OUT             0  halui.tool.length_offset.z 
     7  u32   OUT    0x00000000  halui.tool.number 
     9  s32   OUT             0  hm2_5i20.0.encoder.00.count 
     9  s32   OUT             0  hm2_5i20.0.encoder.00.count-latched 
     9  bit   I/O         FALSE  hm2_5i20.0.encoder.00.index-enable 
     9  bit   OUT         FALSE  hm2_5i20.0.encoder.00.input-a 
     9  bit   OUT         FALSE  hm2_5i20.0.encoder.00.input-b 
     9  bit   OUT          TRUE  hm2_5i20.0.encoder.00.input-index 
     9  bit   IN          FALSE  hm2_5i20.0.encoder.00.latch-enable 
     9  bit   IN          FALSE  hm2_5i20.0.encoder.00.latch-polarity 
     9  float OUT             0  hm2_5i20.0.encoder.00.position 
     9  float OUT             0  hm2_5i20.0.encoder.00.position-latched 
     9  bit   OUT         FALSE  hm2_5i20.0.encoder.00.quad-error 
     9  bit   IN          FALSE  hm2_5i20.0.encoder.00.quad-error-enable 
     9  s32   OUT             0  hm2_5i20.0.encoder.00.rawcounts 
     9  s32   OUT             0  hm2_5i20.0.encoder.00.rawlatch 
     9  bit   IN          FALSE  hm2_5i20.0.encoder.00.reset 
     9  float OUT             0  hm2_5i20.0.encoder.00.velocity 
     9  u32   IN     0x00001FC8  hm2_5i20.0.encoder.sample-frequency 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.000.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.000.in_not 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.001.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.001.in_not 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.002.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.002.in_not 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.003.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.003.in_not 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.004.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.004.in_not 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.005.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.005.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.005.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.006.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.006.in_not 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.007.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.007.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.007.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.008.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.008.in_not 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.009.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.009.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.009.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.010.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.010.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.010.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.011.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.011.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.011.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.012.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.012.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.012.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.013.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.013.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.013.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.014.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.014.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.014.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.015.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.015.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.015.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.016.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.016.in_not 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.017.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.017.in_not 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.018.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.018.in_not 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.019.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.019.in_not 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.020.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.020.in_not 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.021.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.021.in_not 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.022.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.022.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.022.out <== chargepump 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.023.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.023.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.023.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.024.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.024.in_not ==> Zmax 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.024.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.025.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.025.in_not ==> DRV1 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.025.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.026.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.026.in_not ==> Zmin 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.026.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.027.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.027.in_not ==> DRV3 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.027.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.028.in ==> Ymax 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.028.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.028.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.029.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.029.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.029.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.030.in ==> Ymin 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.030.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.030.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.031.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.031.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.031.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.032.in ==> Xmax 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.032.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.032.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.033.in ==> SOFF 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.033.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.033.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.034.in ==> Xmin 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.034.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.034.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.035.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.035.in_not ==> ACOK 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.035.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.036.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.036.in_not ==> DRV2 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.036.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.037.in ==> estop-enable 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.037.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.037.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.038.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.038.in_not ==> DRV4 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.038.out 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.039.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.039.in_not ==> machine-on 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.039.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.040.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.040.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.040.out <== KA1 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.041.in 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.041.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.041.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.042.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.042.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.042.out <== KA2 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.043.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.043.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.043.out <== M8 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.044.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.044.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.044.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.045.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.045.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.045.out <== M7 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.046.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.046.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.046.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.047.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.047.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.047.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.048.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.048.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.048.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.049.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.049.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.049.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.050.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.050.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.050.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.051.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.051.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.051.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.052.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.052.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.052.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.053.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.053.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.053.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.054.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.054.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.054.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.055.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.055.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.055.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.056.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.056.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.056.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.057.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.057.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.057.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.058.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.058.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.058.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.059.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.059.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.059.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.060.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.060.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.060.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.061.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.061.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.061.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.062.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.062.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.062.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.063.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.063.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.063.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.064.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.064.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.064.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.065.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.065.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.065.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.066.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.066.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.066.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.067.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.067.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.067.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.068.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.068.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.068.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.069.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.069.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.069.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.070.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.070.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.070.out 
     9  bit   OUT          TRUE  hm2_5i20.0.gpio.071.in 
     9  bit   OUT         FALSE  hm2_5i20.0.gpio.071.in_not 
     9  bit   IN          FALSE  hm2_5i20.0.gpio.071.out 
     9  bit   IN          FALSE  hm2_5i20.0.led.CR01 
     9  bit   IN          FALSE  hm2_5i20.0.led.CR02 
     9  bit   IN          FALSE  hm2_5i20.0.led.CR03 
     9  bit   IN          FALSE  hm2_5i20.0.led.CR04 
     9  bit   IN          FALSE  hm2_5i20.0.led.CR05 
     9  bit   IN          FALSE  hm2_5i20.0.led.CR06 
     9  bit   IN          FALSE  hm2_5i20.0.led.CR07 
     9  bit   IN          FALSE  hm2_5i20.0.led.CR08 
     9  bit   IN          FALSE  hm2_5i20.0.pwmgen.00.enable <== Enable 
     9  float IN              0  hm2_5i20.0.pwmgen.00.value <== scmd 
     9  s32   OUT         40456  hm2_5i20.0.read.time 
     9  s32   OUT         10049  hm2_5i20.0.read_gpio.time 
     9  bit   IN          FALSE  hm2_5i20.0.stepgen.00.control-type 
     9  s32   OUT             0  hm2_5i20.0.stepgen.00.counts 
     9  float OUT             0  hm2_5i20.0.stepgen.00.dbg_err_at_match 
     9  float OUT             0  hm2_5i20.0.stepgen.00.dbg_ff_vel 
     9  float OUT             0  hm2_5i20.0.stepgen.00.dbg_pos_minus_prev_cmd 
     9  float OUT             0  hm2_5i20.0.stepgen.00.dbg_s_to_match 
     9  s32   OUT             0  hm2_5i20.0.stepgen.00.dbg_step_rate 
     9  float OUT             0  hm2_5i20.0.stepgen.00.dbg_vel_error 
     9  bit   IN          FALSE  hm2_5i20.0.stepgen.00.enable <== Xen 
     9  float IN              0  hm2_5i20.0.stepgen.00.position-cmd <== Xpos-cmd 
     9  float OUT             0  hm2_5i20.0.stepgen.00.position-fb ==> Xpos-fb 
     9  float IN              0  hm2_5i20.0.stepgen.00.velocity-cmd 
     9  float OUT             0  hm2_5i20.0.stepgen.00.velocity-fb 
     9  bit   IN          FALSE  hm2_5i20.0.stepgen.01.control-type 
     9  s32   OUT             0  hm2_5i20.0.stepgen.01.counts 
     9  float OUT             0  hm2_5i20.0.stepgen.01.dbg_err_at_match 
     9  float OUT             0  hm2_5i20.0.stepgen.01.dbg_ff_vel 
     9  float OUT             0  hm2_5i20.0.stepgen.01.dbg_pos_minus_prev_cmd 
     9  float OUT             0  hm2_5i20.0.stepgen.01.dbg_s_to_match 
     9  s32   OUT             0  hm2_5i20.0.stepgen.01.dbg_step_rate 
     9  float OUT             0  hm2_5i20.0.stepgen.01.dbg_vel_error 
     9  bit   IN          FALSE  hm2_5i20.0.stepgen.01.enable <== Yen 
     9  float IN              0  hm2_5i20.0.stepgen.01.position-cmd <== Ypos-cmd 
     9  float OUT             0  hm2_5i20.0.stepgen.01.position-fb ==> Ypos-fb 
     9  float IN              0  hm2_5i20.0.stepgen.01.velocity-cmd 
     9  float OUT             0  hm2_5i20.0.stepgen.01.velocity-fb 
     9  bit   IN          FALSE  hm2_5i20.0.stepgen.02.control-type 
     9  s32   OUT             0  hm2_5i20.0.stepgen.02.counts 
     9  float OUT             0  hm2_5i20.0.stepgen.02.dbg_err_at_match 
     9  float OUT             0  hm2_5i20.0.stepgen.02.dbg_ff_vel 
     9  float OUT             0  hm2_5i20.0.stepgen.02.dbg_pos_minus_prev_cmd 
     9  float OUT             0  hm2_5i20.0.stepgen.02.dbg_s_to_match 
     9  s32   OUT             0  hm2_5i20.0.stepgen.02.dbg_step_rate 
     9  float OUT             0  hm2_5i20.0.stepgen.02.dbg_vel_error 
     9  bit   IN          FALSE  hm2_5i20.0.stepgen.02.enable <== Zen 
     9  float IN              0  hm2_5i20.0.stepgen.02.position-cmd <== Zpos-cmd 
     9  float OUT             0  hm2_5i20.0.stepgen.02.position-fb ==> Zpos-fb 
     9  float IN              0  hm2_5i20.0.stepgen.02.velocity-cmd 
     9  float OUT             0  hm2_5i20.0.stepgen.02.velocity-fb 
     9  bit   IN          FALSE  hm2_5i20.0.stepgen.03.control-type 
     9  s32   OUT             0  hm2_5i20.0.stepgen.03.counts 
     9  float OUT             0  hm2_5i20.0.stepgen.03.dbg_err_at_match 
     9  float OUT             0  hm2_5i20.0.stepgen.03.dbg_ff_vel 
     9  float OUT             0  hm2_5i20.0.stepgen.03.dbg_pos_minus_prev_cmd 
     9  float OUT             0  hm2_5i20.0.stepgen.03.dbg_s_to_match 
     9  s32   OUT             0  hm2_5i20.0.stepgen.03.dbg_step_rate 
     9  float OUT             0  hm2_5i20.0.stepgen.03.dbg_vel_error 
     9  bit   IN          FALSE  hm2_5i20.0.stepgen.03.enable 
     9  float IN              0  hm2_5i20.0.stepgen.03.position-cmd 
     9  float OUT            -0  hm2_5i20.0.stepgen.03.position-fb 
     9  float IN              0  hm2_5i20.0.stepgen.03.velocity-cmd 
     9  float OUT             0  hm2_5i20.0.stepgen.03.velocity-fb 
     9  bit   I/O         FALSE  hm2_5i20.0.watchdog.has_bit 
     9  s32   OUT          7137  hm2_5i20.0.write.time 
     9  s32   OUT          2886  hm2_5i20.0.write_gpio.time 
    16  float IN              0  ini.0.backlash 
    16  float IN           0.25  ini.0.ferror 
    16  float IN             20  ini.0.max_acceleration 
    16  float IN            0.2  ini.0.max_limit 
    16  float IN              3  ini.0.max_velocity 
    16  float IN            0.1  ini.0.min_ferror 
    16  float IN          -11.6  ini.0.min_limit 
    16  float IN              0  ini.1.backlash 
    16  float IN           0.25  ini.1.ferror 
    16  float IN             20  ini.1.max_acceleration 
    16  float IN            0.2  ini.1.max_limit 
    16  float IN              3  ini.1.max_velocity 
    16  float IN            0.1  ini.1.min_ferror 
    16  float IN           -5.3  ini.1.min_limit 
    16  float IN              0  ini.2.backlash 
    16  float IN           0.25  ini.2.ferror 
    16  float IN             20  ini.2.max_acceleration 
    16  float IN            0.2  ini.2.max_limit 
    16  float IN              3  ini.2.max_velocity 
    16  float IN            0.1  ini.2.min_ferror 
    16  float IN          -10.2  ini.2.min_limit 
    16  float IN              0  ini.3.backlash 
    16  float IN              0  ini.3.ferror 
    16  float IN              0  ini.3.max_acceleration 
    16  float IN              0  ini.3.max_limit 
    16  float IN              0  ini.3.max_velocity 
    16  float IN              0  ini.3.min_ferror 
    16  float IN              0  ini.3.min_limit 
    16  float IN              0  ini.4.backlash 
    16  float IN              0  ini.4.ferror 
    16  float IN              0  ini.4.max_acceleration 
    16  float IN              0  ini.4.max_limit 
    16  float IN              0  ini.4.max_velocity 
    16  float IN              0  ini.4.min_ferror 
    16  float IN              0  ini.4.min_limit 
    16  float IN              0  ini.5.backlash 
    16  float IN              0  ini.5.ferror 
    16  float IN              0  ini.5.max_acceleration 
    16  float IN              0  ini.5.max_limit 
    16  float IN              0  ini.5.max_velocity 
    16  float IN              0  ini.5.min_ferror 
    16  float IN              0  ini.5.min_limit 
    16  float IN              0  ini.6.backlash 
    16  float IN              0  ini.6.ferror 
    16  float IN              0  ini.6.max_acceleration 
    16  float IN              0  ini.6.max_limit 
    16  float IN              0  ini.6.max_velocity 
    16  float IN              0  ini.6.min_ferror 
    16  float IN              0  ini.6.min_limit 
    16  float IN              0  ini.7.backlash 
    16  float IN              0  ini.7.ferror 
    16  float IN              0  ini.7.max_acceleration 
    16  float IN              0  ini.7.max_limit 
    16  float IN              0  ini.7.max_velocity 
    16  float IN              0  ini.7.min_ferror 
    16  float IN              0  ini.7.min_limit 
    16  float IN              0  ini.8.backlash 
    16  float IN              0  ini.8.ferror 
    16  float IN              0  ini.8.max_acceleration 
    16  float IN              0  ini.8.max_limit 
    16  float IN              0  ini.8.max_velocity 
    16  float IN              0  ini.8.min_ferror 
    16  float IN              0  ini.8.min_limit 
    16  bit   IN           TRUE  ini.traj_arc_blend_enable 
    16  bit   IN          FALSE  ini.traj_arc_blend_fallback_enable 
    16  float IN              4  ini.traj_arc_blend_gap_cycles 
    16  s32   IN             50  ini.traj_arc_blend_optimization_depth 
    16  float IN            100  ini.traj_arc_blend_ramp_freq 
    16  float IN            0.1  ini.traj_arc_blend_tangent_kink_ratio 
    16  float IN          1e+99  ini.traj_default_acceleration 
    16  float IN            0.2  ini.traj_default_velocity 
    16  float IN             20  ini.traj_max_acceleration 
    16  float IN              3  ini.traj_max_velocity 
     5  bit   OUT         FALSE  iocontrol.0.coolant-flood ==> M8 
     5  bit   OUT         FALSE  iocontrol.0.coolant-mist ==> M7 
     5  bit   IN          FALSE  iocontrol.0.emc-enable-in <== estop-enable 
     5  bit   OUT         FALSE  iocontrol.0.lube 
     5  bit   IN          FALSE  iocontrol.0.lube_level 
     5  bit   OUT         FALSE  iocontrol.0.tool-change ==> tool-change 
     5  bit   IN          FALSE  iocontrol.0.tool-changed <== tool-changed 
     5  s32   OUT             0  iocontrol.0.tool-number 
     5  s32   OUT             0  iocontrol.0.tool-prep-number ==> tool-prep-number 
     5  s32   OUT             0  iocontrol.0.tool-prep-pocket 
     5  bit   OUT         FALSE  iocontrol.0.tool-prepare ==> tool-prepare-loopback 
     5  bit   IN          FALSE  iocontrol.0.tool-prepared <== tool-prepare-loopback 
     5  bit   OUT         FALSE  iocontrol.0.user-enable-out 
     5  bit   OUT         FALSE  iocontrol.0.user-request-enable 
    11  s32   OUT           195  motion-command-handler.time 
    11  s32   OUT          3835  motion-controller.time 
    11  float IN              1  motion.adaptive-feed 
    11  float IN              0  motion.analog-in-00 
    11  float IN              0  motion.analog-in-01 
    11  float IN              0  motion.analog-in-02 
    11  float IN              0  motion.analog-in-03 
    11  float OUT             0  motion.analog-out-00 
    11  float OUT             0  motion.analog-out-01 
    11  float OUT             0  motion.analog-out-02 
    11  float OUT             0  motion.analog-out-03 
    11  bit   OUT         FALSE  motion.coord-error 
    11  bit   OUT          TRUE  motion.coord-mode 
    11  float OUT             0  motion.current-vel 
    11  bit   IN          FALSE  motion.digital-in-00 
    11  bit   IN          FALSE  motion.digital-in-01 
    11  bit   IN          FALSE  motion.digital-in-02 
    11  bit   IN          FALSE  motion.digital-in-03 
    11  bit   OUT         FALSE  motion.digital-out-00 
    11  bit   OUT         FALSE  motion.digital-out-01 
    11  bit   OUT         FALSE  motion.digital-out-02 
    11  bit   OUT         FALSE  motion.digital-out-03 
    11  float OUT             0  motion.distance-to-go 
    11  bit   IN           TRUE  motion.enable 
    11  bit   IN           TRUE  motion.feed-hold <== SOFF 
    11  bit   IN          FALSE  motion.feed-inhibit 
    11  bit   OUT          TRUE  motion.in-position 
    11  bit   OUT         FALSE  motion.motion-enabled 
    11  s32   OUT             0  motion.motion-type 
    11  bit   OUT         FALSE  motion.on-soft-limit 
    11  bit   IN          FALSE  motion.probe-input 
    11  s32   OUT             0  motion.program-line 
    11  float OUT             0  motion.requested-vel 
    11  bit   IN           TRUE  motion.spindle-at-speed 
    11  bit   OUT          TRUE  motion.spindle-brake 
    11  bit   OUT         FALSE  motion.spindle-forward 
    11  bit   I/O         FALSE  motion.spindle-index-enable 
    11  bit   IN          FALSE  motion.spindle-inhibit 
    11  bit   IN          FALSE  motion.spindle-is-oriented 
    11  bit   OUT         FALSE  motion.spindle-locked 
    11  bit   OUT         FALSE  motion.spindle-on ==> KA2 
    11  bit   OUT         FALSE  motion.spindle-orient 
    11  float OUT             0  motion.spindle-orient-angle 
    11  s32   IN              0  motion.spindle-orient-fault 
    11  s32   OUT             0  motion.spindle-orient-mode 
    11  bit   OUT         FALSE  motion.spindle-reverse ==> KA1 
    11  float IN              0  motion.spindle-revs 
    11  float OUT             0  motion.spindle-speed-cmd-rps 
    11  float IN              0  motion.spindle-speed-in 
    11  float OUT             0  motion.spindle-speed-out ==> scmd 
    11  float OUT             0  motion.spindle-speed-out-abs 
    11  float OUT             0  motion.spindle-speed-out-rps 
    11  float OUT             0  motion.spindle-speed-out-rps-abs 
    11  bit   OUT         FALSE  motion.teleop-mode 
    11  float OUT             0  motion.tooloffset.a 
    11  float OUT             0  motion.tooloffset.b 
    11  float OUT             0  motion.tooloffset.c 
    11  float OUT             0  motion.tooloffset.u 
    11  float OUT             0  motion.tooloffset.v 
    11  float OUT             0  motion.tooloffset.w 
    11  float OUT             0  motion.tooloffset.x 
    11  float OUT             0  motion.tooloffset.y 
    11  float OUT             0  motion.tooloffset.z 
    12  s32   OUT         74698  servo-thread.time 

Pin Aliases: 
 Alias                                            Original Name 

Signals: 
Type          Value  Name     (linked to) 
bit           FALSE  ACOK 
                         <== hm2_5i20.0.gpio.035.in_not 
bit           FALSE  DRV1 
                         <== hm2_5i20.0.gpio.025.in_not 
bit           FALSE  DRV2 
                         <== hm2_5i20.0.gpio.036.in_not 
bit           FALSE  DRV3 
                         <== hm2_5i20.0.gpio.027.in_not 
bit           FALSE  DRV4 
                         <== hm2_5i20.0.gpio.038.in_not 
bit           FALSE  Enable 
                         ==> axis.0.jog-vel-mode 
                         ==> axis.1.jog-vel-mode 
                         ==> axis.2.jog-vel-mode 
                         ==> charge-pump.enable 
                         ==> hm2_5i20.0.pwmgen.00.enable 
bit           FALSE  KA1 
                         ==> hm2_5i20.0.gpio.040.out 
                         <== motion.spindle-reverse 
bit           FALSE  KA2 
                         ==> hm2_5i20.0.gpio.042.out 
                         <== motion.spindle-on 
bit           FALSE  M7 
                         ==> hm2_5i20.0.gpio.045.out 
                         <== iocontrol.0.coolant-mist 
bit           FALSE  M8 
                         ==> hm2_5i20.0.gpio.043.out 
                         <== iocontrol.0.coolant-flood 
bit            TRUE  SOFF 
                         ==> halui.program.pause 
                         <== hm2_5i20.0.gpio.033.in 
                         ==> motion.feed-hold 
bit           FALSE  Xen 
                         <== axis.0.amp-enable-out 
                         ==> hm2_5i20.0.stepgen.00.enable 
bit           FALSE  Xmax 
                         ==> axis.0.home-sw-in 
                         ==> axis.0.pos-lim-sw-in 
                         <== hm2_5i20.0.gpio.032.in 
bit           FALSE  Xmin 
                         ==> axis.0.neg-lim-sw-in 
                         <== hm2_5i20.0.gpio.034.in 
float             0  Xpos-cmd 
                         <== axis.0.motor-pos-cmd 
                         ==> hm2_5i20.0.stepgen.00.position-cmd 
float             0  Xpos-fb 
                         ==> axis.0.motor-pos-fb 
                         <== hm2_5i20.0.stepgen.00.position-fb 
bit           FALSE  Yen 
                         <== axis.1.amp-enable-out 
                         ==> hm2_5i20.0.stepgen.01.enable 
bit           FALSE  Ymax 
                         ==> axis.1.home-sw-in 
                         ==> axis.1.pos-lim-sw-in 
                         <== hm2_5i20.0.gpio.028.in 
bit           FALSE  Ymin 
                         ==> axis.1.neg-lim-sw-in 
                         <== hm2_5i20.0.gpio.030.in 
float             0  Ypos-cmd 
                         <== axis.1.motor-pos-cmd 
                         ==> hm2_5i20.0.stepgen.01.position-cmd 
float             0  Ypos-fb 
                         ==> axis.1.motor-pos-fb 
                         <== hm2_5i20.0.stepgen.01.position-fb 
bit           FALSE  Zen 
                         <== axis.2.amp-enable-out 
                         ==> hm2_5i20.0.stepgen.02.enable 
bit           FALSE  Zmax 
                         ==> axis.2.home-sw-in 
                         ==> axis.2.pos-lim-sw-in 
                         <== hm2_5i20.0.gpio.024.in_not 
bit           FALSE  Zmin 
                         ==> axis.2.neg-lim-sw-in 
                         <== hm2_5i20.0.gpio.026.in_not 
float             0  Zpos-cmd 
                         <== axis.2.motor-pos-cmd 
                         ==> hm2_5i20.0.stepgen.02.position-cmd 
float             0  Zpos-fb 
                         ==> axis.2.motor-pos-fb 
                         <== hm2_5i20.0.stepgen.02.position-fb 
bit           FALSE  chargepump 
                         <== charge-pump.out 
                         ==> hm2_5i20.0.gpio.022.out 
bit           FALSE  estop-enable 
                         <== hm2_5i20.0.gpio.037.in 
                         ==> iocontrol.0.emc-enable-in 
bit            TRUE  machine-on 
                         ==> halui.machine.on 
                         <== hm2_5i20.0.gpio.039.in_not 
float             0  scmd 
                         ==> hm2_5i20.0.pwmgen.00.value 
                         <== motion.spindle-speed-out 
bit           FALSE  tool-change 
                         ==> hal_manualtoolchange.change 
                         <== iocontrol.0.tool-change 
bit           FALSE  tool-change-loop 
bit           FALSE  tool-changed 
                         <== hal_manualtoolchange.changed 
                         ==> iocontrol.0.tool-changed 
s32               0  tool-prep-number 
                         ==> hal_manualtoolchange.number 
                         <== iocontrol.0.tool-prep-number 
bit           FALSE  tool-prepare-loopback 
                         <== iocontrol.0.tool-prepare 
                         ==> iocontrol.0.tool-prepared 

Parameters: 
Owner   Type  Dir         Value  Name 
    13  s32   RW           3861  charge-pump.tmax 
    13  bit   RO          FALSE  charge-pump.tmax-increased 
     9  bit   RW          FALSE  hm2_5i20.0.encoder.00.counter-mode 
     9  bit   RW           TRUE  hm2_5i20.0.encoder.00.filter 
     9  bit   RW          FALSE  hm2_5i20.0.encoder.00.index-invert 
     9  bit   RW          FALSE  hm2_5i20.0.encoder.00.index-mask 
     9  bit   RW          FALSE  hm2_5i20.0.encoder.00.index-mask-invert 
     9  float RW              1  hm2_5i20.0.encoder.00.scale 
     9  float RW            0.5  hm2_5i20.0.encoder.00.vel-timeout 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.000.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.000.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.001.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.001.is_opendrain 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.002.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.002.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.003.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.003.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.005.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.005.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.005.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.007.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.007.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.007.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.009.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.009.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.009.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.010.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.010.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.010.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.011.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.011.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.011.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.012.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.012.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.012.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.013.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.013.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.013.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.014.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.014.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.014.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.015.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.015.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.015.is_output 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.016.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.016.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.017.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.017.is_opendrain 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.018.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.018.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.019.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.019.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.020.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.020.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.021.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.021.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.022.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.022.is_opendrain 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.022.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.023.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.023.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.023.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.024.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.024.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.024.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.025.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.025.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.025.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.026.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.026.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.026.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.027.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.027.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.027.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.028.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.028.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.028.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.029.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.029.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.029.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.030.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.030.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.030.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.031.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.031.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.031.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.032.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.032.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.032.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.033.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.033.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.033.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.034.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.034.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.034.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.035.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.035.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.035.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.036.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.036.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.036.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.037.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.037.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.037.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.038.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.038.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.038.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.039.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.039.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.039.is_output 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.040.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.040.is_opendrain 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.040.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.041.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.041.is_opendrain 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.041.is_output 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.042.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.042.is_opendrain 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.042.is_output 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.043.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.043.is_opendrain 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.043.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.044.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.044.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.044.is_output 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.045.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.045.is_opendrain 
     9  bit   RW           TRUE  hm2_5i20.0.gpio.045.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.046.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.046.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.046.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.047.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.047.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.047.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.048.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.048.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.048.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.049.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.049.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.049.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.050.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.050.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.050.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.051.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.051.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.051.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.052.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.052.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.052.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.053.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.053.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.053.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.054.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.054.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.054.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.055.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.055.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.055.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.056.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.056.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.056.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.057.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.057.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.057.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.058.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.058.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.058.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.059.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.059.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.059.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.060.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.060.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.060.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.061.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.061.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.061.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.062.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.062.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.062.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.063.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.063.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.063.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.064.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.064.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.064.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.065.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.065.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.065.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.066.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.066.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.066.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.067.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.067.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.067.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.068.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.068.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.068.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.069.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.069.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.069.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.070.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.070.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.070.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.071.invert_output 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.071.is_opendrain 
     9  bit   RW          FALSE  hm2_5i20.0.gpio.071.is_output 
     9  bit   RW          FALSE  hm2_5i20.0.io_error 
     9  s32   RW              1  hm2_5i20.0.pwmgen.00.output-type 
     9  float RW           5000  hm2_5i20.0.pwmgen.00.scale 
     9  u32   RW     0x00004E20  hm2_5i20.0.pwmgen.pdm_frequency 
     9  u32   RW     0x00000064  hm2_5i20.0.pwmgen.pwm_frequency 
     9  s32   RW         182013  hm2_5i20.0.read.tmax 
     9  bit   RO          FALSE  hm2_5i20.0.read.tmax-increased 
     9  s32   RW          26325  hm2_5i20.0.read_gpio.tmax 
     9  bit   RO          FALSE  hm2_5i20.0.read_gpio.tmax-increased 
     9  u32   RW     0x000004E2  hm2_5i20.0.stepgen.00.dirhold 
     9  u32   RW     0x00001388  hm2_5i20.0.stepgen.00.dirsetup 
     9  float RW              0  hm2_5i20.0.stepgen.00.maxaccel 
     9  float RW              0  hm2_5i20.0.stepgen.00.maxvel 
     9  float RW          63500  hm2_5i20.0.stepgen.00.position-scale 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.00.step_type 
     9  u32   RW     0x000004E2  hm2_5i20.0.stepgen.00.steplen 
     9  u32   RW     0x000004E2  hm2_5i20.0.stepgen.00.stepspace 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.00.table-data-0 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.00.table-data-1 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.00.table-data-2 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.00.table-data-3 
     9  u32   RW     0x000004E2  hm2_5i20.0.stepgen.01.dirhold 
     9  u32   RW     0x00001388  hm2_5i20.0.stepgen.01.dirsetup 
     9  float RW              0  hm2_5i20.0.stepgen.01.maxaccel 
     9  float RW              0  hm2_5i20.0.stepgen.01.maxvel 
     9  float RW          63500  hm2_5i20.0.stepgen.01.position-scale 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.01.step_type 
     9  u32   RW     0x000004E2  hm2_5i20.0.stepgen.01.steplen 
     9  u32   RW     0x000004E2  hm2_5i20.0.stepgen.01.stepspace 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.01.table-data-0 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.01.table-data-1 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.01.table-data-2 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.01.table-data-3 
     9  u32   RW     0x000004E2  hm2_5i20.0.stepgen.02.dirhold 
     9  u32   RW     0x00001388  hm2_5i20.0.stepgen.02.dirsetup 
     9  float RW              0  hm2_5i20.0.stepgen.02.maxaccel 
     9  float RW              0  hm2_5i20.0.stepgen.02.maxvel 
     9  float RW          63500  hm2_5i20.0.stepgen.02.position-scale 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.02.step_type 
     9  u32   RW     0x000004E2  hm2_5i20.0.stepgen.02.steplen 
     9  u32   RW     0x000004E2  hm2_5i20.0.stepgen.02.stepspace 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.02.table-data-0 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.02.table-data-1 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.02.table-data-2 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.02.table-data-3 
     9  u32   RW     0x000004E2  hm2_5i20.0.stepgen.03.dirhold 
     9  u32   RW     0x00001388  hm2_5i20.0.stepgen.03.dirsetup 
     9  float RW              0  hm2_5i20.0.stepgen.03.maxaccel 
     9  float RW              0  hm2_5i20.0.stepgen.03.maxvel 
     9  float RW      -1111.111  hm2_5i20.0.stepgen.03.position-scale 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.03.step_type 
     9  u32   RW     0x000004E2  hm2_5i20.0.stepgen.03.steplen 
     9  u32   RW     0x000004E2  hm2_5i20.0.stepgen.03.stepspace 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.03.table-data-0 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.03.table-data-1 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.03.table-data-2 
     9  u32   RW     0x00000000  hm2_5i20.0.stepgen.03.table-data-3 
     9  u32   RW     0x004C4B40  hm2_5i20.0.watchdog.timeout_ns 
     9  s32   RW          85709  hm2_5i20.0.write.tmax 
     9  bit   RO          FALSE  hm2_5i20.0.write.tmax-increased 
     9  s32   RW          17264  hm2_5i20.0.write_gpio.tmax 
     9  bit   RO          FALSE  hm2_5i20.0.write_gpio.tmax-increased 
     5  s32   RO              0  iocontrol.0.tool-prep-index 
    11  s32   RW          41808  motion-command-handler.tmax 
    11  bit   RO          FALSE  motion-command-handler.tmax-increased 
    11  s32   RW          90610  motion-controller.tmax 
    11  bit   RO          FALSE  motion-controller.tmax-increased 
    11  bit   RO          FALSE  motion.debug-bit-0 
    11  bit   RO          FALSE  motion.debug-bit-1 
    11  float RO              0  motion.debug-float-0 
    11  float RO              0  motion.debug-float-1 
    11  float RO              0  motion.debug-float-2 
    11  float RO              1  motion.debug-float-3 
    11  s32   RO              0  motion.debug-s32-0 
    11  s32   RO              0  motion.debug-s32-1 
    11  u32   RO     0x0027B5A5  motion.servo.last-period 
    11  float RO        1000881  motion.servo.last-period-ns 
    11  u32   RW     0x00000000  motion.servo.overruns 
    12  s32   RW         359385  servo-thread.tmax 
    11  float RO              0  tc.0.acc 
    11  float RO              0  tc.0.pos 
    11  float RO              0  tc.0.vel 
    11  float RO              0  tc.1.acc 
    11  float RO              0  tc.1.pos 
    11  float RO              0  tc.1.vel 
    11  float RO              0  tc.2.acc 
    11  float RO              0  tc.2.pos 
    11  float RO              0  tc.2.vel 
    11  float RO              0  tc.3.acc 
    11  float RO              0  tc.3.pos 
    11  float RO              0  tc.3.vel 
    11  u32   RO     0x00000000  traj.active_tc 
    11  float RO              0  traj.pos_out 
    11  float RO              0  traj.vel_out 

Parameter Aliases: 
 Alias                                            Original Name 

Exported Functions: 
Owner   CodeAddr  Arg       FP   Users  Name 
 00013  fad39000  fb50faa0  NO       1   charge-pump 
 00009  fb55a880  f46c6000  YES      1   hm2_5i20.0.read 
 00009  fb55a500  f46c6000  YES      1   hm2_5i20.0.read_gpio 
 00009  fb55a760  f46c6000  YES      1   hm2_5i20.0.write 
 00009  fb55a730  f46c6000  YES      1   hm2_5i20.0.write_gpio 
 00011  fb58e930  00000000  YES      1   motion-command-handler 
 00011  fb5913f0  00000000  YES      1   motion-controller 

Realtime Threads: 
     Period  FP     Name               (     Time, Max-Time ) 
     999939  YES          servo-thread (    59202,   359385 ) 
                  1 hm2_5i20.0.read 
                  2 hm2_5i20.0.read_gpio 
                  3 motion-command-handler 
                  4 motion-controller 
                  5 hm2_5i20.0.write 
                  6 hm2_5i20.0.write_gpio 
                  7 charge-pump 

jonathan@Smithy:~$