==> axis.0.motor-pos-fb <== stepgen.0.position-fb bit FALSE xstep ==> parport.0.pin-03-out <== stepgen.0.step bit FALSE ydir ==> parport.0.pin-04-out <== stepgen.1.dir bit TRUE yenable <== axis.1.amp-enable-out ==> stepgen.1.enable float 0.4718134 ypos-cmd <== axis.1.motor-pos-cmd ==> stepgen.1.position-cmd float 0.4718134 ypos-fb ==> axis.1.motor-pos-fb <== stepgen.1.position-fb bit FALSE ystep ==> parport.0.pin-05-out <== stepgen.1.step bit TRUE zdir ==> parport.0.pin-06-out <== stepgen.2.dir bit TRUE zenable <== axis.2.amp-enable-out ==> stepgen.2.enable float 0.7663914 zpos-cmd <== axis.2.motor-pos-cmd ==> stepgen.2.position-cmd float 0.7663914 zpos-fb ==> axis.2.motor-pos-fb <== stepgen.2.position-fb bit FALSE zstep ==> parport.0.pin-07-out <== stepgen.2.step Parameters: Owner Type Dir Value Name 6 s32 RO 0 axis.0.home-state 6 s32 RO 0 axis.1.home-state 6 s32 RO 0 axis.2.home-state 6 s32 RO 885 motion-command-handler.time 6 s32 RW 27705 motion-command-handler.tmax 6 s32 RO 19133 motion-controller.time 6 s32 RW 57450 motion-controller.tmax 6 bit RO FALSE motion.debug-bit-0 6 bit RO FALSE motion.debug-bit-1 6 float RO 1 motion.debug-float-0 6 float RO 0 motion.debug-float-1 6 float RO 0 motion.debug-float-2 6 float RO 1 motion.debug-float-3 6 s32 RO 0 motion.debug-s32-0 6 s32 RO 1 motion.debug-s32-1 6 u32 RO 0x00261FBA motion.servo.last-period 6 float RO 999226.1 motion.servo.last-period-ns 6 u32 RW 0x00000000 motion.servo.overruns 8 u32 RW 0x00000000 parport.0.debug1 8 u32 RW 0x00000000 parport.0.debug2 8 bit RW FALSE parport.0.pin-01-out-invert 8 bit RW FALSE parport.0.pin-01-out-reset 8 bit RW FALSE parport.0.pin-02-out-invert 8 bit RW FALSE parport.0.pin-02-out-reset 8 bit RW FALSE parport.0.pin-03-out-invert 8 bit RW FALSE parport.0.pin-03-out-reset 8 bit RW TRUE parport.0.pin-04-out-invert 8 bit RW FALSE parport.0.pin-04-out-reset 8 bit RW FALSE parport.0.pin-05-out-invert 8 bit RW FALSE parport.0.pin-05-out-reset 8 bit RW TRUE parport.0.pin-06-out-invert 8 bit RW FALSE parport.0.pin-06-out-reset 8 bit RW FALSE parport.0.pin-07-out-invert 8 bit RW FALSE parport.0.pin-07-out-reset 8 bit RW FALSE parport.0.pin-08-out-invert 8 bit RW FALSE parport.0.pin-08-out-reset 8 bit RW FALSE parport.0.pin-09-out-invert 8 bit RW FALSE parport.0.pin-09-out-reset 8 bit RW FALSE parport.0.pin-14-out-invert 8 bit RW FALSE parport.0.pin-14-out-reset 8 bit RW FALSE parport.0.pin-16-out-invert 8 bit RW FALSE parport.0.pin-16-out-reset 8 bit RW FALSE parport.0.pin-17-out-invert 8 bit RW FALSE parport.0.pin-17-out-reset 8 s32 RO 3240 parport.0.read.time 8 s32 RW 44527 parport.0.read.tmax 8 u32 RW 0x00000000 parport.0.reset-time 8 s32 RO 0 parport.0.reset.time 8 s32 RW 0 parport.0.reset.tmax 8 s32 RO 6562 parport.0.write.time 8 s32 RW 45780 parport.0.write.tmax 8 s32 RO 0 parport.read-all.time 8 s32 RW 0 parport.read-all.tmax 8 s32 RO 0 parport.write-all.time 8 s32 RW 0 parport.write-all.tmax 9 u32 RW 0x000270C4 stepgen.0.dirhold 9 u32 RW 0x000270C4 stepgen.0.dirsetup 9 float RO -5333.333 stepgen.0.frequency 9 float RW 10 stepgen.0.maxaccel 9 float RW 0 stepgen.0.maxvel 9 float RW 16000 stepgen.0.position-scale 9 s32 RO 73102 stepgen.0.rawcounts 9 u32 RW 0x00009C31 stepgen.0.steplen 9 u32 RW 0x00009C31 stepgen.0.stepspace 9 u32 RW 0x000270C4 stepgen.1.dirhold 9 u32 RW 0x000270C4 stepgen.1.dirsetup 9 float RO 4.407018e-10 stepgen.1.frequency 9 float RW 10 stepgen.1.maxaccel 9 float RW 0 stepgen.1.maxvel 9 float RW 16000 stepgen.1.position-scale 9 s32 RO 7549 stepgen.1.rawcounts 9 u32 RW 0x00009C31 stepgen.1.steplen 9 u32 RW 0x00009C31 stepgen.1.stepspace 9 u32 RW 0x000270C4 stepgen.2.dirhold 9 u32 RW 0x000270C4 stepgen.2.dirsetup 9 float RO 7.108093e-10 stepgen.2.frequency 9 float RW 10 stepgen.2.maxaccel 9 float RW 0 stepgen.2.maxvel 9 float RW 16000 stepgen.2.position-scale 9 s32 RO 12262 stepgen.2.rawcounts 9 u32 RW 0x00009C31 stepgen.2.steplen 9 u32 RW 0x00009C31 stepgen.2.stepspace 9 s32 RO 255 stepgen.capture-position.time 9 s32 RW 15983 stepgen.capture-position.tmax 9 s32 RO 570 stepgen.make-pulses.time 9 s32 RW 26843 stepgen.make-pulses.tmax 9 s32 RO 795 stepgen.update-freq.time 9 s32 RW 42465 stepgen.update-freq.tmax 6 float RO 0 tc.0.acc 6 float RO 0 tc.0.pos 6 float RO 0 tc.0.vel 6 float RO 0 tc.1.acc 6 float RO 0 tc.1.pos 6 float RO 0 tc.1.vel 6 float RO 0 tc.2.acc 6 float RO 0 tc.2.pos 6 float RO 0 tc.2.vel 6 float RO 0 tc.3.acc 6 float RO 0 tc.3.pos 6 float RO 0 tc.3.vel 6 u32 RO 0x00000000 traj.active_tc 6 float RO 0 traj.pos_out 6 float RO 0 traj.vel_out Parameter Aliases: Alias Original Name Exported Functions: Owner CodeAddr Arg FP Users Name 00006 fead98d0 00000000 YES 1 motion-command-handler 00006 feadbd9a 00000000 YES 1 motion-controller 00008 feb07000 fea68ed8 NO 1 parport.0.read 00008 feb07219 fea68ed8 NO 0 parport.0.reset 00008 feb072fa fea68ed8 NO 1 parport.0.write 00008 feb070ac fea68ed8 NO 0 parport.read-all 00008 feb07488 fea68ed8 NO 0 parport.write-all 00009 feb1320f fea68ff8 YES 1 stepgen.capture-position 00009 feb13000 fea68ff8 NO 1 stepgen.make-pulses 00009 feb13307 fea68ff8 YES 1 stepgen.update-freq Realtime Threads: Period FP Name ( Time, Max-Time ) 999625 YES servo-thread ( 10500, 100987 ) 1 stepgen.capture-position 2 motion-command-handler 3 motion-controller 4 stepgen.update-freq 39985 NO base-thread ( 10890, 52665 ) 1 parport.0.read 2 stepgen.make-pulses 3 parport.0.write mill@mill-desktop:~$ clear mill@mill-desktop:~$ halcmd show all Loaded HAL Components: ID Type Name PID State 11 User halcmd13516 13516 ready 10 User axisui 13386 ready 9 RT stepgen ready 8 RT hal_parport ready 7 RT probe_parport ready 6 RT motmod ready 5 RT trivkins ready 4 User halui 13366 ready 3 User iocontrol 13364 ready Component Pins: Owner Type Dir Value Name 6 bit OUT TRUE axis.0.active 6 bit OUT TRUE axis.0.amp-enable-out ==> xenable 6 bit IN FALSE axis.0.amp-fault-in 6 float OUT -0.0013 axis.0.backlash-corr 6 float OUT -0.0013 axis.0.backlash-filt 6 float OUT 0 axis.0.backlash-vel 6 float OUT 0.5012361 axis.0.coarse-pos-cmd 6 bit OUT FALSE axis.0.error 6 float OUT -4.984816e-05 axis.0.f-error 6 float OUT 0.0144202 axis.0.f-error-lim 6 bit OUT FALSE axis.0.f-errored 6 bit OUT FALSE axis.0.faulted 6 float OUT -1.387779e-17 axis.0.free-pos-cmd 6 bit OUT FALSE axis.0.free-tp-enable 6 float OUT 0.3066667 axis.0.free-vel-lim 6 bit IN FALSE axis.0.home-sw-in 6 bit OUT TRUE axis.0.homed 6 bit OUT FALSE axis.0.homing 6 bit OUT TRUE axis.0.in-position 6 bit I/O FALSE axis.0.index-enable 6 s32 IN 0 axis.0.jog-counts 6 bit IN FALSE axis.0.jog-enable 6 float IN 0 axis.0.jog-scale 6 bit IN FALSE axis.0.jog-vel-mode 6 float OUT 0.5014148 axis.0.joint-pos-cmd 6 float OUT 0.5015582 axis.0.joint-pos-fb 6 float OUT -0.09061758 axis.0.joint-vel-cmd 6 bit OUT FALSE axis.0.kb-jog-active 6 float OUT 4.367926 axis.0.motor-pos-cmd ==> xpos-cmd 6 float IN 4.368065 axis.0.motor-pos-fb <== xpos-fb 6 bit OUT FALSE axis.0.neg-hard-limit 6 bit IN FALSE axis.0.neg-lim-sw-in 6 bit OUT FALSE axis.0.pos-hard-limit 6 bit IN FALSE axis.0.pos-lim-sw-in 6 bit OUT FALSE axis.0.wheel-jog-active 6 bit OUT TRUE axis.1.active 6 bit OUT TRUE axis.1.amp-enable-out ==> yenable 6 bit IN FALSE axis.1.amp-fault-in 6 float OUT 0.00095 axis.1.backlash-corr 6 float OUT 0.00095 axis.1.backlash-filt 6 float OUT 0 axis.1.backlash-vel 6 float OUT -4.135903e-25 axis.1.coarse-pos-cmd 6 bit OUT FALSE axis.1.error 6 float OUT 4.435051e-09 axis.1.f-error 6 float OUT 0.01 axis.1.f-error-lim 6 bit OUT FALSE axis.1.f-errored 6 bit OUT FALSE axis.1.faulted 6 float OUT -4.135903e-25 axis.1.free-pos-cmd 6 bit OUT FALSE axis.1.free-tp-enable 6 float OUT 0.335 axis.1.free-vel-lim 6 bit IN FALSE axis.1.home-sw-in 6 bit OUT TRUE axis.1.homed 6 bit OUT FALSE axis.1.homing 6 bit OUT TRUE axis.1.in-position 6 bit I/O FALSE axis.1.index-enable 6 s32 IN 0 axis.1.jog-counts 6 bit IN FALSE axis.1.jog-enable 6 float IN 0 axis.1.jog-scale 6 bit IN FALSE axis.1.jog-vel-mode 6 float OUT -4.135903e-25 axis.1.joint-pos-cmd 6 float OUT -4.435051e-09 axis.1.joint-pos-fb 6 float OUT 0 axis.1.joint-vel-cmd 6 bit OUT FALSE axis.1.kb-jog-active 6 float OUT 0.4718134 axis.1.motor-pos-cmd ==> ypos-cmd 6 float IN 0.4718134 axis.1.motor-pos-fb <== ypos-fb 6 bit OUT FALSE axis.1.neg-hard-limit 6 bit IN FALSE axis.1.neg-lim-sw-in 6 bit OUT FALSE axis.1.pos-hard-limit 6 bit IN FALSE axis.1.pos-lim-sw-in 6 bit OUT FALSE axis.1.wheel-jog-active 6 bit OUT TRUE axis.2.active 6 bit OUT TRUE axis.2.amp-enable-out ==> zenable 6 bit IN FALSE axis.2.amp-fault-in 6 float OUT -0.003 axis.2.backlash-corr 6 float OUT -0.003 axis.2.backlash-filt 6 float OUT 0 axis.2.backlash-vel 6 float OUT 8.271806e-25 axis.2.coarse-pos-cmd 6 bit OUT FALSE axis.2.error 6 float OUT -3.796304e-09 axis.2.f-error 6 float OUT 0.01 axis.2.f-error-lim 6 bit OUT FALSE axis.2.f-errored 6 bit OUT FALSE axis.2.faulted 6 float OUT 8.271806e-25 axis.2.free-pos-cmd 6 bit OUT FALSE axis.2.free-tp-enable 6 float OUT 0.335 axis.2.free-vel-lim 6 bit IN FALSE axis.2.home-sw-in 6 bit OUT TRUE axis.2.homed 6 bit OUT FALSE axis.2.homing 6 bit OUT TRUE axis.2.in-position 6 bit I/O FALSE axis.2.index-enable 6 s32 IN 0 axis.2.jog-counts 6 bit IN FALSE axis.2.jog-enable 6 float IN 0 axis.2.jog-scale 6 bit IN FALSE axis.2.jog-vel-mode 6 float OUT 8.271806e-25 axis.2.joint-pos-cmd 6 float OUT 3.796304e-09 axis.2.joint-pos-fb 6 float OUT 0 axis.2.joint-vel-cmd 6 bit OUT FALSE axis.2.kb-jog-active 6 float OUT 0.7663914 axis.2.motor-pos-cmd ==> zpos-cmd 6 float IN 0.7663914 axis.2.motor-pos-fb <== zpos-fb 6 bit OUT FALSE axis.2.neg-hard-limit 6 bit IN FALSE axis.2.neg-lim-sw-in 6 bit OUT FALSE axis.2.pos-hard-limit 6 bit IN FALSE axis.2.pos-lim-sw-in 6 bit OUT FALSE axis.2.wheel-jog-active 10 bit OUT FALSE axisui.jog.a 10 bit OUT FALSE axisui.jog.b 10 bit OUT FALSE axisui.jog.c 10 float OUT 0 axisui.jog.increment 10 bit OUT FALSE axisui.jog.u 10 bit OUT FALSE axisui.jog.v 10 bit OUT FALSE axisui.jog.w 10 bit OUT TRUE axisui.jog.x 10 bit OUT FALSE axisui.jog.y 10 bit OUT FALSE axisui.jog.z 10 bit IN FALSE axisui.notifications-clear 10 bit IN FALSE axisui.notifications-clear-error 10 bit IN FALSE axisui.notifications-clear-info 10 bit IN FALSE axisui.set-manual-mode 4 bit IN FALSE halui.abort 4 float OUT 0.5027351 halui.axis.0.pos-commanded 4 float OUT 0.5032041 halui.axis.0.pos-feedback 4 float OUT 0.5032041 halui.axis.0.pos-relative 4 float OUT -4.135903e-25 halui.axis.1.pos-commanded 4 float OUT -4.435051e-09 halui.axis.1.pos-feedback 4 float OUT -4.435051e-09 halui.axis.1.pos-relative 4 float OUT 8.271806e-25 halui.axis.2.pos-commanded 4 float OUT 3.796304e-09 halui.axis.2.pos-feedback 4 float OUT 3.796304e-09 halui.axis.2.pos-relative 4 float OUT 0 halui.axis.3.pos-commanded 4 float OUT 0 halui.axis.3.pos-feedback 4 float OUT 0 halui.axis.3.pos-relative 4 float OUT 0 halui.axis.4.pos-commanded 4 float OUT 0 halui.axis.4.pos-feedback 4 float OUT 0 halui.axis.4.pos-relative 4 float OUT 0 halui.axis.5.pos-commanded 4 float OUT 0 halui.axis.5.pos-feedback 4 float OUT 0 halui.axis.5.pos-relative 4 float OUT 0 halui.axis.6.pos-commanded 4 float OUT 0 halui.axis.6.pos-feedback 4 float OUT 0 halui.axis.6.pos-relative 4 float OUT 0 halui.axis.7.pos-commanded 4 float OUT 0 halui.axis.7.pos-feedback 4 float OUT 0 halui.axis.7.pos-relative 4 float OUT 0 halui.axis.8.pos-commanded 4 float OUT 0 halui.axis.8.pos-feedback 4 float OUT 0 halui.axis.8.pos-relative 4 bit IN FALSE halui.estop.activate 4 bit OUT FALSE halui.estop.is-activated 4 bit IN FALSE halui.estop.reset 4 bit IN TRUE halui.feed-override.count-enable 4 s32 IN 0 halui.feed-override.counts 4 bit IN FALSE halui.feed-override.decrease 4 bit IN FALSE halui.feed-override.increase 4 float IN 0.1 halui.feed-override.scale 4 float OUT 1 halui.feed-override.value 4 bit OUT FALSE halui.flood.is-on 4 bit IN FALSE halui.flood.off 4 bit IN FALSE halui.flood.on 4 float IN 0.2 halui.jog-deadband 4 float IN 0 halui.jog-speed 4 float IN 0 halui.jog.0.analog 4 bit IN FALSE halui.jog.0.minus 4 bit IN FALSE halui.jog.0.plus 4 float IN 0 halui.jog.1.analog 4 bit IN FALSE halui.jog.1.minus 4 bit IN FALSE halui.jog.1.plus 4 float IN 0 halui.jog.2.analog 4 bit IN FALSE halui.jog.2.minus 4 bit IN FALSE halui.jog.2.plus 4 bit IN FALSE halui.jog.selected.minus 4 bit IN FALSE halui.jog.selected.plus 4 bit OUT FALSE halui.joint.0.has-fault 4 bit IN FALSE halui.joint.0.home 4 bit OUT TRUE halui.joint.0.is-homed 4 bit OUT FALSE halui.joint.0.is-selected 4 bit OUT FALSE halui.joint.0.on-hard-max-limit 4 bit OUT FALSE halui.joint.0.on-hard-min-limit 4 bit OUT FALSE halui.joint.0.on-soft-max-limit 4 bit OUT FALSE halui.joint.0.on-soft-min-limit 4 bit IN FALSE halui.joint.0.select 4 bit IN FALSE halui.joint.0.unhome 4 bit OUT FALSE halui.joint.1.has-fault 4 bit IN FALSE halui.joint.1.home 4 bit OUT TRUE halui.joint.1.is-homed 4 bit OUT FALSE halui.joint.1.is-selected 4 bit OUT FALSE halui.joint.1.on-hard-max-limit 4 bit OUT FALSE halui.joint.1.on-hard-min-limit 4 bit OUT FALSE halui.joint.1.on-soft-max-limit 4 bit OUT FALSE halui.joint.1.on-soft-min-limit 4 bit IN FALSE halui.joint.1.select 4 bit IN FALSE halui.joint.1.unhome 4 bit OUT FALSE halui.joint.2.has-fault 4 bit IN FALSE halui.joint.2.home 4 bit OUT TRUE halui.joint.2.is-homed 4 bit OUT FALSE halui.joint.2.is-selected 4 bit OUT FALSE halui.joint.2.on-hard-max-limit 4 bit OUT FALSE halui.joint.2.on-hard-min-limit 4 bit OUT FALSE halui.joint.2.on-soft-max-limit 4 bit OUT FALSE halui.joint.2.on-soft-min-limit 4 bit IN FALSE halui.joint.2.select 4 bit IN FALSE halui.joint.2.unhome 4 u32 OUT 0x00000000 halui.joint.selected 4 bit OUT FALSE halui.joint.selected.has-fault 4 bit IN FALSE halui.joint.selected.home 4 bit OUT TRUE halui.joint.selected.is_homed 4 bit OUT FALSE halui.joint.selected.on-hard-max-limit 4 bit OUT FALSE halui.joint.selected.on-hard-min-limit 4 bit OUT FALSE halui.joint.selected.on-soft-limit 4 bit OUT FALSE halui.joint.selected.on-soft-min-limit 4 bit IN FALSE halui.joint.selected.unhome 4 bit OUT TRUE halui.lube.is-on 4 bit IN FALSE halui.lube.off 4 bit IN FALSE halui.lube.on 4 bit OUT TRUE halui.machine.is-on 4 bit IN FALSE halui.machine.off 4 bit IN FALSE halui.machine.on 4 bit IN TRUE halui.max-velocity.count-enable 4 s32 IN 0 halui.max-velocity.counts 4 bit IN FALSE halui.max-velocity.decrease 4 bit IN FALSE halui.max-velocity.increase 4 float IN 0 halui.max-velocity.scale 4 float OUT 0.3333333 halui.max-velocity.value 4 bit IN FALSE halui.mdi-command-00 <== remote-rapid-home 4 bit OUT FALSE halui.mist.is-on 4 bit IN FALSE halui.mist.off 4 bit IN FALSE halui.mist.on 4 bit IN FALSE halui.mode.auto 4 bit OUT TRUE halui.mode.is-auto 4 bit OUT TRUE halui.mode.is-joint 4 bit OUT FALSE halui.mode.is-manual 4 bit OUT FALSE halui.mode.is-mdi 4 bit OUT FALSE halui.mode.is-teleop 4 bit IN FALSE halui.mode.joint 4 bit IN FALSE halui.mode.manual 4 bit IN FALSE halui.mode.mdi 4 bit IN FALSE halui.mode.teleop 4 bit OUT FALSE halui.program.block-delete.is-on 4 bit IN FALSE halui.program.block-delete.off 4 bit IN FALSE halui.program.block-delete.on 4 bit OUT FALSE halui.program.is-idle 4 bit OUT FALSE halui.program.is-paused 4 bit OUT TRUE halui.program.is-running 4 bit OUT FALSE halui.program.optional-stop.is-on 4 bit IN FALSE halui.program.optional-stop.off 4 bit IN FALSE halui.program.optional-stop.on 4 bit IN FALSE halui.program.pause 4 bit IN FALSE halui.program.resume 4 bit IN FALSE halui.program.run 4 bit IN FALSE halui.program.step 4 bit IN FALSE halui.program.stop 4 bit IN TRUE halui.spindle-override.count-enable 4 s32 IN 0 halui.spindle-override.counts 4 bit IN FALSE halui.spindle-override.decrease 4 bit IN FALSE halui.spindle-override.increase 4 float IN 0.1 halui.spindle-override.scale 4 float OUT 1 halui.spindle-override.value 4 bit OUT TRUE halui.spindle.brake-is-on 4 bit IN FALSE halui.spindle.brake-off 4 bit IN FALSE halui.spindle.brake-on 4 bit IN FALSE halui.spindle.decrease 4 bit IN FALSE halui.spindle.forward 4 bit IN FALSE halui.spindle.increase 4 bit OUT FALSE halui.spindle.is-on 4 bit IN FALSE halui.spindle.reverse 4 bit OUT FALSE halui.spindle.runs-backward 4 bit OUT FALSE halui.spindle.runs-forward 4 bit IN FALSE halui.spindle.start 4 bit IN FALSE halui.spindle.stop 4 float OUT 0 halui.tool.length_offset.a 4 float OUT 0 halui.tool.length_offset.b 4 float OUT 0 halui.tool.length_offset.c 4 float OUT 0 halui.tool.length_offset.u 4 float OUT 0 halui.tool.length_offset.v 4 float OUT 0 halui.tool.length_offset.w 4 float OUT 0 halui.tool.length_offset.x 4 float OUT 0 halui.tool.length_offset.y 4 float OUT 0 halui.tool.length_offset.z 4 u32 OUT 0x00000000 halui.tool.number 3 bit OUT FALSE iocontrol.0.coolant-flood 3 bit OUT FALSE iocontrol.0.coolant-mist 3 bit IN TRUE iocontrol.0.emc-enable-in <== estop-out 3 bit OUT TRUE iocontrol.0.lube 3 bit IN FALSE iocontrol.0.lube_level 3 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-loopback 3 bit IN FALSE iocontrol.0.tool-changed <== tool-change-loopback 3 s32 OUT 0 iocontrol.0.tool-number 3 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-number 3 s32 OUT 0 iocontrol.0.tool-prep-pocket 3 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback 3 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback 3 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-out 3 bit OUT FALSE iocontrol.0.user-request-enable 6 float IN 1 motion.adaptive-feed 6 float IN 0 motion.analog-in-00 6 float IN 0 motion.analog-in-01 6 float IN 0 motion.analog-in-02 6 float IN 0 motion.analog-in-03 6 float OUT 0 motion.analog-out-00 6 float OUT 0 motion.analog-out-01 6 float OUT 0 motion.analog-out-02 6 float OUT 0 motion.analog-out-03 6 bit OUT FALSE motion.coord-error 6 bit OUT TRUE motion.coord-mode 6 float OUT 0.04113615 motion.current-vel 6 bit IN FALSE motion.digital-in-00 6 bit IN FALSE motion.digital-in-01 6 bit IN FALSE motion.digital-in-02 6 bit IN FALSE motion.digital-in-03 6 bit OUT FALSE motion.digital-out-00 6 bit OUT FALSE motion.digital-out-01 6 bit OUT FALSE motion.digital-out-02 6 bit OUT FALSE motion.digital-out-03 6 float OUT 0.0002820304 motion.distance-to-go 6 bit IN TRUE motion.enable 6 bit IN FALSE motion.feed-hold 6 bit OUT FALSE motion.in-position 6 bit IN TRUE motion.motion-enabled 6 bit OUT FALSE motion.on-soft-limit 6 bit IN FALSE motion.probe-input 6 s32 OUT 9 motion.program-line 6 float OUT 0.335 motion.requested-vel 6 bit IN TRUE motion.spindle-at-speed 6 bit OUT TRUE motion.spindle-brake 6 bit OUT FALSE motion.spindle-forward 6 bit I/O FALSE motion.spindle-index-enable 6 bit OUT FALSE motion.spindle-on 6 bit OUT FALSE motion.spindle-reverse 6 float IN 0 motion.spindle-revs 6 float IN 0 motion.spindle-speed-in 6 float OUT 0 motion.spindle-speed-out ==> spindle-cmd 6 float OUT 0 motion.spindle-speed-out-rps 6 bit OUT FALSE motion.teleop-mode 6 float OUT 0 motion.tooloffset.a 6 float OUT 0 motion.tooloffset.b 6 float OUT 0 motion.tooloffset.c 6 float OUT 0 motion.tooloffset.u 6 float OUT 0 motion.tooloffset.v 6 float OUT 0 motion.tooloffset.w 6 float OUT 0 motion.tooloffset.x 6 float OUT 0 motion.tooloffset.y 6 float OUT 0 motion.tooloffset.z 8 bit IN TRUE parport.0.pin-01-out <== estop-out 8 bit IN TRUE parport.0.pin-02-out <== xdir 8 bit IN FALSE parport.0.pin-03-out <== xstep 8 bit IN FALSE parport.0.pin-04-out <== ydir 8 bit IN FALSE parport.0.pin-05-out <== ystep 8 bit IN TRUE parport.0.pin-06-out <== zdir 8 bit IN FALSE parport.0.pin-07-out <== zstep 8 bit IN FALSE parport.0.pin-08-out <== adir 8 bit IN FALSE parport.0.pin-09-out <== astep 8 bit OUT TRUE parport.0.pin-10-in 8 bit OUT FALSE parport.0.pin-10-in-not 8 bit OUT FALSE parport.0.pin-11-in 8 bit OUT TRUE parport.0.pin-11-in-not 8 bit OUT TRUE parport.0.pin-12-in 8 bit OUT FALSE parport.0.pin-12-in-not 8 bit OUT TRUE parport.0.pin-13-in 8 bit OUT FALSE parport.0.pin-13-in-not 8 bit IN FALSE parport.0.pin-14-out 8 bit OUT TRUE parport.0.pin-15-in 8 bit OUT FALSE parport.0.pin-15-in-not 8 bit IN FALSE parport.0.pin-16-out 8 bit IN FALSE parport.0.pin-17-out 10 bit OUT FALSE pyvcp.rapid-to-home ==> remote-rapid-home 9 s32 OUT 69872 stepgen.0.counts 9 bit OUT TRUE stepgen.0.dir ==> xdir 9 bit IN TRUE stepgen.0.enable <== xenable 9 float IN 4.366927 stepgen.0.position-cmd <== xpos-cmd 9 float OUT 4.366999 stepgen.0.position-fb ==> xpos-fb 9 bit OUT FALSE stepgen.0.step ==> xstep 9 s32 OUT 7549 stepgen.1.counts 9 bit OUT FALSE stepgen.1.dir ==> ydir 9 bit IN TRUE stepgen.1.enable <== yenable 9 float IN 0.4718134 stepgen.1.position-cmd <== ypos-cmd 9 float OUT 0.4718134 stepgen.1.position-fb ==> ypos-fb 9 bit OUT FALSE stepgen.1.step ==> ystep 9 s32 OUT 12262 stepgen.2.counts 9 bit OUT TRUE stepgen.2.dir ==> zdir 9 bit IN TRUE stepgen.2.enable <== zenable 9 float IN 0.7663914 stepgen.2.position-cmd <== zpos-cmd 9 float OUT 0.7663914 stepgen.2.position-fb ==> zpos-fb 9 bit OUT FALSE stepgen.2.step ==> zstep Pin Aliases: Alias Original Name Signals: Type Value Name (linked to) bit FALSE adir ==> parport.0.pin-08-out bit FALSE astep ==> parport.0.pin-09-out bit TRUE estop-out ==> iocontrol.0.emc-enable-in <== iocontrol.0.user-enable-out ==> parport.0.pin-01-out bit FALSE remote-rapid-home ==> halui.mdi-command-00 <== pyvcp.rapid-to-home float 0 spindle-cmd <== motion.spindle-speed-out bit FALSE tool-change-loopback <== iocontrol.0.tool-change ==> iocontrol.0.tool-changed s32 0 tool-number <== iocontrol.0.tool-prep-number bit FALSE tool-prepare-loopback <== iocontrol.0.tool-prepare ==> iocontrol.0.tool-prepared bit TRUE xdir ==> parport.0.pin-02-out <== stepgen.0.dir bit TRUE xenable <== axis.0.amp-enable-out ==> stepgen.0.enable float 4.366717 xpos-cmd <== axis.0.motor-pos-cmd ==> stepgen.0.position-cmd float 4.366761 xpos-fb ==> axis.0.motor-pos-fb <== stepgen.0.position-fb bit FALSE xstep ==> parport.0.pin-03-out <== stepgen.0.step bit FALSE ydir ==> parport.0.pin-04-out <== stepgen.1.dir bit TRUE yenable <== axis.1.amp-enable-out ==> stepgen.1.enable float 0.4718134 ypos-cmd <== axis.1.motor-pos-cmd ==> stepgen.1.position-cmd float 0.4718134 ypos-fb ==> axis.1.motor-pos-fb <== stepgen.1.position-fb bit FALSE ystep ==> parport.0.pin-05-out <== stepgen.1.step bit TRUE zdir ==> parport.0.pin-06-out <== stepgen.2.dir bit TRUE zenable <== axis.2.amp-enable-out ==> stepgen.2.enable float 0.7663914 zpos-cmd <== axis.2.motor-pos-cmd ==> stepgen.2.position-cmd float 0.7663914 zpos-fb ==> axis.2.motor-pos-fb <== stepgen.2.position-fb bit FALSE zstep ==> parport.0.pin-07-out <== stepgen.2.step Parameters: Owner Type Dir Value Name 6 s32 RO 0 axis.0.home-state 6 s32 RO 0 axis.1.home-state 6 s32 RO 0 axis.2.home-state 6 s32 RO 135 motion-command-handler.time 6 s32 RW 27705 motion-command-handler.tmax 6 s32 RO 4275 motion-controller.time 6 s32 RW 57450 motion-controller.tmax 6 bit RO FALSE motion.debug-bit-0 6 bit RO FALSE motion.debug-bit-1 6 float RO 1 motion.debug-float-0 6 float RO 0 motion.debug-float-1 6 float RO 0 motion.debug-float-2 6 float RO 1 motion.debug-float-3 6 s32 RO 0 motion.debug-s32-0 6 s32 RO 1 motion.debug-s32-1 6 u32 RO 0x002643AC motion.servo.last-period 6 float RO 1002906 motion.servo.last-period-ns 6 u32 RW 0x00000000 motion.servo.overruns 8 u32 RW 0x00000000 parport.0.debug1 8 u32 RW 0x00000000 parport.0.debug2 8 bit RW FALSE parport.0.pin-01-out-invert 8 bit RW FALSE parport.0.pin-01-out-reset 8 bit RW FALSE parport.0.pin-02-out-invert 8 bit RW FALSE parport.0.pin-02-out-reset 8 bit RW FALSE parport.0.pin-03-out-invert 8 bit RW FALSE parport.0.pin-03-out-reset 8 bit RW TRUE parport.0.pin-04-out-invert 8 bit RW FALSE parport.0.pin-04-out-reset 8 bit RW FALSE parport.0.pin-05-out-invert 8 bit RW FALSE parport.0.pin-05-out-reset 8 bit RW TRUE parport.0.pin-06-out-invert 8 bit RW FALSE parport.0.pin-06-out-reset 8 bit RW FALSE parport.0.pin-07-out-invert 8 bit RW FALSE parport.0.pin-07-out-reset 8 bit RW FALSE parport.0.pin-08-out-invert 8 bit RW FALSE parport.0.pin-08-out-reset 8 bit RW FALSE parport.0.pin-09-out-invert 8 bit RW FALSE parport.0.pin-09-out-reset 8 bit RW FALSE parport.0.pin-14-out-invert 8 bit RW FALSE parport.0.pin-14-out-reset 8 bit RW FALSE parport.0.pin-16-out-invert 8 bit RW FALSE parport.0.pin-16-out-reset 8 bit RW FALSE parport.0.pin-17-out-invert 8 bit RW FALSE parport.0.pin-17-out-reset 8 s32 RO 3203 parport.0.read.time 8 s32 RW 44527 parport.0.read.tmax 8 u32 RW 0x00000000 parport.0.reset-time 8 s32 RO 0 parport.0.reset.time 8 s32 RW 0 parport.0.reset.tmax 8 s32 RO 6728 parport.0.write.time 8 s32 RW 45780 parport.0.write.tmax 8 s32 RO 0 parport.read-all.time 8 s32 RW 0 parport.read-all.tmax 8 s32 RO 0 parport.write-all.time 8 s32 RW 0 parport.write-all.tmax 9 u32 RW 0x000270C4 stepgen.0.dirhold 9 u32 RW 0x000270C4 stepgen.0.dirsetup 9 float RO -459.9806 stepgen.0.frequency 9 float RW 10 stepgen.0.maxaccel 9 float RW 0 stepgen.0.maxvel 9 float RW 16000 stepgen.0.position-scale 9 s32 RO 69868 stepgen.0.rawcounts 9 u32 RW 0x00009C31 stepgen.0.steplen 9 u32 RW 0x00009C31 stepgen.0.stepspace 9 u32 RW 0x000270C4 stepgen.1.dirhold 9 u32 RW 0x000270C4 stepgen.1.dirsetup 9 float RO 4.407018e-10 stepgen.1.frequency 9 float RW 10 stepgen.1.maxaccel 9 float RW 0 stepgen.1.maxvel 9 float RW 16000 stepgen.1.position-scale 9 s32 RO 7549 stepgen.1.rawcounts 9 u32 RW 0x00009C31 stepgen.1.steplen 9 u32 RW 0x00009C31 stepgen.1.stepspace 9 u32 RW 0x000270C4 stepgen.2.dirhold 9 u32 RW 0x000270C4 stepgen.2.dirsetup 9 float RO 7.108093e-10 stepgen.2.frequency 9 float RW 10 stepgen.2.maxaccel 9 float RW 0 stepgen.2.maxvel 9 float RW 16000 stepgen.2.position-scale 9 s32 RO 12262 stepgen.2.rawcounts 9 u32 RW 0x00009C31 stepgen.2.steplen 9 u32 RW 0x00009C31 stepgen.2.stepspace 9 s32 RO 165 stepgen.capture-position.time 9 s32 RW 15983 stepgen.capture-position.tmax 9 s32 RO 653 stepgen.make-pulses.time 9 s32 RW 26843 stepgen.make-pulses.tmax 9 s32 RO 570 stepgen.update-freq.time 9 s32 RW 42465 stepgen.update-freq.tmax 6 float RO 0 tc.0.acc 6 float RO 0 tc.0.pos 6 float RO 0 tc.0.vel 6 float RO 0 tc.1.acc 6 float RO 0 tc.1.pos 6 float RO 0 tc.1.vel 6 float RO 0 tc.2.acc 6 float RO 0 tc.2.pos 6 float RO 0 tc.2.vel 6 float RO 0 tc.3.acc 6 float RO 0 tc.3.pos 6 float RO 0 tc.3.vel 6 u32 RO 0x00000000 traj.active_tc 6 float RO 0 traj.pos_out 6 float RO 0 traj.vel_out Parameter Aliases: Alias Original Name Exported Functions: Owner CodeAddr Arg FP Users Name 00006 fead98d0 00000000 YES 1 motion-command-handler 00006 feadbd9a 00000000 YES 1 motion-controller 00008 feb07000 fea68ed8 NO 1 parport.0.read 00008 feb07219 fea68ed8 NO 0 parport.0.reset 00008 feb072fa fea68ed8 NO 1 parport.0.write 00008 feb070ac fea68ed8 NO 0 parport.read-all 00008 feb07488 fea68ed8 NO 0 parport.write-all 00009 feb1320f fea68ff8 YES 1 stepgen.capture-position 00009 feb13000 fea68ff8 NO 1 stepgen.make-pulses 00009 feb13307 fea68ff8 YES 1 stepgen.update-freq Realtime Threads: Period FP Name ( Time, Max-Time ) 999625 YES servo-thread ( 3713, 100987 ) 1 stepgen.capture-position 2 motion-command-handler 3 motion-controller 4 stepgen.update-freq 39985 NO base-thread ( 10057, 52665 ) 1 parport.0.read 2 stepgen.make-pulses 3 parport.0.write mill@mill-desktop:~$ clear mill@mill-desktop:~$ halcmd show all Loaded HAL Components: ID Type Name PID State 11 User halcmd13523 13523 ready 10 User axisui 13386 ready 9 RT stepgen ready 8 RT hal_parport ready 7 RT probe_parport ready 6 RT motmod ready 5 RT trivkins ready 4 User halui 13366 ready 3 User iocontrol 13364 ready Component Pins: Owner Type Dir Value Name 6 bit OUT TRUE axis.0.active 6 bit OUT TRUE axis.0.amp-enable-out ==> xenable 6 bit IN FALSE axis.0.amp-fault-in 6 float OUT 0.0013 axis.0.backlash-corr 6 float OUT 0.0005601041 axis.0.backlash-filt 6 float OUT 0.06297637 axis.0.backlash-vel 6 float OUT 0.5021644 axis.0.coarse-pos-cmd 6 bit OUT FALSE axis.0.error 6 float OUT 8.539994e-05 axis.0.f-error 6 float OUT 0.01544197 axis.0.f-error-lim 6 bit OUT FALSE axis.0.f-errored 6 bit OUT FALSE axis.0.faulted 6 float OUT -1.387779e-17 axis.0.free-pos-cmd 6 bit OUT FALSE axis.0.free-tp-enable 6 float OUT 0.3066667 axis.0.free-vel-lim 6 bit IN FALSE axis.0.home-sw-in 6 bit OUT TRUE axis.0.homed 6 bit OUT FALSE axis.0.homing 6 bit OUT TRUE axis.0.in-position 6 bit I/O FALSE axis.0.index-enable 6 s32 IN 0 axis.0.jog-counts 6 bit IN FALSE axis.0.jog-enable 6 float IN 0 axis.0.jog-scale 6 bit IN FALSE axis.0.jog-vel-mode 6 float OUT 0.5020525 axis.0.joint-pos-cmd 6 float OUT 0.5018576 axis.0.joint-pos-fb 6 float OUT 0.1094589 axis.0.joint-vel-cmd 6 bit OUT FALSE axis.0.kb-jog-active 6 float OUT 4.370576 axis.0.motor-pos-cmd ==> xpos-cmd 6 float IN 4.37032 axis.0.motor-pos-fb <== xpos-fb 6 bit OUT FALSE axis.0.neg-hard-limit 6 bit IN FALSE axis.0.neg-lim-sw-in 6 bit OUT FALSE axis.0.pos-hard-limit 6 bit IN FALSE axis.0.pos-lim-sw-in 6 bit OUT FALSE axis.0.wheel-jog-active 6 bit OUT TRUE axis.1.active 6 bit OUT TRUE axis.1.amp-enable-out ==> yenable 6 bit IN FALSE axis.1.amp-fault-in 6 float OUT 0.00095 axis.1.backlash-corr 6 float OUT 0.00095 axis.1.backlash-filt 6 float OUT 0 axis.1.backlash-vel 6 float OUT -4.135903e-25 axis.1.coarse-pos-cmd 6 bit OUT FALSE axis.1.error 6 float OUT 4.435051e-09 axis.1.f-error 6 float OUT 0.01 axis.1.f-error-lim 6 bit OUT FALSE axis.1.f-errored 6 bit OUT FALSE axis.1.faulted 6 float OUT -4.135903e-25 axis.1.free-pos-cmd 6 bit OUT FALSE axis.1.free-tp-enable 6 float OUT 0.335 axis.1.free-vel-lim 6 bit IN FALSE axis.1.home-sw-in 6 bit OUT TRUE axis.1.homed 6 bit OUT FALSE axis.1.homing 6 bit OUT TRUE axis.1.in-position 6 bit I/O FALSE axis.1.index-enable 6 s32 IN 0 axis.1.jog-counts 6 bit IN FALSE axis.1.jog-enable 6 float IN 0 axis.1.jog-scale 6 bit IN FALSE axis.1.jog-vel-mode 6 float OUT -4.135903e-25 axis.1.joint-pos-cmd 6 float OUT -4.435051e-09 axis.1.joint-pos-fb 6 float OUT 0 axis.1.joint-vel-cmd 6 bit OUT FALSE axis.1.kb-jog-active 6 float OUT 0.4718134 axis.1.motor-pos-cmd ==> ypos-cmd 6 float IN 0.4718134 axis.1.motor-pos-fb <== ypos-fb 6 bit OUT FALSE axis.1.neg-hard-limit 6 bit IN FALSE axis.1.neg-lim-sw-in 6 bit OUT FALSE axis.1.pos-hard-limit 6 bit IN FALSE axis.1.pos-lim-sw-in 6 bit OUT FALSE axis.1.wheel-jog-active 6 bit OUT TRUE axis.2.active 6 bit OUT TRUE axis.2.amp-enable-out ==> zenable 6 bit IN FALSE axis.2.amp-fault-in 6 float OUT -0.003 axis.2.backlash-corr 6 float OUT -0.003 axis.2.backlash-filt 6 float OUT 0 axis.2.backlash-vel 6 float OUT 8.271806e-25 axis.2.coarse-pos-cmd 6 bit OUT FALSE axis.2.error 6 float OUT -3.796304e-09 axis.2.f-error 6 float OUT 0.01 axis.2.f-error-lim 6 bit OUT FALSE axis.2.f-errored 6 bit OUT FALSE axis.2.faulted 6 float OUT 8.271806e-25 axis.2.free-pos-cmd 6 bit OUT FALSE axis.2.free-tp-enable 6 float OUT 0.335 axis.2.free-vel-lim 6 bit IN FALSE axis.2.home-sw-in 6 bit OUT TRUE axis.2.homed 6 bit OUT FALSE axis.2.homing 6 bit OUT TRUE axis.2.in-position 6 bit I/O FALSE axis.2.index-enable 6 s32 IN 0 axis.2.jog-counts 6 bit IN FALSE axis.2.jog-enable 6 float IN 0 axis.2.jog-scale 6 bit IN FALSE axis.2.jog-vel-mode 6 float OUT 8.271806e-25 axis.2.joint-pos-cmd 6 float OUT 3.796304e-09 axis.2.joint-pos-fb 6 float OUT 0 axis.2.joint-vel-cmd 6 bit OUT FALSE axis.2.kb-jog-active 6 float OUT 0.7663914 axis.2.motor-pos-cmd ==> zpos-cmd 6 float IN 0.7663914 axis.2.motor-pos-fb <== zpos-fb 6 bit OUT FALSE axis.2.neg-hard-limit 6 bit IN FALSE axis.2.neg-lim-sw-in 6 bit OUT FALSE axis.2.pos-hard-limit 6 bit IN FALSE axis.2.pos-lim-sw-in 6 bit OUT FALSE axis.2.wheel-jog-active 10 bit OUT FALSE axisui.jog.a 10 bit OUT FALSE axisui.jog.b 10 bit OUT FALSE axisui.jog.c 10 float OUT 0 axisui.jog.increment 10 bit OUT FALSE axisui.jog.u 10 bit OUT FALSE axisui.jog.v 10 bit OUT FALSE axisui.jog.w 10 bit OUT TRUE axisui.jog.x 10 bit OUT FALSE axisui.jog.y 10 bit OUT FALSE axisui.jog.z 10 bit IN FALSE axisui.notifications-clear 10 bit IN FALSE axisui.notifications-clear-error 10 bit IN FALSE axisui.notifications-clear-info 10 bit IN FALSE axisui.set-manual-mode 4 bit IN FALSE halui.abort 4 float OUT 0.5003837 halui.axis.0.pos-commanded 4 float OUT 0.5002172 halui.axis.0.pos-feedback 4 float OUT 0.5002172 halui.axis.0.pos-relative 4 float OUT -4.135903e-25 halui.axis.1.pos-commanded 4 float OUT -4.435051e-09 halui.axis.1.pos-feedback 4 float OUT -4.435051e-09 halui.axis.1.pos-relative 4 float OUT 8.271806e-25 halui.axis.2.pos-commanded 4 float OUT 3.796304e-09 halui.axis.2.pos-feedback 4 float OUT 3.796304e-09 halui.axis.2.pos-relative 4 float OUT 0 halui.axis.3.pos-commanded 4 float OUT 0 halui.axis.3.pos-feedback 4 float OUT 0 halui.axis.3.pos-relative 4 float OUT 0 halui.axis.4.pos-commanded 4 float OUT 0 halui.axis.4.pos-feedback 4 float OUT 0 halui.axis.4.pos-relative 4 float OUT 0 halui.axis.5.pos-commanded 4 float OUT 0 halui.axis.5.pos-feedback 4 float OUT 0 halui.axis.5.pos-relative 4 float OUT 0 halui.axis.6.pos-commanded 4 float OUT 0 halui.axis.6.pos-feedback 4 float OUT 0 halui.axis.6.pos-relative 4 float OUT 0 halui.axis.7.pos-commanded 4 float OUT 0 halui.axis.7.pos-feedback 4 float OUT 0 halui.axis.7.pos-relative 4 float OUT 0 halui.axis.8.pos-commanded 4 float OUT 0 halui.axis.8.pos-feedback 4 float OUT 0 halui.axis.8.pos-relative 4 bit IN FALSE halui.estop.activate 4 bit OUT FALSE halui.estop.is-activated 4 bit IN FALSE halui.estop.reset 4 bit IN TRUE halui.feed-override.count-enable 4 s32 IN 0 halui.feed-override.counts 4 bit IN FALSE halui.feed-override.decrease 4 bit IN FALSE halui.feed-override.increase 4 float IN 0.1 halui.feed-override.scale 4 float OUT 1 halui.feed-override.value 4 bit OUT FALSE halui.flood.is-on 4 bit IN FALSE halui.flood.off 4 bit IN FALSE halui.flood.on 4 float IN 0.2 halui.jog-deadband 4 float IN 0 halui.jog-speed 4 float IN 0 halui.jog.0.analog 4 bit IN FALSE halui.jog.0.minus 4 bit IN FALSE halui.jog.0.plus 4 float IN 0 halui.jog.1.analog 4 bit IN FALSE halui.jog.1.minus 4 bit IN FALSE halui.jog.1.plus 4 float IN 0 halui.jog.2.analog 4 bit IN FALSE halui.jog.2.minus 4 bit IN FALSE halui.jog.2.plus 4 bit IN FALSE halui.jog.selected.minus 4 bit IN FALSE halui.jog.selected.plus 4 bit OUT FALSE halui.joint.0.has-fault 4 bit IN FALSE halui.joint.0.home 4 bit OUT TRUE halui.joint.0.is-homed 4 bit OUT FALSE halui.joint.0.is-selected 4 bit OUT FALSE halui.joint.0.on-hard-max-limit 4 bit OUT FALSE halui.joint.0.on-hard-min-limit 4 bit OUT FALSE halui.joint.0.on-soft-max-limit 4 bit OUT FALSE halui.joint.0.on-soft-min-limit 4 bit IN FALSE halui.joint.0.select 4 bit IN FALSE halui.joint.0.unhome 4 bit OUT FALSE halui.joint.1.has-fault 4 bit IN FALSE halui.joint.1.home 4 bit OUT TRUE halui.joint.1.is-homed 4 bit OUT FALSE halui.joint.1.is-selected 4 bit OUT FALSE halui.joint.1.on-hard-max-limit 4 bit OUT FALSE halui.joint.1.on-hard-min-limit 4 bit OUT FALSE halui.joint.1.on-soft-max-limit 4 bit OUT FALSE halui.joint.1.on-soft-min-limit 4 bit IN FALSE halui.joint.1.select 4 bit IN FALSE halui.joint.1.unhome 4 bit OUT FALSE halui.joint.2.has-fault 4 bit IN FALSE halui.joint.2.home 4 bit OUT TRUE halui.joint.2.is-homed 4 bit OUT FALSE halui.joint.2.is-selected 4 bit OUT FALSE halui.joint.2.on-hard-max-limit 4 bit OUT FALSE halui.joint.2.on-hard-min-limit 4 bit OUT FALSE halui.joint.2.on-soft-max-limit 4 bit OUT FALSE halui.joint.2.on-soft-min-limit 4 bit IN FALSE halui.joint.2.select 4 bit IN FALSE halui.joint.2.unhome 4 u32 OUT 0x00000000 halui.joint.selected 4 bit OUT FALSE halui.joint.selected.has-fault 4 bit IN FALSE halui.joint.selected.home 4 bit OUT TRUE halui.joint.selected.is_homed 4 bit OUT FALSE halui.joint.selected.on-hard-max-limit 4 bit OUT FALSE halui.joint.selected.on-hard-min-limit 4 bit OUT FALSE halui.joint.selected.on-soft-limit 4 bit OUT FALSE halui.joint.selected.on-soft-min-limit 4 bit IN FALSE halui.joint.selected.unhome 4 bit OUT TRUE halui.lube.is-on 4 bit IN FALSE halui.lube.off 4 bit IN FALSE halui.lube.on 4 bit OUT TRUE halui.machine.is-on 4 bit IN FALSE halui.machine.off 4 bit IN FALSE halui.machine.on 4 bit IN TRUE halui.max-velocity.count-enable 4 s32 IN 0 halui.max-velocity.counts 4 bit IN FALSE halui.max-velocity.decrease 4 bit IN FALSE halui.max-velocity.increase 4 float IN 0 halui.max-velocity.scale 4 float OUT 0.3333333 halui.max-velocity.value 4 bit IN FALSE halui.mdi-command-00 <== remote-rapid-home 4 bit OUT FALSE halui.mist.is-on 4 bit IN FALSE halui.mist.off 4 bit IN FALSE halui.mist.on 4 bit IN FALSE halui.mode.auto 4 bit OUT TRUE halui.mode.is-auto 4 bit OUT TRUE halui.mode.is-joint 4 bit OUT FALSE halui.mode.is-manual 4 bit OUT FALSE halui.mode.is-mdi 4 bit OUT FALSE halui.mode.is-teleop 4 bit IN FALSE halui.mode.joint 4 bit IN FALSE halui.mode.manual 4 bit IN FALSE halui.mode.mdi 4 bit IN FALSE halui.mode.teleop 4 bit OUT FALSE halui.program.block-delete.is-on 4 bit IN FALSE halui.program.block-delete.off 4 bit IN FALSE halui.program.block-delete.on 4 bit OUT FALSE halui.program.is-idle 4 bit OUT FALSE halui.program.is-paused 4 bit OUT TRUE halui.program.is-running 4 bit OUT FALSE halui.program.optional-stop.is-on 4 bit IN FALSE halui.program.optional-stop.off 4 bit IN FALSE halui.program.optional-stop.on 4 bit IN FALSE halui.program.pause 4 bit IN FALSE halui.program.resume 4 bit IN FALSE halui.program.run 4 bit IN FALSE halui.program.step 4 bit IN FALSE halui.program.stop 4 bit IN TRUE halui.spindle-override.count-enable 4 s32 IN 0 halui.spindle-override.counts 4 bit IN FALSE halui.spindle-override.decrease 4 bit IN FALSE halui.spindle-override.increase 4 float IN 0.1 halui.spindle-override.scale 4 float OUT 1 halui.spindle-override.value 4 bit OUT TRUE halui.spindle.brake-is-on 4 bit IN FALSE halui.spindle.brake-off 4 bit IN FALSE halui.spindle.brake-on 4 bit IN FALSE halui.spindle.decrease 4 bit IN FALSE halui.spindle.forward 4 bit IN FALSE halui.spindle.increase 4 bit OUT FALSE halui.spindle.is-on 4 bit IN FALSE halui.spindle.reverse 4 bit OUT FALSE halui.spindle.runs-backward 4 bit OUT FALSE halui.spindle.runs-forward 4 bit IN FALSE halui.spindle.start 4 bit IN FALSE halui.spindle.stop 4 float OUT 0 halui.tool.length_offset.a 4 float OUT 0 halui.tool.length_offset.b 4 float OUT 0 halui.tool.length_offset.c 4 float OUT 0 halui.tool.length_offset.u 4 float OUT 0 halui.tool.length_offset.v 4 float OUT 0 halui.tool.length_offset.w 4 float OUT 0 halui.tool.length_offset.x 4 float OUT 0 halui.tool.length_offset.y 4 float OUT 0 halui.tool.length_offset.z 4 u32 OUT 0x00000000 halui.tool.number 3 bit OUT FALSE iocontrol.0.coolant-flood 3 bit OUT FALSE iocontrol.0.coolant-mist 3 bit IN TRUE iocontrol.0.emc-enable-in <== estop-out 3 bit OUT TRUE iocontrol.0.lube 3 bit IN FALSE iocontrol.0.lube_level 3 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-loopback 3 bit IN FALSE iocontrol.0.tool-changed <== tool-change-loopback 3 s32 OUT 0 iocontrol.0.tool-number 3 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-number 3 s32 OUT 0 iocontrol.0.tool-prep-pocket 3 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback 3 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback 3 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-out 3 bit OUT FALSE iocontrol.0.user-request-enable 6 float IN 1 motion.adaptive-feed 6 float IN 0 motion.analog-in-00 6 float IN 0 motion.analog-in-01 6 float IN 0 motion.analog-in-02 6 float IN 0 motion.analog-in-03 6 float OUT 0 motion.analog-out-00 6 float OUT 0 motion.analog-out-01 6 float OUT 0 motion.analog-out-02 6 float OUT 0 motion.analog-out-03 6 bit OUT FALSE motion.coord-error 6 bit OUT TRUE motion.coord-mode 6 float OUT 0.1619393 motion.current-vel 6 bit IN FALSE motion.digital-in-00 6 bit IN FALSE motion.digital-in-01 6 bit IN FALSE motion.digital-in-02 6 bit IN FALSE motion.digital-in-03 6 bit OUT FALSE motion.digital-out-00 6 bit OUT FALSE motion.digital-out-01 6 bit OUT FALSE motion.digital-out-02 6 bit OUT FALSE motion.digital-out-03 6 float OUT 0.4956293 motion.distance-to-go 6 bit IN TRUE motion.enable 6 bit IN FALSE motion.feed-hold 6 bit OUT FALSE motion.in-position 6 bit IN TRUE motion.motion-enabled 6 bit OUT FALSE motion.on-soft-limit 6 bit IN FALSE motion.probe-input 6 s32 OUT 7 motion.program-line 6 float OUT 0.335 motion.requested-vel 6 bit IN TRUE motion.spindle-at-speed 6 bit OUT TRUE motion.spindle-brake 6 bit OUT FALSE motion.spindle-forward 6 bit I/O FALSE motion.spindle-index-enable 6 bit OUT FALSE motion.spindle-on 6 bit OUT FALSE motion.spindle-reverse 6 float IN 0 motion.spindle-revs 6 float IN 0 motion.spindle-speed-in 6 float OUT 0 motion.spindle-speed-out ==> spindle-cmd 6 float OUT 0 motion.spindle-speed-out-rps 6 bit OUT FALSE motion.teleop-mode 6 float OUT 0 motion.tooloffset.a 6 float OUT 0 motion.tooloffset.b 6 float OUT 0 motion.tooloffset.c 6 float OUT 0 motion.tooloffset.u 6 float OUT 0 motion.tooloffset.v 6 float OUT 0 motion.tooloffset.w 6 float OUT 0 motion.tooloffset.x 6 float OUT 0 motion.tooloffset.y 6 float OUT 0 motion.tooloffset.z 8 bit IN TRUE parport.0.pin-01-out <== estop-out 8 bit IN FALSE parport.0.pin-02-out <== xdir 8 bit IN FALSE parport.0.pin-03-out <== xstep 8 bit IN FALSE parport.0.pin-04-out <== ydir 8 bit IN FALSE parport.0.pin-05-out <== ystep 8 bit IN TRUE parport.0.pin-06-out <== zdir 8 bit IN FALSE parport.0.pin-07-out <== zstep 8 bit IN FALSE parport.0.pin-08-out <== adir 8 bit IN FALSE parport.0.pin-09-out <== astep 8 bit OUT TRUE parport.0.pin-10-in 8 bit OUT FALSE parport.0.pin-10-in-not 8 bit OUT FALSE parport.0.pin-11-in 8 bit OUT TRUE parport.0.pin-11-in-not 8 bit OUT TRUE parport.0.pin-12-in 8 bit OUT FALSE parport.0.pin-12-in-not 8 bit OUT TRUE parport.0.pin-13-in 8 bit OUT FALSE parport.0.pin-13-in-not 8 bit IN FALSE parport.0.pin-14-out 8 bit OUT TRUE parport.0.pin-15-in 8 bit OUT FALSE parport.0.pin-15-in-not 8 bit IN FALSE parport.0.pin-16-out 8 bit IN FALSE parport.0.pin-17-out 10 bit OUT FALSE pyvcp.rapid-to-home ==> remote-rapid-home 9 s32 OUT 69967 stepgen.0.counts 9 bit OUT FALSE stepgen.0.dir ==> xdir 9 bit IN TRUE stepgen.0.enable <== xenable 9 float IN 4.373178 stepgen.0.position-cmd <== xpos-cmd 9 float OUT 4.372913 stepgen.0.position-fb ==> xpos-fb 9 bit OUT FALSE stepgen.0.step ==> xstep 9 s32 OUT 7549 stepgen.1.counts 9 bit OUT FALSE stepgen.1.dir ==> ydir 9 bit IN TRUE stepgen.1.enable <== yenable 9 float IN 0.4718134 stepgen.1.position-cmd <== ypos-cmd 9 float OUT 0.4718134 stepgen.1.position-fb ==> ypos-fb 9 bit OUT FALSE stepgen.1.step ==> ystep 9 s32 OUT 12262 stepgen.2.counts 9 bit OUT TRUE stepgen.2.dir ==> zdir 9 bit IN TRUE stepgen.2.enable <== zenable 9 float IN 0.7663914 stepgen.2.position-cmd <== zpos-cmd 9 float OUT 0.7663914 stepgen.2.position-fb ==> zpos-fb 9 bit OUT FALSE stepgen.2.step ==> zstep Pin Aliases: Alias Original Name Signals: Type Value Name (linked to) bit FALSE adir ==> parport.0.pin-08-out bit FALSE astep ==> parport.0.pin-09-out bit TRUE estop-out ==> iocontrol.0.emc-enable-in <== iocontrol.0.user-enable-out ==> parport.0.pin-01-out bit FALSE remote-rapid-home ==> halui.mdi-command-00 <== pyvcp.rapid-to-home float 0 spindle-cmd <== motion.spindle-speed-out bit FALSE tool-change-loopback <== iocontrol.0.tool-change ==> iocontrol.0.tool-changed s32 0 tool-number <== iocontrol.0.tool-prep-number bit FALSE tool-prepare-loopback <== iocontrol.0.tool-prepare ==> iocontrol.0.tool-prepared bit FALSE xdir ==> parport.0.pin-02-out <== stepgen.0.dir bit TRUE xenable <== axis.0.amp-enable-out ==> stepgen.0.enable float 4.376547 xpos-cmd <== axis.0.motor-pos-cmd ==> stepgen.0.position-cmd float 4.376238 xpos-fb ==> axis.0.motor-pos-fb <== stepgen.0.position-fb bit FALSE xstep ==> parport.0.pin-03-out <== stepgen.0.step bit FALSE ydir ==> parport.0.pin-04-out <== stepgen.1.dir bit TRUE yenable <== axis.1.amp-enable-out ==> stepgen.1.enable float 0.4718134 ypos-cmd <== axis.1.motor-pos-cmd ==> stepgen.1.position-cmd float 0.4718134 ypos-fb ==> axis.1.motor-pos-fb <== stepgen.1.position-fb bit FALSE ystep ==> parport.0.pin-05-out <== stepgen.1.step bit TRUE zdir ==> parport.0.pin-06-out <== stepgen.2.dir bit TRUE zenable <== axis.2.amp-enable-out ==> stepgen.2.enable float 0.7663914 zpos-cmd <== axis.2.motor-pos-cmd ==> stepgen.2.position-cmd float 0.7663914 zpos-fb ==> axis.2.motor-pos-fb <== stepgen.2.position-fb bit FALSE zstep ==> parport.0.pin-07-out <== stepgen.2.step Parameters: Owner Type Dir Value Name 6 s32 RO 0 axis.0.home-state 6 s32 RO 0 axis.1.home-state 6 s32 RO 0 axis.2.home-state 6 s32 RO 135 motion-command-handler.time 6 s32 RW 27705 motion-command-handler.tmax 6 s32 RO 4980 motion-controller.time 6 s32 RW 57450 motion-controller.tmax 6 bit RO FALSE motion.debug-bit-0 6 bit RO FALSE motion.debug-bit-1 6 float RO 1 motion.debug-float-0 6 float RO 0 motion.debug-float-1 6 float RO 0 motion.debug-float-2 6 float RO 1 motion.debug-float-3 6 s32 RO 0 motion.debug-s32-0 6 s32 RO 1 motion.debug-s32-1 6 u32 RO 0x0026BB9E motion.servo.last-period 6 float RO 1015187 motion.servo.last-period-ns 6 u32 RW 0x00000000 motion.servo.overruns 8 u32 RW 0x00000000 parport.0.debug1 8 u32 RW 0x00000000 parport.0.debug2 8 bit RW FALSE parport.0.pin-01-out-invert 8 bit RW FALSE parport.0.pin-01-out-reset 8 bit RW FALSE parport.0.pin-02-out-invert 8 bit RW FALSE parport.0.pin-02-out-reset 8 bit RW FALSE parport.0.pin-03-out-invert 8 bit RW FALSE parport.0.pin-03-out-reset 8 bit RW TRUE parport.0.pin-04-out-invert 8 bit RW FALSE parport.0.pin-04-out-reset 8 bit RW FALSE parport.0.pin-05-out-invert 8 bit RW FALSE parport.0.pin-05-out-reset 8 bit RW TRUE parport.0.pin-06-out-invert 8 bit RW FALSE parport.0.pin-06-out-reset 8 bit RW FALSE parport.0.pin-07-out-invert 8 bit RW FALSE parport.0.pin-07-out-reset 8 bit RW FALSE parport.0.pin-08-out-invert 8 bit RW FALSE parport.0.pin-08-out-reset 8 bit RW FALSE parport.0.pin-09-out-invert 8 bit RW FALSE parport.0.pin-09-out-reset 8 bit RW FALSE parport.0.pin-14-out-invert 8 bit RW FALSE parport.0.pin-14-out-reset 8 bit RW FALSE parport.0.pin-16-out-invert 8 bit RW FALSE parport.0.pin-16-out-reset 8 bit RW FALSE parport.0.pin-17-out-invert 8 bit RW FALSE parport.0.pin-17-out-reset 8 s32 RO 3187 parport.0.read.time 8 s32 RW 44527 parport.0.read.tmax 8 u32 RW 0x00000000 parport.0.reset-time 8 s32 RO 0 parport.0.reset.time 8 s32 RW 0 parport.0.reset.tmax 8 s32 RO 6735 parport.0.write.time 8 s32 RW 45780 parport.0.write.tmax 8 s32 RO 0 parport.read-all.time 8 s32 RW 0 parport.read-all.tmax 8 s32 RO 0 parport.write-all.time 8 s32 RW 0 parport.write-all.tmax 9 u32 RW 0x000270C4 stepgen.0.dirhold 9 u32 RW 0x000270C4 stepgen.0.dirsetup 9 float RO 3317.072 stepgen.0.frequency 9 float RW 10 stepgen.0.maxaccel 9 float RW 0 stepgen.0.maxvel 9 float RW 16000 stepgen.0.position-scale 9 s32 RO 70023 stepgen.0.rawcounts 9 u32 RW 0x00009C31 stepgen.0.steplen 9 u32 RW 0x00009C31 stepgen.0.stepspace 9 u32 RW 0x000270C4 stepgen.1.dirhold 9 u32 RW 0x000270C4 stepgen.1.dirsetup 9 float RO 4.407018e-10 stepgen.1.frequency 9 float RW 10 stepgen.1.maxaccel 9 float RW 0 stepgen.1.maxvel 9 float RW 16000 stepgen.1.position-scale 9 s32 RO 7549 stepgen.1.rawcounts 9 u32 RW 0x00009C31 stepgen.1.steplen 9 u32 RW 0x00009C31 stepgen.1.stepspace 9 u32 RW 0x000270C4 stepgen.2.dirhold 9 u32 RW 0x000270C4 stepgen.2.dirsetup 9 float RO 7.108093e-10 stepgen.2.frequency 9 float RW 10 stepgen.2.maxaccel 9 float RW 0 stepgen.2.maxvel 9 float RW 16000 stepgen.2.position-scale 9 s32 RO 12262 stepgen.2.rawcounts 9 u32 RW 0x00009C31 stepgen.2.steplen 9 u32 RW 0x00009C31 stepgen.2.stepspace 9 s32 RO 397 stepgen.capture-position.time 9 s32 RW 15983 stepgen.capture-position.tmax 9 s32 RO 548 stepgen.make-pulses.time 9 s32 RW 26843 stepgen.make-pulses.tmax 9 s32 RO 728 stepgen.update-freq.time 9 s32 RW 42465 stepgen.update-freq.tmax 6 float RO 0 tc.0.acc 6 float RO 0 tc.0.pos 6 float RO 0 tc.0.vel 6 float RO 0 tc.1.acc 6 float RO 0 tc.1.pos 6 float RO 0 tc.1.vel 6 float RO 0 tc.2.acc 6 float RO 0 tc.2.pos 6 float RO 0 tc.2.vel 6 float RO 0 tc.3.acc 6 float RO 0 tc.3.pos 6 float RO 0 tc.3.vel 6 u32 RO 0x00000000 traj.active_tc 6 float RO 0 traj.pos_out 6 float RO 0 traj.vel_out Parameter Aliases: Alias Original Name Exported Functions: Owner CodeAddr Arg FP Users Name 00006 fead98d0 00000000 YES 1 motion-command-handler 00006 feadbd9a 00000000 YES 1 motion-controller 00008 feb07000 fea68ed8 NO 1 parport.0.read 00008 feb07219 fea68ed8 NO 0 parport.0.reset 00008 feb072fa fea68ed8 NO 1 parport.0.write 00008 feb070ac fea68ed8 NO 0 parport.read-all 00008 feb07488 fea68ed8 NO 0 parport.write-all 00009 feb1320f fea68ff8 YES 1 stepgen.capture-position 00009 feb13000 fea68ff8 NO 1 stepgen.make-pulses 00009 feb13307 fea68ff8 YES 1 stepgen.update-freq Realtime Threads: Period FP Name ( Time, Max-Time ) 999625 YES servo-thread ( 7508, 100987 ) 1 stepgen.capture-position 2 motion-command-handler 3 motion-controller 4 stepgen.update-freq 39985 NO base-thread ( 10560, 52665 ) 1 parport.0.read 2 stepgen.make-pulses 3 parport.0.write mill@mill-desktop:~$ clear mill@mill-desktop:~$ halcmd show all Loaded HAL Components: ID Type Name PID State 11 User halcmd13533 13533 ready 10 User axisui 13386 ready 9 RT stepgen ready 8 RT hal_parport ready 7 RT probe_parport ready 6 RT motmod ready 5 RT trivkins ready 4 User halui 13366 ready 3 User iocontrol 13364 ready Component Pins: Owner Type Dir Value Name 6 bit OUT TRUE axis.0.active 6 bit OUT TRUE axis.0.amp-enable-out ==> xenable 6 bit IN FALSE axis.0.amp-fault-in 6 float OUT -0.0013 axis.0.backlash-corr 6 float OUT -0.0013 axis.0.backlash-filt 6 float OUT 0 axis.0.backlash-vel 6 float OUT 0.5002424 axis.0.coarse-pos-cmd 6 bit OUT FALSE axis.0.error 6 float OUT -2.586616e-05 axis.0.f-error 6 float OUT 0.01 axis.0.f-error-lim 6 bit OUT FALSE axis.0.f-errored 6 bit OUT FALSE axis.0.faulted 6 float OUT -1.387779e-17 axis.0.free-pos-cmd 6 bit OUT FALSE axis.0.free-tp-enable 6 float OUT 0.3066667 axis.0.free-vel-lim 6 bit IN FALSE axis.0.home-sw-in 6 bit OUT TRUE axis.0.homed 6 bit OUT FALSE axis.0.homing 6 bit OUT TRUE axis.0.in-position 6 bit I/O FALSE axis.0.index-enable 6 s32 IN 0 axis.0.jog-counts 6 bit IN FALSE axis.0.jog-enable 6 float IN 0 axis.0.jog-scale 6 bit IN FALSE axis.0.jog-vel-mode 6 float OUT 0.5002825 axis.0.joint-pos-cmd 6 float OUT 0.5003495 axis.0.joint-pos-fb 6 float OUT -0.04263558 axis.0.joint-vel-cmd 6 bit OUT FALSE axis.0.kb-jog-active 6 float OUT 4.366885 axis.0.motor-pos-cmd ==> xpos-cmd 6 float IN 4.366952 axis.0.motor-pos-fb <== xpos-fb 6 bit OUT FALSE axis.0.neg-hard-limit 6 bit IN FALSE axis.0.neg-lim-sw-in 6 bit OUT FALSE axis.0.pos-hard-limit 6 bit IN FALSE axis.0.pos-lim-sw-in 6 bit OUT FALSE axis.0.wheel-jog-active 6 bit OUT TRUE axis.1.active 6 bit OUT TRUE axis.1.amp-enable-out ==> yenable 6 bit IN FALSE axis.1.amp-fault-in 6 float OUT 0.00095 axis.1.backlash-corr 6 float OUT 0.00095 axis.1.backlash-filt 6 float OUT 0 axis.1.backlash-vel 6 float OUT -4.135903e-25 axis.1.coarse-pos-cmd 6 bit OUT FALSE axis.1.error 6 float OUT 4.435051e-09 axis.1.f-error 6 float OUT 0.01 axis.1.f-error-lim 6 bit OUT FALSE axis.1.f-errored 6 bit OUT FALSE axis.1.faulted 6 float OUT -4.135903e-25 axis.1.free-pos-cmd 6 bit OUT FALSE axis.1.free-tp-enable 6 float OUT 0.335 axis.1.free-vel-lim 6 bit IN FALSE axis.1.home-sw-in 6 bit OUT TRUE axis.1.homed 6 bit OUT FALSE axis.1.homing 6 bit OUT TRUE axis.1.in-position 6 bit I/O FALSE axis.1.index-enable 6 s32 IN 0 axis.1.jog-counts 6 bit IN FALSE axis.1.jog-enable 6 float IN 0 axis.1.jog-scale 6 bit IN FALSE axis.1.jog-vel-mode 6 float OUT -4.135903e-25 axis.1.joint-pos-cmd 6 float OUT -4.435051e-09 axis.1.joint-pos-fb 6 float OUT 0 axis.1.joint-vel-cmd 6 bit OUT FALSE axis.1.kb-jog-active 6 float OUT 0.4718134 axis.1.motor-pos-cmd ==> ypos-cmd 6 float IN 0.4718134 axis.1.motor-pos-fb <== ypos-fb 6 bit OUT FALSE axis.1.neg-hard-limit 6 bit IN FALSE axis.1.neg-lim-sw-in 6 bit OUT FALSE axis.1.pos-hard-limit 6 bit IN FALSE axis.1.pos-lim-sw-in 6 bit OUT FALSE axis.1.wheel-jog-active 6 bit OUT TRUE axis.2.active 6 bit OUT TRUE axis.2.amp-enable-out ==> zenable 6 bit IN FALSE axis.2.amp-fault-in 6 float OUT -0.003 axis.2.backlash-corr 6 float OUT -0.003 axis.2.backlash-filt 6 float OUT 0 axis.2.backlash-vel 6 float OUT 8.271806e-25 axis.2.coarse-pos-cmd 6 bit OUT FALSE axis.2.error 6 float OUT -3.796304e-09 axis.2.f-error 6 float OUT 0.01 axis.2.f-error-lim 6 bit OUT FALSE axis.2.f-errored 6 bit OUT FALSE axis.2.faulted 6 float OUT 8.271806e-25 axis.2.free-pos-cmd 6 bit OUT FALSE axis.2.free-tp-enable 6 float OUT 0.335 axis.2.free-vel-lim 6 bit IN FALSE axis.2.home-sw-in 6 bit OUT TRUE axis.2.homed 6 bit OUT FALSE axis.2.homing 6 bit OUT TRUE axis.2.in-position 6 bit I/O FALSE axis.2.index-enable 6 s32 IN 0 axis.2.jog-counts 6 bit IN FALSE axis.2.jog-enable 6 float IN 0 axis.2.jog-scale 6 bit IN FALSE axis.2.jog-vel-mode 6 float OUT 8.271806e-25 axis.2.joint-pos-cmd 6 float OUT 3.796304e-09 axis.2.joint-pos-fb 6 float OUT 0 axis.2.joint-vel-cmd 6 bit OUT FALSE axis.2.kb-jog-active 6 float OUT 0.7663914 axis.2.motor-pos-cmd ==> zpos-cmd 6 float IN 0.7663914 axis.2.motor-pos-fb <== zpos-fb 6 bit OUT FALSE axis.2.neg-hard-limit 6 bit IN FALSE axis.2.neg-lim-sw-in 6 bit OUT FALSE axis.2.pos-hard-limit 6 bit IN FALSE axis.2.pos-lim-sw-in 6 bit OUT FALSE axis.2.wheel-jog-active 10 bit OUT FALSE axisui.jog.a 10 bit OUT FALSE axisui.jog.b 10 bit OUT FALSE axisui.jog.c 10 float OUT 0 axisui.jog.increment 10 bit OUT FALSE axisui.jog.u 10 bit OUT FALSE axisui.jog.v 10 bit OUT FALSE axisui.jog.w 10 bit OUT TRUE axisui.jog.x 10 bit OUT FALSE axisui.jog.y 10 bit OUT FALSE axisui.jog.z 10 bit IN FALSE axisui.notifications-clear 10 bit IN FALSE axisui.notifications-clear-error 10 bit IN FALSE axisui.notifications-clear-info 10 bit IN FALSE axisui.set-manual-mode 4 bit IN FALSE halui.abort 4 float OUT 0.5022468 halui.axis.0.pos-commanded 4 float OUT 0.5026739 halui.axis.0.pos-feedback 4 float OUT 0.5026739 halui.axis.0.pos-relative 4 float OUT -4.135903e-25 halui.axis.1.pos-commanded 4 float OUT -4.435051e-09 halui.axis.1.pos-feedback 4 float OUT -4.435051e-09 halui.axis.1.pos-relative 4 float OUT 8.271806e-25 halui.axis.2.pos-commanded 4 float OUT 3.796304e-09 halui.axis.2.pos-feedback 4 float OUT 3.796304e-09 halui.axis.2.pos-relative 4 float OUT 0 halui.axis.3.pos-commanded 4 float OUT 0 halui.axis.3.pos-feedback 4 float OUT 0 halui.axis.3.pos-relative 4 float OUT 0 halui.axis.4.pos-commanded 4 float OUT 0 halui.axis.4.pos-feedback 4 float OUT 0 halui.axis.4.pos-relative 4 float OUT 0 halui.axis.5.pos-commanded 4 float OUT 0 halui.axis.5.pos-feedback 4 float OUT 0 halui.axis.5.pos-relative 4 float OUT 0 halui.axis.6.pos-commanded 4 float OUT 0 halui.axis.6.pos-feedback 4 float OUT 0 halui.axis.6.pos-relative 4 float OUT 0 halui.axis.7.pos-commanded 4 float OUT 0 halui.axis.7.pos-feedback 4 float OUT 0 halui.axis.7.pos-relative 4 float OUT 0 halui.axis.8.pos-commanded 4 float OUT 0 halui.axis.8.pos-feedback 4 float OUT 0 halui.axis.8.pos-relative 4 bit IN FALSE halui.estop.activate 4 bit OUT FALSE halui.estop.is-activated 4 bit IN FALSE halui.estop.reset 4 bit IN TRUE halui.feed-override.count-enable 4 s32 IN 0 halui.feed-override.counts 4 bit IN FALSE halui.feed-override.decrease 4 bit IN FALSE halui.feed-override.increase 4 float IN 0.1 halui.feed-override.scale 4 float OUT 1 halui.feed-override.value 4 bit OUT FALSE halui.flood.is-on 4 bit IN FALSE halui.flood.off 4 bit IN FALSE halui.flood.on 4 float IN 0.2 halui.jog-deadband 4 float IN 0 halui.jog-speed 4 float IN 0 halui.jog.0.analog 4 bit IN FALSE halui.jog.0.minus 4 bit IN FALSE halui.jog.0.plus 4 float IN 0 halui.jog.1.analog 4 bit IN FALSE halui.jog.1.minus 4 bit IN FALSE halui.jog.1.plus 4 float IN 0 halui.jog.2.analog 4 bit IN FALSE halui.jog.2.minus 4 bit IN FALSE halui.jog.2.plus 4 bit IN FALSE halui.jog.selected.minus 4 bit IN FALSE halui.jog.selected.plus 4 bit OUT FALSE halui.joint.0.has-fault 4 bit IN FALSE halui.joint.0.home 4 bit OUT TRUE halui.joint.0.is-homed 4 bit OUT FALSE halui.joint.0.is-selected 4 bit OUT FALSE halui.joint.0.on-hard-max-limit 4 bit OUT FALSE halui.joint.0.on-hard-min-limit 4 bit OUT FALSE halui.joint.0.on-soft-max-limit 4 bit OUT FALSE halui.joint.0.on-soft-min-limit 4 bit IN FALSE halui.joint.0.select 4 bit IN FALSE halui.joint.0.unhome 4 bit OUT FALSE halui.joint.1.has-fault 4 bit IN FALSE halui.joint.1.home 4 bit OUT TRUE halui.joint.1.is-homed 4 bit OUT FALSE halui.joint.1.is-selected 4 bit OUT FALSE halui.joint.1.on-hard-max-limit 4 bit OUT FALSE halui.joint.1.on-hard-min-limit 4 bit OUT FALSE halui.joint.1.on-soft-max-limit 4 bit OUT FALSE halui.joint.1.on-soft-min-limit 4 bit IN FALSE halui.joint.1.select 4 bit IN FALSE halui.joint.1.unhome 4 bit OUT FALSE halui.joint.2.has-fault 4 bit IN FALSE halui.joint.2.home 4 bit OUT TRUE halui.joint.2.is-homed 4 bit OUT FALSE halui.joint.2.is-selected 4 bit OUT FALSE halui.joint.2.on-hard-max-limit 4 bit OUT FALSE halui.joint.2.on-hard-min-limit 4 bit OUT FALSE halui.joint.2.on-soft-max-limit 4 bit OUT FALSE halui.joint.2.on-soft-min-limit 4 bit IN FALSE halui.joint.2.select 4 bit IN FALSE halui.joint.2.unhome 4 u32 OUT 0x00000000 halui.joint.selected 4 bit OUT FALSE halui.joint.selected.has-fault 4 bit IN FALSE halui.joint.selected.home 4 bit OUT TRUE halui.joint.selected.is_homed 4 bit OUT FALSE halui.joint.selected.on-hard-max-limit 4 bit OUT FALSE halui.joint.selected.on-hard-min-limit 4 bit OUT FALSE halui.joint.selected.on-soft-limit 4 bit OUT FALSE halui.joint.selected.on-soft-min-limit 4 bit IN FALSE halui.joint.selected.unhome 4 bit OUT TRUE halui.lube.is-on 4 bit IN FALSE halui.lube.off 4 bit IN FALSE halui.lube.on 4 bit OUT TRUE halui.machine.is-on 4 bit IN FALSE halui.machine.off 4 bit IN FALSE halui.machine.on 4 bit IN TRUE halui.max-velocity.count-enable 4 s32 IN 0 halui.max-velocity.counts 4 bit IN FALSE halui.max-velocity.decrease 4 bit IN FALSE halui.max-velocity.increase 4 float IN 0 halui.max-velocity.scale 4 float OUT 0.3333333 halui.max-velocity.value 4 bit IN FALSE halui.mdi-command-00 <== remote-rapid-home 4 bit OUT FALSE halui.mist.is-on 4 bit IN FALSE halui.mist.off 4 bit IN FALSE halui.mist.on 4 bit IN FALSE halui.mode.auto 4 bit OUT TRUE halui.mode.is-auto 4 bit OUT TRUE halui.mode.is-joint 4 bit OUT FALSE halui.mode.is-manual 4 bit OUT FALSE halui.mode.is-mdi 4 bit OUT FALSE halui.mode.is-teleop 4 bit IN FALSE halui.mode.joint 4 bit IN FALSE halui.mode.manual 4 bit IN FALSE halui.mode.mdi 4 bit IN FALSE halui.mode.teleop 4 bit OUT FALSE halui.program.block-delete.is-on 4 bit IN FALSE halui.program.block-delete.off 4 bit IN FALSE halui.program.block-delete.on 4 bit OUT FALSE halui.program.is-idle 4 bit OUT FALSE halui.program.is-paused 4 bit OUT TRUE halui.program.is-running 4 bit OUT FALSE halui.program.optional-stop.is-on 4 bit IN FALSE halui.program.optional-stop.off 4 bit IN FALSE halui.program.optional-stop.on 4 bit IN FALSE halui.program.pause 4 bit IN FALSE halui.program.resume 4 bit IN FALSE halui.program.run 4 bit IN FALSE halui.program.step 4 bit IN FALSE halui.program.stop 4 bit IN TRUE halui.spindle-override.count-enable 4 s32 IN 0 halui.spindle-override.counts 4 bit IN FALSE halui.spindle-override.decrease 4 bit IN FALSE halui.spindle-override.increase 4 float IN 0.1 halui.spindle-override.scale 4 float OUT 1 halui.spindle-override.value 4 bit OUT TRUE halui.spindle.brake-is-on 4 bit IN FALSE halui.spindle.brake-off 4 bit IN FALSE halui.spindle.brake-on 4 bit IN FALSE halui.spindle.decrease 4 bit IN FALSE halui.spindle.forward 4 bit IN FALSE halui.spindle.increase 4 bit OUT FALSE halui.spindle.is-on 4 bit IN FALSE halui.spindle.reverse 4 bit OUT FALSE halui.spindle.runs-backward 4 bit OUT FALSE halui.spindle.runs-forward 4 bit IN FALSE halui.spindle.start 4 bit IN FALSE halui.spindle.stop 4 float OUT 0 halui.tool.length_offset.a 4 float OUT 0 halui.tool.length_offset.b 4 float OUT 0 halui.tool.length_offset.c 4 float OUT 0 halui.tool.length_offset.u 4 float OUT 0 halui.tool.length_offset.v 4 float OUT 0 halui.tool.length_offset.w 4 float OUT 0 halui.tool.length_offset.x 4 float OUT 0 halui.tool.length_offset.y 4 float OUT 0 halui.tool.length_offset.z 4 u32 OUT 0x00000000 halui.tool.number 3 bit OUT FALSE iocontrol.0.coolant-flood 3 bit OUT FALSE iocontrol.0.coolant-mist 3 bit IN TRUE iocontrol.0.emc-enable-in <== estop-out 3 bit OUT TRUE iocontrol.0.lube 3 bit IN FALSE iocontrol.0.lube_level 3 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-loopback 3 bit IN FALSE iocontrol.0.tool-changed <== tool-change-loopback 3 s32 OUT 0 iocontrol.0.tool-number 3 s32 OUT 0 iocontrol.0.tool-prep-number ==> tool-number 3 s32 OUT 0 iocontrol.0.tool-prep-pocket 3 bit OUT FALSE iocontrol.0.tool-prepare ==> tool-prepare-loopback 3 bit IN FALSE iocontrol.0.tool-prepared <== tool-prepare-loopback 3 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-out 3 bit OUT FALSE iocontrol.0.user-request-enable 6 float IN 1 motion.adaptive-feed 6 float IN 0 motion.analog-in-00 6 float IN 0 motion.analog-in-01 6 float IN 0 motion.analog-in-02 6 float IN 0 motion.analog-in-03 6 float OUT 0 motion.analog-out-00 6 float OUT 0 motion.analog-out-01 6 float OUT 0 motion.analog-out-02 6 float OUT 0 motion.analog-out-03 6 bit OUT FALSE motion.coord-error 6 bit OUT TRUE motion.coord-mode 6 float OUT 0 motion.current-vel 6 bit IN FALSE motion.digital-in-00 6 bit IN FALSE motion.digital-in-01 6 bit IN FALSE motion.digital-in-02 6 bit IN FALSE motion.digital-in-03 6 bit OUT FALSE motion.digital-out-00 6 bit OUT FALSE motion.digital-out-01 6 bit OUT FALSE motion.digital-out-02 6 bit OUT FALSE motion.digital-out-03 6 float OUT 0 motion.distance-to-go 6 bit IN TRUE motion.enable 6 bit IN FALSE motion.feed-hold 6 bit OUT TRUE motion.in-position 6 bit IN TRUE motion.motion-enabled 6 bit OUT FALSE motion.on-soft-limit 6 bit IN FALSE motion.probe-input 6 s32 OUT 0 motion.program-line 6 float OUT 0 motion.requested-vel 6 bit IN TRUE motion.spindle-at-speed 6 bit OUT TRUE motion.spindle-brake 6 bit OUT FALSE motion.spindle-forward 6 bit I/O FALSE motion.spindle-index-enable 6 bit OUT FALSE motion.spindle-on 6 bit OUT FALSE motion.spindle-reverse 6 float IN 0 motion.spindle-revs 6 float IN 0 motion.spindle-speed-in 6 float OUT 0 motion.spindle-speed-out ==> spindle-cmd 6 float OUT 0 motion.spindle-speed-out-rps 6 bit OUT FALSE motion.teleop-mode 6 float OUT 0 motion.tooloffset.a 6 float OUT 0 motion.tooloffset.b 6 float OUT 0 motion.tooloffset.c 6 float OUT 0 motion.tooloffset.u 6 float OUT 0 motion.tooloffset.v 6 float OUT 0 motion.tooloffset.w 6 float OUT 0 motion.tooloffset.x 6 float OUT 0 motion.tooloffset.y 6 float OUT 0 motion.tooloffset.z 8 bit IN TRUE parport.0.pin-01-out <== estop-out 8 bit IN TRUE parport.0.pin-02-out <== xdir 8 bit IN FALSE parport.0.pin-03-out <== xstep 8 bit IN FALSE parport.0.pin-04-out <== ydir 8 bit IN FALSE parport.0.pin-05-out <== ystep 8 bit IN TRUE parport.0.pin-06-out <== zdir 8 bit IN FALSE parport.0.pin-07-out <== zstep 8 bit IN FALSE parport.0.pin-08-out <== adir 8 bit IN FALSE parport.0.pin-09-out <== astep 8 bit OUT TRUE parport.0.pin-10-in 8 bit OUT FALSE parport.0.pin-10-in-not 8 bit OUT FALSE parport.0.pin-11-in 8 bit OUT TRUE parport.0.pin-11-in-not 8 bit OUT TRUE parport.0.pin-12-in 8 bit OUT FALSE parport.0.pin-12-in-not 8 bit OUT TRUE parport.0.pin-13-in 8 bit OUT FALSE parport.0.pin-13-in-not 8 bit IN FALSE parport.0.pin-14-out 8 bit OUT TRUE parport.0.pin-15-in 8 bit OUT FALSE parport.0.pin-15-in-not 8 bit IN FALSE parport.0.pin-16-out 8 bit IN FALSE parport.0.pin-17-out 10 bit OUT FALSE pyvcp.rapid-to-home ==> remote-rapid-home 9 s32 OUT 69866 stepgen.0.counts 9 bit OUT TRUE stepgen.0.dir ==> xdir 9 bit IN TRUE stepgen.0.enable <== xenable 9 float IN 4.366602 stepgen.0.position-cmd <== xpos-cmd 9 float OUT 4.366604 stepgen.0.position-fb ==> xpos-fb 9 bit OUT FALSE stepgen.0.step ==> xstep 9 s32 OUT 7549 stepgen.1.counts 9 bit OUT FALSE stepgen.1.dir ==> ydir 9 bit IN TRUE stepgen.1.enable <== yenable 9 float IN 0.4718134 stepgen.1.position-cmd <== ypos-cmd 9 float OUT 0.4718134 stepgen.1.position-fb ==> ypos-fb 9 bit OUT FALSE stepgen.1.step ==> ystep 9 s32 OUT 12262 stepgen.2.counts 9 bit OUT TRUE stepgen.2.dir ==> zdir 9 bit IN TRUE stepgen.2.enable <== zenable 9 float IN 0.7663914 stepgen.2.position-cmd <== zpos-cmd 9 float OUT 0.7663914 stepgen.2.position-fb ==> zpos-fb 9 bit OUT FALSE stepgen.2.step ==> zstep Pin Aliases: Alias Original Name Signals: Type Value Name (linked to) bit FALSE adir ==> parport.0.pin-08-out bit FALSE astep ==> parport.0.pin-09-out bit TRUE estop-out ==> iocontrol.0.emc-enable-in <== iocontrol.0.user-enable-out ==> parport.0.pin-01-out bit FALSE remote-rapid-home ==> halui.mdi-command-00 <== pyvcp.rapid-to-home float 0 spindle-cmd <== motion.spindle-speed-out bit FALSE tool-change-loopback <== iocontrol.0.tool-change ==> iocontrol.0.tool-changed s32 0 tool-number <== iocontrol.0.tool-prep-number bit FALSE tool-prepare-loopback <== iocontrol.0.tool-prepare ==> iocontrol.0.tool-prepared bit TRUE xdir ==> parport.0.pin-02-out <== stepgen.0.dir bit TRUE xenable <== axis.0.amp-enable-out ==> stepgen.0.enable float 4.366602 xpos-cmd <== axis.0.motor-pos-cmd ==> stepgen.0.position-cmd float 4.366602 xpos-fb ==> axis.0.motor-pos-fb <== stepgen.0.position-fb bit FALSE xstep ==> parport.0.pin-03-out <== stepgen.0.step bit FALSE ydir ==> parport.0.pin-04-out <== stepgen.1.dir bit TRUE yenable <== axis.1.amp-enable-out ==> stepgen.1.enable float 0.4718134 ypos-cmd <== axis.1.motor-pos-cmd ==> stepgen.1.position-cmd float 0.4718134 ypos-fb ==> axis.1.motor-pos-fb <== stepgen.1.position-fb bit FALSE ystep ==> parport.0.pin-05-out <== stepgen.1.step bit TRUE zdir ==> parport.0.pin-06-out <== stepgen.2.dir bit TRUE zenable <== axis.2.amp-enable-out ==> stepgen.2.enable float 0.7663914 zpos-cmd <== axis.2.motor-pos-cmd ==> stepgen.2.position-cmd float 0.7663914 zpos-fb ==> axis.2.motor-pos-fb <== stepgen.2.position-fb bit FALSE zstep ==> parport.0.pin-07-out <== stepgen.2.step Parameters: Owner Type Dir Value Name 6 s32 RO 0 axis.0.home-state 6 s32 RO 0 axis.1.home-state 6 s32 RO 0 axis.2.home-state 6 s32 RO 60 motion-command-handler.time 6 s32 RW 27705 motion-command-handler.tmax 6 s32 RO 2730 motion-controller.time 6 s32 RW 57450 motion-controller.tmax 6 bit RO FALSE motion.debug-bit-0 6 bit RO FALSE motion.debug-bit-1 6 float RO 1 motion.debug-float-0 6 float RO 0 motion.debug-float-1 6 float RO 0 motion.debug-float-2 6 float RO 1 motion.debug-float-3 6 s32 RO 0 motion.debug-s32-0 6 s32 RO 0 motion.debug-s32-1 6 u32 RO 0x00262238 motion.servo.last-period 6 float RO 999481.3 motion.servo.last-period-ns 6 u32 RW 0x00000000 motion.servo.overruns 8 u32 RW 0x00000000 parport.0.debug1 8 u32 RW 0x00000000 parport.0.debug2 8 bit RW FALSE parport.0.pin-01-out-invert 8 bit RW FALSE parport.0.pin-01-out-reset 8 bit RW FALSE parport.0.pin-02-out-invert 8 bit RW FALSE parport.0.pin-02-out-reset 8 bit RW FALSE parport.0.pin-03-out-invert 8 bit RW FALSE parport.0.pin-03-out-reset 8 bit RW TRUE parport.0.pin-04-out-invert 8 bit RW FALSE parport.0.pin-04-out-reset 8 bit RW FALSE parport.0.pin-05-out-invert 8 bit RW FALSE parport.0.pin-05-out-reset 8 bit RW TRUE parport.0.pin-06-out-invert 8 bit RW FALSE parport.0.pin-06-out-reset 8 bit RW FALSE parport.0.pin-07-out-invert 8 bit RW FALSE parport.0.pin-07-out-reset 8 bit RW FALSE parport.0.pin-08-out-invert 8 bit RW FALSE parport.0.pin-08-out-reset 8 bit RW FALSE parport.0.pin-09-out-invert 8 bit RW FALSE parport.0.pin-09-out-reset 8 bit RW FALSE parport.0.pin-14-out-invert 8 bit RW FALSE parport.0.pin-14-out-reset 8 bit RW FALSE parport.0.pin-16-out-invert 8 bit RW FALSE parport.0.pin-16-out-reset 8 bit RW FALSE parport.0.pin-17-out-invert 8 bit RW FALSE parport.0.pin-17-out-reset 8 s32 RO 3277 parport.0.read.time 8 s32 RW 44527 parport.0.read.tmax 8 u32 RW 0x00000000 parport.0.reset-time 8 s32 RO 0 parport.0.reset.time 8 s32 RW 0 parport.0.reset.tmax 8 s32 RO 6690 parport.0.write.time 8 s32 RW 45780 parport.0.write.tmax 8 s32 RO 0 parport.read-all.time 8 s32 RW 0 parport.read-all.tmax 8 s32 RO 0 parport.write-all.time 8 s32 RW 0 parport.write-all.tmax 9 u32 RW 0x000270C4 stepgen.0.dirhold 9 u32 RW 0x000270C4 stepgen.0.dirsetup 9 float RO -0.3011159 stepgen.0.frequency 9 float RW 10 stepgen.0.maxaccel 9 float RW 0 stepgen.0.maxvel 9 float RW 16000 stepgen.0.position-scale 9 s32 RO 69866 stepgen.0.rawcounts 9 u32 RW 0x00009C31 stepgen.0.steplen 9 u32 RW 0x00009C31 stepgen.0.stepspace 9 u32 RW 0x000270C4 stepgen.1.dirhold 9 u32 RW 0x000270C4 stepgen.1.dirsetup 9 float RO 4.407018e-10 stepgen.1.frequency 9 float RW 10 stepgen.1.maxaccel 9 float RW 0 stepgen.1.maxvel 9 float RW 16000 stepgen.1.position-scale 9 s32 RO 7549 stepgen.1.rawcounts 9 u32 RW 0x00009C31 stepgen.1.steplen 9 u32 RW 0x00009C31 stepgen.1.stepspace 9 u32 RW 0x000270C4 stepgen.2.dirhold 9 u32 RW 0x000270C4 stepgen.2.dirsetup 9 float RO 7.108093e-10 stepgen.2.frequency 9 float RW 10 stepgen.2.maxaccel 9 float RW 0 stepgen.2.maxvel 9 float RW 16000 stepgen.2.position-scale 9 s32 RO 12262 stepgen.2.rawcounts 9 u32 RW 0x00009C31 stepgen.2.steplen 9 u32 RW 0x00009C31 stepgen.2.stepspace 9 s32 RO 172 stepgen.capture-position.time 9 s32 RW 15983 stepgen.capture-position.tmax 9 s32 RO 225 stepgen.make-pulses.time 9 s32 RW 26843 stepgen.make-pulses.tmax 9 s32 RO 585 stepgen.update-freq.time 9 s32 RW 42465 stepgen.update-freq.tmax 6 float RO 0 tc.0.acc 6 float RO 0 tc.0.pos 6 float RO 0 tc.0.vel 6 float RO 0 tc.1.acc 6 float RO 0 tc.1.pos 6 float RO 0 tc.1.vel 6 float RO 0 tc.2.acc 6 float RO 0 tc.2.pos 6 float RO 0 tc.2.vel 6 float RO 0 tc.3.acc 6 float RO 0 tc.3.pos 6 float RO 0 tc.3.vel 6 u32 RO 0x00000000 traj.active_tc 6 float RO 0 traj.pos_out 6 float RO 0 traj.vel_out Parameter Aliases: Alias Original Name Exported Functions: Owner CodeAddr Arg FP Users Name 00006 fead98d0 00000000 YES 1 motion-command-handler 00006 feadbd9a 00000000 YES 1 motion-controller 00008 feb07000 fea68ed8 NO 1 parport.0.read 00008 feb07219 fea68ed8 NO 0 parport.0.reset 00008 feb072fa fea68ed8 NO 1 parport.0.write 00008 feb070ac fea68ed8 NO 0 parport.read-all 00008 feb07488 fea68ed8 NO 0 parport.write-all 00009 feb1320f fea68ff8 YES 1 stepgen.capture-position 00009 feb13000 fea68ff8 NO 1 stepgen.make-pulses 00009 feb13307 fea68ff8 YES 1 stepgen.update-freq Realtime Threads: Period FP Name ( Time, Max-Time ) 999625 YES servo-thread ( 4102, 100987 ) 1 stepgen.capture-position 2 motion-command-handler 3 motion-controller 4 stepgen.update-freq 39985 NO base-thread ( 10095, 52665 ) 1 parport.0.read 2 stepgen.make-pulses 3 parport.0.write mill@mill-desktop:~$