Loaded HAL Components:
ID Type Name PID State
11 User halcmd8021 8021 ready
10 User axisui 7964 ready
8 RT hm2_pci ready
7 RT hostmot2 ready
6 RT probe_parport ready
5 RT pid ready
4 RT motmod ready
3 RT trivkins ready
2 User iocontrol 7925 ready
Component Pins:
Owner Type Dir Value Name
4 bit OUT TRUE axis.0.active
4 bit OUT FALSE axis.0.amp-enable-out ==> emcmot.00.enable
4 bit IN FALSE axis.0.amp-fault-in
4 float OUT -0 axis.0.backlash-corr
4 float OUT 0 axis.0.backlash-filt
4 float OUT 0 axis.0.backlash-vel
4 float OUT 0.001 axis.0.coarse-pos-cmd
4 bit OUT FALSE axis.0.error
4 float OUT 0 axis.0.f-error
4 float OUT 0.005 axis.0.f-error-lim
4 bit OUT FALSE axis.0.f-errored
4 bit OUT FALSE axis.0.faulted
4 float OUT 0.001 axis.0.free-pos-cmd
4 bit OUT FALSE axis.0.free-tp-enable
4 float OUT 0 axis.0.free-vel-lim
4 bit IN FALSE axis.0.home-sw-in
4 bit OUT FALSE axis.0.homed
4 bit OUT FALSE axis.0.homing
4 bit OUT TRUE axis.0.in-position
4 bit I/O FALSE axis.0.index-enable
4 s32 IN 0 axis.0.jog-counts
4 bit IN FALSE axis.0.jog-enable
4 float IN 0 axis.0.jog-scale
4 bit IN FALSE axis.0.jog-vel-mode
4 float OUT 0.001 axis.0.joint-pos-cmd
4 float OUT 0.001 axis.0.joint-pos-fb
4 float OUT 0 axis.0.joint-vel-cmd
4 bit OUT FALSE axis.0.kb-jog-active
4 float OUT 0.001 axis.0.motor-pos-cmd ==> emcmot.00.pos-cmd
4 float IN 0.001 axis.0.motor-pos-fb <== motor.00.pos-fb
4 bit OUT FALSE axis.0.neg-hard-limit
4 bit IN FALSE axis.0.neg-lim-sw-in
4 bit OUT FALSE axis.0.pos-hard-limit
4 bit IN FALSE axis.0.pos-lim-sw-in
4 bit OUT FALSE axis.0.wheel-jog-active
4 bit OUT TRUE axis.1.active
4 bit OUT FALSE axis.1.amp-enable-out ==> emcmot.01.enable
4 bit IN FALSE axis.1.amp-fault-in
4 float OUT 0 axis.1.backlash-corr
4 float OUT 0 axis.1.backlash-filt
4 float OUT 0 axis.1.backlash-vel
4 float OUT 9.765162 axis.1.coarse-pos-cmd
4 bit OUT FALSE axis.1.error
4 float OUT 0 axis.1.f-error
4 float OUT 0.005 axis.1.f-error-lim
4 bit OUT FALSE axis.1.f-errored
4 bit OUT FALSE axis.1.faulted
4 float OUT 0 axis.1.free-pos-cmd
4 bit OUT FALSE axis.1.free-tp-enable
4 float OUT 0 axis.1.free-vel-lim
4 bit IN FALSE axis.1.home-sw-in
4 bit OUT FALSE axis.1.homed
4 bit OUT FALSE axis.1.homing
4 bit OUT TRUE axis.1.in-position
4 bit I/O FALSE axis.1.index-enable
4 s32 IN 0 axis.1.jog-counts
4 bit IN FALSE axis.1.jog-enable
4 float IN 0 axis.1.jog-scale
4 bit IN FALSE axis.1.jog-vel-mode
4 float OUT 0 axis.1.joint-pos-cmd
4 float OUT 0 axis.1.joint-pos-fb
4 float OUT 0 axis.1.joint-vel-cmd
4 bit OUT FALSE axis.1.kb-jog-active
4 float OUT 0 axis.1.motor-pos-cmd ==> emcmot.01.pos-cmd
4 float IN 0 axis.1.motor-pos-fb <== motor.01.pos-fb
4 bit OUT FALSE axis.1.neg-hard-limit
4 bit IN FALSE axis.1.neg-lim-sw-in
4 bit OUT FALSE axis.1.pos-hard-limit
4 bit IN FALSE axis.1.pos-lim-sw-in
4 bit OUT FALSE axis.1.wheel-jog-active
4 bit OUT TRUE axis.2.active
4 bit OUT FALSE axis.2.amp-enable-out ==> emcmot.02.enable
4 bit IN FALSE axis.2.amp-fault-in
4 float OUT 0 axis.2.backlash-corr
4 float OUT 0 axis.2.backlash-filt
4 float OUT 0 axis.2.backlash-vel
4 float OUT 0 axis.2.coarse-pos-cmd
4 bit OUT FALSE axis.2.error
4 float OUT 0 axis.2.f-error
4 float OUT 500000 axis.2.f-error-lim
4 bit OUT FALSE axis.2.f-errored
4 bit OUT FALSE axis.2.faulted
4 float OUT 0 axis.2.free-pos-cmd
4 bit OUT FALSE axis.2.free-tp-enable
4 float OUT 0 axis.2.free-vel-lim
4 bit IN FALSE axis.2.home-sw-in
4 bit OUT FALSE axis.2.homed
4 bit OUT FALSE axis.2.homing
4 bit OUT TRUE axis.2.in-position
4 bit I/O FALSE axis.2.index-enable
4 s32 IN 0 axis.2.jog-counts
4 bit IN FALSE axis.2.jog-enable
4 float IN 0 axis.2.jog-scale
4 bit IN FALSE axis.2.jog-vel-mode
4 float OUT 0 axis.2.joint-pos-cmd
4 float OUT 0 axis.2.joint-pos-fb
4 float OUT 0 axis.2.joint-vel-cmd
4 bit OUT FALSE axis.2.kb-jog-active
4 float OUT 0 axis.2.motor-pos-cmd ==> emcmot.02.pos-cmd
4 float IN 0 axis.2.motor-pos-fb <== motor.02.pos-fb
4 bit OUT FALSE axis.2.neg-hard-limit
4 bit IN FALSE axis.2.neg-lim-sw-in
4 bit OUT FALSE axis.2.pos-hard-limit
4 bit IN FALSE axis.2.pos-lim-sw-in
4 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
8 s32 OUT 1 hm2_5i23.0.encoder.00.count
8 bit I/O FALSE hm2_5i23.0.encoder.00.index-enable
8 float OUT 0.001 hm2_5i23.0.encoder.00.position ==> motor.00.pos-fb
8 s32 OUT 1 hm2_5i23.0.encoder.00.rawcounts
8 bit IN FALSE hm2_5i23.0.encoder.00.reset
8 float OUT 0 hm2_5i23.0.encoder.00.velocity
8 s32 OUT 0 hm2_5i23.0.encoder.01.count
8 bit I/O FALSE hm2_5i23.0.encoder.01.index-enable
8 float OUT 0 hm2_5i23.0.encoder.01.position ==> motor.01.pos-fb
8 s32 OUT 65535 hm2_5i23.0.encoder.01.rawcounts
8 bit IN FALSE hm2_5i23.0.encoder.01.reset
8 float OUT 0 hm2_5i23.0.encoder.01.velocity
8 s32 OUT 0 hm2_5i23.0.encoder.02.count
8 bit I/O FALSE hm2_5i23.0.encoder.02.index-enable
8 float OUT 0 hm2_5i23.0.encoder.02.position ==> motor.02.pos-fb
8 s32 OUT 0 hm2_5i23.0.encoder.02.rawcounts
8 bit IN FALSE hm2_5i23.0.encoder.02.reset
8 float OUT 0 hm2_5i23.0.encoder.02.velocity
8 bit OUT TRUE hm2_5i23.0.gpio.000.in
8 bit OUT FALSE hm2_5i23.0.gpio.000.in_not
8 bit OUT FALSE hm2_5i23.0.gpio.001.in
8 bit OUT TRUE hm2_5i23.0.gpio.001.in_not
8 bit OUT TRUE hm2_5i23.0.gpio.002.in
8 bit OUT FALSE hm2_5i23.0.gpio.002.in_not
8 bit OUT FALSE hm2_5i23.0.gpio.003.in
8 bit OUT TRUE hm2_5i23.0.gpio.003.in_not
8 bit OUT FALSE hm2_5i23.0.gpio.004.in
8 bit OUT TRUE hm2_5i23.0.gpio.004.in_not
8 bit OUT FALSE hm2_5i23.0.gpio.005.in
8 bit OUT TRUE hm2_5i23.0.gpio.005.in_not
8 bit OUT TRUE hm2_5i23.0.gpio.012.in
8 bit OUT FALSE hm2_5i23.0.gpio.012.in_not
8 bit IN FALSE hm2_5i23.0.gpio.012.out
8 bit OUT TRUE hm2_5i23.0.gpio.013.in
8 bit OUT FALSE hm2_5i23.0.gpio.013.in_not
8 bit IN FALSE hm2_5i23.0.gpio.013.out
8 bit OUT TRUE hm2_5i23.0.gpio.014.in
8 bit OUT FALSE hm2_5i23.0.gpio.014.in_not
8 bit OUT TRUE hm2_5i23.0.gpio.015.in
8 bit OUT FALSE hm2_5i23.0.gpio.015.in_not
8 bit OUT TRUE hm2_5i23.0.gpio.016.in
8 bit OUT FALSE hm2_5i23.0.gpio.016.in_not
8 bit IN FALSE hm2_5i23.0.gpio.016.out
8 bit OUT TRUE hm2_5i23.0.gpio.017.in
8 bit OUT FALSE hm2_5i23.0.gpio.017.in_not
8 bit OUT TRUE hm2_5i23.0.gpio.018.in
8 bit OUT FALSE hm2_5i23.0.gpio.018.in_not
8 bit IN FALSE hm2_5i23.0.gpio.018.out
8 bit OUT TRUE hm2_5i23.0.gpio.020.in
8 bit OUT FALSE hm2_5i23.0.gpio.020.in_not
8 bit IN FALSE hm2_5i23.0.gpio.020.out
8 bit OUT TRUE hm2_5i23.0.gpio.022.in
8 bit OUT FALSE hm2_5i23.0.gpio.022.in_not
8 bit IN FALSE hm2_5i23.0.gpio.022.out
8 bit OUT TRUE hm2_5i23.0.gpio.024.in
8 bit OUT FALSE hm2_5i23.0.gpio.024.in_not
8 bit IN FALSE hm2_5i23.0.gpio.024.out
8 bit OUT TRUE hm2_5i23.0.gpio.025.in
8 bit OUT FALSE hm2_5i23.0.gpio.025.in_not
8 bit IN FALSE hm2_5i23.0.gpio.025.out
8 bit OUT TRUE hm2_5i23.0.gpio.026.in
8 bit OUT FALSE hm2_5i23.0.gpio.026.in_not
8 bit IN FALSE hm2_5i23.0.gpio.026.out
8 bit OUT TRUE hm2_5i23.0.gpio.027.in
8 bit OUT FALSE hm2_5i23.0.gpio.027.in_not
8 bit IN FALSE hm2_5i23.0.gpio.027.out
8 bit OUT TRUE hm2_5i23.0.gpio.028.in
8 bit OUT FALSE hm2_5i23.0.gpio.028.in_not
8 bit IN FALSE hm2_5i23.0.gpio.028.out
8 bit OUT TRUE hm2_5i23.0.gpio.029.in
8 bit OUT FALSE hm2_5i23.0.gpio.029.in_not
8 bit IN FALSE hm2_5i23.0.gpio.029.out
8 bit OUT TRUE hm2_5i23.0.gpio.030.in
8 bit OUT FALSE hm2_5i23.0.gpio.030.in_not
8 bit IN FALSE hm2_5i23.0.gpio.030.out
8 bit OUT TRUE hm2_5i23.0.gpio.031.in
8 bit OUT FALSE hm2_5i23.0.gpio.031.in_not
8 bit IN FALSE hm2_5i23.0.gpio.031.out
8 bit OUT TRUE hm2_5i23.0.gpio.032.in
8 bit OUT FALSE hm2_5i23.0.gpio.032.in_not
8 bit IN FALSE hm2_5i23.0.gpio.032.out
8 bit OUT TRUE hm2_5i23.0.gpio.033.in
8 bit OUT FALSE hm2_5i23.0.gpio.033.in_not
8 bit IN FALSE hm2_5i23.0.gpio.033.out
8 bit OUT TRUE hm2_5i23.0.gpio.034.in
8 bit OUT FALSE hm2_5i23.0.gpio.034.in_not
8 bit IN FALSE hm2_5i23.0.gpio.034.out
8 bit OUT TRUE hm2_5i23.0.gpio.035.in
8 bit OUT FALSE hm2_5i23.0.gpio.035.in_not
8 bit IN FALSE hm2_5i23.0.gpio.035.out
8 bit OUT TRUE hm2_5i23.0.gpio.036.in
8 bit OUT FALSE hm2_5i23.0.gpio.036.in_not
8 bit IN FALSE hm2_5i23.0.gpio.036.out
8 bit OUT TRUE hm2_5i23.0.gpio.037.in
8 bit OUT FALSE hm2_5i23.0.gpio.037.in_not
8 bit IN FALSE hm2_5i23.0.gpio.037.out
8 bit OUT TRUE hm2_5i23.0.gpio.038.in
8 bit OUT FALSE hm2_5i23.0.gpio.038.in_not
8 bit IN FALSE hm2_5i23.0.gpio.038.out
8 bit OUT TRUE hm2_5i23.0.gpio.039.in
8 bit OUT FALSE hm2_5i23.0.gpio.039.in_not
8 bit IN FALSE hm2_5i23.0.gpio.039.out
8 bit OUT TRUE hm2_5i23.0.gpio.040.in
8 bit OUT FALSE hm2_5i23.0.gpio.040.in_not
8 bit IN FALSE hm2_5i23.0.gpio.040.out
8 bit OUT TRUE hm2_5i23.0.gpio.041.in
8 bit OUT FALSE hm2_5i23.0.gpio.041.in_not
8 bit IN FALSE hm2_5i23.0.gpio.041.out
8 bit OUT TRUE hm2_5i23.0.gpio.042.in
8 bit OUT FALSE hm2_5i23.0.gpio.042.in_not
8 bit IN FALSE hm2_5i23.0.gpio.042.out
8 bit OUT TRUE hm2_5i23.0.gpio.043.in
8 bit OUT FALSE hm2_5i23.0.gpio.043.in_not
8 bit IN FALSE hm2_5i23.0.gpio.043.out
8 bit OUT TRUE hm2_5i23.0.gpio.044.in
8 bit OUT FALSE hm2_5i23.0.gpio.044.in_not
8 bit IN FALSE hm2_5i23.0.gpio.044.out
8 bit OUT TRUE hm2_5i23.0.gpio.045.in
8 bit OUT FALSE hm2_5i23.0.gpio.045.in_not
8 bit IN FALSE hm2_5i23.0.gpio.045.out
8 bit OUT TRUE hm2_5i23.0.gpio.046.in
8 bit OUT FALSE hm2_5i23.0.gpio.046.in_not
8 bit IN FALSE hm2_5i23.0.gpio.046.out
8 bit OUT TRUE hm2_5i23.0.gpio.047.in
8 bit OUT FALSE hm2_5i23.0.gpio.047.in_not
8 bit IN FALSE hm2_5i23.0.gpio.047.out
8 bit OUT TRUE hm2_5i23.0.gpio.048.in
8 bit OUT FALSE hm2_5i23.0.gpio.048.in_not
8 bit IN FALSE hm2_5i23.0.gpio.048.out
8 bit OUT TRUE hm2_5i23.0.gpio.049.in
8 bit OUT FALSE hm2_5i23.0.gpio.049.in_not
8 bit IN FALSE hm2_5i23.0.gpio.049.out
8 bit OUT TRUE hm2_5i23.0.gpio.050.in
8 bit OUT FALSE hm2_5i23.0.gpio.050.in_not
8 bit IN FALSE hm2_5i23.0.gpio.050.out
8 bit OUT TRUE hm2_5i23.0.gpio.051.in
8 bit OUT FALSE hm2_5i23.0.gpio.051.in_not
8 bit IN FALSE hm2_5i23.0.gpio.051.out
8 bit OUT TRUE hm2_5i23.0.gpio.052.in
8 bit OUT FALSE hm2_5i23.0.gpio.052.in_not
8 bit IN FALSE hm2_5i23.0.gpio.052.out
8 bit OUT TRUE hm2_5i23.0.gpio.053.in
8 bit OUT FALSE hm2_5i23.0.gpio.053.in_not
8 bit IN FALSE hm2_5i23.0.gpio.053.out
8 bit OUT TRUE hm2_5i23.0.gpio.054.in
8 bit OUT FALSE hm2_5i23.0.gpio.054.in_not
8 bit IN FALSE hm2_5i23.0.gpio.054.out
8 bit OUT TRUE hm2_5i23.0.gpio.055.in
8 bit OUT FALSE hm2_5i23.0.gpio.055.in_not
8 bit IN FALSE hm2_5i23.0.gpio.055.out
8 bit OUT TRUE hm2_5i23.0.gpio.056.in
8 bit OUT FALSE hm2_5i23.0.gpio.056.in_not
8 bit IN FALSE hm2_5i23.0.gpio.056.out
8 bit OUT TRUE hm2_5i23.0.gpio.057.in
8 bit OUT FALSE hm2_5i23.0.gpio.057.in_not
8 bit IN FALSE hm2_5i23.0.gpio.057.out
8 bit OUT TRUE hm2_5i23.0.gpio.058.in
8 bit OUT FALSE hm2_5i23.0.gpio.058.in_not
8 bit IN FALSE hm2_5i23.0.gpio.058.out
8 bit OUT TRUE hm2_5i23.0.gpio.059.in
8 bit OUT FALSE hm2_5i23.0.gpio.059.in_not
8 bit IN FALSE hm2_5i23.0.gpio.059.out
8 bit OUT TRUE hm2_5i23.0.gpio.060.in
8 bit OUT FALSE hm2_5i23.0.gpio.060.in_not
8 bit IN FALSE hm2_5i23.0.gpio.060.out
8 bit OUT TRUE hm2_5i23.0.gpio.061.in
8 bit OUT FALSE hm2_5i23.0.gpio.061.in_not
8 bit IN FALSE hm2_5i23.0.gpio.061.out
8 bit OUT TRUE hm2_5i23.0.gpio.062.in
8 bit OUT FALSE hm2_5i23.0.gpio.062.in_not
8 bit IN FALSE hm2_5i23.0.gpio.062.out
8 bit OUT TRUE hm2_5i23.0.gpio.063.in
8 bit OUT FALSE hm2_5i23.0.gpio.063.in_not
8 bit IN FALSE hm2_5i23.0.gpio.063.out
8 bit OUT TRUE hm2_5i23.0.gpio.064.in
8 bit OUT FALSE hm2_5i23.0.gpio.064.in_not
8 bit IN FALSE hm2_5i23.0.gpio.064.out
8 bit OUT TRUE hm2_5i23.0.gpio.065.in
8 bit OUT FALSE hm2_5i23.0.gpio.065.in_not
8 bit IN FALSE hm2_5i23.0.gpio.065.out
8 bit OUT TRUE hm2_5i23.0.gpio.066.in
8 bit OUT FALSE hm2_5i23.0.gpio.066.in_not
8 bit IN FALSE hm2_5i23.0.gpio.066.out
8 bit OUT TRUE hm2_5i23.0.gpio.067.in
8 bit OUT FALSE hm2_5i23.0.gpio.067.in_not
8 bit IN FALSE hm2_5i23.0.gpio.067.out
8 bit OUT TRUE hm2_5i23.0.gpio.068.in
8 bit OUT FALSE hm2_5i23.0.gpio.068.in_not
8 bit IN FALSE hm2_5i23.0.gpio.068.out
8 bit OUT TRUE hm2_5i23.0.gpio.069.in
8 bit OUT FALSE hm2_5i23.0.gpio.069.in_not
8 bit IN FALSE hm2_5i23.0.gpio.069.out
8 bit OUT TRUE hm2_5i23.0.gpio.070.in
8 bit OUT FALSE hm2_5i23.0.gpio.070.in_not
8 bit IN FALSE hm2_5i23.0.gpio.070.out
8 bit OUT TRUE hm2_5i23.0.gpio.071.in
8 bit OUT FALSE hm2_5i23.0.gpio.071.in_not
8 bit IN FALSE hm2_5i23.0.gpio.071.out
8 bit IN FALSE hm2_5i23.0.pwmgen.00.enable <== emcmot.00.enable
8 float IN 0 hm2_5i23.0.pwmgen.00.value <== motor.00.command
8 bit IN FALSE hm2_5i23.0.pwmgen.01.enable <== emcmot.01.enable
8 float IN 0 hm2_5i23.0.pwmgen.01.value <== motor.01.command
8 bit IN FALSE hm2_5i23.0.pwmgen.02.enable <== emcmot.02.enable
8 float IN 0 hm2_5i23.0.pwmgen.02.value <== motor.02.command
8 bit I/O FALSE hm2_5i23.0.watchdog.has_bit
2 bit OUT FALSE iocontrol.0.coolant-flood
2 bit OUT FALSE iocontrol.0.coolant-mist
2 bit IN TRUE iocontrol.0.emc-enable-in <== estop-loop
2 bit OUT TRUE iocontrol.0.lube
2 bit IN FALSE iocontrol.0.lube_level
2 bit OUT FALSE iocontrol.0.tool-change ==> tool-change-loop
2 bit IN FALSE iocontrol.0.tool-changed <== tool-change-loop
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 ==> tool-prep-loop
2 bit IN FALSE iocontrol.0.tool-prepared <== tool-prep-loop
2 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-loop
2 bit OUT FALSE iocontrol.0.user-request-enable
4 float IN 1 motion.adaptive-feed
4 float IN 0 motion.analog-in-00
4 float IN 0 motion.analog-in-01
4 float IN 0 motion.analog-in-02
4 float IN 0 motion.analog-in-03
4 bit OUT FALSE motion.coord-error
4 bit OUT TRUE motion.coord-mode
4 float OUT 0 motion.current-vel
4 bit IN FALSE motion.digital-in-00
4 bit IN FALSE motion.digital-in-01
4 bit IN FALSE motion.digital-in-02
4 bit IN FALSE motion.digital-in-03
4 bit OUT FALSE motion.digital-out-00
4 bit OUT FALSE motion.digital-out-01
4 bit OUT FALSE motion.digital-out-02
4 bit OUT FALSE motion.digital-out-03
4 float OUT 0 motion.distance-to-go
4 bit IN TRUE motion.enable
4 bit IN FALSE motion.feed-hold
4 bit OUT FALSE motion.in-position
4 bit IN FALSE motion.motion-enabled
4 bit OUT FALSE motion.on-soft-limit
4 bit IN FALSE motion.probe-input
4 s32 OUT 0 motion.program-line
4 bit IN TRUE motion.spindle-at-speed
4 bit OUT TRUE motion.spindle-brake
4 bit OUT FALSE motion.spindle-forward
4 bit I/O FALSE motion.spindle-index-enable
4 bit OUT FALSE motion.spindle-on
4 bit OUT FALSE motion.spindle-reverse
4 float IN 0 motion.spindle-revs
4 float IN 0 motion.spindle-speed-in
4 float OUT 0 motion.spindle-speed-out
4 bit OUT FALSE motion.teleop-mode
4 float OUT 0 motion.tooloffset.w
4 float OUT 0 motion.tooloffset.x
4 float OUT 0 motion.tooloffset.z
5 float I/O 10000 pid.0.Dgain
5 float I/O 1 pid.0.FF0
5 float I/O 1 pid.0.FF1
5 float I/O 1 pid.0.FF2
5 float I/O 10000 pid.0.Igain
5 float I/O 10000 pid.0.Pgain
5 float I/O 0 pid.0.bias
5 float IN 0.001 pid.0.command <== emcmot.00.pos-cmd
5 float I/O 1.5e-05 pid.0.deadband
5 bit IN FALSE pid.0.enable <== emcmot.00.enable
5 float OUT 0 pid.0.error
5 float IN 0.001 pid.0.feedback <== motor.00.pos-fb
5 float I/O 0 pid.0.maxcmdD
5 float I/O 0 pid.0.maxcmdDD
5 float I/O 0 pid.0.maxerror
5 float I/O 0 pid.0.maxerrorD
5 float I/O 0 pid.0.maxerrorI
5 float I/O 1 pid.0.maxoutput
5 float OUT 0 pid.0.output ==> motor.00.command
5 bit OUT FALSE pid.0.saturated
5 s32 OUT 0 pid.0.saturated-count
5 float OUT 0 pid.0.saturated-s
5 float I/O 10000 pid.1.Dgain
5 float I/O 1 pid.1.FF0
5 float I/O 1 pid.1.FF1
5 float I/O 1 pid.1.FF2
5 float I/O 10000 pid.1.Igain
5 float I/O 10000 pid.1.Pgain
5 float I/O 0 pid.1.bias
5 float IN 0 pid.1.command <== emcmot.01.pos-cmd
5 float I/O 1.5e-05 pid.1.deadband
5 bit IN FALSE pid.1.enable <== emcmot.01.enable
5 float OUT 0 pid.1.error
5 float IN 0 pid.1.feedback <== motor.01.pos-fb
5 float I/O 0 pid.1.maxcmdD
5 float I/O 0 pid.1.maxcmdDD
5 float I/O 0 pid.1.maxerror
5 float I/O 0 pid.1.maxerrorD
5 float I/O 0 pid.1.maxerrorI
5 float I/O 1 pid.1.maxoutput
5 float OUT 0 pid.1.output ==> motor.01.command
5 bit OUT FALSE pid.1.saturated
5 s32 OUT 0 pid.1.saturated-count
5 float OUT 0 pid.1.saturated-s
5 float I/O 100 pid.2.Dgain
5 float I/O 0 pid.2.FF0
5 float I/O 1 pid.2.FF1
5 float I/O 0 pid.2.FF2
5 float I/O 100 pid.2.Igain
5 float I/O 1000 pid.2.Pgain
5 float I/O 0 pid.2.bias
5 float IN 0 pid.2.command <== emcmot.02.pos-cmd
5 float I/O 0.05 pid.2.deadband
5 bit IN FALSE pid.2.enable <== emcmot.02.enable
5 float OUT 0 pid.2.error
5 float IN 0 pid.2.feedback <== motor.02.pos-fb
5 float I/O 0 pid.2.maxcmdD
5 float I/O 0 pid.2.maxcmdDD
5 float I/O 0 pid.2.maxerror
5 float I/O 0 pid.2.maxerrorD
5 float I/O 0 pid.2.maxerrorI
5 float I/O 1 pid.2.maxoutput
5 float OUT 0 pid.2.output ==> motor.02.command
5 bit OUT FALSE pid.2.saturated
5 s32 OUT 0 pid.2.saturated-count
5 float OUT 0 pid.2.saturated-s
Pin Aliases:
Alias Original Name
Signals:
Type Value Name (linked to)
bit FALSE emcmot.00.enable
<== axis.0.amp-enable-out
==> hm2_5i23.0.pwmgen.00.enable
==> pid.0.enable
float 0.001 emcmot.00.pos-cmd
<== axis.0.motor-pos-cmd
==> pid.0.command
bit FALSE emcmot.01.enable
<== axis.1.amp-enable-out
==> hm2_5i23.0.pwmgen.01.enable
==> pid.1.enable
float 0 emcmot.01.pos-cmd
<== axis.1.motor-pos-cmd
==> pid.1.command
bit FALSE emcmot.02.enable
<== axis.2.amp-enable-out
==> hm2_5i23.0.pwmgen.02.enable
==> pid.2.enable
float 0 emcmot.02.pos-cmd
<== axis.2.motor-pos-cmd
==> pid.2.command
bit TRUE estop-loop
==> iocontrol.0.emc-enable-in
<== iocontrol.0.user-enable-out
float 0 motor.00.command
==> hm2_5i23.0.pwmgen.00.value
<== pid.0.output
float 0.001 motor.00.pos-fb
==> axis.0.motor-pos-fb
<== hm2_5i23.0.encoder.00.position
==> pid.0.feedback
float 0 motor.01.command
==> hm2_5i23.0.pwmgen.01.value
<== pid.1.output
float 0 motor.01.pos-fb
==> axis.1.motor-pos-fb
<== hm2_5i23.0.encoder.01.position
==> pid.1.feedback
float 0 motor.02.command
==> hm2_5i23.0.pwmgen.02.value
<== pid.2.output
float 0 motor.02.pos-fb
==> axis.2.motor-pos-fb
<== hm2_5i23.0.encoder.02.position
==> pid.2.feedback
bit FALSE tool-change-loop
<== iocontrol.0.tool-change
==> iocontrol.0.tool-changed
bit FALSE tool-prep-loop
<== iocontrol.0.tool-prepare
==> iocontrol.0.tool-prepared
Parameters:
Owner Type Dir Value Name
4 s32 RO 0 axis.0.home-state
4 s32 RO 0 axis.1.home-state
4 s32 RO 0 axis.2.home-state
8 bit RW FALSE hm2_5i23.0.encoder.00.counter-mode
8 bit RW TRUE hm2_5i23.0.encoder.00.filter
8 bit RW FALSE hm2_5i23.0.encoder.00.index-invert
8 bit RW FALSE hm2_5i23.0.encoder.00.index-mask
8 bit RW FALSE hm2_5i23.0.encoder.00.index-mask-invert
8 float RW 1000 hm2_5i23.0.encoder.00.scale
8 float RW 0.5 hm2_5i23.0.encoder.00.vel-timeout
8 bit RW FALSE hm2_5i23.0.encoder.01.counter-mode
8 bit RW TRUE hm2_5i23.0.encoder.01.filter
8 bit RW FALSE hm2_5i23.0.encoder.01.index-invert
8 bit RW FALSE hm2_5i23.0.encoder.01.index-mask
8 bit RW FALSE hm2_5i23.0.encoder.01.index-mask-invert
8 float RW 1000 hm2_5i23.0.encoder.01.scale
8 float RW 0.5 hm2_5i23.0.encoder.01.vel-timeout
8 bit RW FALSE hm2_5i23.0.encoder.02.counter-mode
8 bit RW TRUE hm2_5i23.0.encoder.02.filter
8 bit RW FALSE hm2_5i23.0.encoder.02.index-invert
8 bit RW FALSE hm2_5i23.0.encoder.02.index-mask
8 bit RW FALSE hm2_5i23.0.encoder.02.index-mask-invert
8 float RW 1000 hm2_5i23.0.encoder.02.scale
8 float RW 0.5 hm2_5i23.0.encoder.02.vel-timeout
8 bit RW FALSE hm2_5i23.0.gpio.006.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.006.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.007.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.007.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.008.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.008.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.009.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.009.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.010.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.010.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.011.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.011.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.012.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.012.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.012.is_output
8 bit RW FALSE hm2_5i23.0.gpio.013.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.013.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.013.is_output
8 bit RW FALSE hm2_5i23.0.gpio.016.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.016.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.016.is_output
8 bit RW FALSE hm2_5i23.0.gpio.018.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.018.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.018.is_output
8 bit RW FALSE hm2_5i23.0.gpio.019.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.019.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.020.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.020.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.020.is_output
8 bit RW FALSE hm2_5i23.0.gpio.021.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.021.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.022.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.022.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.022.is_output
8 bit RW FALSE hm2_5i23.0.gpio.023.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.023.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.024.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.024.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.024.is_output
8 bit RW FALSE hm2_5i23.0.gpio.025.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.025.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.025.is_output
8 bit RW FALSE hm2_5i23.0.gpio.026.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.026.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.026.is_output
8 bit RW FALSE hm2_5i23.0.gpio.027.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.027.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.027.is_output
8 bit RW FALSE hm2_5i23.0.gpio.028.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.028.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.028.is_output
8 bit RW FALSE hm2_5i23.0.gpio.029.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.029.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.029.is_output
8 bit RW FALSE hm2_5i23.0.gpio.030.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.030.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.030.is_output
8 bit RW FALSE hm2_5i23.0.gpio.031.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.031.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.031.is_output
8 bit RW FALSE hm2_5i23.0.gpio.032.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.032.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.032.is_output
8 bit RW FALSE hm2_5i23.0.gpio.033.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.033.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.033.is_output
8 bit RW FALSE hm2_5i23.0.gpio.034.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.034.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.034.is_output
8 bit RW FALSE hm2_5i23.0.gpio.035.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.035.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.035.is_output
8 bit RW FALSE hm2_5i23.0.gpio.036.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.036.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.036.is_output
8 bit RW FALSE hm2_5i23.0.gpio.037.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.037.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.037.is_output
8 bit RW FALSE hm2_5i23.0.gpio.038.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.038.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.038.is_output
8 bit RW FALSE hm2_5i23.0.gpio.039.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.039.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.039.is_output
8 bit RW FALSE hm2_5i23.0.gpio.040.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.040.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.040.is_output
8 bit RW FALSE hm2_5i23.0.gpio.041.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.041.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.041.is_output
8 bit RW FALSE hm2_5i23.0.gpio.042.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.042.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.042.is_output
8 bit RW FALSE hm2_5i23.0.gpio.043.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.043.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.043.is_output
8 bit RW FALSE hm2_5i23.0.gpio.044.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.044.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.044.is_output
8 bit RW FALSE hm2_5i23.0.gpio.045.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.045.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.045.is_output
8 bit RW FALSE hm2_5i23.0.gpio.046.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.046.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.046.is_output
8 bit RW FALSE hm2_5i23.0.gpio.047.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.047.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.047.is_output
8 bit RW FALSE hm2_5i23.0.gpio.048.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.048.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.048.is_output
8 bit RW FALSE hm2_5i23.0.gpio.049.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.049.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.049.is_output
8 bit RW FALSE hm2_5i23.0.gpio.050.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.050.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.050.is_output
8 bit RW FALSE hm2_5i23.0.gpio.051.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.051.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.051.is_output
8 bit RW FALSE hm2_5i23.0.gpio.052.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.052.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.052.is_output
8 bit RW FALSE hm2_5i23.0.gpio.053.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.053.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.053.is_output
8 bit RW FALSE hm2_5i23.0.gpio.054.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.054.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.054.is_output
8 bit RW FALSE hm2_5i23.0.gpio.055.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.055.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.055.is_output
8 bit RW FALSE hm2_5i23.0.gpio.056.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.056.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.056.is_output
8 bit RW FALSE hm2_5i23.0.gpio.057.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.057.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.057.is_output
8 bit RW FALSE hm2_5i23.0.gpio.058.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.058.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.058.is_output
8 bit RW FALSE hm2_5i23.0.gpio.059.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.059.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.059.is_output
8 bit RW FALSE hm2_5i23.0.gpio.060.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.060.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.060.is_output
8 bit RW FALSE hm2_5i23.0.gpio.061.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.061.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.061.is_output
8 bit RW FALSE hm2_5i23.0.gpio.062.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.062.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.062.is_output
8 bit RW FALSE hm2_5i23.0.gpio.063.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.063.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.063.is_output
8 bit RW FALSE hm2_5i23.0.gpio.064.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.064.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.064.is_output
8 bit RW FALSE hm2_5i23.0.gpio.065.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.065.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.065.is_output
8 bit RW FALSE hm2_5i23.0.gpio.066.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.066.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.066.is_output
8 bit RW FALSE hm2_5i23.0.gpio.067.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.067.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.067.is_output
8 bit RW FALSE hm2_5i23.0.gpio.068.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.068.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.068.is_output
8 bit RW FALSE hm2_5i23.0.gpio.069.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.069.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.069.is_output
8 bit RW FALSE hm2_5i23.0.gpio.070.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.070.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.070.is_output
8 bit RW FALSE hm2_5i23.0.gpio.071.invert_output
8 bit RW FALSE hm2_5i23.0.gpio.071.is_opendrain
8 bit RW FALSE hm2_5i23.0.gpio.071.is_output
8 bit RW FALSE hm2_5i23.0.io_error
8 s32 RO 3580 hm2_5i23.0.pet_watchdog.time
8 s32 RW 16568 hm2_5i23.0.pet_watchdog.tmax
8 s32 RW 1 hm2_5i23.0.pwmgen.00.output-type
8 float RW 1 hm2_5i23.0.pwmgen.00.scale
8 s32 RW 1 hm2_5i23.0.pwmgen.01.output-type
8 float RW 1 hm2_5i23.0.pwmgen.01.scale
8 s32 RW 1 hm2_5i23.0.pwmgen.02.output-type
8 float RW 1 hm2_5i23.0.pwmgen.02.scale
8 u32 RW 00004E20 hm2_5i23.0.pwmgen.pdm_frequency
8 u32 RW 00009C40 hm2_5i23.0.pwmgen.pwm_frequency
8 s32 RO 40020 hm2_5i23.0.read.time
8 s32 RW 84820 hm2_5i23.0.read.tmax
8 s32 RO 0 hm2_5i23.0.read_gpio.time
8 s32 RW 0 hm2_5i23.0.read_gpio.tmax
8 u32 RW 00989680 hm2_5i23.0.watchdog.timeout_ns
8 s32 RO 10804 hm2_5i23.0.write.time
8 s32 RW 52020 hm2_5i23.0.write.tmax
8 s32 RO 0 hm2_5i23.0.write_gpio.time
8 s32 RW 0 hm2_5i23.0.write_gpio.tmax
4 s32 RO 784 motion-command-handler.time
4 s32 RW 28284 motion-command-handler.tmax
4 s32 RO 19104 motion-controller.time
4 s32 RW 80092 motion-controller.tmax
4 bit RO FALSE motion.debug-bit-0
4 bit RO FALSE motion.debug-bit-1
4 float RO 1 motion.debug-float-0
4 float RO 0 motion.debug-float-1
4 float RO 0 motion.debug-float-2
4 float RO 1 motion.debug-float-3
4 s32 RO 0 motion.debug-s32-0
4 s32 RO 1 motion.debug-s32-1
4 u32 RO 002EE4E0 motion.servo.last-period
4 float RO 999837.3 motion.servo.last-period-ns
4 u32 RW 00000000 motion.servo.overruns
5 s32 RO 424 pid.0.do-pid-calcs.time
5 s32 RW 8968 pid.0.do-pid-calcs.tmax
5 s32 RO 1164 pid.1.do-pid-calcs.time
5 s32 RW 4148 pid.1.do-pid-calcs.tmax
5 s32 RO 496 pid.2.do-pid-calcs.time
5 s32 RW 3536 pid.2.do-pid-calcs.tmax
4 float RO 0 tc.0.acc
4 float RO 0 tc.0.pos
4 float RO 0 tc.0.vel
4 float RO 0 tc.1.acc
4 float RO 0 tc.1.pos
4 float RO 0 tc.1.vel
4 float RO 0 tc.2.acc
4 float RO 0 tc.2.pos
4 float RO 0 tc.2.vel
4 float RO 0 tc.3.acc
4 float RO 0 tc.3.pos
4 float RO 0 tc.3.vel
4 u32 RO 00000000 traj.active_tc
4 float RO 0 traj.pos_out
4 float RO 0 traj.vel_out
Parameter Aliases:
Alias Original Name
Exported Functions:
Owner CodeAddr Arg FP Users Name
00008 f8d74460 df2dd000 NO 1 hm2_5i23.0.pet_watchdog
00008 f8d6e61c df2dd000 YES 1 hm2_5i23.0.read
00008 f8d6e57b df2dd000 YES 0 hm2_5i23.0.read_gpio
00008 f8d6e5a7 df2dd000 YES 1 hm2_5i23.0.write
00008 f8d6e54f df2dd000 YES 0 hm2_5i23.0.write_gpio
00004 f901600e 00000000 YES 1 motion-command-handler
00004 f90183bd 00000000 YES 1 motion-controller
00005 f8c07000 f8fb3988 YES 1 pid.0.do-pid-calcs
00005 f8c07000 f8fb3a08 YES 1 pid.1.do-pid-calcs
00005 f8c07000 f8fb3a88 YES 1 pid.2.do-pid-calcs
Realtime Threads:
Period FP Name ( Time, Max-Time )
999940 YES servo-thread ( 76376, 242420 )
1 hm2_5i23.0.read
2 motion-command-handler
3 motion-controller
4 pid.0.do-pid-calcs
5 pid.1.do-pid-calcs
6 pid.2.do-pid-calcs
7 hm2_5i23.0.write
8 hm2_5i23.0.pet_watchdog