Не экономь буквы - покажи всё сообщение полностью.botcman писал(а):Попробовал. Написал No such file or directory
AG250CNC
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Serg
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Re: AG250CNC
Я не Христос, рыбу не раздаю, но могу научить, как сделать удочку...
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Serg
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Re: AG250CNC
Так это совсем не "No such file or directory"...
Команду надо давать при запущеной linuxcnc.
Команду надо давать при запущеной linuxcnc.
Я не Христос, рыбу не раздаю, но могу научить, как сделать удочку...
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Serg
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Re: AG250CNC
В HAL что-то с именами сигналов/пинов намудрил...
Покажи весь вывод команды "halcmd show". Только сразу предупреждаю - фотки и картинки смотреть не буду, как-нибудь изловчись скопипастить весь текст и запостить сюда именно как текст.
Покажи весь вывод команды "halcmd show". Только сразу предупреждаю - фотки и картинки смотреть не буду, как-нибудь изловчись скопипастить весь текст и запостить сюда именно как текст.
Я не Христос, рыбу не раздаю, но могу научить, как сделать удочку...
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botcman
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Re: AG250CNC
Это все, что он выдал. Странно, картинки вверх ногами на компе, на телефоне нормально.
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Serg
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Re: AG250CNC
Прочитай #225 внимательно! Особенно второе предложение.botcman писал(а):Это все, что он выдал.
Я не Христос, рыбу не раздаю, но могу научить, как сделать удочку...
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botcman
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Re: AG250CNC
Прошу прощения, но не совсем понял вопрос. Что конкретно нужно сделать? Набирал команду halcmd loadusr halshow
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Serg
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Re: AG250CNC
UAVpilot писал(а):Покажи весь вывод команды "halcmd show".
Я не Христос, рыбу не раздаю, но могу научить, как сделать удочку...
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Serg
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Re: AG250CNC
Я конечно понимаю, что "чукча не читатель", но не до такой-же степени!!! 
Последняя попытка:
halcmd loadusr halshow
halcmd show
Последняя попытка:
halcmd show
Я не Христос, рыбу не раздаю, но могу научить, как сделать удочку...
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botcman
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Re: AG250CNC
Теперь понял, спасибо.
Купил сегодня вай-фай адаптер для интернета, не могу установить дрова на этом линуксе. В комплекте есть диск.
Подскажите , как это сделать.
Купил сегодня вай-фай адаптер для интернета, не могу установить дрова на этом линуксе. В комплекте есть диск.
Подскажите , как это сделать.
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botcman
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Re: AG250CNC
Алилуя!!! Заработало.
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botcman
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Re: AG250CNC
andrey@maincoon:~$ halcmd show
Loaded HAL Components:
ID Type Name PID State
24 User halcmd4719 4719 ready
22 User axisui 4661 ready
20 User inihal 4658 ready
19 RT abs ready
18 RT scale ready
17 RT not ready
16 RT timedelay ready
15 RT and2 ready
14 RT or2 ready
13 RT oneshot ready
12 RT pid ready
11 RT to_pci ready
10 RT __servo-thread ready
9 RT motmod ready
8 RT trivkins ready
7 User halui 4636 ready
5 User iocontrol 4634 ready
Component Pins:
Owner Type Dir Value Name
19 float IN 0 abs.0.in <== spindle-speed-scale
19 bit OUT FALSE abs.0.is-negative
19 bit OUT FALSE abs.0.is-positive
19 float OUT 0 abs.0.out ==> spindle-speed-to_pci.1.dcontrol3
19 bit OUT FALSE abs.0.sign
19 s32 OUT 192 abs.0.time
15 bit IN FALSE and2.0.in0 <== machine-is-enabled
15 bit IN TRUE and2.0.in1 <== timer-in
15 bit OUT FALSE and2.0.out ==> timer-in-1
15 s32 OUT 136 and2.0.time
15 bit IN FALSE and2.1.in0 <== spindle-on
15 bit IN TRUE and2.1.in1 <== timer-in
15 bit OUT FALSE and2.1.out ==> timer-in-2
15 s32 OUT 80 and2.1.time
9 bit OUT TRUE axis.0.active
9 bit OUT FALSE axis.0.amp-enable-out ==> x-enable
9 bit IN FALSE axis.0.amp-fault-in
9 float OUT 0 axis.0.backlash-corr
9 float OUT 0 axis.0.backlash-filt
9 float OUT 0 axis.0.backlash-vel
9 float OUT 0 axis.0.coarse-pos-cmd
9 bit OUT FALSE axis.0.error
9 float OUT 0 axis.0.f-error
9 float OUT 1 axis.0.f-error-lim
9 bit OUT FALSE axis.0.f-errored
9 bit OUT FALSE axis.0.faulted
9 float OUT 0 axis.0.free-pos-cmd
9 bit OUT FALSE axis.0.free-tp-enable
9 float OUT 0 axis.0.free-vel-lim
9 s32 OUT 0 axis.0.home-state
9 bit IN TRUE axis.0.home-sw-in <== home-x
9 bit OUT FALSE axis.0.homed
9 bit OUT FALSE axis.0.homing
9 bit OUT TRUE axis.0.in-position
9 bit I/O FALSE axis.0.index-enable
9 s32 IN 0 axis.0.jog-counts
9 bit IN FALSE axis.0.jog-enable
9 float IN 0 axis.0.jog-scale
9 bit IN FALSE axis.0.jog-vel-mode
9 float OUT 0 axis.0.joint-pos-cmd
9 float OUT 0 axis.0.joint-pos-fb
9 float OUT 0 axis.0.joint-vel-cmd
9 bit OUT FALSE axis.0.kb-jog-active
9 float OUT 0 axis.0.motor-offset
9 float OUT 0 axis.0.motor-pos-cmd ==> x-pos-cmd
9 float IN 0 axis.0.motor-pos-fb <== x-pos-fb
9 bit OUT TRUE axis.0.neg-hard-limit
9 bit IN TRUE axis.0.neg-lim-sw-in <== min-x
9 bit OUT TRUE axis.0.pos-hard-limit
9 bit IN TRUE axis.0.pos-lim-sw-in <== max-x
9 bit OUT FALSE axis.0.wheel-jog-active
9 bit OUT TRUE axis.1.active
9 bit OUT FALSE axis.1.amp-enable-out ==> y-enable
9 bit IN FALSE axis.1.amp-fault-in
9 float OUT 0 axis.1.backlash-corr
9 float OUT 0 axis.1.backlash-filt
9 float OUT 0 axis.1.backlash-vel
9 float OUT 0 axis.1.coarse-pos-cmd
9 bit OUT FALSE axis.1.error
9 float OUT 0 axis.1.f-error
9 float OUT 0.1 axis.1.f-error-lim
9 bit OUT FALSE axis.1.f-errored
9 bit OUT FALSE axis.1.faulted
9 float OUT 0 axis.1.free-pos-cmd
9 bit OUT FALSE axis.1.free-tp-enable
9 float OUT 0 axis.1.free-vel-lim
9 s32 OUT 0 axis.1.home-state
9 bit IN TRUE axis.1.home-sw-in <== home-y
9 bit OUT FALSE axis.1.homed
9 bit OUT FALSE axis.1.homing
9 bit OUT TRUE axis.1.in-position
9 bit I/O FALSE axis.1.index-enable
9 s32 IN 0 axis.1.jog-counts
9 bit IN FALSE axis.1.jog-enable
9 float IN 0 axis.1.jog-scale
9 bit IN FALSE axis.1.jog-vel-mode
9 float OUT 0 axis.1.joint-pos-cmd
9 float OUT 0 axis.1.joint-pos-fb
9 float OUT 0 axis.1.joint-vel-cmd
9 bit OUT FALSE axis.1.kb-jog-active
9 float OUT 0 axis.1.motor-offset
9 float OUT 0 axis.1.motor-pos-cmd ==> y-pos-cmd
9 float IN 0 axis.1.motor-pos-fb <== y-pos-fb
9 bit OUT TRUE axis.1.neg-hard-limit
9 bit IN TRUE axis.1.neg-lim-sw-in <== min-y
9 bit OUT TRUE axis.1.pos-hard-limit
9 bit IN TRUE axis.1.pos-lim-sw-in <== max-y
9 bit OUT FALSE axis.1.wheel-jog-active
9 bit OUT TRUE axis.2.active
9 bit OUT FALSE axis.2.amp-enable-out ==> z-enable
9 bit IN FALSE axis.2.amp-fault-in
9 float OUT 0 axis.2.backlash-corr
9 float OUT 0 axis.2.backlash-filt
9 float OUT 0 axis.2.backlash-vel
9 float OUT 0.001 axis.2.coarse-pos-cmd
9 bit OUT FALSE axis.2.error
9 float OUT 0 axis.2.f-error
9 float OUT 0.1 axis.2.f-error-lim
9 bit OUT FALSE axis.2.f-errored
9 bit OUT FALSE axis.2.faulted
9 float OUT 0.001 axis.2.free-pos-cmd
9 bit OUT FALSE axis.2.free-tp-enable
9 float OUT 0 axis.2.free-vel-lim
9 s32 OUT 0 axis.2.home-state
9 bit IN TRUE axis.2.home-sw-in <== home-z
9 bit OUT FALSE axis.2.homed
9 bit OUT FALSE axis.2.homing
9 bit OUT TRUE axis.2.in-position
9 bit I/O FALSE axis.2.index-enable
9 s32 IN 0 axis.2.jog-counts
9 bit IN FALSE axis.2.jog-enable
9 float IN 0 axis.2.jog-scale
9 bit IN FALSE axis.2.jog-vel-mode
9 float OUT 0.001 axis.2.joint-pos-cmd
9 float OUT 0.001 axis.2.joint-pos-fb
9 float OUT 0 axis.2.joint-vel-cmd
9 bit OUT FALSE axis.2.kb-jog-active
9 float OUT 0 axis.2.motor-offset
9 float OUT 0.001 axis.2.motor-pos-cmd ==> z-pos-cmd
9 float IN 0.001 axis.2.motor-pos-fb <== z-pos-fb
9 bit OUT TRUE axis.2.neg-hard-limit
9 bit IN TRUE axis.2.neg-lim-sw-in <== min-z
9 bit OUT TRUE axis.2.pos-hard-limit
9 bit IN TRUE axis.2.pos-lim-sw-in <== max-z
9 bit OUT FALSE axis.2.wheel-jog-active
22 bit OUT FALSE axisui.jog.a
22 bit OUT FALSE axisui.jog.b
22 bit OUT FALSE axisui.jog.c
22 float OUT 0 axisui.jog.increment
22 bit OUT FALSE axisui.jog.u
22 bit OUT FALSE axisui.jog.v
22 bit OUT FALSE axisui.jog.w
22 bit OUT TRUE axisui.jog.x
22 bit OUT FALSE axisui.jog.y
22 bit OUT FALSE axisui.jog.z
22 bit IN FALSE axisui.notifications-clear
22 bit IN FALSE axisui.notifications-clear-error
22 bit IN FALSE axisui.notifications-clear-info
22 bit IN FALSE axisui.resume-inhibit
7 bit IN FALSE halui.abort
7 float OUT 0 halui.axis.0.pos-commanded
7 float OUT 0 halui.axis.0.pos-feedback
7 float OUT 0 halui.axis.0.pos-relative
7 float OUT 0 halui.axis.1.pos-commanded
7 float OUT 0 halui.axis.1.pos-feedback
7 float OUT 0 halui.axis.1.pos-relative
7 float OUT 0.001 halui.axis.2.pos-commanded
7 float OUT 0.001 halui.axis.2.pos-feedback
7 float OUT 0.001 halui.axis.2.pos-relative
7 float OUT 0 halui.axis.3.pos-commanded
7 float OUT 0 halui.axis.3.pos-feedback
7 float OUT 0 halui.axis.3.pos-relative
7 float OUT 0 halui.axis.4.pos-commanded
7 float OUT 0 halui.axis.4.pos-feedback
7 float OUT 0 halui.axis.4.pos-relative
7 float OUT 0 halui.axis.5.pos-commanded
7 float OUT 0 halui.axis.5.pos-feedback
7 float OUT 0 halui.axis.5.pos-relative
7 float OUT 0 halui.axis.6.pos-commanded
7 float OUT 0 halui.axis.6.pos-feedback
7 float OUT 0 halui.axis.6.pos-relative
7 float OUT 0 halui.axis.7.pos-commanded
7 float OUT 0 halui.axis.7.pos-feedback
7 float OUT 0 halui.axis.7.pos-relative
7 float OUT 0 halui.axis.8.pos-commanded
7 float OUT 0 halui.axis.8.pos-feedback
7 float OUT 0 halui.axis.8.pos-relative
7 bit IN FALSE halui.estop.activate
7 bit OUT FALSE halui.estop.is-activated
7 bit IN FALSE halui.estop.reset
7 bit IN TRUE halui.feed-override.count-enable
7 s32 IN 0 halui.feed-override.counts
7 bit IN FALSE halui.feed-override.decrease
7 bit IN FALSE halui.feed-override.direct-value
7 bit IN FALSE halui.feed-override.increase
7 float IN 0.1 halui.feed-override.scale
7 float OUT 1 halui.feed-override.value
7 bit OUT FALSE halui.flood.is-on
7 bit IN FALSE halui.flood.off
7 bit IN FALSE halui.flood.on
7 bit IN FALSE halui.home-all
7 float IN 0.2 halui.jog-deadband
7 float IN 0 halui.jog-speed
7 float IN 0 halui.jog.0.analog
7 float IN 0 halui.jog.0.increment
7 bit IN FALSE halui.jog.0.increment-minus
7 bit IN FALSE halui.jog.0.increment-plus
7 bit IN FALSE halui.jog.0.minus
7 bit IN FALSE halui.jog.0.plus
7 float IN 0 halui.jog.1.analog
7 float IN 0 halui.jog.1.increment
7 bit IN FALSE halui.jog.1.increment-minus
7 bit IN FALSE halui.jog.1.increment-plus
7 bit IN FALSE halui.jog.1.minus
7 bit IN FALSE halui.jog.1.plus
7 float IN 0 halui.jog.2.analog
7 float IN 0 halui.jog.2.increment
7 bit IN FALSE halui.jog.2.increment-minus
7 bit IN FALSE halui.jog.2.increment-plus
7 bit IN FALSE halui.jog.2.minus
7 bit IN FALSE halui.jog.2.plus
7 float IN 0 halui.jog.selected.increment
7 bit IN FALSE halui.jog.selected.increment-minus
7 bit IN FALSE halui.jog.selected.increment-plus
7 bit IN FALSE halui.jog.selected.minus
7 bit IN FALSE halui.jog.selected.plus
7 bit OUT FALSE halui.joint.0.has-fault
7 bit IN FALSE halui.joint.0.home
7 bit OUT FALSE halui.joint.0.is-homed
7 bit OUT FALSE halui.joint.0.is-selected
7 bit OUT TRUE halui.joint.0.on-hard-max-limit
7 bit OUT TRUE halui.joint.0.on-hard-min-limit
7 bit OUT FALSE halui.joint.0.on-soft-max-limit
7 bit OUT FALSE halui.joint.0.on-soft-min-limit
7 bit IN FALSE halui.joint.0.select
7 bit IN FALSE halui.joint.0.unhome
7 bit OUT FALSE halui.joint.1.has-fault
7 bit IN FALSE halui.joint.1.home
7 bit OUT FALSE halui.joint.1.is-homed
7 bit OUT FALSE halui.joint.1.is-selected
7 bit OUT TRUE halui.joint.1.on-hard-max-limit
7 bit OUT TRUE halui.joint.1.on-hard-min-limit
7 bit OUT FALSE halui.joint.1.on-soft-max-limit
7 bit OUT FALSE halui.joint.1.on-soft-min-limit
7 bit IN FALSE halui.joint.1.select
7 bit IN FALSE halui.joint.1.unhome
7 bit OUT FALSE halui.joint.2.has-fault
7 bit IN FALSE halui.joint.2.home
7 bit OUT FALSE halui.joint.2.is-homed
7 bit OUT FALSE halui.joint.2.is-selected
7 bit OUT TRUE halui.joint.2.on-hard-max-limit
7 bit OUT TRUE halui.joint.2.on-hard-min-limit
7 bit OUT FALSE halui.joint.2.on-soft-max-limit
7 bit OUT FALSE halui.joint.2.on-soft-min-limit
7 bit IN FALSE halui.joint.2.select
7 bit IN FALSE halui.joint.2.unhome
7 u32 OUT 0x00000000 halui.joint.selected
7 bit OUT FALSE halui.joint.selected.has-fault
7 bit IN FALSE halui.joint.selected.home
7 bit OUT FALSE halui.joint.selected.is_homed
7 bit OUT TRUE halui.joint.selected.on-hard-max-limit
7 bit OUT TRUE halui.joint.selected.on-hard-min-limit
7 bit OUT FALSE halui.joint.selected.on-soft-limit
7 bit OUT FALSE halui.joint.selected.on-soft-min-limit
7 bit IN FALSE halui.joint.selected.unhome
7 bit OUT FALSE halui.lube.is-on
7 bit IN FALSE halui.lube.off
7 bit IN FALSE halui.lube.on
7 bit OUT FALSE halui.machine.is-on
7 bit IN FALSE halui.machine.off
7 bit IN FALSE halui.machine.on
7 bit IN TRUE halui.max-velocity.count-enable
7 s32 IN 0 halui.max-velocity.counts
7 bit IN FALSE halui.max-velocity.decrease
7 bit IN FALSE halui.max-velocity.direct-value
7 bit IN FALSE halui.max-velocity.increase
7 float IN 0 halui.max-velocity.scale
7 float OUT 80 halui.max-velocity.value
7 bit OUT FALSE halui.mist.is-on
7 bit IN FALSE halui.mist.off
7 bit IN FALSE halui.mist.on
7 bit IN FALSE halui.mode.auto
7 bit OUT TRUE halui.mode.is-auto
7 bit OUT TRUE halui.mode.is-joint
7 bit OUT FALSE halui.mode.is-manual
7 bit OUT FALSE halui.mode.is-mdi
7 bit OUT FALSE halui.mode.is-teleop
7 bit IN FALSE halui.mode.joint
7 bit IN FALSE halui.mode.manual
7 bit IN FALSE halui.mode.mdi
7 bit IN FALSE halui.mode.teleop
7 bit OUT TRUE halui.program.block-delete.is-on
7 bit IN FALSE halui.program.block-delete.off
7 bit IN FALSE halui.program.block-delete.on
7 bit OUT TRUE halui.program.is-idle
7 bit OUT FALSE halui.program.is-paused
7 bit OUT FALSE halui.program.is-running
7 bit OUT TRUE halui.program.optional-stop.is-on
7 bit IN FALSE halui.program.optional-stop.off
7 bit IN FALSE halui.program.optional-stop.on
7 bit IN FALSE halui.program.pause
7 bit IN FALSE halui.program.resume
7 bit IN FALSE halui.program.run
7 bit IN FALSE halui.program.step
7 bit IN FALSE halui.program.stop
7 bit IN TRUE halui.rapid-override.count-enable
7 s32 IN 0 halui.rapid-override.counts
7 bit IN FALSE halui.rapid-override.decrease
7 bit IN FALSE halui.rapid-override.direct-value
7 bit IN FALSE halui.rapid-override.increase
7 float IN 0.1 halui.rapid-override.scale
7 float OUT 1 halui.rapid-override.value
7 bit IN TRUE halui.spindle-override.count-enable
7 s32 IN 0 halui.spindle-override.counts
7 bit IN FALSE halui.spindle-override.decrease
7 bit IN FALSE halui.spindle-override.direct-value
7 bit IN FALSE halui.spindle-override.increase
7 float IN 0.1 halui.spindle-override.scale
7 float OUT 1 halui.spindle-override.value
7 bit OUT TRUE halui.spindle.brake-is-on
7 bit IN FALSE halui.spindle.brake-off
7 bit IN FALSE halui.spindle.brake-on
7 bit IN FALSE halui.spindle.decrease
7 bit IN FALSE halui.spindle.forward
7 bit IN FALSE halui.spindle.increase
7 bit OUT FALSE halui.spindle.is-on
7 bit IN FALSE halui.spindle.reverse
7 bit OUT FALSE halui.spindle.runs-backward
7 bit OUT FALSE halui.spindle.runs-forward
7 bit IN FALSE halui.spindle.start
7 bit IN FALSE halui.spindle.stop
7 float OUT 0 halui.tool.length_offset.a
7 float OUT 0 halui.tool.length_offset.b
7 float OUT 0 halui.tool.length_offset.c
7 float OUT 0 halui.tool.length_offset.u
7 float OUT 0 halui.tool.length_offset.v
7 float OUT 0 halui.tool.length_offset.w
7 float OUT 0 halui.tool.length_offset.x
7 float OUT 0 halui.tool.length_offset.y
7 float OUT 0 halui.tool.length_offset.z
7 u32 OUT 0x00000000 halui.tool.number
20 float IN 0 ini.0.backlash
20 float IN 40 ini.0.ferror
20 float IN 200 ini.0.max_acceleration
20 float IN 400 ini.0.max_limit
20 float IN 50 ini.0.max_velocity
20 float IN 1 ini.0.min_ferror
20 float IN 0 ini.0.min_limit
20 float IN 0 ini.1.backlash
20 float IN 40 ini.1.ferror
20 float IN 200 ini.1.max_acceleration
20 float IN 300 ini.1.max_limit
20 float IN 50 ini.1.max_velocity
20 float IN 0.1 ini.1.min_ferror
20 float IN 0 ini.1.min_limit
20 float IN 0 ini.2.backlash
20 float IN 40 ini.2.ferror
20 float IN 200 ini.2.max_acceleration
20 float IN 0 ini.2.max_limit
20 float IN 50 ini.2.max_velocity
20 float IN 0.1 ini.2.min_ferror
20 float IN -400 ini.2.min_limit
20 float IN 0 ini.3.backlash
20 float IN 0 ini.3.ferror
20 float IN 0 ini.3.max_acceleration
20 float IN 0 ini.3.max_limit
20 float IN 0 ini.3.max_velocity
20 float IN 0 ini.3.min_ferror
20 float IN 0 ini.3.min_limit
20 float IN 0 ini.4.backlash
20 float IN 0 ini.4.ferror
20 float IN 0 ini.4.max_acceleration
20 float IN 0 ini.4.max_limit
20 float IN 0 ini.4.max_velocity
20 float IN 0 ini.4.min_ferror
20 float IN 0 ini.4.min_limit
20 float IN 0 ini.5.backlash
20 float IN 0 ini.5.ferror
20 float IN 0 ini.5.max_acceleration
20 float IN 0 ini.5.max_limit
20 float IN 0 ini.5.max_velocity
20 float IN 0 ini.5.min_ferror
20 float IN 0 ini.5.min_limit
20 float IN 0 ini.6.backlash
20 float IN 0 ini.6.ferror
20 float IN 0 ini.6.max_acceleration
20 float IN 0 ini.6.max_limit
20 float IN 0 ini.6.max_velocity
20 float IN 0 ini.6.min_ferror
20 float IN 0 ini.6.min_limit
20 float IN 0 ini.7.backlash
20 float IN 0 ini.7.ferror
20 float IN 0 ini.7.max_acceleration
20 float IN 0 ini.7.max_limit
20 float IN 0 ini.7.max_velocity
20 float IN 0 ini.7.min_ferror
20 float IN 0 ini.7.min_limit
20 float IN 0 ini.8.backlash
20 float IN 0 ini.8.ferror
20 float IN 0 ini.8.max_acceleration
20 float IN 0 ini.8.max_limit
20 float IN 0 ini.8.max_velocity
20 float IN 0 ini.8.min_ferror
20 float IN 0 ini.8.min_limit
20 bit IN TRUE ini.traj_arc_blend_enable
20 bit IN FALSE ini.traj_arc_blend_fallback_enable
20 float IN 4 ini.traj_arc_blend_gap_cycles
20 s32 IN 50 ini.traj_arc_blend_optimization_depth
20 float IN 100 ini.traj_arc_blend_ramp_freq
20 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio
20 float IN 1e+99 ini.traj_default_acceleration
20 float IN 8 ini.traj_default_velocity
20 float IN 1e+99 ini.traj_max_acceleration
20 float IN 1e+99 ini.traj_max_velocity
5 bit OUT FALSE iocontrol.0.coolant-flood
5 bit OUT FALSE iocontrol.0.coolant-mist
5 bit IN TRUE iocontrol.0.emc-enable-in <== estop-ext
5 bit OUT FALSE iocontrol.0.lube
5 bit IN FALSE iocontrol.0.lube_level
5 bit OUT FALSE iocontrol.0.tool-change
5 bit IN FALSE iocontrol.0.tool-changed
5 s32 OUT 0 iocontrol.0.tool-number
5 s32 OUT 0 iocontrol.0.tool-prep-number
5 s32 OUT 0 iocontrol.0.tool-prep-pocket
5 bit OUT FALSE iocontrol.0.tool-prepare
5 bit IN FALSE iocontrol.0.tool-prepared
5 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-ext
5 bit OUT FALSE iocontrol.0.user-request-enable
9 s32 OUT 254 motion-command-handler.time
9 s32 OUT 4186 motion-controller.time
9 float IN 1 motion.adaptive-feed
9 float IN 0 motion.analog-in-00
9 float IN 0 motion.analog-in-01
9 float IN 0 motion.analog-in-02
9 float IN 0 motion.analog-in-03
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.coord-error
9 bit OUT TRUE motion.coord-mode
9 float OUT 0 motion.current-vel
9 bit IN FALSE motion.digital-in-00
9 bit IN FALSE motion.digital-in-01
9 bit IN FALSE motion.digital-in-02
9 bit IN FALSE motion.digital-in-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.distance-to-go
9 bit IN TRUE motion.enable
9 bit IN FALSE motion.feed-hold
9 bit IN FALSE motion.feed-inhibit
9 bit OUT TRUE motion.in-position ==> in-position
9 bit OUT FALSE motion.motion-enabled ==> machine-is-enabled
9 s32 OUT 0 motion.motion-type
9 bit OUT FALSE motion.on-soft-limit
9 bit IN FALSE motion.probe-input
9 s32 OUT 0 motion.program-line
9 float OUT 0 motion.requested-vel
9 bit IN TRUE motion.spindle-at-speed <== spindle-enable
9 bit OUT TRUE motion.spindle-brake
9 bit OUT FALSE motion.spindle-forward ==> spindle-cw
9 bit I/O FALSE motion.spindle-index-enable
9 bit IN FALSE motion.spindle-inhibit
9 bit IN FALSE motion.spindle-is-oriented
9 bit OUT FALSE motion.spindle-locked
9 bit OUT FALSE motion.spindle-on ==> spindle-on
9 bit OUT FALSE motion.spindle-orient
9 float OUT 0 motion.spindle-orient-angle
9 s32 IN 0 motion.spindle-orient-fault
9 s32 OUT 0 motion.spindle-orient-mode
9 bit OUT FALSE motion.spindle-reverse ==> spindle-ccw
9 float IN 0 motion.spindle-revs
9 float OUT 0 motion.spindle-speed-cmd-rps
9 float IN 0 motion.spindle-speed-in
9 float OUT 0 motion.spindle-speed-out ==> spindle-speed-scale
9 float OUT 0 motion.spindle-speed-out-abs
9 float OUT 0 motion.spindle-speed-out-rps
9 float OUT 0 motion.spindle-speed-out-rps-abs
9 bit OUT FALSE motion.teleop-mode
9 float OUT 0 motion.tooloffset.a
9 float OUT 0 motion.tooloffset.b
9 float OUT 0 motion.tooloffset.c
9 float OUT 0 motion.tooloffset.u
9 float OUT 0 motion.tooloffset.v
9 float OUT 0 motion.tooloffset.w
9 float OUT 0 motion.tooloffset.x
9 float OUT 0 motion.tooloffset.y
9 float OUT 0 motion.tooloffset.z
17 bit IN FALSE not.0.in <== timer-delay
17 bit OUT TRUE not.0.out ==> timer-in
17 s32 OUT 96 not.0.time
17 bit IN FALSE not.1.in <== timer-delay.1
17 bit OUT TRUE not.1.out ==> timer-in.1
17 s32 OUT 36 not.1.time
13 bit IN FALSE oneshot.0.in <== machine-is-enabled
13 bit OUT FALSE oneshot.0.out ==> delay
13 bit OUT TRUE oneshot.0.out-not
13 s32 OUT 120 oneshot.0.time
13 float OUT 0 oneshot.0.time-left
13 float IN 3 oneshot.0.width
14 bit IN FALSE or2.0.in0 <== delay
14 bit IN FALSE or2.0.in1 <== timer-delay
14 bit OUT FALSE or2.0.out ==> rail-lube
14 s32 OUT 88 or2.0.time
12 float IN 0.02 pid.x.Dgain
12 float IN 0 pid.x.FF0
12 float IN 0.065 pid.x.FF1
12 float IN 0 pid.x.FF2
12 float IN 0 pid.x.Igain
12 float IN 4 pid.x.Pgain
12 float IN 0 pid.x.bias
12 float IN 0 pid.x.command <== x-pos-cmd
12 float IN 0 pid.x.command-deriv
12 float IN 0 pid.x.deadband
12 s32 OUT 148 pid.x.do-pid-calcs.time
12 bit IN FALSE pid.x.enable <== x-enable
12 float OUT 0 pid.x.error
12 bit IN TRUE pid.x.error-previous-target
12 float IN 0 pid.x.feedback <== x-pos-fb
12 float IN 0 pid.x.feedback-deriv
12 bit IN FALSE pid.x.index-enable
12 float IN 0 pid.x.maxcmdD
12 float IN 0 pid.x.maxcmdDD
12 float IN 0 pid.x.maxerror
12 float IN 0 pid.x.maxerrorD
12 float IN 0 pid.x.maxerrorI
12 float IN 10 pid.x.maxoutput
12 float OUT 0 pid.x.output ==> x-output
12 bit OUT FALSE pid.x.saturated
12 s32 OUT 0 pid.x.saturated-count
12 float OUT 0 pid.x.saturated-s
12 float IN 0 pid.y.Dgain
12 float IN 0 pid.y.FF0
12 float IN 0 pid.y.FF1
12 float IN 0 pid.y.FF2
12 float IN 0 pid.y.Igain
12 float IN 10 pid.y.Pgain
12 float IN 0 pid.y.bias
12 float IN 0 pid.y.command <== y-pos-cmd
12 float IN 0 pid.y.command-deriv
12 float IN 0 pid.y.deadband
12 s32 OUT 96 pid.y.do-pid-calcs.time
12 bit IN FALSE pid.y.enable <== y-enable
12 float OUT 0 pid.y.error
12 bit IN TRUE pid.y.error-previous-target
12 float IN 0 pid.y.feedback <== y-pos-fb
12 float IN 0 pid.y.feedback-deriv
12 bit IN FALSE pid.y.index-enable
12 float IN 0 pid.y.maxcmdD
12 float IN 0 pid.y.maxcmdDD
12 float IN 0 pid.y.maxerror
12 float IN 0 pid.y.maxerrorD
12 float IN 0 pid.y.maxerrorI
12 float IN 10 pid.y.maxoutput
12 float OUT 0 pid.y.output ==> y-output
12 bit OUT FALSE pid.y.saturated
12 s32 OUT 0 pid.y.saturated-count
12 float OUT 0 pid.y.saturated-s
12 float IN 0.02 pid.z.Dgain
12 float IN 0 pid.z.FF0
12 float IN 0.065 pid.z.FF1
12 float IN 0 pid.z.FF2
12 float IN 0 pid.z.Igain
12 float IN 4 pid.z.Pgain
12 float IN 0 pid.z.bias
12 float IN 0.001 pid.z.command <== z-pos-cmd
12 float IN 0 pid.z.command-deriv
12 float IN 0 pid.z.deadband
12 s32 OUT 124 pid.z.do-pid-calcs.time
12 bit IN FALSE pid.z.enable <== z-enable
12 float OUT 0 pid.z.error
12 bit IN TRUE pid.z.error-previous-target
12 float IN 0.001 pid.z.feedback <== z-pos-fb
12 float IN 0 pid.z.feedback-deriv
12 bit IN FALSE pid.z.index-enable
12 float IN 0 pid.z.maxcmdD
12 float IN 0 pid.z.maxcmdDD
12 float IN 0 pid.z.maxerror
12 float IN 0 pid.z.maxerrorD
12 float IN 0 pid.z.maxerrorI
12 float IN 10 pid.z.maxoutput
12 float OUT 0 pid.z.output ==> z-output
12 bit OUT FALSE pid.z.saturated
12 s32 OUT 0 pid.z.saturated-count
12 float OUT 0 pid.z.saturated-s
22 bit OUT FALSE pyvcp.button ==> buton_test
18 float IN 0.007 scale.0.gain
18 float IN 0 scale.0.in
18 float IN 0 scale.0.offset
18 float OUT 0 scale.0.out
18 s32 OUT 120 scale.0.time
10 s32 OUT 88384 servo-thread.time
16 float OUT 0.000999944 timedelay.0.elapsed
16 bit IN FALSE timedelay.0.in <== timer-in-1
16 float IN 3 timedelay.0.off-delay
16 float IN 600 timedelay.0.on-delay
16 bit OUT FALSE timedelay.0.out ==> timer-delay
16 s32 OUT 272 timedelay.0.time
16 float OUT 0 timedelay.1.elapsed
16 bit IN FALSE timedelay.1.in <== timer-in-2
16 float IN 10 timedelay.1.off-delay
16 float IN 900 timedelay.1.on-delay
16 bit OUT FALSE timedelay.1.out ==> timer-delay.1
16 s32 OUT 36 timedelay.1.time
11 float IN 0 to_pci.1.dcontrol0 <== x-output
11 float IN 0 to_pci.1.dcontrol1 <== y-output
11 float IN 0 to_pci.1.dcontrol2 <== z-output
11 float IN 0 to_pci.1.dcontrol3 <== spindle-speed-to_pci.1.dcontrol3
11 float IN 0 to_pci.1.dcontrol4
11 bit IN FALSE to_pci.1.enable_drive <== x-enable
11 float IN 1000 to_pci.1.feedback.enc_scale0
11 float IN 1000 to_pci.1.feedback.enc_scale1
11 float IN 1000 to_pci.1.feedback.enc_scale2
11 float IN 0 to_pci.1.feedback.enc_scale3
11 float IN 0 to_pci.1.feedback.enc_scale4
11 float OUT 0 to_pci.1.feedback.encoder0 ==> x-pos-fb
11 float OUT 0 to_pci.1.feedback.encoder1 ==> y-pos-fb
11 float OUT 0.001 to_pci.1.feedback.encoder2 ==> z-pos-fb
11 float OUT -nan to_pci.1.feedback.encoder3
11 float OUT -nan to_pci.1.feedback.encoder4
11 bit I/O FALSE to_pci.1.feedback.index_en0
11 bit I/O FALSE to_pci.1.feedback.index_en1
11 bit I/O FALSE to_pci.1.feedback.index_en2
11 bit I/O FALSE to_pci.1.feedback.index_en3
11 bit I/O FALSE to_pci.1.feedback.index_en4
11 float IN 1 to_pci.1.out_scale0
11 float IN -1 to_pci.1.out_scale1
11 float IN 1 to_pci.1.out_scale2
11 float IN 0.007 to_pci.1.out_scale3
11 float IN 0 to_pci.1.out_scale4
11 bit OUT FALSE to_pci.1.pins.pin-00-in
11 bit OUT TRUE to_pci.1.pins.pin-00-in-n ==> max-x
11 bit IN FALSE to_pci.1.pins.pin-00-out <== machine-is-enabled
11 bit OUT FALSE to_pci.1.pins.pin-01-in
11 bit OUT TRUE to_pci.1.pins.pin-01-in-n ==> min-x
11 bit IN FALSE to_pci.1.pins.pin-01-out
11 bit OUT FALSE to_pci.1.pins.pin-02-in
11 bit OUT TRUE to_pci.1.pins.pin-02-in-n ==> home-x
11 bit IN FALSE to_pci.1.pins.pin-02-out
11 bit OUT FALSE to_pci.1.pins.pin-03-in
11 bit OUT TRUE to_pci.1.pins.pin-03-in-n ==> max-y
11 bit IN FALSE to_pci.1.pins.pin-03-out
11 bit OUT FALSE to_pci.1.pins.pin-04-in
11 bit OUT TRUE to_pci.1.pins.pin-04-in-n ==> min-y
11 bit IN FALSE to_pci.1.pins.pin-04-out
11 bit OUT FALSE to_pci.1.pins.pin-05-in
11 bit OUT TRUE to_pci.1.pins.pin-05-in-n ==> home-y
11 bit IN FALSE to_pci.1.pins.pin-05-out
11 bit OUT FALSE to_pci.1.pins.pin-06-in
11 bit OUT TRUE to_pci.1.pins.pin-06-in-n ==> max-z
11 bit IN FALSE to_pci.1.pins.pin-06-out
11 bit OUT FALSE to_pci.1.pins.pin-07-in
11 bit OUT TRUE to_pci.1.pins.pin-07-in-n ==> min-z
11 bit IN FALSE to_pci.1.pins.pin-07-out
11 bit OUT FALSE to_pci.1.pins.pin-08-in
11 bit OUT TRUE to_pci.1.pins.pin-08-in-n ==> home-z
11 bit IN FALSE to_pci.1.pins.pin-08-out <== spindle-cw
11 bit OUT FALSE to_pci.1.pins.pin-09-in
11 bit OUT TRUE to_pci.1.pins.pin-09-in-n
11 bit IN FALSE to_pci.1.pins.pin-09-out <== spindle-ccw
11 bit OUT FALSE to_pci.1.pins.pin-10-in
11 bit OUT TRUE to_pci.1.pins.pin-10-in-n
11 bit IN FALSE to_pci.1.pins.pin-10-out <== rail-lube
11 bit OUT FALSE to_pci.1.pins.pin-11-in
11 bit OUT TRUE to_pci.1.pins.pin-11-in-n
11 bit IN FALSE to_pci.1.pins.pin-11-out <== spindle-lube
11 bit OUT FALSE to_pci.1.pins.pin-12-in
11 bit OUT TRUE to_pci.1.pins.pin-12-in-n
11 bit IN FALSE to_pci.1.pins.pin-12-out
11 bit OUT FALSE to_pci.1.pins.pin-13-in
11 bit OUT TRUE to_pci.1.pins.pin-13-in-n
11 bit IN FALSE to_pci.1.pins.pin-13-out
11 bit OUT FALSE to_pci.1.pins.pin-14-in
11 bit OUT TRUE to_pci.1.pins.pin-14-in-n
11 bit IN FALSE to_pci.1.pins.pin-14-out <== buton_test
11 bit OUT FALSE to_pci.1.pins.pin-15-in
11 bit OUT TRUE to_pci.1.pins.pin-15-in-n
11 bit IN FALSE to_pci.1.pins.pin-15-out
11 bit OUT FALSE to_pci.1.pins.pin-16-in
11 bit OUT TRUE to_pci.1.pins.pin-16-in-n
11 bit OUT FALSE to_pci.1.pins.pin-17-in
11 bit OUT TRUE to_pci.1.pins.pin-17-in-n
11 bit OUT FALSE to_pci.1.pins.pin-18-in
11 bit OUT TRUE to_pci.1.pins.pin-18-in-n
11 bit OUT FALSE to_pci.1.pins.pin-19-in
11 bit OUT TRUE to_pci.1.pins.pin-19-in-n
11 bit OUT FALSE to_pci.1.pins.pin-20-in
11 bit OUT TRUE to_pci.1.pins.pin-20-in-n
11 bit OUT FALSE to_pci.1.pins.pin-21-in
11 bit OUT TRUE to_pci.1.pins.pin-21-in-n
11 bit OUT FALSE to_pci.1.pins.pin-22-in
11 bit OUT TRUE to_pci.1.pins.pin-22-in-n
11 bit OUT FALSE to_pci.1.pins.pin-23-in
11 bit OUT TRUE to_pci.1.pins.pin-23-in-n
11 bit OUT FALSE to_pci.1.pins.pin-24-in
11 bit OUT TRUE to_pci.1.pins.pin-24-in-n
11 bit OUT FALSE to_pci.1.pins.pin-25-in
11 bit OUT TRUE to_pci.1.pins.pin-25-in-n
11 bit OUT FALSE to_pci.1.pins.pin-26-in
11 bit OUT TRUE to_pci.1.pins.pin-26-in-n
11 bit OUT FALSE to_pci.1.pins.pin-27-in
11 bit OUT TRUE to_pci.1.pins.pin-27-in-n
11 bit OUT FALSE to_pci.1.pins.pin-28-in
11 bit OUT TRUE to_pci.1.pins.pin-28-in-n
11 bit OUT FALSE to_pci.1.pins.pin-29-in
11 bit OUT TRUE to_pci.1.pins.pin-29-in-n
11 bit OUT FALSE to_pci.1.pins.pin-30-in
11 bit OUT TRUE to_pci.1.pins.pin-30-in-n
11 bit OUT FALSE to_pci.1.pins.pin-31-in
11 bit OUT TRUE to_pci.1.pins.pin-31-in-n
11 s32 OUT 87547 to_pci.1.update.time
Pin Aliases:
Alias Original Name
Signals:
Type Value Name (linked to)
bit FALSE buton_test
<== pyvcp.button
==> to_pci.1.pins.pin-14-out
bit FALSE delay
<== oneshot.0.out
==> or2.0.in0
bit TRUE estop-ext
==> iocontrol.0.emc-enable-in
<== iocontrol.0.user-enable-out
bit TRUE home-x
==> axis.0.home-sw-in
<== to_pci.1.pins.pin-02-in-n
bit TRUE home-y
==> axis.1.home-sw-in
<== to_pci.1.pins.pin-05-in-n
bit TRUE home-z
==> axis.2.home-sw-in
<== to_pci.1.pins.pin-08-in-n
bit TRUE in-position
<== motion.in-position
bit FALSE machine-is-enabled
==> and2.0.in0
<== motion.motion-enabled
==> oneshot.0.in
==> to_pci.1.pins.pin-00-out
bit TRUE max-x
==> axis.0.pos-lim-sw-in
<== to_pci.1.pins.pin-00-in-n
bit TRUE max-y
==> axis.1.pos-lim-sw-in
<== to_pci.1.pins.pin-03-in-n
bit TRUE max-z
==> axis.2.pos-lim-sw-in
<== to_pci.1.pins.pin-06-in-n
bit TRUE min-x
==> axis.0.neg-lim-sw-in
<== to_pci.1.pins.pin-01-in-n
bit TRUE min-y
==> axis.1.neg-lim-sw-in
<== to_pci.1.pins.pin-04-in-n
bit TRUE min-z
==> axis.2.neg-lim-sw-in
<== to_pci.1.pins.pin-07-in-n
bit FALSE rail-lube
<== or2.0.out
==> to_pci.1.pins.pin-10-out
bit FALSE spindle-ccw
<== motion.spindle-reverse
==> to_pci.1.pins.pin-09-out
bit FALSE spindle-cw
<== motion.spindle-forward
==> to_pci.1.pins.pin-08-out
bit TRUE spindle-enable
==> motion.spindle-at-speed
bit FALSE spindle-lube
==> to_pci.1.pins.pin-11-out
bit FALSE spindle-on
==> and2.1.in0
<== motion.spindle-on
float 0 spindle-speed-scale
==> abs.0.in
<== motion.spindle-speed-out
float 0 spindle-speed-to_pci.1.dcontrol3
<== abs.0.out
==> to_pci.1.dcontrol3
bit FALSE timer-delay
==> not.0.in
==> or2.0.in1
<== timedelay.0.out
bit FALSE timer-delay.1
==> not.1.in
<== timedelay.1.out
bit TRUE timer-in
==> and2.0.in1
==> and2.1.in1
<== not.0.out
bit FALSE timer-in-1
<== and2.0.out
==> timedelay.0.in
bit FALSE timer-in-2
<== and2.1.out
==> timedelay.1.in
bit TRUE timer-in.1
<== not.1.out
bit FALSE x-enable
<== axis.0.amp-enable-out
==> pid.x.enable
==> to_pci.1.enable_drive
float 0 x-output
<== pid.x.output
==> to_pci.1.dcontrol0
float 0 x-pos-cmd
<== axis.0.motor-pos-cmd
==> pid.x.command
float 0 x-pos-fb
==> axis.0.motor-pos-fb
==> pid.x.feedback
<== to_pci.1.feedback.encoder0
bit FALSE y-enable
<== axis.1.amp-enable-out
==> pid.y.enable
float 0 y-output
<== pid.y.output
==> to_pci.1.dcontrol1
float 0 y-pos-cmd
<== axis.1.motor-pos-cmd
==> pid.y.command
float 0 y-pos-fb
==> axis.1.motor-pos-fb
==> pid.y.feedback
<== to_pci.1.feedback.encoder1
bit FALSE z-enable
<== axis.2.amp-enable-out
==> pid.z.enable
float 0 z-output
<== pid.z.output
==> to_pci.1.dcontrol2
float 0.001 z-pos-cmd
<== axis.2.motor-pos-cmd
==> pid.z.command
float 0.001 z-pos-fb
==> axis.2.motor-pos-fb
==> pid.z.feedback
<== to_pci.1.feedback.encoder2
Parameters:
Owner Type Dir Value Name
19 s32 RW 22858 abs.0.tmax
19 bit RO FALSE abs.0.tmax-increased
15 s32 RW 22585 and2.0.tmax
15 bit RO FALSE and2.0.tmax-increased
15 s32 RW 3708 and2.1.tmax
15 bit RO FALSE and2.1.tmax-increased
5 s32 RO 0 iocontrol.0.tool-prep-index
9 s32 RW 23603 motion-command-handler.tmax
9 bit RO FALSE motion-command-handler.tmax-increased
9 s32 RW 76160 motion-controller.tmax
9 bit RO FALSE motion-controller.tmax-increased
9 bit RO FALSE motion.debug-bit-0
9 bit RO FALSE motion.debug-bit-1
9 float RO 1 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 0x002DA494 motion.servo.last-period
9 float RO 999392.3 motion.servo.last-period-ns
9 u32 RW 0x00000000 motion.servo.overruns
17 s32 RW 24834 not.0.tmax
17 bit RO FALSE not.0.tmax-increased
17 s32 RW 3210 not.1.tmax
17 bit RO FALSE not.1.tmax-increased
13 bit RW FALSE oneshot.0.falling
13 bit RW TRUE oneshot.0.retriggerable
13 bit RW TRUE oneshot.0.rising
13 s32 RW 23645 oneshot.0.tmax
13 bit RO FALSE oneshot.0.tmax-increased
14 s32 RW 22661 or2.0.tmax
14 bit RO FALSE or2.0.tmax-increased
12 s32 RW 23583 pid.x.do-pid-calcs.tmax
12 bit RO FALSE pid.x.do-pid-calcs.tmax-increased
12 s32 RW 5984 pid.y.do-pid-calcs.tmax
12 bit RO FALSE pid.y.do-pid-calcs.tmax-increased
12 s32 RW 22980 pid.z.do-pid-calcs.tmax
12 bit RO FALSE pid.z.do-pid-calcs.tmax-increased
18 s32 RW 22861 scale.0.tmax
18 bit RO FALSE scale.0.tmax-increased
10 s32 RW 247696 servo-thread.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
16 s32 RW 22949 timedelay.0.tmax
16 bit RO FALSE timedelay.0.tmax-increased
16 s32 RW 2436 timedelay.1.tmax
16 bit RO FALSE timedelay.1.tmax-increased
11 s32 RW 138124 to_pci.1.update.tmax
11 bit RO FALSE to_pci.1.update.tmax-increased
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
00019 f9a25000 f977c7a8 YES 1 abs.0
00015 f9765000 f977c660 NO 1 and2.0
00015 f9765000 f977c670 NO 1 and2.1
00009 f971e930 00000000 YES 1 motion-command-handler
00009 f97213f0 00000000 YES 1 motion-controller
00017 f9a1b000 f977c6e0 NO 1 not.0
00017 f9a1b000 f977c6f0 NO 1 not.1
00013 f9748000 f977c600 YES 1 oneshot.0
00014 f9760000 f977c640 NO 1 or2.0
00012 f94c1000 f977c390 YES 1 pid.x.do-pid-calcs
00012 f94c1000 f977c4d8 YES 1 pid.y.do-pid-calcs
00012 f94c1000 f977c434 YES 1 pid.z.do-pid-calcs
00018 f9a20000 f977c780 YES 1 scale.0
00016 f9a16000 f977c690 YES 1 timedelay.0
00016 f9a16000 f977c6b0 YES 1 timedelay.1
00011 f974d3ff f977c198 YES 1 to_pci.1.update
Realtime Threads:
Period FP Name ( Time, Max-Time )
999944 YES servo-thread ( 104544, 247696 )
1 to_pci.1.update
2 motion-command-handler
3 motion-controller
4 pid.x.do-pid-calcs
5 pid.z.do-pid-calcs
6 pid.y.do-pid-calcs
7 oneshot.0
8 or2.0
9 and2.0
10 timedelay.0
11 not.0
12 timedelay.1
13 not.1
14 and2.1
15 scale.0
16 abs.0
andrey@maincoon:~$
Loaded HAL Components:
ID Type Name PID State
24 User halcmd4719 4719 ready
22 User axisui 4661 ready
20 User inihal 4658 ready
19 RT abs ready
18 RT scale ready
17 RT not ready
16 RT timedelay ready
15 RT and2 ready
14 RT or2 ready
13 RT oneshot ready
12 RT pid ready
11 RT to_pci ready
10 RT __servo-thread ready
9 RT motmod ready
8 RT trivkins ready
7 User halui 4636 ready
5 User iocontrol 4634 ready
Component Pins:
Owner Type Dir Value Name
19 float IN 0 abs.0.in <== spindle-speed-scale
19 bit OUT FALSE abs.0.is-negative
19 bit OUT FALSE abs.0.is-positive
19 float OUT 0 abs.0.out ==> spindle-speed-to_pci.1.dcontrol3
19 bit OUT FALSE abs.0.sign
19 s32 OUT 192 abs.0.time
15 bit IN FALSE and2.0.in0 <== machine-is-enabled
15 bit IN TRUE and2.0.in1 <== timer-in
15 bit OUT FALSE and2.0.out ==> timer-in-1
15 s32 OUT 136 and2.0.time
15 bit IN FALSE and2.1.in0 <== spindle-on
15 bit IN TRUE and2.1.in1 <== timer-in
15 bit OUT FALSE and2.1.out ==> timer-in-2
15 s32 OUT 80 and2.1.time
9 bit OUT TRUE axis.0.active
9 bit OUT FALSE axis.0.amp-enable-out ==> x-enable
9 bit IN FALSE axis.0.amp-fault-in
9 float OUT 0 axis.0.backlash-corr
9 float OUT 0 axis.0.backlash-filt
9 float OUT 0 axis.0.backlash-vel
9 float OUT 0 axis.0.coarse-pos-cmd
9 bit OUT FALSE axis.0.error
9 float OUT 0 axis.0.f-error
9 float OUT 1 axis.0.f-error-lim
9 bit OUT FALSE axis.0.f-errored
9 bit OUT FALSE axis.0.faulted
9 float OUT 0 axis.0.free-pos-cmd
9 bit OUT FALSE axis.0.free-tp-enable
9 float OUT 0 axis.0.free-vel-lim
9 s32 OUT 0 axis.0.home-state
9 bit IN TRUE axis.0.home-sw-in <== home-x
9 bit OUT FALSE axis.0.homed
9 bit OUT FALSE axis.0.homing
9 bit OUT TRUE axis.0.in-position
9 bit I/O FALSE axis.0.index-enable
9 s32 IN 0 axis.0.jog-counts
9 bit IN FALSE axis.0.jog-enable
9 float IN 0 axis.0.jog-scale
9 bit IN FALSE axis.0.jog-vel-mode
9 float OUT 0 axis.0.joint-pos-cmd
9 float OUT 0 axis.0.joint-pos-fb
9 float OUT 0 axis.0.joint-vel-cmd
9 bit OUT FALSE axis.0.kb-jog-active
9 float OUT 0 axis.0.motor-offset
9 float OUT 0 axis.0.motor-pos-cmd ==> x-pos-cmd
9 float IN 0 axis.0.motor-pos-fb <== x-pos-fb
9 bit OUT TRUE axis.0.neg-hard-limit
9 bit IN TRUE axis.0.neg-lim-sw-in <== min-x
9 bit OUT TRUE axis.0.pos-hard-limit
9 bit IN TRUE axis.0.pos-lim-sw-in <== max-x
9 bit OUT FALSE axis.0.wheel-jog-active
9 bit OUT TRUE axis.1.active
9 bit OUT FALSE axis.1.amp-enable-out ==> y-enable
9 bit IN FALSE axis.1.amp-fault-in
9 float OUT 0 axis.1.backlash-corr
9 float OUT 0 axis.1.backlash-filt
9 float OUT 0 axis.1.backlash-vel
9 float OUT 0 axis.1.coarse-pos-cmd
9 bit OUT FALSE axis.1.error
9 float OUT 0 axis.1.f-error
9 float OUT 0.1 axis.1.f-error-lim
9 bit OUT FALSE axis.1.f-errored
9 bit OUT FALSE axis.1.faulted
9 float OUT 0 axis.1.free-pos-cmd
9 bit OUT FALSE axis.1.free-tp-enable
9 float OUT 0 axis.1.free-vel-lim
9 s32 OUT 0 axis.1.home-state
9 bit IN TRUE axis.1.home-sw-in <== home-y
9 bit OUT FALSE axis.1.homed
9 bit OUT FALSE axis.1.homing
9 bit OUT TRUE axis.1.in-position
9 bit I/O FALSE axis.1.index-enable
9 s32 IN 0 axis.1.jog-counts
9 bit IN FALSE axis.1.jog-enable
9 float IN 0 axis.1.jog-scale
9 bit IN FALSE axis.1.jog-vel-mode
9 float OUT 0 axis.1.joint-pos-cmd
9 float OUT 0 axis.1.joint-pos-fb
9 float OUT 0 axis.1.joint-vel-cmd
9 bit OUT FALSE axis.1.kb-jog-active
9 float OUT 0 axis.1.motor-offset
9 float OUT 0 axis.1.motor-pos-cmd ==> y-pos-cmd
9 float IN 0 axis.1.motor-pos-fb <== y-pos-fb
9 bit OUT TRUE axis.1.neg-hard-limit
9 bit IN TRUE axis.1.neg-lim-sw-in <== min-y
9 bit OUT TRUE axis.1.pos-hard-limit
9 bit IN TRUE axis.1.pos-lim-sw-in <== max-y
9 bit OUT FALSE axis.1.wheel-jog-active
9 bit OUT TRUE axis.2.active
9 bit OUT FALSE axis.2.amp-enable-out ==> z-enable
9 bit IN FALSE axis.2.amp-fault-in
9 float OUT 0 axis.2.backlash-corr
9 float OUT 0 axis.2.backlash-filt
9 float OUT 0 axis.2.backlash-vel
9 float OUT 0.001 axis.2.coarse-pos-cmd
9 bit OUT FALSE axis.2.error
9 float OUT 0 axis.2.f-error
9 float OUT 0.1 axis.2.f-error-lim
9 bit OUT FALSE axis.2.f-errored
9 bit OUT FALSE axis.2.faulted
9 float OUT 0.001 axis.2.free-pos-cmd
9 bit OUT FALSE axis.2.free-tp-enable
9 float OUT 0 axis.2.free-vel-lim
9 s32 OUT 0 axis.2.home-state
9 bit IN TRUE axis.2.home-sw-in <== home-z
9 bit OUT FALSE axis.2.homed
9 bit OUT FALSE axis.2.homing
9 bit OUT TRUE axis.2.in-position
9 bit I/O FALSE axis.2.index-enable
9 s32 IN 0 axis.2.jog-counts
9 bit IN FALSE axis.2.jog-enable
9 float IN 0 axis.2.jog-scale
9 bit IN FALSE axis.2.jog-vel-mode
9 float OUT 0.001 axis.2.joint-pos-cmd
9 float OUT 0.001 axis.2.joint-pos-fb
9 float OUT 0 axis.2.joint-vel-cmd
9 bit OUT FALSE axis.2.kb-jog-active
9 float OUT 0 axis.2.motor-offset
9 float OUT 0.001 axis.2.motor-pos-cmd ==> z-pos-cmd
9 float IN 0.001 axis.2.motor-pos-fb <== z-pos-fb
9 bit OUT TRUE axis.2.neg-hard-limit
9 bit IN TRUE axis.2.neg-lim-sw-in <== min-z
9 bit OUT TRUE axis.2.pos-hard-limit
9 bit IN TRUE axis.2.pos-lim-sw-in <== max-z
9 bit OUT FALSE axis.2.wheel-jog-active
22 bit OUT FALSE axisui.jog.a
22 bit OUT FALSE axisui.jog.b
22 bit OUT FALSE axisui.jog.c
22 float OUT 0 axisui.jog.increment
22 bit OUT FALSE axisui.jog.u
22 bit OUT FALSE axisui.jog.v
22 bit OUT FALSE axisui.jog.w
22 bit OUT TRUE axisui.jog.x
22 bit OUT FALSE axisui.jog.y
22 bit OUT FALSE axisui.jog.z
22 bit IN FALSE axisui.notifications-clear
22 bit IN FALSE axisui.notifications-clear-error
22 bit IN FALSE axisui.notifications-clear-info
22 bit IN FALSE axisui.resume-inhibit
7 bit IN FALSE halui.abort
7 float OUT 0 halui.axis.0.pos-commanded
7 float OUT 0 halui.axis.0.pos-feedback
7 float OUT 0 halui.axis.0.pos-relative
7 float OUT 0 halui.axis.1.pos-commanded
7 float OUT 0 halui.axis.1.pos-feedback
7 float OUT 0 halui.axis.1.pos-relative
7 float OUT 0.001 halui.axis.2.pos-commanded
7 float OUT 0.001 halui.axis.2.pos-feedback
7 float OUT 0.001 halui.axis.2.pos-relative
7 float OUT 0 halui.axis.3.pos-commanded
7 float OUT 0 halui.axis.3.pos-feedback
7 float OUT 0 halui.axis.3.pos-relative
7 float OUT 0 halui.axis.4.pos-commanded
7 float OUT 0 halui.axis.4.pos-feedback
7 float OUT 0 halui.axis.4.pos-relative
7 float OUT 0 halui.axis.5.pos-commanded
7 float OUT 0 halui.axis.5.pos-feedback
7 float OUT 0 halui.axis.5.pos-relative
7 float OUT 0 halui.axis.6.pos-commanded
7 float OUT 0 halui.axis.6.pos-feedback
7 float OUT 0 halui.axis.6.pos-relative
7 float OUT 0 halui.axis.7.pos-commanded
7 float OUT 0 halui.axis.7.pos-feedback
7 float OUT 0 halui.axis.7.pos-relative
7 float OUT 0 halui.axis.8.pos-commanded
7 float OUT 0 halui.axis.8.pos-feedback
7 float OUT 0 halui.axis.8.pos-relative
7 bit IN FALSE halui.estop.activate
7 bit OUT FALSE halui.estop.is-activated
7 bit IN FALSE halui.estop.reset
7 bit IN TRUE halui.feed-override.count-enable
7 s32 IN 0 halui.feed-override.counts
7 bit IN FALSE halui.feed-override.decrease
7 bit IN FALSE halui.feed-override.direct-value
7 bit IN FALSE halui.feed-override.increase
7 float IN 0.1 halui.feed-override.scale
7 float OUT 1 halui.feed-override.value
7 bit OUT FALSE halui.flood.is-on
7 bit IN FALSE halui.flood.off
7 bit IN FALSE halui.flood.on
7 bit IN FALSE halui.home-all
7 float IN 0.2 halui.jog-deadband
7 float IN 0 halui.jog-speed
7 float IN 0 halui.jog.0.analog
7 float IN 0 halui.jog.0.increment
7 bit IN FALSE halui.jog.0.increment-minus
7 bit IN FALSE halui.jog.0.increment-plus
7 bit IN FALSE halui.jog.0.minus
7 bit IN FALSE halui.jog.0.plus
7 float IN 0 halui.jog.1.analog
7 float IN 0 halui.jog.1.increment
7 bit IN FALSE halui.jog.1.increment-minus
7 bit IN FALSE halui.jog.1.increment-plus
7 bit IN FALSE halui.jog.1.minus
7 bit IN FALSE halui.jog.1.plus
7 float IN 0 halui.jog.2.analog
7 float IN 0 halui.jog.2.increment
7 bit IN FALSE halui.jog.2.increment-minus
7 bit IN FALSE halui.jog.2.increment-plus
7 bit IN FALSE halui.jog.2.minus
7 bit IN FALSE halui.jog.2.plus
7 float IN 0 halui.jog.selected.increment
7 bit IN FALSE halui.jog.selected.increment-minus
7 bit IN FALSE halui.jog.selected.increment-plus
7 bit IN FALSE halui.jog.selected.minus
7 bit IN FALSE halui.jog.selected.plus
7 bit OUT FALSE halui.joint.0.has-fault
7 bit IN FALSE halui.joint.0.home
7 bit OUT FALSE halui.joint.0.is-homed
7 bit OUT FALSE halui.joint.0.is-selected
7 bit OUT TRUE halui.joint.0.on-hard-max-limit
7 bit OUT TRUE halui.joint.0.on-hard-min-limit
7 bit OUT FALSE halui.joint.0.on-soft-max-limit
7 bit OUT FALSE halui.joint.0.on-soft-min-limit
7 bit IN FALSE halui.joint.0.select
7 bit IN FALSE halui.joint.0.unhome
7 bit OUT FALSE halui.joint.1.has-fault
7 bit IN FALSE halui.joint.1.home
7 bit OUT FALSE halui.joint.1.is-homed
7 bit OUT FALSE halui.joint.1.is-selected
7 bit OUT TRUE halui.joint.1.on-hard-max-limit
7 bit OUT TRUE halui.joint.1.on-hard-min-limit
7 bit OUT FALSE halui.joint.1.on-soft-max-limit
7 bit OUT FALSE halui.joint.1.on-soft-min-limit
7 bit IN FALSE halui.joint.1.select
7 bit IN FALSE halui.joint.1.unhome
7 bit OUT FALSE halui.joint.2.has-fault
7 bit IN FALSE halui.joint.2.home
7 bit OUT FALSE halui.joint.2.is-homed
7 bit OUT FALSE halui.joint.2.is-selected
7 bit OUT TRUE halui.joint.2.on-hard-max-limit
7 bit OUT TRUE halui.joint.2.on-hard-min-limit
7 bit OUT FALSE halui.joint.2.on-soft-max-limit
7 bit OUT FALSE halui.joint.2.on-soft-min-limit
7 bit IN FALSE halui.joint.2.select
7 bit IN FALSE halui.joint.2.unhome
7 u32 OUT 0x00000000 halui.joint.selected
7 bit OUT FALSE halui.joint.selected.has-fault
7 bit IN FALSE halui.joint.selected.home
7 bit OUT FALSE halui.joint.selected.is_homed
7 bit OUT TRUE halui.joint.selected.on-hard-max-limit
7 bit OUT TRUE halui.joint.selected.on-hard-min-limit
7 bit OUT FALSE halui.joint.selected.on-soft-limit
7 bit OUT FALSE halui.joint.selected.on-soft-min-limit
7 bit IN FALSE halui.joint.selected.unhome
7 bit OUT FALSE halui.lube.is-on
7 bit IN FALSE halui.lube.off
7 bit IN FALSE halui.lube.on
7 bit OUT FALSE halui.machine.is-on
7 bit IN FALSE halui.machine.off
7 bit IN FALSE halui.machine.on
7 bit IN TRUE halui.max-velocity.count-enable
7 s32 IN 0 halui.max-velocity.counts
7 bit IN FALSE halui.max-velocity.decrease
7 bit IN FALSE halui.max-velocity.direct-value
7 bit IN FALSE halui.max-velocity.increase
7 float IN 0 halui.max-velocity.scale
7 float OUT 80 halui.max-velocity.value
7 bit OUT FALSE halui.mist.is-on
7 bit IN FALSE halui.mist.off
7 bit IN FALSE halui.mist.on
7 bit IN FALSE halui.mode.auto
7 bit OUT TRUE halui.mode.is-auto
7 bit OUT TRUE halui.mode.is-joint
7 bit OUT FALSE halui.mode.is-manual
7 bit OUT FALSE halui.mode.is-mdi
7 bit OUT FALSE halui.mode.is-teleop
7 bit IN FALSE halui.mode.joint
7 bit IN FALSE halui.mode.manual
7 bit IN FALSE halui.mode.mdi
7 bit IN FALSE halui.mode.teleop
7 bit OUT TRUE halui.program.block-delete.is-on
7 bit IN FALSE halui.program.block-delete.off
7 bit IN FALSE halui.program.block-delete.on
7 bit OUT TRUE halui.program.is-idle
7 bit OUT FALSE halui.program.is-paused
7 bit OUT FALSE halui.program.is-running
7 bit OUT TRUE halui.program.optional-stop.is-on
7 bit IN FALSE halui.program.optional-stop.off
7 bit IN FALSE halui.program.optional-stop.on
7 bit IN FALSE halui.program.pause
7 bit IN FALSE halui.program.resume
7 bit IN FALSE halui.program.run
7 bit IN FALSE halui.program.step
7 bit IN FALSE halui.program.stop
7 bit IN TRUE halui.rapid-override.count-enable
7 s32 IN 0 halui.rapid-override.counts
7 bit IN FALSE halui.rapid-override.decrease
7 bit IN FALSE halui.rapid-override.direct-value
7 bit IN FALSE halui.rapid-override.increase
7 float IN 0.1 halui.rapid-override.scale
7 float OUT 1 halui.rapid-override.value
7 bit IN TRUE halui.spindle-override.count-enable
7 s32 IN 0 halui.spindle-override.counts
7 bit IN FALSE halui.spindle-override.decrease
7 bit IN FALSE halui.spindle-override.direct-value
7 bit IN FALSE halui.spindle-override.increase
7 float IN 0.1 halui.spindle-override.scale
7 float OUT 1 halui.spindle-override.value
7 bit OUT TRUE halui.spindle.brake-is-on
7 bit IN FALSE halui.spindle.brake-off
7 bit IN FALSE halui.spindle.brake-on
7 bit IN FALSE halui.spindle.decrease
7 bit IN FALSE halui.spindle.forward
7 bit IN FALSE halui.spindle.increase
7 bit OUT FALSE halui.spindle.is-on
7 bit IN FALSE halui.spindle.reverse
7 bit OUT FALSE halui.spindle.runs-backward
7 bit OUT FALSE halui.spindle.runs-forward
7 bit IN FALSE halui.spindle.start
7 bit IN FALSE halui.spindle.stop
7 float OUT 0 halui.tool.length_offset.a
7 float OUT 0 halui.tool.length_offset.b
7 float OUT 0 halui.tool.length_offset.c
7 float OUT 0 halui.tool.length_offset.u
7 float OUT 0 halui.tool.length_offset.v
7 float OUT 0 halui.tool.length_offset.w
7 float OUT 0 halui.tool.length_offset.x
7 float OUT 0 halui.tool.length_offset.y
7 float OUT 0 halui.tool.length_offset.z
7 u32 OUT 0x00000000 halui.tool.number
20 float IN 0 ini.0.backlash
20 float IN 40 ini.0.ferror
20 float IN 200 ini.0.max_acceleration
20 float IN 400 ini.0.max_limit
20 float IN 50 ini.0.max_velocity
20 float IN 1 ini.0.min_ferror
20 float IN 0 ini.0.min_limit
20 float IN 0 ini.1.backlash
20 float IN 40 ini.1.ferror
20 float IN 200 ini.1.max_acceleration
20 float IN 300 ini.1.max_limit
20 float IN 50 ini.1.max_velocity
20 float IN 0.1 ini.1.min_ferror
20 float IN 0 ini.1.min_limit
20 float IN 0 ini.2.backlash
20 float IN 40 ini.2.ferror
20 float IN 200 ini.2.max_acceleration
20 float IN 0 ini.2.max_limit
20 float IN 50 ini.2.max_velocity
20 float IN 0.1 ini.2.min_ferror
20 float IN -400 ini.2.min_limit
20 float IN 0 ini.3.backlash
20 float IN 0 ini.3.ferror
20 float IN 0 ini.3.max_acceleration
20 float IN 0 ini.3.max_limit
20 float IN 0 ini.3.max_velocity
20 float IN 0 ini.3.min_ferror
20 float IN 0 ini.3.min_limit
20 float IN 0 ini.4.backlash
20 float IN 0 ini.4.ferror
20 float IN 0 ini.4.max_acceleration
20 float IN 0 ini.4.max_limit
20 float IN 0 ini.4.max_velocity
20 float IN 0 ini.4.min_ferror
20 float IN 0 ini.4.min_limit
20 float IN 0 ini.5.backlash
20 float IN 0 ini.5.ferror
20 float IN 0 ini.5.max_acceleration
20 float IN 0 ini.5.max_limit
20 float IN 0 ini.5.max_velocity
20 float IN 0 ini.5.min_ferror
20 float IN 0 ini.5.min_limit
20 float IN 0 ini.6.backlash
20 float IN 0 ini.6.ferror
20 float IN 0 ini.6.max_acceleration
20 float IN 0 ini.6.max_limit
20 float IN 0 ini.6.max_velocity
20 float IN 0 ini.6.min_ferror
20 float IN 0 ini.6.min_limit
20 float IN 0 ini.7.backlash
20 float IN 0 ini.7.ferror
20 float IN 0 ini.7.max_acceleration
20 float IN 0 ini.7.max_limit
20 float IN 0 ini.7.max_velocity
20 float IN 0 ini.7.min_ferror
20 float IN 0 ini.7.min_limit
20 float IN 0 ini.8.backlash
20 float IN 0 ini.8.ferror
20 float IN 0 ini.8.max_acceleration
20 float IN 0 ini.8.max_limit
20 float IN 0 ini.8.max_velocity
20 float IN 0 ini.8.min_ferror
20 float IN 0 ini.8.min_limit
20 bit IN TRUE ini.traj_arc_blend_enable
20 bit IN FALSE ini.traj_arc_blend_fallback_enable
20 float IN 4 ini.traj_arc_blend_gap_cycles
20 s32 IN 50 ini.traj_arc_blend_optimization_depth
20 float IN 100 ini.traj_arc_blend_ramp_freq
20 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio
20 float IN 1e+99 ini.traj_default_acceleration
20 float IN 8 ini.traj_default_velocity
20 float IN 1e+99 ini.traj_max_acceleration
20 float IN 1e+99 ini.traj_max_velocity
5 bit OUT FALSE iocontrol.0.coolant-flood
5 bit OUT FALSE iocontrol.0.coolant-mist
5 bit IN TRUE iocontrol.0.emc-enable-in <== estop-ext
5 bit OUT FALSE iocontrol.0.lube
5 bit IN FALSE iocontrol.0.lube_level
5 bit OUT FALSE iocontrol.0.tool-change
5 bit IN FALSE iocontrol.0.tool-changed
5 s32 OUT 0 iocontrol.0.tool-number
5 s32 OUT 0 iocontrol.0.tool-prep-number
5 s32 OUT 0 iocontrol.0.tool-prep-pocket
5 bit OUT FALSE iocontrol.0.tool-prepare
5 bit IN FALSE iocontrol.0.tool-prepared
5 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-ext
5 bit OUT FALSE iocontrol.0.user-request-enable
9 s32 OUT 254 motion-command-handler.time
9 s32 OUT 4186 motion-controller.time
9 float IN 1 motion.adaptive-feed
9 float IN 0 motion.analog-in-00
9 float IN 0 motion.analog-in-01
9 float IN 0 motion.analog-in-02
9 float IN 0 motion.analog-in-03
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.coord-error
9 bit OUT TRUE motion.coord-mode
9 float OUT 0 motion.current-vel
9 bit IN FALSE motion.digital-in-00
9 bit IN FALSE motion.digital-in-01
9 bit IN FALSE motion.digital-in-02
9 bit IN FALSE motion.digital-in-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.distance-to-go
9 bit IN TRUE motion.enable
9 bit IN FALSE motion.feed-hold
9 bit IN FALSE motion.feed-inhibit
9 bit OUT TRUE motion.in-position ==> in-position
9 bit OUT FALSE motion.motion-enabled ==> machine-is-enabled
9 s32 OUT 0 motion.motion-type
9 bit OUT FALSE motion.on-soft-limit
9 bit IN FALSE motion.probe-input
9 s32 OUT 0 motion.program-line
9 float OUT 0 motion.requested-vel
9 bit IN TRUE motion.spindle-at-speed <== spindle-enable
9 bit OUT TRUE motion.spindle-brake
9 bit OUT FALSE motion.spindle-forward ==> spindle-cw
9 bit I/O FALSE motion.spindle-index-enable
9 bit IN FALSE motion.spindle-inhibit
9 bit IN FALSE motion.spindle-is-oriented
9 bit OUT FALSE motion.spindle-locked
9 bit OUT FALSE motion.spindle-on ==> spindle-on
9 bit OUT FALSE motion.spindle-orient
9 float OUT 0 motion.spindle-orient-angle
9 s32 IN 0 motion.spindle-orient-fault
9 s32 OUT 0 motion.spindle-orient-mode
9 bit OUT FALSE motion.spindle-reverse ==> spindle-ccw
9 float IN 0 motion.spindle-revs
9 float OUT 0 motion.spindle-speed-cmd-rps
9 float IN 0 motion.spindle-speed-in
9 float OUT 0 motion.spindle-speed-out ==> spindle-speed-scale
9 float OUT 0 motion.spindle-speed-out-abs
9 float OUT 0 motion.spindle-speed-out-rps
9 float OUT 0 motion.spindle-speed-out-rps-abs
9 bit OUT FALSE motion.teleop-mode
9 float OUT 0 motion.tooloffset.a
9 float OUT 0 motion.tooloffset.b
9 float OUT 0 motion.tooloffset.c
9 float OUT 0 motion.tooloffset.u
9 float OUT 0 motion.tooloffset.v
9 float OUT 0 motion.tooloffset.w
9 float OUT 0 motion.tooloffset.x
9 float OUT 0 motion.tooloffset.y
9 float OUT 0 motion.tooloffset.z
17 bit IN FALSE not.0.in <== timer-delay
17 bit OUT TRUE not.0.out ==> timer-in
17 s32 OUT 96 not.0.time
17 bit IN FALSE not.1.in <== timer-delay.1
17 bit OUT TRUE not.1.out ==> timer-in.1
17 s32 OUT 36 not.1.time
13 bit IN FALSE oneshot.0.in <== machine-is-enabled
13 bit OUT FALSE oneshot.0.out ==> delay
13 bit OUT TRUE oneshot.0.out-not
13 s32 OUT 120 oneshot.0.time
13 float OUT 0 oneshot.0.time-left
13 float IN 3 oneshot.0.width
14 bit IN FALSE or2.0.in0 <== delay
14 bit IN FALSE or2.0.in1 <== timer-delay
14 bit OUT FALSE or2.0.out ==> rail-lube
14 s32 OUT 88 or2.0.time
12 float IN 0.02 pid.x.Dgain
12 float IN 0 pid.x.FF0
12 float IN 0.065 pid.x.FF1
12 float IN 0 pid.x.FF2
12 float IN 0 pid.x.Igain
12 float IN 4 pid.x.Pgain
12 float IN 0 pid.x.bias
12 float IN 0 pid.x.command <== x-pos-cmd
12 float IN 0 pid.x.command-deriv
12 float IN 0 pid.x.deadband
12 s32 OUT 148 pid.x.do-pid-calcs.time
12 bit IN FALSE pid.x.enable <== x-enable
12 float OUT 0 pid.x.error
12 bit IN TRUE pid.x.error-previous-target
12 float IN 0 pid.x.feedback <== x-pos-fb
12 float IN 0 pid.x.feedback-deriv
12 bit IN FALSE pid.x.index-enable
12 float IN 0 pid.x.maxcmdD
12 float IN 0 pid.x.maxcmdDD
12 float IN 0 pid.x.maxerror
12 float IN 0 pid.x.maxerrorD
12 float IN 0 pid.x.maxerrorI
12 float IN 10 pid.x.maxoutput
12 float OUT 0 pid.x.output ==> x-output
12 bit OUT FALSE pid.x.saturated
12 s32 OUT 0 pid.x.saturated-count
12 float OUT 0 pid.x.saturated-s
12 float IN 0 pid.y.Dgain
12 float IN 0 pid.y.FF0
12 float IN 0 pid.y.FF1
12 float IN 0 pid.y.FF2
12 float IN 0 pid.y.Igain
12 float IN 10 pid.y.Pgain
12 float IN 0 pid.y.bias
12 float IN 0 pid.y.command <== y-pos-cmd
12 float IN 0 pid.y.command-deriv
12 float IN 0 pid.y.deadband
12 s32 OUT 96 pid.y.do-pid-calcs.time
12 bit IN FALSE pid.y.enable <== y-enable
12 float OUT 0 pid.y.error
12 bit IN TRUE pid.y.error-previous-target
12 float IN 0 pid.y.feedback <== y-pos-fb
12 float IN 0 pid.y.feedback-deriv
12 bit IN FALSE pid.y.index-enable
12 float IN 0 pid.y.maxcmdD
12 float IN 0 pid.y.maxcmdDD
12 float IN 0 pid.y.maxerror
12 float IN 0 pid.y.maxerrorD
12 float IN 0 pid.y.maxerrorI
12 float IN 10 pid.y.maxoutput
12 float OUT 0 pid.y.output ==> y-output
12 bit OUT FALSE pid.y.saturated
12 s32 OUT 0 pid.y.saturated-count
12 float OUT 0 pid.y.saturated-s
12 float IN 0.02 pid.z.Dgain
12 float IN 0 pid.z.FF0
12 float IN 0.065 pid.z.FF1
12 float IN 0 pid.z.FF2
12 float IN 0 pid.z.Igain
12 float IN 4 pid.z.Pgain
12 float IN 0 pid.z.bias
12 float IN 0.001 pid.z.command <== z-pos-cmd
12 float IN 0 pid.z.command-deriv
12 float IN 0 pid.z.deadband
12 s32 OUT 124 pid.z.do-pid-calcs.time
12 bit IN FALSE pid.z.enable <== z-enable
12 float OUT 0 pid.z.error
12 bit IN TRUE pid.z.error-previous-target
12 float IN 0.001 pid.z.feedback <== z-pos-fb
12 float IN 0 pid.z.feedback-deriv
12 bit IN FALSE pid.z.index-enable
12 float IN 0 pid.z.maxcmdD
12 float IN 0 pid.z.maxcmdDD
12 float IN 0 pid.z.maxerror
12 float IN 0 pid.z.maxerrorD
12 float IN 0 pid.z.maxerrorI
12 float IN 10 pid.z.maxoutput
12 float OUT 0 pid.z.output ==> z-output
12 bit OUT FALSE pid.z.saturated
12 s32 OUT 0 pid.z.saturated-count
12 float OUT 0 pid.z.saturated-s
22 bit OUT FALSE pyvcp.button ==> buton_test
18 float IN 0.007 scale.0.gain
18 float IN 0 scale.0.in
18 float IN 0 scale.0.offset
18 float OUT 0 scale.0.out
18 s32 OUT 120 scale.0.time
10 s32 OUT 88384 servo-thread.time
16 float OUT 0.000999944 timedelay.0.elapsed
16 bit IN FALSE timedelay.0.in <== timer-in-1
16 float IN 3 timedelay.0.off-delay
16 float IN 600 timedelay.0.on-delay
16 bit OUT FALSE timedelay.0.out ==> timer-delay
16 s32 OUT 272 timedelay.0.time
16 float OUT 0 timedelay.1.elapsed
16 bit IN FALSE timedelay.1.in <== timer-in-2
16 float IN 10 timedelay.1.off-delay
16 float IN 900 timedelay.1.on-delay
16 bit OUT FALSE timedelay.1.out ==> timer-delay.1
16 s32 OUT 36 timedelay.1.time
11 float IN 0 to_pci.1.dcontrol0 <== x-output
11 float IN 0 to_pci.1.dcontrol1 <== y-output
11 float IN 0 to_pci.1.dcontrol2 <== z-output
11 float IN 0 to_pci.1.dcontrol3 <== spindle-speed-to_pci.1.dcontrol3
11 float IN 0 to_pci.1.dcontrol4
11 bit IN FALSE to_pci.1.enable_drive <== x-enable
11 float IN 1000 to_pci.1.feedback.enc_scale0
11 float IN 1000 to_pci.1.feedback.enc_scale1
11 float IN 1000 to_pci.1.feedback.enc_scale2
11 float IN 0 to_pci.1.feedback.enc_scale3
11 float IN 0 to_pci.1.feedback.enc_scale4
11 float OUT 0 to_pci.1.feedback.encoder0 ==> x-pos-fb
11 float OUT 0 to_pci.1.feedback.encoder1 ==> y-pos-fb
11 float OUT 0.001 to_pci.1.feedback.encoder2 ==> z-pos-fb
11 float OUT -nan to_pci.1.feedback.encoder3
11 float OUT -nan to_pci.1.feedback.encoder4
11 bit I/O FALSE to_pci.1.feedback.index_en0
11 bit I/O FALSE to_pci.1.feedback.index_en1
11 bit I/O FALSE to_pci.1.feedback.index_en2
11 bit I/O FALSE to_pci.1.feedback.index_en3
11 bit I/O FALSE to_pci.1.feedback.index_en4
11 float IN 1 to_pci.1.out_scale0
11 float IN -1 to_pci.1.out_scale1
11 float IN 1 to_pci.1.out_scale2
11 float IN 0.007 to_pci.1.out_scale3
11 float IN 0 to_pci.1.out_scale4
11 bit OUT FALSE to_pci.1.pins.pin-00-in
11 bit OUT TRUE to_pci.1.pins.pin-00-in-n ==> max-x
11 bit IN FALSE to_pci.1.pins.pin-00-out <== machine-is-enabled
11 bit OUT FALSE to_pci.1.pins.pin-01-in
11 bit OUT TRUE to_pci.1.pins.pin-01-in-n ==> min-x
11 bit IN FALSE to_pci.1.pins.pin-01-out
11 bit OUT FALSE to_pci.1.pins.pin-02-in
11 bit OUT TRUE to_pci.1.pins.pin-02-in-n ==> home-x
11 bit IN FALSE to_pci.1.pins.pin-02-out
11 bit OUT FALSE to_pci.1.pins.pin-03-in
11 bit OUT TRUE to_pci.1.pins.pin-03-in-n ==> max-y
11 bit IN FALSE to_pci.1.pins.pin-03-out
11 bit OUT FALSE to_pci.1.pins.pin-04-in
11 bit OUT TRUE to_pci.1.pins.pin-04-in-n ==> min-y
11 bit IN FALSE to_pci.1.pins.pin-04-out
11 bit OUT FALSE to_pci.1.pins.pin-05-in
11 bit OUT TRUE to_pci.1.pins.pin-05-in-n ==> home-y
11 bit IN FALSE to_pci.1.pins.pin-05-out
11 bit OUT FALSE to_pci.1.pins.pin-06-in
11 bit OUT TRUE to_pci.1.pins.pin-06-in-n ==> max-z
11 bit IN FALSE to_pci.1.pins.pin-06-out
11 bit OUT FALSE to_pci.1.pins.pin-07-in
11 bit OUT TRUE to_pci.1.pins.pin-07-in-n ==> min-z
11 bit IN FALSE to_pci.1.pins.pin-07-out
11 bit OUT FALSE to_pci.1.pins.pin-08-in
11 bit OUT TRUE to_pci.1.pins.pin-08-in-n ==> home-z
11 bit IN FALSE to_pci.1.pins.pin-08-out <== spindle-cw
11 bit OUT FALSE to_pci.1.pins.pin-09-in
11 bit OUT TRUE to_pci.1.pins.pin-09-in-n
11 bit IN FALSE to_pci.1.pins.pin-09-out <== spindle-ccw
11 bit OUT FALSE to_pci.1.pins.pin-10-in
11 bit OUT TRUE to_pci.1.pins.pin-10-in-n
11 bit IN FALSE to_pci.1.pins.pin-10-out <== rail-lube
11 bit OUT FALSE to_pci.1.pins.pin-11-in
11 bit OUT TRUE to_pci.1.pins.pin-11-in-n
11 bit IN FALSE to_pci.1.pins.pin-11-out <== spindle-lube
11 bit OUT FALSE to_pci.1.pins.pin-12-in
11 bit OUT TRUE to_pci.1.pins.pin-12-in-n
11 bit IN FALSE to_pci.1.pins.pin-12-out
11 bit OUT FALSE to_pci.1.pins.pin-13-in
11 bit OUT TRUE to_pci.1.pins.pin-13-in-n
11 bit IN FALSE to_pci.1.pins.pin-13-out
11 bit OUT FALSE to_pci.1.pins.pin-14-in
11 bit OUT TRUE to_pci.1.pins.pin-14-in-n
11 bit IN FALSE to_pci.1.pins.pin-14-out <== buton_test
11 bit OUT FALSE to_pci.1.pins.pin-15-in
11 bit OUT TRUE to_pci.1.pins.pin-15-in-n
11 bit IN FALSE to_pci.1.pins.pin-15-out
11 bit OUT FALSE to_pci.1.pins.pin-16-in
11 bit OUT TRUE to_pci.1.pins.pin-16-in-n
11 bit OUT FALSE to_pci.1.pins.pin-17-in
11 bit OUT TRUE to_pci.1.pins.pin-17-in-n
11 bit OUT FALSE to_pci.1.pins.pin-18-in
11 bit OUT TRUE to_pci.1.pins.pin-18-in-n
11 bit OUT FALSE to_pci.1.pins.pin-19-in
11 bit OUT TRUE to_pci.1.pins.pin-19-in-n
11 bit OUT FALSE to_pci.1.pins.pin-20-in
11 bit OUT TRUE to_pci.1.pins.pin-20-in-n
11 bit OUT FALSE to_pci.1.pins.pin-21-in
11 bit OUT TRUE to_pci.1.pins.pin-21-in-n
11 bit OUT FALSE to_pci.1.pins.pin-22-in
11 bit OUT TRUE to_pci.1.pins.pin-22-in-n
11 bit OUT FALSE to_pci.1.pins.pin-23-in
11 bit OUT TRUE to_pci.1.pins.pin-23-in-n
11 bit OUT FALSE to_pci.1.pins.pin-24-in
11 bit OUT TRUE to_pci.1.pins.pin-24-in-n
11 bit OUT FALSE to_pci.1.pins.pin-25-in
11 bit OUT TRUE to_pci.1.pins.pin-25-in-n
11 bit OUT FALSE to_pci.1.pins.pin-26-in
11 bit OUT TRUE to_pci.1.pins.pin-26-in-n
11 bit OUT FALSE to_pci.1.pins.pin-27-in
11 bit OUT TRUE to_pci.1.pins.pin-27-in-n
11 bit OUT FALSE to_pci.1.pins.pin-28-in
11 bit OUT TRUE to_pci.1.pins.pin-28-in-n
11 bit OUT FALSE to_pci.1.pins.pin-29-in
11 bit OUT TRUE to_pci.1.pins.pin-29-in-n
11 bit OUT FALSE to_pci.1.pins.pin-30-in
11 bit OUT TRUE to_pci.1.pins.pin-30-in-n
11 bit OUT FALSE to_pci.1.pins.pin-31-in
11 bit OUT TRUE to_pci.1.pins.pin-31-in-n
11 s32 OUT 87547 to_pci.1.update.time
Pin Aliases:
Alias Original Name
Signals:
Type Value Name (linked to)
bit FALSE buton_test
<== pyvcp.button
==> to_pci.1.pins.pin-14-out
bit FALSE delay
<== oneshot.0.out
==> or2.0.in0
bit TRUE estop-ext
==> iocontrol.0.emc-enable-in
<== iocontrol.0.user-enable-out
bit TRUE home-x
==> axis.0.home-sw-in
<== to_pci.1.pins.pin-02-in-n
bit TRUE home-y
==> axis.1.home-sw-in
<== to_pci.1.pins.pin-05-in-n
bit TRUE home-z
==> axis.2.home-sw-in
<== to_pci.1.pins.pin-08-in-n
bit TRUE in-position
<== motion.in-position
bit FALSE machine-is-enabled
==> and2.0.in0
<== motion.motion-enabled
==> oneshot.0.in
==> to_pci.1.pins.pin-00-out
bit TRUE max-x
==> axis.0.pos-lim-sw-in
<== to_pci.1.pins.pin-00-in-n
bit TRUE max-y
==> axis.1.pos-lim-sw-in
<== to_pci.1.pins.pin-03-in-n
bit TRUE max-z
==> axis.2.pos-lim-sw-in
<== to_pci.1.pins.pin-06-in-n
bit TRUE min-x
==> axis.0.neg-lim-sw-in
<== to_pci.1.pins.pin-01-in-n
bit TRUE min-y
==> axis.1.neg-lim-sw-in
<== to_pci.1.pins.pin-04-in-n
bit TRUE min-z
==> axis.2.neg-lim-sw-in
<== to_pci.1.pins.pin-07-in-n
bit FALSE rail-lube
<== or2.0.out
==> to_pci.1.pins.pin-10-out
bit FALSE spindle-ccw
<== motion.spindle-reverse
==> to_pci.1.pins.pin-09-out
bit FALSE spindle-cw
<== motion.spindle-forward
==> to_pci.1.pins.pin-08-out
bit TRUE spindle-enable
==> motion.spindle-at-speed
bit FALSE spindle-lube
==> to_pci.1.pins.pin-11-out
bit FALSE spindle-on
==> and2.1.in0
<== motion.spindle-on
float 0 spindle-speed-scale
==> abs.0.in
<== motion.spindle-speed-out
float 0 spindle-speed-to_pci.1.dcontrol3
<== abs.0.out
==> to_pci.1.dcontrol3
bit FALSE timer-delay
==> not.0.in
==> or2.0.in1
<== timedelay.0.out
bit FALSE timer-delay.1
==> not.1.in
<== timedelay.1.out
bit TRUE timer-in
==> and2.0.in1
==> and2.1.in1
<== not.0.out
bit FALSE timer-in-1
<== and2.0.out
==> timedelay.0.in
bit FALSE timer-in-2
<== and2.1.out
==> timedelay.1.in
bit TRUE timer-in.1
<== not.1.out
bit FALSE x-enable
<== axis.0.amp-enable-out
==> pid.x.enable
==> to_pci.1.enable_drive
float 0 x-output
<== pid.x.output
==> to_pci.1.dcontrol0
float 0 x-pos-cmd
<== axis.0.motor-pos-cmd
==> pid.x.command
float 0 x-pos-fb
==> axis.0.motor-pos-fb
==> pid.x.feedback
<== to_pci.1.feedback.encoder0
bit FALSE y-enable
<== axis.1.amp-enable-out
==> pid.y.enable
float 0 y-output
<== pid.y.output
==> to_pci.1.dcontrol1
float 0 y-pos-cmd
<== axis.1.motor-pos-cmd
==> pid.y.command
float 0 y-pos-fb
==> axis.1.motor-pos-fb
==> pid.y.feedback
<== to_pci.1.feedback.encoder1
bit FALSE z-enable
<== axis.2.amp-enable-out
==> pid.z.enable
float 0 z-output
<== pid.z.output
==> to_pci.1.dcontrol2
float 0.001 z-pos-cmd
<== axis.2.motor-pos-cmd
==> pid.z.command
float 0.001 z-pos-fb
==> axis.2.motor-pos-fb
==> pid.z.feedback
<== to_pci.1.feedback.encoder2
Parameters:
Owner Type Dir Value Name
19 s32 RW 22858 abs.0.tmax
19 bit RO FALSE abs.0.tmax-increased
15 s32 RW 22585 and2.0.tmax
15 bit RO FALSE and2.0.tmax-increased
15 s32 RW 3708 and2.1.tmax
15 bit RO FALSE and2.1.tmax-increased
5 s32 RO 0 iocontrol.0.tool-prep-index
9 s32 RW 23603 motion-command-handler.tmax
9 bit RO FALSE motion-command-handler.tmax-increased
9 s32 RW 76160 motion-controller.tmax
9 bit RO FALSE motion-controller.tmax-increased
9 bit RO FALSE motion.debug-bit-0
9 bit RO FALSE motion.debug-bit-1
9 float RO 1 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 0x002DA494 motion.servo.last-period
9 float RO 999392.3 motion.servo.last-period-ns
9 u32 RW 0x00000000 motion.servo.overruns
17 s32 RW 24834 not.0.tmax
17 bit RO FALSE not.0.tmax-increased
17 s32 RW 3210 not.1.tmax
17 bit RO FALSE not.1.tmax-increased
13 bit RW FALSE oneshot.0.falling
13 bit RW TRUE oneshot.0.retriggerable
13 bit RW TRUE oneshot.0.rising
13 s32 RW 23645 oneshot.0.tmax
13 bit RO FALSE oneshot.0.tmax-increased
14 s32 RW 22661 or2.0.tmax
14 bit RO FALSE or2.0.tmax-increased
12 s32 RW 23583 pid.x.do-pid-calcs.tmax
12 bit RO FALSE pid.x.do-pid-calcs.tmax-increased
12 s32 RW 5984 pid.y.do-pid-calcs.tmax
12 bit RO FALSE pid.y.do-pid-calcs.tmax-increased
12 s32 RW 22980 pid.z.do-pid-calcs.tmax
12 bit RO FALSE pid.z.do-pid-calcs.tmax-increased
18 s32 RW 22861 scale.0.tmax
18 bit RO FALSE scale.0.tmax-increased
10 s32 RW 247696 servo-thread.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
16 s32 RW 22949 timedelay.0.tmax
16 bit RO FALSE timedelay.0.tmax-increased
16 s32 RW 2436 timedelay.1.tmax
16 bit RO FALSE timedelay.1.tmax-increased
11 s32 RW 138124 to_pci.1.update.tmax
11 bit RO FALSE to_pci.1.update.tmax-increased
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
00019 f9a25000 f977c7a8 YES 1 abs.0
00015 f9765000 f977c660 NO 1 and2.0
00015 f9765000 f977c670 NO 1 and2.1
00009 f971e930 00000000 YES 1 motion-command-handler
00009 f97213f0 00000000 YES 1 motion-controller
00017 f9a1b000 f977c6e0 NO 1 not.0
00017 f9a1b000 f977c6f0 NO 1 not.1
00013 f9748000 f977c600 YES 1 oneshot.0
00014 f9760000 f977c640 NO 1 or2.0
00012 f94c1000 f977c390 YES 1 pid.x.do-pid-calcs
00012 f94c1000 f977c4d8 YES 1 pid.y.do-pid-calcs
00012 f94c1000 f977c434 YES 1 pid.z.do-pid-calcs
00018 f9a20000 f977c780 YES 1 scale.0
00016 f9a16000 f977c690 YES 1 timedelay.0
00016 f9a16000 f977c6b0 YES 1 timedelay.1
00011 f974d3ff f977c198 YES 1 to_pci.1.update
Realtime Threads:
Period FP Name ( Time, Max-Time )
999944 YES servo-thread ( 104544, 247696 )
1 to_pci.1.update
2 motion-command-handler
3 motion-controller
4 pid.x.do-pid-calcs
5 pid.z.do-pid-calcs
6 pid.y.do-pid-calcs
7 oneshot.0
8 or2.0
9 and2.0
10 timedelay.0
11 not.0
12 timedelay.1
13 not.1
14 and2.1
15 scale.0
16 abs.0
andrey@maincoon:~$
-
botcman
- Мастер
- Сообщения: 556
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- Репутация: 1
- Настоящее имя: Андрей
- Контактная информация:
Re: AG250CNC
Вот, сделал как сказали.
-
Serg
- Мастер
- Сообщения: 21923
- Зарегистрирован: 17 апр 2012, 14:58
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- Настоящее имя: Сергей
- Откуда: Москва
- Контактная информация:
Re: AG250CNC
Похоже проблема в именах сигналов timer-delay и timer-delay.1 - halshow не любит, когда имя сигнала одновременно является и именем узла в дереве. Переименуй timer-delay например в timer-delay.0
Я не Христос, рыбу не раздаю, но могу научить, как сделать удочку...
-
botcman
- Мастер
- Сообщения: 556
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- Контактная информация:
Re: AG250CNC
Понял, попробую.
-
botcman
- Мастер
- Сообщения: 556
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- Контактная информация:
Re: AG250CNC
Подправил, нов се равно не открываются установка Хал и не работает смазка шпиндельной бабки.
-
botcman
- Мастер
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Re: AG250CNC
andrey@maincoon:~$ halcmd show
RTAPI: ERROR: could not open shared memory (errno=2)
Ошибка сегментирования
andrey@maincoon:~$
Вот что он ответил
RTAPI: ERROR: could not open shared memory (errno=2)
Ошибка сегментирования
andrey@maincoon:~$
Вот что он ответил
-
botcman
- Мастер
- Сообщения: 556
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- Настоящее имя: Андрей
- Контактная информация:
Re: AG250CNC
Чуть подправил.
andrey@maincoon:~$ halcmd show
RTAPI: ERROR: could not open shared memory (errno=2)
Ошибка сегментирования
andrey@maincoon:~$ halcmd show
Loaded HAL Components:
ID Type Name PID State
24 User halcmd7070 7070 ready
22 User axisui 7063 ready
20 User inihal 7060 ready
19 RT abs ready
18 RT scale ready
17 RT not ready
16 RT timedelay ready
15 RT and2 ready
14 RT or2 ready
13 RT oneshot ready
12 RT pid ready
11 RT to_pci ready
10 RT __servo-thread ready
9 RT motmod ready
8 RT trivkins ready
7 User halui 7038 ready
5 User iocontrol 7036 ready
Component Pins:
Owner Type Dir Value Name
19 float IN 0 abs.0.in <== spindle-speed-scale
19 bit OUT FALSE abs.0.is-negative
19 bit OUT FALSE abs.0.is-positive
19 float OUT 0 abs.0.out ==> spindle-speed-to_pci.1.dcontrol3
19 bit OUT FALSE abs.0.sign
19 s32 OUT 208 abs.0.time
15 bit IN TRUE and2.0.in0 <== machine-is-enabled
15 bit IN TRUE and2.0.in1 <== timer-in
15 bit OUT TRUE and2.0.out ==> timer-in-1
15 s32 OUT 108 and2.0.time
15 bit IN FALSE and2.1.in0 <== spindle-anable
15 bit IN TRUE and2.1.in1 <== timer-in
15 bit OUT FALSE and2.1.out ==> timer-in-2
15 s32 OUT 88 and2.1.time
9 bit OUT TRUE axis.0.active
9 bit OUT TRUE axis.0.amp-enable-out ==> x-enable
9 bit IN FALSE axis.0.amp-fault-in
9 float OUT 0 axis.0.backlash-corr
9 float OUT 0 axis.0.backlash-filt
9 float OUT 0 axis.0.backlash-vel
9 float OUT 4.992 axis.0.coarse-pos-cmd
9 bit OUT FALSE axis.0.error
9 float OUT -0.001 axis.0.f-error
9 float OUT 1 axis.0.f-error-lim
9 bit OUT FALSE axis.0.f-errored
9 bit OUT FALSE axis.0.faulted
9 float OUT 4.992 axis.0.free-pos-cmd
9 bit OUT FALSE axis.0.free-tp-enable
9 float OUT 0 axis.0.free-vel-lim
9 s32 OUT 0 axis.0.home-state
9 bit IN FALSE axis.0.home-sw-in <== home-x
9 bit OUT FALSE axis.0.homed
9 bit OUT FALSE axis.0.homing
9 bit OUT TRUE axis.0.in-position
9 bit I/O FALSE axis.0.index-enable
9 s32 IN 0 axis.0.jog-counts
9 bit IN FALSE axis.0.jog-enable
9 float IN 0 axis.0.jog-scale
9 bit IN FALSE axis.0.jog-vel-mode
9 float OUT 4.992 axis.0.joint-pos-cmd
9 float OUT 4.993 axis.0.joint-pos-fb
9 float OUT 0 axis.0.joint-vel-cmd
9 bit OUT FALSE axis.0.kb-jog-active
9 float OUT 0 axis.0.motor-offset
9 float OUT 4.992 axis.0.motor-pos-cmd ==> x-pos-cmd
9 float IN 4.993 axis.0.motor-pos-fb <== x-pos-fb
9 bit OUT FALSE axis.0.neg-hard-limit
9 bit IN FALSE axis.0.neg-lim-sw-in <== min-x
9 bit OUT FALSE axis.0.pos-hard-limit
9 bit IN FALSE axis.0.pos-lim-sw-in <== max-x
9 bit OUT FALSE axis.0.wheel-jog-active
9 bit OUT TRUE axis.1.active
9 bit OUT TRUE axis.1.amp-enable-out ==> y-enable
9 bit IN FALSE axis.1.amp-fault-in
9 float OUT 0 axis.1.backlash-corr
9 float OUT 0 axis.1.backlash-filt
9 float OUT 0 axis.1.backlash-vel
9 float OUT 3.796 axis.1.coarse-pos-cmd
9 bit OUT FALSE axis.1.error
9 float OUT 0 axis.1.f-error
9 float OUT 0.1 axis.1.f-error-lim
9 bit OUT FALSE axis.1.f-errored
9 bit OUT FALSE axis.1.faulted
9 float OUT 3.796 axis.1.free-pos-cmd
9 bit OUT FALSE axis.1.free-tp-enable
9 float OUT 0 axis.1.free-vel-lim
9 s32 OUT 0 axis.1.home-state
9 bit IN FALSE axis.1.home-sw-in <== home-y
9 bit OUT FALSE axis.1.homed
9 bit OUT FALSE axis.1.homing
9 bit OUT TRUE axis.1.in-position
9 bit I/O FALSE axis.1.index-enable
9 s32 IN 0 axis.1.jog-counts
9 bit IN FALSE axis.1.jog-enable
9 float IN 0 axis.1.jog-scale
9 bit IN FALSE axis.1.jog-vel-mode
9 float OUT 3.796 axis.1.joint-pos-cmd
9 float OUT 3.796 axis.1.joint-pos-fb
9 float OUT 0 axis.1.joint-vel-cmd
9 bit OUT FALSE axis.1.kb-jog-active
9 float OUT 0 axis.1.motor-offset
9 float OUT 3.796 axis.1.motor-pos-cmd ==> y-pos-cmd
9 float IN 3.796 axis.1.motor-pos-fb <== y-pos-fb
9 bit OUT FALSE axis.1.neg-hard-limit
9 bit IN FALSE axis.1.neg-lim-sw-in <== min-y
9 bit OUT FALSE axis.1.pos-hard-limit
9 bit IN FALSE axis.1.pos-lim-sw-in <== max-y
9 bit OUT FALSE axis.1.wheel-jog-active
9 bit OUT TRUE axis.2.active
9 bit OUT TRUE axis.2.amp-enable-out ==> z-enable
9 bit IN FALSE axis.2.amp-fault-in
9 float OUT 0 axis.2.backlash-corr
9 float OUT 0 axis.2.backlash-filt
9 float OUT 0 axis.2.backlash-vel
9 float OUT 0.75 axis.2.coarse-pos-cmd
9 bit OUT FALSE axis.2.error
9 float OUT -0.001 axis.2.f-error
9 float OUT 0.1 axis.2.f-error-lim
9 bit OUT FALSE axis.2.f-errored
9 bit OUT FALSE axis.2.faulted
9 float OUT 0.75 axis.2.free-pos-cmd
9 bit OUT FALSE axis.2.free-tp-enable
9 float OUT 0 axis.2.free-vel-lim
9 s32 OUT 0 axis.2.home-state
9 bit IN FALSE axis.2.home-sw-in <== home-z
9 bit OUT FALSE axis.2.homed
9 bit OUT FALSE axis.2.homing
9 bit OUT TRUE axis.2.in-position
9 bit I/O FALSE axis.2.index-enable
9 s32 IN 0 axis.2.jog-counts
9 bit IN FALSE axis.2.jog-enable
9 float IN 0 axis.2.jog-scale
9 bit IN FALSE axis.2.jog-vel-mode
9 float OUT 0.75 axis.2.joint-pos-cmd
9 float OUT 0.751 axis.2.joint-pos-fb
9 float OUT 0 axis.2.joint-vel-cmd
9 bit OUT FALSE axis.2.kb-jog-active
9 float OUT 0 axis.2.motor-offset
9 float OUT 0.75 axis.2.motor-pos-cmd ==> z-pos-cmd
9 float IN 0.751 axis.2.motor-pos-fb <== z-pos-fb
9 bit OUT FALSE axis.2.neg-hard-limit
9 bit IN FALSE axis.2.neg-lim-sw-in <== min-z
9 bit OUT FALSE axis.2.pos-hard-limit
9 bit IN FALSE axis.2.pos-lim-sw-in <== max-z
9 bit OUT FALSE axis.2.wheel-jog-active
22 bit OUT FALSE axisui.jog.a
22 bit OUT FALSE axisui.jog.b
22 bit OUT FALSE axisui.jog.c
22 float OUT 0 axisui.jog.increment
22 bit OUT FALSE axisui.jog.u
22 bit OUT FALSE axisui.jog.v
22 bit OUT FALSE axisui.jog.w
22 bit OUT TRUE axisui.jog.x
22 bit OUT FALSE axisui.jog.y
22 bit OUT FALSE axisui.jog.z
22 bit IN FALSE axisui.notifications-clear
22 bit IN FALSE axisui.notifications-clear-error
22 bit IN FALSE axisui.notifications-clear-info
22 bit IN FALSE axisui.resume-inhibit
7 bit IN FALSE halui.abort
7 float OUT 4.992 halui.axis.0.pos-commanded
7 float OUT 4.993 halui.axis.0.pos-feedback
7 float OUT 4.993 halui.axis.0.pos-relative
7 float OUT 3.796 halui.axis.1.pos-commanded
7 float OUT 3.796 halui.axis.1.pos-feedback
7 float OUT 3.796 halui.axis.1.pos-relative
7 float OUT 0.75 halui.axis.2.pos-commanded
7 float OUT 0.751 halui.axis.2.pos-feedback
7 float OUT 0.751 halui.axis.2.pos-relative
7 float OUT 0 halui.axis.3.pos-commanded
7 float OUT 0 halui.axis.3.pos-feedback
7 float OUT 0 halui.axis.3.pos-relative
7 float OUT 0 halui.axis.4.pos-commanded
7 float OUT 0 halui.axis.4.pos-feedback
7 float OUT 0 halui.axis.4.pos-relative
7 float OUT 0 halui.axis.5.pos-commanded
7 float OUT 0 halui.axis.5.pos-feedback
7 float OUT 0 halui.axis.5.pos-relative
7 float OUT 0 halui.axis.6.pos-commanded
7 float OUT 0 halui.axis.6.pos-feedback
7 float OUT 0 halui.axis.6.pos-relative
7 float OUT 0 halui.axis.7.pos-commanded
7 float OUT 0 halui.axis.7.pos-feedback
7 float OUT 0 halui.axis.7.pos-relative
7 float OUT 0 halui.axis.8.pos-commanded
7 float OUT 0 halui.axis.8.pos-feedback
7 float OUT 0 halui.axis.8.pos-relative
7 bit IN FALSE halui.estop.activate
7 bit OUT FALSE halui.estop.is-activated
7 bit IN FALSE halui.estop.reset
7 bit IN TRUE halui.feed-override.count-enable
7 s32 IN 0 halui.feed-override.counts
7 bit IN FALSE halui.feed-override.decrease
7 bit IN FALSE halui.feed-override.direct-value
7 bit IN FALSE halui.feed-override.increase
7 float IN 0.1 halui.feed-override.scale
7 float OUT 1 halui.feed-override.value
7 bit OUT FALSE halui.flood.is-on
7 bit IN FALSE halui.flood.off
7 bit IN FALSE halui.flood.on
7 bit IN FALSE halui.home-all
7 float IN 0.2 halui.jog-deadband
7 float IN 0 halui.jog-speed
7 float IN 0 halui.jog.0.analog
7 float IN 0 halui.jog.0.increment
7 bit IN FALSE halui.jog.0.increment-minus
7 bit IN FALSE halui.jog.0.increment-plus
7 bit IN FALSE halui.jog.0.minus
7 bit IN FALSE halui.jog.0.plus
7 float IN 0 halui.jog.1.analog
7 float IN 0 halui.jog.1.increment
7 bit IN FALSE halui.jog.1.increment-minus
7 bit IN FALSE halui.jog.1.increment-plus
7 bit IN FALSE halui.jog.1.minus
7 bit IN FALSE halui.jog.1.plus
7 float IN 0 halui.jog.2.analog
7 float IN 0 halui.jog.2.increment
7 bit IN FALSE halui.jog.2.increment-minus
7 bit IN FALSE halui.jog.2.increment-plus
7 bit IN FALSE halui.jog.2.minus
7 bit IN FALSE halui.jog.2.plus
7 float IN 0 halui.jog.selected.increment
7 bit IN FALSE halui.jog.selected.increment-minus
7 bit IN FALSE halui.jog.selected.increment-plus
7 bit IN FALSE halui.jog.selected.minus
7 bit IN FALSE halui.jog.selected.plus
7 bit OUT FALSE halui.joint.0.has-fault
7 bit IN FALSE halui.joint.0.home
7 bit OUT FALSE halui.joint.0.is-homed
7 bit OUT FALSE halui.joint.0.is-selected
7 bit OUT FALSE halui.joint.0.on-hard-max-limit
7 bit OUT FALSE halui.joint.0.on-hard-min-limit
7 bit OUT FALSE halui.joint.0.on-soft-max-limit
7 bit OUT FALSE halui.joint.0.on-soft-min-limit
7 bit IN FALSE halui.joint.0.select
7 bit IN FALSE halui.joint.0.unhome
7 bit OUT FALSE halui.joint.1.has-fault
7 bit IN FALSE halui.joint.1.home
7 bit OUT FALSE halui.joint.1.is-homed
7 bit OUT FALSE halui.joint.1.is-selected
7 bit OUT FALSE halui.joint.1.on-hard-max-limit
7 bit OUT FALSE halui.joint.1.on-hard-min-limit
7 bit OUT FALSE halui.joint.1.on-soft-max-limit
7 bit OUT FALSE halui.joint.1.on-soft-min-limit
7 bit IN FALSE halui.joint.1.select
7 bit IN FALSE halui.joint.1.unhome
7 bit OUT FALSE halui.joint.2.has-fault
7 bit IN FALSE halui.joint.2.home
7 bit OUT FALSE halui.joint.2.is-homed
7 bit OUT FALSE halui.joint.2.is-selected
7 bit OUT FALSE halui.joint.2.on-hard-max-limit
7 bit OUT FALSE halui.joint.2.on-hard-min-limit
7 bit OUT FALSE halui.joint.2.on-soft-max-limit
7 bit OUT FALSE halui.joint.2.on-soft-min-limit
7 bit IN FALSE halui.joint.2.select
7 bit IN FALSE halui.joint.2.unhome
7 u32 OUT 0x00000000 halui.joint.selected
7 bit OUT FALSE halui.joint.selected.has-fault
7 bit IN FALSE halui.joint.selected.home
7 bit OUT FALSE halui.joint.selected.is_homed
7 bit OUT FALSE halui.joint.selected.on-hard-max-limit
7 bit OUT FALSE halui.joint.selected.on-hard-min-limit
7 bit OUT FALSE halui.joint.selected.on-soft-limit
7 bit OUT FALSE halui.joint.selected.on-soft-min-limit
7 bit IN FALSE halui.joint.selected.unhome
7 bit OUT TRUE halui.lube.is-on
7 bit IN FALSE halui.lube.off
7 bit IN FALSE halui.lube.on
7 bit OUT TRUE halui.machine.is-on
7 bit IN FALSE halui.machine.off
7 bit IN FALSE halui.machine.on
7 bit IN TRUE halui.max-velocity.count-enable
7 s32 IN 0 halui.max-velocity.counts
7 bit IN FALSE halui.max-velocity.decrease
7 bit IN FALSE halui.max-velocity.direct-value
7 bit IN FALSE halui.max-velocity.increase
7 float IN 0 halui.max-velocity.scale
7 float OUT 80 halui.max-velocity.value
7 bit OUT FALSE halui.mist.is-on
7 bit IN FALSE halui.mist.off
7 bit IN FALSE halui.mist.on
7 bit IN FALSE halui.mode.auto
7 bit OUT FALSE halui.mode.is-auto
7 bit OUT TRUE halui.mode.is-joint
7 bit OUT TRUE halui.mode.is-manual
7 bit OUT FALSE halui.mode.is-mdi
7 bit OUT FALSE halui.mode.is-teleop
7 bit IN FALSE halui.mode.joint
7 bit IN FALSE halui.mode.manual
7 bit IN FALSE halui.mode.mdi
7 bit IN FALSE halui.mode.teleop
7 bit OUT TRUE halui.program.block-delete.is-on
7 bit IN FALSE halui.program.block-delete.off
7 bit IN FALSE halui.program.block-delete.on
7 bit OUT TRUE halui.program.is-idle
7 bit OUT FALSE halui.program.is-paused
7 bit OUT FALSE halui.program.is-running
7 bit OUT TRUE halui.program.optional-stop.is-on
7 bit IN FALSE halui.program.optional-stop.off
7 bit IN FALSE halui.program.optional-stop.on
7 bit IN FALSE halui.program.pause
7 bit IN FALSE halui.program.resume
7 bit IN FALSE halui.program.run
7 bit IN FALSE halui.program.step
7 bit IN FALSE halui.program.stop
7 bit IN TRUE halui.rapid-override.count-enable
7 s32 IN 0 halui.rapid-override.counts
7 bit IN FALSE halui.rapid-override.decrease
7 bit IN FALSE halui.rapid-override.direct-value
7 bit IN FALSE halui.rapid-override.increase
7 float IN 0.1 halui.rapid-override.scale
7 float OUT 1 halui.rapid-override.value
7 bit IN TRUE halui.spindle-override.count-enable
7 s32 IN 0 halui.spindle-override.counts
7 bit IN FALSE halui.spindle-override.decrease
7 bit IN FALSE halui.spindle-override.direct-value
7 bit IN FALSE halui.spindle-override.increase
7 float IN 0.1 halui.spindle-override.scale
7 float OUT 1 halui.spindle-override.value
7 bit OUT TRUE halui.spindle.brake-is-on
7 bit IN FALSE halui.spindle.brake-off
7 bit IN FALSE halui.spindle.brake-on
7 bit IN FALSE halui.spindle.decrease
7 bit IN FALSE halui.spindle.forward
7 bit IN FALSE halui.spindle.increase
7 bit OUT FALSE halui.spindle.is-on
7 bit IN FALSE halui.spindle.reverse
7 bit OUT FALSE halui.spindle.runs-backward
7 bit OUT FALSE halui.spindle.runs-forward
7 bit IN FALSE halui.spindle.start
7 bit IN FALSE halui.spindle.stop
7 float OUT 0 halui.tool.length_offset.a
7 float OUT 0 halui.tool.length_offset.b
7 float OUT 0 halui.tool.length_offset.c
7 float OUT 0 halui.tool.length_offset.u
7 float OUT 0 halui.tool.length_offset.v
7 float OUT 0 halui.tool.length_offset.w
7 float OUT 0 halui.tool.length_offset.x
7 float OUT 0 halui.tool.length_offset.y
7 float OUT 0 halui.tool.length_offset.z
7 u32 OUT 0x00000000 halui.tool.number
20 float IN 0 ini.0.backlash
20 float IN 40 ini.0.ferror
20 float IN 200 ini.0.max_acceleration
20 float IN 370 ini.0.max_limit
20 float IN 50 ini.0.max_velocity
20 float IN 1 ini.0.min_ferror
20 float IN 0 ini.0.min_limit
20 float IN 0 ini.1.backlash
20 float IN 40 ini.1.ferror
20 float IN 200 ini.1.max_acceleration
20 float IN 262 ini.1.max_limit
20 float IN 50 ini.1.max_velocity
20 float IN 0.1 ini.1.min_ferror
20 float IN 0 ini.1.min_limit
20 float IN 0 ini.2.backlash
20 float IN 40 ini.2.ferror
20 float IN 200 ini.2.max_acceleration
20 float IN 0 ini.2.max_limit
20 float IN 50 ini.2.max_velocity
20 float IN 0.1 ini.2.min_ferror
20 float IN -370 ini.2.min_limit
20 float IN 0 ini.3.backlash
20 float IN 0 ini.3.ferror
20 float IN 0 ini.3.max_acceleration
20 float IN 0 ini.3.max_limit
20 float IN 0 ini.3.max_velocity
20 float IN 0 ini.3.min_ferror
20 float IN 0 ini.3.min_limit
20 float IN 0 ini.4.backlash
20 float IN 0 ini.4.ferror
20 float IN 0 ini.4.max_acceleration
20 float IN 0 ini.4.max_limit
20 float IN 0 ini.4.max_velocity
20 float IN 0 ini.4.min_ferror
20 float IN 0 ini.4.min_limit
20 float IN 0 ini.5.backlash
20 float IN 0 ini.5.ferror
20 float IN 0 ini.5.max_acceleration
20 float IN 0 ini.5.max_limit
20 float IN 0 ini.5.max_velocity
20 float IN 0 ini.5.min_ferror
20 float IN 0 ini.5.min_limit
20 float IN 0 ini.6.backlash
20 float IN 0 ini.6.ferror
20 float IN 0 ini.6.max_acceleration
20 float IN 0 ini.6.max_limit
20 float IN 0 ini.6.max_velocity
20 float IN 0 ini.6.min_ferror
20 float IN 0 ini.6.min_limit
20 float IN 0 ini.7.backlash
20 float IN 0 ini.7.ferror
20 float IN 0 ini.7.max_acceleration
20 float IN 0 ini.7.max_limit
20 float IN 0 ini.7.max_velocity
20 float IN 0 ini.7.min_ferror
20 float IN 0 ini.7.min_limit
20 float IN 0 ini.8.backlash
20 float IN 0 ini.8.ferror
20 float IN 0 ini.8.max_acceleration
20 float IN 0 ini.8.max_limit
20 float IN 0 ini.8.max_velocity
20 float IN 0 ini.8.min_ferror
20 float IN 0 ini.8.min_limit
20 bit IN TRUE ini.traj_arc_blend_enable
20 bit IN FALSE ini.traj_arc_blend_fallback_enable
20 float IN 4 ini.traj_arc_blend_gap_cycles
20 s32 IN 50 ini.traj_arc_blend_optimization_depth
20 float IN 100 ini.traj_arc_blend_ramp_freq
20 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio
20 float IN 1e+99 ini.traj_default_acceleration
20 float IN 8 ini.traj_default_velocity
20 float IN 1e+99 ini.traj_max_acceleration
20 float IN 1e+99 ini.traj_max_velocity
5 bit OUT FALSE iocontrol.0.coolant-flood
5 bit OUT FALSE iocontrol.0.coolant-mist
5 bit IN TRUE iocontrol.0.emc-enable-in <== estop-ext
5 bit OUT TRUE iocontrol.0.lube
5 bit IN FALSE iocontrol.0.lube_level
5 bit OUT FALSE iocontrol.0.tool-change
5 bit IN FALSE iocontrol.0.tool-changed
5 s32 OUT 0 iocontrol.0.tool-number
5 s32 OUT 0 iocontrol.0.tool-prep-number
5 s32 OUT 0 iocontrol.0.tool-prep-pocket
5 bit OUT FALSE iocontrol.0.tool-prepare
5 bit IN FALSE iocontrol.0.tool-prepared
5 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-ext
5 bit OUT FALSE iocontrol.0.user-request-enable
9 s32 OUT 352 motion-command-handler.time
9 s32 OUT 5180 motion-controller.time
9 float IN 1 motion.adaptive-feed
9 float IN 0 motion.analog-in-00
9 float IN 0 motion.analog-in-01
9 float IN 0 motion.analog-in-02
9 float IN 0 motion.analog-in-03
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.coord-error
9 bit OUT FALSE motion.coord-mode
9 float OUT 0 motion.current-vel
9 bit IN FALSE motion.digital-in-00
9 bit IN FALSE motion.digital-in-01
9 bit IN FALSE motion.digital-in-02
9 bit IN FALSE motion.digital-in-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.distance-to-go
9 bit IN TRUE motion.enable
9 bit IN FALSE motion.feed-hold
9 bit IN FALSE motion.feed-inhibit
9 bit OUT TRUE motion.in-position ==> in-position
9 bit OUT TRUE motion.motion-enabled ==> machine-is-enabled
9 s32 OUT 0 motion.motion-type
9 bit OUT FALSE motion.on-soft-limit
9 bit IN FALSE motion.probe-input
9 s32 OUT 0 motion.program-line
9 float OUT 0 motion.requested-vel
9 bit IN TRUE motion.spindle-at-speed <== spindle-enable
9 bit OUT TRUE motion.spindle-brake
9 bit OUT FALSE motion.spindle-forward ==> spindle-cw
9 bit I/O FALSE motion.spindle-index-enable
9 bit IN FALSE motion.spindle-inhibit
9 bit IN FALSE motion.spindle-is-oriented
9 bit OUT FALSE motion.spindle-locked
9 bit OUT FALSE motion.spindle-on ==> spindle-on
9 bit OUT FALSE motion.spindle-orient
9 float OUT 0 motion.spindle-orient-angle
9 s32 IN 0 motion.spindle-orient-fault
9 s32 OUT 0 motion.spindle-orient-mode
9 bit OUT FALSE motion.spindle-reverse ==> spindle-ccw
9 float IN 0 motion.spindle-revs
9 float OUT 0 motion.spindle-speed-cmd-rps
9 float IN 0 motion.spindle-speed-in
9 float OUT 0 motion.spindle-speed-out ==> spindle-speed-scale
9 float OUT 0 motion.spindle-speed-out-abs
9 float OUT 0 motion.spindle-speed-out-rps
9 float OUT 0 motion.spindle-speed-out-rps-abs
9 bit OUT FALSE motion.teleop-mode
9 float OUT 0 motion.tooloffset.a
9 float OUT 0 motion.tooloffset.b
9 float OUT 0 motion.tooloffset.c
9 float OUT 0 motion.tooloffset.u
9 float OUT 0 motion.tooloffset.v
9 float OUT 0 motion.tooloffset.w
9 float OUT 0 motion.tooloffset.x
9 float OUT 0 motion.tooloffset.y
9 float OUT 0 motion.tooloffset.z
17 bit IN FALSE not.0.in <== timer-delay.0
17 bit OUT TRUE not.0.out ==> timer-in
17 s32 OUT 247 not.0.time
17 bit IN FALSE not.1.in <== timer-delay.1
17 bit OUT TRUE not.1.out ==> timer-in.1
17 s32 OUT 60 not.1.time
13 bit IN TRUE oneshot.0.in <== machine-is-enabled
13 bit OUT FALSE oneshot.0.out ==> delay
13 bit OUT TRUE oneshot.0.out-not
13 s32 OUT 353 oneshot.0.time
13 float OUT 0 oneshot.0.time-left
13 float IN 3 oneshot.0.width
13 bit IN FALSE oneshot.1.in <== spindle-anable
13 bit OUT FALSE oneshot.1.out ==> delay.1
13 bit OUT TRUE oneshot.1.out-not
13 s32 OUT 150 oneshot.1.time
13 float OUT 0 oneshot.1.time-left
13 float IN 10 oneshot.1.width
14 bit IN FALSE or2.0.in0 <== delay
14 bit IN FALSE or2.0.in1 <== timer-delay.0
14 bit OUT FALSE or2.0.out ==> rail-lube
14 s32 OUT 210 or2.0.time
14 bit IN FALSE or2.1.in0 <== delay.1
14 bit IN FALSE or2.1.in1 <== timer-delay.1
14 bit OUT FALSE or2.1.out ==> spindel-lube
14 s32 OUT 113 or2.1.time
12 float IN 0.02 pid.x.Dgain
12 float IN 0 pid.x.FF0
12 float IN 0.065 pid.x.FF1
12 float IN 0 pid.x.FF2
12 float IN 0 pid.x.Igain
12 float IN 4 pid.x.Pgain
12 float IN 0 pid.x.bias
12 float IN 4.992 pid.x.command <== x-pos-cmd
12 float IN 0 pid.x.command-deriv
12 float IN 0 pid.x.deadband
12 s32 OUT 676 pid.x.do-pid-calcs.time
12 bit IN TRUE pid.x.enable <== x-enable
12 float OUT -0.002 pid.x.error
12 bit IN TRUE pid.x.error-previous-target
12 float IN 4.994 pid.x.feedback <== x-pos-fb
12 float IN 0 pid.x.feedback-deriv
12 bit IN FALSE pid.x.index-enable
12 float IN 0 pid.x.maxcmdD
12 float IN 0 pid.x.maxcmdDD
12 float IN 0 pid.x.maxerror
12 float IN 0 pid.x.maxerrorD
12 float IN 0 pid.x.maxerrorI
12 float IN 10 pid.x.maxoutput
12 float OUT -0.008 pid.x.output ==> x-output
12 bit OUT FALSE pid.x.saturated
12 s32 OUT 0 pid.x.saturated-count
12 float OUT 0 pid.x.saturated-s
12 float IN 0 pid.y.Dgain
12 float IN 0 pid.y.FF0
12 float IN 0 pid.y.FF1
12 float IN 0 pid.y.FF2
12 float IN 0 pid.y.Igain
12 float IN 10 pid.y.Pgain
12 float IN 0 pid.y.bias
12 float IN 3.796 pid.y.command <== y-pos-cmd
12 float IN 0 pid.y.command-deriv
12 float IN 0 pid.y.deadband
12 s32 OUT 307 pid.y.do-pid-calcs.time
12 bit IN TRUE pid.y.enable <== y-enable
12 float OUT 0 pid.y.error
12 bit IN TRUE pid.y.error-previous-target
12 float IN 3.796 pid.y.feedback <== y-pos-fb
12 float IN 0 pid.y.feedback-deriv
12 bit IN FALSE pid.y.index-enable
12 float IN 0 pid.y.maxcmdD
12 float IN 0 pid.y.maxcmdDD
12 float IN 0 pid.y.maxerror
12 float IN 0 pid.y.maxerrorD
12 float IN 0 pid.y.maxerrorI
12 float IN 10 pid.y.maxoutput
12 float OUT 0 pid.y.output ==> y-output
12 bit OUT FALSE pid.y.saturated
12 s32 OUT 0 pid.y.saturated-count
12 float OUT 0 pid.y.saturated-s
12 float IN 0.02 pid.z.Dgain
12 float IN 0 pid.z.FF0
12 float IN 0.065 pid.z.FF1
12 float IN 0 pid.z.FF2
12 float IN 0 pid.z.Igain
12 float IN 4 pid.z.Pgain
12 float IN 0 pid.z.bias
12 float IN 0.75 pid.z.command <== z-pos-cmd
12 float IN 0 pid.z.command-deriv
12 float IN 0 pid.z.deadband
12 s32 OUT 307 pid.z.do-pid-calcs.time
12 bit IN TRUE pid.z.enable <== z-enable
12 float OUT -0.001 pid.z.error
12 bit IN TRUE pid.z.error-previous-target
12 float IN 0.751 pid.z.feedback <== z-pos-fb
12 float IN 0 pid.z.feedback-deriv
12 bit IN FALSE pid.z.index-enable
12 float IN 0 pid.z.maxcmdD
12 float IN 0 pid.z.maxcmdDD
12 float IN 0 pid.z.maxerror
12 float IN 0 pid.z.maxerrorD
12 float IN 0 pid.z.maxerrorI
12 float IN 10 pid.z.maxoutput
12 float OUT -0.004 pid.z.output ==> z-output
12 bit OUT FALSE pid.z.saturated
12 s32 OUT 0 pid.z.saturated-count
12 float OUT 0 pid.z.saturated-s
22 bit OUT FALSE pyvcp.button ==> buton_test
18 float IN 0.007 scale.0.gain
18 float IN 0 scale.0.in
18 float IN 0 scale.0.offset
18 float OUT 0 scale.0.out
18 s32 OUT 233 scale.0.time
10 s32 OUT 96916 servo-thread.time
16 float OUT 63.13146 timedelay.0.elapsed
16 bit IN TRUE timedelay.0.in <== timer-in-1
16 float IN 3 timedelay.0.off-delay
16 float IN 600 timedelay.0.on-delay
16 bit OUT FALSE timedelay.0.out ==> timer-delay.0
16 s32 OUT 240 timedelay.0.time
16 float OUT 0 timedelay.1.elapsed
16 bit IN FALSE timedelay.1.in <== timer-in-2
16 float IN 10 timedelay.1.off-delay
16 float IN 900 timedelay.1.on-delay
16 bit OUT FALSE timedelay.1.out ==> timer-delay.1
16 s32 OUT 187 timedelay.1.time
11 float IN -0.008 to_pci.1.dcontrol0 <== x-output
11 float IN 0 to_pci.1.dcontrol1 <== y-output
11 float IN -0.004 to_pci.1.dcontrol2 <== z-output
11 float IN 0 to_pci.1.dcontrol3 <== spindle-speed-to_pci.1.dcontrol3
11 float IN 0 to_pci.1.dcontrol4
11 bit IN TRUE to_pci.1.enable_drive <== x-enable
11 float IN 1000 to_pci.1.feedback.enc_scale0
11 float IN 1000 to_pci.1.feedback.enc_scale1
11 float IN 1000 to_pci.1.feedback.enc_scale2
11 float IN 0 to_pci.1.feedback.enc_scale3
11 float IN 0 to_pci.1.feedback.enc_scale4
11 float OUT 4.994 to_pci.1.feedback.encoder0 ==> x-pos-fb
11 float OUT 3.796 to_pci.1.feedback.encoder1 ==> y-pos-fb
11 float OUT 0.751 to_pci.1.feedback.encoder2 ==> z-pos-fb
11 float OUT -nan to_pci.1.feedback.encoder3
11 float OUT -nan to_pci.1.feedback.encoder4
11 bit I/O FALSE to_pci.1.feedback.index_en0
11 bit I/O FALSE to_pci.1.feedback.index_en1
11 bit I/O FALSE to_pci.1.feedback.index_en2
11 bit I/O FALSE to_pci.1.feedback.index_en3
11 bit I/O FALSE to_pci.1.feedback.index_en4
11 float IN 1 to_pci.1.out_scale0
11 float IN -1 to_pci.1.out_scale1
11 float IN 1 to_pci.1.out_scale2
11 float IN 0.007 to_pci.1.out_scale3
11 float IN 0 to_pci.1.out_scale4
11 bit OUT TRUE to_pci.1.pins.pin-00-in
11 bit OUT FALSE to_pci.1.pins.pin-00-in-n ==> max-x
11 bit IN TRUE to_pci.1.pins.pin-00-out <== machine-is-enabled
11 bit OUT TRUE to_pci.1.pins.pin-01-in
11 bit OUT FALSE to_pci.1.pins.pin-01-in-n ==> min-x
11 bit IN FALSE to_pci.1.pins.pin-01-out
11 bit OUT TRUE to_pci.1.pins.pin-02-in
11 bit OUT FALSE to_pci.1.pins.pin-02-in-n ==> home-x
11 bit IN FALSE to_pci.1.pins.pin-02-out
11 bit OUT TRUE to_pci.1.pins.pin-03-in
11 bit OUT FALSE to_pci.1.pins.pin-03-in-n ==> max-y
11 bit IN FALSE to_pci.1.pins.pin-03-out
11 bit OUT TRUE to_pci.1.pins.pin-04-in
11 bit OUT FALSE to_pci.1.pins.pin-04-in-n ==> min-y
11 bit IN FALSE to_pci.1.pins.pin-04-out
11 bit OUT TRUE to_pci.1.pins.pin-05-in
11 bit OUT FALSE to_pci.1.pins.pin-05-in-n ==> home-y
11 bit IN FALSE to_pci.1.pins.pin-05-out
11 bit OUT TRUE to_pci.1.pins.pin-06-in
11 bit OUT FALSE to_pci.1.pins.pin-06-in-n ==> max-z
11 bit IN FALSE to_pci.1.pins.pin-06-out
11 bit OUT TRUE to_pci.1.pins.pin-07-in
11 bit OUT FALSE to_pci.1.pins.pin-07-in-n ==> min-z
11 bit IN FALSE to_pci.1.pins.pin-07-out
11 bit OUT TRUE to_pci.1.pins.pin-08-in
11 bit OUT FALSE to_pci.1.pins.pin-08-in-n ==> home-z
11 bit IN FALSE to_pci.1.pins.pin-08-out <== spindle-cw
11 bit OUT FALSE to_pci.1.pins.pin-09-in
11 bit OUT TRUE to_pci.1.pins.pin-09-in-n
11 bit IN FALSE to_pci.1.pins.pin-09-out <== spindle-ccw
11 bit OUT FALSE to_pci.1.pins.pin-10-in
11 bit OUT TRUE to_pci.1.pins.pin-10-in-n
11 bit IN FALSE to_pci.1.pins.pin-10-out <== rail-lube
11 bit OUT FALSE to_pci.1.pins.pin-11-in
11 bit OUT TRUE to_pci.1.pins.pin-11-in-n
11 bit IN FALSE to_pci.1.pins.pin-11-out <== spindle-lube
11 bit OUT FALSE to_pci.1.pins.pin-12-in
11 bit OUT TRUE to_pci.1.pins.pin-12-in-n
11 bit IN FALSE to_pci.1.pins.pin-12-out
11 bit OUT FALSE to_pci.1.pins.pin-13-in
11 bit OUT TRUE to_pci.1.pins.pin-13-in-n
11 bit IN FALSE to_pci.1.pins.pin-13-out
11 bit OUT FALSE to_pci.1.pins.pin-14-in
11 bit OUT TRUE to_pci.1.pins.pin-14-in-n
11 bit IN FALSE to_pci.1.pins.pin-14-out <== buton_test
11 bit OUT FALSE to_pci.1.pins.pin-15-in
11 bit OUT TRUE to_pci.1.pins.pin-15-in-n
11 bit IN FALSE to_pci.1.pins.pin-15-out
11 bit OUT FALSE to_pci.1.pins.pin-16-in
11 bit OUT TRUE to_pci.1.pins.pin-16-in-n
11 bit OUT FALSE to_pci.1.pins.pin-17-in
11 bit OUT TRUE to_pci.1.pins.pin-17-in-n
11 bit OUT FALSE to_pci.1.pins.pin-18-in
11 bit OUT TRUE to_pci.1.pins.pin-18-in-n
11 bit OUT FALSE to_pci.1.pins.pin-19-in
11 bit OUT TRUE to_pci.1.pins.pin-19-in-n
11 bit OUT FALSE to_pci.1.pins.pin-20-in
11 bit OUT TRUE to_pci.1.pins.pin-20-in-n
11 bit OUT FALSE to_pci.1.pins.pin-21-in
11 bit OUT TRUE to_pci.1.pins.pin-21-in-n
11 bit OUT FALSE to_pci.1.pins.pin-22-in
11 bit OUT TRUE to_pci.1.pins.pin-22-in-n
11 bit OUT FALSE to_pci.1.pins.pin-23-in
11 bit OUT TRUE to_pci.1.pins.pin-23-in-n
11 bit OUT FALSE to_pci.1.pins.pin-24-in
11 bit OUT TRUE to_pci.1.pins.pin-24-in-n
11 bit OUT FALSE to_pci.1.pins.pin-25-in
11 bit OUT TRUE to_pci.1.pins.pin-25-in-n
11 bit OUT FALSE to_pci.1.pins.pin-26-in
11 bit OUT TRUE to_pci.1.pins.pin-26-in-n
11 bit OUT FALSE to_pci.1.pins.pin-27-in
11 bit OUT TRUE to_pci.1.pins.pin-27-in-n
11 bit OUT FALSE to_pci.1.pins.pin-28-in
11 bit OUT TRUE to_pci.1.pins.pin-28-in-n
11 bit OUT FALSE to_pci.1.pins.pin-29-in
11 bit OUT TRUE to_pci.1.pins.pin-29-in-n
11 bit OUT FALSE to_pci.1.pins.pin-30-in
11 bit OUT TRUE to_pci.1.pins.pin-30-in-n
11 bit OUT FALSE to_pci.1.pins.pin-31-in
11 bit OUT TRUE to_pci.1.pins.pin-31-in-n
11 s32 OUT 85624 to_pci.1.update.time
Pin Aliases:
Alias Original Name
Signals:
Type Value Name (linked to)
bit FALSE buton_test
<== pyvcp.button
==> to_pci.1.pins.pin-14-out
bit FALSE delay
<== oneshot.0.out
==> or2.0.in0
bit FALSE delay.1
<== oneshot.1.out
==> or2.1.in0
bit TRUE estop-ext
==> iocontrol.0.emc-enable-in
<== iocontrol.0.user-enable-out
bit FALSE home-x
==> axis.0.home-sw-in
<== to_pci.1.pins.pin-02-in-n
bit FALSE home-y
==> axis.1.home-sw-in
<== to_pci.1.pins.pin-05-in-n
bit FALSE home-z
==> axis.2.home-sw-in
<== to_pci.1.pins.pin-08-in-n
bit TRUE in-position
<== motion.in-position
bit TRUE machine-is-enabled
==> and2.0.in0
<== motion.motion-enabled
==> oneshot.0.in
==> to_pci.1.pins.pin-00-out
bit FALSE max-x
==> axis.0.pos-lim-sw-in
<== to_pci.1.pins.pin-00-in-n
bit FALSE max-y
==> axis.1.pos-lim-sw-in
<== to_pci.1.pins.pin-03-in-n
bit FALSE max-z
==> axis.2.pos-lim-sw-in
<== to_pci.1.pins.pin-06-in-n
bit FALSE min-x
==> axis.0.neg-lim-sw-in
<== to_pci.1.pins.pin-01-in-n
bit FALSE min-y
==> axis.1.neg-lim-sw-in
<== to_pci.1.pins.pin-04-in-n
bit FALSE min-z
==> axis.2.neg-lim-sw-in
<== to_pci.1.pins.pin-07-in-n
bit FALSE rail-lube
<== or2.0.out
==> to_pci.1.pins.pin-10-out
bit FALSE spindel-lube
<== or2.1.out
bit FALSE spindle-anable
==> and2.1.in0
==> oneshot.1.in
bit FALSE spindle-ccw
<== motion.spindle-reverse
==> to_pci.1.pins.pin-09-out
bit FALSE spindle-cw
<== motion.spindle-forward
==> to_pci.1.pins.pin-08-out
bit TRUE spindle-enable
==> motion.spindle-at-speed
bit FALSE spindle-lube
==> to_pci.1.pins.pin-11-out
bit FALSE spindle-on
<== motion.spindle-on
float 0 spindle-speed-scale
==> abs.0.in
<== motion.spindle-speed-out
float 0 spindle-speed-to_pci.1.dcontrol3
<== abs.0.out
==> to_pci.1.dcontrol3
bit FALSE timer-delay.0
==> not.0.in
==> or2.0.in1
<== timedelay.0.out
bit FALSE timer-delay.1
==> not.1.in
==> or2.1.in1
<== timedelay.1.out
bit TRUE timer-in
==> and2.0.in1
==> and2.1.in1
<== not.0.out
bit TRUE timer-in-1
<== and2.0.out
==> timedelay.0.in
bit FALSE timer-in-2
<== and2.1.out
==> timedelay.1.in
bit TRUE timer-in.1
<== not.1.out
bit TRUE x-enable
<== axis.0.amp-enable-out
==> pid.x.enable
==> to_pci.1.enable_drive
float -0.008 x-output
<== pid.x.output
==> to_pci.1.dcontrol0
float 4.992 x-pos-cmd
<== axis.0.motor-pos-cmd
==> pid.x.command
float 4.994 x-pos-fb
==> axis.0.motor-pos-fb
==> pid.x.feedback
<== to_pci.1.feedback.encoder0
bit TRUE y-enable
<== axis.1.amp-enable-out
==> pid.y.enable
float 0 y-output
<== pid.y.output
==> to_pci.1.dcontrol1
float 3.796 y-pos-cmd
<== axis.1.motor-pos-cmd
==> pid.y.command
float 3.796 y-pos-fb
==> axis.1.motor-pos-fb
==> pid.y.feedback
<== to_pci.1.feedback.encoder1
bit TRUE z-enable
<== axis.2.amp-enable-out
==> pid.z.enable
float -0.004 z-output
<== pid.z.output
==> to_pci.1.dcontrol2
float 0.75 z-pos-cmd
<== axis.2.motor-pos-cmd
==> pid.z.command
float 0.751 z-pos-fb
==> axis.2.motor-pos-fb
==> pid.z.feedback
<== to_pci.1.feedback.encoder2
Parameters:
Owner Type Dir Value Name
19 s32 RW 4728 abs.0.tmax
19 bit RO FALSE abs.0.tmax-increased
15 s32 RW 3780 and2.0.tmax
15 bit RO FALSE and2.0.tmax-increased
15 s32 RW 3460 and2.1.tmax
15 bit RO FALSE and2.1.tmax-increased
5 s32 RO 0 iocontrol.0.tool-prep-index
9 s32 RW 6332 motion-command-handler.tmax
9 bit RO FALSE motion-command-handler.tmax-increased
9 s32 RW 35100 motion-controller.tmax
9 bit RO FALSE motion-controller.tmax-increased
9 bit RO FALSE motion.debug-bit-0
9 bit RO FALSE motion.debug-bit-1
9 float RO 1 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 0x002D9561 motion.servo.last-period
9 float RO 998058.2 motion.servo.last-period-ns
9 u32 RW 0x00000000 motion.servo.overruns
17 s32 RW 24829 not.0.tmax
17 bit RO FALSE not.0.tmax-increased
17 s32 RW 3440 not.1.tmax
17 bit RO FALSE not.1.tmax-increased
13 bit RW FALSE oneshot.0.falling
13 bit RW TRUE oneshot.0.retriggerable
13 bit RW TRUE oneshot.0.rising
13 s32 RW 23136 oneshot.0.tmax
13 bit RO FALSE oneshot.0.tmax-increased
13 bit RW FALSE oneshot.1.falling
13 bit RW TRUE oneshot.1.retriggerable
13 bit RW TRUE oneshot.1.rising
13 s32 RW 22844 oneshot.1.tmax
13 bit RO FALSE oneshot.1.tmax-increased
14 s32 RW 3928 or2.0.tmax
14 bit RO FALSE or2.0.tmax-increased
14 s32 RW 22782 or2.1.tmax
14 bit RO FALSE or2.1.tmax-increased
12 s32 RW 23690 pid.x.do-pid-calcs.tmax
12 bit RO FALSE pid.x.do-pid-calcs.tmax-increased
12 s32 RW 22916 pid.y.do-pid-calcs.tmax
12 bit RO FALSE pid.y.do-pid-calcs.tmax-increased
12 s32 RW 23787 pid.z.do-pid-calcs.tmax
12 bit RO FALSE pid.z.do-pid-calcs.tmax-increased
18 s32 RW 5504 scale.0.tmax
18 bit RO FALSE scale.0.tmax-increased
10 s32 RW 172536 servo-thread.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
16 s32 RW 23458 timedelay.0.tmax
16 bit RO FALSE timedelay.0.tmax-increased
16 s32 RW 3144 timedelay.1.tmax
16 bit RO FALSE timedelay.1.tmax-increased
11 s32 RW 136438 to_pci.1.update.tmax
11 bit RO FALSE to_pci.1.update.tmax-increased
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
00019 f93f1000 f96737f0 YES 1 abs.0
00015 f93d5000 f96736a0 NO 1 and2.0
00015 f93d5000 f96736b0 NO 1 and2.1
00009 f940e930 00000000 YES 1 motion-command-handler
00009 f94113f0 00000000 YES 1 motion-controller
00017 f93e7000 f9673720 NO 1 not.0
00017 f93e7000 f9673730 NO 1 not.1
00013 f93cb000 f9673600 YES 1 oneshot.0
00013 f93cb000 f9673630 YES 1 oneshot.1
00014 f93d0000 f9673670 NO 1 or2.0
00014 f93d0000 f9673680 NO 1 or2.1
00012 f93c1000 f9673390 YES 1 pid.x.do-pid-calcs
00012 f93c1000 f96734d8 YES 1 pid.y.do-pid-calcs
00012 f93c1000 f9673434 YES 1 pid.z.do-pid-calcs
00018 f93ec000 f96737c8 YES 1 scale.0
00016 f93e2000 f96736d0 YES 1 timedelay.0
00016 f93e2000 f96736f0 YES 1 timedelay.1
00011 f93c63ff f9673198 YES 1 to_pci.1.update
Realtime Threads:
Period FP Name ( Time, Max-Time )
999944 YES servo-thread ( 110984, 172536 )
1 to_pci.1.update
2 motion-command-handler
3 motion-controller
4 pid.x.do-pid-calcs
5 pid.z.do-pid-calcs
6 pid.y.do-pid-calcs
7 oneshot.0
8 oneshot.1
9 or2.0
10 or2.1
11 and2.0
12 timedelay.0
13 not.0
14 timedelay.1
15 not.1
16 and2.1
17 scale.0
18 abs.0
andrey@maincoon:~$ halcmd show
RTAPI: ERROR: could not open shared memory (errno=2)
Ошибка сегментирования
andrey@maincoon:~$ halcmd show
Loaded HAL Components:
ID Type Name PID State
24 User halcmd7070 7070 ready
22 User axisui 7063 ready
20 User inihal 7060 ready
19 RT abs ready
18 RT scale ready
17 RT not ready
16 RT timedelay ready
15 RT and2 ready
14 RT or2 ready
13 RT oneshot ready
12 RT pid ready
11 RT to_pci ready
10 RT __servo-thread ready
9 RT motmod ready
8 RT trivkins ready
7 User halui 7038 ready
5 User iocontrol 7036 ready
Component Pins:
Owner Type Dir Value Name
19 float IN 0 abs.0.in <== spindle-speed-scale
19 bit OUT FALSE abs.0.is-negative
19 bit OUT FALSE abs.0.is-positive
19 float OUT 0 abs.0.out ==> spindle-speed-to_pci.1.dcontrol3
19 bit OUT FALSE abs.0.sign
19 s32 OUT 208 abs.0.time
15 bit IN TRUE and2.0.in0 <== machine-is-enabled
15 bit IN TRUE and2.0.in1 <== timer-in
15 bit OUT TRUE and2.0.out ==> timer-in-1
15 s32 OUT 108 and2.0.time
15 bit IN FALSE and2.1.in0 <== spindle-anable
15 bit IN TRUE and2.1.in1 <== timer-in
15 bit OUT FALSE and2.1.out ==> timer-in-2
15 s32 OUT 88 and2.1.time
9 bit OUT TRUE axis.0.active
9 bit OUT TRUE axis.0.amp-enable-out ==> x-enable
9 bit IN FALSE axis.0.amp-fault-in
9 float OUT 0 axis.0.backlash-corr
9 float OUT 0 axis.0.backlash-filt
9 float OUT 0 axis.0.backlash-vel
9 float OUT 4.992 axis.0.coarse-pos-cmd
9 bit OUT FALSE axis.0.error
9 float OUT -0.001 axis.0.f-error
9 float OUT 1 axis.0.f-error-lim
9 bit OUT FALSE axis.0.f-errored
9 bit OUT FALSE axis.0.faulted
9 float OUT 4.992 axis.0.free-pos-cmd
9 bit OUT FALSE axis.0.free-tp-enable
9 float OUT 0 axis.0.free-vel-lim
9 s32 OUT 0 axis.0.home-state
9 bit IN FALSE axis.0.home-sw-in <== home-x
9 bit OUT FALSE axis.0.homed
9 bit OUT FALSE axis.0.homing
9 bit OUT TRUE axis.0.in-position
9 bit I/O FALSE axis.0.index-enable
9 s32 IN 0 axis.0.jog-counts
9 bit IN FALSE axis.0.jog-enable
9 float IN 0 axis.0.jog-scale
9 bit IN FALSE axis.0.jog-vel-mode
9 float OUT 4.992 axis.0.joint-pos-cmd
9 float OUT 4.993 axis.0.joint-pos-fb
9 float OUT 0 axis.0.joint-vel-cmd
9 bit OUT FALSE axis.0.kb-jog-active
9 float OUT 0 axis.0.motor-offset
9 float OUT 4.992 axis.0.motor-pos-cmd ==> x-pos-cmd
9 float IN 4.993 axis.0.motor-pos-fb <== x-pos-fb
9 bit OUT FALSE axis.0.neg-hard-limit
9 bit IN FALSE axis.0.neg-lim-sw-in <== min-x
9 bit OUT FALSE axis.0.pos-hard-limit
9 bit IN FALSE axis.0.pos-lim-sw-in <== max-x
9 bit OUT FALSE axis.0.wheel-jog-active
9 bit OUT TRUE axis.1.active
9 bit OUT TRUE axis.1.amp-enable-out ==> y-enable
9 bit IN FALSE axis.1.amp-fault-in
9 float OUT 0 axis.1.backlash-corr
9 float OUT 0 axis.1.backlash-filt
9 float OUT 0 axis.1.backlash-vel
9 float OUT 3.796 axis.1.coarse-pos-cmd
9 bit OUT FALSE axis.1.error
9 float OUT 0 axis.1.f-error
9 float OUT 0.1 axis.1.f-error-lim
9 bit OUT FALSE axis.1.f-errored
9 bit OUT FALSE axis.1.faulted
9 float OUT 3.796 axis.1.free-pos-cmd
9 bit OUT FALSE axis.1.free-tp-enable
9 float OUT 0 axis.1.free-vel-lim
9 s32 OUT 0 axis.1.home-state
9 bit IN FALSE axis.1.home-sw-in <== home-y
9 bit OUT FALSE axis.1.homed
9 bit OUT FALSE axis.1.homing
9 bit OUT TRUE axis.1.in-position
9 bit I/O FALSE axis.1.index-enable
9 s32 IN 0 axis.1.jog-counts
9 bit IN FALSE axis.1.jog-enable
9 float IN 0 axis.1.jog-scale
9 bit IN FALSE axis.1.jog-vel-mode
9 float OUT 3.796 axis.1.joint-pos-cmd
9 float OUT 3.796 axis.1.joint-pos-fb
9 float OUT 0 axis.1.joint-vel-cmd
9 bit OUT FALSE axis.1.kb-jog-active
9 float OUT 0 axis.1.motor-offset
9 float OUT 3.796 axis.1.motor-pos-cmd ==> y-pos-cmd
9 float IN 3.796 axis.1.motor-pos-fb <== y-pos-fb
9 bit OUT FALSE axis.1.neg-hard-limit
9 bit IN FALSE axis.1.neg-lim-sw-in <== min-y
9 bit OUT FALSE axis.1.pos-hard-limit
9 bit IN FALSE axis.1.pos-lim-sw-in <== max-y
9 bit OUT FALSE axis.1.wheel-jog-active
9 bit OUT TRUE axis.2.active
9 bit OUT TRUE axis.2.amp-enable-out ==> z-enable
9 bit IN FALSE axis.2.amp-fault-in
9 float OUT 0 axis.2.backlash-corr
9 float OUT 0 axis.2.backlash-filt
9 float OUT 0 axis.2.backlash-vel
9 float OUT 0.75 axis.2.coarse-pos-cmd
9 bit OUT FALSE axis.2.error
9 float OUT -0.001 axis.2.f-error
9 float OUT 0.1 axis.2.f-error-lim
9 bit OUT FALSE axis.2.f-errored
9 bit OUT FALSE axis.2.faulted
9 float OUT 0.75 axis.2.free-pos-cmd
9 bit OUT FALSE axis.2.free-tp-enable
9 float OUT 0 axis.2.free-vel-lim
9 s32 OUT 0 axis.2.home-state
9 bit IN FALSE axis.2.home-sw-in <== home-z
9 bit OUT FALSE axis.2.homed
9 bit OUT FALSE axis.2.homing
9 bit OUT TRUE axis.2.in-position
9 bit I/O FALSE axis.2.index-enable
9 s32 IN 0 axis.2.jog-counts
9 bit IN FALSE axis.2.jog-enable
9 float IN 0 axis.2.jog-scale
9 bit IN FALSE axis.2.jog-vel-mode
9 float OUT 0.75 axis.2.joint-pos-cmd
9 float OUT 0.751 axis.2.joint-pos-fb
9 float OUT 0 axis.2.joint-vel-cmd
9 bit OUT FALSE axis.2.kb-jog-active
9 float OUT 0 axis.2.motor-offset
9 float OUT 0.75 axis.2.motor-pos-cmd ==> z-pos-cmd
9 float IN 0.751 axis.2.motor-pos-fb <== z-pos-fb
9 bit OUT FALSE axis.2.neg-hard-limit
9 bit IN FALSE axis.2.neg-lim-sw-in <== min-z
9 bit OUT FALSE axis.2.pos-hard-limit
9 bit IN FALSE axis.2.pos-lim-sw-in <== max-z
9 bit OUT FALSE axis.2.wheel-jog-active
22 bit OUT FALSE axisui.jog.a
22 bit OUT FALSE axisui.jog.b
22 bit OUT FALSE axisui.jog.c
22 float OUT 0 axisui.jog.increment
22 bit OUT FALSE axisui.jog.u
22 bit OUT FALSE axisui.jog.v
22 bit OUT FALSE axisui.jog.w
22 bit OUT TRUE axisui.jog.x
22 bit OUT FALSE axisui.jog.y
22 bit OUT FALSE axisui.jog.z
22 bit IN FALSE axisui.notifications-clear
22 bit IN FALSE axisui.notifications-clear-error
22 bit IN FALSE axisui.notifications-clear-info
22 bit IN FALSE axisui.resume-inhibit
7 bit IN FALSE halui.abort
7 float OUT 4.992 halui.axis.0.pos-commanded
7 float OUT 4.993 halui.axis.0.pos-feedback
7 float OUT 4.993 halui.axis.0.pos-relative
7 float OUT 3.796 halui.axis.1.pos-commanded
7 float OUT 3.796 halui.axis.1.pos-feedback
7 float OUT 3.796 halui.axis.1.pos-relative
7 float OUT 0.75 halui.axis.2.pos-commanded
7 float OUT 0.751 halui.axis.2.pos-feedback
7 float OUT 0.751 halui.axis.2.pos-relative
7 float OUT 0 halui.axis.3.pos-commanded
7 float OUT 0 halui.axis.3.pos-feedback
7 float OUT 0 halui.axis.3.pos-relative
7 float OUT 0 halui.axis.4.pos-commanded
7 float OUT 0 halui.axis.4.pos-feedback
7 float OUT 0 halui.axis.4.pos-relative
7 float OUT 0 halui.axis.5.pos-commanded
7 float OUT 0 halui.axis.5.pos-feedback
7 float OUT 0 halui.axis.5.pos-relative
7 float OUT 0 halui.axis.6.pos-commanded
7 float OUT 0 halui.axis.6.pos-feedback
7 float OUT 0 halui.axis.6.pos-relative
7 float OUT 0 halui.axis.7.pos-commanded
7 float OUT 0 halui.axis.7.pos-feedback
7 float OUT 0 halui.axis.7.pos-relative
7 float OUT 0 halui.axis.8.pos-commanded
7 float OUT 0 halui.axis.8.pos-feedback
7 float OUT 0 halui.axis.8.pos-relative
7 bit IN FALSE halui.estop.activate
7 bit OUT FALSE halui.estop.is-activated
7 bit IN FALSE halui.estop.reset
7 bit IN TRUE halui.feed-override.count-enable
7 s32 IN 0 halui.feed-override.counts
7 bit IN FALSE halui.feed-override.decrease
7 bit IN FALSE halui.feed-override.direct-value
7 bit IN FALSE halui.feed-override.increase
7 float IN 0.1 halui.feed-override.scale
7 float OUT 1 halui.feed-override.value
7 bit OUT FALSE halui.flood.is-on
7 bit IN FALSE halui.flood.off
7 bit IN FALSE halui.flood.on
7 bit IN FALSE halui.home-all
7 float IN 0.2 halui.jog-deadband
7 float IN 0 halui.jog-speed
7 float IN 0 halui.jog.0.analog
7 float IN 0 halui.jog.0.increment
7 bit IN FALSE halui.jog.0.increment-minus
7 bit IN FALSE halui.jog.0.increment-plus
7 bit IN FALSE halui.jog.0.minus
7 bit IN FALSE halui.jog.0.plus
7 float IN 0 halui.jog.1.analog
7 float IN 0 halui.jog.1.increment
7 bit IN FALSE halui.jog.1.increment-minus
7 bit IN FALSE halui.jog.1.increment-plus
7 bit IN FALSE halui.jog.1.minus
7 bit IN FALSE halui.jog.1.plus
7 float IN 0 halui.jog.2.analog
7 float IN 0 halui.jog.2.increment
7 bit IN FALSE halui.jog.2.increment-minus
7 bit IN FALSE halui.jog.2.increment-plus
7 bit IN FALSE halui.jog.2.minus
7 bit IN FALSE halui.jog.2.plus
7 float IN 0 halui.jog.selected.increment
7 bit IN FALSE halui.jog.selected.increment-minus
7 bit IN FALSE halui.jog.selected.increment-plus
7 bit IN FALSE halui.jog.selected.minus
7 bit IN FALSE halui.jog.selected.plus
7 bit OUT FALSE halui.joint.0.has-fault
7 bit IN FALSE halui.joint.0.home
7 bit OUT FALSE halui.joint.0.is-homed
7 bit OUT FALSE halui.joint.0.is-selected
7 bit OUT FALSE halui.joint.0.on-hard-max-limit
7 bit OUT FALSE halui.joint.0.on-hard-min-limit
7 bit OUT FALSE halui.joint.0.on-soft-max-limit
7 bit OUT FALSE halui.joint.0.on-soft-min-limit
7 bit IN FALSE halui.joint.0.select
7 bit IN FALSE halui.joint.0.unhome
7 bit OUT FALSE halui.joint.1.has-fault
7 bit IN FALSE halui.joint.1.home
7 bit OUT FALSE halui.joint.1.is-homed
7 bit OUT FALSE halui.joint.1.is-selected
7 bit OUT FALSE halui.joint.1.on-hard-max-limit
7 bit OUT FALSE halui.joint.1.on-hard-min-limit
7 bit OUT FALSE halui.joint.1.on-soft-max-limit
7 bit OUT FALSE halui.joint.1.on-soft-min-limit
7 bit IN FALSE halui.joint.1.select
7 bit IN FALSE halui.joint.1.unhome
7 bit OUT FALSE halui.joint.2.has-fault
7 bit IN FALSE halui.joint.2.home
7 bit OUT FALSE halui.joint.2.is-homed
7 bit OUT FALSE halui.joint.2.is-selected
7 bit OUT FALSE halui.joint.2.on-hard-max-limit
7 bit OUT FALSE halui.joint.2.on-hard-min-limit
7 bit OUT FALSE halui.joint.2.on-soft-max-limit
7 bit OUT FALSE halui.joint.2.on-soft-min-limit
7 bit IN FALSE halui.joint.2.select
7 bit IN FALSE halui.joint.2.unhome
7 u32 OUT 0x00000000 halui.joint.selected
7 bit OUT FALSE halui.joint.selected.has-fault
7 bit IN FALSE halui.joint.selected.home
7 bit OUT FALSE halui.joint.selected.is_homed
7 bit OUT FALSE halui.joint.selected.on-hard-max-limit
7 bit OUT FALSE halui.joint.selected.on-hard-min-limit
7 bit OUT FALSE halui.joint.selected.on-soft-limit
7 bit OUT FALSE halui.joint.selected.on-soft-min-limit
7 bit IN FALSE halui.joint.selected.unhome
7 bit OUT TRUE halui.lube.is-on
7 bit IN FALSE halui.lube.off
7 bit IN FALSE halui.lube.on
7 bit OUT TRUE halui.machine.is-on
7 bit IN FALSE halui.machine.off
7 bit IN FALSE halui.machine.on
7 bit IN TRUE halui.max-velocity.count-enable
7 s32 IN 0 halui.max-velocity.counts
7 bit IN FALSE halui.max-velocity.decrease
7 bit IN FALSE halui.max-velocity.direct-value
7 bit IN FALSE halui.max-velocity.increase
7 float IN 0 halui.max-velocity.scale
7 float OUT 80 halui.max-velocity.value
7 bit OUT FALSE halui.mist.is-on
7 bit IN FALSE halui.mist.off
7 bit IN FALSE halui.mist.on
7 bit IN FALSE halui.mode.auto
7 bit OUT FALSE halui.mode.is-auto
7 bit OUT TRUE halui.mode.is-joint
7 bit OUT TRUE halui.mode.is-manual
7 bit OUT FALSE halui.mode.is-mdi
7 bit OUT FALSE halui.mode.is-teleop
7 bit IN FALSE halui.mode.joint
7 bit IN FALSE halui.mode.manual
7 bit IN FALSE halui.mode.mdi
7 bit IN FALSE halui.mode.teleop
7 bit OUT TRUE halui.program.block-delete.is-on
7 bit IN FALSE halui.program.block-delete.off
7 bit IN FALSE halui.program.block-delete.on
7 bit OUT TRUE halui.program.is-idle
7 bit OUT FALSE halui.program.is-paused
7 bit OUT FALSE halui.program.is-running
7 bit OUT TRUE halui.program.optional-stop.is-on
7 bit IN FALSE halui.program.optional-stop.off
7 bit IN FALSE halui.program.optional-stop.on
7 bit IN FALSE halui.program.pause
7 bit IN FALSE halui.program.resume
7 bit IN FALSE halui.program.run
7 bit IN FALSE halui.program.step
7 bit IN FALSE halui.program.stop
7 bit IN TRUE halui.rapid-override.count-enable
7 s32 IN 0 halui.rapid-override.counts
7 bit IN FALSE halui.rapid-override.decrease
7 bit IN FALSE halui.rapid-override.direct-value
7 bit IN FALSE halui.rapid-override.increase
7 float IN 0.1 halui.rapid-override.scale
7 float OUT 1 halui.rapid-override.value
7 bit IN TRUE halui.spindle-override.count-enable
7 s32 IN 0 halui.spindle-override.counts
7 bit IN FALSE halui.spindle-override.decrease
7 bit IN FALSE halui.spindle-override.direct-value
7 bit IN FALSE halui.spindle-override.increase
7 float IN 0.1 halui.spindle-override.scale
7 float OUT 1 halui.spindle-override.value
7 bit OUT TRUE halui.spindle.brake-is-on
7 bit IN FALSE halui.spindle.brake-off
7 bit IN FALSE halui.spindle.brake-on
7 bit IN FALSE halui.spindle.decrease
7 bit IN FALSE halui.spindle.forward
7 bit IN FALSE halui.spindle.increase
7 bit OUT FALSE halui.spindle.is-on
7 bit IN FALSE halui.spindle.reverse
7 bit OUT FALSE halui.spindle.runs-backward
7 bit OUT FALSE halui.spindle.runs-forward
7 bit IN FALSE halui.spindle.start
7 bit IN FALSE halui.spindle.stop
7 float OUT 0 halui.tool.length_offset.a
7 float OUT 0 halui.tool.length_offset.b
7 float OUT 0 halui.tool.length_offset.c
7 float OUT 0 halui.tool.length_offset.u
7 float OUT 0 halui.tool.length_offset.v
7 float OUT 0 halui.tool.length_offset.w
7 float OUT 0 halui.tool.length_offset.x
7 float OUT 0 halui.tool.length_offset.y
7 float OUT 0 halui.tool.length_offset.z
7 u32 OUT 0x00000000 halui.tool.number
20 float IN 0 ini.0.backlash
20 float IN 40 ini.0.ferror
20 float IN 200 ini.0.max_acceleration
20 float IN 370 ini.0.max_limit
20 float IN 50 ini.0.max_velocity
20 float IN 1 ini.0.min_ferror
20 float IN 0 ini.0.min_limit
20 float IN 0 ini.1.backlash
20 float IN 40 ini.1.ferror
20 float IN 200 ini.1.max_acceleration
20 float IN 262 ini.1.max_limit
20 float IN 50 ini.1.max_velocity
20 float IN 0.1 ini.1.min_ferror
20 float IN 0 ini.1.min_limit
20 float IN 0 ini.2.backlash
20 float IN 40 ini.2.ferror
20 float IN 200 ini.2.max_acceleration
20 float IN 0 ini.2.max_limit
20 float IN 50 ini.2.max_velocity
20 float IN 0.1 ini.2.min_ferror
20 float IN -370 ini.2.min_limit
20 float IN 0 ini.3.backlash
20 float IN 0 ini.3.ferror
20 float IN 0 ini.3.max_acceleration
20 float IN 0 ini.3.max_limit
20 float IN 0 ini.3.max_velocity
20 float IN 0 ini.3.min_ferror
20 float IN 0 ini.3.min_limit
20 float IN 0 ini.4.backlash
20 float IN 0 ini.4.ferror
20 float IN 0 ini.4.max_acceleration
20 float IN 0 ini.4.max_limit
20 float IN 0 ini.4.max_velocity
20 float IN 0 ini.4.min_ferror
20 float IN 0 ini.4.min_limit
20 float IN 0 ini.5.backlash
20 float IN 0 ini.5.ferror
20 float IN 0 ini.5.max_acceleration
20 float IN 0 ini.5.max_limit
20 float IN 0 ini.5.max_velocity
20 float IN 0 ini.5.min_ferror
20 float IN 0 ini.5.min_limit
20 float IN 0 ini.6.backlash
20 float IN 0 ini.6.ferror
20 float IN 0 ini.6.max_acceleration
20 float IN 0 ini.6.max_limit
20 float IN 0 ini.6.max_velocity
20 float IN 0 ini.6.min_ferror
20 float IN 0 ini.6.min_limit
20 float IN 0 ini.7.backlash
20 float IN 0 ini.7.ferror
20 float IN 0 ini.7.max_acceleration
20 float IN 0 ini.7.max_limit
20 float IN 0 ini.7.max_velocity
20 float IN 0 ini.7.min_ferror
20 float IN 0 ini.7.min_limit
20 float IN 0 ini.8.backlash
20 float IN 0 ini.8.ferror
20 float IN 0 ini.8.max_acceleration
20 float IN 0 ini.8.max_limit
20 float IN 0 ini.8.max_velocity
20 float IN 0 ini.8.min_ferror
20 float IN 0 ini.8.min_limit
20 bit IN TRUE ini.traj_arc_blend_enable
20 bit IN FALSE ini.traj_arc_blend_fallback_enable
20 float IN 4 ini.traj_arc_blend_gap_cycles
20 s32 IN 50 ini.traj_arc_blend_optimization_depth
20 float IN 100 ini.traj_arc_blend_ramp_freq
20 float IN 0.1 ini.traj_arc_blend_tangent_kink_ratio
20 float IN 1e+99 ini.traj_default_acceleration
20 float IN 8 ini.traj_default_velocity
20 float IN 1e+99 ini.traj_max_acceleration
20 float IN 1e+99 ini.traj_max_velocity
5 bit OUT FALSE iocontrol.0.coolant-flood
5 bit OUT FALSE iocontrol.0.coolant-mist
5 bit IN TRUE iocontrol.0.emc-enable-in <== estop-ext
5 bit OUT TRUE iocontrol.0.lube
5 bit IN FALSE iocontrol.0.lube_level
5 bit OUT FALSE iocontrol.0.tool-change
5 bit IN FALSE iocontrol.0.tool-changed
5 s32 OUT 0 iocontrol.0.tool-number
5 s32 OUT 0 iocontrol.0.tool-prep-number
5 s32 OUT 0 iocontrol.0.tool-prep-pocket
5 bit OUT FALSE iocontrol.0.tool-prepare
5 bit IN FALSE iocontrol.0.tool-prepared
5 bit OUT TRUE iocontrol.0.user-enable-out ==> estop-ext
5 bit OUT FALSE iocontrol.0.user-request-enable
9 s32 OUT 352 motion-command-handler.time
9 s32 OUT 5180 motion-controller.time
9 float IN 1 motion.adaptive-feed
9 float IN 0 motion.analog-in-00
9 float IN 0 motion.analog-in-01
9 float IN 0 motion.analog-in-02
9 float IN 0 motion.analog-in-03
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.coord-error
9 bit OUT FALSE motion.coord-mode
9 float OUT 0 motion.current-vel
9 bit IN FALSE motion.digital-in-00
9 bit IN FALSE motion.digital-in-01
9 bit IN FALSE motion.digital-in-02
9 bit IN FALSE motion.digital-in-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.distance-to-go
9 bit IN TRUE motion.enable
9 bit IN FALSE motion.feed-hold
9 bit IN FALSE motion.feed-inhibit
9 bit OUT TRUE motion.in-position ==> in-position
9 bit OUT TRUE motion.motion-enabled ==> machine-is-enabled
9 s32 OUT 0 motion.motion-type
9 bit OUT FALSE motion.on-soft-limit
9 bit IN FALSE motion.probe-input
9 s32 OUT 0 motion.program-line
9 float OUT 0 motion.requested-vel
9 bit IN TRUE motion.spindle-at-speed <== spindle-enable
9 bit OUT TRUE motion.spindle-brake
9 bit OUT FALSE motion.spindle-forward ==> spindle-cw
9 bit I/O FALSE motion.spindle-index-enable
9 bit IN FALSE motion.spindle-inhibit
9 bit IN FALSE motion.spindle-is-oriented
9 bit OUT FALSE motion.spindle-locked
9 bit OUT FALSE motion.spindle-on ==> spindle-on
9 bit OUT FALSE motion.spindle-orient
9 float OUT 0 motion.spindle-orient-angle
9 s32 IN 0 motion.spindle-orient-fault
9 s32 OUT 0 motion.spindle-orient-mode
9 bit OUT FALSE motion.spindle-reverse ==> spindle-ccw
9 float IN 0 motion.spindle-revs
9 float OUT 0 motion.spindle-speed-cmd-rps
9 float IN 0 motion.spindle-speed-in
9 float OUT 0 motion.spindle-speed-out ==> spindle-speed-scale
9 float OUT 0 motion.spindle-speed-out-abs
9 float OUT 0 motion.spindle-speed-out-rps
9 float OUT 0 motion.spindle-speed-out-rps-abs
9 bit OUT FALSE motion.teleop-mode
9 float OUT 0 motion.tooloffset.a
9 float OUT 0 motion.tooloffset.b
9 float OUT 0 motion.tooloffset.c
9 float OUT 0 motion.tooloffset.u
9 float OUT 0 motion.tooloffset.v
9 float OUT 0 motion.tooloffset.w
9 float OUT 0 motion.tooloffset.x
9 float OUT 0 motion.tooloffset.y
9 float OUT 0 motion.tooloffset.z
17 bit IN FALSE not.0.in <== timer-delay.0
17 bit OUT TRUE not.0.out ==> timer-in
17 s32 OUT 247 not.0.time
17 bit IN FALSE not.1.in <== timer-delay.1
17 bit OUT TRUE not.1.out ==> timer-in.1
17 s32 OUT 60 not.1.time
13 bit IN TRUE oneshot.0.in <== machine-is-enabled
13 bit OUT FALSE oneshot.0.out ==> delay
13 bit OUT TRUE oneshot.0.out-not
13 s32 OUT 353 oneshot.0.time
13 float OUT 0 oneshot.0.time-left
13 float IN 3 oneshot.0.width
13 bit IN FALSE oneshot.1.in <== spindle-anable
13 bit OUT FALSE oneshot.1.out ==> delay.1
13 bit OUT TRUE oneshot.1.out-not
13 s32 OUT 150 oneshot.1.time
13 float OUT 0 oneshot.1.time-left
13 float IN 10 oneshot.1.width
14 bit IN FALSE or2.0.in0 <== delay
14 bit IN FALSE or2.0.in1 <== timer-delay.0
14 bit OUT FALSE or2.0.out ==> rail-lube
14 s32 OUT 210 or2.0.time
14 bit IN FALSE or2.1.in0 <== delay.1
14 bit IN FALSE or2.1.in1 <== timer-delay.1
14 bit OUT FALSE or2.1.out ==> spindel-lube
14 s32 OUT 113 or2.1.time
12 float IN 0.02 pid.x.Dgain
12 float IN 0 pid.x.FF0
12 float IN 0.065 pid.x.FF1
12 float IN 0 pid.x.FF2
12 float IN 0 pid.x.Igain
12 float IN 4 pid.x.Pgain
12 float IN 0 pid.x.bias
12 float IN 4.992 pid.x.command <== x-pos-cmd
12 float IN 0 pid.x.command-deriv
12 float IN 0 pid.x.deadband
12 s32 OUT 676 pid.x.do-pid-calcs.time
12 bit IN TRUE pid.x.enable <== x-enable
12 float OUT -0.002 pid.x.error
12 bit IN TRUE pid.x.error-previous-target
12 float IN 4.994 pid.x.feedback <== x-pos-fb
12 float IN 0 pid.x.feedback-deriv
12 bit IN FALSE pid.x.index-enable
12 float IN 0 pid.x.maxcmdD
12 float IN 0 pid.x.maxcmdDD
12 float IN 0 pid.x.maxerror
12 float IN 0 pid.x.maxerrorD
12 float IN 0 pid.x.maxerrorI
12 float IN 10 pid.x.maxoutput
12 float OUT -0.008 pid.x.output ==> x-output
12 bit OUT FALSE pid.x.saturated
12 s32 OUT 0 pid.x.saturated-count
12 float OUT 0 pid.x.saturated-s
12 float IN 0 pid.y.Dgain
12 float IN 0 pid.y.FF0
12 float IN 0 pid.y.FF1
12 float IN 0 pid.y.FF2
12 float IN 0 pid.y.Igain
12 float IN 10 pid.y.Pgain
12 float IN 0 pid.y.bias
12 float IN 3.796 pid.y.command <== y-pos-cmd
12 float IN 0 pid.y.command-deriv
12 float IN 0 pid.y.deadband
12 s32 OUT 307 pid.y.do-pid-calcs.time
12 bit IN TRUE pid.y.enable <== y-enable
12 float OUT 0 pid.y.error
12 bit IN TRUE pid.y.error-previous-target
12 float IN 3.796 pid.y.feedback <== y-pos-fb
12 float IN 0 pid.y.feedback-deriv
12 bit IN FALSE pid.y.index-enable
12 float IN 0 pid.y.maxcmdD
12 float IN 0 pid.y.maxcmdDD
12 float IN 0 pid.y.maxerror
12 float IN 0 pid.y.maxerrorD
12 float IN 0 pid.y.maxerrorI
12 float IN 10 pid.y.maxoutput
12 float OUT 0 pid.y.output ==> y-output
12 bit OUT FALSE pid.y.saturated
12 s32 OUT 0 pid.y.saturated-count
12 float OUT 0 pid.y.saturated-s
12 float IN 0.02 pid.z.Dgain
12 float IN 0 pid.z.FF0
12 float IN 0.065 pid.z.FF1
12 float IN 0 pid.z.FF2
12 float IN 0 pid.z.Igain
12 float IN 4 pid.z.Pgain
12 float IN 0 pid.z.bias
12 float IN 0.75 pid.z.command <== z-pos-cmd
12 float IN 0 pid.z.command-deriv
12 float IN 0 pid.z.deadband
12 s32 OUT 307 pid.z.do-pid-calcs.time
12 bit IN TRUE pid.z.enable <== z-enable
12 float OUT -0.001 pid.z.error
12 bit IN TRUE pid.z.error-previous-target
12 float IN 0.751 pid.z.feedback <== z-pos-fb
12 float IN 0 pid.z.feedback-deriv
12 bit IN FALSE pid.z.index-enable
12 float IN 0 pid.z.maxcmdD
12 float IN 0 pid.z.maxcmdDD
12 float IN 0 pid.z.maxerror
12 float IN 0 pid.z.maxerrorD
12 float IN 0 pid.z.maxerrorI
12 float IN 10 pid.z.maxoutput
12 float OUT -0.004 pid.z.output ==> z-output
12 bit OUT FALSE pid.z.saturated
12 s32 OUT 0 pid.z.saturated-count
12 float OUT 0 pid.z.saturated-s
22 bit OUT FALSE pyvcp.button ==> buton_test
18 float IN 0.007 scale.0.gain
18 float IN 0 scale.0.in
18 float IN 0 scale.0.offset
18 float OUT 0 scale.0.out
18 s32 OUT 233 scale.0.time
10 s32 OUT 96916 servo-thread.time
16 float OUT 63.13146 timedelay.0.elapsed
16 bit IN TRUE timedelay.0.in <== timer-in-1
16 float IN 3 timedelay.0.off-delay
16 float IN 600 timedelay.0.on-delay
16 bit OUT FALSE timedelay.0.out ==> timer-delay.0
16 s32 OUT 240 timedelay.0.time
16 float OUT 0 timedelay.1.elapsed
16 bit IN FALSE timedelay.1.in <== timer-in-2
16 float IN 10 timedelay.1.off-delay
16 float IN 900 timedelay.1.on-delay
16 bit OUT FALSE timedelay.1.out ==> timer-delay.1
16 s32 OUT 187 timedelay.1.time
11 float IN -0.008 to_pci.1.dcontrol0 <== x-output
11 float IN 0 to_pci.1.dcontrol1 <== y-output
11 float IN -0.004 to_pci.1.dcontrol2 <== z-output
11 float IN 0 to_pci.1.dcontrol3 <== spindle-speed-to_pci.1.dcontrol3
11 float IN 0 to_pci.1.dcontrol4
11 bit IN TRUE to_pci.1.enable_drive <== x-enable
11 float IN 1000 to_pci.1.feedback.enc_scale0
11 float IN 1000 to_pci.1.feedback.enc_scale1
11 float IN 1000 to_pci.1.feedback.enc_scale2
11 float IN 0 to_pci.1.feedback.enc_scale3
11 float IN 0 to_pci.1.feedback.enc_scale4
11 float OUT 4.994 to_pci.1.feedback.encoder0 ==> x-pos-fb
11 float OUT 3.796 to_pci.1.feedback.encoder1 ==> y-pos-fb
11 float OUT 0.751 to_pci.1.feedback.encoder2 ==> z-pos-fb
11 float OUT -nan to_pci.1.feedback.encoder3
11 float OUT -nan to_pci.1.feedback.encoder4
11 bit I/O FALSE to_pci.1.feedback.index_en0
11 bit I/O FALSE to_pci.1.feedback.index_en1
11 bit I/O FALSE to_pci.1.feedback.index_en2
11 bit I/O FALSE to_pci.1.feedback.index_en3
11 bit I/O FALSE to_pci.1.feedback.index_en4
11 float IN 1 to_pci.1.out_scale0
11 float IN -1 to_pci.1.out_scale1
11 float IN 1 to_pci.1.out_scale2
11 float IN 0.007 to_pci.1.out_scale3
11 float IN 0 to_pci.1.out_scale4
11 bit OUT TRUE to_pci.1.pins.pin-00-in
11 bit OUT FALSE to_pci.1.pins.pin-00-in-n ==> max-x
11 bit IN TRUE to_pci.1.pins.pin-00-out <== machine-is-enabled
11 bit OUT TRUE to_pci.1.pins.pin-01-in
11 bit OUT FALSE to_pci.1.pins.pin-01-in-n ==> min-x
11 bit IN FALSE to_pci.1.pins.pin-01-out
11 bit OUT TRUE to_pci.1.pins.pin-02-in
11 bit OUT FALSE to_pci.1.pins.pin-02-in-n ==> home-x
11 bit IN FALSE to_pci.1.pins.pin-02-out
11 bit OUT TRUE to_pci.1.pins.pin-03-in
11 bit OUT FALSE to_pci.1.pins.pin-03-in-n ==> max-y
11 bit IN FALSE to_pci.1.pins.pin-03-out
11 bit OUT TRUE to_pci.1.pins.pin-04-in
11 bit OUT FALSE to_pci.1.pins.pin-04-in-n ==> min-y
11 bit IN FALSE to_pci.1.pins.pin-04-out
11 bit OUT TRUE to_pci.1.pins.pin-05-in
11 bit OUT FALSE to_pci.1.pins.pin-05-in-n ==> home-y
11 bit IN FALSE to_pci.1.pins.pin-05-out
11 bit OUT TRUE to_pci.1.pins.pin-06-in
11 bit OUT FALSE to_pci.1.pins.pin-06-in-n ==> max-z
11 bit IN FALSE to_pci.1.pins.pin-06-out
11 bit OUT TRUE to_pci.1.pins.pin-07-in
11 bit OUT FALSE to_pci.1.pins.pin-07-in-n ==> min-z
11 bit IN FALSE to_pci.1.pins.pin-07-out
11 bit OUT TRUE to_pci.1.pins.pin-08-in
11 bit OUT FALSE to_pci.1.pins.pin-08-in-n ==> home-z
11 bit IN FALSE to_pci.1.pins.pin-08-out <== spindle-cw
11 bit OUT FALSE to_pci.1.pins.pin-09-in
11 bit OUT TRUE to_pci.1.pins.pin-09-in-n
11 bit IN FALSE to_pci.1.pins.pin-09-out <== spindle-ccw
11 bit OUT FALSE to_pci.1.pins.pin-10-in
11 bit OUT TRUE to_pci.1.pins.pin-10-in-n
11 bit IN FALSE to_pci.1.pins.pin-10-out <== rail-lube
11 bit OUT FALSE to_pci.1.pins.pin-11-in
11 bit OUT TRUE to_pci.1.pins.pin-11-in-n
11 bit IN FALSE to_pci.1.pins.pin-11-out <== spindle-lube
11 bit OUT FALSE to_pci.1.pins.pin-12-in
11 bit OUT TRUE to_pci.1.pins.pin-12-in-n
11 bit IN FALSE to_pci.1.pins.pin-12-out
11 bit OUT FALSE to_pci.1.pins.pin-13-in
11 bit OUT TRUE to_pci.1.pins.pin-13-in-n
11 bit IN FALSE to_pci.1.pins.pin-13-out
11 bit OUT FALSE to_pci.1.pins.pin-14-in
11 bit OUT TRUE to_pci.1.pins.pin-14-in-n
11 bit IN FALSE to_pci.1.pins.pin-14-out <== buton_test
11 bit OUT FALSE to_pci.1.pins.pin-15-in
11 bit OUT TRUE to_pci.1.pins.pin-15-in-n
11 bit IN FALSE to_pci.1.pins.pin-15-out
11 bit OUT FALSE to_pci.1.pins.pin-16-in
11 bit OUT TRUE to_pci.1.pins.pin-16-in-n
11 bit OUT FALSE to_pci.1.pins.pin-17-in
11 bit OUT TRUE to_pci.1.pins.pin-17-in-n
11 bit OUT FALSE to_pci.1.pins.pin-18-in
11 bit OUT TRUE to_pci.1.pins.pin-18-in-n
11 bit OUT FALSE to_pci.1.pins.pin-19-in
11 bit OUT TRUE to_pci.1.pins.pin-19-in-n
11 bit OUT FALSE to_pci.1.pins.pin-20-in
11 bit OUT TRUE to_pci.1.pins.pin-20-in-n
11 bit OUT FALSE to_pci.1.pins.pin-21-in
11 bit OUT TRUE to_pci.1.pins.pin-21-in-n
11 bit OUT FALSE to_pci.1.pins.pin-22-in
11 bit OUT TRUE to_pci.1.pins.pin-22-in-n
11 bit OUT FALSE to_pci.1.pins.pin-23-in
11 bit OUT TRUE to_pci.1.pins.pin-23-in-n
11 bit OUT FALSE to_pci.1.pins.pin-24-in
11 bit OUT TRUE to_pci.1.pins.pin-24-in-n
11 bit OUT FALSE to_pci.1.pins.pin-25-in
11 bit OUT TRUE to_pci.1.pins.pin-25-in-n
11 bit OUT FALSE to_pci.1.pins.pin-26-in
11 bit OUT TRUE to_pci.1.pins.pin-26-in-n
11 bit OUT FALSE to_pci.1.pins.pin-27-in
11 bit OUT TRUE to_pci.1.pins.pin-27-in-n
11 bit OUT FALSE to_pci.1.pins.pin-28-in
11 bit OUT TRUE to_pci.1.pins.pin-28-in-n
11 bit OUT FALSE to_pci.1.pins.pin-29-in
11 bit OUT TRUE to_pci.1.pins.pin-29-in-n
11 bit OUT FALSE to_pci.1.pins.pin-30-in
11 bit OUT TRUE to_pci.1.pins.pin-30-in-n
11 bit OUT FALSE to_pci.1.pins.pin-31-in
11 bit OUT TRUE to_pci.1.pins.pin-31-in-n
11 s32 OUT 85624 to_pci.1.update.time
Pin Aliases:
Alias Original Name
Signals:
Type Value Name (linked to)
bit FALSE buton_test
<== pyvcp.button
==> to_pci.1.pins.pin-14-out
bit FALSE delay
<== oneshot.0.out
==> or2.0.in0
bit FALSE delay.1
<== oneshot.1.out
==> or2.1.in0
bit TRUE estop-ext
==> iocontrol.0.emc-enable-in
<== iocontrol.0.user-enable-out
bit FALSE home-x
==> axis.0.home-sw-in
<== to_pci.1.pins.pin-02-in-n
bit FALSE home-y
==> axis.1.home-sw-in
<== to_pci.1.pins.pin-05-in-n
bit FALSE home-z
==> axis.2.home-sw-in
<== to_pci.1.pins.pin-08-in-n
bit TRUE in-position
<== motion.in-position
bit TRUE machine-is-enabled
==> and2.0.in0
<== motion.motion-enabled
==> oneshot.0.in
==> to_pci.1.pins.pin-00-out
bit FALSE max-x
==> axis.0.pos-lim-sw-in
<== to_pci.1.pins.pin-00-in-n
bit FALSE max-y
==> axis.1.pos-lim-sw-in
<== to_pci.1.pins.pin-03-in-n
bit FALSE max-z
==> axis.2.pos-lim-sw-in
<== to_pci.1.pins.pin-06-in-n
bit FALSE min-x
==> axis.0.neg-lim-sw-in
<== to_pci.1.pins.pin-01-in-n
bit FALSE min-y
==> axis.1.neg-lim-sw-in
<== to_pci.1.pins.pin-04-in-n
bit FALSE min-z
==> axis.2.neg-lim-sw-in
<== to_pci.1.pins.pin-07-in-n
bit FALSE rail-lube
<== or2.0.out
==> to_pci.1.pins.pin-10-out
bit FALSE spindel-lube
<== or2.1.out
bit FALSE spindle-anable
==> and2.1.in0
==> oneshot.1.in
bit FALSE spindle-ccw
<== motion.spindle-reverse
==> to_pci.1.pins.pin-09-out
bit FALSE spindle-cw
<== motion.spindle-forward
==> to_pci.1.pins.pin-08-out
bit TRUE spindle-enable
==> motion.spindle-at-speed
bit FALSE spindle-lube
==> to_pci.1.pins.pin-11-out
bit FALSE spindle-on
<== motion.spindle-on
float 0 spindle-speed-scale
==> abs.0.in
<== motion.spindle-speed-out
float 0 spindle-speed-to_pci.1.dcontrol3
<== abs.0.out
==> to_pci.1.dcontrol3
bit FALSE timer-delay.0
==> not.0.in
==> or2.0.in1
<== timedelay.0.out
bit FALSE timer-delay.1
==> not.1.in
==> or2.1.in1
<== timedelay.1.out
bit TRUE timer-in
==> and2.0.in1
==> and2.1.in1
<== not.0.out
bit TRUE timer-in-1
<== and2.0.out
==> timedelay.0.in
bit FALSE timer-in-2
<== and2.1.out
==> timedelay.1.in
bit TRUE timer-in.1
<== not.1.out
bit TRUE x-enable
<== axis.0.amp-enable-out
==> pid.x.enable
==> to_pci.1.enable_drive
float -0.008 x-output
<== pid.x.output
==> to_pci.1.dcontrol0
float 4.992 x-pos-cmd
<== axis.0.motor-pos-cmd
==> pid.x.command
float 4.994 x-pos-fb
==> axis.0.motor-pos-fb
==> pid.x.feedback
<== to_pci.1.feedback.encoder0
bit TRUE y-enable
<== axis.1.amp-enable-out
==> pid.y.enable
float 0 y-output
<== pid.y.output
==> to_pci.1.dcontrol1
float 3.796 y-pos-cmd
<== axis.1.motor-pos-cmd
==> pid.y.command
float 3.796 y-pos-fb
==> axis.1.motor-pos-fb
==> pid.y.feedback
<== to_pci.1.feedback.encoder1
bit TRUE z-enable
<== axis.2.amp-enable-out
==> pid.z.enable
float -0.004 z-output
<== pid.z.output
==> to_pci.1.dcontrol2
float 0.75 z-pos-cmd
<== axis.2.motor-pos-cmd
==> pid.z.command
float 0.751 z-pos-fb
==> axis.2.motor-pos-fb
==> pid.z.feedback
<== to_pci.1.feedback.encoder2
Parameters:
Owner Type Dir Value Name
19 s32 RW 4728 abs.0.tmax
19 bit RO FALSE abs.0.tmax-increased
15 s32 RW 3780 and2.0.tmax
15 bit RO FALSE and2.0.tmax-increased
15 s32 RW 3460 and2.1.tmax
15 bit RO FALSE and2.1.tmax-increased
5 s32 RO 0 iocontrol.0.tool-prep-index
9 s32 RW 6332 motion-command-handler.tmax
9 bit RO FALSE motion-command-handler.tmax-increased
9 s32 RW 35100 motion-controller.tmax
9 bit RO FALSE motion-controller.tmax-increased
9 bit RO FALSE motion.debug-bit-0
9 bit RO FALSE motion.debug-bit-1
9 float RO 1 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 0x002D9561 motion.servo.last-period
9 float RO 998058.2 motion.servo.last-period-ns
9 u32 RW 0x00000000 motion.servo.overruns
17 s32 RW 24829 not.0.tmax
17 bit RO FALSE not.0.tmax-increased
17 s32 RW 3440 not.1.tmax
17 bit RO FALSE not.1.tmax-increased
13 bit RW FALSE oneshot.0.falling
13 bit RW TRUE oneshot.0.retriggerable
13 bit RW TRUE oneshot.0.rising
13 s32 RW 23136 oneshot.0.tmax
13 bit RO FALSE oneshot.0.tmax-increased
13 bit RW FALSE oneshot.1.falling
13 bit RW TRUE oneshot.1.retriggerable
13 bit RW TRUE oneshot.1.rising
13 s32 RW 22844 oneshot.1.tmax
13 bit RO FALSE oneshot.1.tmax-increased
14 s32 RW 3928 or2.0.tmax
14 bit RO FALSE or2.0.tmax-increased
14 s32 RW 22782 or2.1.tmax
14 bit RO FALSE or2.1.tmax-increased
12 s32 RW 23690 pid.x.do-pid-calcs.tmax
12 bit RO FALSE pid.x.do-pid-calcs.tmax-increased
12 s32 RW 22916 pid.y.do-pid-calcs.tmax
12 bit RO FALSE pid.y.do-pid-calcs.tmax-increased
12 s32 RW 23787 pid.z.do-pid-calcs.tmax
12 bit RO FALSE pid.z.do-pid-calcs.tmax-increased
18 s32 RW 5504 scale.0.tmax
18 bit RO FALSE scale.0.tmax-increased
10 s32 RW 172536 servo-thread.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
16 s32 RW 23458 timedelay.0.tmax
16 bit RO FALSE timedelay.0.tmax-increased
16 s32 RW 3144 timedelay.1.tmax
16 bit RO FALSE timedelay.1.tmax-increased
11 s32 RW 136438 to_pci.1.update.tmax
11 bit RO FALSE to_pci.1.update.tmax-increased
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
00019 f93f1000 f96737f0 YES 1 abs.0
00015 f93d5000 f96736a0 NO 1 and2.0
00015 f93d5000 f96736b0 NO 1 and2.1
00009 f940e930 00000000 YES 1 motion-command-handler
00009 f94113f0 00000000 YES 1 motion-controller
00017 f93e7000 f9673720 NO 1 not.0
00017 f93e7000 f9673730 NO 1 not.1
00013 f93cb000 f9673600 YES 1 oneshot.0
00013 f93cb000 f9673630 YES 1 oneshot.1
00014 f93d0000 f9673670 NO 1 or2.0
00014 f93d0000 f9673680 NO 1 or2.1
00012 f93c1000 f9673390 YES 1 pid.x.do-pid-calcs
00012 f93c1000 f96734d8 YES 1 pid.y.do-pid-calcs
00012 f93c1000 f9673434 YES 1 pid.z.do-pid-calcs
00018 f93ec000 f96737c8 YES 1 scale.0
00016 f93e2000 f96736d0 YES 1 timedelay.0
00016 f93e2000 f96736f0 YES 1 timedelay.1
00011 f93c63ff f9673198 YES 1 to_pci.1.update
Realtime Threads:
Period FP Name ( Time, Max-Time )
999944 YES servo-thread ( 110984, 172536 )
1 to_pci.1.update
2 motion-command-handler
3 motion-controller
4 pid.x.do-pid-calcs
5 pid.z.do-pid-calcs
6 pid.y.do-pid-calcs
7 oneshot.0
8 oneshot.1
9 or2.0
10 or2.1
11 and2.0
12 timedelay.0
13 not.0
14 timedelay.1
15 not.1
16 and2.1
17 scale.0
18 abs.0