rendered paste body-enable-out
03 bit OUT FALSE iocontrol.0.user-request-enable
06 float IN 1 motion.adaptive-feed
06 bit OUT FALSE motion.digital-out-00
06 bit OUT FALSE motion.digital-out-01
06 bit OUT FALSE motion.digital-out-02
06 bit OUT FALSE motion.digital-out-03
06 bit IN TRUE motion.enable
06 bit IN FALSE motion.feed-hold
06 bit OUT TRUE motion.motion-inpos
06 bit IN FALSE motion.probe-input
06 bit OUT FALSE motion.spindle-brake
06 bit OUT FALSE motion.spindle-forward
06 bit I/O FALSE motion.spindle-index-enable
06 bit OUT FALSE motion.spindle-on ==> spindelon
06 bit OUT FALSE motion.spindle-reverse
06 float IN 0 motion.spindle-revs
06 float OUT 0 motion.spindle-speed-out ==> vitezaspindel
08 bit IN FALSE parport.0.pin-01-out
08 bit IN FALSE parport.0.pin-02-out <== Xdir
08 bit IN FALSE parport.0.pin-03-out <== Xstep
08 bit IN FALSE parport.0.pin-04-out <== Ydir
08 bit IN FALSE parport.0.pin-05-out <== Ystep
08 bit IN FALSE parport.0.pin-06-out <== Zdir
08 bit IN FALSE parport.0.pin-07-out <== Zstep
08 bit IN FALSE parport.0.pin-08-out
08 bit IN FALSE parport.0.pin-09-out <== pwmgen.0.pwm
08 bit OUT TRUE parport.0.pin-10-in
08 bit OUT FALSE parport.0.pin-10-in-not
08 bit OUT TRUE parport.0.pin-11-in
08 bit OUT FALSE parport.0.pin-11-in-not
08 bit OUT TRUE parport.0.pin-12-in
08 bit OUT FALSE parport.0.pin-12-in-not
08 bit OUT TRUE parport.0.pin-13-in
08 bit OUT FALSE parport.0.pin-13-in-not
08 bit IN FALSE parport.0.pin-14-out
08 bit OUT TRUE parport.0.pin-15-in
08 bit OUT FALSE parport.0.pin-15-in-not
08 bit IN FALSE parport.0.pin-16-out
08 bit IN FALSE parport.0.pin-17-out
08 bit IN FALSE parport.1.pin-01-out
08 bit IN FALSE parport.1.pin-02-out
08 bit IN FALSE parport.1.pin-03-out
08 bit IN FALSE parport.1.pin-04-out
08 bit IN FALSE parport.1.pin-05-out
08 bit IN FALSE parport.1.pin-06-out
08 bit IN FALSE parport.1.pin-07-out
08 bit IN FALSE parport.1.pin-08-out
08 bit IN FALSE parport.1.pin-09-out
08 bit OUT TRUE parport.1.pin-10-in ==> crestetur
08 bit OUT FALSE parport.1.pin-10-in-not
08 bit OUT TRUE parport.1.pin-11-in ==> scadetur
08 bit OUT FALSE parport.1.pin-11-in-not
08 bit OUT TRUE parport.1.pin-12-in ==> cresteavans
08 bit OUT FALSE parport.1.pin-12-in-not
08 bit OUT FALSE parport.1.pin-13-in ==> scadeavans
08 bit OUT TRUE parport.1.pin-13-in-not
08 bit IN FALSE parport.1.pin-14-out
08 bit OUT TRUE parport.1.pin-15-in
08 bit OUT FALSE parport.1.pin-15-in-not
08 bit IN FALSE parport.1.pin-16-out
08 bit IN FALSE parport.1.pin-17-out
09 bit OUT FALSE pwmgen.0.dir
09 bit IN FALSE pwmgen.0.enable <== spindelon
09 bit OUT FALSE pwmgen.0.pwm
09 float IN 0 pwmgen.0.value <== vitezaspindel
07 s32 OUT 0 stepgen.0.counts
07 bit OUT FALSE stepgen.0.dir ==> Xdir
07 bit IN FALSE stepgen.0.enable <== Xen
07 float IN 0 stepgen.0.position-cmd <== Xpos-cmd
07 float OUT 0 stepgen.0.position-fb ==> Xpos-fb
07 bit OUT FALSE stepgen.0.step ==> Xstep
07 s32 OUT 0 stepgen.1.counts
07 bit OUT FALSE stepgen.1.dir ==> Ydir
07 bit IN FALSE stepgen.1.enable <== Yen
07 float IN 0 stepgen.1.position-cmd <== Ypos-cmd
07 float OUT 0 stepgen.1.position-fb ==> Ypos-fb
07 bit OUT FALSE stepgen.1.step ==> Ystep
07 s32 OUT 0 stepgen.2.counts
07 bit OUT FALSE stepgen.2.dir ==> Zdir
07 bit IN FALSE stepgen.2.enable <== Zen
07 float IN 0 stepgen.2.position-cmd <== Zpos-cmd
07 float OUT 0 stepgen.2.position-fb ==> Zpos-fb
07 bit OUT FALSE stepgen.2.step ==> Zstep
Signals:
Type Value Name
bit FALSE Xdir
==> parport.0.pin-02-out
<== stepgen.0.dir
bit FALSE Xen
<== axis.0.amp-enable-out
==> stepgen.0.enable
float 0 Xpos-cmd
<== axis.0.motor-pos-cmd
==> stepgen.0.position-cmd
float 0 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 FALSE Yen
<== axis.1.amp-enable-out
==> stepgen.1.enable
float 0 Ypos-cmd
<== axis.1.motor-pos-cmd
==> stepgen.1.position-cmd
float 0 Ypos-fb
==> axis.1.motor-pos-fb
<== stepgen.1.position-fb
bit FALSE Ystep
==> parport.0.pin-05-out
<== stepgen.1.step
bit FALSE Zdir
==> parport.0.pin-06-out
<== stepgen.2.dir
bit FALSE Zen
<== axis.2.amp-enable-out
==> stepgen.2.enable
float 0 Zpos-cmd
<== axis.2.motor-pos-cmd
==> stepgen.2.position-cmd
float 0 Zpos-fb
==> axis.2.motor-pos-fb
<== stepgen.2.position-fb
bit FALSE Zstep
==> parport.0.pin-07-out
<== stepgen.2.step
bit TRUE cresteavans
==> halui.feed-override.increase
<== parport.1.pin-12-in
bit TRUE crestetur
==> halui.spindle-override.increase
<== parport.1.pin-10-in
bit FALSE iocontrol.0.tool-change
<== iocontrol.0.tool-change
==> iocontrol.0.tool-changed
bit FALSE iocontrol.0.tool-prepare
<== iocontrol.0.tool-prepare
==> iocontrol.0.tool-prepared
bit FALSE iocontrol.0.user-enable-out
==> iocontrol.0.emc-enable-in
<== iocontrol.0.user-enable-out
bit FALSE pwmgen.0.pwm
==> parport.0.pin-09-out
bit FALSE scadeavans
==> halui.feed-override.decrease
<== parport.1.pin-13-in
bit TRUE scadetur
==> halui.spindle-override.decrease
<== parport.1.pin-11-in
bit FALSE spindelon
<== motion.spindle-on
==> pwmgen.0.enable
float 0 vitezaspindel
<== motion.spindle-speed-out
==> pwmgen.0.value
Parameters:
Owner Type Dir Value Name
06 bit RO TRUE axis.0.active
06 float RO 0 axis.0.backlash-corr
06 float RO 0 axis.0.backlash-filt
06 float RO 0 axis.0.backlash-vel
06 float RO 0 axis.0.coarse-pos-cmd
06 bit RO FALSE axis.0.error
06 float RO 0 axis.0.f-error
06 float RO 0.254 axis.0.f-error-lim
06 bit RO FALSE axis.0.f-errored
06 bit RO FALSE axis.0.faulted
06 float RO 0 axis.0.free-pos-cmd
06 bit RO FALSE axis.0.free-tp-enable
06 float RO 0 axis.0.free-vel-lim
06 s32 RO 0 axis.0.home-state
06 bit RO FALSE axis.0.homed
06 bit RO FALSE axis.0.homing
06 bit RO TRUE axis.0.in-position
06 float RO 0 axis.0.joint-pos-cmd
06 float RO 0 axis.0.joint-pos-fb
06 float RO 0 axis.0.joint-vel-cmd
06 bit RO FALSE axis.0.neg-hard-limit
06 bit RO FALSE axis.0.neg-soft-limit
06 bit RO FALSE axis.0.pos-hard-limit
06 bit RO FALSE axis.0.pos-soft-limit
06 bit RO TRUE axis.1.active
06 float RO 0 axis.1.backlash-corr
06 float RO 0 axis.1.backlash-filt
06 float RO 0 axis.1.backlash-vel
06 float RO 0 axis.1.coarse-pos-cmd
06 bit RO FALSE axis.1.error
06 float RO 0 axis.1.f-error
06 float RO 0.254 axis.1.f-error-lim
06 bit RO FALSE axis.1.f-errored
06 bit RO FALSE axis.1.faulted
06 float RO 0 axis.1.free-pos-cmd
06 bit RO FALSE axis.1.free-tp-enable
06 float RO 0 axis.1.free-vel-lim
06 s32 RO 0 axis.1.home-state
06 bit RO FALSE axis.1.homed
06 bit RO FALSE axis.1.homing
06 bit RO TRUE axis.1.in-position
06 float RO 0 axis.1.joint-pos-cmd
06 float RO 0 axis.1.joint-pos-fb
06 float RO 0 axis.1.joint-vel-cmd
06 bit RO FALSE axis.1.neg-hard-limit
06 bit RO FALSE axis.1.neg-soft-limit
06 bit RO FALSE axis.1.pos-hard-limit
06 bit RO FALSE axis.1.pos-soft-limit
06 bit RO TRUE axis.2.active
06 float RO 0 axis.2.backlash-corr
06 float RO 0 axis.2.backlash-filt
06 float RO 0 axis.2.backlash-vel
06 float RO 0 axis.2.coarse-pos-cmd
06 bit RO FALSE axis.2.error
06 float RO 0 axis.2.f-error
06 float RO 0.254 axis.2.f-error-lim
06 bit RO FALSE axis.2.f-errored
06 bit RO FALSE axis.2.faulted
06 float RO 0 axis.2.free-pos-cmd
06 bit RO FALSE axis.2.free-tp-enable
06 float RO 0 axis.2.free-vel-lim
06 s32 RO 0 axis.2.home-state
06 bit RO FALSE axis.2.homed
06 bit RO FALSE axis.2.homing
06 bit RO TRUE axis.2.in-position
06 float RO 0 axis.2.joint-pos-cmd
06 float RO 0 axis.2.joint-pos-fb
06 float RO 0 axis.2.joint-vel-cmd
06 bit RO FALSE axis.2.neg-hard-limit
06 bit RO FALSE axis.2.neg-soft-limit
06 bit RO FALSE axis.2.pos-hard-limit
06 bit RO FALSE axis.2.pos-soft-limit
06 bit RO FALSE axis.3.active
06 float RO 0 axis.3.backlash-corr
06 float RO 0 axis.3.backlash-filt
06 float RO 0 axis.3.backlash-vel
06 float RO 0 axis.3.coarse-pos-cmd
06 bit RO FALSE axis.3.error
06 float RO 0 axis.3.f-error
06 float RO 0.01 axis.3.f-error-lim
06 bit RO FALSE axis.3.f-errored
06 bit RO FALSE axis.3.faulted
06 float RO 0 axis.3.free-pos-cmd
06 bit RO FALSE axis.3.free-tp-enable
06 float RO 0 axis.3.free-vel-lim
06 s32 RO 0 axis.3.home-state
06 bit RO FALSE axis.3.homed
06 bit RO FALSE axis.3.homing
06 bit RO TRUE axis.3.in-position
06 float RO 0 axis.3.joint-pos-cmd
06 float RO 0 axis.3.joint-pos-fb
06 float RO 0 axis.3.joint-vel-cmd
06 bit RO FALSE axis.3.neg-hard-limit
06 bit RO FALSE axis.3.neg-soft-limit
06 bit RO FALSE axis.3.pos-hard-limit
06 bit RO FALSE axis.3.pos-soft-limit
06 bit RO FALSE axis.4.active
06 float RO 0 axis.4.backlash-corr
06 float RO 0 axis.4.backlash-filt
06 float RO 0 axis.4.backlash-vel
06 float RO 0 axis.4.coarse-pos-cmd
06 bit RO FALSE axis.4.error
06 float RO 0 axis.4.f-error
06 float RO 0.01 axis.4.f-error-lim
06 bit RO FALSE axis.4.f-errored
06 bit RO FALSE axis.4.faulted
06 float RO 0 axis.4.free-pos-cmd
06 bit RO FALSE axis.4.free-tp-enable
06 float RO 0 axis.4.free-vel-lim
06 s32 RO 0 axis.4.home-state
06 bit RO FALSE axis.4.homed
06 bit RO FALSE axis.4.homing
06 bit RO TRUE axis.4.in-position
06 float RO 0 axis.4.joint-pos-cmd
06 float RO 0 axis.4.joint-pos-fb
06 float RO 0 axis.4.joint-vel-cmd
06 bit RO FALSE axis.4.neg-hard-limit
06 bit RO FALSE axis.4.neg-soft-limit
06 bit RO FALSE axis.4.pos-hard-limit
06 bit RO FALSE axis.4.pos-soft-limit
06 bit RO FALSE axis.5.active
06 float RO 0 axis.5.backlash-corr
06 float RO 0 axis.5.backlash-filt
06 float RO 0 axis.5.backlash-vel
06 float RO 0 axis.5.coarse-pos-cmd
06 bit RO FALSE axis.5.error
06 float RO 0 axis.5.f-error
06 float RO 0.01 axis.5.f-error-lim
06 bit RO FALSE axis.5.f-errored
06 bit RO FALSE axis.5.faulted
06 float RO 0 axis.5.free-pos-cmd
06 bit RO FALSE axis.5.free-tp-enable
06 float RO 0 axis.5.free-vel-lim
06 s32 RO 0 axis.5.home-state
06 bit RO FALSE axis.5.homed
06 bit RO FALSE axis.5.homing
06 bit RO TRUE axis.5.in-position
06 float RO 0 axis.5.joint-pos-cmd
06 float RO 0 axis.5.joint-pos-fb
06 float RO 0 axis.5.joint-vel-cmd
06 bit RO FALSE axis.5.neg-hard-limit
06 bit RO FALSE axis.5.neg-soft-limit
06 bit RO FALSE axis.5.pos-hard-limit
06 bit RO FALSE axis.5.pos-soft-limit
06 bit RO FALSE axis.6.active
06 float RO 0 axis.6.backlash-corr
06 float RO 0 axis.6.backlash-filt
06 float RO 0 axis.6.backlash-vel
06 float RO 0 axis.6.coarse-pos-cmd
06 bit RO FALSE axis.6.error
06 float RO 0 axis.6.f-error
06 float RO 0.01 axis.6.f-error-lim
06 bit RO FALSE axis.6.f-errored
06 bit RO FALSE axis.6.faulted
06 float RO 0 axis.6.free-pos-cmd
06 bit RO FALSE axis.6.free-tp-enable
06 float RO 0 axis.6.free-vel-lim
06 s32 RO 0 axis.6.home-state
06 bit RO FALSE axis.6.homed
06 bit RO FALSE axis.6.homing
06 bit RO TRUE axis.6.in-position
06 float RO 0 axis.6.joint-pos-cmd
06 float RO 0 axis.6.joint-pos-fb
06 float RO 0 axis.6.joint-vel-cmd
06 bit RO FALSE axis.6.neg-hard-limit
06 bit RO FALSE axis.6.neg-soft-limit
06 bit RO FALSE axis.6.pos-hard-limit
06 bit RO FALSE axis.6.pos-soft-limit
06 bit RO FALSE axis.7.active
06 float RO 0 axis.7.backlash-corr
06 float RO 0 axis.7.backlash-filt
06 float RO 0 axis.7.backlash-vel
06 float RO 0 axis.7.coarse-pos-cmd
06 bit RO FALSE axis.7.error
06 float RO 0 axis.7.f-error
06 float RO 0.01 axis.7.f-error-lim
06 bit RO FALSE axis.7.f-errored
06 bit RO FALSE axis.7.faulted
06 float RO 0 axis.7.free-pos-cmd
06 bit RO FALSE axis.7.free-tp-enable
06 float RO 0 axis.7.free-vel-lim
06 s32 RO 0 axis.7.home-state
06 bit RO FALSE axis.7.homed
06 bit RO FALSE axis.7.homing
06 bit RO TRUE axis.7.in-position
06 float RO 0 axis.7.joint-pos-cmd
06 float RO 0 axis.7.joint-pos-fb
06 float RO 0 axis.7.joint-vel-cmd
06 bit RO FALSE axis.7.neg-hard-limit
06 bit RO FALSE axis.7.neg-soft-limit
06 bit RO FALSE axis.7.pos-hard-limit
06 bit RO FALSE axis.7.pos-soft-limit
06 s32 RO 449 motion-command-handler.time
06 s32 RW 3516 motion-command-handler.tmax
06 s32 RO 8985 motion-controller.time
06 s32 RW 27087 motion-controller.tmax
06 bit RO FALSE motion.coord-error
06 bit RO FALSE motion.coord-mode
06 bit RO FALSE motion.debug-bit-0
06 bit RO FALSE motion.debug-bit-1
06 float RO 0.01 motion.debug-float-0
06 float RO 0 motion.debug-float-1
06 bit RO TRUE motion.in-position
06 bit RO FALSE motion.motion-enabled
06 u32 RO 000781BC motion.servo.last-period
06 float RO 987972.8 motion.servo.last-period-ns
06 u32 RW 00000000 motion.servo.overruns
06 bit RO FALSE motion.teleop-mode
08 bit RW FALSE parport.0.pin-01-out-invert
08 bit RW FALSE parport.0.pin-02-out-invert
08 bit RW FALSE parport.0.pin-03-out-invert
08 bit RW FALSE parport.0.pin-04-out-invert
08 bit RW FALSE parport.0.pin-05-out-invert
08 bit RW FALSE parport.0.pin-06-out-invert
08 bit RW FALSE parport.0.pin-07-out-invert
08 bit RW FALSE parport.0.pin-08-out-invert
08 bit RW FALSE parport.0.pin-09-out-invert
08 bit RW FALSE parport.0.pin-14-out-invert
08 bit RW FALSE parport.0.pin-16-out-invert
08 bit RW FALSE parport.0.pin-17-out-invert
08 s32 RO 848 parport.0.read.time
08 s32 RW 4615 parport.0.read.tmax
08 s32 RO 1720 parport.0.write.time
08 s32 RW 5522 parport.0.write.tmax
08 bit RW FALSE parport.1.pin-01-out-invert
08 bit RW FALSE parport.1.pin-02-out-invert
08 bit RW FALSE parport.1.pin-03-out-invert
08 bit RW FALSE parport.1.pin-04-out-invert
08 bit RW FALSE parport.1.pin-05-out-invert
08 bit RW FALSE parport.1.pin-06-out-invert
08 bit RW FALSE parport.1.pin-07-out-invert
08 bit RW FALSE parport.1.pin-08-out-invert
08 bit RW FALSE parport.1.pin-09-out-invert
08 bit RW FALSE parport.1.pin-14-out-invert
08 bit RW FALSE parport.1.pin-16-out-invert
08 bit RW FALSE parport.1.pin-17-out-invert
08 s32 RO 934 parport.1.read.time
08 s32 RW 4651 parport.1.read.tmax
08 s32 RO 1665 parport.1.write.time
08 s32 RW 5520 parport.1.write.tmax
08 s32 RO 0 parport.read-all.time
08 s32 RW 0 parport.read-all.tmax
08 s32 RO 0 parport.write-all.time
08 s32 RW 0 parport.write-all.tmax
09 float RO 0 pwmgen.0.curr-dc
09 bit RW FALSE pwmgen.0.dither-pwm
09 float RW 1 pwmgen.0.max-dc
09 float RW 0 pwmgen.0.min-dc
09 float RW 0 pwmgen.0.pwm-freq
09 float RW 5000 pwmgen.0.scale
09 s32 RO 232 pwmgen.make-pulses.time
09 s32 RW 3425 pwmgen.make-pulses.tmax
09 s32 RO 557 pwmgen.update.time
09 s32 RW 10866 pwmgen.update.tmax
07 u32 RW 00000001 stepgen.0.dirhold
07 u32 RW 00000001 stepgen.0.dirsetup
07 float RO 0 stepgen.0.frequency
07 float RW 520 stepgen.0.maxaccel
07 float RW 35 stepgen.0.maxvel
07 float RW 80 stepgen.0.position-scale
07 s32 RO 0 stepgen.0.rawcounts
07 u32 RW 00000001 stepgen.0.steplen
07 u32 RW 00000001 stepgen.0.stepspace
07 u32 RW 00000001 stepgen.1.dirhold
07 u32 RW 00000001 stepgen.1.dirsetup
07 float RO 0 stepgen.1.frequency
07 float RW 520 stepgen.1.maxaccel
07 float RW 35 stepgen.1.maxvel
07 float RW 80 stepgen.1.position-scale
07 s32 RO 0 stepgen.1.rawcounts
07 u32 RW 00000001 stepgen.1.steplen
07 u32 RW 00000001 stepgen.1.stepspace
07 u32 RW 00000001 stepgen.2.dirhold
07 u32 RW 00000001 stepgen.2.dirsetup
07 float RO 0 stepgen.2.frequency
07 float RW 520 stepgen.2.maxaccel
07 float RW 35 stepgen.2.maxvel
07 float RW 80 stepgen.2.position-scale
07 s32 RO 0 stepgen.2.rawcounts
07 u32 RW 00000001 stepgen.2.steplen
07 u32 RW 00000001 stepgen.2.stepspace
07 s32 RO 327 stepgen.capture-position.time
07 s32 RW 3263 stepgen.capture-position.tmax
07 s32 RO 247 stepgen.make-pulses.time
07 s32 RW 3557 stepgen.make-pulses.tmax
07 s32 RO 485 stepgen.update-freq.time
07 s32 RW 12375 stepgen.update-freq.tmax
06 float RO 0 tc.0.acc
06 float RO 0 tc.0.pos
06 float RO 0 tc.0.vel
06 float RO 0 tc.1.acc
06 float RO 0 tc.1.pos
06 float RO 0 tc.1.vel
06 float RO 0 tc.2.acc
06 float RO 0 tc.2.pos
06 float RO 0 tc.2.vel
06 float RO 0 tc.3.acc
06 float RO 0 tc.3.pos
06 float RO 0 tc.3.vel
06 u32 RO 00000000 traj.active_tc
06 float RO 0 traj.pos_out
06 float RO 0 traj.vel_out
Exported Functions:
Owner CodeAddr Arg FP Users Name
06 d0ce91b0 00000000 YES 1 motion-command-handler
06 d0ceb3a0 00000000 YES 1 motion-controller
08 d0ccc360 d0ca8960 NO 1 parport.0.read
08 d0ccc440 d0ca8960 NO 1 parport.0.write
08 d0ccc360 d0ca8a28 NO 1 parport.1.read
08 d0ccc440 d0ca8a28 NO 1 parport.1.write
08 d0ccc520 d0ca8960 NO 0 parport.read-all
08 d0ccc560 d0ca8960 NO 0 parport.write-all
09 d0ccf1e0 d0ca8b0c NO 1 pwmgen.make-pulses
09 d0ccf360 d0ca8b0c YES 1 pwmgen.update
07 d0cc99e0 d0ca879c YES 1 stepgen.capture-position
07 d0cc9290 d0ca879c NO 1 stepgen.make-pulses
07 d0cc9510 d0ca879c YES 1 stepgen.update-freq
Realtime Threads:
Period FP Name (Time, Max-Time)
988960 YES servo-thread ( 10536, 32274 )
1 stepgen.capture-position
2 motion-command-handler
3 motion-controller
4 stepgen.update-freq
5 pwmgen.update
49448 NO base-thread ( 5618, 9791 )
1 parport.1.read
2 parport.0.read
3 stepgen.make-pulses
4 parport.0.write
5 parport.1.write
6 pwmgen.make-pulses