Mesa 5i25+7i77-с чего начать?

Работа с платами MESA, подключение, конфигурация.
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Nick
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

W1 похоже надо в левое - пины 7i77 совсем исчезли :)

----

только что исправил правое на левое ! Т.е. то которое раньше было.
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

ОК щас поменяю
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Nick
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

Так а w12 пробовал менять?
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

Без проблем :) , кстати я каждый раз выключаю комп :attention:
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Nick
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

dansystems1 писал(а):кстати я каждый раз выключаю комп
И это правильно! :)
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

По-моему что то есть-

Код: Выделить всё

    10  bit   OUT          TRUE  hm2_5i25.0.gpio.000.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.000.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.000.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.001.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.001.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.001.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.002.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.002.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.002.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.003.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.003.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.004.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.004.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.005.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.005.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.005.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.006.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.006.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.006.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.007.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.007.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.008.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.008.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.009.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.009.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.010.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.010.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.011.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.011.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.012.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.012.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.013.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.013.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.014.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.014.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.014.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.015.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.015.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.015.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.016.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.016.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.016.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.017.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.017.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.017.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.018.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.018.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.018.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.019.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.019.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.019.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.020.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.020.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.020.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.021.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.021.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.021.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.022.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.022.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.022.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.023.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.023.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.023.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.024.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.024.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.024.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.025.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.025.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.025.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.026.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.026.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.026.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.027.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.027.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.027.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.028.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.028.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.028.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.029.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.029.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.029.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.030.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.030.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.030.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.031.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.031.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.031.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.032.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.032.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.032.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.033.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.033.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.033.out
    10  bit   IN          FALSE  hm2_5i25.0.led.CR01
    10  bit   IN          FALSE  hm2_5i25.0.led.CR02
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.channel
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.parameter
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.port
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.port-0.fault-count
    10  u32   OUT    0x00000001  hm2_5i25.0.sserial.port-0.port_state
    10  bit   IN           TRUE  hm2_5i25.0.sserial.port-0.run
    10  bit   IN          FALSE  hm2_5i25.0.sserial.read
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.state
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.value
    10  bit   IN          FALSE  hm2_5i25.0.sserial.write
    10  bit   I/O         FALSE  hm2_5i25.0.watchdog.has_bit
     5  bit   OUT         FALSE  iocontrol.0.coolant-flood
     5  bit   OUT         FALSE  iocontrol.0.coolant-mist
     5  bit   IN          FALSE  iocontrol.0.emc-enable-in <== estop-loop
     5  bit   OUT         FALSE  iocontrol.0.lube
     5  bit   IN          FALSE  iocontrol.0.lube_level
     5  bit   OUT         FALSE  iocontrol.0.tool-change ==> tool-change-loop
     5  bit   IN          FALSE  iocontrol.0.tool-changed <== tool-change-loop
     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 ==> tool-prep-loop
     5  bit   IN          FALSE  iocontrol.0.tool-prepared <== tool-prep-loop
     5  bit   OUT         FALSE  iocontrol.0.user-enable-out ==> estop-loop
     5  bit   OUT         FALSE  iocontrol.0.user-request-enable
     7  float IN              1  motion.adaptive-feed
     7  float IN              0  motion.analog-in-00
     7  float IN              0  motion.analog-in-01
     7  float IN              0  motion.analog-in-02
     7  float IN              0  motion.analog-in-03
     7  float OUT             0  motion.analog-out-00
     7  float OUT             0  motion.analog-out-01
     7  float OUT             0  motion.analog-out-02
     7  float OUT             0  motion.analog-out-03
     7  bit   OUT         FALSE  motion.coord-error
     7  bit   OUT          TRUE  motion.coord-mode
     7  float OUT             0  motion.current-vel
     7  bit   IN          FALSE  motion.digital-in-00
     7  bit   IN          FALSE  motion.digital-in-01
     7  bit   IN          FALSE  motion.digital-in-02
     7  bit   IN          FALSE  motion.digital-in-03
     7  bit   OUT         FALSE  motion.digital-out-00
     7  bit   OUT         FALSE  motion.digital-out-01
     7  bit   OUT         FALSE  motion.digital-out-02
     7  bit   OUT         FALSE  motion.digital-out-03
     7  float OUT             0  motion.distance-to-go
     7  bit   IN           TRUE  motion.enable
     7  bit   IN          FALSE  motion.feed-hold
     7  bit   OUT          TRUE  motion.in-position
     7  bit   IN          FALSE  motion.motion-enabled
     7  bit   OUT         FALSE  motion.on-soft-limit
     7  bit   IN          FALSE  motion.probe-input
     7  s32   OUT             0  motion.program-line
     7  float OUT             0  motion.requested-vel
     7  bit   IN           TRUE  motion.spindle-at-speed
     7  bit   OUT          TRUE  motion.spindle-brake
     7  bit   OUT         FALSE  motion.spindle-forward
     7  bit   I/O         FALSE  motion.spindle-index-enable
     7  bit   OUT         FALSE  motion.spindle-on
     7  bit   OUT         FALSE  motion.spindle-reverse
     7  float IN              0  motion.spindle-revs
     7  float OUT             0  motion.spindle-speed-cmd-rps
     7  float IN              0  motion.spindle-speed-in
     7  float OUT             0  motion.spindle-speed-out
     7  float OUT             0  motion.spindle-speed-out-rps
     7  bit   OUT         FALSE  motion.teleop-mode
     7  float OUT             0  motion.tooloffset.a
     7  float OUT             0  motion.tooloffset.b
     7  float OUT             0  motion.tooloffset.c
     7  float OUT             0  motion.tooloffset.u
     7  float OUT             0  motion.tooloffset.v
     7  float OUT             0  motion.tooloffset.w
     7  float OUT             0  motion.tooloffset.x
     7  float OUT             0  motion.tooloffset.y
     7  float OUT             0  motion.tooloffset.z
     8  float I/O             0  pid.0.Dgain
     8  float I/O             0  pid.0.FF0
     8  float I/O             1  pid.0.FF1
     8  float I/O             0  pid.0.FF2
     8  float I/O             0  pid.0.Igain
     8  float I/O           100  pid.0.Pgain
     8  float I/O             0  pid.0.bias
     8  float IN              0  pid.0.command <== emcmot.00.pos-cmd
     8  float IN              0  pid.0.command-deriv
     8  float I/O       1.5e-05  pid.0.deadband
     8  bit   IN          FALSE  pid.0.enable <== emcmot.00.enable
     8  float OUT             0  pid.0.error
     8  float IN              0  pid.0.feedback <== motor.00.pos-fb
     8  float IN              0  pid.0.feedback-deriv
     8  bit   IN          FALSE  pid.0.index-enable
     8  float I/O             0  pid.0.maxcmdD
     8  float I/O             0  pid.0.maxcmdDD
     8  float I/O             0  pid.0.maxerror
     8  float I/O             0  pid.0.maxerrorD
     8  float I/O             0  pid.0.maxerrorI
     8  float I/O             1  pid.0.maxoutput
     8  float OUT             0  pid.0.output ==> motor.00.command
     8  bit   OUT         FALSE  pid.0.saturated
     8  s32   OUT             0  pid.0.saturated-count
     8  float OUT             0  pid.0.saturated-s
     8  float I/O             0  pid.1.Dgain
     8  float I/O             0  pid.1.FF0
     8  float I/O             1  pid.1.FF1
     8  float I/O             0  pid.1.FF2
     8  float I/O             0  pid.1.Igain
     8  float I/O           100  pid.1.Pgain
     8  float I/O             0  pid.1.bias
     8  float IN              0  pid.1.command <== emcmot.01.pos-cmd
     8  float IN              0  pid.1.command-deriv
     8  float I/O       1.5e-05  pid.1.deadband
     8  bit   IN          FALSE  pid.1.enable <== emcmot.01.enable
     8  float OUT             0  pid.1.error
     8  float IN             -0  pid.1.feedback <== motor.01.pos-fb
     8  float IN              0  pid.1.feedback-deriv
     8  bit   IN          FALSE  pid.1.index-enable
     8  float I/O             0  pid.1.maxcmdD
     8  float I/O             0  pid.1.maxcmdDD
     8  float I/O             0  pid.1.maxerror
     8  float I/O             0  pid.1.maxerrorD
     8  float I/O             0  pid.1.maxerrorI
     8  float I/O             1  pid.1.maxoutput
     8  float OUT             0  pid.1.output ==> motor.01.command
     8  bit   OUT         FALSE  pid.1.saturated
     8  s32   OUT             0  pid.1.saturated-count
     8  float OUT             0  pid.1.saturated-s
     8  float I/O             0  pid.2.Dgain
     8  float I/O             0  pid.2.FF0
     8  float I/O             1  pid.2.FF1
     8  float I/O             0  pid.2.FF2
     8  float I/O             0  pid.2.Igain
     8  float I/O           100  pid.2.Pgain
     8  float I/O             0  pid.2.bias
     8  float IN              0  pid.2.command <== emcmot.02.pos-cmd
     8  float IN              0  pid.2.command-deriv
     8  float I/O       1.5e-05  pid.2.deadband
     8  bit   IN          FALSE  pid.2.enable <== emcmot.02.enable
     8  float OUT             0  pid.2.error
     8  float IN              0  pid.2.feedback <== motor.02.pos-fb
     8  float IN              0  pid.2.feedback-deriv
     8  bit   IN          FALSE  pid.2.index-enable
     8  float I/O             0  pid.2.maxcmdD
     8  float I/O             0  pid.2.maxcmdDD
     8  float I/O             0  pid.2.maxerror
     8  float I/O             0  pid.2.maxerrorD
     8  float I/O             0  pid.2.maxerrorI
     8  float I/O             1  pid.2.maxoutput
     8  float OUT             0  pid.2.output ==> motor.02.command
     8  bit   OUT         FALSE  pid.2.saturated
     8  s32   OUT             0  pid.2.saturated-count
     8  float OUT             0  pid.2.saturated-s

Pin Aliases:
 Alias                                      Original Name

Signals:
Type          Value  Name     (linked to)
bit           FALSE  emcmot.00.enable
                         <== axis.0.amp-enable-out
                         ==> hm2_5i25.0.7i77.0.1.analogena
                         ==> pid.0.enable
float             0  emcmot.00.pos-cmd
                         <== axis.0.motor-pos-cmd
                         ==> pid.0.command
bit           FALSE  emcmot.01.enable
                         <== axis.1.amp-enable-out
                         ==> pid.1.enable
float             0  emcmot.01.pos-cmd
                         <== axis.1.motor-pos-cmd
                         ==> pid.1.command
bit           FALSE  emcmot.02.enable
                         <== axis.2.amp-enable-out
                         ==> pid.2.enable
float             0  emcmot.02.pos-cmd
                         <== axis.2.motor-pos-cmd
                         ==> pid.2.command
bit           FALSE  estop-loop
                         ==> iocontrol.0.emc-enable-in
                         <== iocontrol.0.user-enable-out
float             0  motor.00.command
                         ==> hm2_5i25.0.7i77.0.1.analogout0
                         <== pid.0.output
float             0  motor.00.pos-fb
                         ==> axis.0.motor-pos-fb
                         <== hm2_5i25.0.encoder.00.position
                         ==> pid.0.feedback
float             0  motor.01.command
                         ==> hm2_5i25.0.7i77.0.1.analogout1
                         <== pid.1.output
float            -0  motor.01.pos-fb
                         ==> axis.1.motor-pos-fb
                         <== hm2_5i25.0.encoder.01.position
                         ==> pid.1.feedback
float             0  motor.02.command
                         ==> hm2_5i25.0.7i77.0.1.analogout2
                         <== pid.2.output
float             0  motor.02.pos-fb
                         ==> axis.2.motor-pos-fb
                         <== hm2_5i25.0.encoder.02.position
                         ==> pid.2.feedback
bit           FALSE  tool-change-loop
                         <== iocontrol.0.tool-change
                         ==> iocontrol.0.tool-changed
bit           FALSE  tool-prep-loop
                         <== iocontrol.0.tool-prepare
                         ==> iocontrol.0.tool-prepared
bit           FALSE  y-index-enable
                         <=> axis.1.index-enable
                         <=> hm2_5i25.0.encoder.01.index-enable

Parameters:
Owner   Type  Dir         Value  Name
     7  s32   RO              0  axis.0.home-state
     7  s32   RO              0  axis.1.home-state
     7  s32   RO              0  axis.2.home-state
    10  bit   RW          FALSE  hm2_5i25.0.7i77.0.1.analogena-invert
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout0-maxlim
    10  float RW            -10  hm2_5i25.0.7i77.0.1.analogout0-minlim
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout0-scalemax
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout1-maxlim
    10  float RW            -10  hm2_5i25.0.7i77.0.1.analogout1-minlim
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout1-scalemax
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout2-maxlim
    10  float RW            -10  hm2_5i25.0.7i77.0.1.analogout2-minlim
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout2-scalemax
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout3-maxlim
    10  float RW            -10  hm2_5i25.0.7i77.0.1.analogout3-minlim
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout3-scalemax
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout4-maxlim
    10  float RW            -10  hm2_5i25.0.7i77.0.1.analogout4-minlim
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout4-scalemax
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout5-maxlim
    10  float RW            -10  hm2_5i25.0.7i77.0.1.analogout5-minlim
    10  float RW             10  hm2_5i25.0.7i77.0.1.analogout5-scalemax
    10  u32   RO     0x11000018  hm2_5i25.0.7i77.0.1.serial-number
    10  bit   RW          FALSE  hm2_5i25.0.7i77.0.1.spinena-invert
    10  u32   RO     0x00420000  hm2_5i25.0.7i77.0.1.status
    10  bit   RW          FALSE  hm2_5i25.0.encoder.00.counter-mode
    10  bit   RW           TRUE  hm2_5i25.0.encoder.00.filter
    10  bit   RW          FALSE  hm2_5i25.0.encoder.00.index-invert
    10  bit   RW          FALSE  hm2_5i25.0.encoder.00.index-mask
    10  bit   RW          FALSE  hm2_5i25.0.encoder.00.index-mask-invert
    10  float RW          81920  hm2_5i25.0.encoder.00.scale
    10  float RW            0.5  hm2_5i25.0.encoder.00.vel-timeout
    10  bit   RW          FALSE  hm2_5i25.0.encoder.01.counter-mode
    10  bit   RW           TRUE  hm2_5i25.0.encoder.01.filter
    10  bit   RW          FALSE  hm2_5i25.0.encoder.01.index-invert
    10  bit   RW          FALSE  hm2_5i25.0.encoder.01.index-mask
    10  bit   RW          FALSE  hm2_5i25.0.encoder.01.index-mask-invert
    10  float RW         -81920  hm2_5i25.0.encoder.01.scale
    10  float RW            0.5  hm2_5i25.0.encoder.01.vel-timeout
    10  bit   RW          FALSE  hm2_5i25.0.encoder.02.counter-mode
    10  bit   RW           TRUE  hm2_5i25.0.encoder.02.filter
    10  bit   RW          FALSE  hm2_5i25.0.encoder.02.index-invert
    10  bit   RW          FALSE  hm2_5i25.0.encoder.02.index-mask
    10  bit   RW          FALSE  hm2_5i25.0.encoder.02.index-mask-invert
    10  float RW          81920  hm2_5i25.0.encoder.02.scale
    10  float RW            0.5  hm2_5i25.0.encoder.02.vel-timeout
    10  bit   RW          FALSE  hm2_5i25.0.gpio.000.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.000.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.000.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.001.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.001.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.001.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.002.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.002.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.002.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.003.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.003.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.005.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.005.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.005.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.006.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.006.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.006.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.007.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.007.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.014.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.014.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.014.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.015.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.015.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.015.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.016.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.016.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.016.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.017.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.017.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.017.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.018.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.018.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.018.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.019.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.019.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.019.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.020.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.020.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.020.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.021.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.021.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.021.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.022.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.022.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.022.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.023.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.023.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.023.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.024.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.024.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.024.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.025.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.025.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.025.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.026.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.026.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.026.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.027.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.027.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.027.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.028.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.028.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.028.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.029.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.029.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.029.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.030.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.030.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.030.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.031.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.031.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.031.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.032.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.032.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.032.is_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.033.invert_output
    10  bit   RW          FALSE  hm2_5i25.0.gpio.033.is_opendrain
    10  bit   RW          FALSE  hm2_5i25.0.gpio.033.is_output
    10  bit   RW          FALSE  hm2_5i25.0.io_error
    10  s32   RO             92  hm2_5i25.0.pet_watchdog.time
    10  s32   RW           2120  hm2_5i25.0.pet_watchdog.tmax
    10  s32   RO          55476  hm2_5i25.0.read.time
    10  s32   RW          82576  hm2_5i25.0.read.tmax
    10  s32   RO              0  hm2_5i25.0.read_gpio.time
    10  s32   RW              0  hm2_5i25.0.read_gpio.tmax
    10  u32   RW     0x00000001  hm2_5i25.0.sserial.port-0.fault-dec
    10  u32   RW     0x0000000A  hm2_5i25.0.sserial.port-0.fault-inc
    10  u32   RW     0x000000C8  hm2_5i25.0.sserial.port-0.fault-lim
    10  u32   RW     0x00989680  hm2_5i25.0.watchdog.timeout_ns
    10  s32   RO           5584  hm2_5i25.0.write.time
    10  s32   RW          31400  hm2_5i25.0.write.tmax
    10  s32   RO              0  hm2_5i25.0.write_gpio.time
    10  s32   RW              0  hm2_5i25.0.write_gpio.tmax
     7  s32   RO            272  motion-command-handler.time
     7  s32   RW           4164  motion-command-handler.tmax
     7  s32   RO           4056  motion-controller.time
     7  s32   RW          31186  motion-controller.tmax
     7  bit   RO          FALSE  motion.debug-bit-0
     7  bit   RO          FALSE  motion.debug-bit-1
     7  float RO              1  motion.debug-float-0
     7  float RO              0  motion.debug-float-1
     7  float RO              0  motion.debug-float-2
     7  float RO              1  motion.debug-float-3
     7  s32   RO              0  motion.debug-s32-0
     7  s32   RO              0  motion.debug-s32-1
     7  u32   RO     0x00277C24  motion.servo.last-period
     7  float RO       997449.4  motion.servo.last-period-ns
     7  u32   RW     0x00000000  motion.servo.overruns
     8  s32   RO            372  pid.0.do-pid-calcs.time
     8  s32   RW           4364  pid.0.do-pid-calcs.tmax
     8  s32   RO            128  pid.1.do-pid-calcs.time
     8  s32   RW           2452  pid.1.do-pid-calcs.tmax
     8  s32   RO            128  pid.2.do-pid-calcs.time
     8  s32   RW          20050  pid.2.do-pid-calcs.tmax
     7  float RO              0  tc.0.acc
     7  float RO              0  tc.0.pos
     7  float RO              0  tc.0.vel
     7  float RO              0  tc.1.acc
     7  float RO              0  tc.1.pos
     7  float RO              0  tc.1.vel
     7  float RO              0  tc.2.acc
     7  float RO              0  tc.2.pos
     7  float RO              0  tc.2.vel
     7  float RO              0  tc.3.acc
     7  float RO              0  tc.3.pos
     7  float RO              0  tc.3.vel
     7  u32   RO     0x00000000  traj.active_tc
     7  float RO              0  traj.pos_out
     7  float RO              0  traj.vel_out

Parameter Aliases:
 Alias                                      Original Name

Exported Functions:
Owner   CodeAddr  Arg       FP   Users  Name
 00010  f893b552  dc854000  NO       1   hm2_5i25.0.pet_watchdog
 00010  f892d9dc  dc854000  YES      1   hm2_5i25.0.read
 00010  f892d906  dc854000  YES      0   hm2_5i25.0.read_gpio
 00010  f892d936  dc854000  YES      1   hm2_5i25.0.write
 00010  f892d8d6  dc854000  YES      0   hm2_5i25.0.write_gpio
 00007  f865a759  00000000  YES      1   motion-command-handler
 00007  f865ccb2  00000000  YES      1   motion-controller
 00008  f8904000  f85f2be8  YES      1   pid.0.do-pid-calcs
 00008  f8904000  f85f2c88  YES      1   pid.1.do-pid-calcs
 00008  f8904000  f85f2d28  YES      1   pid.2.do-pid-calcs

Realtime Threads:
     Period  FP     Name               (     Time, Max-Time )
     999872  YES          servo-thread (    66184,   128336 )
                  1 hm2_5i25.0.read
                  2 motion-command-handler
                  3 motion-controller
                  4 pid.0.do-pid-calcs
                  5 pid.1.do-pid-calcs
                  6 pid.2.do-pid-calcs
                  7 hm2_5i25.0.write
                  8 hm2_5i25.0.pet_watchdog
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Nick
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

хммм.... почему-то все равно нет... наверное, просто у тебя верх вывода обрезан!

Значит делай либо halcmd show pin
либо halcmd show > out.txt и файл потом сюда.

ЗЫ вешай все эти выводы в тэг code, так проще читать. А мне уже надоедает твои сообщения редактировать :)
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Serg
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Serg »

Nick писал(а):Кстати вроде не всегда работает... у меня была проблема с расширением для inkscape, там дефалтный путь ~/ не работал. Хотя тут возможно заведется.

PS "~" - это тильда shift+[кнопка левее 1] (на форуме ее плохо видно ~/)
Ну я потому и написал "можно попробовать". Видимо программеры делают какую-то обработку этой строки в рукопашную, а не используя предназначенные для этого функции.

P.S. Часто какая-нибудь софтинка ругается на отсутствие какого-нибудь файла и т.п., существует простой способ узнать какие она файлы открывает и где она их ищет - это запуск этой софтинки с помощью программки strace, попробуйте, посмотрите, что она делает. 8-)
Я не Христос, рыбу не раздаю, но могу научить, как сделать удочку...
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

Вот-

Код: Выделить всё

dan@ubuntu:~$ halcmd show pin
Component Pins:
Owner   Type  Dir         Value  Name
     7  bit   OUT          TRUE  axis.0.active
     7  bit   OUT         FALSE  axis.0.amp-enable-out ==> emcmot.00.enable
     7  bit   IN          FALSE  axis.0.amp-fault-in
     7  float OUT             0  axis.0.backlash-corr
     7  float OUT             0  axis.0.backlash-filt
     7  float OUT             0  axis.0.backlash-vel
     7  float OUT             0  axis.0.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.0.error
     7  float OUT             0  axis.0.f-error
     7  float OUT         0.002  axis.0.f-error-lim
     7  bit   OUT         FALSE  axis.0.f-errored
     7  bit   OUT         FALSE  axis.0.faulted
     7  float OUT             0  axis.0.free-pos-cmd
     7  bit   OUT         FALSE  axis.0.free-tp-enable
     7  float OUT             0  axis.0.free-vel-lim
     7  bit   IN          FALSE  axis.0.home-sw-in
     7  bit   OUT         FALSE  axis.0.homed
     7  bit   OUT         FALSE  axis.0.homing
     7  bit   OUT          TRUE  axis.0.in-position
     7  bit   I/O         FALSE  axis.0.index-enable
     7  s32   IN              0  axis.0.jog-counts
     7  bit   IN          FALSE  axis.0.jog-enable
     7  float IN              0  axis.0.jog-scale
     7  bit   IN          FALSE  axis.0.jog-vel-mode
     7  float OUT             0  axis.0.joint-pos-cmd
     7  float OUT             0  axis.0.joint-pos-fb
     7  float OUT             0  axis.0.joint-vel-cmd
     7  bit   OUT         FALSE  axis.0.kb-jog-active
     7  float OUT             0  axis.0.motor-offset
     7  float OUT             0  axis.0.motor-pos-cmd ==> emcmot.00.pos-cmd
     7  float IN              0  axis.0.motor-pos-fb <== motor.00.pos-fb
     7  bit   OUT         FALSE  axis.0.neg-hard-limit
     7  bit   IN          FALSE  axis.0.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.0.pos-hard-limit
     7  bit   IN          FALSE  axis.0.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.0.wheel-jog-active
     7  bit   OUT          TRUE  axis.1.active
     7  bit   OUT         FALSE  axis.1.amp-enable-out ==> emcmot.01.enable
     7  bit   IN          FALSE  axis.1.amp-fault-in
     7  float OUT             0  axis.1.backlash-corr
     7  float OUT             0  axis.1.backlash-filt
     7  float OUT             0  axis.1.backlash-vel
     7  float OUT             0  axis.1.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.1.error
     7  float OUT             0  axis.1.f-error
     7  float OUT         0.002  axis.1.f-error-lim
     7  bit   OUT         FALSE  axis.1.f-errored
     7  bit   OUT         FALSE  axis.1.faulted
     7  float OUT             0  axis.1.free-pos-cmd
     7  bit   OUT         FALSE  axis.1.free-tp-enable
     7  float OUT             0  axis.1.free-vel-lim
     7  bit   IN          FALSE  axis.1.home-sw-in
     7  bit   OUT         FALSE  axis.1.homed
     7  bit   OUT         FALSE  axis.1.homing
     7  bit   OUT          TRUE  axis.1.in-position
     7  bit   I/O         FALSE  axis.1.index-enable <=> y-index-enable
     7  s32   IN              0  axis.1.jog-counts
     7  bit   IN          FALSE  axis.1.jog-enable
     7  float IN              0  axis.1.jog-scale
     7  bit   IN          FALSE  axis.1.jog-vel-mode
     7  float OUT            -0  axis.1.joint-pos-cmd
     7  float OUT            -0  axis.1.joint-pos-fb
     7  float OUT             0  axis.1.joint-vel-cmd
     7  bit   OUT         FALSE  axis.1.kb-jog-active
     7  float OUT             0  axis.1.motor-offset
     7  float OUT             0  axis.1.motor-pos-cmd ==> emcmot.01.pos-cmd
     7  float IN             -0  axis.1.motor-pos-fb <== motor.01.pos-fb
     7  bit   OUT         FALSE  axis.1.neg-hard-limit
     7  bit   IN          FALSE  axis.1.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.1.pos-hard-limit
     7  bit   IN          FALSE  axis.1.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.1.wheel-jog-active
     7  bit   OUT          TRUE  axis.2.active
     7  bit   OUT         FALSE  axis.2.amp-enable-out ==> emcmot.02.enable
     7  bit   IN          FALSE  axis.2.amp-fault-in
     7  float OUT             0  axis.2.backlash-corr
     7  float OUT             0  axis.2.backlash-filt
     7  float OUT             0  axis.2.backlash-vel
     7  float OUT             0  axis.2.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.2.error
     7  float OUT             0  axis.2.f-error
     7  float OUT         0.002  axis.2.f-error-lim
     7  bit   OUT         FALSE  axis.2.f-errored
     7  bit   OUT         FALSE  axis.2.faulted
     7  float OUT             0  axis.2.free-pos-cmd
     7  bit   OUT         FALSE  axis.2.free-tp-enable
     7  float OUT             0  axis.2.free-vel-lim
     7  bit   IN          FALSE  axis.2.home-sw-in
     7  bit   OUT         FALSE  axis.2.homed
     7  bit   OUT         FALSE  axis.2.homing
     7  bit   OUT          TRUE  axis.2.in-position
     7  bit   I/O         FALSE  axis.2.index-enable
     7  s32   IN              0  axis.2.jog-counts
     7  bit   IN          FALSE  axis.2.jog-enable
     7  float IN              0  axis.2.jog-scale
     7  bit   IN          FALSE  axis.2.jog-vel-mode
     7  float OUT             0  axis.2.joint-pos-cmd
     7  float OUT             0  axis.2.joint-pos-fb
     7  float OUT             0  axis.2.joint-vel-cmd
     7  bit   OUT         FALSE  axis.2.kb-jog-active
     7  float OUT             0  axis.2.motor-offset
     7  float OUT             0  axis.2.motor-pos-cmd ==> emcmot.02.pos-cmd
     7  float IN              0  axis.2.motor-pos-fb <== motor.02.pos-fb
     7  bit   OUT         FALSE  axis.2.neg-hard-limit
     7  bit   IN          FALSE  axis.2.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.2.pos-hard-limit
     7  bit   IN          FALSE  axis.2.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.2.wheel-jog-active
    11  bit   OUT         FALSE  axisui.jog.a
    11  bit   OUT         FALSE  axisui.jog.b
    11  bit   OUT         FALSE  axisui.jog.c
    11  float OUT             0  axisui.jog.increment
    11  bit   OUT         FALSE  axisui.jog.u
    11  bit   OUT         FALSE  axisui.jog.v
    11  bit   OUT         FALSE  axisui.jog.w
    11  bit   OUT          TRUE  axisui.jog.x
    11  bit   OUT         FALSE  axisui.jog.y
    11  bit   OUT         FALSE  axisui.jog.z
    11  bit   IN          FALSE  axisui.notifications-clear
    11  bit   IN          FALSE  axisui.notifications-clear-error
    11  bit   IN          FALSE  axisui.notifications-clear-info
    11  bit   IN          FALSE  axisui.set-manual-mode
    10  bit   IN          FALSE  hm2_5i25.0.7i77.0.1.analogena <== emcmot.00.enable
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout0 <== motor.00.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout1 <== motor.01.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout2 <== motor.02.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout3
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout4
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout5
    10  bit   IN          FALSE  hm2_5i25.0.7i77.0.1.spinena
    10  s32   OUT             0  hm2_5i25.0.encoder.00.count
    10  s32   OUT             0  hm2_5i25.0.encoder.00.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.00.index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.latch-polarity
    10  float OUT             0  hm2_5i25.0.encoder.00.position ==> motor.00.pos-fb
    10  float OUT             0  hm2_5i25.0.encoder.00.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.00.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.00.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.reset
    10  float OUT             0  hm2_5i25.0.encoder.00.velocity
    10  s32   OUT             0  hm2_5i25.0.encoder.01.count
    10  s32   OUT             0  hm2_5i25.0.encoder.01.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.01.index-enable <=> y-index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.latch-polarity
    10  float OUT            -0  hm2_5i25.0.encoder.01.position ==> motor.01.pos-fb
    10  float OUT            -0  hm2_5i25.0.encoder.01.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.01.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.01.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.reset
    10  float OUT             0  hm2_5i25.0.encoder.01.velocity
    10  s32   OUT             0  hm2_5i25.0.encoder.02.count
    10  s32   OUT             0  hm2_5i25.0.encoder.02.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.02.index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.latch-polarity
    10  float OUT             0  hm2_5i25.0.encoder.02.position ==> motor.02.pos-fb
    10  float OUT             0  hm2_5i25.0.encoder.02.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.02.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.02.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.reset
    10  float OUT             0  hm2_5i25.0.encoder.02.velocity
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.000.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.000.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.000.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.001.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.001.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.001.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.002.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.002.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.002.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.003.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.003.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.004.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.004.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.005.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.005.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.005.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.006.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.006.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.006.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.007.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.007.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.008.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.008.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.009.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.009.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.010.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.010.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.011.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.011.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.012.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.012.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.013.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.013.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.014.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.014.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.014.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.015.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.015.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.015.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.016.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.016.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.016.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.017.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.017.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.017.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.018.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.018.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.018.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.019.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.019.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.019.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.020.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.020.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.020.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.021.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.021.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.021.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.022.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.022.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.022.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.023.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.023.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.023.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.024.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.024.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.024.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.025.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.025.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.025.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.026.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.026.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.026.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.027.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.027.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.027.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.028.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.028.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.028.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.029.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.029.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.029.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.030.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.030.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.030.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.031.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.031.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.031.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.032.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.032.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.032.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.033.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.033.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.033.out
    10  bit   IN          FALSE  hm2_5i25.0.led.CR01
    10  bit   IN          FALSE  hm2_5i25.0.led.CR02
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.channel
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.parameter
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.port
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.port-0.fault-count
    10  u32   OUT    0x00000001  hm2_5i25.0.sserial.port-0.port_state
    10  bit   IN           TRUE  hm2_5i25.0.sserial.port-0.run
    10  bit   IN          FALSE  hm2_5i25.0.sserial.read
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.state
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.value
    10  bit   IN          FALSE  hm2_5i25.0.sserial.write
    10  bit   I/O         FALSE  hm2_5i25.0.watchdog.has_bit
     5  bit   OUT         FALSE  iocontrol.0.coolant-flood
     5  bit   OUT         FALSE  iocontrol.0.coolant-mist
     5  bit   IN          FALSE  iocontrol.0.emc-enable-in <== estop-loop
     5  bit   OUT         FALSE  iocontrol.0.lube
     5  bit   IN          FALSE  iocontrol.0.lube_level
     5  bit   OUT         FALSE  iocontrol.0.tool-change ==> tool-change-loop
     5  bit   IN          FALSE  iocontrol.0.tool-changed <== tool-change-loop
     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 ==> tool-prep-loop
     5  bit   IN          FALSE  iocontrol.0.tool-prepared <== tool-prep-loop
     5  bit   OUT         FALSE  iocontrol.0.user-enable-out ==> estop-loop
     5  bit   OUT         FALSE  iocontrol.0.user-request-enable
     7  float IN              1  motion.adaptive-feed
     7  float IN              0  motion.analog-in-00
     7  float IN              0  motion.analog-in-01
     7  float IN              0  motion.analog-in-02
     7  float IN              0  motion.analog-in-03
     7  float OUT             0  motion.analog-out-00
     7  float OUT             0  motion.analog-out-01
     7  float OUT             0  motion.analog-out-02
     7  float OUT             0  motion.analog-out-03
     7  bit   OUT         FALSE  motion.coord-error
     7  bit   OUT          TRUE  motion.coord-mode
     7  float OUT             0  motion.current-vel
     7  bit   IN          FALSE  motion.digital-in-00
     7  bit   IN          FALSE  motion.digital-in-01
     7  bit   IN          FALSE  motion.digital-in-02
     7  bit   IN          FALSE  motion.digital-in-03
     7  bit   OUT         FALSE  motion.digital-out-00
     7  bit   OUT         FALSE  motion.digital-out-01
     7  bit   OUT         FALSE  motion.digital-out-02
     7  bit   OUT         FALSE  motion.digital-out-03
     7  float OUT             0  motion.distance-to-go
     7  bit   IN           TRUE  motion.enable
     7  bit   IN          FALSE  motion.feed-hold
     7  bit   OUT          TRUE  motion.in-position
     7  bit   IN          FALSE  motion.motion-enabled
     7  bit   OUT         FALSE  motion.on-soft-limit
     7  bit   IN          FALSE  motion.probe-input
     7  s32   OUT             0  motion.program-line
     7  float OUT             0  motion.requested-vel
     7  bit   IN           TRUE  motion.spindle-at-speed
     7  bit   OUT          TRUE  motion.spindle-brake
     7  bit   OUT         FALSE  motion.spindle-forward
     7  bit   I/O         FALSE  motion.spindle-index-enable
     7  bit   OUT         FALSE  motion.spindle-on
     7  bit   OUT         FALSE  motion.spindle-reverse
     7  float IN              0  motion.spindle-revs
     7  float OUT             0  motion.spindle-speed-cmd-rps
     7  float IN              0  motion.spindle-speed-in
     7  float OUT             0  motion.spindle-speed-out
     7  float OUT             0  motion.spindle-speed-out-rps
     7  bit   OUT         FALSE  motion.teleop-mode
     7  float OUT             0  motion.tooloffset.a
     7  float OUT             0  motion.tooloffset.b
     7  float OUT             0  motion.tooloffset.c
     7  float OUT             0  motion.tooloffset.u
     7  float OUT             0  motion.tooloffset.v
     7  float OUT             0  motion.tooloffset.w
     7  float OUT             0  motion.tooloffset.x
     7  float OUT             0  motion.tooloffset.y
     7  float OUT             0  motion.tooloffset.z
     8  float I/O             0  pid.0.Dgain
     8  float I/O             0  pid.0.FF0
     8  float I/O             1  pid.0.FF1
     8  float I/O             0  pid.0.FF2
     8  float I/O             0  pid.0.Igain
     8  float I/O           100  pid.0.Pgain
     8  float I/O             0  pid.0.bias
     8  float IN              0  pid.0.command <== emcmot.00.pos-cmd
     8  float IN              0  pid.0.command-deriv
     8  float I/O       1.5e-05  pid.0.deadband
     8  bit   IN          FALSE  pid.0.enable <== emcmot.00.enable
     8  float OUT             0  pid.0.error
     8  float IN              0  pid.0.feedback <== motor.00.pos-fb
     8  float IN              0  pid.0.feedback-deriv
     8  bit   IN          FALSE  pid.0.index-enable
     8  float I/O             0  pid.0.maxcmdD
     8  float I/O             0  pid.0.maxcmdDD
     8  float I/O             0  pid.0.maxerror
     8  float I/O             0  pid.0.maxerrorD
     8  float I/O             0  pid.0.maxerrorI
     8  float I/O             1  pid.0.maxoutput
     8  float OUT             0  pid.0.output ==> motor.00.command
     8  bit   OUT         FALSE  pid.0.saturated
     8  s32   OUT             0  pid.0.saturated-count
     8  float OUT             0  pid.0.saturated-s
     8  float I/O             0  pid.1.Dgain
     8  float I/O             0  pid.1.FF0
     8  float I/O             1  pid.1.FF1
     8  float I/O             0  pid.1.FF2
     8  float I/O             0  pid.1.Igain
     8  float I/O           100  pid.1.Pgain
     8  float I/O             0  pid.1.bias
     8  float IN              0  pid.1.command <== emcmot.01.pos-cmd
     8  float IN              0  pid.1.command-deriv
     8  float I/O       1.5e-05  pid.1.deadband
     8  bit   IN          FALSE  pid.1.enable <== emcmot.01.enable
     8  float OUT             0  pid.1.error
     8  float IN             -0  pid.1.feedback <== motor.01.pos-fb
     8  float IN              0  pid.1.feedback-deriv
     8  bit   IN          FALSE  pid.1.index-enable
     8  float I/O             0  pid.1.maxcmdD
     8  float I/O             0  pid.1.maxcmdDD
     8  float I/O             0  pid.1.maxerror
     8  float I/O             0  pid.1.maxerrorD
     8  float I/O             0  pid.1.maxerrorI
     8  float I/O             1  pid.1.maxoutput
     8  float OUT             0  pid.1.output ==> motor.01.command
     8  bit   OUT         FALSE  pid.1.saturated
     8  s32   OUT             0  pid.1.saturated-count
     8  float OUT             0  pid.1.saturated-s
     8  float I/O             0  pid.2.Dgain
     8  float I/O             0  pid.2.FF0
     8  float I/O             1  pid.2.FF1
     8  float I/O             0  pid.2.FF2
     8  float I/O             0  pid.2.Igain
     8  float I/O           100  pid.2.Pgain
     8  float I/O             0  pid.2.bias
     8  float IN              0  pid.2.command <== emcmot.02.pos-cmd
     8  float IN              0  pid.2.command-deriv
     8  float I/O       1.5e-05  pid.2.deadband
     8  bit   IN          FALSE  pid.2.enable <== emcmot.02.enable
     8  float OUT             0  pid.2.error
     8  float IN              0  pid.2.feedback <== motor.02.pos-fb
     8  float IN              0  pid.2.feedback-deriv
     8  bit   IN          FALSE  pid.2.index-enable
     8  float I/O             0  pid.2.maxcmdD
     8  float I/O             0  pid.2.maxcmdDD
     8  float I/O             0  pid.2.maxerror
     8  float I/O             0  pid.2.maxerrorD
     8  float I/O             0  pid.2.maxerrorI
     8  float I/O             1  pid.2.maxoutput
     8  float OUT             0  pid.2.output ==> motor.02.command
     8  bit   OUT         FALSE  pid.2.saturated
     8  s32   OUT             0  pid.2.saturated-count
     8  float OUT             0  pid.2.saturated-s

dan@ubuntu:~$
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

Nick писал(а):либо halcmd show > out.txt
-Так вообще не реагирует!
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nkp
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение nkp »

dansystems1 писал(а):Так вообще не реагирует!
Должен появиться файл out.txt (в домашней директории скорей всего)
А на 5и25 P3 и P2 не перепутаны?
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

Включен Р3, W2 и W3--в верхном положении.
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Аватара пользователя
Nick
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

dansystems1 писал(а):Вот-
Теперь надо бы попробовать тоже самое с переключенным W12 и/или W1. Может что-то поменяется.

Мы ищем дополнительные пины вида hm2_5i25.0.7i77.0.1.analogout4
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

W12-правое пол.

Код: Выделить всё

dan@ubuntu:~$ halcmd show pin
Component Pins:
Owner   Type  Dir         Value  Name
     7  bit   OUT          TRUE  axis.0.active
     7  bit   OUT         FALSE  axis.0.amp-enable-out ==> emcmot.00.enable
     7  bit   IN          FALSE  axis.0.amp-fault-in
     7  float OUT             0  axis.0.backlash-corr
     7  float OUT             0  axis.0.backlash-filt
     7  float OUT             0  axis.0.backlash-vel
     7  float OUT             0  axis.0.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.0.error
     7  float OUT             0  axis.0.f-error
     7  float OUT         0.002  axis.0.f-error-lim
     7  bit   OUT         FALSE  axis.0.f-errored
     7  bit   OUT         FALSE  axis.0.faulted
     7  float OUT             0  axis.0.free-pos-cmd
     7  bit   OUT         FALSE  axis.0.free-tp-enable
     7  float OUT             0  axis.0.free-vel-lim
     7  bit   IN          FALSE  axis.0.home-sw-in
     7  bit   OUT         FALSE  axis.0.homed
     7  bit   OUT         FALSE  axis.0.homing
     7  bit   OUT          TRUE  axis.0.in-position
     7  bit   I/O         FALSE  axis.0.index-enable
     7  s32   IN              0  axis.0.jog-counts
     7  bit   IN          FALSE  axis.0.jog-enable
     7  float IN              0  axis.0.jog-scale
     7  bit   IN          FALSE  axis.0.jog-vel-mode
     7  float OUT             0  axis.0.joint-pos-cmd
     7  float OUT             0  axis.0.joint-pos-fb
     7  float OUT             0  axis.0.joint-vel-cmd
     7  bit   OUT         FALSE  axis.0.kb-jog-active
     7  float OUT             0  axis.0.motor-offset
     7  float OUT             0  axis.0.motor-pos-cmd ==> emcmot.00.pos-cmd
     7  float IN              0  axis.0.motor-pos-fb <== motor.00.pos-fb
     7  bit   OUT         FALSE  axis.0.neg-hard-limit
     7  bit   IN          FALSE  axis.0.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.0.pos-hard-limit
     7  bit   IN          FALSE  axis.0.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.0.wheel-jog-active
     7  bit   OUT          TRUE  axis.1.active
     7  bit   OUT         FALSE  axis.1.amp-enable-out ==> emcmot.01.enable
     7  bit   IN          FALSE  axis.1.amp-fault-in
     7  float OUT             0  axis.1.backlash-corr
     7  float OUT             0  axis.1.backlash-filt
     7  float OUT             0  axis.1.backlash-vel
     7  float OUT             0  axis.1.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.1.error
     7  float OUT             0  axis.1.f-error
     7  float OUT         0.002  axis.1.f-error-lim
     7  bit   OUT         FALSE  axis.1.f-errored
     7  bit   OUT         FALSE  axis.1.faulted
     7  float OUT             0  axis.1.free-pos-cmd
     7  bit   OUT         FALSE  axis.1.free-tp-enable
     7  float OUT             0  axis.1.free-vel-lim
     7  bit   IN          FALSE  axis.1.home-sw-in
     7  bit   OUT         FALSE  axis.1.homed
     7  bit   OUT         FALSE  axis.1.homing
     7  bit   OUT          TRUE  axis.1.in-position
     7  bit   I/O         FALSE  axis.1.index-enable <=> y-index-enable
     7  s32   IN              0  axis.1.jog-counts
     7  bit   IN          FALSE  axis.1.jog-enable
     7  float IN              0  axis.1.jog-scale
     7  bit   IN          FALSE  axis.1.jog-vel-mode
     7  float OUT            -0  axis.1.joint-pos-cmd
     7  float OUT            -0  axis.1.joint-pos-fb
     7  float OUT             0  axis.1.joint-vel-cmd
     7  bit   OUT         FALSE  axis.1.kb-jog-active
     7  float OUT             0  axis.1.motor-offset
     7  float OUT             0  axis.1.motor-pos-cmd ==> emcmot.01.pos-cmd
     7  float IN             -0  axis.1.motor-pos-fb <== motor.01.pos-fb
     7  bit   OUT         FALSE  axis.1.neg-hard-limit
     7  bit   IN          FALSE  axis.1.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.1.pos-hard-limit
     7  bit   IN          FALSE  axis.1.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.1.wheel-jog-active
     7  bit   OUT          TRUE  axis.2.active
     7  bit   OUT         FALSE  axis.2.amp-enable-out ==> emcmot.02.enable
     7  bit   IN          FALSE  axis.2.amp-fault-in
     7  float OUT             0  axis.2.backlash-corr
     7  float OUT             0  axis.2.backlash-filt
     7  float OUT             0  axis.2.backlash-vel
     7  float OUT             0  axis.2.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.2.error
     7  float OUT             0  axis.2.f-error
     7  float OUT         0.002  axis.2.f-error-lim
     7  bit   OUT         FALSE  axis.2.f-errored
     7  bit   OUT         FALSE  axis.2.faulted
     7  float OUT             0  axis.2.free-pos-cmd
     7  bit   OUT         FALSE  axis.2.free-tp-enable
     7  float OUT             0  axis.2.free-vel-lim
     7  bit   IN          FALSE  axis.2.home-sw-in
     7  bit   OUT         FALSE  axis.2.homed
     7  bit   OUT         FALSE  axis.2.homing
     7  bit   OUT          TRUE  axis.2.in-position
     7  bit   I/O         FALSE  axis.2.index-enable
     7  s32   IN              0  axis.2.jog-counts
     7  bit   IN          FALSE  axis.2.jog-enable
     7  float IN              0  axis.2.jog-scale
     7  bit   IN          FALSE  axis.2.jog-vel-mode
     7  float OUT             0  axis.2.joint-pos-cmd
     7  float OUT             0  axis.2.joint-pos-fb
     7  float OUT             0  axis.2.joint-vel-cmd
     7  bit   OUT         FALSE  axis.2.kb-jog-active
     7  float OUT             0  axis.2.motor-offset
     7  float OUT             0  axis.2.motor-pos-cmd ==> emcmot.02.pos-cmd
     7  float IN              0  axis.2.motor-pos-fb <== motor.02.pos-fb
     7  bit   OUT         FALSE  axis.2.neg-hard-limit
     7  bit   IN          FALSE  axis.2.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.2.pos-hard-limit
     7  bit   IN          FALSE  axis.2.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.2.wheel-jog-active
    11  bit   OUT         FALSE  axisui.jog.a
    11  bit   OUT         FALSE  axisui.jog.b
    11  bit   OUT         FALSE  axisui.jog.c
    11  float OUT             0  axisui.jog.increment
    11  bit   OUT         FALSE  axisui.jog.u
    11  bit   OUT         FALSE  axisui.jog.v
    11  bit   OUT         FALSE  axisui.jog.w
    11  bit   OUT          TRUE  axisui.jog.x
    11  bit   OUT         FALSE  axisui.jog.y
    11  bit   OUT         FALSE  axisui.jog.z
    11  bit   IN          FALSE  axisui.notifications-clear
    11  bit   IN          FALSE  axisui.notifications-clear-error
    11  bit   IN          FALSE  axisui.notifications-clear-info
    11  bit   IN          FALSE  axisui.set-manual-mode
    10  bit   IN          FALSE  hm2_5i25.0.7i77.0.1.analogena <== emcmot.00.enable
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout0 <== motor.00.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout1 <== motor.01.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout2 <== motor.02.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout3
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout4
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout5
    10  bit   IN          FALSE  hm2_5i25.0.7i77.0.1.spinena
    10  s32   OUT             0  hm2_5i25.0.encoder.00.count
    10  s32   OUT             0  hm2_5i25.0.encoder.00.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.00.index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.latch-polarity
    10  float OUT             0  hm2_5i25.0.encoder.00.position ==> motor.00.pos-fb
    10  float OUT             0  hm2_5i25.0.encoder.00.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.00.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.00.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.reset
    10  float OUT             0  hm2_5i25.0.encoder.00.velocity
    10  s32   OUT             0  hm2_5i25.0.encoder.01.count
    10  s32   OUT             0  hm2_5i25.0.encoder.01.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.01.index-enable <=> y-index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.latch-polarity
    10  float OUT            -0  hm2_5i25.0.encoder.01.position ==> motor.01.pos-fb
    10  float OUT            -0  hm2_5i25.0.encoder.01.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.01.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.01.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.reset
    10  float OUT             0  hm2_5i25.0.encoder.01.velocity
    10  s32   OUT             0  hm2_5i25.0.encoder.02.count
    10  s32   OUT             0  hm2_5i25.0.encoder.02.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.02.index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.latch-polarity
    10  float OUT             0  hm2_5i25.0.encoder.02.position ==> motor.02.pos-fb
    10  float OUT             0  hm2_5i25.0.encoder.02.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.02.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.02.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.reset
    10  float OUT             0  hm2_5i25.0.encoder.02.velocity
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.000.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.000.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.000.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.001.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.001.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.001.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.002.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.002.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.002.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.003.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.003.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.004.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.004.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.005.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.005.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.005.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.006.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.006.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.006.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.007.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.007.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.008.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.008.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.009.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.009.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.010.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.010.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.011.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.011.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.012.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.012.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.013.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.013.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.014.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.014.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.014.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.015.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.015.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.015.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.016.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.016.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.016.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.017.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.017.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.017.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.018.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.018.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.018.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.019.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.019.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.019.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.020.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.020.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.020.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.021.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.021.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.021.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.022.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.022.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.022.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.023.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.023.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.023.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.024.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.024.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.024.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.025.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.025.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.025.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.026.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.026.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.026.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.027.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.027.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.027.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.028.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.028.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.028.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.029.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.029.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.029.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.030.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.030.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.030.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.031.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.031.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.031.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.032.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.032.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.032.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.033.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.033.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.033.out
    10  bit   IN          FALSE  hm2_5i25.0.led.CR01
    10  bit   IN          FALSE  hm2_5i25.0.led.CR02
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.channel
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.parameter
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.port
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.port-0.fault-count
    10  u32   OUT    0x00000001  hm2_5i25.0.sserial.port-0.port_state
    10  bit   IN           TRUE  hm2_5i25.0.sserial.port-0.run
    10  bit   IN          FALSE  hm2_5i25.0.sserial.read
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.state
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.value
    10  bit   IN          FALSE  hm2_5i25.0.sserial.write
    10  bit   I/O         FALSE  hm2_5i25.0.watchdog.has_bit
     5  bit   OUT         FALSE  iocontrol.0.coolant-flood
     5  bit   OUT         FALSE  iocontrol.0.coolant-mist
     5  bit   IN          FALSE  iocontrol.0.emc-enable-in <== estop-loop
     5  bit   OUT         FALSE  iocontrol.0.lube
     5  bit   IN          FALSE  iocontrol.0.lube_level
     5  bit   OUT         FALSE  iocontrol.0.tool-change ==> tool-change-loop
     5  bit   IN          FALSE  iocontrol.0.tool-changed <== tool-change-loop
     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 ==> tool-prep-loop
     5  bit   IN          FALSE  iocontrol.0.tool-prepared <== tool-prep-loop
     5  bit   OUT         FALSE  iocontrol.0.user-enable-out ==> estop-loop
     5  bit   OUT         FALSE  iocontrol.0.user-request-enable
     7  float IN              1  motion.adaptive-feed
     7  float IN              0  motion.analog-in-00
     7  float IN              0  motion.analog-in-01
     7  float IN              0  motion.analog-in-02
     7  float IN              0  motion.analog-in-03
     7  float OUT             0  motion.analog-out-00
     7  float OUT             0  motion.analog-out-01
     7  float OUT             0  motion.analog-out-02
     7  float OUT             0  motion.analog-out-03
     7  bit   OUT         FALSE  motion.coord-error
     7  bit   OUT          TRUE  motion.coord-mode
     7  float OUT             0  motion.current-vel
     7  bit   IN          FALSE  motion.digital-in-00
     7  bit   IN          FALSE  motion.digital-in-01
     7  bit   IN          FALSE  motion.digital-in-02
     7  bit   IN          FALSE  motion.digital-in-03
     7  bit   OUT         FALSE  motion.digital-out-00
     7  bit   OUT         FALSE  motion.digital-out-01
     7  bit   OUT         FALSE  motion.digital-out-02
     7  bit   OUT         FALSE  motion.digital-out-03
     7  float OUT             0  motion.distance-to-go
     7  bit   IN           TRUE  motion.enable
     7  bit   IN          FALSE  motion.feed-hold
     7  bit   OUT          TRUE  motion.in-position
     7  bit   IN          FALSE  motion.motion-enabled
     7  bit   OUT         FALSE  motion.on-soft-limit
     7  bit   IN          FALSE  motion.probe-input
     7  s32   OUT             0  motion.program-line
     7  float OUT             0  motion.requested-vel
     7  bit   IN           TRUE  motion.spindle-at-speed
     7  bit   OUT          TRUE  motion.spindle-brake
     7  bit   OUT         FALSE  motion.spindle-forward
     7  bit   I/O         FALSE  motion.spindle-index-enable
     7  bit   OUT         FALSE  motion.spindle-on
     7  bit   OUT         FALSE  motion.spindle-reverse
     7  float IN              0  motion.spindle-revs
     7  float OUT             0  motion.spindle-speed-cmd-rps
     7  float IN              0  motion.spindle-speed-in
     7  float OUT             0  motion.spindle-speed-out
     7  float OUT             0  motion.spindle-speed-out-rps
     7  bit   OUT         FALSE  motion.teleop-mode
     7  float OUT             0  motion.tooloffset.a
     7  float OUT             0  motion.tooloffset.b
     7  float OUT             0  motion.tooloffset.c
     7  float OUT             0  motion.tooloffset.u
     7  float OUT             0  motion.tooloffset.v
     7  float OUT             0  motion.tooloffset.w
     7  float OUT             0  motion.tooloffset.x
     7  float OUT             0  motion.tooloffset.y
     7  float OUT             0  motion.tooloffset.z
     8  float I/O             0  pid.0.Dgain
     8  float I/O             0  pid.0.FF0
     8  float I/O             1  pid.0.FF1
     8  float I/O             0  pid.0.FF2
     8  float I/O             0  pid.0.Igain
     8  float I/O           100  pid.0.Pgain
     8  float I/O             0  pid.0.bias
     8  float IN              0  pid.0.command <== emcmot.00.pos-cmd
     8  float IN              0  pid.0.command-deriv
     8  float I/O       1.5e-05  pid.0.deadband
     8  bit   IN          FALSE  pid.0.enable <== emcmot.00.enable
     8  float OUT             0  pid.0.error
     8  float IN              0  pid.0.feedback <== motor.00.pos-fb
     8  float IN              0  pid.0.feedback-deriv
     8  bit   IN          FALSE  pid.0.index-enable
     8  float I/O             0  pid.0.maxcmdD
     8  float I/O             0  pid.0.maxcmdDD
     8  float I/O             0  pid.0.maxerror
     8  float I/O             0  pid.0.maxerrorD
     8  float I/O             0  pid.0.maxerrorI
     8  float I/O             1  pid.0.maxoutput
     8  float OUT             0  pid.0.output ==> motor.00.command
     8  bit   OUT         FALSE  pid.0.saturated
     8  s32   OUT             0  pid.0.saturated-count
     8  float OUT             0  pid.0.saturated-s
     8  float I/O             0  pid.1.Dgain
     8  float I/O             0  pid.1.FF0
     8  float I/O             1  pid.1.FF1
     8  float I/O             0  pid.1.FF2
     8  float I/O             0  pid.1.Igain
     8  float I/O           100  pid.1.Pgain
     8  float I/O             0  pid.1.bias
     8  float IN              0  pid.1.command <== emcmot.01.pos-cmd
     8  float IN              0  pid.1.command-deriv
     8  float I/O       1.5e-05  pid.1.deadband
     8  bit   IN          FALSE  pid.1.enable <== emcmot.01.enable
     8  float OUT             0  pid.1.error
     8  float IN             -0  pid.1.feedback <== motor.01.pos-fb
     8  float IN              0  pid.1.feedback-deriv
     8  bit   IN          FALSE  pid.1.index-enable
     8  float I/O             0  pid.1.maxcmdD
     8  float I/O             0  pid.1.maxcmdDD
     8  float I/O             0  pid.1.maxerror
     8  float I/O             0  pid.1.maxerrorD
     8  float I/O             0  pid.1.maxerrorI
     8  float I/O             1  pid.1.maxoutput
     8  float OUT             0  pid.1.output ==> motor.01.command
     8  bit   OUT         FALSE  pid.1.saturated
     8  s32   OUT             0  pid.1.saturated-count
     8  float OUT             0  pid.1.saturated-s
     8  float I/O             0  pid.2.Dgain
     8  float I/O             0  pid.2.FF0
     8  float I/O             1  pid.2.FF1
     8  float I/O             0  pid.2.FF2
     8  float I/O             0  pid.2.Igain
     8  float I/O           100  pid.2.Pgain
     8  float I/O             0  pid.2.bias
     8  float IN              0  pid.2.command <== emcmot.02.pos-cmd
     8  float IN              0  pid.2.command-deriv
     8  float I/O       1.5e-05  pid.2.deadband
     8  bit   IN          FALSE  pid.2.enable <== emcmot.02.enable
     8  float OUT             0  pid.2.error
     8  float IN              0  pid.2.feedback <== motor.02.pos-fb
     8  float IN              0  pid.2.feedback-deriv
     8  bit   IN          FALSE  pid.2.index-enable
     8  float I/O             0  pid.2.maxcmdD
     8  float I/O             0  pid.2.maxcmdDD
     8  float I/O             0  pid.2.maxerror
     8  float I/O             0  pid.2.maxerrorD
     8  float I/O             0  pid.2.maxerrorI
     8  float I/O             1  pid.2.maxoutput
     8  float OUT             0  pid.2.output ==> motor.02.command
     8  bit   OUT         FALSE  pid.2.saturated
     8  s32   OUT             0  pid.2.saturated-count
     8  float OUT             0  pid.2.saturated-s

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dansystems1
Мастер
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Репутация: 10
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Контактная информация пользователя dansystems1

Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

W12-прав W1-прав

Код: Выделить всё

dan@ubuntu:~$ halcmd show pin
Component Pins:
Owner   Type  Dir         Value  Name
     7  bit   OUT          TRUE  axis.0.active
     7  bit   OUT         FALSE  axis.0.amp-enable-out ==> emcmot.00.enable
     7  bit   IN          FALSE  axis.0.amp-fault-in
     7  float OUT             0  axis.0.backlash-corr
     7  float OUT             0  axis.0.backlash-filt
     7  float OUT             0  axis.0.backlash-vel
     7  float OUT             0  axis.0.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.0.error
     7  float OUT             0  axis.0.f-error
     7  float OUT         0.002  axis.0.f-error-lim
     7  bit   OUT         FALSE  axis.0.f-errored
     7  bit   OUT         FALSE  axis.0.faulted
     7  float OUT             0  axis.0.free-pos-cmd
     7  bit   OUT         FALSE  axis.0.free-tp-enable
     7  float OUT             0  axis.0.free-vel-lim
     7  bit   IN          FALSE  axis.0.home-sw-in
     7  bit   OUT         FALSE  axis.0.homed
     7  bit   OUT         FALSE  axis.0.homing
     7  bit   OUT          TRUE  axis.0.in-position
     7  bit   I/O         FALSE  axis.0.index-enable
     7  s32   IN              0  axis.0.jog-counts
     7  bit   IN          FALSE  axis.0.jog-enable
     7  float IN              0  axis.0.jog-scale
     7  bit   IN          FALSE  axis.0.jog-vel-mode
     7  float OUT             0  axis.0.joint-pos-cmd
     7  float OUT             0  axis.0.joint-pos-fb
     7  float OUT             0  axis.0.joint-vel-cmd
     7  bit   OUT         FALSE  axis.0.kb-jog-active
     7  float OUT             0  axis.0.motor-offset
     7  float OUT             0  axis.0.motor-pos-cmd ==> emcmot.00.pos-cmd
     7  float IN              0  axis.0.motor-pos-fb <== motor.00.pos-fb
     7  bit   OUT         FALSE  axis.0.neg-hard-limit
     7  bit   IN          FALSE  axis.0.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.0.pos-hard-limit
     7  bit   IN          FALSE  axis.0.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.0.wheel-jog-active
     7  bit   OUT          TRUE  axis.1.active
     7  bit   OUT         FALSE  axis.1.amp-enable-out ==> emcmot.01.enable
     7  bit   IN          FALSE  axis.1.amp-fault-in
     7  float OUT             0  axis.1.backlash-corr
     7  float OUT             0  axis.1.backlash-filt
     7  float OUT             0  axis.1.backlash-vel
     7  float OUT             0  axis.1.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.1.error
     7  float OUT             0  axis.1.f-error
     7  float OUT         0.002  axis.1.f-error-lim
     7  bit   OUT         FALSE  axis.1.f-errored
     7  bit   OUT         FALSE  axis.1.faulted
     7  float OUT             0  axis.1.free-pos-cmd
     7  bit   OUT         FALSE  axis.1.free-tp-enable
     7  float OUT             0  axis.1.free-vel-lim
     7  bit   IN          FALSE  axis.1.home-sw-in
     7  bit   OUT         FALSE  axis.1.homed
     7  bit   OUT         FALSE  axis.1.homing
     7  bit   OUT          TRUE  axis.1.in-position
     7  bit   I/O         FALSE  axis.1.index-enable <=> y-index-enable
     7  s32   IN              0  axis.1.jog-counts
     7  bit   IN          FALSE  axis.1.jog-enable
     7  float IN              0  axis.1.jog-scale
     7  bit   IN          FALSE  axis.1.jog-vel-mode
     7  float OUT            -0  axis.1.joint-pos-cmd
     7  float OUT            -0  axis.1.joint-pos-fb
     7  float OUT             0  axis.1.joint-vel-cmd
     7  bit   OUT         FALSE  axis.1.kb-jog-active
     7  float OUT             0  axis.1.motor-offset
     7  float OUT             0  axis.1.motor-pos-cmd ==> emcmot.01.pos-cmd
     7  float IN             -0  axis.1.motor-pos-fb <== motor.01.pos-fb
     7  bit   OUT         FALSE  axis.1.neg-hard-limit
     7  bit   IN          FALSE  axis.1.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.1.pos-hard-limit
     7  bit   IN          FALSE  axis.1.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.1.wheel-jog-active
     7  bit   OUT          TRUE  axis.2.active
     7  bit   OUT         FALSE  axis.2.amp-enable-out ==> emcmot.02.enable
     7  bit   IN          FALSE  axis.2.amp-fault-in
     7  float OUT             0  axis.2.backlash-corr
     7  float OUT             0  axis.2.backlash-filt
     7  float OUT             0  axis.2.backlash-vel
     7  float OUT             0  axis.2.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.2.error
     7  float OUT             0  axis.2.f-error
     7  float OUT         0.002  axis.2.f-error-lim
     7  bit   OUT         FALSE  axis.2.f-errored
     7  bit   OUT         FALSE  axis.2.faulted
     7  float OUT             0  axis.2.free-pos-cmd
     7  bit   OUT         FALSE  axis.2.free-tp-enable
     7  float OUT             0  axis.2.free-vel-lim
     7  bit   IN          FALSE  axis.2.home-sw-in
     7  bit   OUT         FALSE  axis.2.homed
     7  bit   OUT         FALSE  axis.2.homing
     7  bit   OUT          TRUE  axis.2.in-position
     7  bit   I/O         FALSE  axis.2.index-enable
     7  s32   IN              0  axis.2.jog-counts
     7  bit   IN          FALSE  axis.2.jog-enable
     7  float IN              0  axis.2.jog-scale
     7  bit   IN          FALSE  axis.2.jog-vel-mode
     7  float OUT             0  axis.2.joint-pos-cmd
     7  float OUT             0  axis.2.joint-pos-fb
     7  float OUT             0  axis.2.joint-vel-cmd
     7  bit   OUT         FALSE  axis.2.kb-jog-active
     7  float OUT             0  axis.2.motor-offset
     7  float OUT             0  axis.2.motor-pos-cmd ==> emcmot.02.pos-cmd
     7  float IN              0  axis.2.motor-pos-fb <== motor.02.pos-fb
     7  bit   OUT         FALSE  axis.2.neg-hard-limit
     7  bit   IN          FALSE  axis.2.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.2.pos-hard-limit
     7  bit   IN          FALSE  axis.2.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.2.wheel-jog-active
    11  bit   OUT         FALSE  axisui.jog.a
    11  bit   OUT         FALSE  axisui.jog.b
    11  bit   OUT         FALSE  axisui.jog.c
    11  float OUT             0  axisui.jog.increment
    11  bit   OUT         FALSE  axisui.jog.u
    11  bit   OUT         FALSE  axisui.jog.v
    11  bit   OUT         FALSE  axisui.jog.w
    11  bit   OUT          TRUE  axisui.jog.x
    11  bit   OUT         FALSE  axisui.jog.y
    11  bit   OUT         FALSE  axisui.jog.z
    11  bit   IN          FALSE  axisui.notifications-clear
    11  bit   IN          FALSE  axisui.notifications-clear-error
    11  bit   IN          FALSE  axisui.notifications-clear-info
    11  bit   IN          FALSE  axisui.set-manual-mode
    10  bit   IN          FALSE  hm2_5i25.0.7i77.0.1.analogena <== emcmot.00.enable
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout0 <== motor.00.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout1 <== motor.01.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout2 <== motor.02.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout3
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout4
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout5
    10  bit   IN          FALSE  hm2_5i25.0.7i77.0.1.spinena
    10  s32   OUT             0  hm2_5i25.0.encoder.00.count
    10  s32   OUT             0  hm2_5i25.0.encoder.00.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.00.index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.latch-polarity
    10  float OUT             0  hm2_5i25.0.encoder.00.position ==> motor.00.pos-fb
    10  float OUT             0  hm2_5i25.0.encoder.00.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.00.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.00.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.reset
    10  float OUT             0  hm2_5i25.0.encoder.00.velocity
    10  s32   OUT             0  hm2_5i25.0.encoder.01.count
    10  s32   OUT             0  hm2_5i25.0.encoder.01.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.01.index-enable <=> y-index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.latch-polarity
    10  float OUT            -0  hm2_5i25.0.encoder.01.position ==> motor.01.pos-fb
    10  float OUT            -0  hm2_5i25.0.encoder.01.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.01.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.01.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.reset
    10  float OUT             0  hm2_5i25.0.encoder.01.velocity
    10  s32   OUT             0  hm2_5i25.0.encoder.02.count
    10  s32   OUT             0  hm2_5i25.0.encoder.02.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.02.index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.latch-polarity
    10  float OUT             0  hm2_5i25.0.encoder.02.position ==> motor.02.pos-fb
    10  float OUT             0  hm2_5i25.0.encoder.02.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.02.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.02.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.reset
    10  float OUT             0  hm2_5i25.0.encoder.02.velocity
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.000.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.000.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.000.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.001.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.001.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.001.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.002.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.002.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.002.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.003.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.003.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.004.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.004.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.005.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.005.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.005.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.006.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.006.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.006.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.007.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.007.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.008.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.008.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.009.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.009.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.010.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.010.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.011.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.011.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.012.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.012.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.013.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.013.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.014.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.014.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.014.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.015.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.015.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.015.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.016.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.016.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.016.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.017.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.017.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.017.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.018.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.018.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.018.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.019.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.019.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.019.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.020.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.020.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.020.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.021.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.021.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.021.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.022.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.022.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.022.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.023.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.023.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.023.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.024.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.024.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.024.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.025.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.025.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.025.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.026.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.026.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.026.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.027.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.027.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.027.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.028.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.028.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.028.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.029.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.029.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.029.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.030.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.030.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.030.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.031.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.031.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.031.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.032.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.032.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.032.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.033.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.033.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.033.out
    10  bit   IN          FALSE  hm2_5i25.0.led.CR01
    10  bit   IN          FALSE  hm2_5i25.0.led.CR02
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.channel
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.parameter
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.port
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.port-0.fault-count
    10  u32   OUT    0x00000001  hm2_5i25.0.sserial.port-0.port_state
    10  bit   IN           TRUE  hm2_5i25.0.sserial.port-0.run
    10  bit   IN          FALSE  hm2_5i25.0.sserial.read
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.state
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.value
    10  bit   IN          FALSE  hm2_5i25.0.sserial.write
    10  bit   I/O         FALSE  hm2_5i25.0.watchdog.has_bit
     5  bit   OUT         FALSE  iocontrol.0.coolant-flood
     5  bit   OUT         FALSE  iocontrol.0.coolant-mist
     5  bit   IN          FALSE  iocontrol.0.emc-enable-in <== estop-loop
     5  bit   OUT         FALSE  iocontrol.0.lube
     5  bit   IN          FALSE  iocontrol.0.lube_level
     5  bit   OUT         FALSE  iocontrol.0.tool-change ==> tool-change-loop
     5  bit   IN          FALSE  iocontrol.0.tool-changed <== tool-change-loop
     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 ==> tool-prep-loop
     5  bit   IN          FALSE  iocontrol.0.tool-prepared <== tool-prep-loop
     5  bit   OUT         FALSE  iocontrol.0.user-enable-out ==> estop-loop
     5  bit   OUT         FALSE  iocontrol.0.user-request-enable
     7  float IN              1  motion.adaptive-feed
     7  float IN              0  motion.analog-in-00
     7  float IN              0  motion.analog-in-01
     7  float IN              0  motion.analog-in-02
     7  float IN              0  motion.analog-in-03
     7  float OUT             0  motion.analog-out-00
     7  float OUT             0  motion.analog-out-01
     7  float OUT             0  motion.analog-out-02
     7  float OUT             0  motion.analog-out-03
     7  bit   OUT         FALSE  motion.coord-error
     7  bit   OUT          TRUE  motion.coord-mode
     7  float OUT             0  motion.current-vel
     7  bit   IN          FALSE  motion.digital-in-00
     7  bit   IN          FALSE  motion.digital-in-01
     7  bit   IN          FALSE  motion.digital-in-02
     7  bit   IN          FALSE  motion.digital-in-03
     7  bit   OUT         FALSE  motion.digital-out-00
     7  bit   OUT         FALSE  motion.digital-out-01
     7  bit   OUT         FALSE  motion.digital-out-02
     7  bit   OUT         FALSE  motion.digital-out-03
     7  float OUT             0  motion.distance-to-go
     7  bit   IN           TRUE  motion.enable
     7  bit   IN          FALSE  motion.feed-hold
     7  bit   OUT          TRUE  motion.in-position
     7  bit   IN          FALSE  motion.motion-enabled
     7  bit   OUT         FALSE  motion.on-soft-limit
     7  bit   IN          FALSE  motion.probe-input
     7  s32   OUT             0  motion.program-line
     7  float OUT             0  motion.requested-vel
     7  bit   IN           TRUE  motion.spindle-at-speed
     7  bit   OUT          TRUE  motion.spindle-brake
     7  bit   OUT         FALSE  motion.spindle-forward
     7  bit   I/O         FALSE  motion.spindle-index-enable
     7  bit   OUT         FALSE  motion.spindle-on
     7  bit   OUT         FALSE  motion.spindle-reverse
     7  float IN              0  motion.spindle-revs
     7  float OUT             0  motion.spindle-speed-cmd-rps
     7  float IN              0  motion.spindle-speed-in
     7  float OUT             0  motion.spindle-speed-out
     7  float OUT             0  motion.spindle-speed-out-rps
     7  bit   OUT         FALSE  motion.teleop-mode
     7  float OUT             0  motion.tooloffset.a
     7  float OUT             0  motion.tooloffset.b
     7  float OUT             0  motion.tooloffset.c
     7  float OUT             0  motion.tooloffset.u
     7  float OUT             0  motion.tooloffset.v
     7  float OUT             0  motion.tooloffset.w
     7  float OUT             0  motion.tooloffset.x
     7  float OUT             0  motion.tooloffset.y
     7  float OUT             0  motion.tooloffset.z
     8  float I/O             0  pid.0.Dgain
     8  float I/O             0  pid.0.FF0
     8  float I/O             1  pid.0.FF1
     8  float I/O             0  pid.0.FF2
     8  float I/O             0  pid.0.Igain
     8  float I/O           100  pid.0.Pgain
     8  float I/O             0  pid.0.bias
     8  float IN              0  pid.0.command <== emcmot.00.pos-cmd
     8  float IN              0  pid.0.command-deriv
     8  float I/O       1.5e-05  pid.0.deadband
     8  bit   IN          FALSE  pid.0.enable <== emcmot.00.enable
     8  float OUT             0  pid.0.error
     8  float IN              0  pid.0.feedback <== motor.00.pos-fb
     8  float IN              0  pid.0.feedback-deriv
     8  bit   IN          FALSE  pid.0.index-enable
     8  float I/O             0  pid.0.maxcmdD
     8  float I/O             0  pid.0.maxcmdDD
     8  float I/O             0  pid.0.maxerror
     8  float I/O             0  pid.0.maxerrorD
     8  float I/O             0  pid.0.maxerrorI
     8  float I/O             1  pid.0.maxoutput
     8  float OUT             0  pid.0.output ==> motor.00.command
     8  bit   OUT         FALSE  pid.0.saturated
     8  s32   OUT             0  pid.0.saturated-count
     8  float OUT             0  pid.0.saturated-s
     8  float I/O             0  pid.1.Dgain
     8  float I/O             0  pid.1.FF0
     8  float I/O             1  pid.1.FF1
     8  float I/O             0  pid.1.FF2
     8  float I/O             0  pid.1.Igain
     8  float I/O           100  pid.1.Pgain
     8  float I/O             0  pid.1.bias
     8  float IN              0  pid.1.command <== emcmot.01.pos-cmd
     8  float IN              0  pid.1.command-deriv
     8  float I/O       1.5e-05  pid.1.deadband
     8  bit   IN          FALSE  pid.1.enable <== emcmot.01.enable
     8  float OUT             0  pid.1.error
     8  float IN             -0  pid.1.feedback <== motor.01.pos-fb
     8  float IN              0  pid.1.feedback-deriv
     8  bit   IN          FALSE  pid.1.index-enable
     8  float I/O             0  pid.1.maxcmdD
     8  float I/O             0  pid.1.maxcmdDD
     8  float I/O             0  pid.1.maxerror
     8  float I/O             0  pid.1.maxerrorD
     8  float I/O             0  pid.1.maxerrorI
     8  float I/O             1  pid.1.maxoutput
     8  float OUT             0  pid.1.output ==> motor.01.command
     8  bit   OUT         FALSE  pid.1.saturated
     8  s32   OUT             0  pid.1.saturated-count
     8  float OUT             0  pid.1.saturated-s
     8  float I/O             0  pid.2.Dgain
     8  float I/O             0  pid.2.FF0
     8  float I/O             1  pid.2.FF1
     8  float I/O             0  pid.2.FF2
     8  float I/O             0  pid.2.Igain
     8  float I/O           100  pid.2.Pgain
     8  float I/O             0  pid.2.bias
     8  float IN              0  pid.2.command <== emcmot.02.pos-cmd
     8  float IN              0  pid.2.command-deriv
     8  float I/O       1.5e-05  pid.2.deadband
     8  bit   IN          FALSE  pid.2.enable <== emcmot.02.enable
     8  float OUT             0  pid.2.error
     8  float IN              0  pid.2.feedback <== motor.02.pos-fb
     8  float IN              0  pid.2.feedback-deriv
     8  bit   IN          FALSE  pid.2.index-enable
     8  float I/O             0  pid.2.maxcmdD
     8  float I/O             0  pid.2.maxcmdDD
     8  float I/O             0  pid.2.maxerror
     8  float I/O             0  pid.2.maxerrorD
     8  float I/O             0  pid.2.maxerrorI
     8  float I/O             1  pid.2.maxoutput
     8  float OUT             0  pid.2.output ==> motor.02.command
     8  bit   OUT         FALSE  pid.2.saturated
     8  s32   OUT             0  pid.2.saturated-count
     8  float OUT             0  pid.2.saturated-s

dan@ubuntu:~$
Вернуться к началу
dansystems1
Мастер
Сообщения: 339
Зарегистрирован: 23 апр 2012, 19:38
Репутация: 10
Откуда: Армения
Контактная информация:
Контактная информация пользователя dansystems1

Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

W12лев W1-прав

Код: Выделить всё

dan@ubuntu:~$ halcmd show pin
Component Pins:
Owner   Type  Dir         Value  Name
     7  bit   OUT          TRUE  axis.0.active
     7  bit   OUT         FALSE  axis.0.amp-enable-out ==> emcmot.00.enable
     7  bit   IN          FALSE  axis.0.amp-fault-in
     7  float OUT             0  axis.0.backlash-corr
     7  float OUT             0  axis.0.backlash-filt
     7  float OUT             0  axis.0.backlash-vel
     7  float OUT             0  axis.0.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.0.error
     7  float OUT             0  axis.0.f-error
     7  float OUT         0.002  axis.0.f-error-lim
     7  bit   OUT         FALSE  axis.0.f-errored
     7  bit   OUT         FALSE  axis.0.faulted
     7  float OUT             0  axis.0.free-pos-cmd
     7  bit   OUT         FALSE  axis.0.free-tp-enable
     7  float OUT             0  axis.0.free-vel-lim
     7  bit   IN          FALSE  axis.0.home-sw-in
     7  bit   OUT         FALSE  axis.0.homed
     7  bit   OUT         FALSE  axis.0.homing
     7  bit   OUT          TRUE  axis.0.in-position
     7  bit   I/O         FALSE  axis.0.index-enable
     7  s32   IN              0  axis.0.jog-counts
     7  bit   IN          FALSE  axis.0.jog-enable
     7  float IN              0  axis.0.jog-scale
     7  bit   IN          FALSE  axis.0.jog-vel-mode
     7  float OUT             0  axis.0.joint-pos-cmd
     7  float OUT             0  axis.0.joint-pos-fb
     7  float OUT             0  axis.0.joint-vel-cmd
     7  bit   OUT         FALSE  axis.0.kb-jog-active
     7  float OUT             0  axis.0.motor-offset
     7  float OUT             0  axis.0.motor-pos-cmd ==> emcmot.00.pos-cmd
     7  float IN              0  axis.0.motor-pos-fb <== motor.00.pos-fb
     7  bit   OUT         FALSE  axis.0.neg-hard-limit
     7  bit   IN          FALSE  axis.0.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.0.pos-hard-limit
     7  bit   IN          FALSE  axis.0.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.0.wheel-jog-active
     7  bit   OUT          TRUE  axis.1.active
     7  bit   OUT         FALSE  axis.1.amp-enable-out ==> emcmot.01.enable
     7  bit   IN          FALSE  axis.1.amp-fault-in
     7  float OUT             0  axis.1.backlash-corr
     7  float OUT             0  axis.1.backlash-filt
     7  float OUT             0  axis.1.backlash-vel
     7  float OUT             0  axis.1.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.1.error
     7  float OUT             0  axis.1.f-error
     7  float OUT         0.002  axis.1.f-error-lim
     7  bit   OUT         FALSE  axis.1.f-errored
     7  bit   OUT         FALSE  axis.1.faulted
     7  float OUT             0  axis.1.free-pos-cmd
     7  bit   OUT         FALSE  axis.1.free-tp-enable
     7  float OUT             0  axis.1.free-vel-lim
     7  bit   IN          FALSE  axis.1.home-sw-in
     7  bit   OUT         FALSE  axis.1.homed
     7  bit   OUT         FALSE  axis.1.homing
     7  bit   OUT          TRUE  axis.1.in-position
     7  bit   I/O         FALSE  axis.1.index-enable <=> y-index-enable
     7  s32   IN              0  axis.1.jog-counts
     7  bit   IN          FALSE  axis.1.jog-enable
     7  float IN              0  axis.1.jog-scale
     7  bit   IN          FALSE  axis.1.jog-vel-mode
     7  float OUT            -0  axis.1.joint-pos-cmd
     7  float OUT            -0  axis.1.joint-pos-fb
     7  float OUT             0  axis.1.joint-vel-cmd
     7  bit   OUT         FALSE  axis.1.kb-jog-active
     7  float OUT             0  axis.1.motor-offset
     7  float OUT             0  axis.1.motor-pos-cmd ==> emcmot.01.pos-cmd
     7  float IN             -0  axis.1.motor-pos-fb <== motor.01.pos-fb
     7  bit   OUT         FALSE  axis.1.neg-hard-limit
     7  bit   IN          FALSE  axis.1.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.1.pos-hard-limit
     7  bit   IN          FALSE  axis.1.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.1.wheel-jog-active
     7  bit   OUT          TRUE  axis.2.active
     7  bit   OUT         FALSE  axis.2.amp-enable-out ==> emcmot.02.enable
     7  bit   IN          FALSE  axis.2.amp-fault-in
     7  float OUT             0  axis.2.backlash-corr
     7  float OUT             0  axis.2.backlash-filt
     7  float OUT             0  axis.2.backlash-vel
     7  float OUT             0  axis.2.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.2.error
     7  float OUT             0  axis.2.f-error
     7  float OUT         0.002  axis.2.f-error-lim
     7  bit   OUT         FALSE  axis.2.f-errored
     7  bit   OUT         FALSE  axis.2.faulted
     7  float OUT             0  axis.2.free-pos-cmd
     7  bit   OUT         FALSE  axis.2.free-tp-enable
     7  float OUT             0  axis.2.free-vel-lim
     7  bit   IN          FALSE  axis.2.home-sw-in
     7  bit   OUT         FALSE  axis.2.homed
     7  bit   OUT         FALSE  axis.2.homing
     7  bit   OUT          TRUE  axis.2.in-position
     7  bit   I/O         FALSE  axis.2.index-enable
     7  s32   IN              0  axis.2.jog-counts
     7  bit   IN          FALSE  axis.2.jog-enable
     7  float IN              0  axis.2.jog-scale
     7  bit   IN          FALSE  axis.2.jog-vel-mode
     7  float OUT             0  axis.2.joint-pos-cmd
     7  float OUT             0  axis.2.joint-pos-fb
     7  float OUT             0  axis.2.joint-vel-cmd
     7  bit   OUT         FALSE  axis.2.kb-jog-active
     7  float OUT             0  axis.2.motor-offset
     7  float OUT             0  axis.2.motor-pos-cmd ==> emcmot.02.pos-cmd
     7  float IN              0  axis.2.motor-pos-fb <== motor.02.pos-fb
     7  bit   OUT         FALSE  axis.2.neg-hard-limit
     7  bit   IN          FALSE  axis.2.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.2.pos-hard-limit
     7  bit   IN          FALSE  axis.2.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.2.wheel-jog-active
    11  bit   OUT         FALSE  axisui.jog.a
    11  bit   OUT         FALSE  axisui.jog.b
    11  bit   OUT         FALSE  axisui.jog.c
    11  float OUT             0  axisui.jog.increment
    11  bit   OUT         FALSE  axisui.jog.u
    11  bit   OUT         FALSE  axisui.jog.v
    11  bit   OUT         FALSE  axisui.jog.w
    11  bit   OUT          TRUE  axisui.jog.x
    11  bit   OUT         FALSE  axisui.jog.y
    11  bit   OUT         FALSE  axisui.jog.z
    11  bit   IN          FALSE  axisui.notifications-clear
    11  bit   IN          FALSE  axisui.notifications-clear-error
    11  bit   IN          FALSE  axisui.notifications-clear-info
    11  bit   IN          FALSE  axisui.set-manual-mode
    10  bit   IN          FALSE  hm2_5i25.0.7i77.0.1.analogena <== emcmot.00.enable
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout0 <== motor.00.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout1 <== motor.01.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout2 <== motor.02.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout3
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout4
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout5
    10  bit   IN          FALSE  hm2_5i25.0.7i77.0.1.spinena
    10  s32   OUT             0  hm2_5i25.0.encoder.00.count
    10  s32   OUT             0  hm2_5i25.0.encoder.00.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.00.index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.latch-polarity
    10  float OUT             0  hm2_5i25.0.encoder.00.position ==> motor.00.pos-fb
    10  float OUT             0  hm2_5i25.0.encoder.00.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.00.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.00.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.reset
    10  float OUT             0  hm2_5i25.0.encoder.00.velocity
    10  s32   OUT             0  hm2_5i25.0.encoder.01.count
    10  s32   OUT             0  hm2_5i25.0.encoder.01.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.01.index-enable <=> y-index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.latch-polarity
    10  float OUT            -0  hm2_5i25.0.encoder.01.position ==> motor.01.pos-fb
    10  float OUT            -0  hm2_5i25.0.encoder.01.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.01.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.01.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.reset
    10  float OUT             0  hm2_5i25.0.encoder.01.velocity
    10  s32   OUT             0  hm2_5i25.0.encoder.02.count
    10  s32   OUT             0  hm2_5i25.0.encoder.02.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.02.index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.latch-polarity
    10  float OUT             0  hm2_5i25.0.encoder.02.position ==> motor.02.pos-fb
    10  float OUT             0  hm2_5i25.0.encoder.02.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.02.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.02.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.reset
    10  float OUT             0  hm2_5i25.0.encoder.02.velocity
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.000.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.000.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.000.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.001.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.001.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.001.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.002.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.002.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.002.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.003.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.003.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.004.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.004.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.005.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.005.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.005.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.006.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.006.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.006.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.007.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.007.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.008.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.008.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.009.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.009.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.010.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.010.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.011.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.011.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.012.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.012.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.013.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.013.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.014.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.014.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.014.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.015.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.015.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.015.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.016.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.016.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.016.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.017.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.017.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.017.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.018.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.018.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.018.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.019.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.019.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.019.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.020.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.020.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.020.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.021.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.021.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.021.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.022.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.022.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.022.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.023.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.023.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.023.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.024.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.024.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.024.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.025.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.025.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.025.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.026.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.026.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.026.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.027.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.027.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.027.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.028.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.028.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.028.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.029.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.029.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.029.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.030.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.030.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.030.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.031.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.031.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.031.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.032.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.032.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.032.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.033.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.033.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.033.out
    10  bit   IN          FALSE  hm2_5i25.0.led.CR01
    10  bit   IN          FALSE  hm2_5i25.0.led.CR02
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.channel
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.parameter
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.port
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.port-0.fault-count
    10  u32   OUT    0x00000001  hm2_5i25.0.sserial.port-0.port_state
    10  bit   IN           TRUE  hm2_5i25.0.sserial.port-0.run
    10  bit   IN          FALSE  hm2_5i25.0.sserial.read
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.state
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.value
    10  bit   IN          FALSE  hm2_5i25.0.sserial.write
    10  bit   I/O         FALSE  hm2_5i25.0.watchdog.has_bit
     5  bit   OUT         FALSE  iocontrol.0.coolant-flood
     5  bit   OUT         FALSE  iocontrol.0.coolant-mist
     5  bit   IN          FALSE  iocontrol.0.emc-enable-in <== estop-loop
     5  bit   OUT         FALSE  iocontrol.0.lube
     5  bit   IN          FALSE  iocontrol.0.lube_level
     5  bit   OUT         FALSE  iocontrol.0.tool-change ==> tool-change-loop
     5  bit   IN          FALSE  iocontrol.0.tool-changed <== tool-change-loop
     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 ==> tool-prep-loop
     5  bit   IN          FALSE  iocontrol.0.tool-prepared <== tool-prep-loop
     5  bit   OUT         FALSE  iocontrol.0.user-enable-out ==> estop-loop
     5  bit   OUT         FALSE  iocontrol.0.user-request-enable
     7  float IN              1  motion.adaptive-feed
     7  float IN              0  motion.analog-in-00
     7  float IN              0  motion.analog-in-01
     7  float IN              0  motion.analog-in-02
     7  float IN              0  motion.analog-in-03
     7  float OUT             0  motion.analog-out-00
     7  float OUT             0  motion.analog-out-01
     7  float OUT             0  motion.analog-out-02
     7  float OUT             0  motion.analog-out-03
     7  bit   OUT         FALSE  motion.coord-error
     7  bit   OUT          TRUE  motion.coord-mode
     7  float OUT             0  motion.current-vel
     7  bit   IN          FALSE  motion.digital-in-00
     7  bit   IN          FALSE  motion.digital-in-01
     7  bit   IN          FALSE  motion.digital-in-02
     7  bit   IN          FALSE  motion.digital-in-03
     7  bit   OUT         FALSE  motion.digital-out-00
     7  bit   OUT         FALSE  motion.digital-out-01
     7  bit   OUT         FALSE  motion.digital-out-02
     7  bit   OUT         FALSE  motion.digital-out-03
     7  float OUT             0  motion.distance-to-go
     7  bit   IN           TRUE  motion.enable
     7  bit   IN          FALSE  motion.feed-hold
     7  bit   OUT          TRUE  motion.in-position
     7  bit   IN          FALSE  motion.motion-enabled
     7  bit   OUT         FALSE  motion.on-soft-limit
     7  bit   IN          FALSE  motion.probe-input
     7  s32   OUT             0  motion.program-line
     7  float OUT             0  motion.requested-vel
     7  bit   IN           TRUE  motion.spindle-at-speed
     7  bit   OUT          TRUE  motion.spindle-brake
     7  bit   OUT         FALSE  motion.spindle-forward
     7  bit   I/O         FALSE  motion.spindle-index-enable
     7  bit   OUT         FALSE  motion.spindle-on
     7  bit   OUT         FALSE  motion.spindle-reverse
     7  float IN              0  motion.spindle-revs
     7  float OUT             0  motion.spindle-speed-cmd-rps
     7  float IN              0  motion.spindle-speed-in
     7  float OUT             0  motion.spindle-speed-out
     7  float OUT             0  motion.spindle-speed-out-rps
     7  bit   OUT         FALSE  motion.teleop-mode
     7  float OUT             0  motion.tooloffset.a
     7  float OUT             0  motion.tooloffset.b
     7  float OUT             0  motion.tooloffset.c
     7  float OUT             0  motion.tooloffset.u
     7  float OUT             0  motion.tooloffset.v
     7  float OUT             0  motion.tooloffset.w
     7  float OUT             0  motion.tooloffset.x
     7  float OUT             0  motion.tooloffset.y
     7  float OUT             0  motion.tooloffset.z
     8  float I/O             0  pid.0.Dgain
     8  float I/O             0  pid.0.FF0
     8  float I/O             1  pid.0.FF1
     8  float I/O             0  pid.0.FF2
     8  float I/O             0  pid.0.Igain
     8  float I/O           100  pid.0.Pgain
     8  float I/O             0  pid.0.bias
     8  float IN              0  pid.0.command <== emcmot.00.pos-cmd
     8  float IN              0  pid.0.command-deriv
     8  float I/O       1.5e-05  pid.0.deadband
     8  bit   IN          FALSE  pid.0.enable <== emcmot.00.enable
     8  float OUT             0  pid.0.error
     8  float IN              0  pid.0.feedback <== motor.00.pos-fb
     8  float IN              0  pid.0.feedback-deriv
     8  bit   IN          FALSE  pid.0.index-enable
     8  float I/O             0  pid.0.maxcmdD
     8  float I/O             0  pid.0.maxcmdDD
     8  float I/O             0  pid.0.maxerror
     8  float I/O             0  pid.0.maxerrorD
     8  float I/O             0  pid.0.maxerrorI
     8  float I/O             1  pid.0.maxoutput
     8  float OUT             0  pid.0.output ==> motor.00.command
     8  bit   OUT         FALSE  pid.0.saturated
     8  s32   OUT             0  pid.0.saturated-count
     8  float OUT             0  pid.0.saturated-s
     8  float I/O             0  pid.1.Dgain
     8  float I/O             0  pid.1.FF0
     8  float I/O             1  pid.1.FF1
     8  float I/O             0  pid.1.FF2
     8  float I/O             0  pid.1.Igain
     8  float I/O           100  pid.1.Pgain
     8  float I/O             0  pid.1.bias
     8  float IN              0  pid.1.command <== emcmot.01.pos-cmd
     8  float IN              0  pid.1.command-deriv
     8  float I/O       1.5e-05  pid.1.deadband
     8  bit   IN          FALSE  pid.1.enable <== emcmot.01.enable
     8  float OUT             0  pid.1.error
     8  float IN             -0  pid.1.feedback <== motor.01.pos-fb
     8  float IN              0  pid.1.feedback-deriv
     8  bit   IN          FALSE  pid.1.index-enable
     8  float I/O             0  pid.1.maxcmdD
     8  float I/O             0  pid.1.maxcmdDD
     8  float I/O             0  pid.1.maxerror
     8  float I/O             0  pid.1.maxerrorD
     8  float I/O             0  pid.1.maxerrorI
     8  float I/O             1  pid.1.maxoutput
     8  float OUT             0  pid.1.output ==> motor.01.command
     8  bit   OUT         FALSE  pid.1.saturated
     8  s32   OUT             0  pid.1.saturated-count
     8  float OUT             0  pid.1.saturated-s
     8  float I/O             0  pid.2.Dgain
     8  float I/O             0  pid.2.FF0
     8  float I/O             1  pid.2.FF1
     8  float I/O             0  pid.2.FF2
     8  float I/O             0  pid.2.Igain
     8  float I/O           100  pid.2.Pgain
     8  float I/O             0  pid.2.bias
     8  float IN              0  pid.2.command <== emcmot.02.pos-cmd
     8  float IN              0  pid.2.command-deriv
     8  float I/O       1.5e-05  pid.2.deadband
     8  bit   IN          FALSE  pid.2.enable <== emcmot.02.enable
     8  float OUT             0  pid.2.error
     8  float IN              0  pid.2.feedback <== motor.02.pos-fb
     8  float IN              0  pid.2.feedback-deriv
     8  bit   IN          FALSE  pid.2.index-enable
     8  float I/O             0  pid.2.maxcmdD
     8  float I/O             0  pid.2.maxcmdDD
     8  float I/O             0  pid.2.maxerror
     8  float I/O             0  pid.2.maxerrorD
     8  float I/O             0  pid.2.maxerrorI
     8  float I/O             1  pid.2.maxoutput
     8  float OUT             0  pid.2.output ==> motor.02.command
     8  bit   OUT         FALSE  pid.2.saturated
     8  s32   OUT             0  pid.2.saturated-count
     8  float OUT             0  pid.2.saturated-s

dan@ubuntu:~$
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dansystems1
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

Во всех 4-х вариантах различий не найдено!
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dansystems1
Мастер
Сообщения: 339
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Репутация: 10
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

Nick писал(а):
Мы ищем дополнительные пины вида hm2_5i25.0.7i77.0.1.analogout4
hm2_5i25.0.7i77[/b].0.1.analogout4- она везде присутствует .
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dansystems1
Мастер
Сообщения: 339
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение dansystems1 »

W12-лев W1-лев, по моему здесь иначе-

Код: Выделить всё

dan@ubuntu:~$ halcmd show pin
Component Pins:
Owner   Type  Dir         Value  Name
     7  bit   OUT          TRUE  axis.0.active
     7  bit   OUT         FALSE  axis.0.amp-enable-out ==> emcmot.00.enable
     7  bit   IN          FALSE  axis.0.amp-fault-in
     7  float OUT             0  axis.0.backlash-corr
     7  float OUT             0  axis.0.backlash-filt
     7  float OUT             0  axis.0.backlash-vel
     7  float OUT             0  axis.0.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.0.error
     7  float OUT             0  axis.0.f-error
     7  float OUT         0.002  axis.0.f-error-lim
     7  bit   OUT         FALSE  axis.0.f-errored
     7  bit   OUT         FALSE  axis.0.faulted
     7  float OUT             0  axis.0.free-pos-cmd
     7  bit   OUT         FALSE  axis.0.free-tp-enable
     7  float OUT             0  axis.0.free-vel-lim
     7  bit   IN          FALSE  axis.0.home-sw-in
     7  bit   OUT         FALSE  axis.0.homed
     7  bit   OUT         FALSE  axis.0.homing
     7  bit   OUT          TRUE  axis.0.in-position
     7  bit   I/O         FALSE  axis.0.index-enable
     7  s32   IN              0  axis.0.jog-counts
     7  bit   IN          FALSE  axis.0.jog-enable
     7  float IN              0  axis.0.jog-scale
     7  bit   IN          FALSE  axis.0.jog-vel-mode
     7  float OUT             0  axis.0.joint-pos-cmd
     7  float OUT             0  axis.0.joint-pos-fb
     7  float OUT             0  axis.0.joint-vel-cmd
     7  bit   OUT         FALSE  axis.0.kb-jog-active
     7  float OUT             0  axis.0.motor-offset
     7  float OUT             0  axis.0.motor-pos-cmd ==> emcmot.00.pos-cmd
     7  float IN              0  axis.0.motor-pos-fb <== motor.00.pos-fb
     7  bit   OUT         FALSE  axis.0.neg-hard-limit
     7  bit   IN          FALSE  axis.0.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.0.pos-hard-limit
     7  bit   IN          FALSE  axis.0.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.0.wheel-jog-active
     7  bit   OUT          TRUE  axis.1.active
     7  bit   OUT         FALSE  axis.1.amp-enable-out ==> emcmot.01.enable
     7  bit   IN          FALSE  axis.1.amp-fault-in
     7  float OUT             0  axis.1.backlash-corr
     7  float OUT             0  axis.1.backlash-filt
     7  float OUT             0  axis.1.backlash-vel
     7  float OUT             0  axis.1.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.1.error
     7  float OUT             0  axis.1.f-error
     7  float OUT         0.002  axis.1.f-error-lim
     7  bit   OUT         FALSE  axis.1.f-errored
     7  bit   OUT         FALSE  axis.1.faulted
     7  float OUT             0  axis.1.free-pos-cmd
     7  bit   OUT         FALSE  axis.1.free-tp-enable
     7  float OUT             0  axis.1.free-vel-lim
     7  bit   IN          FALSE  axis.1.home-sw-in
     7  bit   OUT         FALSE  axis.1.homed
     7  bit   OUT         FALSE  axis.1.homing
     7  bit   OUT          TRUE  axis.1.in-position
     7  bit   I/O         FALSE  axis.1.index-enable <=> y-index-enable
     7  s32   IN              0  axis.1.jog-counts
     7  bit   IN          FALSE  axis.1.jog-enable
     7  float IN              0  axis.1.jog-scale
     7  bit   IN          FALSE  axis.1.jog-vel-mode
     7  float OUT            -0  axis.1.joint-pos-cmd
     7  float OUT            -0  axis.1.joint-pos-fb
     7  float OUT             0  axis.1.joint-vel-cmd
     7  bit   OUT         FALSE  axis.1.kb-jog-active
     7  float OUT             0  axis.1.motor-offset
     7  float OUT             0  axis.1.motor-pos-cmd ==> emcmot.01.pos-cmd
     7  float IN             -0  axis.1.motor-pos-fb <== motor.01.pos-fb
     7  bit   OUT         FALSE  axis.1.neg-hard-limit
     7  bit   IN          FALSE  axis.1.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.1.pos-hard-limit
     7  bit   IN          FALSE  axis.1.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.1.wheel-jog-active
     7  bit   OUT          TRUE  axis.2.active
     7  bit   OUT         FALSE  axis.2.amp-enable-out ==> emcmot.02.enable
     7  bit   IN          FALSE  axis.2.amp-fault-in
     7  float OUT             0  axis.2.backlash-corr
     7  float OUT             0  axis.2.backlash-filt
     7  float OUT             0  axis.2.backlash-vel
     7  float OUT             0  axis.2.coarse-pos-cmd
     7  bit   OUT         FALSE  axis.2.error
     7  float OUT             0  axis.2.f-error
     7  float OUT         0.002  axis.2.f-error-lim
     7  bit   OUT         FALSE  axis.2.f-errored
     7  bit   OUT         FALSE  axis.2.faulted
     7  float OUT             0  axis.2.free-pos-cmd
     7  bit   OUT         FALSE  axis.2.free-tp-enable
     7  float OUT             0  axis.2.free-vel-lim
     7  bit   IN          FALSE  axis.2.home-sw-in
     7  bit   OUT         FALSE  axis.2.homed
     7  bit   OUT         FALSE  axis.2.homing
     7  bit   OUT          TRUE  axis.2.in-position
     7  bit   I/O         FALSE  axis.2.index-enable
     7  s32   IN              0  axis.2.jog-counts
     7  bit   IN          FALSE  axis.2.jog-enable
     7  float IN              0  axis.2.jog-scale
     7  bit   IN          FALSE  axis.2.jog-vel-mode
     7  float OUT             0  axis.2.joint-pos-cmd
     7  float OUT             0  axis.2.joint-pos-fb
     7  float OUT             0  axis.2.joint-vel-cmd
     7  bit   OUT         FALSE  axis.2.kb-jog-active
     7  float OUT             0  axis.2.motor-offset
     7  float OUT             0  axis.2.motor-pos-cmd ==> emcmot.02.pos-cmd
     7  float IN              0  axis.2.motor-pos-fb <== motor.02.pos-fb
     7  bit   OUT         FALSE  axis.2.neg-hard-limit
     7  bit   IN          FALSE  axis.2.neg-lim-sw-in
     7  bit   OUT         FALSE  axis.2.pos-hard-limit
     7  bit   IN          FALSE  axis.2.pos-lim-sw-in
     7  bit   OUT         FALSE  axis.2.wheel-jog-active
    11  bit   OUT         FALSE  axisui.jog.a
    11  bit   OUT         FALSE  axisui.jog.b
    11  bit   OUT         FALSE  axisui.jog.c
    11  float OUT             0  axisui.jog.increment
    11  bit   OUT         FALSE  axisui.jog.u
    11  bit   OUT         FALSE  axisui.jog.v
    11  bit   OUT         FALSE  axisui.jog.w
    11  bit   OUT          TRUE  axisui.jog.x
    11  bit   OUT         FALSE  axisui.jog.y
    11  bit   OUT         FALSE  axisui.jog.z
    11  bit   IN          FALSE  axisui.notifications-clear
    11  bit   IN          FALSE  axisui.notifications-clear-error
    11  bit   IN          FALSE  axisui.notifications-clear-info
    11  bit   IN          FALSE  axisui.set-manual-mode
    10  bit   IN          FALSE  hm2_5i25.0.7i77.0.1.analogena <== emcmot.00.enable
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout0 <== motor.00.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout1 <== motor.01.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout2 <== motor.02.command
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout3
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout4
    10  float IN              0  hm2_5i25.0.7i77.0.1.analogout5
    10  bit   IN          FALSE  hm2_5i25.0.7i77.0.1.spinena
    10  s32   OUT             0  hm2_5i25.0.encoder.00.count
    10  s32   OUT             0  hm2_5i25.0.encoder.00.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.00.index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.latch-polarity
    10  float OUT             0  hm2_5i25.0.encoder.00.position ==> motor.00.pos-fb
    10  float OUT             0  hm2_5i25.0.encoder.00.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.00.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.00.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.00.reset
    10  float OUT             0  hm2_5i25.0.encoder.00.velocity
    10  s32   OUT             0  hm2_5i25.0.encoder.01.count
    10  s32   OUT             0  hm2_5i25.0.encoder.01.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.01.index-enable <=> y-index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.latch-polarity
    10  float OUT            -0  hm2_5i25.0.encoder.01.position ==> motor.01.pos-fb
    10  float OUT            -0  hm2_5i25.0.encoder.01.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.01.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.01.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.01.reset
    10  float OUT             0  hm2_5i25.0.encoder.01.velocity
    10  s32   OUT             0  hm2_5i25.0.encoder.02.count
    10  s32   OUT             0  hm2_5i25.0.encoder.02.count-latched
    10  bit   I/O         FALSE  hm2_5i25.0.encoder.02.index-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.latch-enable
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.latch-polarity
    10  float OUT             0  hm2_5i25.0.encoder.02.position ==> motor.02.pos-fb
    10  float OUT             0  hm2_5i25.0.encoder.02.position-latched
    10  s32   OUT             0  hm2_5i25.0.encoder.02.rawcounts
    10  s32   OUT             0  hm2_5i25.0.encoder.02.rawlatch
    10  bit   IN          FALSE  hm2_5i25.0.encoder.02.reset
    10  float OUT             0  hm2_5i25.0.encoder.02.velocity
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.000.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.000.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.000.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.001.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.001.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.001.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.002.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.002.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.002.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.003.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.003.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.004.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.004.in_not
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.005.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.005.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.005.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.006.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.006.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.006.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.007.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.007.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.008.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.008.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.009.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.009.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.010.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.010.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.011.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.011.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.012.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.012.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.013.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.013.in_not
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.014.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.014.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.014.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.015.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.015.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.015.out
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.016.in
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.016.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.016.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.017.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.017.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.017.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.018.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.018.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.018.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.019.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.019.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.019.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.020.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.020.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.020.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.021.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.021.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.021.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.022.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.022.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.022.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.023.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.023.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.023.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.024.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.024.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.024.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.025.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.025.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.025.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.026.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.026.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.026.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.027.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.027.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.027.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.028.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.028.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.028.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.029.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.029.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.029.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.030.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.030.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.030.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.031.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.031.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.031.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.032.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.032.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.032.out
    10  bit   OUT          TRUE  hm2_5i25.0.gpio.033.in
    10  bit   OUT         FALSE  hm2_5i25.0.gpio.033.in_not
    10  bit   IN          FALSE  hm2_5i25.0.gpio.033.out
    10  bit   IN          FALSE  hm2_5i25.0.led.CR01
    10  bit   IN          FALSE  hm2_5i25.0.led.CR02
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.channel
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.parameter
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.port
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.port-0.fault-count
    10  u32   OUT    0x00000001  hm2_5i25.0.sserial.port-0.port_state
    10  bit   IN           TRUE  hm2_5i25.0.sserial.port-0.run
    10  bit   IN          FALSE  hm2_5i25.0.sserial.read
    10  u32   OUT    0x00000000  hm2_5i25.0.sserial.state
    10  u32   IN     0x00000000  hm2_5i25.0.sserial.value
    10  bit   IN          FALSE  hm2_5i25.0.sserial.write
    10  bit   I/O         FALSE  hm2_5i25.0.watchdog.has_bit
     5  bit   OUT         FALSE  iocontrol.0.coolant-flood
     5  bit   OUT         FALSE  iocontrol.0.coolant-mist
     5  bit   IN          FALSE  iocontrol.0.emc-enable-in <== estop-loop
     5  bit   OUT         FALSE  iocontrol.0.lube
     5  bit   IN          FALSE  iocontrol.0.lube_level
     5  bit   OUT         FALSE  iocontrol.0.tool-change ==> tool-change-loop
     5  bit   IN          FALSE  iocontrol.0.tool-changed <== tool-change-loop
     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 ==> tool-prep-loop
     5  bit   IN          FALSE  iocontrol.0.tool-prepared <== tool-prep-loop
     5  bit   OUT         FALSE  iocontrol.0.user-enable-out ==> estop-loop
     5  bit   OUT         FALSE  iocontrol.0.user-request-enable
     7  float IN              1  motion.adaptive-feed
     7  float IN              0  motion.analog-in-00
     7  float IN              0  motion.analog-in-01
     7  float IN              0  motion.analog-in-02
     7  float IN              0  motion.analog-in-03
     7  float OUT             0  motion.analog-out-00
     7  float OUT             0  motion.analog-out-01
     7  float OUT             0  motion.analog-out-02
     7  float OUT             0  motion.analog-out-03
     7  bit   OUT         FALSE  motion.coord-error
     7  bit   OUT          TRUE  motion.coord-mode
     7  float OUT             0  motion.current-vel
     7  bit   IN          FALSE  motion.digital-in-00
     7  bit   IN          FALSE  motion.digital-in-01
     7  bit   IN          FALSE  motion.digital-in-02
     7  bit   IN          FALSE  motion.digital-in-03
     7  bit   OUT         FALSE  motion.digital-out-00
     7  bit   OUT         FALSE  motion.digital-out-01
     7  bit   OUT         FALSE  motion.digital-out-02
     7  bit   OUT         FALSE  motion.digital-out-03
     7  float OUT             0  motion.distance-to-go
     7  bit   IN           TRUE  motion.enable
     7  bit   IN          FALSE  motion.feed-hold
     7  bit   OUT          TRUE  motion.in-position
     7  bit   IN          FALSE  motion.motion-enabled
     7  bit   OUT         FALSE  motion.on-soft-limit
     7  bit   IN          FALSE  motion.probe-input
     7  s32   OUT             0  motion.program-line
     7  float OUT             0  motion.requested-vel
     7  bit   IN           TRUE  motion.spindle-at-speed
     7  bit   OUT          TRUE  motion.spindle-brake
     7  bit   OUT         FALSE  motion.spindle-forward
     7  bit   I/O         FALSE  motion.spindle-index-enable
     7  bit   OUT         FALSE  motion.spindle-on
     7  bit   OUT         FALSE  motion.spindle-reverse
     7  float IN              0  motion.spindle-revs
     7  float OUT             0  motion.spindle-speed-cmd-rps
     7  float IN              0  motion.spindle-speed-in
     7  float OUT             0  motion.spindle-speed-out
     7  float OUT             0  motion.spindle-speed-out-rps
     7  bit   OUT         FALSE  motion.teleop-mode
     7  float OUT             0  motion.tooloffset.a
     7  float OUT             0  motion.tooloffset.b
     7  float OUT             0  motion.tooloffset.c
     7  float OUT             0  motion.tooloffset.u
     7  float OUT             0  motion.tooloffset.v
     7  float OUT             0  motion.tooloffset.w
     7  float OUT             0  motion.tooloffset.x
     7  float OUT             0  motion.tooloffset.y
     7  float OUT             0  motion.tooloffset.z
     8  float I/O             0  pid.0.Dgain
     8  float I/O             0  pid.0.FF0
     8  float I/O             1  pid.0.FF1
     8  float I/O             0  pid.0.FF2
     8  float I/O             0  pid.0.Igain
     8  float I/O           100  pid.0.Pgain
     8  float I/O             0  pid.0.bias
     8  float IN              0  pid.0.command <== emcmot.00.pos-cmd
     8  float IN              0  pid.0.command-deriv
     8  float I/O       1.5e-05  pid.0.deadband
     8  bit   IN          FALSE  pid.0.enable <== emcmot.00.enable
     8  float OUT             0  pid.0.error
     8  float IN              0  pid.0.feedback <== motor.00.pos-fb
     8  float IN              0  pid.0.feedback-deriv
     8  bit   IN          FALSE  pid.0.index-enable
     8  float I/O             0  pid.0.maxcmdD
     8  float I/O             0  pid.0.maxcmdDD
     8  float I/O             0  pid.0.maxerror
     8  float I/O             0  pid.0.maxerrorD
     8  float I/O             0  pid.0.maxerrorI
     8  float I/O             1  pid.0.maxoutput
     8  float OUT             0  pid.0.output ==> motor.00.command
     8  bit   OUT         FALSE  pid.0.saturated
     8  s32   OUT             0  pid.0.saturated-count
     8  float OUT             0  pid.0.saturated-s
     8  float I/O             0  pid.1.Dgain
     8  float I/O             0  pid.1.FF0
     8  float I/O             1  pid.1.FF1
     8  float I/O             0  pid.1.FF2
     8  float I/O             0  pid.1.Igain
     8  float I/O           100  pid.1.Pgain
     8  float I/O             0  pid.1.bias
     8  float IN              0  pid.1.command <== emcmot.01.pos-cmd
     8  float IN              0  pid.1.command-deriv
     8  float I/O       1.5e-05  pid.1.deadband
     8  bit   IN          FALSE  pid.1.enable <== emcmot.01.enable
     8  float OUT             0  pid.1.error
     8  float IN             -0  pid.1.feedback <== motor.01.pos-fb
     8  float IN              0  pid.1.feedback-deriv
     8  bit   IN          FALSE  pid.1.index-enable
     8  float I/O             0  pid.1.maxcmdD
     8  float I/O             0  pid.1.maxcmdDD
     8  float I/O             0  pid.1.maxerror
     8  float I/O             0  pid.1.maxerrorD
     8  float I/O             0  pid.1.maxerrorI
     8  float I/O             1  pid.1.maxoutput
     8  float OUT             0  pid.1.output ==> motor.01.command
     8  bit   OUT         FALSE  pid.1.saturated
     8  s32   OUT             0  pid.1.saturated-count
     8  float OUT             0  pid.1.saturated-s
     8  float I/O             0  pid.2.Dgain
     8  float I/O             0  pid.2.FF0
     8  float I/O             1  pid.2.FF1
     8  float I/O             0  pid.2.FF2
     8  float I/O             0  pid.2.Igain
     8  float I/O           100  pid.2.Pgain
     8  float I/O             0  pid.2.bias
     8  float IN              0  pid.2.command <== emcmot.02.pos-cmd
     8  float IN              0  pid.2.command-deriv
     8  float I/O       1.5e-05  pid.2.deadband
     8  bit   IN          FALSE  pid.2.enable <== emcmot.02.enable
     8  float OUT             0  pid.2.error
     8  float IN              0  pid.2.feedback <== motor.02.pos-fb
     8  float IN              0  pid.2.feedback-deriv
     8  bit   IN          FALSE  pid.2.index-enable
     8  float I/O             0  pid.2.maxcmdD
     8  float I/O             0  pid.2.maxcmdDD
     8  float I/O             0  pid.2.maxerror
     8  float I/O             0  pid.2.maxerrorD
     8  float I/O             0  pid.2.maxerrorI
     8  float I/O             1  pid.2.maxoutput
     8  float OUT             0  pid.2.output ==> motor.02.command
     8  bit   OUT         FALSE  pid.2.saturated
     8  s32   OUT             0  pid.2.saturated-count
     8  float OUT             0  pid.2.saturated-s

dan@ubuntu:~$
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Nick
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Re: Mesa 5i25+7i77-с чего начать?

Сообщение Nick »

dansystems1 писал(а):hm2_5i25.0.7i77.0.1.analogout4- она везде присутствует .
Нужно пины с таким началом...

Хмм... может нужно эти i/o в config прошивки прописывать, также как мы там Энкодеры прописали.... надо уточнить...
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