rendered paste bodyLoaded HAL Components:
ID Type Name PID State
9 User halcmd12290 12290 ready
12 RT siggen ready
11 User halcmd15233 15233 ready
10 User halcmd14755 14755 ready
8 User axisui 14596 ready
7 RT hal_m5i20 ready
6 RT pid ready
5 RT motmod ready
4 RT trivkins ready
2 User iocontrol 14572 ready
Component Pins:
Owner Type Dir Value Name
5 bit OUT FALSE axis.0.amp-enable-out ==> Xenable
5 bit IN FALSE axis.0.amp-fault-in <== Xfault
5 bit IN FALSE axis.0.home-sw-in <== Xhome
5 bit OUT FALSE axis.0.homing
5 bit I/O FALSE axis.0.index-enable
5 s32 IN 0 axis.0.jog-counts
5 bit IN FALSE axis.0.jog-enable
5 float IN 0 axis.0.jog-scale
5 bit IN FALSE axis.0.jog-vel-mode
5 float OUT -0.3998 axis.0.joint-pos-cmd
5 float OUT -0.3998 axis.0.joint-pos-fb
5 float OUT -0.3998 axis.0.motor-pos-cmd ==> Xpos-cmd
5 float IN -0.3998 axis.0.motor-pos-fb <== Xpos-fb
5 bit IN FALSE axis.0.neg-lim-sw-in <== Xminlim
5 bit IN FALSE axis.0.pos-lim-sw-in <== Xmaxlim
5 bit OUT FALSE axis.1.amp-enable-out ==> Yenable
5 bit IN FALSE axis.1.amp-fault-in <== Yfault
5 bit IN FALSE axis.1.home-sw-in <== Yhome
5 bit OUT FALSE axis.1.homing
5 bit I/O FALSE axis.1.index-enable
5 s32 IN 0 axis.1.jog-counts
5 bit IN FALSE axis.1.jog-enable
5 float IN 0 axis.1.jog-scale
5 bit IN FALSE axis.1.jog-vel-mode
5 float OUT -0.0014 axis.1.joint-pos-cmd
5 float OUT -0.0014 axis.1.joint-pos-fb
5 float OUT -0.0014 axis.1.motor-pos-cmd ==> Ypos-cmd
5 float IN -0.0014 axis.1.motor-pos-fb <== Ypos-fb
5 bit IN FALSE axis.1.neg-lim-sw-in <== Yminlim
5 bit IN FALSE axis.1.pos-lim-sw-in <== Ymaxlim
5 bit OUT FALSE axis.2.amp-enable-out ==> Zenable
5 bit IN FALSE axis.2.amp-fault-in <== Zfault
5 bit IN FALSE axis.2.home-sw-in <== Zhome
5 bit OUT FALSE axis.2.homing
5 bit I/O FALSE axis.2.index-enable
5 s32 IN 0 axis.2.jog-counts
5 bit IN FALSE axis.2.jog-enable
5 float IN 0 axis.2.jog-scale
5 bit IN FALSE axis.2.jog-vel-mode
5 float OUT 0 axis.2.joint-pos-cmd
5 float OUT 0 axis.2.joint-pos-fb
5 float OUT 0 axis.2.motor-pos-cmd ==> Zpos-cmd
5 float IN 0 axis.2.motor-pos-fb <== Zpos-fb
5 bit IN FALSE axis.2.neg-lim-sw-in <== Zminlim
5 bit IN FALSE axis.2.pos-lim-sw-in <== Zmaxlim
5 bit OUT FALSE axis.3.amp-enable-out
5 bit IN FALSE axis.3.amp-fault-in
5 bit IN FALSE axis.3.home-sw-in
5 bit OUT FALSE axis.3.homing
5 bit I/O FALSE axis.3.index-enable
5 s32 IN 0 axis.3.jog-counts
5 bit IN FALSE axis.3.jog-enable
5 float IN 0 axis.3.jog-scale
5 bit IN FALSE axis.3.jog-vel-mode
5 float OUT 0 axis.3.joint-pos-cmd
5 float OUT 0 axis.3.joint-pos-fb
5 float OUT 0 axis.3.motor-pos-cmd
5 float IN 0 axis.3.motor-pos-fb
5 bit IN FALSE axis.3.neg-lim-sw-in
5 bit IN FALSE axis.3.pos-lim-sw-in
5 bit OUT FALSE axis.4.amp-enable-out
5 bit IN FALSE axis.4.amp-fault-in
5 bit IN FALSE axis.4.home-sw-in
5 bit OUT FALSE axis.4.homing
5 bit I/O FALSE axis.4.index-enable
5 s32 IN 0 axis.4.jog-counts
5 bit IN FALSE axis.4.jog-enable
5 float IN 0 axis.4.jog-scale
5 bit IN FALSE axis.4.jog-vel-mode
5 float OUT 0 axis.4.joint-pos-cmd
5 float OUT 0 axis.4.joint-pos-fb
5 float OUT 0 axis.4.motor-pos-cmd
5 float IN 0 axis.4.motor-pos-fb
5 bit IN FALSE axis.4.neg-lim-sw-in
5 bit IN FALSE axis.4.pos-lim-sw-in
5 bit OUT FALSE axis.5.amp-enable-out
5 bit IN FALSE axis.5.amp-fault-in
5 bit IN FALSE axis.5.home-sw-in
5 bit OUT FALSE axis.5.homing
5 bit I/O FALSE axis.5.index-enable
5 s32 IN 0 axis.5.jog-counts
5 bit IN FALSE axis.5.jog-enable
5 float IN 0 axis.5.jog-scale
5 bit IN FALSE axis.5.jog-vel-mode
5 float OUT 0 axis.5.joint-pos-cmd
5 float OUT 0 axis.5.joint-pos-fb
5 float OUT 0 axis.5.motor-pos-cmd
5 float IN 0 axis.5.motor-pos-fb
5 bit IN FALSE axis.5.neg-lim-sw-in
5 bit IN FALSE axis.5.pos-lim-sw-in
5 bit OUT FALSE axis.6.amp-enable-out
5 bit IN FALSE axis.6.amp-fault-in
5 bit IN FALSE axis.6.home-sw-in
5 bit OUT FALSE axis.6.homing
5 bit I/O FALSE axis.6.index-enable
5 s32 IN 0 axis.6.jog-counts
5 bit IN FALSE axis.6.jog-enable
5 float IN 0 axis.6.jog-scale
5 bit IN FALSE axis.6.jog-vel-mode
5 float OUT 0 axis.6.joint-pos-cmd
5 float OUT 0 axis.6.joint-pos-fb
5 float OUT 0 axis.6.motor-pos-cmd
5 float IN 0 axis.6.motor-pos-fb
5 bit IN FALSE axis.6.neg-lim-sw-in
5 bit IN FALSE axis.6.pos-lim-sw-in
5 bit OUT FALSE axis.7.amp-enable-out
5 bit IN FALSE axis.7.amp-fault-in
5 bit IN FALSE axis.7.home-sw-in
5 bit OUT FALSE axis.7.homing
5 bit I/O FALSE axis.7.index-enable
5 s32 IN 0 axis.7.jog-counts
5 bit IN FALSE axis.7.jog-enable
5 float IN 0 axis.7.jog-scale
5 bit IN FALSE axis.7.jog-vel-mode
5 float OUT 0 axis.7.joint-pos-cmd
5 float OUT 0 axis.7.joint-pos-fb
5 float OUT 0 axis.7.motor-pos-cmd
5 float IN 0 axis.7.motor-pos-fb
5 bit IN FALSE axis.7.neg-lim-sw-in
5 bit IN FALSE axis.7.pos-lim-sw-in
5 bit OUT FALSE axis.8.amp-enable-out
5 bit IN FALSE axis.8.amp-fault-in
5 bit IN FALSE axis.8.home-sw-in
5 bit OUT FALSE axis.8.homing
5 bit I/O FALSE axis.8.index-enable
5 s32 IN 0 axis.8.jog-counts
5 bit IN FALSE axis.8.jog-enable
5 float IN 0 axis.8.jog-scale
5 bit IN FALSE axis.8.jog-vel-mode
5 float OUT 0 axis.8.joint-pos-cmd
5 float OUT 0 axis.8.joint-pos-fb
5 float OUT 0 axis.8.motor-pos-cmd
5 float IN 0 axis.8.motor-pos-fb
5 bit IN FALSE axis.8.neg-lim-sw-in
5 bit IN FALSE axis.8.pos-lim-sw-in
8 bit OUT FALSE axisui.jog.a
8 bit OUT FALSE axisui.jog.b
8 bit OUT FALSE axisui.jog.c
8 float OUT 0 axisui.jog.increment
8 bit OUT FALSE axisui.jog.u
8 bit OUT FALSE axisui.jog.v
8 bit OUT FALSE axisui.jog.w
8 bit OUT TRUE axisui.jog.x
8 bit OUT FALSE axisui.jog.y
8 bit OUT FALSE axisui.jog.z
2 bit OUT FALSE iocontrol.0.coolant-flood ==> FloodOn
2 bit OUT FALSE iocontrol.0.coolant-mist ==> MistOn
2 bit IN FALSE iocontrol.0.emc-enable-in <== EstopSense
2 bit OUT FALSE iocontrol.0.lube ==> LubeOn
2 bit IN FALSE iocontrol.0.lube_level <== LubeLevel
2 bit OUT FALSE iocontrol.0.tool-change ==> iocontrol.0.tool-change
2 bit IN FALSE iocontrol.0.tool-changed <== iocontrol.0.tool-change
2 s32 OUT 0 iocontrol.0.tool-number
2 s32 OUT 0 iocontrol.0.tool-prep-number
2 bit OUT FALSE iocontrol.0.tool-prepare ==> iocontrol.0.tool-prepare
2 bit IN FALSE iocontrol.0.tool-prepared <== iocontrol.0.tool-prepare
2 bit OUT FALSE iocontrol.0.user-enable-out
2 bit OUT FALSE iocontrol.0.user-request-enable
7 bit IN TRUE m5i20.0.dac-00-enable <== testbittwo
7 float IN 11.61665 m5i20.0.dac-00-value <== testcmd
7 bit IN FALSE m5i20.0.dac-01-enable <== Yenable
7 float IN 0 m5i20.0.dac-01-value <== Youtput
7 bit IN FALSE m5i20.0.dac-02-enable <== Zenable
7 float IN 0 m5i20.0.dac-02-value <== Zoutput
7 bit IN FALSE m5i20.0.dac-03-enable
7 float IN 0 m5i20.0.dac-03-value
7 s32 OUT -15992 m5i20.0.enc-00-count
7 bit OUT TRUE m5i20.0.enc-00-index
7 bit I/O FALSE m5i20.0.enc-00-index-enable
7 float OUT -0.3998 m5i20.0.enc-00-position ==> Xpos-fb
7 bit IN FALSE m5i20.0.enc-00-reset
7 s32 OUT -56 m5i20.0.enc-01-count
7 bit OUT FALSE m5i20.0.enc-01-index
7 bit I/O FALSE m5i20.0.enc-01-index-enable
7 float OUT -0.0014 m5i20.0.enc-01-position ==> Ypos-fb
7 bit IN FALSE m5i20.0.enc-01-reset
7 s32 OUT 155034 m5i20.0.enc-02-count
7 bit OUT FALSE m5i20.0.enc-02-index
7 bit I/O FALSE m5i20.0.enc-02-index-enable
7 float OUT 3.87585 m5i20.0.enc-02-position
7 bit IN FALSE m5i20.0.enc-02-reset
7 s32 OUT 15889 m5i20.0.enc-03-count
7 bit OUT FALSE m5i20.0.enc-03-index
7 bit I/O FALSE m5i20.0.enc-03-index-enable
7 float OUT 15889 m5i20.0.enc-03-position
7 bit IN FALSE m5i20.0.enc-03-reset
7 s32 OUT 3 m5i20.0.enc-04-count
7 bit OUT TRUE m5i20.0.enc-04-index
7 bit I/O FALSE m5i20.0.enc-04-index-enable
7 float OUT 3 m5i20.0.enc-04-position
7 bit IN FALSE m5i20.0.enc-04-reset
7 s32 OUT -1 m5i20.0.enc-05-count
7 bit OUT TRUE m5i20.0.enc-05-index
7 bit I/O FALSE m5i20.0.enc-05-index-enable
7 float OUT -1 m5i20.0.enc-05-position
7 bit IN FALSE m5i20.0.enc-05-reset
7 s32 OUT 0 m5i20.0.enc-06-count
7 bit OUT TRUE m5i20.0.enc-06-index
7 bit I/O FALSE m5i20.0.enc-06-index-enable
7 float OUT 0 m5i20.0.enc-06-position
7 bit IN FALSE m5i20.0.enc-06-reset
7 s32 OUT 0 m5i20.0.enc-07-count
7 bit OUT TRUE m5i20.0.enc-07-index
7 bit I/O FALSE m5i20.0.enc-07-index-enable
7 float OUT 0 m5i20.0.enc-07-position
7 bit IN FALSE m5i20.0.enc-07-reset
7 bit OUT FALSE m5i20.0.estop-in
7 bit OUT TRUE m5i20.0.estop-in-not
7 bit OUT TRUE m5i20.0.in-00
7 bit OUT FALSE m5i20.0.in-00-not ==> EstopSense
7 bit OUT TRUE m5i20.0.in-01
7 bit OUT FALSE m5i20.0.in-01-not
7 bit OUT TRUE m5i20.0.in-02
7 bit OUT FALSE m5i20.0.in-02-not
7 bit OUT TRUE m5i20.0.in-03
7 bit OUT FALSE m5i20.0.in-03-not
7 bit OUT TRUE m5i20.0.in-04 ==> testbittwo
7 bit OUT FALSE m5i20.0.in-04-not
7 bit OUT TRUE m5i20.0.in-05
7 bit OUT FALSE m5i20.0.in-05-not
7 bit OUT TRUE m5i20.0.in-06
7 bit OUT FALSE m5i20.0.in-06-not
7 bit OUT TRUE m5i20.0.in-07
7 bit OUT FALSE m5i20.0.in-07-not
7 bit OUT TRUE m5i20.0.in-08
7 bit OUT FALSE m5i20.0.in-08-not
7 bit OUT TRUE m5i20.0.in-09
7 bit OUT FALSE m5i20.0.in-09-not ==> Xfault
7 bit OUT TRUE m5i20.0.in-10
7 bit OUT FALSE m5i20.0.in-10-not ==> Yfault
7 bit OUT TRUE m5i20.0.in-11
7 bit OUT FALSE m5i20.0.in-11-not
7 bit OUT TRUE m5i20.0.in-12
7 bit OUT FALSE m5i20.0.in-12-not
7 bit OUT TRUE m5i20.0.in-13
7 bit OUT FALSE m5i20.0.in-13-not
7 bit OUT TRUE m5i20.0.in-14
7 bit OUT FALSE m5i20.0.in-14-not
7 bit OUT TRUE m5i20.0.in-15
7 bit OUT FALSE m5i20.0.in-15-not
7 bit OUT TRUE m5i20.0.in-16
7 bit OUT FALSE m5i20.0.in-16-not
7 bit OUT TRUE m5i20.0.in-17
7 bit OUT FALSE m5i20.0.in-17-not
7 bit OUT TRUE m5i20.0.in-18
7 bit OUT FALSE m5i20.0.in-18-not
7 bit OUT TRUE m5i20.0.in-19
7 bit OUT FALSE m5i20.0.in-19-not
7 bit OUT TRUE m5i20.0.in-20
7 bit OUT FALSE m5i20.0.in-20-not
7 bit OUT TRUE m5i20.0.in-21
7 bit OUT FALSE m5i20.0.in-21-not
7 bit OUT TRUE m5i20.0.in-22
7 bit OUT FALSE m5i20.0.in-22-not
7 bit OUT TRUE m5i20.0.in-23
7 bit OUT FALSE m5i20.0.in-23-not
7 bit OUT TRUE m5i20.0.in-24
7 bit OUT FALSE m5i20.0.in-24-not
7 bit OUT TRUE m5i20.0.in-25
7 bit OUT FALSE m5i20.0.in-25-not
7 bit OUT TRUE m5i20.0.in-26
7 bit OUT FALSE m5i20.0.in-26-not
7 bit OUT TRUE m5i20.0.in-27
7 bit OUT FALSE m5i20.0.in-27-not
7 bit OUT TRUE m5i20.0.in-28
7 bit OUT FALSE m5i20.0.in-28-not
7 bit OUT TRUE m5i20.0.in-29
7 bit OUT FALSE m5i20.0.in-29-not
7 bit OUT TRUE m5i20.0.in-30
7 bit OUT FALSE m5i20.0.in-30-not
7 bit OUT TRUE m5i20.0.in-31
7 bit OUT FALSE m5i20.0.in-31-not
7 bit IN FALSE m5i20.0.out-00 <== Xenable
7 bit IN FALSE m5i20.0.out-01 <== SpindleFwd
7 bit IN FALSE m5i20.0.out-02 <== SpindleRev
7 bit IN FALSE m5i20.0.out-03 <== FloodOn
7 bit IN FALSE m5i20.0.out-04 <== LubeOn
7 bit IN FALSE m5i20.0.out-05 <== Xenable
7 bit IN FALSE m5i20.0.out-06
7 bit IN FALSE m5i20.0.out-07
7 bit IN FALSE m5i20.0.out-08
7 bit IN FALSE m5i20.0.out-09
7 bit IN FALSE m5i20.0.out-10
7 bit IN FALSE m5i20.0.out-11
7 bit IN FALSE m5i20.0.out-12
7 bit IN FALSE m5i20.0.out-13
7 bit IN FALSE m5i20.0.out-14
7 bit IN FALSE m5i20.0.out-15
7 bit I/O FALSE m5i20.0.watchdog-reset
5 float IN 1 motion.adaptive-feed
5 float IN 0 motion.analog-in-00
5 float IN 0 motion.analog-in-01
5 float IN 0 motion.analog-in-02
5 float IN 0 motion.analog-in-03
5 bit IN FALSE motion.digital-in-00
5 bit IN FALSE motion.digital-in-01
5 bit IN FALSE motion.digital-in-02
5 bit IN FALSE motion.digital-in-03
5 bit OUT FALSE motion.digital-out-00
5 bit OUT FALSE motion.digital-out-01
5 bit OUT FALSE motion.digital-out-02
5 bit OUT FALSE motion.digital-out-03
5 bit IN TRUE motion.enable
5 bit IN FALSE motion.feed-hold <== feedHold
5 bit OUT TRUE motion.motion-inpos
5 bit IN FALSE motion.probe-input
5 bit OUT TRUE motion.spindle-brake ==> SpindleBrakeOn
5 bit OUT FALSE motion.spindle-forward ==> SpindleFwd
5 bit I/O FALSE motion.spindle-index-enable
5 bit OUT FALSE motion.spindle-on
5 bit OUT FALSE motion.spindle-reverse ==> SpindleRev
5 float IN 0 motion.spindle-revs
5 float IN 0 motion.spindle-speed-in
5 float OUT 0 motion.spindle-speed-out
6 float IN -0.3998 pid.0.command <== Xpos-cmd
6 bit IN FALSE pid.0.enable <== Xenable
6 float OUT 0 pid.0.error
6 float IN -0.3998 pid.0.feedback <== Xpos-fb
6 float OUT 0 pid.0.output ==> Xoutput
6 float IN -0.0014 pid.1.command <== Ypos-cmd
6 bit IN FALSE pid.1.enable <== Yenable
6 float OUT 0 pid.1.error
6 float IN -0.0014 pid.1.feedback <== Ypos-fb
6 float OUT 0 pid.1.output ==> Youtput
6 float IN 0 pid.2.command <== Zpos-cmd
6 bit IN FALSE pid.2.enable <== Zenable
6 float OUT 0 pid.2.error
6 float IN 0 pid.2.feedback <== Zpos-fb
6 float OUT 0 pid.2.output ==> Zoutput
12 float IN 20 siggen.0.amplitude
12 float OUT 16.20796 siggen.0.cosine
12 float IN 0.5 siggen.0.frequency
12 float IN 0 siggen.0.offset
12 float OUT -16.01498 siggen.0.sawtooth
12 float OUT 11.71759 siggen.0.sine ==> testcmd
12 float OUT -20 siggen.0.square
12 float OUT 12.02997 siggen.0.triangle
Signals:
Type Value Name (linked to)
bit FALSE EstopSense
==> iocontrol.0.emc-enable-in
<== m5i20.0.in-00-not
bit FALSE EstopWrite
bit FALSE FloodOn
<== iocontrol.0.coolant-flood
==> m5i20.0.out-03
bit FALSE LubeLevel
==> iocontrol.0.lube_level
bit FALSE LubeOn
<== iocontrol.0.lube
==> m5i20.0.out-04
bit FALSE MistOn
<== iocontrol.0.coolant-mist
bit TRUE SpindleBrakeOn
<== motion.spindle-brake
bit FALSE SpindleFwd
==> m5i20.0.out-01
<== motion.spindle-forward
bit FALSE SpindleRev
==> m5i20.0.out-02
<== motion.spindle-reverse
bit FALSE Xenable
<== axis.0.amp-enable-out
==> m5i20.0.out-00
==> m5i20.0.out-05
==> pid.0.enable
bit FALSE Xfault
==> axis.0.amp-fault-in
<== m5i20.0.in-09-not
bit FALSE Xhome
==> axis.0.home-sw-in
bit FALSE Xmaxlim
==> axis.0.pos-lim-sw-in
bit FALSE Xminlim
==> axis.0.neg-lim-sw-in
float 0 Xoutput
<== pid.0.output
float -0.3998 Xpos-cmd
<== axis.0.motor-pos-cmd
==> pid.0.command
float -0.3998 Xpos-fb
==> axis.0.motor-pos-fb
<== m5i20.0.enc-00-position
==> pid.0.feedback
bit FALSE Yenable
<== axis.1.amp-enable-out
==> m5i20.0.dac-01-enable
==> pid.1.enable
bit FALSE Yfault
==> axis.1.amp-fault-in
<== m5i20.0.in-10-not
bit FALSE Yhome
==> axis.1.home-sw-in
bit FALSE Ymaxlim
==> axis.1.pos-lim-sw-in
bit FALSE Yminlim
==> axis.1.neg-lim-sw-in
float 0 Youtput
==> m5i20.0.dac-01-value
<== pid.1.output
float -0.0014 Ypos-cmd
<== axis.1.motor-pos-cmd
==> pid.1.command
float -0.0014 Ypos-fb
==> axis.1.motor-pos-fb
<== m5i20.0.enc-01-position
==> pid.1.feedback
bit FALSE Zenable
<== axis.2.amp-enable-out
==> m5i20.0.dac-02-enable
==> pid.2.enable
bit FALSE Zfault
==> axis.2.amp-fault-in
bit FALSE Zhome
==> axis.2.home-sw-in
bit FALSE Zmaxlim
==> axis.2.pos-lim-sw-in
bit FALSE Zminlim
==> axis.2.neg-lim-sw-in
float 0 Zoutput
==> m5i20.0.dac-02-value
<== pid.2.output
float 0 Zpos-cmd
<== axis.2.motor-pos-cmd
==> pid.2.command
float 0 Zpos-fb
==> axis.2.motor-pos-fb
==> pid.2.feedback
bit FALSE feedHold
==> motion.feed-hold
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 testbittwo
==> m5i20.0.dac-00-enable
<== m5i20.0.in-04
float 11.96795 testcmd
==> m5i20.0.dac-00-value
<== siggen.0.sine
Parameters:
Owner Type Dir Value Name
5 bit RO TRUE axis.0.active
5 float RO 0 axis.0.backlash-corr
5 float RO 0 axis.0.backlash-filt
5 float RO 0 axis.0.backlash-vel
5 float RO -0.399775 axis.0.coarse-pos-cmd
5 bit RO FALSE axis.0.error
5 float RO 0 axis.0.f-error
5 float RO 0.1 axis.0.f-error-lim
5 bit RO FALSE axis.0.f-errored
5 bit RO FALSE axis.0.faulted
5 float RO -0.399775 axis.0.free-pos-cmd
5 bit RO FALSE axis.0.free-tp-enable
5 float RO 0 axis.0.free-vel-lim
5 s32 RO 0 axis.0.home-state
5 bit RO FALSE axis.0.homed
5 bit RO TRUE axis.0.in-position
5 float RO 0 axis.0.joint-vel-cmd
5 bit RO FALSE axis.0.kb-jog-active
5 bit RO FALSE axis.0.neg-hard-limit
5 bit RO FALSE axis.0.pos-hard-limit
5 bit RO FALSE axis.0.wheel-jog-active
5 bit RO TRUE axis.1.active
5 float RO 0 axis.1.backlash-corr
5 float RO 0 axis.1.backlash-filt
5 float RO 0 axis.1.backlash-vel
5 float RO 2.5e-05 axis.1.coarse-pos-cmd
5 bit RO FALSE axis.1.error
5 float RO 0 axis.1.f-error
5 float RO 0.1 axis.1.f-error-lim
5 bit RO FALSE axis.1.f-errored
5 bit RO FALSE axis.1.faulted
5 float RO 2.5e-05 axis.1.free-pos-cmd
5 bit RO FALSE axis.1.free-tp-enable
5 float RO 0 axis.1.free-vel-lim
5 s32 RO 0 axis.1.home-state
5 bit RO FALSE axis.1.homed
5 bit RO TRUE axis.1.in-position
5 float RO 0 axis.1.joint-vel-cmd
5 bit RO FALSE axis.1.kb-jog-active
5 bit RO FALSE axis.1.neg-hard-limit
5 bit RO FALSE axis.1.pos-hard-limit
5 bit RO FALSE axis.1.wheel-jog-active
5 bit RO TRUE axis.2.active
5 float RO -0 axis.2.backlash-corr
5 float RO 0 axis.2.backlash-filt
5 float RO 0 axis.2.backlash-vel
5 float RO 0 axis.2.coarse-pos-cmd
5 bit RO FALSE axis.2.error
5 float RO 0 axis.2.f-error
5 float RO 0.1 axis.2.f-error-lim
5 bit RO FALSE axis.2.f-errored
5 bit RO FALSE axis.2.faulted
5 float RO 0 axis.2.free-pos-cmd
5 bit RO FALSE axis.2.free-tp-enable
5 float RO 0 axis.2.free-vel-lim
5 s32 RO 0 axis.2.home-state
5 bit RO FALSE axis.2.homed
5 bit RO TRUE axis.2.in-position
5 float RO 0 axis.2.joint-vel-cmd
5 bit RO FALSE axis.2.kb-jog-active
5 bit RO FALSE axis.2.neg-hard-limit
5 bit RO FALSE axis.2.pos-hard-limit
5 bit RO FALSE axis.2.wheel-jog-active
5 bit RO FALSE axis.3.active
5 float RO 0 axis.3.backlash-corr
5 float RO 0 axis.3.backlash-filt
5 float RO 0 axis.3.backlash-vel
5 float RO 0 axis.3.coarse-pos-cmd
5 bit RO FALSE axis.3.error
5 float RO 0 axis.3.f-error
5 float RO 0.01 axis.3.f-error-lim
5 bit RO FALSE axis.3.f-errored
5 bit RO FALSE axis.3.faulted
5 float RO 0 axis.3.free-pos-cmd
5 bit RO FALSE axis.3.free-tp-enable
5 float RO 0 axis.3.free-vel-lim
5 s32 RO 0 axis.3.home-state
5 bit RO FALSE axis.3.homed
5 bit RO TRUE axis.3.in-position
5 float RO 0 axis.3.joint-vel-cmd
5 bit RO FALSE axis.3.kb-jog-active
5 bit RO FALSE axis.3.neg-hard-limit
5 bit RO FALSE axis.3.pos-hard-limit
5 bit RO FALSE axis.3.wheel-jog-active
5 bit RO FALSE axis.4.active
5 float RO 0 axis.4.backlash-corr
5 float RO 0 axis.4.backlash-filt
5 float RO 0 axis.4.backlash-vel
5 float RO 0 axis.4.coarse-pos-cmd
5 bit RO FALSE axis.4.error
5 float RO 0 axis.4.f-error
5 float RO 0.01 axis.4.f-error-lim
5 bit RO FALSE axis.4.f-errored
5 bit RO FALSE axis.4.faulted
5 float RO 0 axis.4.free-pos-cmd
5 bit RO FALSE axis.4.free-tp-enable
5 float RO 0 axis.4.free-vel-lim
5 s32 RO 0 axis.4.home-state
5 bit RO FALSE axis.4.homed
5 bit RO TRUE axis.4.in-position
5 float RO 0 axis.4.joint-vel-cmd
5 bit RO FALSE axis.4.kb-jog-active
5 bit RO FALSE axis.4.neg-hard-limit
5 bit RO FALSE axis.4.pos-hard-limit
5 bit RO FALSE axis.4.wheel-jog-active
5 bit RO FALSE axis.5.active
5 float RO 0 axis.5.backlash-corr
5 float RO 0 axis.5.backlash-filt
5 float RO 0 axis.5.backlash-vel
5 float RO 0 axis.5.coarse-pos-cmd
5 bit RO FALSE axis.5.error
5 float RO 0 axis.5.f-error
5 float RO 0.01 axis.5.f-error-lim
5 bit RO FALSE axis.5.f-errored
5 bit RO FALSE axis.5.faulted
5 float RO 0 axis.5.free-pos-cmd
5 bit RO FALSE axis.5.free-tp-enable
5 float RO 0 axis.5.free-vel-lim
5 s32 RO 0 axis.5.home-state
5 bit RO FALSE axis.5.homed
5 bit RO TRUE axis.5.in-position
5 float RO 0 axis.5.joint-vel-cmd
5 bit RO FALSE axis.5.kb-jog-active
5 bit RO FALSE axis.5.neg-hard-limit
5 bit RO FALSE axis.5.pos-hard-limit
5 bit RO FALSE axis.5.wheel-jog-active
5 bit RO FALSE axis.6.active
5 float RO 0 axis.6.backlash-corr
5 float RO 0 axis.6.backlash-filt
5 float RO 0 axis.6.backlash-vel
5 float RO 0 axis.6.coarse-pos-cmd
5 bit RO FALSE axis.6.error
5 float RO 0 axis.6.f-error
5 float RO 0.01 axis.6.f-error-lim
5 bit RO FALSE axis.6.f-errored
5 bit RO FALSE axis.6.faulted
5 float RO 0 axis.6.free-pos-cmd
5 bit RO FALSE axis.6.free-tp-enable
5 float RO 0 axis.6.free-vel-lim
5 s32 RO 0 axis.6.home-state
5 bit RO FALSE axis.6.homed
5 bit RO TRUE axis.6.in-position
5 float RO 0 axis.6.joint-vel-cmd
5 bit RO FALSE axis.6.kb-jog-active
5 bit RO FALSE axis.6.neg-hard-limit
5 bit RO FALSE axis.6.pos-hard-limit
5 bit RO FALSE axis.6.wheel-jog-active
5 bit RO FALSE axis.7.active
5 float RO 0 axis.7.backlash-corr
5 float RO 0 axis.7.backlash-filt
5 float RO 0 axis.7.backlash-vel
5 float RO 0 axis.7.coarse-pos-cmd
5 bit RO FALSE axis.7.error
5 float RO 0 axis.7.f-error
5 float RO 0.01 axis.7.f-error-lim
5 bit RO FALSE axis.7.f-errored
5 bit RO FALSE axis.7.faulted
5 float RO 0 axis.7.free-pos-cmd
5 bit RO FALSE axis.7.free-tp-enable
5 float RO 0 axis.7.free-vel-lim
5 s32 RO 0 axis.7.home-state
5 bit RO FALSE axis.7.homed
5 bit RO TRUE axis.7.in-position
5 float RO 0 axis.7.joint-vel-cmd
5 bit RO FALSE axis.7.kb-jog-active
5 bit RO FALSE axis.7.neg-hard-limit
5 bit RO FALSE axis.7.pos-hard-limit
5 bit RO FALSE axis.7.wheel-jog-active
5 bit RO FALSE axis.8.active
5 float RO 0 axis.8.backlash-corr
5 float RO 0 axis.8.backlash-filt
5 float RO 0 axis.8.backlash-vel
5 float RO 0 axis.8.coarse-pos-cmd
5 bit RO FALSE axis.8.error
5 float RO 0 axis.8.f-error
5 float RO 0.01 axis.8.f-error-lim
5 bit RO FALSE axis.8.f-errored
5 bit RO FALSE axis.8.faulted
5 float RO 0 axis.8.free-pos-cmd
5 bit RO FALSE axis.8.free-tp-enable
5 float RO 0 axis.8.free-vel-lim
5 s32 RO 0 axis.8.home-state
5 bit RO FALSE axis.8.homed
5 bit RO TRUE axis.8.in-position
5 float RO 0 axis.8.joint-vel-cmd
5 bit RO FALSE axis.8.kb-jog-active
5 bit RO FALSE axis.8.neg-hard-limit
5 bit RO FALSE axis.8.pos-hard-limit
5 bit RO FALSE axis.8.wheel-jog-active
7 float RW 1 m5i20.0.dac-00-gain
7 bit RW TRUE m5i20.0.dac-00-interlaced
7 float RW 0 m5i20.0.dac-00-offset
7 float RW 1 m5i20.0.dac-01-gain
7 bit RW TRUE m5i20.0.dac-01-interlaced
7 float RW 0.06 m5i20.0.dac-01-offset
7 float RW 1 m5i20.0.dac-02-gain
7 bit RW TRUE m5i20.0.dac-02-interlaced
7 float RW 0 m5i20.0.dac-02-offset
7 float RW 1 m5i20.0.dac-03-gain
7 bit RW TRUE m5i20.0.dac-03-interlaced
7 float RW 0 m5i20.0.dac-03-offset
7 s32 RO 4356 m5i20.0.dac-write.time
7 s32 RW 17786 m5i20.0.dac-write.tmax
7 s32 RO 1602 m5i20.0.digital-in-read.time
7 s32 RW 16848 m5i20.0.digital-in-read.tmax
7 s32 RO 611 m5i20.0.digital-out-write.time
7 s32 RW 13026 m5i20.0.digital-out-write.tmax
7 float RW 40000 m5i20.0.enc-00-scale
7 float RW 40000 m5i20.0.enc-01-scale
7 float RW 40000 m5i20.0.enc-02-scale
7 float RW 1 m5i20.0.enc-03-scale
7 float RW 1 m5i20.0.enc-04-scale
7 float RW 1 m5i20.0.enc-05-scale
7 float RW 1 m5i20.0.enc-06-scale
7 float RW 1 m5i20.0.enc-07-scale
7 s32 RO 6275 m5i20.0.encoder-read.time
7 s32 RW 23650 m5i20.0.encoder-read.tmax
7 u32 RW 00000000 m5i20.0.led-view
7 s32 RO 955 m5i20.0.misc-update.time
7 s32 RW 11230 m5i20.0.misc-update.tmax
7 bit RW TRUE m5i20.0.out-00-invert
7 bit RW TRUE m5i20.0.out-01-invert
7 bit RW TRUE m5i20.0.out-02-invert
7 bit RW TRUE m5i20.0.out-03-invert
7 bit RW TRUE m5i20.0.out-04-invert
7 bit RW TRUE m5i20.0.out-05-invert
7 bit RW TRUE m5i20.0.out-06-invert
7 bit RW TRUE m5i20.0.out-07-invert
7 bit RW TRUE m5i20.0.out-08-invert
7 bit RW TRUE m5i20.0.out-09-invert
7 bit RW TRUE m5i20.0.out-10-invert
7 bit RW TRUE m5i20.0.out-11-invert
7 bit RW TRUE m5i20.0.out-12-invert
7 bit RW TRUE m5i20.0.out-13-invert
7 bit RW TRUE m5i20.0.out-14-invert
7 bit RW TRUE m5i20.0.out-15-invert
7 u32 RW 00000000 m5i20.0.watchdog-control
7 u32 RW 00003E80 m5i20.0.watchdog-timeout
5 s32 RO 357 motion-command-handler.time
5 s32 RW 25667 motion-command-handler.tmax
5 s32 RO 10129 motion-controller.time
5 s32 RW 74377 motion-controller.tmax
5 bit RO FALSE motion.coord-error
5 bit RO FALSE motion.coord-mode
5 float RO 0 motion.current-vel
5 bit RO FALSE motion.debug-bit-0
5 bit RO FALSE motion.debug-bit-1
5 float RO 0.3 motion.debug-float-0
5 float RO 0 motion.debug-float-1
5 s32 RO 0 motion.debug-s32-0
5 s32 RO 0 motion.debug-s32-1
5 bit RO TRUE motion.in-position
5 bit RO FALSE motion.motion-enabled
5 bit RO FALSE motion.on-soft-limit
5 s32 RO 0 motion.program-line
5 u32 RO 0007968E motion.servo.last-period
5 float RO 995812.9 motion.servo.last-period-ns
5 u32 RW 00000000 motion.servo.overruns
5 bit RO FALSE motion.teleop-mode
6 float RW 0 pid.0.Dgain
6 float RW 0 pid.0.FF0
6 float RW 1 pid.0.FF1
6 float RW 0 pid.0.FF2
6 float RW 100 pid.0.Igain
6 float RW 20000 pid.0.Pgain
6 float RW 0 pid.0.bias
6 float RW 1.5e-05 pid.0.deadband
6 s32 RO 871 pid.0.do-pid-calcs.time
6 s32 RW 13283 pid.0.do-pid-calcs.tmax
6 float RW 0 pid.0.maxcmdD
6 float RW 0 pid.0.maxcmdDD
6 float RW 0 pid.0.maxerror
6 float RW 0 pid.0.maxerrorD
6 float RW 0 pid.0.maxerrorI
6 float RW 1 pid.0.maxoutput
6 float RW 0 pid.1.Dgain
6 float RW 0 pid.1.FF0
6 float RW 1 pid.1.FF1
6 float RW 0 pid.1.FF2
6 float RW 0 pid.1.Igain
6 float RW 100 pid.1.Pgain
6 float RW 0 pid.1.bias
6 float RW 1.5e-05 pid.1.deadband
6 s32 RO 164 pid.1.do-pid-calcs.time
6 s32 RW 12210 pid.1.do-pid-calcs.tmax
6 float RW 0 pid.1.maxcmdD
6 float RW 0 pid.1.maxcmdDD
6 float RW 0 pid.1.maxerror
6 float RW 0 pid.1.maxerrorD
6 float RW 0 pid.1.maxerrorI
6 float RW 1 pid.1.maxoutput
6 float RW 0 pid.2.Dgain
6 float RW 0 pid.2.FF0
6 float RW 1 pid.2.FF1
6 float RW 0 pid.2.FF2
6 float RW 0 pid.2.Igain
6 float RW 100 pid.2.Pgain
6 float RW 0 pid.2.bias
6 float RW 1.5e-05 pid.2.deadband
6 s32 RO 135 pid.2.do-pid-calcs.time
6 s32 RW 11885 pid.2.do-pid-calcs.tmax
6 float RW 0 pid.2.maxcmdD
6 float RW 0 pid.2.maxcmdDD
6 float RW 0 pid.2.maxerror
6 float RW 0 pid.2.maxerrorD
6 float RW 0 pid.2.maxerrorI
6 float RW 1 pid.2.maxoutput
12 s32 RO 634 siggen.0.update.time
12 s32 RW 11961 siggen.0.update.tmax
5 float RO 0 tc.0.acc
5 float RO 0 tc.0.pos
5 float RO 0 tc.0.vel
5 float RO 0 tc.1.acc
5 float RO 0 tc.1.pos
5 float RO 0 tc.1.vel
5 float RO 0 tc.2.acc
5 float RO 0 tc.2.pos
5 float RO 0 tc.2.vel
5 float RO 0 tc.3.acc
5 float RO 0 tc.3.pos
5 float RO 0 tc.3.vel
5 u32 RO 00000000 traj.active_tc
5 float RO 0 traj.pos_out
5 float RO 0 traj.vel_out
Exported Functions:
Owner CodeAddr Arg FP Users Name
00007 ccfdae20 ccde9774 YES 1 m5i20.0.dac-write
00007 ccfdaf70 ccde9774 NO 1 m5i20.0.digital-in-read
00007 ccfdafd0 ccde9774 NO 1 m5i20.0.digital-out-write
00007 ccfdad10 ccde9774 YES 1 m5i20.0.encoder-read
00007 ccfdb060 ccde9774 NO 1 m5i20.0.misc-update
00005 cce2de80 00000000 YES 1 motion-command-handler
00005 cce30550 00000000 YES 1 motion-controller
00006 ccba8120 ccde9608 YES 1 pid.0.do-pid-calcs
00006 ccba8120 ccde9670 YES 1 pid.1.do-pid-calcs
00006 ccba8120 ccde96d8 YES 1 pid.2.do-pid-calcs
00012 ccaf1120 ccde9a90 YES 1 siggen.0.update
Realtime Threads:
Period FP Name ( Time, Max-Time )
988960 YES servo-thread ( 32128, 112659 )
1 m5i20.0.digital-in-read
2 m5i20.0.misc-update
3 m5i20.0.encoder-read
4 motion-command-handler
5 motion-controller
6 pid.0.do-pid-calcs
7 pid.1.do-pid-calcs
8 pid.2.do-pid-calcs
9 m5i20.0.dac-write
10 m5i20.0.digital-out-write
11 siggen.0.update
49448 NO base-thread ( 0, 0 )