samco@samco-desktop:~$ halcmd -kf
halcmd: show
Loaded HAL Components:
ID Type Name PID State
12 User halcmd5827 5827 ready
11 User halmeter-5429 5429 ready
10 User halcmd5404 5404 ready
9 User axisui 5362 ready
8 RT pci_8255 ready
7 RT hal_parport ready
6 RT stepgen ready
4 RT motmod ready
3 RT trivkins ready
2 User iocontrol 5339 ready
Component Pins:
Owner Type Dir Value Name
4 bit OUT TRUE axis.0.amp-enable-out ==> Xen
4 bit IN FALSE axis.0.amp-fault-in
4 bit IN FALSE axis.0.home-sw-in
4 bit OUT FALSE axis.0.homing
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 6.9212 axis.0.joint-pos-cmd
4 float OUT 6.9212 axis.0.joint-pos-fb
4 float OUT 6.9212 axis.0.motor-pos-cmd ==> Xpos-cmd
4 float IN 6.9212 axis.0.motor-pos-fb <== Xpos-fb
4 bit IN FALSE axis.0.neg-lim-sw-in
4 bit IN FALSE axis.0.pos-lim-sw-in
4 bit OUT TRUE axis.1.amp-enable-out ==> Yen
4 bit IN FALSE axis.1.amp-fault-in
4 bit IN FALSE axis.1.home-sw-in
4 bit OUT FALSE axis.1.homing
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 0.8256 axis.1.joint-pos-cmd
4 float OUT 0.8256 axis.1.joint-pos-fb
4 float OUT 0.8256 axis.1.motor-pos-cmd ==> Ypos-cmd
4 float IN 0.8256 axis.1.motor-pos-fb <== Ypos-fb
4 bit IN FALSE axis.1.neg-lim-sw-in
4 bit IN FALSE axis.1.pos-lim-sw-in
4 bit OUT TRUE axis.2.amp-enable-out ==> Zen
4 bit IN FALSE axis.2.amp-fault-in
4 bit IN FALSE axis.2.home-sw-in
4 bit OUT FALSE axis.2.homing
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 0.1 axis.2.joint-pos-cmd
4 float OUT 0.09999999 axis.2.joint-pos-fb
4 float OUT 0.1 axis.2.motor-pos-cmd ==> Zpos-cmd
4 float IN 0.09999999 axis.2.motor-pos-fb <== Zpos-fb
4 bit IN FALSE axis.2.neg-lim-sw-in
4 bit IN FALSE axis.2.pos-lim-sw-in
9 bit OUT FALSE axisui.jog.a
9 bit OUT FALSE axisui.jog.b
9 bit OUT FALSE axisui.jog.c
9 float OUT 0 axisui.jog.increment
9 bit OUT FALSE axisui.jog.u
9 bit OUT FALSE axisui.jog.v
9 bit OUT FALSE axisui.jog.w
9 bit OUT TRUE axisui.jog.x
9 bit OUT FALSE axisui.jog.y
9 bit OUT FALSE axisui.jog.z
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 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 bit IN TRUE motion.enable
4 bit IN FALSE motion.feed-hold
4 bit OUT TRUE motion.motion-inpos
4 bit IN FALSE motion.probe-input
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 ==> 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 float OUT 0 motion.tooloffset.w
4 float OUT 0 motion.tooloffset.x
4 float OUT 0 motion.tooloffset.z
7 bit IN FALSE parport.0.pin-01-out
7 bit IN FALSE parport.0.pin-02-out <== Xdir
7 bit IN FALSE parport.0.pin-03-out <== Xstep
7 bit IN FALSE parport.0.pin-04-out <== Ydir
7 bit IN FALSE parport.0.pin-05-out <== Ystep
7 bit IN FALSE parport.0.pin-06-out <== Zdir
7 bit IN FALSE parport.0.pin-07-out <== Zstep
7 bit IN FALSE parport.0.pin-08-out
7 bit IN FALSE parport.0.pin-09-out <== spindle-on
7 bit OUT TRUE parport.0.pin-10-in
7 bit OUT FALSE parport.0.pin-10-in-not
7 bit OUT TRUE parport.0.pin-11-in
7 bit OUT FALSE parport.0.pin-11-in-not
7 bit OUT TRUE parport.0.pin-12-in
7 bit OUT FALSE parport.0.pin-12-in-not
7 bit OUT TRUE parport.0.pin-13-in
7 bit OUT FALSE parport.0.pin-13-in-not
7 bit IN FALSE parport.0.pin-14-out
7 bit OUT TRUE parport.0.pin-15-in
7 bit OUT FALSE parport.0.pin-15-in-not
7 bit IN FALSE parport.0.pin-16-out
7 bit IN FALSE parport.0.pin-17-out
8 bit OUT FALSE pci8255.0.0.a0
8 bit OUT FALSE pci8255.0.0.a0-not
8 bit OUT FALSE pci8255.0.0.a1
8 bit OUT FALSE pci8255.0.0.a1-not
8 bit OUT FALSE pci8255.0.0.a2
8 bit OUT FALSE pci8255.0.0.a2-not
8 bit OUT FALSE pci8255.0.0.a3
8 bit OUT FALSE pci8255.0.0.a3-not
8 bit OUT FALSE pci8255.0.0.a4
8 bit OUT FALSE pci8255.0.0.a4-not
8 bit OUT FALSE pci8255.0.0.a5
8 bit OUT FALSE pci8255.0.0.a5-not
8 bit OUT FALSE pci8255.0.0.a6
8 bit OUT FALSE pci8255.0.0.a6-not
8 bit OUT FALSE pci8255.0.0.a7
8 bit OUT FALSE pci8255.0.0.a7-not
8 bit OUT FALSE pci8255.0.0.b0
8 bit OUT FALSE pci8255.0.0.b0-not
8 bit OUT FALSE pci8255.0.0.b1
8 bit OUT FALSE pci8255.0.0.b1-not
8 bit OUT FALSE pci8255.0.0.b2
8 bit OUT FALSE pci8255.0.0.b2-not
8 bit OUT FALSE pci8255.0.0.b3
8 bit OUT FALSE pci8255.0.0.b3-not
8 bit OUT FALSE pci8255.0.0.b4
8 bit OUT FALSE pci8255.0.0.b4-not
8 bit OUT FALSE pci8255.0.0.b5
8 bit OUT FALSE pci8255.0.0.b5-not
8 bit OUT FALSE pci8255.0.0.b6
8 bit OUT FALSE pci8255.0.0.b6-not
8 bit OUT FALSE pci8255.0.0.b7
8 bit OUT FALSE pci8255.0.0.b7-not
8 bit OUT FALSE pci8255.0.0.c0
8 bit OUT FALSE pci8255.0.0.c0-not
8 bit OUT FALSE pci8255.0.0.c1
8 bit OUT FALSE pci8255.0.0.c1-not
8 bit OUT FALSE pci8255.0.0.c2
8 bit OUT FALSE pci8255.0.0.c2-not
8 bit OUT FALSE pci8255.0.0.c3
8 bit OUT FALSE pci8255.0.0.c3-not
8 bit OUT FALSE pci8255.0.0.c4
8 bit OUT FALSE pci8255.0.0.c4-not
8 bit OUT FALSE pci8255.0.0.c5
8 bit OUT FALSE pci8255.0.0.c5-not
8 bit OUT FALSE pci8255.0.0.c6
8 bit OUT FALSE pci8255.0.0.c6-not
8 bit OUT FALSE pci8255.0.0.c7
8 bit OUT FALSE pci8255.0.0.c7-not
8 bit OUT FALSE pci8255.0.1.a0
8 bit OUT FALSE pci8255.0.1.a0-not
8 bit OUT FALSE pci8255.0.1.a1
8 bit OUT FALSE pci8255.0.1.a1-not
8 bit OUT FALSE pci8255.0.1.a2
8 bit OUT FALSE pci8255.0.1.a2-not
8 bit OUT FALSE pci8255.0.1.a3
8 bit OUT FALSE pci8255.0.1.a3-not
8 bit OUT FALSE pci8255.0.1.a4
8 bit OUT FALSE pci8255.0.1.a4-not
8 bit OUT FALSE pci8255.0.1.a5
8 bit OUT FALSE pci8255.0.1.a5-not
8 bit OUT FALSE pci8255.0.1.a6
8 bit OUT FALSE pci8255.0.1.a6-not
8 bit OUT FALSE pci8255.0.1.a7
8 bit OUT FALSE pci8255.0.1.a7-not
8 bit OUT FALSE pci8255.0.1.b0
8 bit OUT FALSE pci8255.0.1.b0-not
8 bit OUT FALSE pci8255.0.1.b1
8 bit OUT FALSE pci8255.0.1.b1-not
8 bit OUT FALSE pci8255.0.1.b2
8 bit OUT FALSE pci8255.0.1.b2-not
8 bit OUT FALSE pci8255.0.1.b3
8 bit OUT FALSE pci8255.0.1.b3-not
8 bit OUT FALSE pci8255.0.1.b4
8 bit OUT FALSE pci8255.0.1.b4-not
8 bit OUT FALSE pci8255.0.1.b5
8 bit OUT FALSE pci8255.0.1.b5-not
8 bit OUT FALSE pci8255.0.1.b6
8 bit OUT FALSE pci8255.0.1.b6-not
8 bit OUT FALSE pci8255.0.1.b7
8 bit OUT FALSE pci8255.0.1.b7-not
8 bit OUT FALSE pci8255.0.1.c0
8 bit OUT FALSE pci8255.0.1.c0-not
8 bit OUT FALSE pci8255.0.1.c1
8 bit OUT FALSE pci8255.0.1.c1-not
8 bit OUT FALSE pci8255.0.1.c2
8 bit OUT FALSE pci8255.0.1.c2-not
8 bit OUT FALSE pci8255.0.1.c3
8 bit OUT FALSE pci8255.0.1.c3-not
8 bit OUT FALSE pci8255.0.1.c4
8 bit OUT FALSE pci8255.0.1.c4-not
8 bit OUT FALSE pci8255.0.1.c5
8 bit OUT FALSE pci8255.0.1.c5-not
8 bit OUT FALSE pci8255.0.1.c6
8 bit OUT FALSE pci8255.0.1.c6-not
8 bit OUT FALSE pci8255.0.1.c7
8 bit OUT FALSE pci8255.0.1.c7-not
8 bit OUT FALSE pci8255.0.2.a0
8 bit OUT FALSE pci8255.0.2.a0-not
8 bit OUT FALSE pci8255.0.2.a1
8 bit OUT FALSE pci8255.0.2.a1-not
8 bit OUT FALSE pci8255.0.2.a2
8 bit OUT FALSE pci8255.0.2.a2-not
8 bit OUT FALSE pci8255.0.2.a3
8 bit OUT FALSE pci8255.0.2.a3-not
8 bit OUT FALSE pci8255.0.2.a4
8 bit OUT FALSE pci8255.0.2.a4-not
8 bit OUT FALSE pci8255.0.2.a5
8 bit OUT FALSE pci8255.0.2.a5-not
8 bit OUT FALSE pci8255.0.2.a6
8 bit OUT FALSE pci8255.0.2.a6-not
8 bit OUT FALSE pci8255.0.2.a7
8 bit OUT FALSE pci8255.0.2.a7-not
8 bit OUT FALSE pci8255.0.2.b0
8 bit OUT FALSE pci8255.0.2.b0-not
8 bit OUT FALSE pci8255.0.2.b1
8 bit OUT FALSE pci8255.0.2.b1-not
8 bit OUT FALSE pci8255.0.2.b2
8 bit OUT FALSE pci8255.0.2.b2-not
8 bit OUT FALSE pci8255.0.2.b3
8 bit OUT FALSE pci8255.0.2.b3-not
8 bit OUT FALSE pci8255.0.2.b4
8 bit OUT FALSE pci8255.0.2.b4-not
8 bit OUT FALSE pci8255.0.2.b5
8 bit OUT FALSE pci8255.0.2.b5-not
8 bit OUT FALSE pci8255.0.2.b6
8 bit OUT FALSE pci8255.0.2.b6-not
8 bit OUT FALSE pci8255.0.2.b7
8 bit OUT FALSE pci8255.0.2.b7-not
8 bit OUT FALSE pci8255.0.2.c0
8 bit OUT FALSE pci8255.0.2.c0-not
8 bit OUT FALSE pci8255.0.2.c1
8 bit OUT FALSE pci8255.0.2.c1-not
8 bit OUT FALSE pci8255.0.2.c2
8 bit OUT FALSE pci8255.0.2.c2-not
8 bit OUT FALSE pci8255.0.2.c3
8 bit OUT FALSE pci8255.0.2.c3-not
8 bit OUT FALSE pci8255.0.2.c4
8 bit OUT FALSE pci8255.0.2.c4-not
8 bit OUT FALSE pci8255.0.2.c5
8 bit OUT FALSE pci8255.0.2.c5-not
8 bit OUT FALSE pci8255.0.2.c6
8 bit OUT FALSE pci8255.0.2.c6-not
8 bit OUT FALSE pci8255.0.2.c7
8 bit OUT FALSE pci8255.0.2.c7-not
8 bit IN FALSE pci8255.0.relay
6 s32 OUT 27685 stepgen.0.counts
6 bit OUT FALSE stepgen.0.dir ==> Xdir
6 bit IN TRUE stepgen.0.enable <== Xen
6 float IN 6.9212 stepgen.0.position-cmd <== Xpos-cmd
6 float OUT 6.9212 stepgen.0.position-fb ==> Xpos-fb
6 bit OUT FALSE stepgen.0.step ==> Xstep
6 s32 OUT 3302 stepgen.1.counts
6 bit OUT FALSE stepgen.1.dir ==> Ydir
6 bit IN TRUE stepgen.1.enable <== Yen
6 float IN 0.8256 stepgen.1.position-cmd <== Ypos-cmd
6 float OUT 0.8256 stepgen.1.position-fb ==> Ypos-fb
6 bit OUT FALSE stepgen.1.step ==> Ystep
6 s32 OUT 400 stepgen.2.counts
6 bit OUT FALSE stepgen.2.dir ==> Zdir
6 bit IN TRUE stepgen.2.enable <== Zen
6 float IN 0.1 stepgen.2.position-cmd <== Zpos-cmd
6 float OUT 0.09999999 stepgen.2.position-fb ==> Zpos-fb
6 bit OUT FALSE stepgen.2.step ==> Zstep
Signals:
Type Value Name (linked to)
bit FALSE Xdir
==> parport.0.pin-02-out
<== stepgen.0.dir
bit TRUE Xen
<== axis.0.amp-enable-out
==> stepgen.0.enable
float 6.9212 Xpos-cmd
<== axis.0.motor-pos-cmd
==> stepgen.0.position-cmd
float 6.9212 Xpos-fb
==> axis.0.motor-pos-fb
<== stepgen.0.position-fb
bit FALSE Xstep
==> parport.0.pin-03-out
<== stepgen.0.step
bit FALSE Ydir
==> parport.0.pin-04-out
<== stepgen.1.dir
bit TRUE Yen
<== axis.1.amp-enable-out
==> stepgen.1.enable
float 0.8256 Ypos-cmd
<== axis.1.motor-pos-cmd
==> stepgen.1.position-cmd
float 0.8256 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 TRUE Zen
<== axis.2.amp-enable-out
==> stepgen.2.enable
float 0.1 Zpos-cmd
<== axis.2.motor-pos-cmd
==> stepgen.2.position-cmd
float 0.09999999 Zpos-fb
==> axis.2.motor-pos-fb
<== stepgen.2.position-fb
bit FALSE Zstep
==> parport.0.pin-07-out
<== stepgen.2.step
bit TRUE estop-loop
==> iocontrol.0.emc-enable-in
<== iocontrol.0.user-enable-out
bit FALSE spindle-on
<== motion.spindle-on
==> parport.0.pin-09-out
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 bit RO TRUE axis.0.active
4 float RO 0 axis.0.backlash-corr
4 float RO 0 axis.0.backlash-filt
4 float RO 0 axis.0.backlash-vel
4 float RO 6.9212 axis.0.coarse-pos-cmd
4 bit RO FALSE axis.0.error
4 float RO 2.01416e-07 axis.0.f-error
4 float RO 0.01 axis.0.f-error-lim
4 bit RO FALSE axis.0.f-errored
4 bit RO FALSE axis.0.faulted
4 float RO 6.9212 axis.0.free-pos-cmd
4 bit RO FALSE axis.0.free-tp-enable
4 float RO 0 axis.0.free-vel-lim
4 s32 RO 0 axis.0.home-state
4 bit RO FALSE axis.0.homed
4 bit RO TRUE axis.0.in-position
4 float RO 0 axis.0.joint-vel-cmd
4 bit RO FALSE axis.0.kb-jog-active
4 bit RO FALSE axis.0.neg-hard-limit
4 bit RO FALSE axis.0.pos-hard-limit
4 bit RO FALSE axis.0.wheel-jog-active
4 bit RO TRUE axis.1.active
4 float RO 0 axis.1.backlash-corr
4 float RO 0 axis.1.backlash-filt
4 float RO 0 axis.1.backlash-vel
4 float RO 0.8256 axis.1.coarse-pos-cmd
4 bit RO FALSE axis.1.error
4 float RO -2.803803e-08 axis.1.f-error
4 float RO 0.01 axis.1.f-error-lim
4 bit RO FALSE axis.1.f-errored
4 bit RO FALSE axis.1.faulted
4 float RO 0.8256 axis.1.free-pos-cmd
4 bit RO FALSE axis.1.free-tp-enable
4 float RO 0 axis.1.free-vel-lim
4 s32 RO 0 axis.1.home-state
4 bit RO FALSE axis.1.homed
4 bit RO TRUE axis.1.in-position
4 float RO 0 axis.1.joint-vel-cmd
4 bit RO FALSE axis.1.kb-jog-active
4 bit RO FALSE axis.1.neg-hard-limit
4 bit RO FALSE axis.1.pos-hard-limit
4 bit RO FALSE axis.1.wheel-jog-active
4 bit RO TRUE axis.2.active
4 float RO 0 axis.2.backlash-corr
4 float RO 0 axis.2.backlash-filt
4 float RO 0 axis.2.backlash-vel
4 float RO 0.1 axis.2.coarse-pos-cmd
4 bit RO FALSE axis.2.error
4 float RO 1.341104e-08 axis.2.f-error
4 float RO 0.01 axis.2.f-error-lim
4 bit RO FALSE axis.2.f-errored
4 bit RO FALSE axis.2.faulted
4 float RO 0.1 axis.2.free-pos-cmd
4 bit RO FALSE axis.2.free-tp-enable
4 float RO 0 axis.2.free-vel-lim
4 s32 RO 0 axis.2.home-state
4 bit RO FALSE axis.2.homed
4 bit RO TRUE axis.2.in-position
4 float RO 0 axis.2.joint-vel-cmd
4 bit RO FALSE axis.2.kb-jog-active
4 bit RO FALSE axis.2.neg-hard-limit
4 bit RO FALSE axis.2.pos-hard-limit
4 bit RO FALSE axis.2.wheel-jog-active
4 s32 RO 270 motion-command-handler.time
4 s32 RW 29409 motion-command-handler.tmax
4 s32 RO 10969 motion-controller.time
4 s32 RW 115897 motion-controller.tmax
4 bit RO FALSE motion.coord-error
4 bit RO FALSE motion.coord-mode
4 float RO 0 motion.current-vel
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 0 motion.debug-s32-1
4 bit RO TRUE motion.in-position
4 bit RO TRUE motion.motion-enabled
4 bit RO FALSE motion.on-soft-limit
4 s32 RO 0 motion.program-line
4 u32 RO 000F097B motion.servo.last-period
4 float RO 988584 motion.servo.last-period-ns
4 u32 RW 00000000 motion.servo.overruns
4 bit RO FALSE motion.teleop-mode
7 u32 RW 00000000 parport.0.debug1
7 u32 RW 00000000 parport.0.debug2
7 bit RW FALSE parport.0.pin-01-out-invert
7 bit RW FALSE parport.0.pin-01-out-reset
7 bit RW FALSE parport.0.pin-02-out-invert
7 bit RW FALSE parport.0.pin-02-out-reset
7 bit RW FALSE parport.0.pin-03-out-invert
7 bit RW FALSE parport.0.pin-03-out-reset
7 bit RW FALSE parport.0.pin-04-out-invert
7 bit RW FALSE parport.0.pin-04-out-reset
7 bit RW FALSE parport.0.pin-05-out-invert
7 bit RW FALSE parport.0.pin-05-out-reset
7 bit RW FALSE parport.0.pin-06-out-invert
7 bit RW FALSE parport.0.pin-06-out-reset
7 bit RW FALSE parport.0.pin-07-out-invert
7 bit RW FALSE parport.0.pin-07-out-reset
7 bit RW FALSE parport.0.pin-08-out-invert
7 bit RW FALSE parport.0.pin-08-out-reset
7 bit RW FALSE parport.0.pin-09-out-invert
7 bit RW FALSE parport.0.pin-09-out-reset
7 bit RW FALSE parport.0.pin-14-out-invert
7 bit RW FALSE parport.0.pin-14-out-reset
7 bit RW FALSE parport.0.pin-16-out-invert
7 bit RW FALSE parport.0.pin-16-out-reset
7 bit RW FALSE parport.0.pin-17-out-invert
7 bit RW FALSE parport.0.pin-17-out-reset
7 s32 RO 1373 parport.0.read.time
7 s32 RW 8895 parport.0.read.tmax
7 u32 RW 00000000 parport.0.reset-time
7 s32 RO 0 parport.0.reset.time
7 s32 RW 0 parport.0.reset.tmax
7 s32 RO 2560 parport.0.write.time
7 s32 RW 10424 parport.0.write.tmax
7 s32 RO 0 parport.read-all.time
7 s32 RW 0 parport.read-all.tmax
7 s32 RO 0 parport.write-all.time
7 s32 RW 0 parport.write-all.tmax
8 u32 RO 0000000F pci8255.0.0.dir
8 s32 RO 0 pci8255.0.0.read.time
8 s32 RW 0 pci8255.0.0.read.tmax
8 s32 RO 0 pci8255.0.0.write.time
8 s32 RW 0 pci8255.0.0.write.tmax
8 u32 RO 0000000F pci8255.0.1.dir
8 s32 RO 0 pci8255.0.1.read.time
8 s32 RW 0 pci8255.0.1.read.tmax
8 s32 RO 0 pci8255.0.1.write.time
8 s32 RW 0 pci8255.0.1.write.tmax
8 u32 RO 0000000F pci8255.0.2.dir
8 s32 RO 0 pci8255.0.2.read.time
8 s32 RW 0 pci8255.0.2.read.tmax
8 s32 RO 0 pci8255.0.2.write.time
8 s32 RW 0 pci8255.0.2.write.tmax
8 u32 RO 00001000 pci8255.0.io-addr
8 bit RW FALSE pci8255.0.relay-invert
8 s32 RO 0 pci8255.0.write-relay.time
8 s32 RW 0 pci8255.0.write-relay.tmax
8 s32 RO 0 pci8255.read-all.time
8 s32 RW 0 pci8255.read-all.tmax
8 s32 RO 1102 pci8255.write-all.time
8 s32 RW 18651 pci8255.write-all.tmax
6 u32 RW 0000C128 stepgen.0.dirhold
6 u32 RW 0000C128 stepgen.0.dirsetup
6 float RO 0 stepgen.0.frequency
6 float RW 21 stepgen.0.maxaccel
6 float RW 0 stepgen.0.maxvel
6 float RW 4000 stepgen.0.position-scale
6 s32 RO 27685 stepgen.0.rawcounts
6 u32 RW 0000C128 stepgen.0.steplen
6 u32 RW 0000C128 stepgen.0.stepspace
6 u32 RW 0000C128 stepgen.1.dirhold
6 u32 RW 0000C128 stepgen.1.dirsetup
6 float RO 0 stepgen.1.frequency
6 float RW 21 stepgen.1.maxaccel
6 float RW 0 stepgen.1.maxvel
6 float RW 4000 stepgen.1.position-scale
6 s32 RO 3302 stepgen.1.rawcounts
6 u32 RW 0000C128 stepgen.1.steplen
6 u32 RW 0000C128 stepgen.1.stepspace
6 u32 RW 0000C128 stepgen.2.dirhold
6 u32 RW 0000C128 stepgen.2.dirsetup
6 float RO 0 stepgen.2.frequency
6 float RW 21 stepgen.2.maxaccel
6 float RW 0 stepgen.2.maxvel
6 float RW 4000 stepgen.2.position-scale
6 s32 RO 400 stepgen.2.rawcounts
6 u32 RW 0000C128 stepgen.2.steplen
6 u32 RW 0000C128 stepgen.2.stepspace
6 s32 RO 1067 stepgen.capture-position.time
6 s32 RW 7224 stepgen.capture-position.tmax
6 s32 RO 445 stepgen.make-pulses.time
6 s32 RW 7680 stepgen.make-pulses.tmax
6 s32 RO 3672 stepgen.update-freq.time
6 s32 RW 21183 stepgen.update-freq.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
Exported Functions:
Owner CodeAddr Arg FP Users Name
00004 e0e360e0 00000000 YES 1 motion-command-handler
00004 e0e38a40 00000000 YES 1 motion-controller
00007 e0bb53c0 e0df0a90 NO 1 parport.0.read
00007 e0bb54a0 e0df0a90 NO 0 parport.0.reset
00007 e0bb5590 e0df0a90 NO 1 parport.0.write
00007 e0bb5730 e0df0a90 NO 0 parport.read-all
00007 e0bb5770 e0df0a90 NO 0 parport.write-all
00008 e0e1a9d0 e0df0b98 NO 0 pci8255.0.0.read
00008 e0e1a770 e0df0b98 NO 0 pci8255.0.0.write
00008 e0e1a9d0 e0df0c60 NO 0 pci8255.0.1.read
00008 e0e1a770 e0df0c60 NO 0 pci8255.0.1.write
00008 e0e1a9d0 e0df0d28 NO 0 pci8255.0.2.read
00008 e0e1a770 e0df0d28 NO 0 pci8255.0.2.write
00008 e0e1a3b0 e0df0b98 NO 0 pci8255.0.write-relay
00008 e0e1a450 e0df0b98 NO 0 pci8255.read-all
00008 e0e1a3f0 e0df0b98 NO 1 pci8255.write-all
00006 e0e165b0 e0df083c YES 1 stepgen.capture-position
00006 e0e162c0 e0df083c NO 1 stepgen.make-pulses
00006 e0e166b0 e0df083c YES 1 stepgen.update-freq
Realtime Threads:
Period FP Name ( Time, Max-Time )
988960 YES servo-thread ( 32011, 131640 )
1 stepgen.capture-position
2 motion-command-handler
3 motion-controller
4 stepgen.update-freq
5 pci8255.write-all
49448 NO base-thread ( 4359, 12896 )
1 parport.0.read
2 stepgen.make-pulses
3 parport.0.write
halcmd: