     9  float OUT             0  motion.tooloffset.x
     9  float OUT             0  motion.tooloffset.y
     9  float OUT             0  motion.tooloffset.z
    16  float IN           5000  mux2.0.in0 <== pyvcp-spindle-cmd
    16  float IN              0  mux2.0.in1 <== spindle-speed-cmd
    16  float OUT             0  mux2.0.out ==> spindle-cmd-scale
    16  bit   IN           TRUE  mux2.0.sel <== pyvcp-mux-select
    10  float I/O         0.001  pid.0.Dgain
    10  float I/O             0  pid.0.FF0
    10  float I/O             0  pid.0.FF1
    10  float I/O             0  pid.0.FF2
    10  float I/O             5  pid.0.Igain
    10  float I/O        100000  pid.0.Pgain
    10  float I/O             0  pid.0.bias
    10  float IN     0.01898976  pid.0.command <== Xpos-cmd
    10  float IN              0  pid.0.command-deriv
    10  float I/O         0.001  pid.0.deadband
    10  bit   IN           TRUE  pid.0.enable <== Xen
    10  float OUT  0.0001662317  pid.0.error
    10  float IN     0.01882353  pid.0.feedback <== Xpos-fb
    10  float IN              0  pid.0.feedback-deriv
    10  bit   IN          FALSE  pid.0.index-enable
    10  float I/O             0  pid.0.maxcmdD
    10  float I/O             0  pid.0.maxcmdDD
    10  float I/O             0  pid.0.maxerror
    10  float I/O             0  pid.0.maxerrorD
    10  float I/O             0  pid.0.maxerrorI
    10  float I/O            26  pid.0.maxoutput
    10  float OUT  -1.996973e-05  pid.0.output ==> Xvel-cmd
    10  bit   OUT         FALSE  pid.0.saturated
    10  s32   OUT             0  pid.0.saturated-count
    10  float OUT             0  pid.0.saturated-s
    10  float I/O         5e-05  pid.1.Dgain
    10  float I/O       1.5e-05  pid.1.FF0
    10  float I/O       0.00075  pid.1.FF1
    10  float I/O             0  pid.1.FF2
    10  float I/O            30  pid.1.Igain
    10  float I/O           0.4  pid.1.Pgain
    10  float I/O             0  pid.1.bias
    10  float IN     -0.4266667  pid.1.command <== Ypos-cmd
    10  float IN              0  pid.1.command-deriv
    10  float I/O        0.0016  pid.1.deadband
    10  bit   IN           TRUE  pid.1.enable <== Yen
    10  float OUT             0  pid.1.error
    10  float IN     -0.4266667  pid.1.feedback <== Ypos-fb
    10  float IN              0  pid.1.feedback-deriv
    10  bit   IN          FALSE  pid.1.index-enable
    10  float I/O             0  pid.1.maxcmdD
    10  float I/O             0  pid.1.maxcmdDD
    10  float I/O             0  pid.1.maxerror
    10  float I/O             0  pid.1.maxerrorD
    10  float I/O             0  pid.1.maxerrorI
    10  float I/O            26  pid.1.maxoutput
    10  float OUT      -6.4e-06  pid.1.output ==> Yvel-cmd
    10  bit   OUT         FALSE  pid.1.saturated
    10  s32   OUT             0  pid.1.saturated-count
    10  float OUT             0  pid.1.saturated-s
    10  float I/O         0.001  pid.2.Dgain
    10  float I/O             0  pid.2.FF0
    10  float I/O             0  pid.2.FF1
    10  float I/O             0  pid.2.FF2
    10  float I/O           500  pid.2.Igain
    10  float I/O           1.6  pid.2.Pgain
    10  float I/O             0  pid.2.bias
    10  float IN     0.08533333  pid.2.command <== Zpos-cmd
    10  float IN              0  pid.2.command-deriv
    10  float I/O      0.001333  pid.2.deadband
    10  bit   IN           TRUE  pid.2.enable <== Zen
    10  float OUT             0  pid.2.error
    10  float IN     0.08533333  pid.2.feedback <== Zpos-fb
    10  float IN              0  pid.2.feedback-deriv
    10  bit   IN          FALSE  pid.2.index-enable
    10  float I/O             0  pid.2.maxcmdD
    10  float I/O             0  pid.2.maxcmdDD
    10  float I/O             0  pid.2.maxerror
    10  float I/O             0  pid.2.maxerrorD
    10  float I/O             0  pid.2.maxerrorI
    10  float I/O            26  pid.2.maxoutput
    10  float OUT             0  pid.2.output ==> Zvel-cmd
    10  bit   OUT         FALSE  pid.2.saturated
    10  s32   OUT             0  pid.2.saturated-count
    10  float OUT             0  pid.2.saturated-s
    12  bit   OUT         FALSE  pluto-servo.din.00
    12  bit   OUT          TRUE  pluto-servo.din.00-not
    12  bit   OUT         FALSE  pluto-servo.din.01
    12  bit   OUT          TRUE  pluto-servo.din.01-not
    12  bit   OUT         FALSE  pluto-servo.din.02
    12  bit   OUT          TRUE  pluto-servo.din.02-not
    12  bit   OUT         FALSE  pluto-servo.din.03
    12  bit   OUT          TRUE  pluto-servo.din.03-not
    12  bit   OUT         FALSE  pluto-servo.din.04
    12  bit   OUT          TRUE  pluto-servo.din.04-not
    12  bit   OUT         FALSE  pluto-servo.din.05
    12  bit   OUT          TRUE  pluto-servo.din.05-not
    12  bit   OUT         FALSE  pluto-servo.din.06
    12  bit   OUT          TRUE  pluto-servo.din.06-not
    12  bit   OUT          TRUE  pluto-servo.din.07
    12  bit   OUT         FALSE  pluto-servo.din.07-not
    12  bit   OUT         FALSE  pluto-servo.din.08
    12  bit   OUT          TRUE  pluto-servo.din.08-not
    12  bit   OUT         FALSE  pluto-servo.din.09
    12  bit   OUT          TRUE  pluto-servo.din.09-not
    12  bit   OUT         FALSE  pluto-servo.din.10
    12  bit   OUT          TRUE  pluto-servo.din.10-not
    12  bit   OUT         FALSE  pluto-servo.din.11 ==> limit
    12  bit   OUT          TRUE  pluto-servo.din.11-not
    12  bit   OUT         FALSE  pluto-servo.din.12
    12  bit   OUT          TRUE  pluto-servo.din.12-not
    12  bit   OUT         FALSE  pluto-servo.din.13
    12  bit   OUT          TRUE  pluto-servo.din.13-not
    12  bit   OUT         FALSE  pluto-servo.din.14
    12  bit   OUT          TRUE  pluto-servo.din.14-not
    12  bit   OUT          TRUE  pluto-servo.din.15
    12  bit   OUT         FALSE  pluto-servo.din.15-not
    12  bit   OUT         FALSE  pluto-servo.din.16
    12  bit   OUT          TRUE  pluto-servo.din.16-not
    12  bit   OUT         FALSE  pluto-servo.din.17
    12  bit   OUT          TRUE  pluto-servo.din.17-not
    12  bit   OUT         FALSE  pluto-servo.din.18
    12  bit   OUT          TRUE  pluto-servo.din.18-not
    12  bit   OUT         FALSE  pluto-servo.din.19
    12  bit   OUT          TRUE  pluto-servo.din.19-not
    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  s32   OUT           128  pluto-servo.encoder.0.count
    12  bit   I/O         FALSE  pluto-servo.encoder.0.index-enable
    12  float OUT    0.01882353  pluto-servo.encoder.0.position ==> Xpos-fb
    12  bit   IN          FALSE  pluto-servo.encoder.0.reset
    12  float OUT             0  pluto-servo.encoder.0.velocity
    12  s32   OUT           128  pluto-servo.encoder.1.count
    12  bit   I/O         FALSE  pluto-servo.encoder.1.index-enable
    12  float OUT    -0.4266667  pluto-servo.encoder.1.position ==> Ypos-fb
    12  bit   IN          FALSE  pluto-servo.encoder.1.reset
    12  float OUT            -0  pluto-servo.encoder.1.velocity
    12  s32   OUT           128  pluto-servo.encoder.2.count
    12  bit   I/O         FALSE  pluto-servo.encoder.2.index-enable
    12  float OUT    0.08533333  pluto-servo.encoder.2.position ==> Zpos-fb
    12  bit   IN          FALSE  pluto-servo.encoder.2.reset
    12  float OUT             0  pluto-servo.encoder.2.velocity
    12  s32   OUT           128  pluto-servo.encoder.3.count
    12  bit   I/O         FALSE  pluto-servo.encoder.3.index-enable
    12  float OUT         -0.32  pluto-servo.encoder.3.position
    12  bit   IN          FALSE  pluto-servo.encoder.3.reset
    12  float OUT            -0  pluto-servo.encoder.3.velocity ==> Avel
    12  bit   IN           TRUE  pluto-servo.pwm.0.enable
    12  float IN        0.46448  pluto-servo.pwm.0.value <== Xvel-cmd-out
    12  bit   IN          FALSE  pluto-servo.pwm.1.enable
    12  float IN      0.4632936  pluto-servo.pwm.1.value <== Yvel-cmd-out
    12  bit   IN          FALSE  pluto-servo.pwm.2.enable
    12  float IN         0.4633  pluto-servo.pwm.2.value <== Zvel-cmd-out
    12  bit   IN           TRUE  pluto-servo.pwm.3.enable
    12  float IN          32624  pluto-servo.pwm.3.value <== spindle-cmd-limited
    18  bit   OUT          TRUE  pyvcp.mux-control.G-Code ==> pyvcp-mux-select
    18  bit   OUT         FALSE  pyvcp.mux-control.pyVCP 
    18  bit   OUT         FALSE  pyvcp.s5000 ==> pyvcp-spindle-s5000
    18  bit   OUT         FALSE  pyvcp.spindle-off ==> pyvcp-spindle-off
    18  bit   OUT         FALSE  pyvcp.spindle-on ==> pyvcp-spindle-on
    18  float IN              0  pyvcp.spindle-speed-gcode <== spindle-speed-cmd
    18  float IN   -1.482197e-31  pyvcp.spindle-speed-meter <== spindle-speed-rpm
    18  float OUT          5000  pyvcp.spindle-speed-set-f ==> pyvcp-spindle-cmd
    18  s32   OUT          5000  pyvcp.spindle-speed-set-i
    15  float IN           0.94  scale.0.gain
    15  float IN              0  scale.0.in <== spindle-cmd-scale
    15  float IN          32624  scale.0.offset
    15  float OUT         32624  scale.0.out ==> spindle-cmd-scaled
    15  float IN             60  scale.1.gain
    15  float IN   -2.470328e-32  scale.1.in <== spindle-speed-from-encoder
    15  float IN              0  scale.1.offset
    15  float OUT  -1.482197e-31  scale.1.out ==> spindle-speed-rpm
    13  float IN         0.4645  sum2.0.in0
    13  float IN   -1.996973e-05  sum2.0.in1 <== Xvel-cmd
    13  float OUT       0.46448  sum2.0.out ==> Xvel-cmd-out
    13  float IN         0.4633  sum2.1.in0
    13  float IN       -6.4e-06  sum2.1.in1 <== Yvel-cmd
    13  float OUT     0.4632936  sum2.1.out ==> Yvel-cmd-out
    13  float IN         0.4633  sum2.2.in0
    13  float IN              0  sum2.2.in1 <== Zvel-cmd
    13  float OUT        0.4633  sum2.2.out ==> Zvel-cmd-out

Pin Aliases:
 Alias                                      Original Name

Signals:
Type          Value  Name     (linked to)
float            -0  Avel
                         ==> lowpass.0.in
                         <== pluto-servo.encoder.3.velocity
float             0  Xacc
                         <== ddt.1.out
bit            TRUE  Xen
                         <== axis.0.amp-enable-out
                         ==> pid.0.enable
float    0.01898976  Xpos-cmd
                         <== axis.0.motor-pos-cmd
                         ==> ddt.0.in
                         ==> pid.0.command
float    0.01882353  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  -1.996973e-05  Xvel-cmd
                         <== pid.0.output
                         ==> sum2.0.in1
float       0.46448  Xvel-cmd-out
                         ==> pluto-servo.pwm.0.value
                         <== sum2.0.out
float             0  Yacc
                         <== ddt.3.out
bit            TRUE  Yen
                         <== axis.1.amp-enable-out
                         ==> pid.1.enable
float    -0.4266667  Ypos-cmd
                         <== axis.1.motor-pos-cmd
                         ==> ddt.2.in
                         ==> pid.1.command
float    -0.4266667  Ypos-fb
                         ==> axis.1.motor-pos-fb
                         ==> pid.1.feedback
                         <== pluto-servo.encoder.1.position
float             0  Yvel
                         <== ddt.2.out
                         ==> ddt.3.in
float      -6.4e-06  Yvel-cmd
                         <== pid.1.output
                         ==> sum2.1.in1
float     0.4632936  Yvel-cmd-out
                         ==> pluto-servo.pwm.1.value
                         <== sum2.1.out
float             0  Zacc
                         <== ddt.5.out
bit            TRUE  Zen
                         <== axis.2.amp-enable-out
                         ==> pid.2.enable
float    0.08533333  Zpos-cmd
                         <== axis.2.motor-pos-cmd
                         ==> ddt.4.in
                         ==> pid.2.command
float    0.08533333  Zpos-fb
                         ==> axis.2.motor-pos-fb
                         ==> pid.2.feedback
                         <== pluto-servo.encoder.2.position
float             0  Zvel
                         <== ddt.4.out
                         ==> ddt.5.in
float             0  Zvel-cmd
                         <== pid.2.output
                         ==> sum2.2.in1
float        0.4633  Zvel-cmd-out
                         ==> pluto-servo.pwm.2.value
                         <== sum2.2.out
bit            TRUE  estop-loop
                         ==> iocontrol.0.emc-enable-in
                         <== iocontrol.0.user-enable-out
bit           FALSE  limit
                         ==> axis.0.neg-lim-sw-in
                         ==> axis.0.pos-lim-sw-in
                         <== pluto-servo.din.11
bit            TRUE  pyvcp-mux-select
                         ==> mux2.0.sel
                         <== pyvcp.mux-control.G-Code
float          5000  pyvcp-spindle-cmd
                         ==> mux2.0.in0
                         <== pyvcp.spindle-speed-set-f
bit           FALSE  pyvcp-spindle-off
                         ==> halui.mdi-command-01
                         <== pyvcp.spindle-off
bit           FALSE  pyvcp-spindle-on
                         ==> halui.mdi-command-00
                         <== pyvcp.spindle-on
bit           FALSE  pyvcp-spindle-s5000
                         ==> halui.mdi-command-02
                         <== pyvcp.s5000
float         32624  spindle-cmd-limited
                         <== limit2.0.out
                         ==> pluto-servo.pwm.3.value
float             0  spindle-cmd-scale
                         <== mux2.0.out
                         ==> scale.0.in
float         32624  spindle-cmd-scaled
                         ==> limit2.0.in
                         <== scale.0.out
bit           FALSE  spindle-enable
                         <== motion.spindle-on
                         ==> pluto-servo.dout.00
float             0  spindle-speed-cmd
                         <== motion.spindle-speed-out
                         ==> mux2.0.in1
                         ==> pyvcp.spindle-speed-gcode
float  -2.470328e-32  spindle-speed-from-encoder
                         <== lowpass.0.out
                         ==> scale.1.in
float  -1.482197e-31  spindle-speed-rpm
                         ==> pyvcp.spindle-speed-meter
                         <== scale.1.out

Parameters:
Owner   Type  Dir         Value  Name
     9  s32   RO              0  axis.0.home-state
     9  s32   RO              0  axis.1.home-state
     9  s32   RO              0  axis.2.home-state
     9  s32   RO              0  axis.3.home-state
     9  s32   RO              0  axis.4.home-state
     9  s32   RO              0  axis.5.home-state
     9  s32   RO              0  axis.6.home-state
     9  s32   RO              0  axis.7.home-state
     9  s32   RO              0  axis.8.home-state
    11  s32   RO            988  ddt.0.time
    11  s32   RW          38674  ddt.0.tmax
    11  s32   RO            124  ddt.1.time
    11  s32   RW          35958  ddt.1.tmax
    11  s32   RO            703  ddt.2.time
    11  s32   RW          34941  ddt.2.tmax
    11  s32   RO            104  ddt.3.time
    11  s32   RW          40442  ddt.3.tmax
    11  s32   RO            627  ddt.4.time
    11  s32   RW          33221  ddt.4.tmax
    11  s32   RO             95  ddt.5.time
    11  s32   RW          41439  ddt.5.tmax
    17  float RW          1e+20  limit2.0.max
    17  float RW          32000  limit2.0.maxv
    17  float RW         -1e+20  limit2.0.min
    17  s32   RO            864  limit2.0.time
    17  s32   RW          50967  limit2.0.tmax
    14  float RW          0.001  lowpass.0.gain
    14  s32   RO           1587  lowpass.0.time
    14  s32   RW          54074  lowpass.0.tmax
     9  s32   RO           7486  motion-command-handler.time
     9  s32   RW          58853  motion-command-handler.tmax
     9  s32   RO          44146  motion-controller.time
     9  s32   RW         195120  motion-controller.tmax
     9  bit   RO          FALSE  motion.debug-bit-0
     9  bit   RO          FALSE  motion.debug-bit-1
     9  float RO           0.15  motion.debug-float-0
     9  float RO              0  motion.debug-float-1
     9  float RO              0  motion.debug-float-2
     9  float RO              1  motion.debug-float-3
     9  s32   RO              0  motion.debug-s32-0
     9  s32   RO              0  motion.debug-s32-1
     9  u32   RO     0x0012F131  motion.servo.last-period
     9  float RO       490162.9  motion.servo.last-period-ns
     9  u32   RW     0x00000001  motion.servo.overruns
    16  s32   RO            247  mux2.0.time
    16  s32   RW          41078  mux2.0.tmax
    10  s32   RO           3601  pid.0.do-pid-calcs.time
    10  s32   RW          52060  pid.0.do-pid-calcs.tmax
    10  s32   RO           1672  pid.1.do-pid-calcs.time
    10  s32   RW          61493  pid.1.do-pid-calcs.tmax
    10  s32   RO           2109  pid.2.do-pid-calcs.time
    10  s32   RW          52687  pid.2.do-pid-calcs.tmax
    12  u32   RW     0x00000000  pluto-servo.communication-error
    12  s32   RW     -2139062144  pluto-servo.debug-0
    12  s32   RW            128  pluto-servo.debug-1
    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
    12  float RW           6800  pluto-servo.encoder.0.scale
    12  float RW           -300  pluto-servo.encoder.1.scale
    12  float RW           1500  pluto-servo.encoder.2.scale
    12  float RW           -400  pluto-servo.encoder.3.scale
    12  bit   RW          FALSE  pluto-servo.encoder.z-polarity
    12  float RW           0.95  pluto-servo.pwm.0.max-dc
    12  float RW           0.05  pluto-servo.pwm.0.min-dc
    12  float RW              0  pluto-servo.pwm.0.offset
    12  bit   RW          FALSE  pluto-servo.pwm.0.pwmdir
    12  float RW              1  pluto-servo.pwm.0.scale
    12  float RW           0.95  pluto-servo.pwm.1.max-dc
    12  float RW           0.05  pluto-servo.pwm.1.min-dc
    12  float RW              0  pluto-servo.pwm.1.offset
    12  bit   RW          FALSE  pluto-servo.pwm.1.pwmdir
    12  float RW              1  pluto-servo.pwm.1.scale
    12  float RW           0.95  pluto-servo.pwm.2.max-dc
    12  float RW           0.05  pluto-servo.pwm.2.min-dc
    12  float RW              0  pluto-servo.pwm.2.offset
    12  bit   RW          FALSE  pluto-servo.pwm.2.pwmdir
    12  float RW              1  pluto-servo.pwm.2.scale
    12  float RW         0.7983  pluto-servo.pwm.3.max-dc
    12  float RW         0.4979  pluto-servo.pwm.3.min-dc
    12  float RW              0  pluto-servo.pwm.3.offset
    12  bit   RW          FALSE  pluto-servo.pwm.3.pwmdir
    12  float RW          65536  pluto-servo.pwm.3.scale
    12  bit   RW          FALSE  pluto-servo.pwm.is-pdm
    12  s32   RO          82127  pluto-servo.read.time
    12  s32   RW         245812  pluto-servo.read.tmax
    12  s32   RO          42484  pluto-servo.write.time
    12  s32   RW         122066  pluto-servo.write.tmax
    15  s32   RO           2432  scale.0.time
    15  s32   RW          39358  scale.0.tmax
    15  s32   RO            713  scale.1.time
    15  s32   RW          36803  scale.1.tmax
    13  float RW              1  sum2.0.gain0
    13  float RW              1  sum2.0.gain1
    13  float RW              0  sum2.0.offset
    13  s32   RO           1824  sum2.0.time
    13  s32   RW          40593  sum2.0.tmax
    13  float RW              1  sum2.1.gain0
    13  float RW              1  sum2.1.gain1
    13  float RW              0  sum2.1.offset
    13  s32   RO            827  sum2.1.time
    13  s32   RW          34286  sum2.1.tmax
    13  float RW              1  sum2.2.gain0
    13  float RW              1  sum2.2.gain1
    13  float RW              0  sum2.2.offset
    13  s32   RO             95  sum2.2.time
    13  s32   RW          42731  sum2.2.tmax
     9  float RO              0  tc.0.acc
     9  float RO              0  tc.0.pos
     9  float RO              0  tc.0.vel
     9  float RO              0  tc.1.acc
     9  float RO              0  tc.1.pos
     9  float RO              0  tc.1.vel
     9  float RO              0  tc.2.acc
     9  float RO              0  tc.2.pos
     9  float RO              0  tc.2.vel
     9  float RO              0  tc.3.acc
     9  float RO              0  tc.3.pos
     9  float RO              0  tc.3.vel
     9  u32   RO     0x00000000  traj.active_tc
     9  float RO              0  traj.pos_out
     9  float RO              0  traj.vel_out

Parameter Aliases:
 Alias                                      Original Name

Exported Functions:
Owner   CodeAddr  Arg       FP   Users  Name
 00011  e07dd000  e04ae398  YES      1   ddt.0
 00011  e07dd000  e04ae3b0  YES      1   ddt.1
 00011  e07dd000  e04ae3c8  YES      1   ddt.2
 00011  e07dd000  e04ae3e0  YES      1   ddt.3
 00011  e07dd000  e04ae3f8  YES      1   ddt.4
 00011  e07dd000  e04ae410  YES      1   ddt.5
 00017  e0827000  e04ae7f8  YES      1   limit2.0
 00014  e0809000  e04ae768  YES      1   lowpass.0
 00009  e051e759  00000000  YES      1   motion-command-handler
 00009  e0520c72  00000000  YES      1   motion-controller
 00016  e081d000  e04ae7d0  YES      1   mux2.0
 00010  e07d2000  e04ae148  YES      1   pid.0.do-pid-calcs
 00010  e07d2000  e04ae1e8  YES      1   pid.1.do-pid-calcs
 00010  e07d2000  e04ae288  YES      1   pid.2.do-pid-calcs
 00012  e07ef5db  e04ae438  YES      1   pluto-servo.read
 00012  e07ef161  e04ae438  YES      1   pluto-servo.write
 00015  e0813000  e04ae790  YES      1   scale.0
 00015  e0813000  e04ae7a8  YES      1   scale.1
 00013  e07ff000  e04ae6e0  YES      1   sum2.0
 00013  e07ff000  e04ae708  YES      1   sum2.1
 00013  e07ff000  e04ae730  YES      1   sum2.2

Realtime Threads:
     Period  FP     Name               (     Time, Max-Time )
     499945  YES          servo-thread (   254952,   406590 )
                  1 pluto-servo.read
                  2 pluto-servo.write
                  3 motion-command-handler
                  4 motion-controller
                  5 pid.0.do-pid-calcs
                  6 pid.1.do-pid-calcs
                  7 pid.2.do-pid-calcs
                  8 sum2.0
                  9 sum2.1
                 10 sum2.2
                 11 scale.0
                 12 scale.1
                 13 ddt.0
                 14 ddt.1
                 15 ddt.2
                 16 ddt.3
                 17 ddt.4
                 18 ddt.5
                 19 lowpass.0
                 20 mux2.0
                 21 limit2.0

