   7  bit   IN          FALSE  axis.2.jog-vel-mode
     7  float OUT   -0.02133333  axis.2.joint-pos-cmd
     7  float OUT   -0.02133333  axis.2.joint-pos-fb
     7  float OUT             0  axis.2.joint-vel-cmd
     7  bit   OUT         FALSE  axis.2.kb-jog-active
     7  float OUT             0  axis.2.motor-offset
     7  float OUT   -0.02133333  axis.2.motor-pos-cmd ==> Zpos-cmd
     7  float IN    -0.02133333  axis.2.motor-pos-fb <== Zpos-fb
     7  bit   OUT         FALSE  axis.2.neg-hard-limit
     7  bit   IN          FALSE  axis.2.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.2.pos-hard-limit
     7  bit   IN          FALSE  axis.2.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.2.wheel-jog-active
    17  bit   OUT         FALSE  axisui.jog.a
    17  bit   OUT         FALSE  axisui.jog.b
    17  bit   OUT         FALSE  axisui.jog.c
    17  float OUT             0  axisui.jog.increment
    17  bit   OUT         FALSE  axisui.jog.u
    17  bit   OUT         FALSE  axisui.jog.v
    17  bit   OUT         FALSE  axisui.jog.w
    17  bit   OUT          TRUE  axisui.jog.x
    17  bit   OUT         FALSE  axisui.jog.y
    17  bit   OUT         FALSE  axisui.jog.z
    17  bit   IN          FALSE  axisui.notifications-clear
    17  bit   IN          FALSE  axisui.notifications-clear-error
    17  bit   IN          FALSE  axisui.notifications-clear-info
    17  bit   IN          FALSE  axisui.set-manual-mode
     9  float IN     0.02133333  ddt.0.in <== Xpos-cmd
     9  float OUT             0  ddt.0.out ==> Xvel
     9  float IN              0  ddt.1.in <== Xvel
     9  float OUT             0  ddt.1.out ==> Xacc
     9  float IN    -0.02133333  ddt.2.in <== Zpos-cmd
     9  float OUT             0  ddt.2.out ==> Zvel
     9  float IN              0  ddt.3.in <== Zvel
     9  float OUT             0  ddt.3.out ==> Zacc
    13  bit   IN          FALSE  debounce.0.0.in
    13  bit   OUT         FALSE  debounce.0.0.out
    16  bit   IN          FALSE  hal_manualtoolchange.change <== tool-change
    16  bit   OUT         FALSE  hal_manualtoolchange.changed ==> tool-changed
    16  s32   IN              0  hal_manualtoolchange.number <== tool-prep-number
     5  bit   OUT         FALSE  iocontrol.0.coolant-flood
     5  bit   OUT         FALSE  iocontrol.0.coolant-mist
     5  bit   IN          FALSE  iocontrol.0.emc-enable-in <== estop-loop
     5  bit   OUT         FALSE  iocontrol.0.lube
     5  bit   IN          FALSE  iocontrol.0.lube_level
     5  bit   OUT         FALSE  iocontrol.0.tool-change ==> tool-change
     5  bit   IN          FALSE  iocontrol.0.tool-changed <== tool-changed
     5  s32   OUT             0  iocontrol.0.tool-number
     5  s32   OUT             0  iocontrol.0.tool-prep-number ==> tool-prep-number
     5  s32   OUT             0  iocontrol.0.tool-prep-pocket
     5  bit   OUT         FALSE  iocontrol.0.tool-prepare ==> tool-prep-loop
     5  bit   IN          FALSE  iocontrol.0.tool-prepared <== tool-prep-loop
     5  bit   OUT         FALSE  iocontrol.0.user-enable-out ==> estop-loop
     5  bit   OUT         FALSE  iocontrol.0.user-request-enable
    14  float IN              0  limit1.0.in <== spindle-speed-cmd
    14  float OUT             0  limit1.0.out ==> spindle-speed-cmd-limited
     7  float IN              1  motion.adaptive-feed
     7  float IN              0  motion.analog-in-00
     7  float IN              0  motion.analog-in-01
     7  float IN              0  motion.analog-in-02
     7  float IN              0  motion.analog-in-03
     7  float OUT             0  motion.analog-out-00
     7  float OUT             0  motion.analog-out-01
     7  float OUT             0  motion.analog-out-02
     7  float OUT             0  motion.analog-out-03
     7  bit   OUT         FALSE  motion.coord-error
     7  bit   OUT          TRUE  motion.coord-mode
     7  float OUT             0  motion.current-vel
     7  bit   IN          FALSE  motion.digital-in-00
     7  bit   IN          FALSE  motion.digital-in-01
     7  bit   IN          FALSE  motion.digital-in-02
     7  bit   IN          FALSE  motion.digital-in-03
     7  bit   OUT         FALSE  motion.digital-out-00
     7  bit   OUT         FALSE  motion.digital-out-01
     7  bit   OUT         FALSE  motion.digital-out-02
     7  bit   OUT         FALSE  motion.digital-out-03
     7  float OUT             0  motion.distance-to-go
     7  bit   IN           TRUE  motion.enable
     7  bit   IN          FALSE  motion.feed-hold
     7  bit   OUT          TRUE  motion.in-position
     7  bit   IN          FALSE  motion.motion-enabled
     7  bit   OUT         FALSE  motion.on-soft-limit
     7  bit   IN          FALSE  motion.probe-input
     7  s32   OUT             0  motion.program-line
     7  float OUT             0  motion.requested-vel
     7  bit   IN           TRUE  motion.spindle-at-speed
     7  bit   OUT          TRUE  motion.spindle-brake
     7  bit   OUT         FALSE  motion.spindle-forward ==> spindle-fwd
     7  bit   I/O         FALSE  motion.spindle-index-enable <=> spindle-index
     7  bit   OUT         FALSE  motion.spindle-on
     7  bit   OUT         FALSE  motion.spindle-reverse
     7  float IN       -0.03125  motion.spindle-revs <== spindle-pos
     7  float OUT             0  motion.spindle-speed-cmd-rps
     7  float IN             -0  motion.spindle-speed-in <== spindle-speed-fb
     7  float OUT             0  motion.spindle-speed-out ==> spindle-speed-cmd
     7  float OUT             0  motion.spindle-speed-out-rps
     7  bit   OUT         FALSE  motion.teleop-mode
     7  float OUT             0  motion.tooloffset.a
     7  float OUT             0  motion.tooloffset.b
     7  float OUT             0  motion.tooloffset.c
     7  float OUT             0  motion.tooloffset.u
     7  float OUT             0  motion.tooloffset.v
     7  float OUT             0  motion.tooloffset.w
     7  float OUT             0  motion.tooloffset.x
     7  float OUT             0  motion.tooloffset.y
     7  float OUT             0  motion.tooloffset.z
    12  float IN              0  mux2.0.in0
    12  float IN          0.105  mux2.0.in1 <== spindle-speed-scaled
    12  float OUT             0  mux2.0.out ==> spindle-pwm
    12  bit   IN          FALSE  mux2.0.sel <== spindle-fwd
     8  float I/O         0.001  pid.0.Dgain
     8  float I/O             0  pid.0.FF0
     8  float I/O             1  pid.0.FF1
     8  float I/O         0.025  pid.0.FF2
     8  float I/O           200  pid.0.Igain
     8  float I/O           100  pid.0.Pgain
     8  float I/O             0  pid.0.bias
     8  float IN     0.02133333  pid.0.command <== Xpos-cmd
     8  float OUT             0  pid.0.commandD
     8  float OUT             0  pid.0.commandDD
     8  float I/O         9e-05  pid.0.deadband
     8  bit   IN          FALSE  pid.0.enable <== Xenable
     8  float OUT             0  pid.0.error
     8  float OUT             0  pid.0.errorD
     8  float OUT             0  pid.0.errorI
     8  float IN     0.02133333  pid.0.feedback <== Xpos-fb
     8  float I/O             0  pid.0.maxcmdD
     8  float I/O             0  pid.0.maxcmdDD
     8  float I/O             0  pid.0.maxerror
     8  float I/O             0  pid.0.maxerrorD
     8  float I/O             0  pid.0.maxerrorI
     8  float I/O            26  pid.0.maxoutput
     8  float OUT             0  pid.0.output ==> Xvel-cmd
     8  u32   I/O    0x00000032  pid.0.tune-cycles
     8  float I/O           0.5  pid.0.tune-effort
     8  bit   IN          FALSE  pid.0.tune-mode
     8  bit   I/O         FALSE  pid.0.tune-start
     8  u32   I/O    0x00000000  pid.0.tune-type
     8  float OUT             0  pid.0.ultimate-gain
     8  float OUT             0  pid.0.ultimate-period
     8  float I/O             7  pid.1.Dgain
     8  float I/O             0  pid.1.FF0
     8  float I/O             1  pid.1.FF1
     8  float I/O         0.025  pid.1.FF2
     8  float I/O         30000  pid.1.Igain
     8  float I/O          1000  pid.1.Pgain
     8  float I/O             0  pid.1.bias
     8  float IN    -0.02133333  pid.1.command <== Zpos-cmd
     8  float OUT             0  pid.1.commandD
     8  float OUT             0  pid.1.commandDD
     8  float I/O         9e-05  pid.1.deadband
     8  bit   IN          FALSE  pid.1.enable <== Zenable
     8  float OUT             0  pid.1.error
     8  float OUT             0  pid.1.errorD
     8  float OUT             0  pid.1.errorI
     8  float IN    -0.02133333  pid.1.feedback <== Zpos-fb
     8  float I/O             0  pid.1.maxcmdD
     8  float I/O             0  pid.1.maxcmdDD
     8  float I/O             0  pid.1.maxerror
     8  float I/O             0  pid.1.maxerrorD
     8  float I/O             0  pid.1.maxerrorI
     8  float I/O            26  pid.1.maxoutput
     8  float OUT             0  pid.1.output ==> Zvel-cmd
     8  u32   I/O    0x00000032  pid.1.tune-cycles
     8  float I/O           0.5  pid.1.tune-effort
     8  bit   IN          FALSE  pid.1.tune-mode
     8  bit   I/O         FALSE  pid.1.tune-start
     8  u32   I/O    0x00000000  pid.1.tune-type
     8  float OUT             0  pid.1.ultimate-gain
     8  float OUT             0  pid.1.ultimate-period
    10  bit   OUT         FALSE  pluto-servo.din.00
    10  bit   OUT          TRUE  pluto-servo.din.00-not
    10  bit   OUT         FALSE  pluto-servo.din.01
    10  bit   OUT          TRUE  pluto-servo.din.01-not
    10  bit   OUT         FALSE  pluto-servo.din.02
    10  bit   OUT          TRUE  pluto-servo.din.02-not
    10  bit   OUT         FALSE  pluto-servo.din.03
    10  bit   OUT          TRUE  pluto-servo.din.03-not
    10  bit   OUT         FALSE  pluto-servo.din.04
    10  bit   OUT          TRUE  pluto-servo.din.04-not
    10  bit   OUT         FALSE  pluto-servo.din.05
    10  bit   OUT          TRUE  pluto-servo.din.05-not
    10  bit   OUT         FALSE  pluto-servo.din.06
    10  bit   OUT          TRUE  pluto-servo.din.06-not
    10  bit   OUT          TRUE  pluto-servo.din.07
    10  bit   OUT         FALSE  pluto-servo.din.07-not
    10  bit   OUT         FALSE  pluto-servo.din.08
    10  bit   OUT          TRUE  pluto-servo.din.08-not
    10  bit   OUT         FALSE  pluto-servo.din.09
    10  bit   OUT          TRUE  pluto-servo.din.09-not
    10  bit   OUT         FALSE  pluto-servo.din.10
    10  bit   OUT          TRUE  pluto-servo.din.10-not
    10  bit   OUT         FALSE  pluto-servo.din.11
    10  bit   OUT          TRUE  pluto-servo.din.11-not
    10  bit   OUT         FALSE  pluto-servo.din.12
    10  bit   OUT          TRUE  pluto-servo.din.12-not
    10  bit   OUT         FALSE  pluto-servo.din.13
    10  bit   OUT          TRUE  pluto-servo.din.13-not
    10  bit   OUT         FALSE  pluto-servo.din.14
    10  bit   OUT          TRUE  pluto-servo.din.14-not
    10  bit   OUT          TRUE  pluto-servo.din.15
    10  bit   OUT         FALSE  pluto-servo.din.15-not
    10  bit   OUT         FALSE  pluto-servo.din.16
    10  bit   OUT          TRUE  pluto-servo.din.16-not
    10  bit   OUT         FALSE  pluto-servo.din.17
    10  bit   OUT          TRUE  pluto-servo.din.17-not
    10  bit   OUT         FALSE  pluto-servo.din.18
    10  bit   OUT          TRUE  pluto-servo.din.18-not
    10  bit   OUT         FALSE  pluto-servo.din.19
    10  bit   OUT          TRUE  pluto-servo.din.19-not
    10  bit   IN          FALSE  pluto-servo.dout.00 <== spindle-fwd
    10  bit   IN          FALSE  pluto-servo.dout.01
    10  bit   IN          FALSE  pluto-servo.dout.02
    10  bit   IN          FALSE  pluto-servo.dout.03
    10  bit   IN          FALSE  pluto-servo.dout.04
    10  bit   IN          FALSE  pluto-servo.dout.05
    10  bit   IN          FALSE  pluto-servo.dout.06
    10  bit   IN          FALSE  pluto-servo.dout.07
    10  bit   IN          FALSE  pluto-servo.dout.08
    10  bit   IN          FALSE  pluto-servo.dout.09 <== Xenable
    10  bit   IN          FALSE  pluto-servo.dout.10
    10  bit   IN          FALSE  pluto-servo.dout.11
    10  bit   IN          FALSE  pluto-servo.dout.12
    10  bit   IN          FALSE  pluto-servo.dout.13
    10  bit   IN          FALSE  pluto-servo.dout.14
    10  bit   IN          FALSE  pluto-servo.dout.15
    10  bit   IN          FALSE  pluto-servo.dout.16
    10  bit   IN          FALSE  pluto-servo.dout.17
    10  bit   IN          FALSE  pluto-servo.dout.18
    10  bit   IN          FALSE  pluto-servo.dout.19
    10  s32   OUT           128  pluto-servo.encoder.0.count
    10  bit   I/O         FALSE  pluto-servo.encoder.0.index-enable
    10  float OUT    0.02133333  pluto-servo.encoder.0.position ==> Xpos-fb
    10  bit   IN          FALSE  pluto-servo.encoder.0.reset
    10  float OUT             0  pluto-servo.encoder.0.velocity
    10  s32   OUT           128  pluto-servo.encoder.1.count
    10  bit   I/O         FALSE  pluto-servo.encoder.1.index-enable
    10  float OUT   -0.02133333  pluto-servo.encoder.1.position ==> Zpos-fb
    10  bit   IN          FALSE  pluto-servo.encoder.1.reset
    10  float OUT            -0  pluto-servo.encoder.1.velocity
    10  s32   OUT           128  pluto-servo.encoder.2.count
    10  bit   I/O         FALSE  pluto-servo.encoder.2.index-enable <=> spindle-index
    10  float OUT      -0.03125  pluto-servo.encoder.2.position ==> spindle-pos
    10  bit   IN          FALSE  pluto-servo.encoder.2.reset
    10  float OUT            -0  pluto-servo.encoder.2.velocity ==> spindle-speed-fb
    10  s32   OUT           128  pluto-servo.encoder.3.count
    10  bit   I/O         FALSE  pluto-servo.encoder.3.index-enable
    10  float OUT           128  pluto-servo.encoder.3.position
    10  bit   IN          FALSE  pluto-servo.encoder.3.reset
    10  float OUT             0  pluto-servo.encoder.3.velocity
    10  bit   IN          FALSE  pluto-servo.pwm.0.enable <== Xenable
    10  float IN              0  pluto-servo.pwm.0.value <== Xvel-cmd
    10  bit   IN          FALSE  pluto-servo.pwm.1.enable <== Zenable
    10  float IN              0  pluto-servo.pwm.1.value <== Zvel-cmd
    10  bit   IN          FALSE  pluto-servo.pwm.2.enable
    10  float IN              0  pluto-servo.pwm.2.value
    10  bit   IN           TRUE  pluto-servo.pwm.3.enable
    10  float IN              0  pluto-servo.pwm.3.value <== spindle-pwm
    17  float IN              0  pyvcp.spindle-bar <== spindle-speed-cmd
    17  float IN              0  pyvcp.xpid-bar <== Xvel-cmd
    17  float IN              0  pyvcp.zpid-bar <== Zvel-cmd
    11  float IN   0.0002631579  scale.0.gain
    11  float IN              0  scale.0.in <== spindle-speed-cmd-limited
    11  float IN          0.105  scale.0.offset
    11  float OUT         0.105  scale.0.out ==> spindle-speed-scaled

Pin Aliases:
 Alias                                      Original Name

Signals:
Type          Value  Name     (linked to)
float             0  Xacc
                         <== ddt.1.out
bit           FALSE  Xenable
                         <== axis.0.amp-enable-out
                         ==> pid.0.enable
                         ==> pluto-servo.dout.09
                         ==> pluto-servo.pwm.0.enable
float    0.02133333  Xpos-cmd
                         <== axis.0.motor-pos-cmd
                         ==> ddt.0.in
                         ==> pid.0.command
float    0.02133333  Xpos-fb
                         ==> axis.0.motor-pos-fb
                         ==> pid.0.feedback
                         <== pluto-servo.encoder.0.position
float             0  Xvel
                         <== ddt.0.out
                         ==> ddt.1.in
float             0  Xvel-cmd
                         <== pid.0.output
                         ==> pluto-servo.pwm.0.value
                         ==> pyvcp.xpid-bar
float             0  Zacc
                         <== ddt.3.out
bit           FALSE  Zenable
                         <== axis.2.amp-enable-out
                         ==> pid.1.enable
                         ==> pluto-servo.pwm.1.enable
float   -0.02133333  Zpos-cmd
                         <== axis.2.motor-pos-cmd
                         ==> ddt.2.in
                         ==> pid.1.command
float   -0.02133333  Zpos-fb
                         ==> axis.2.motor-pos-fb
                         ==> pid.1.feedback
                         <== pluto-servo.encoder.1.position
float             0  Zvel
                         <== ddt.2.out
                         ==> ddt.3.in
float             0  Zvel-cmd
                         <== pid.1.output
                         ==> pluto-servo.pwm.1.value
                         ==> pyvcp.zpid-bar
bit           FALSE  estop-loop
                         ==> iocontrol.0.emc-enable-in
                         <== iocontrol.0.user-enable-out
bit           FALSE  spindle-fwd
                         <== motion.spindle-forward
                         ==> mux2.0.sel
                         ==> pluto-servo.dout.00
bit           FALSE  spindle-index
                         <=> motion.spindle-index-enable
                         <=> pluto-servo.encoder.2.index-enable
float      -0.03125  spindle-pos
                         ==> motion.spindle-revs
                         <== pluto-servo.encoder.2.position
float             0  spindle-pwm
                         <== mux2.0.out
                         ==> pluto-servo.pwm.3.value
float             0  spindle-speed-cmd
                         ==> limit1.0.in
                         <== motion.spindle-speed-out
                         ==> pyvcp.spindle-bar
float             0  spindle-speed-cmd-limited
                         <== limit1.0.out
                         ==> scale.0.in
float            -0  spindle-speed-fb
                         ==> motion.spindle-speed-in
                         <== pluto-servo.encoder.2.velocity
float         0.105  spindle-speed-scaled
                         ==> mux2.0.in1
                         <== scale.0.out
bit           FALSE  tool-change
                         ==> hal_manualtoolchange.change
                         <== iocontrol.0.tool-change
bit           FALSE  tool-change-loop
bit           FALSE  tool-changed
                         <== hal_manualtoolchange.changed
                         ==> iocontrol.0.tool-changed
bit           FALSE  tool-prep-loop
                         <== iocontrol.0.tool-prepare
                         ==> iocontrol.0.tool-prepared
s32               0  tool-prep-number
                         ==> hal_manualtoolchange.number
                         <== iocontrol.0.tool-prep-number

Parameters:
Owner   Type  Dir         Value  Name
     7  s32   RO              0  axis.0.home-state
     7  s32   RO              0  axis.1.home-state
     7  s32   RO              0  axis.2.home-state
     9  s32   RO             95  ddt.0.time
     9  s32   RW          55784  ddt.0.tmax
     9  s32   RO           1074  ddt.1.time
     9  s32   RW           4275  ddt.1.tmax
     9  s32   RO             95  ddt.2.time
     9  s32   RW          29735  ddt.2.tmax
     9  s32   RO            104  ddt.3.time
     9  s32   RW          26619  ddt.3.tmax
    13  s32   RW              3  debounce.0.delay
    13  s32   RO           1976  debounce.0.time
    13  s32   RW          33288  debounce.0.tmax
    14  float RW           1300  limit1.0.max
    14  float RW         -1e+20  limit1.0.min
    14  s32   RO           1131  limit1.0.time
    14  s32   RW          33791  limit1.0.tmax
     7  s32   RO           6375  motion-command-handler.time
     7  s32   RW          45904  motion-command-handler.tmax
     7  s32   RO          28547  motion-controller.time
     7  s32   RW         161538  motion-controller.tmax
     7  bit   RO          FALSE  motion.debug-bit-0
     7  bit   RO          FALSE  motion.debug-bit-1
     7  float RO              1  motion.debug-float-0
     7  float RO       -0.03125  motion.debug-float-1
     7  float RO             -0  motion.debug-float-2
     7  float RO              1  motion.debug-float-3
     7  s32   RO              0  motion.debug-s32-0
     7  s32   RO              0  motion.debug-s32-1
     7  u32   RO     0x001336EC  motion.servo.last-period
     7  float RO       497206.5  motion.servo.last-period-ns
     7  u32   RW     0x00000000  motion.servo.overruns
    12  s32   RO           1520  mux2.0.time
    12  s32   RW           7382  mux2.0.tmax
     8  s32   RO           2850  pid.0.do-pid-calcs.time
     8  s32   RW          43690  pid.0.do-pid-calcs.tmax
     8  s32   RO           3335  pid.1.do-pid-calcs.time
     8  s32   RW          34846  pid.1.do-pid-calcs.tmax
    10  u32   RW     0x00005FCD  pluto-servo.communication-error
    10  s32   RW     -2139062144  pluto-servo.debug-0
    10  s32   RW            128  pluto-servo.debug-1
    10  bit   RW          FALSE  pluto-servo.dout.00-invert
    10  bit   RW          FALSE  pluto-servo.dout.01-invert
    10  bit   RW          FALSE  pluto-servo.dout.02-invert
    10  bit   RW          FALSE  pluto-servo.dout.03-invert
    10  bit   RW          FALSE  pluto-servo.dout.04-invert
    10  bit   RW          FALSE  pluto-servo.dout.05-invert
    10  bit   RW          FALSE  pluto-servo.dout.06-invert
    10  bit   RW          FALSE  pluto-servo.dout.07-invert
    10  bit   RW          FALSE  pluto-servo.dout.08-invert
    10  bit   RW          FALSE  pluto-servo.dout.09-invert
    10  bit   RW          FALSE  pluto-servo.dout.10-invert
    10  bit   RW          FALSE  pluto-servo.dout.11-invert
    10  bit   RW          FALSE  pluto-servo.dout.12-invert
    10  bit   RW          FALSE  pluto-servo.dout.13-invert
    10  bit   RW          FALSE  pluto-servo.dout.14-invert
    10  bit   RW          FALSE  pluto-servo.dout.15-invert
    10  bit   RW          FALSE  pluto-servo.dout.16-invert
    10  bit   RW          FALSE  pluto-servo.dout.17-invert
    10  bit   RW          FALSE  pluto-servo.dout.18-invert
    10  bit   RW          FALSE  pluto-servo.dout.19-invert
    10  float RW           6000  pluto-servo.encoder.0.scale
    10  float RW          -6000  pluto-servo.encoder.1.scale
    10  float RW          -4096  pluto-servo.encoder.2.scale
    10  float RW              1  pluto-servo.encoder.3.scale
    10  bit   RW          FALSE  pluto-servo.encoder.z-polarity
    10  float RW              1  pluto-servo.pwm.0.max-dc
    10  float RW              0  pluto-servo.pwm.0.min-dc
    10  float RW              0  pluto-servo.pwm.0.offset
    10  bit   RW          FALSE  pluto-servo.pwm.0.pwmdir
    10  float RW             26  pluto-servo.pwm.0.scale
    10  float RW              1  pluto-servo.pwm.1.max-dc
    10  float RW              0  pluto-servo.pwm.1.min-dc
    10  float RW              0  pluto-servo.pwm.1.offset
    10  bit   RW          FALSE  pluto-servo.pwm.1.pwmdir
    10  float RW             26  pluto-servo.pwm.1.scale
    10  float RW              1  pluto-servo.pwm.2.max-dc
    10  float RW              0  pluto-servo.pwm.2.min-dc
    10  float RW              0  pluto-servo.pwm.2.offset
    10  bit   RW          FALSE  pluto-servo.pwm.2.pwmdir
    10  float RW              1  pluto-servo.pwm.2.scale
    10  float RW              1  pluto-servo.pwm.3.max-dc
    10  float RW              0  pluto-servo.pwm.3.min-dc
    10  float RW              0  pluto-servo.pwm.3.offset
    10  bit   RW          FALSE  pluto-servo.pwm.3.pwmdir
    10  float RW              1  pluto-servo.pwm.3.scale
    10  bit   RW          FALSE  pluto-servo.pwm.is-pdm
    10  s32   RO         160436  pluto-servo.read.time
    10  s32   RW         223383  pluto-servo.read.tmax
    10  s32   RO            437  pluto-servo.write.time
    10  s32   RW          79809  pluto-servo.write.tmax
    11  s32   RO             95  scale.0.time
    11  s32   RW          33620  scale.0.tmax
     7  float RO              0  tc.0.acc
     7  float RO              0  tc.0.pos
     7  float RO              0  tc.0.vel
     7  float RO              0  tc.1.acc
     7  float RO              0  tc.1.pos
     7  float RO              0  tc.1.vel
     7  float RO              0  tc.2.acc
     7  float RO              0  tc.2.pos
     7  float RO              0  tc.2.vel
     7  float RO              0  tc.3.acc
     7  float RO              0  tc.3.pos
     7  float RO              0  tc.3.vel
     7  u32   RO     0x00000000  traj.active_tc
     7  float RO              0  traj.pos_out
     7  float RO              0  traj.vel_out

Parameter Aliases:
 Alias                                      Original Name

Exported Functions:
Owner   CodeAddr  Arg       FP   Users  Name
 00009  e088a000  e055ad70  YES      1   ddt.0
 00009  e088a000  e055ad88  YES      1   ddt.1
 00009  e088a000  e055ada0  YES      1   ddt.2
 00009  e088a000  e055adb8  YES      1   ddt.3
 00013  e08c0000  e055b0b8  NO       1   debounce.0
 00014  e08ca000  e055b0e0  YES      1   limit1.0
 00007  e05cb759  00000000  YES      1   motion-command-handler
 00007  e05cdc72  00000000  YES      1   motion-controller
 00012  e08b6000  e055b0a0  YES      1   mux2.0
 00008  e087f000  e055abe8  YES      1   pid.0.do-pid-calcs
 00008  e087f000  e055aca0  YES      1   pid.1.do-pid-calcs
 00010  e089c5db  e055ade0  YES      1   pluto-servo.read
 00010  e089c161  e055ade0  YES      1   pluto-servo.write
 00011  e08ac000  e055b088  YES      1   scale.0

Realtime Threads:
     Period  FP     Name               (     Time, Max-Time )
     499945  YES          servo-thread (   196802,   396606 )
                  1 pluto-servo.read
                  2 motion-command-handler
                  3 motion-controller
                  4 pid.0.do-pid-calcs
                  5 pid.1.do-pid-calcs
                  6 pluto-servo.write
                  7 ddt.0
                  8 ddt.1
                  9 ddt.2
                 10 ddt.3
                 11 scale.0
                 12 mux2.0
                 13 debounce.0
                 14 limit1.0

