^[[A^[[Aandrij@andrij-desktop:~$ halcmd show | grep out
     9  bit   OUT         FALSE  axis.0.amp-enable-out ==> Xen
     9  bit   OUT         FALSE  axis.1.amp-enable-out ==> Yen
     9  bit   OUT         FALSE  axis.2.amp-enable-out ==> Zen
     9  bit   OUT         FALSE  axis.3.amp-enable-out
     9  bit   OUT         FALSE  axis.4.amp-enable-out
     9  bit   OUT         FALSE  axis.5.amp-enable-out
     9  bit   OUT         FALSE  axis.6.amp-enable-out
     9  bit   OUT         FALSE  axis.7.amp-enable-out
     9  bit   OUT         FALSE  axis.8.amp-enable-out
    11  float OUT             0  ddt.0.out ==> Xvel
    11  float OUT             0  ddt.1.out ==> Xacc
    11  float OUT             0  ddt.2.out ==> Yvel
    11  float OUT             0  ddt.3.out ==> Yacc
    11  float OUT             0  ddt.4.out ==> Zvel
    11  float OUT             0  ddt.5.out ==> Zacc
     5  bit   OUT          TRUE  iocontrol.0.user-enable-out ==> estop-loop
    17  float OUT         32624  limit2.0.out ==> spindle-cmd-limited
    14  float OUT  -4.554677e-18  lowpass.0.out ==> spindle-speed-from-encoder
     9  float OUT             0  motion.analog-out-00
     9  float OUT             0  motion.analog-out-01
     9  float OUT             0  motion.analog-out-02
     9  float OUT             0  motion.analog-out-03
     9  bit   OUT         FALSE  motion.digital-out-00
     9  bit   OUT         FALSE  motion.digital-out-01
     9  bit   OUT         FALSE  motion.digital-out-02
     9  bit   OUT         FALSE  motion.digital-out-03
     9  float OUT             0  motion.spindle-speed-out ==> spindle-speed-cmd
     9  float OUT             0  motion.spindle-speed-out-rps
    16  float OUT             0  mux2.0.out ==> spindle-cmd-scale
    10  float I/O            26  pid.0.maxoutput
    10  float OUT             0  pid.0.output ==> Xvel-cmd
    10  float I/O            26  pid.1.maxoutput
    10  float OUT             0  pid.1.output ==> Yvel-cmd
    10  float I/O            26  pid.2.maxoutput
    10  float OUT             0  pid.2.output ==> Zvel-cmd
    12  bit   IN          FALSE  pluto-servo.dout.00 <== spindle-enable
    12  bit   IN          FALSE  pluto-servo.dout.01
    12  bit   IN          FALSE  pluto-servo.dout.02
    12  bit   IN          FALSE  pluto-servo.dout.03
    12  bit   IN          FALSE  pluto-servo.dout.04
    12  bit   IN          FALSE  pluto-servo.dout.05
    12  bit   IN          FALSE  pluto-servo.dout.06
    12  bit   IN          FALSE  pluto-servo.dout.07
    12  bit   IN          FALSE  pluto-servo.dout.08
    12  bit   IN          FALSE  pluto-servo.dout.09
    12  bit   IN          FALSE  pluto-servo.dout.10
    12  bit   IN          FALSE  pluto-servo.dout.11
    12  bit   IN          FALSE  pluto-servo.dout.12
    12  bit   IN          FALSE  pluto-servo.dout.13
    12  bit   IN          FALSE  pluto-servo.dout.14
    12  bit   IN          FALSE  pluto-servo.dout.15
    12  bit   IN          FALSE  pluto-servo.dout.16
    12  bit   IN          FALSE  pluto-servo.dout.17
    12  bit   IN          FALSE  pluto-servo.dout.18
    12  bit   IN          FALSE  pluto-servo.dout.19
    12  float IN         0.4645  pluto-servo.pwm.0.value <== Xvel-cmd-out
    12  float IN         0.4633  pluto-servo.pwm.1.value <== Yvel-cmd-out
    12  float IN         0.4633  pluto-servo.pwm.2.value <== Zvel-cmd-out
    15  float OUT         32624  scale.0.out ==> spindle-cmd-scaled
    15  float OUT  -2.719169e-18  scale.1.out ==> spindle-speed-rpm
    13  float OUT        0.4645  sum2.0.out ==> Xvel-cmd-out
    13  float OUT        0.4633  sum2.1.out ==> Yvel-cmd-out
    13  float OUT        0.4633  sum2.2.out ==> Zvel-cmd-out
                         <== ddt.1.out
                         <== axis.0.amp-enable-out
                         <== ddt.0.out
                         <== pid.0.output
float        0.4645  Xvel-cmd-out
                         <== sum2.0.out
                         <== ddt.3.out
                         <== axis.1.amp-enable-out
                         <== ddt.2.out
                         <== pid.1.output
float        0.4633  Yvel-cmd-out
                         <== sum2.1.out
                         <== ddt.5.out
                         <== axis.2.amp-enable-out
                         <== ddt.4.out
                         <== pid.2.output
float        0.4633  Zvel-cmd-out
                         <== sum2.2.out
                         <== iocontrol.0.user-enable-out
                         <== limit2.0.out
                         <== mux2.0.out
                         <== scale.0.out
                         ==> pluto-servo.dout.00
                         <== motion.spindle-speed-out
                         <== lowpass.0.out
                         <== scale.1.out
    12  bit   RW          FALSE  pluto-servo.dout.00-invert
    12  bit   RW          FALSE  pluto-servo.dout.01-invert
    12  bit   RW          FALSE  pluto-servo.dout.02-invert
    12  bit   RW          FALSE  pluto-servo.dout.03-invert
    12  bit   RW          FALSE  pluto-servo.dout.04-invert
    12  bit   RW          FALSE  pluto-servo.dout.05-invert
    12  bit   RW          FALSE  pluto-servo.dout.06-invert
    12  bit   RW          FALSE  pluto-servo.dout.07-invert
    12  bit   RW          FALSE  pluto-servo.dout.08-invert
    12  bit   RW          FALSE  pluto-servo.dout.09-invert
    12  bit   RW          FALSE  pluto-servo.dout.10-invert
    12  bit   RW          FALSE  pluto-servo.dout.11-invert
    12  bit   RW          FALSE  pluto-servo.dout.12-invert
    12  bit   RW          FALSE  pluto-servo.dout.13-invert
    12  bit   RW          FALSE  pluto-servo.dout.14-invert
    12  bit   RW          FALSE  pluto-servo.dout.15-invert
    12  bit   RW          FALSE  pluto-servo.dout.16-invert
    12  bit   RW          FALSE  pluto-servo.dout.17-invert
    12  bit   RW          FALSE  pluto-servo.dout.18-invert
    12  bit   RW          FALSE  pluto-servo.dout.19-invert
     9  float RO              0  traj.pos_out
     9  float RO              0  traj.vel_out

