rendered paste bodyLoaded HAL Components:
ID Type Name
10 User halcmd8275
09 User halcmd8115
07 RT encoder
06 RT hal_parport
05 RT scope_rt
04 RT stepgen
03 RT motmod
02 User iocontrol
Component Pins:
Owner Type Dir Value Name
03 bit -W TRUE axis.0.amp-enable-out ==> Xen
03 bit R- FALSE axis.0.amp-fault-in
03 bit R- FALSE axis.0.home-sw-in
03 bit RW FALSE axis.0.index-enable
03 s32 R- 109 axis.0.jog-counts <== jogwheel-pos1
03 bit R- TRUE axis.0.jog-enable <== enablejog
03 float R- 0.00000e+00 axis.0.jog-scale
03 float -W 1.74199e+00 axis.0.motor-pos-cmd ==> Xpos-cmd
03 float R- 1.73611e+00 axis.0.motor-pos-fb <== Xpos-fb
03 bit R- FALSE axis.0.neg-lim-sw-in
03 bit R- FALSE axis.0.pos-lim-sw-in
03 bit -W TRUE axis.1.amp-enable-out ==> Yen
03 bit R- FALSE axis.1.amp-fault-in
03 bit R- FALSE axis.1.home-sw-in
03 bit RW FALSE axis.1.index-enable
03 s32 R- 0 axis.1.jog-counts
03 bit R- FALSE axis.1.jog-enable
03 float R- 0.00000e+00 axis.1.jog-scale
03 float -W 0.00000e+00 axis.1.motor-pos-cmd ==> Ypos-cmd
03 float R- 0.00000e+00 axis.1.motor-pos-fb <== Ypos-fb
03 bit R- FALSE axis.1.neg-lim-sw-in
03 bit R- FALSE axis.1.pos-lim-sw-in
03 bit -W TRUE axis.2.amp-enable-out ==> Zen
03 bit R- FALSE axis.2.amp-fault-in
03 bit R- FALSE axis.2.home-sw-in
03 bit RW FALSE axis.2.index-enable
03 s32 R- -82 axis.2.jog-counts <== jogwheel-pos2
03 bit R- TRUE axis.2.jog-enable <== enablejog
03 float R- 0.00000e+00 axis.2.jog-scale
03 float -W 0.00000e+00 axis.2.motor-pos-cmd ==> Zpos-cmd
03 float R- 0.00000e+00 axis.2.motor-pos-fb <== Zpos-fb
03 bit R- FALSE axis.2.neg-lim-sw-in
03 bit R- FALSE axis.2.pos-lim-sw-in
03 bit -W FALSE axis.3.amp-enable-out
03 bit R- FALSE axis.3.amp-fault-in
03 bit R- FALSE axis.3.home-sw-in
03 bit RW FALSE axis.3.index-enable
03 s32 R- 0 axis.3.jog-counts
03 bit R- FALSE axis.3.jog-enable
03 float R- 0.00000e+00 axis.3.jog-scale
03 float -W 0.00000e+00 axis.3.motor-pos-cmd
03 float R- 0.00000e+00 axis.3.motor-pos-fb
03 bit R- FALSE axis.3.neg-lim-sw-in
03 bit R- FALSE axis.3.pos-lim-sw-in
03 bit -W FALSE axis.4.amp-enable-out
03 bit R- FALSE axis.4.amp-fault-in
03 bit R- FALSE axis.4.home-sw-in
03 bit RW FALSE axis.4.index-enable
03 s32 R- 0 axis.4.jog-counts
03 bit R- FALSE axis.4.jog-enable
03 float R- 0.00000e+00 axis.4.jog-scale
03 float -W 0.00000e+00 axis.4.motor-pos-cmd
03 float R- 0.00000e+00 axis.4.motor-pos-fb
03 bit R- FALSE axis.4.neg-lim-sw-in
03 bit R- FALSE axis.4.pos-lim-sw-in
03 bit -W FALSE axis.5.amp-enable-out
03 bit R- FALSE axis.5.amp-fault-in
03 bit R- FALSE axis.5.home-sw-in
03 bit RW FALSE axis.5.index-enable
03 s32 R- 0 axis.5.jog-counts
03 bit R- FALSE axis.5.jog-enable
03 float R- 0.00000e+00 axis.5.jog-scale
03 float -W 0.00000e+00 axis.5.motor-pos-cmd
03 float R- 0.00000e+00 axis.5.motor-pos-fb
03 bit R- FALSE axis.5.neg-lim-sw-in
03 bit R- FALSE axis.5.pos-lim-sw-in
03 bit -W FALSE axis.6.amp-enable-out
03 bit R- FALSE axis.6.amp-fault-in
03 bit R- FALSE axis.6.home-sw-in
03 bit RW FALSE axis.6.index-enable
03 s32 R- 0 axis.6.jog-counts
03 bit R- FALSE axis.6.jog-enable
03 float R- 0.00000e+00 axis.6.jog-scale
03 float -W 0.00000e+00 axis.6.motor-pos-cmd
03 float R- 0.00000e+00 axis.6.motor-pos-fb
03 bit R- FALSE axis.6.neg-lim-sw-in
03 bit R- FALSE axis.6.pos-lim-sw-in
03 bit -W FALSE axis.7.amp-enable-out
03 bit R- FALSE axis.7.amp-fault-in
03 bit R- FALSE axis.7.home-sw-in
03 bit RW FALSE axis.7.index-enable
03 s32 R- 0 axis.7.jog-counts
03 bit R- FALSE axis.7.jog-enable
03 float R- 0.00000e+00 axis.7.jog-scale
03 float -W 0.00000e+00 axis.7.motor-pos-cmd
03 float R- 0.00000e+00 axis.7.motor-pos-fb
03 bit R- FALSE axis.7.neg-lim-sw-in
03 bit R- FALSE axis.7.pos-lim-sw-in
07 s32 -W 109 encoder.0.counts ==> jogwheel-pos1
07 bit RW FALSE encoder.0.index-enable
07 bit R- TRUE encoder.0.phase-A <== encA1
07 bit R- FALSE encoder.0.phase-B <== encB1
07 bit R- FALSE encoder.0.phase-Z
07 float -W 1.09000e+01 encoder.0.position
07 bit R- FALSE encoder.0.reset
07 s32 -W -82 encoder.1.counts ==> jogwheel-pos2
07 bit RW FALSE encoder.1.index-enable
07 bit R- FALSE encoder.1.phase-A <== encA2
07 bit R- FALSE encoder.1.phase-B <== encB2
07 bit R- FALSE encoder.1.phase-Z
07 float -W -8.20000e+00 encoder.1.position
07 bit R- FALSE encoder.1.reset
02 bit -W FALSE iocontrol.0.coolant-flood
02 bit -W FALSE iocontrol.0.coolant-mist
02 bit R- TRUE iocontrol.0.emc-enable-in <== iocontrol.0.user-enable-out
02 bit -W TRUE iocontrol.0.lube
02 bit R- FALSE iocontrol.0.lube_level
02 bit -W TRUE iocontrol.0.spindle-brake
02 bit -W FALSE iocontrol.0.spindle-decr-speed
02 bit -W FALSE iocontrol.0.spindle-forward
02 bit -W FALSE iocontrol.0.spindle-incr-speed
02 bit -W FALSE iocontrol.0.spindle-on ==> spindle_on
02 bit -W FALSE iocontrol.0.spindle-reverse
02 float R- 0.00000e+00 iocontrol.0.spindle-speed-in
02 float -W 0.00000e+00 iocontrol.0.spindle-speed-out
02 bit -W FALSE iocontrol.0.tool-change ==> iocontrol.0.tool-change
02 bit R- FALSE iocontrol.0.tool-changed <== iocontrol.0.tool-change
02 s32 -W 0 iocontrol.0.tool-prep-number
02 bit -W FALSE iocontrol.0.tool-prepare ==> iocontrol.0.tool-prepare
02 bit R- FALSE iocontrol.0.tool-prepared <== iocontrol.0.tool-prepare
02 bit -W TRUE iocontrol.0.user-enable-out ==> iocontrol.0.user-enable-out
02 bit -W FALSE iocontrol.0.user-request-enable
03 float R- 1.00000e+00 motion.adaptive-feed
03 bit -W FALSE motion.digital-out-00
03 bit -W FALSE motion.digital-out-01
03 bit -W FALSE motion.digital-out-02
03 bit -W FALSE motion.digital-out-03
03 bit R- TRUE motion.enable
03 bit R- FALSE motion.probe-input
03 float R- 0.00000e+00 motion.spindle-revs
03 bit -W FALSE motion.spindle-sync
06 bit R- FALSE parport.0.pin-01-out
06 bit R- TRUE parport.0.pin-02-out <== Xphase-A
06 bit R- TRUE parport.0.pin-03-out <== Xphase-B
06 bit R- FALSE parport.0.pin-04-out
06 bit R- FALSE parport.0.pin-05-out
06 bit R- FALSE parport.0.pin-06-out <== Zphase-A
06 bit R- FALSE parport.0.pin-07-out <== Zphase-B
06 bit R- FALSE parport.0.pin-08-out
06 bit R- FALSE parport.0.pin-09-out <== spindle_on
06 bit -W TRUE parport.0.pin-10-in
06 bit -W FALSE parport.0.pin-10-in-not
06 bit -W TRUE parport.0.pin-11-in
06 bit -W FALSE parport.0.pin-11-in-not
06 bit -W TRUE parport.0.pin-12-in
06 bit -W FALSE parport.0.pin-12-in-not
06 bit -W TRUE parport.0.pin-13-in
06 bit -W FALSE parport.0.pin-13-in-not
06 bit R- FALSE parport.0.pin-14-out
06 bit -W TRUE parport.0.pin-15-in
06 bit -W FALSE parport.0.pin-15-in-not
06 bit R- FALSE parport.0.pin-16-out
06 bit R- FALSE parport.0.pin-17-out
06 bit R- FALSE parport.1.pin-01-out
06 bit -W FALSE parport.1.pin-02-in
06 bit -W TRUE parport.1.pin-02-in-not
06 bit -W FALSE parport.1.pin-03-in ==> encA2
06 bit -W TRUE parport.1.pin-03-in-not
06 bit -W FALSE parport.1.pin-04-in ==> encB2
06 bit -W TRUE parport.1.pin-04-in-not
06 bit -W TRUE parport.1.pin-05-in ==> encA1
06 bit -W FALSE parport.1.pin-05-in-not
06 bit -W FALSE parport.1.pin-06-in ==> encB1
06 bit -W TRUE parport.1.pin-06-in-not
06 bit -W TRUE parport.1.pin-07-in
06 bit -W FALSE parport.1.pin-07-in-not
06 bit -W FALSE parport.1.pin-08-in
06 bit -W TRUE parport.1.pin-08-in-not
06 bit -W TRUE parport.1.pin-09-in
06 bit -W FALSE parport.1.pin-09-in-not
06 bit -W FALSE parport.1.pin-10-in
06 bit -W TRUE parport.1.pin-10-in-not
06 bit -W TRUE parport.1.pin-11-in
06 bit -W FALSE parport.1.pin-11-in-not
06 bit -W TRUE parport.1.pin-12-in
06 bit -W FALSE parport.1.pin-12-in-not
06 bit -W TRUE parport.1.pin-13-in
06 bit -W FALSE parport.1.pin-13-in-not
06 bit R- FALSE parport.1.pin-14-out
06 bit -W TRUE parport.1.pin-15-in
06 bit -W FALSE parport.1.pin-15-in-not
06 bit R- FALSE parport.1.pin-16-out
06 bit R- FALSE parport.1.pin-17-out
04 s32 -W 125 stepgen.0.counts
04 bit R- TRUE stepgen.0.enable <== Xen
04 bit -W TRUE stepgen.0.phase-A ==> Xphase-A
04 bit -W TRUE stepgen.0.phase-B ==> Xphase-B
04 float R- 1.74199e+00 stepgen.0.position-cmd <== Xpos-cmd
04 float -W 1.73611e+00 stepgen.0.position-fb ==> Xpos-fb
04 s32 -W 0 stepgen.1.counts
04 bit R- TRUE stepgen.1.enable <== Yen
04 bit -W FALSE stepgen.1.phase-A ==> Yphase-A
04 bit -W FALSE stepgen.1.phase-B ==> Yphase-B
04 float R- 0.00000e+00 stepgen.1.position-cmd <== Ypos-cmd
04 float -W 0.00000e+00 stepgen.1.position-fb ==> Ypos-fb
04 s32 -W 0 stepgen.2.counts
04 bit R- TRUE stepgen.2.enable <== Zen
04 bit -W FALSE stepgen.2.phase-A ==> Zphase-A
04 bit -W FALSE stepgen.2.phase-B ==> Zphase-B
04 float R- 0.00000e+00 stepgen.2.position-cmd <== Zpos-cmd
04 float -W 0.00000e+00 stepgen.2.position-fb ==> Zpos-fb
Signals:
Type Value Name
bit TRUE Xen
<== axis.0.amp-enable-out
==> stepgen.0.enable
bit TRUE Xphase-A
==> parport.0.pin-02-out
<== stepgen.0.phase-A
bit TRUE Xphase-B
==> parport.0.pin-03-out
<== stepgen.0.phase-B
float 1.74199e+00 Xpos-cmd
<== axis.0.motor-pos-cmd
==> stepgen.0.position-cmd
float 1.73611e+00 Xpos-fb
==> axis.0.motor-pos-fb
<== stepgen.0.position-fb
bit TRUE Yen
<== axis.1.amp-enable-out
==> stepgen.1.enable
bit FALSE Yphase-A
<== stepgen.1.phase-A
bit FALSE Yphase-B
<== stepgen.1.phase-B
float 0.00000e+00 Ypos-cmd
<== axis.1.motor-pos-cmd
==> stepgen.1.position-cmd
float 0.00000e+00 Ypos-fb
==> axis.1.motor-pos-fb
<== stepgen.1.position-fb
bit TRUE Zen
<== axis.2.amp-enable-out
==> stepgen.2.enable
bit FALSE Zphase-A
==> parport.0.pin-06-out
<== stepgen.2.phase-A
bit FALSE Zphase-B
==> parport.0.pin-07-out
<== stepgen.2.phase-B
float 0.00000e+00 Zpos-cmd
<== axis.2.motor-pos-cmd
==> stepgen.2.position-cmd
float 0.00000e+00 Zpos-fb
==> axis.2.motor-pos-fb
<== stepgen.2.position-fb
bit FALSE axisui.jog.a
bit FALSE axisui.jog.b
bit FALSE axisui.jog.c
bit TRUE axisui.jog.x
bit FALSE axisui.jog.y
bit FALSE axisui.jog.z
bit TRUE enablejog
==> axis.0.jog-enable
==> axis.2.jog-enable
bit TRUE encA1
==> encoder.0.phase-A
<== parport.1.pin-05-in
bit FALSE encA2
==> encoder.1.phase-A
<== parport.1.pin-03-in
bit FALSE encB1
==> encoder.0.phase-B
<== parport.1.pin-06-in
bit FALSE encB2
==> encoder.1.phase-B
<== parport.1.pin-04-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 TRUE iocontrol.0.user-enable-out
==> iocontrol.0.emc-enable-in
<== iocontrol.0.user-enable-out
s32 109 jogwheel-pos1
==> axis.0.jog-counts
<== encoder.0.counts
s32 -82 jogwheel-pos2
==> axis.2.jog-counts
<== encoder.1.counts
bit FALSE spindle_on
<== iocontrol.0.spindle-on
==> parport.0.pin-09-out
Parameters:
Owner Type Dir Value Name
03 bit R- TRUE axis.0.active
03 float R- -0.00000e+00 axis.0.backlash-corr
03 float R- -0.00000e+00 axis.0.backlash-filt
03 float R- 1.74199e+00 axis.0.coarse-pos-cmd
03 bit R- FALSE axis.0.error
03 float R- 5.88025e-03 axis.0.f-error
03 float R- 2.54000e-01 axis.0.f-error-lim
03 bit R- FALSE axis.0.f-errored
03 bit R- FALSE axis.0.faulted
03 float R- 1.74199e+00 axis.0.free-pos-cmd
03 bit R- TRUE axis.0.free-tp-enable
03 float R- 1.00000e+01 axis.0.free-vel-lim
03 s8 R- 0 axis.0.home-state
03 bit R- FALSE axis.0.homed
03 bit R- FALSE axis.0.homing
03 bit R- TRUE axis.0.in-position
03 float R- 1.74199e+00 axis.0.joint-pos-cmd
03 float R- 1.73611e+00 axis.0.joint-pos-fb
03 float R- 0.00000e+00 axis.0.joint-vel-cmd
03 bit R- FALSE axis.0.neg-hard-limit
03 bit R- FALSE axis.0.neg-soft-limit
03 bit R- FALSE axis.0.pos-hard-limit
03 bit R- FALSE axis.0.pos-soft-limit
03 bit R- TRUE axis.1.active
03 float R- 0.00000e+00 axis.1.backlash-corr
03 float R- 0.00000e+00 axis.1.backlash-filt
03 float R- 0.00000e+00 axis.1.coarse-pos-cmd
03 bit R- FALSE axis.1.error
03 float R- 0.00000e+00 axis.1.f-error
03 float R- 2.54000e-01 axis.1.f-error-lim
03 bit R- FALSE axis.1.f-errored
03 bit R- FALSE axis.1.faulted
03 float R- 0.00000e+00 axis.1.free-pos-cmd
03 bit R- FALSE axis.1.free-tp-enable
03 float R- 0.00000e+00 axis.1.free-vel-lim
03 s8 R- 0 axis.1.home-state
03 bit R- FALSE axis.1.homed
03 bit R- FALSE axis.1.homing
03 bit R- TRUE axis.1.in-position
03 float R- 0.00000e+00 axis.1.joint-pos-cmd
03 float R- 0.00000e+00 axis.1.joint-pos-fb
03 float R- 0.00000e+00 axis.1.joint-vel-cmd
03 bit R- FALSE axis.1.neg-hard-limit
03 bit R- FALSE axis.1.neg-soft-limit
03 bit R- FALSE axis.1.pos-hard-limit
03 bit R- FALSE axis.1.pos-soft-limit
03 bit R- TRUE axis.2.active
03 float R- 0.00000e+00 axis.2.backlash-corr
03 float R- 0.00000e+00 axis.2.backlash-filt
03 float R- 0.00000e+00 axis.2.coarse-pos-cmd
03 bit R- FALSE axis.2.error
03 float R- 0.00000e+00 axis.2.f-error
03 float R- 2.54000e-01 axis.2.f-error-lim
03 bit R- FALSE axis.2.f-errored
03 bit R- FALSE axis.2.faulted
03 float R- 0.00000e+00 axis.2.free-pos-cmd
03 bit R- TRUE axis.2.free-tp-enable
03 float R- 1.00000e+01 axis.2.free-vel-lim
03 s8 R- 0 axis.2.home-state
03 bit R- FALSE axis.2.homed
03 bit R- FALSE axis.2.homing
03 bit R- TRUE axis.2.in-position
03 float R- 0.00000e+00 axis.2.joint-pos-cmd
03 float R- 0.00000e+00 axis.2.joint-pos-fb
03 float R- 0.00000e+00 axis.2.joint-vel-cmd
03 bit R- FALSE axis.2.neg-hard-limit
03 bit R- FALSE axis.2.neg-soft-limit
03 bit R- FALSE axis.2.pos-hard-limit
03 bit R- FALSE axis.2.pos-soft-limit
03 bit R- FALSE axis.3.active
03 float R- 0.00000e+00 axis.3.backlash-corr
03 float R- 0.00000e+00 axis.3.backlash-filt
03 float R- 0.00000e+00 axis.3.coarse-pos-cmd
03 bit R- FALSE axis.3.error
03 float R- 0.00000e+00 axis.3.f-error
03 float R- 1.00000e-02 axis.3.f-error-lim
03 bit R- FALSE axis.3.f-errored
03 bit R- FALSE axis.3.faulted
03 float R- 0.00000e+00 axis.3.free-pos-cmd
03 bit R- FALSE axis.3.free-tp-enable
03 float R- 0.00000e+00 axis.3.free-vel-lim
03 s8 R- 0 axis.3.home-state
03 bit R- FALSE axis.3.homed
03 bit R- FALSE axis.3.homing
03 bit R- TRUE axis.3.in-position
03 float R- 0.00000e+00 axis.3.joint-pos-cmd
03 float R- 0.00000e+00 axis.3.joint-pos-fb
03 float R- 0.00000e+00 axis.3.joint-vel-cmd
03 bit R- FALSE axis.3.neg-hard-limit
03 bit R- FALSE axis.3.neg-soft-limit
03 bit R- FALSE axis.3.pos-hard-limit
03 bit R- FALSE axis.3.pos-soft-limit
03 bit R- FALSE axis.4.active
03 float R- 0.00000e+00 axis.4.backlash-corr
03 float R- 0.00000e+00 axis.4.backlash-filt
03 float R- 0.00000e+00 axis.4.coarse-pos-cmd
03 bit R- FALSE axis.4.error
03 float R- 0.00000e+00 axis.4.f-error
03 float R- 1.00000e-02 axis.4.f-error-lim
03 bit R- FALSE axis.4.f-errored
03 bit R- FALSE axis.4.faulted
03 float R- 0.00000e+00 axis.4.free-pos-cmd
03 bit R- FALSE axis.4.free-tp-enable
03 float R- 0.00000e+00 axis.4.free-vel-lim
03 s8 R- 0 axis.4.home-state
03 bit R- FALSE axis.4.homed
03 bit R- FALSE axis.4.homing
03 bit R- TRUE axis.4.in-position
03 float R- 0.00000e+00 axis.4.joint-pos-cmd
03 float R- 0.00000e+00 axis.4.joint-pos-fb
03 float R- 0.00000e+00 axis.4.joint-vel-cmd
03 bit R- FALSE axis.4.neg-hard-limit
03 bit R- FALSE axis.4.neg-soft-limit
03 bit R- FALSE axis.4.pos-hard-limit
03 bit R- FALSE axis.4.pos-soft-limit
03 bit R- FALSE axis.5.active
03 float R- 0.00000e+00 axis.5.backlash-corr
03 float R- 0.00000e+00 axis.5.backlash-filt
03 float R- 0.00000e+00 axis.5.coarse-pos-cmd
03 bit R- FALSE axis.5.error
03 float R- 0.00000e+00 axis.5.f-error
03 float R- 1.00000e-02 axis.5.f-error-lim
03 bit R- FALSE axis.5.f-errored
03 bit R- FALSE axis.5.faulted
03 float R- 0.00000e+00 axis.5.free-pos-cmd
03 bit R- FALSE axis.5.free-tp-enable
03 float R- 0.00000e+00 axis.5.free-vel-lim
03 s8 R- 0 axis.5.home-state
03 bit R- FALSE axis.5.homed
03 bit R- FALSE axis.5.homing
03 bit R- TRUE axis.5.in-position
03 float R- 0.00000e+00 axis.5.joint-pos-cmd
03 float R- 0.00000e+00 axis.5.joint-pos-fb
03 float R- 0.00000e+00 axis.5.joint-vel-cmd
03 bit R- FALSE axis.5.neg-hard-limit
03 bit R- FALSE axis.5.neg-soft-limit
03 bit R- FALSE axis.5.pos-hard-limit
03 bit R- FALSE axis.5.pos-soft-limit
03 bit R- FALSE axis.6.active
03 float R- 0.00000e+00 axis.6.backlash-corr
03 float R- 0.00000e+00 axis.6.backlash-filt
03 float R- 0.00000e+00 axis.6.coarse-pos-cmd
03 bit R- FALSE axis.6.error
03 float R- 0.00000e+00 axis.6.f-error
03 float R- 1.00000e-02 axis.6.f-error-lim
03 bit R- FALSE axis.6.f-errored
03 bit R- FALSE axis.6.faulted
03 float R- 0.00000e+00 axis.6.free-pos-cmd
03 bit R- FALSE axis.6.free-tp-enable
03 float R- 0.00000e+00 axis.6.free-vel-lim
03 s8 R- 0 axis.6.home-state
03 bit R- FALSE axis.6.homed
03 bit R- FALSE axis.6.homing
03 bit R- TRUE axis.6.in-position
03 float R- 0.00000e+00 axis.6.joint-pos-cmd
03 float R- 0.00000e+00 axis.6.joint-pos-fb
03 float R- 0.00000e+00 axis.6.joint-vel-cmd
03 bit R- FALSE axis.6.neg-hard-limit
03 bit R- FALSE axis.6.neg-soft-limit
03 bit R- FALSE axis.6.pos-hard-limit
03 bit R- FALSE axis.6.pos-soft-limit
03 bit R- FALSE axis.7.active
03 float R- 0.00000e+00 axis.7.backlash-corr
03 float R- 0.00000e+00 axis.7.backlash-filt
03 float R- 0.00000e+00 axis.7.coarse-pos-cmd
03 bit R- FALSE axis.7.error
03 float R- 0.00000e+00 axis.7.f-error
03 float R- 1.00000e-02 axis.7.f-error-lim
03 bit R- FALSE axis.7.f-errored
03 bit R- FALSE axis.7.faulted
03 float R- 0.00000e+00 axis.7.free-pos-cmd
03 bit R- FALSE axis.7.free-tp-enable
03 float R- 0.00000e+00 axis.7.free-vel-lim
03 s8 R- 0 axis.7.home-state
03 bit R- FALSE axis.7.homed
03 bit R- FALSE axis.7.homing
03 bit R- TRUE axis.7.in-position
03 float R- 0.00000e+00 axis.7.joint-pos-cmd
03 float R- 0.00000e+00 axis.7.joint-pos-fb
03 float R- 0.00000e+00 axis.7.joint-vel-cmd
03 bit R- FALSE axis.7.neg-hard-limit
03 bit R- FALSE axis.7.neg-soft-limit
03 bit R- FALSE axis.7.pos-hard-limit
03 bit R- FALSE axis.7.pos-soft-limit
07 float -W 1.00000e+01 encoder.0.position-scale
07 s32 R- 109 encoder.0.rawcounts
07 bit -W TRUE encoder.0.x4-mode
07 float -W 1.00000e+01 encoder.1.position-scale
07 s32 R- -82 encoder.1.rawcounts
07 bit -W TRUE encoder.1.x4-mode
07 s32 R- 338 encoder.capture-position.time
07 s32 RW 12922 encoder.capture-position.tmax
07 s32 R- 280 encoder.update-counters.time
07 s32 RW 5784 encoder.update-counters.tmax
03 s32 R- 236 motion-command-handler.time
03 s32 RW 13297 motion-command-handler.tmax
03 s32 R- 15201 motion-controller.time
03 s32 RW 76523 motion-controller.tmax
03 bit R- FALSE motion.coord-error
03 bit R- FALSE motion.coord-mode
03 bit R- FALSE motion.debug-bit-0
03 bit R- FALSE motion.debug-bit-1
03 float R- 1.00000e+00 motion.debug-float-0
03 float R- 0.00000e+00 motion.debug-float-1
03 bit R- TRUE motion.in-position
03 bit R- TRUE motion.motion-enabled
03 bit R- FALSE motion.teleop-mode
06 bit -W FALSE parport.0.pin-01-out-invert
06 bit -W FALSE parport.0.pin-02-out-invert
06 bit -W FALSE parport.0.pin-03-out-invert
06 bit -W FALSE parport.0.pin-04-out-invert
06 bit -W FALSE parport.0.pin-05-out-invert
06 bit -W FALSE parport.0.pin-06-out-invert
06 bit -W FALSE parport.0.pin-07-out-invert
06 bit -W FALSE parport.0.pin-08-out-invert
06 bit -W FALSE parport.0.pin-09-out-invert
06 bit -W FALSE parport.0.pin-14-out-invert
06 bit -W FALSE parport.0.pin-16-out-invert
06 bit -W FALSE parport.0.pin-17-out-invert
06 s32 R- 688 parport.0.read.time
06 s32 RW 6487 parport.0.read.tmax
06 s32 R- 1302 parport.0.write.time
06 s32 RW 7127 parport.0.write.tmax
06 bit -W FALSE parport.1.pin-01-out-invert
06 bit -W FALSE parport.1.pin-14-out-invert
06 bit -W FALSE parport.1.pin-16-out-invert
06 bit -W FALSE parport.1.pin-17-out-invert
06 s32 R- 2064 parport.1.read.time
06 s32 RW 9186 parport.1.read.tmax
06 s32 R- 990 parport.1.write.time
06 s32 RW 7104 parport.1.write.tmax
06 s32 R- 0 parport.read-all.time
06 s32 RW 0 parport.read-all.tmax
06 s32 R- 0 parport.write-all.time
06 s32 RW 0 parport.write-all.tmax
05 s32 R- 0 scope.sample.time
05 s32 RW 0 scope.sample.tmax
04 float R- 0.00000e+00 stepgen.0.frequency
04 float -W 1.20000e+02 stepgen.0.maxaccel
04 float -W 1.15000e+01 stepgen.0.maxvel
04 float -W 7.20000e+01 stepgen.0.position-scale
04 s32 R- 125 stepgen.0.rawcounts
04 float R- 0.00000e+00 stepgen.1.frequency
04 float -W 1.20000e+02 stepgen.1.maxaccel
04 float -W 1.15000e+01 stepgen.1.maxvel
04 float -W 7.20000e+01 stepgen.1.position-scale
04 s32 R- 0 stepgen.1.rawcounts
04 float R- 0.00000e+00 stepgen.2.frequency
04 float -W 1.20000e+02 stepgen.2.maxaccel
04 float -W 1.15000e+01 stepgen.2.maxvel
04 float -W 7.20000e+01 stepgen.2.position-scale
04 s32 R- 0 stepgen.2.rawcounts
04 s32 R- 167 stepgen.capture-position.time
04 s32 RW 8336 stepgen.capture-position.tmax
04 s32 R- 207 stepgen.make-pulses.time
04 s32 RW 6106 stepgen.make-pulses.tmax
04 s32 R- 1197 stepgen.update-freq.time
04 s32 RW 24661 stepgen.update-freq.tmax
03 float R- 0.00000e+00 tc.0.acc
03 float R- 0.00000e+00 tc.0.pos
03 float R- 0.00000e+00 tc.0.vel
03 float R- 0.00000e+00 tc.1.acc
03 float R- 0.00000e+00 tc.1.pos
03 float R- 0.00000e+00 tc.1.vel
03 float R- 0.00000e+00 tc.2.acc
03 float R- 0.00000e+00 tc.2.pos
03 float R- 0.00000e+00 tc.2.vel
03 float R- 0.00000e+00 tc.3.acc
03 float R- 0.00000e+00 tc.3.pos
03 float R- 0.00000e+00 tc.3.vel
03 u8 R- 0 (00) traj.active_tc
03 float R- 0.00000e+00 traj.pos_out
03 float R- 0.00000e+00 traj.vel_out
Exported Functions:
Owner CodeAddr Arg FP Users Name
07 E0C60370 E0C37770 YES 1 encoder.capture-position
07 E0C602A0 E0C37770 NO 1 encoder.update-counters
03 E0C72A40 00000000 YES 1 motion-command-handler
03 E0C74660 00000000 YES 1 motion-controller
06 E0C58350 E0C375FC NO 1 parport.0.read
06 E0C583E0 E0C375FC NO 1 parport.0.write
06 E0C58350 E0C376A4 NO 1 parport.1.read
06 E0C583E0 E0C376A4 NO 1 parport.1.write
06 E0C584C0 E0C375FC NO 0 parport.read-all
06 E0C58500 E0C375FC NO 0 parport.write-all
05 E093E140 00000000 NO 0 scope.sample
04 E0C5CA30 E0C3748C YES 1 stepgen.capture-position
04 E0C5C370 E0C3748C NO 1 stepgen.make-pulses
04 E0C5C5E0 E0C3748C YES 1 stepgen.update-freq
Realtime Threads:
Period FP Name (Time, Max-Time)
1002352 YES servo-thread ( 20095, 91981 )
1 stepgen.capture-position
2 motion-command-handler
3 motion-controller
4 stepgen.update-freq
5 encoder.capture-position
19276 NO base-thread ( 5587, 14775 )
1 parport.1.read
2 parport.0.read
3 stepgen.make-pulses
4 parport.0.write
5 parport.1.write
6 encoder.update-counters