Пытаюсь подключить сервопривод DELTA ASDA-B2 к паре MESA 5i25-7i77.
Руковожусь темой "Подключение различных компонентов к плате Mesa 7I77", за что всем участникам большое Спасибо
Но столкнулся с такой проблемой: после нажатия Enable Amp в Open Loop Test, на 7i77 продолжает гореть красный диод CR16 (желтые CR1, CR3, CR6, CR7 тоже горят) и никакого движения не происходит.
Грешу на неисправность платы 5i25, так как в паре с ней уже была испорчена одна 7i76, из-за неправильного подключения питания.
После перепрошивки и проверки 5i25 (по инструкции http://www.cnc-club.ru/wiki/index.php/% ... _Mesa_5i25 ) получил такой результат:
Код: Выделить всё
halcmd: show
Loaded HAL Components:
ID Type Name PID State
8 RT hm2_pci ready
3 User halcmd3592 3592 ready
7 RT hostmot2 ready
6 RT __servo-thread ready
5 RT motmod ready
4 RT trivkins ready
Component Pins:
Owner Type Dir Value Name
5 bit OUT FALSE axis.0.active
5 bit OUT FALSE axis.0.amp-enable-out
5 bit IN FALSE axis.0.amp-fault-in
5 float OUT 0 axis.0.backlash-corr
5 float OUT 0 axis.0.backlash-filt
5 float OUT 0 axis.0.backlash-vel
5 float OUT 0 axis.0.coarse-pos-cmd
5 bit OUT FALSE axis.0.error
5 float OUT 0 axis.0.f-error
5 float OUT 0 axis.0.f-error-lim
5 bit OUT FALSE axis.0.f-errored
5 bit OUT FALSE axis.0.faulted
5 float OUT 0 axis.0.free-pos-cmd
5 bit OUT FALSE axis.0.free-tp-enable
5 float OUT 0 axis.0.free-vel-lim
5 s32 OUT 0 axis.0.home-state
5 bit IN FALSE axis.0.home-sw-in
5 bit OUT FALSE axis.0.homed
5 bit OUT FALSE axis.0.homing
5 bit OUT FALSE axis.0.in-position
5 bit I/O FALSE axis.0.index-enable
5 s32 IN 0 axis.0.jog-counts
5 bit IN FALSE axis.0.jog-enable
5 float IN 0 axis.0.jog-scale
5 bit IN FALSE axis.0.jog-vel-mode
5 float OUT 0 axis.0.joint-pos-cmd
5 float OUT 0 axis.0.joint-pos-fb
5 float OUT 0 axis.0.joint-vel-cmd
5 bit OUT FALSE axis.0.kb-jog-active
5 float OUT 0 axis.0.motor-offset
5 float OUT 0 axis.0.motor-pos-cmd
5 float IN 0 axis.0.motor-pos-fb
5 bit OUT FALSE axis.0.neg-hard-limit
5 bit IN FALSE axis.0.neg-lim-sw-in
5 bit OUT FALSE axis.0.pos-hard-limit
5 bit IN FALSE axis.0.pos-lim-sw-in
5 bit OUT FALSE axis.0.wheel-jog-active
5 bit OUT FALSE axis.1.active
5 bit OUT FALSE axis.1.amp-enable-out
5 bit IN FALSE axis.1.amp-fault-in
5 float OUT 0 axis.1.backlash-corr
5 float OUT 0 axis.1.backlash-filt
5 float OUT 0 axis.1.backlash-vel
5 float OUT 0 axis.1.coarse-pos-cmd
5 bit OUT FALSE axis.1.error
5 float OUT 0 axis.1.f-error
5 float OUT 0 axis.1.f-error-lim
5 bit OUT FALSE axis.1.f-errored
5 bit OUT FALSE axis.1.faulted
5 float OUT 0 axis.1.free-pos-cmd
5 bit OUT FALSE axis.1.free-tp-enable
5 float OUT 0 axis.1.free-vel-lim
5 s32 OUT 0 axis.1.home-state
5 bit IN FALSE axis.1.home-sw-in
5 bit OUT FALSE axis.1.homed
5 bit OUT FALSE axis.1.homing
5 bit OUT FALSE axis.1.in-position
5 bit I/O FALSE axis.1.index-enable
5 s32 IN 0 axis.1.jog-counts
5 bit IN FALSE axis.1.jog-enable
5 float IN 0 axis.1.jog-scale
5 bit IN FALSE axis.1.jog-vel-mode
5 float OUT 0 axis.1.joint-pos-cmd
5 float OUT 0 axis.1.joint-pos-fb
5 float OUT 0 axis.1.joint-vel-cmd
5 bit OUT FALSE axis.1.kb-jog-active
5 float OUT 0 axis.1.motor-offset
5 float OUT 0 axis.1.motor-pos-cmd
5 float IN 0 axis.1.motor-pos-fb
5 bit OUT FALSE axis.1.neg-hard-limit
5 bit IN FALSE axis.1.neg-lim-sw-in
5 bit OUT FALSE axis.1.pos-hard-limit
5 bit IN FALSE axis.1.pos-lim-sw-in
5 bit OUT FALSE axis.1.wheel-jog-active
5 bit OUT FALSE axis.2.active
5 bit OUT FALSE axis.2.amp-enable-out
5 bit IN FALSE axis.2.amp-fault-in
5 float OUT 0 axis.2.backlash-corr
5 float OUT 0 axis.2.backlash-filt
5 float OUT 0 axis.2.backlash-vel
5 float OUT 0 axis.2.coarse-pos-cmd
5 bit OUT FALSE axis.2.error
5 float OUT 0 axis.2.f-error
5 float OUT 0 axis.2.f-error-lim
5 bit OUT FALSE axis.2.f-errored
5 bit OUT FALSE axis.2.faulted
5 float OUT 0 axis.2.free-pos-cmd
5 bit OUT FALSE axis.2.free-tp-enable
5 float OUT 0 axis.2.free-vel-lim
5 s32 OUT 0 axis.2.home-state
5 bit IN FALSE axis.2.home-sw-in
5 bit OUT FALSE axis.2.homed
5 bit OUT FALSE axis.2.homing
5 bit OUT FALSE axis.2.in-position
5 bit I/O FALSE axis.2.index-enable
5 s32 IN 0 axis.2.jog-counts
5 bit IN FALSE axis.2.jog-enable
5 float IN 0 axis.2.jog-scale
5 bit IN FALSE axis.2.jog-vel-mode
5 float OUT 0 axis.2.joint-pos-cmd
5 float OUT 0 axis.2.joint-pos-fb
5 float OUT 0 axis.2.joint-vel-cmd
5 bit OUT FALSE axis.2.kb-jog-active
5 float OUT 0 axis.2.motor-offset
5 float OUT 0 axis.2.motor-pos-cmd
5 float IN 0 axis.2.motor-pos-fb
5 bit OUT FALSE axis.2.neg-hard-limit
5 bit IN FALSE axis.2.neg-lim-sw-in
5 bit OUT FALSE axis.2.pos-hard-limit
5 bit IN FALSE axis.2.pos-lim-sw-in
5 bit OUT FALSE axis.2.wheel-jog-active
8 s32 OUT 0 hm2_5i25.0.encoder.00.count
8 s32 OUT 0 hm2_5i25.0.encoder.00.count-latched
8 bit I/O FALSE hm2_5i25.0.encoder.00.index-enable
8 bit OUT FALSE hm2_5i25.0.encoder.00.input-a
8 bit OUT FALSE hm2_5i25.0.encoder.00.input-b
8 bit OUT TRUE hm2_5i25.0.encoder.00.input-index
8 bit IN FALSE hm2_5i25.0.encoder.00.latch-enable
8 bit IN FALSE hm2_5i25.0.encoder.00.latch-polarity
8 float OUT 0 hm2_5i25.0.encoder.00.position
8 float OUT 0 hm2_5i25.0.encoder.00.position-latched
8 bit OUT FALSE hm2_5i25.0.encoder.00.quad-error
8 bit IN FALSE hm2_5i25.0.encoder.00.quad-error-enable
8 s32 OUT 0 hm2_5i25.0.encoder.00.rawcounts
8 s32 OUT 0 hm2_5i25.0.encoder.00.rawlatch
8 bit IN FALSE hm2_5i25.0.encoder.00.reset
8 float OUT 0 hm2_5i25.0.encoder.00.velocity
8 s32 OUT 0 hm2_5i25.0.encoder.01.count
8 s32 OUT 0 hm2_5i25.0.encoder.01.count-latched
8 bit I/O FALSE hm2_5i25.0.encoder.01.index-enable
8 bit OUT FALSE hm2_5i25.0.encoder.01.input-a
8 bit OUT FALSE hm2_5i25.0.encoder.01.input-b
8 bit OUT TRUE hm2_5i25.0.encoder.01.input-index
8 bit IN FALSE hm2_5i25.0.encoder.01.latch-enable
8 bit IN FALSE hm2_5i25.0.encoder.01.latch-polarity
8 float OUT 0 hm2_5i25.0.encoder.01.position
8 float OUT 0 hm2_5i25.0.encoder.01.position-latched
8 bit OUT FALSE hm2_5i25.0.encoder.01.quad-error
8 bit IN FALSE hm2_5i25.0.encoder.01.quad-error-enable
8 s32 OUT 0 hm2_5i25.0.encoder.01.rawcounts
8 s32 OUT 0 hm2_5i25.0.encoder.01.rawlatch
8 bit IN FALSE hm2_5i25.0.encoder.01.reset
8 float OUT 0 hm2_5i25.0.encoder.01.velocity
8 s32 OUT 0 hm2_5i25.0.encoder.02.count
8 s32 OUT 0 hm2_5i25.0.encoder.02.count-latched
8 bit I/O FALSE hm2_5i25.0.encoder.02.index-enable
8 bit OUT FALSE hm2_5i25.0.encoder.02.input-a
8 bit OUT FALSE hm2_5i25.0.encoder.02.input-b
8 bit OUT TRUE hm2_5i25.0.encoder.02.input-index
8 bit IN FALSE hm2_5i25.0.encoder.02.latch-enable
8 bit IN FALSE hm2_5i25.0.encoder.02.latch-polarity
8 float OUT 0 hm2_5i25.0.encoder.02.position
8 float OUT 0 hm2_5i25.0.encoder.02.position-latched
8 bit OUT FALSE hm2_5i25.0.encoder.02.quad-error
8 bit IN FALSE hm2_5i25.0.encoder.02.quad-error-enable
8 s32 OUT 0 hm2_5i25.0.encoder.02.rawcounts
8 s32 OUT 0 hm2_5i25.0.encoder.02.rawlatch
8 bit IN FALSE hm2_5i25.0.encoder.02.reset
8 float OUT 0 hm2_5i25.0.encoder.02.velocity
8 s32 OUT 0 hm2_5i25.0.encoder.03.count
8 s32 OUT 0 hm2_5i25.0.encoder.03.count-latched
8 bit I/O FALSE hm2_5i25.0.encoder.03.index-enable
8 bit OUT FALSE hm2_5i25.0.encoder.03.input-a
8 bit OUT FALSE hm2_5i25.0.encoder.03.input-b
8 bit OUT TRUE hm2_5i25.0.encoder.03.input-index
8 bit IN FALSE hm2_5i25.0.encoder.03.latch-enable
8 bit IN FALSE hm2_5i25.0.encoder.03.latch-polarity
8 float OUT 0 hm2_5i25.0.encoder.03.position
8 float OUT 0 hm2_5i25.0.encoder.03.position-latched
8 bit OUT FALSE hm2_5i25.0.encoder.03.quad-error
8 bit IN FALSE hm2_5i25.0.encoder.03.quad-error-enable
8 s32 OUT 0 hm2_5i25.0.encoder.03.rawcounts
8 s32 OUT 0 hm2_5i25.0.encoder.03.rawlatch
8 bit IN FALSE hm2_5i25.0.encoder.03.reset
8 float OUT 0 hm2_5i25.0.encoder.03.velocity
8 s32 OUT 0 hm2_5i25.0.encoder.04.count
8 s32 OUT 0 hm2_5i25.0.encoder.04.count-latched
8 bit I/O FALSE hm2_5i25.0.encoder.04.index-enable
8 bit OUT FALSE hm2_5i25.0.encoder.04.input-a
8 bit OUT FALSE hm2_5i25.0.encoder.04.input-b
8 bit OUT TRUE hm2_5i25.0.encoder.04.input-index
8 bit IN FALSE hm2_5i25.0.encoder.04.latch-enable
8 bit IN FALSE hm2_5i25.0.encoder.04.latch-polarity
8 float OUT 0 hm2_5i25.0.encoder.04.position
8 float OUT 0 hm2_5i25.0.encoder.04.position-latched
8 bit OUT FALSE hm2_5i25.0.encoder.04.quad-error
8 bit IN FALSE hm2_5i25.0.encoder.04.quad-error-enable
8 s32 OUT 0 hm2_5i25.0.encoder.04.rawcounts
8 s32 OUT 0 hm2_5i25.0.encoder.04.rawlatch
8 bit IN FALSE hm2_5i25.0.encoder.04.reset
8 float OUT 0 hm2_5i25.0.encoder.04.velocity
8 s32 OUT 0 hm2_5i25.0.encoder.05.count
8 s32 OUT 0 hm2_5i25.0.encoder.05.count-latched
8 bit I/O FALSE hm2_5i25.0.encoder.05.index-enable
8 bit OUT FALSE hm2_5i25.0.encoder.05.input-a
8 bit OUT FALSE hm2_5i25.0.encoder.05.input-b
8 bit OUT TRUE hm2_5i25.0.encoder.05.input-index
8 bit IN FALSE hm2_5i25.0.encoder.05.latch-enable
8 bit IN FALSE hm2_5i25.0.encoder.05.latch-polarity
8 float OUT 0 hm2_5i25.0.encoder.05.position
8 float OUT 0 hm2_5i25.0.encoder.05.position-latched
8 bit OUT FALSE hm2_5i25.0.encoder.05.quad-error
8 bit IN FALSE hm2_5i25.0.encoder.05.quad-error-enable
8 s32 OUT 0 hm2_5i25.0.encoder.05.rawcounts
8 s32 OUT 0 hm2_5i25.0.encoder.05.rawlatch
8 bit IN FALSE hm2_5i25.0.encoder.05.reset
8 float OUT 0 hm2_5i25.0.encoder.05.velocity
8 s32 OUT 0 hm2_5i25.0.encoder.06.count
8 s32 OUT 0 hm2_5i25.0.encoder.06.count-latched
8 bit I/O FALSE hm2_5i25.0.encoder.06.index-enable
8 bit OUT FALSE hm2_5i25.0.encoder.06.input-a
8 bit OUT FALSE hm2_5i25.0.encoder.06.input-b
8 bit OUT TRUE hm2_5i25.0.encoder.06.input-index
8 bit IN FALSE hm2_5i25.0.encoder.06.latch-enable
8 bit IN FALSE hm2_5i25.0.encoder.06.latch-polarity
8 float OUT 0 hm2_5i25.0.encoder.06.position
8 float OUT 0 hm2_5i25.0.encoder.06.position-latched
8 bit OUT FALSE hm2_5i25.0.encoder.06.quad-error
8 bit IN FALSE hm2_5i25.0.encoder.06.quad-error-enable
8 s32 OUT 0 hm2_5i25.0.encoder.06.rawcounts
8 s32 OUT 0 hm2_5i25.0.encoder.06.rawlatch
8 bit IN FALSE hm2_5i25.0.encoder.06.reset
8 float OUT 0 hm2_5i25.0.encoder.06.velocity
8 s32 OUT 0 hm2_5i25.0.encoder.07.count
8 s32 OUT 0 hm2_5i25.0.encoder.07.count-latched
8 bit I/O FALSE hm2_5i25.0.encoder.07.index-enable
8 bit OUT FALSE hm2_5i25.0.encoder.07.input-a
8 bit OUT FALSE hm2_5i25.0.encoder.07.input-b
8 bit OUT TRUE hm2_5i25.0.encoder.07.input-index
8 bit IN FALSE hm2_5i25.0.encoder.07.latch-enable
8 bit IN FALSE hm2_5i25.0.encoder.07.latch-polarity
8 float OUT 0 hm2_5i25.0.encoder.07.position
8 float OUT 0 hm2_5i25.0.encoder.07.position-latched
8 bit OUT FALSE hm2_5i25.0.encoder.07.quad-error
8 bit IN FALSE hm2_5i25.0.encoder.07.quad-error-enable
8 s32 OUT 0 hm2_5i25.0.encoder.07.rawcounts
8 s32 OUT 0 hm2_5i25.0.encoder.07.rawlatch
8 bit IN FALSE hm2_5i25.0.encoder.07.reset
8 float OUT 0 hm2_5i25.0.encoder.07.velocity
8 s32 OUT 0 hm2_5i25.0.encoder.08.count
8 s32 OUT 0 hm2_5i25.0.encoder.08.count-latched
8 bit I/O FALSE hm2_5i25.0.encoder.08.index-enable
8 bit OUT FALSE hm2_5i25.0.encoder.08.input-a
8 bit OUT FALSE hm2_5i25.0.encoder.08.input-b
8 bit OUT TRUE hm2_5i25.0.encoder.08.input-index
8 bit IN FALSE hm2_5i25.0.encoder.08.latch-enable
8 bit IN FALSE hm2_5i25.0.encoder.08.latch-polarity
8 float OUT 0 hm2_5i25.0.encoder.08.position
8 float OUT 0 hm2_5i25.0.encoder.08.position-latched
8 bit OUT FALSE hm2_5i25.0.encoder.08.quad-error
8 bit IN FALSE hm2_5i25.0.encoder.08.quad-error-enable
8 s32 OUT 0 hm2_5i25.0.encoder.08.rawcounts
8 s32 OUT 0 hm2_5i25.0.encoder.08.rawlatch
8 bit IN FALSE hm2_5i25.0.encoder.08.reset
8 float OUT 0 hm2_5i25.0.encoder.08.velocity
8 s32 OUT 0 hm2_5i25.0.encoder.09.count
8 s32 OUT 0 hm2_5i25.0.encoder.09.count-latched
8 bit I/O FALSE hm2_5i25.0.encoder.09.index-enable
8 bit OUT FALSE hm2_5i25.0.encoder.09.input-a
8 bit OUT FALSE hm2_5i25.0.encoder.09.input-b
8 bit OUT TRUE hm2_5i25.0.encoder.09.input-index
8 bit IN FALSE hm2_5i25.0.encoder.09.latch-enable
8 bit IN FALSE hm2_5i25.0.encoder.09.latch-polarity
8 float OUT 0 hm2_5i25.0.encoder.09.position
8 float OUT 0 hm2_5i25.0.encoder.09.position-latched
8 bit OUT FALSE hm2_5i25.0.encoder.09.quad-error
8 bit IN FALSE hm2_5i25.0.encoder.09.quad-error-enable
8 s32 OUT 0 hm2_5i25.0.encoder.09.rawcounts
8 s32 OUT 0 hm2_5i25.0.encoder.09.rawlatch
8 bit IN FALSE hm2_5i25.0.encoder.09.reset
8 float OUT 0 hm2_5i25.0.encoder.09.velocity
8 s32 OUT 0 hm2_5i25.0.encoder.10.count
8 s32 OUT 0 hm2_5i25.0.encoder.10.count-latched
8 bit I/O FALSE hm2_5i25.0.encoder.10.index-enable
8 bit OUT FALSE hm2_5i25.0.encoder.10.input-a
8 bit OUT FALSE hm2_5i25.0.encoder.10.input-b
8 bit OUT TRUE hm2_5i25.0.encoder.10.input-index
8 bit IN FALSE hm2_5i25.0.encoder.10.latch-enable
8 bit IN FALSE hm2_5i25.0.encoder.10.latch-polarity
8 float OUT 0 hm2_5i25.0.encoder.10.position
8 float OUT 0 hm2_5i25.0.encoder.10.position-latched
8 bit OUT FALSE hm2_5i25.0.encoder.10.quad-error
8 bit IN FALSE hm2_5i25.0.encoder.10.quad-error-enable
8 s32 OUT 0 hm2_5i25.0.encoder.10.rawcounts
8 s32 OUT 0 hm2_5i25.0.encoder.10.rawlatch
8 bit IN FALSE hm2_5i25.0.encoder.10.reset
8 float OUT 0 hm2_5i25.0.encoder.10.velocity
8 s32 OUT 0 hm2_5i25.0.encoder.11.count
8 s32 OUT 0 hm2_5i25.0.encoder.11.count-latched
8 bit I/O FALSE hm2_5i25.0.encoder.11.index-enable
8 bit OUT FALSE hm2_5i25.0.encoder.11.input-a
8 bit OUT FALSE hm2_5i25.0.encoder.11.input-b
8 bit OUT TRUE hm2_5i25.0.encoder.11.input-index
8 bit IN FALSE hm2_5i25.0.encoder.11.latch-enable
8 bit IN FALSE hm2_5i25.0.encoder.11.latch-polarity
8 float OUT 0 hm2_5i25.0.encoder.11.position
8 float OUT 0 hm2_5i25.0.encoder.11.position-latched
8 bit OUT FALSE hm2_5i25.0.encoder.11.quad-error
8 bit IN FALSE hm2_5i25.0.encoder.11.quad-error-enable
8 s32 OUT 0 hm2_5i25.0.encoder.11.rawcounts
8 s32 OUT 0 hm2_5i25.0.encoder.11.rawlatch
8 bit IN FALSE hm2_5i25.0.encoder.11.reset
8 float OUT 0 hm2_5i25.0.encoder.11.velocity
8 u32 IN 0x007F2815 hm2_5i25.0.encoder.muxed-sample-frequency
8 bit OUT FALSE hm2_5i25.0.gpio.000.in
8 bit OUT TRUE hm2_5i25.0.gpio.000.in_not
8 bit IN FALSE hm2_5i25.0.gpio.000.out
8 bit OUT TRUE hm2_5i25.0.gpio.001.in
8 bit OUT FALSE hm2_5i25.0.gpio.001.in_not
8 bit IN FALSE hm2_5i25.0.gpio.001.out
8 bit OUT FALSE hm2_5i25.0.gpio.002.in
8 bit OUT TRUE hm2_5i25.0.gpio.002.in_not
8 bit IN FALSE hm2_5i25.0.gpio.002.out
8 bit OUT TRUE hm2_5i25.0.gpio.003.in
8 bit OUT FALSE hm2_5i25.0.gpio.003.in_not
8 bit IN FALSE hm2_5i25.0.gpio.003.out
8 bit OUT FALSE hm2_5i25.0.gpio.004.in
8 bit OUT TRUE hm2_5i25.0.gpio.004.in_not
8 bit IN FALSE hm2_5i25.0.gpio.004.out
8 bit OUT TRUE hm2_5i25.0.gpio.005.in
8 bit OUT FALSE hm2_5i25.0.gpio.005.in_not
8 bit IN FALSE hm2_5i25.0.gpio.005.out
8 bit OUT FALSE hm2_5i25.0.gpio.006.in
8 bit OUT TRUE hm2_5i25.0.gpio.006.in_not
8 bit IN FALSE hm2_5i25.0.gpio.006.out
8 bit OUT FALSE hm2_5i25.0.gpio.007.in
8 bit OUT TRUE hm2_5i25.0.gpio.007.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.008.in
8 bit OUT TRUE hm2_5i25.0.gpio.008.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.009.in
8 bit OUT TRUE hm2_5i25.0.gpio.009.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.010.in
8 bit OUT TRUE hm2_5i25.0.gpio.010.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.011.in
8 bit OUT TRUE hm2_5i25.0.gpio.011.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.012.in
8 bit OUT TRUE hm2_5i25.0.gpio.012.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.013.in
8 bit OUT TRUE hm2_5i25.0.gpio.013.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.014.in
8 bit OUT TRUE hm2_5i25.0.gpio.014.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.015.in
8 bit OUT TRUE hm2_5i25.0.gpio.015.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.016.in
8 bit OUT TRUE hm2_5i25.0.gpio.016.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.017.in
8 bit OUT TRUE hm2_5i25.0.gpio.017.in_not
8 bit IN FALSE hm2_5i25.0.gpio.017.out
8 bit OUT TRUE hm2_5i25.0.gpio.018.in
8 bit OUT FALSE hm2_5i25.0.gpio.018.in_not
8 bit IN FALSE hm2_5i25.0.gpio.018.out
8 bit OUT FALSE hm2_5i25.0.gpio.019.in
8 bit OUT TRUE hm2_5i25.0.gpio.019.in_not
8 bit IN FALSE hm2_5i25.0.gpio.019.out
8 bit OUT TRUE hm2_5i25.0.gpio.020.in
8 bit OUT FALSE hm2_5i25.0.gpio.020.in_not
8 bit IN FALSE hm2_5i25.0.gpio.020.out
8 bit OUT FALSE hm2_5i25.0.gpio.021.in
8 bit OUT TRUE hm2_5i25.0.gpio.021.in_not
8 bit IN FALSE hm2_5i25.0.gpio.021.out
8 bit OUT TRUE hm2_5i25.0.gpio.022.in
8 bit OUT FALSE hm2_5i25.0.gpio.022.in_not
8 bit IN FALSE hm2_5i25.0.gpio.022.out
8 bit OUT FALSE hm2_5i25.0.gpio.023.in
8 bit OUT TRUE hm2_5i25.0.gpio.023.in_not
8 bit IN FALSE hm2_5i25.0.gpio.023.out
8 bit OUT FALSE hm2_5i25.0.gpio.024.in
8 bit OUT TRUE hm2_5i25.0.gpio.024.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.025.in
8 bit OUT TRUE hm2_5i25.0.gpio.025.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.026.in
8 bit OUT TRUE hm2_5i25.0.gpio.026.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.027.in
8 bit OUT TRUE hm2_5i25.0.gpio.027.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.028.in
8 bit OUT TRUE hm2_5i25.0.gpio.028.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.029.in
8 bit OUT TRUE hm2_5i25.0.gpio.029.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.030.in
8 bit OUT TRUE hm2_5i25.0.gpio.030.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.031.in
8 bit OUT TRUE hm2_5i25.0.gpio.031.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.032.in
8 bit OUT TRUE hm2_5i25.0.gpio.032.in_not
8 bit OUT FALSE hm2_5i25.0.gpio.033.in
8 bit OUT TRUE hm2_5i25.0.gpio.033.in_not
8 bit IN FALSE hm2_5i25.0.led.CR01
8 bit IN FALSE hm2_5i25.0.led.CR02
8 s32 OUT 0 hm2_5i25.0.read.time
8 s32 OUT 0 hm2_5i25.0.read_gpio.time
8 bit I/O FALSE hm2_5i25.0.watchdog.has_bit
8 s32 OUT 0 hm2_5i25.0.write.time
8 s32 OUT 0 hm2_5i25.0.write_gpio.time
5 s32 OUT 0 motion-command-handler.time
5 s32 OUT 0 motion-controller.time
5 float IN 1 motion.adaptive-feed
5 float IN 0 motion.analog-in-00
5 float IN 0 motion.analog-in-01
5 float IN 0 motion.analog-in-02
5 float IN 0 motion.analog-in-03
5 float OUT 0 motion.analog-out-00
5 float OUT 0 motion.analog-out-01
5 float OUT 0 motion.analog-out-02
5 float OUT 0 motion.analog-out-03
5 bit OUT FALSE motion.coord-error
5 bit OUT FALSE motion.coord-mode
5 float OUT 0 motion.current-vel
5 bit IN FALSE motion.digital-in-00
5 bit IN FALSE motion.digital-in-01
5 bit IN FALSE motion.digital-in-02
5 bit IN FALSE motion.digital-in-03
5 bit OUT FALSE motion.digital-out-00
5 bit OUT FALSE motion.digital-out-01
5 bit OUT FALSE motion.digital-out-02
5 bit OUT FALSE motion.digital-out-03
5 float OUT 0 motion.distance-to-go
5 bit IN TRUE motion.enable
5 bit IN FALSE motion.feed-hold
5 bit IN FALSE motion.feed-inhibit
5 bit OUT FALSE motion.in-position
5 bit OUT FALSE motion.motion-enabled
5 s32 OUT 0 motion.motion-type
5 bit OUT FALSE motion.on-soft-limit
5 bit IN FALSE motion.probe-input
5 s32 OUT 0 motion.program-line
5 float OUT 0 motion.requested-vel
5 bit IN TRUE motion.spindle-at-speed
5 bit OUT FALSE motion.spindle-brake
5 bit OUT FALSE motion.spindle-forward
5 bit I/O FALSE motion.spindle-index-enable
5 bit IN FALSE motion.spindle-inhibit
5 bit IN FALSE motion.spindle-is-oriented
5 bit OUT FALSE motion.spindle-locked
5 bit OUT FALSE motion.spindle-on
5 bit OUT FALSE motion.spindle-orient
5 float OUT 0 motion.spindle-orient-angle
5 s32 IN 0 motion.spindle-orient-fault
5 s32 OUT 0 motion.spindle-orient-mode
5 bit OUT FALSE motion.spindle-reverse
5 float IN 0 motion.spindle-revs
5 float OUT 0 motion.spindle-speed-cmd-rps
5 float IN 0 motion.spindle-speed-in
5 float OUT 0 motion.spindle-speed-out
5 float OUT 0 motion.spindle-speed-out-abs
5 float OUT 0 motion.spindle-speed-out-rps
5 float OUT 0 motion.spindle-speed-out-rps-abs
5 bit OUT FALSE motion.teleop-mode
5 float OUT 0 motion.tooloffset.a
5 float OUT 0 motion.tooloffset.b
5 float OUT 0 motion.tooloffset.c
5 float OUT 0 motion.tooloffset.u
5 float OUT 0 motion.tooloffset.v
5 float OUT 0 motion.tooloffset.w
5 float OUT 0 motion.tooloffset.x
5 float OUT 0 motion.tooloffset.y
5 float OUT 0 motion.tooloffset.z
6 s32 OUT 0 servo-thread.time
Pin Aliases:
Alias Original Name
Signals:
Type Value Name (linked to)
Parameters:
Owner Type Dir Value Name
8 bit RW FALSE hm2_5i25.0.encoder.00.counter-mode
8 bit RW TRUE hm2_5i25.0.encoder.00.filter
8 bit RW FALSE hm2_5i25.0.encoder.00.index-invert
8 bit RW FALSE hm2_5i25.0.encoder.00.index-mask
8 bit RW FALSE hm2_5i25.0.encoder.00.index-mask-invert
8 float RW 1 hm2_5i25.0.encoder.00.scale
8 float RW 0.5 hm2_5i25.0.encoder.00.vel-timeout
8 bit RW FALSE hm2_5i25.0.encoder.01.counter-mode
8 bit RW TRUE hm2_5i25.0.encoder.01.filter
8 bit RW FALSE hm2_5i25.0.encoder.01.index-invert
8 bit RW FALSE hm2_5i25.0.encoder.01.index-mask
8 bit RW FALSE hm2_5i25.0.encoder.01.index-mask-invert
8 float RW 1 hm2_5i25.0.encoder.01.scale
8 float RW 0.5 hm2_5i25.0.encoder.01.vel-timeout
8 bit RW FALSE hm2_5i25.0.encoder.02.counter-mode
8 bit RW TRUE hm2_5i25.0.encoder.02.filter
8 bit RW FALSE hm2_5i25.0.encoder.02.index-invert
8 bit RW FALSE hm2_5i25.0.encoder.02.index-mask
8 bit RW FALSE hm2_5i25.0.encoder.02.index-mask-invert
8 float RW 1 hm2_5i25.0.encoder.02.scale
8 float RW 0.5 hm2_5i25.0.encoder.02.vel-timeout
8 bit RW FALSE hm2_5i25.0.encoder.03.counter-mode
8 bit RW TRUE hm2_5i25.0.encoder.03.filter
8 bit RW FALSE hm2_5i25.0.encoder.03.index-invert
8 bit RW FALSE hm2_5i25.0.encoder.03.index-mask
8 bit RW FALSE hm2_5i25.0.encoder.03.index-mask-invert
8 float RW 1 hm2_5i25.0.encoder.03.scale
8 float RW 0.5 hm2_5i25.0.encoder.03.vel-timeout
8 bit RW FALSE hm2_5i25.0.encoder.04.counter-mode
8 bit RW TRUE hm2_5i25.0.encoder.04.filter
8 bit RW FALSE hm2_5i25.0.encoder.04.index-invert
8 bit RW FALSE hm2_5i25.0.encoder.04.index-mask
8 bit RW FALSE hm2_5i25.0.encoder.04.index-mask-invert
8 float RW 1 hm2_5i25.0.encoder.04.scale
8 float RW 0.5 hm2_5i25.0.encoder.04.vel-timeout
8 bit RW FALSE hm2_5i25.0.encoder.05.counter-mode
8 bit RW TRUE hm2_5i25.0.encoder.05.filter
8 bit RW FALSE hm2_5i25.0.encoder.05.index-invert
8 bit RW FALSE hm2_5i25.0.encoder.05.index-mask
8 bit RW FALSE hm2_5i25.0.encoder.05.index-mask-invert
8 float RW 1 hm2_5i25.0.encoder.05.scale
8 float RW 0.5 hm2_5i25.0.encoder.05.vel-timeout
8 bit RW FALSE hm2_5i25.0.encoder.06.counter-mode
8 bit RW TRUE hm2_5i25.0.encoder.06.filter
8 bit RW FALSE hm2_5i25.0.encoder.06.index-invert
8 bit RW FALSE hm2_5i25.0.encoder.06.index-mask
8 bit RW FALSE hm2_5i25.0.encoder.06.index-mask-invert
8 float RW 1 hm2_5i25.0.encoder.06.scale
8 float RW 0.5 hm2_5i25.0.encoder.06.vel-timeout
8 bit RW FALSE hm2_5i25.0.encoder.07.counter-mode
8 bit RW TRUE hm2_5i25.0.encoder.07.filter
8 bit RW FALSE hm2_5i25.0.encoder.07.index-invert
8 bit RW FALSE hm2_5i25.0.encoder.07.index-mask
8 bit RW FALSE hm2_5i25.0.encoder.07.index-mask-invert
8 float RW 1 hm2_5i25.0.encoder.07.scale
8 float RW 0.5 hm2_5i25.0.encoder.07.vel-timeout
8 bit RW FALSE hm2_5i25.0.encoder.08.counter-mode
8 bit RW TRUE hm2_5i25.0.encoder.08.filter
8 bit RW FALSE hm2_5i25.0.encoder.08.index-invert
8 bit RW FALSE hm2_5i25.0.encoder.08.index-mask
8 bit RW FALSE hm2_5i25.0.encoder.08.index-mask-invert
8 float RW 1 hm2_5i25.0.encoder.08.scale
8 float RW 0.5 hm2_5i25.0.encoder.08.vel-timeout
8 bit RW FALSE hm2_5i25.0.encoder.09.counter-mode
8 bit RW TRUE hm2_5i25.0.encoder.09.filter
8 bit RW FALSE hm2_5i25.0.encoder.09.index-invert
8 bit RW FALSE hm2_5i25.0.encoder.09.index-mask
8 bit RW FALSE hm2_5i25.0.encoder.09.index-mask-invert
8 float RW 1 hm2_5i25.0.encoder.09.scale
8 float RW 0.5 hm2_5i25.0.encoder.09.vel-timeout
8 bit RW FALSE hm2_5i25.0.encoder.10.counter-mode
8 bit RW TRUE hm2_5i25.0.encoder.10.filter
8 bit RW FALSE hm2_5i25.0.encoder.10.index-invert
8 bit RW FALSE hm2_5i25.0.encoder.10.index-mask
8 bit RW FALSE hm2_5i25.0.encoder.10.index-mask-invert
8 float RW 1 hm2_5i25.0.encoder.10.scale
8 float RW 0.5 hm2_5i25.0.encoder.10.vel-timeout
8 bit RW FALSE hm2_5i25.0.encoder.11.counter-mode
8 bit RW TRUE hm2_5i25.0.encoder.11.filter
8 bit RW FALSE hm2_5i25.0.encoder.11.index-invert
8 bit RW FALSE hm2_5i25.0.encoder.11.index-mask
8 bit RW FALSE hm2_5i25.0.encoder.11.index-mask-invert
8 float RW 1 hm2_5i25.0.encoder.11.scale
8 float RW 0.5 hm2_5i25.0.encoder.11.vel-timeout
8 bit RW FALSE hm2_5i25.0.gpio.000.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.000.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.000.is_output
8 bit RW FALSE hm2_5i25.0.gpio.001.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.001.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.001.is_output
8 bit RW FALSE hm2_5i25.0.gpio.002.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.002.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.002.is_output
8 bit RW FALSE hm2_5i25.0.gpio.003.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.003.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.003.is_output
8 bit RW FALSE hm2_5i25.0.gpio.004.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.004.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.004.is_output
8 bit RW FALSE hm2_5i25.0.gpio.005.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.005.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.005.is_output
8 bit RW FALSE hm2_5i25.0.gpio.006.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.006.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.006.is_output
8 bit RW FALSE hm2_5i25.0.gpio.007.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.007.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.017.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.017.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.017.is_output
8 bit RW FALSE hm2_5i25.0.gpio.018.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.018.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.018.is_output
8 bit RW FALSE hm2_5i25.0.gpio.019.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.019.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.019.is_output
8 bit RW FALSE hm2_5i25.0.gpio.020.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.020.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.020.is_output
8 bit RW FALSE hm2_5i25.0.gpio.021.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.021.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.021.is_output
8 bit RW FALSE hm2_5i25.0.gpio.022.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.022.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.022.is_output
8 bit RW FALSE hm2_5i25.0.gpio.023.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.023.is_opendrain
8 bit RW FALSE hm2_5i25.0.gpio.023.is_output
8 bit RW FALSE hm2_5i25.0.gpio.024.invert_output
8 bit RW FALSE hm2_5i25.0.gpio.024.is_opendrain
8 bit RW FALSE hm2_5i25.0.io_error
8 s32 RW 0 hm2_5i25.0.read.tmax
8 bit RO FALSE hm2_5i25.0.read.tmax-increased
8 s32 RW 0 hm2_5i25.0.read_gpio.tmax
8 bit RO FALSE hm2_5i25.0.read_gpio.tmax-increased
8 u32 RW 0x004C4B40 hm2_5i25.0.watchdog.timeout_ns
8 s32 RW 0 hm2_5i25.0.write.tmax
8 bit RO FALSE hm2_5i25.0.write.tmax-increased
8 s32 RW 0 hm2_5i25.0.write_gpio.tmax
8 bit RO FALSE hm2_5i25.0.write_gpio.tmax-increased
5 s32 RW 0 motion-command-handler.tmax
5 bit RO FALSE motion-command-handler.tmax-increased
5 s32 RW 0 motion-controller.tmax
5 bit RO FALSE motion-controller.tmax-increased
5 bit RO FALSE motion.debug-bit-0
5 bit RO FALSE motion.debug-bit-1
5 float RO 0 motion.debug-float-0
5 float RO 0 motion.debug-float-1
5 float RO 0 motion.debug-float-2
5 float RO 0 motion.debug-float-3
5 s32 RO 0 motion.debug-s32-0
5 s32 RO 0 motion.debug-s32-1
5 u32 RO 0x00000000 motion.servo.last-period
5 float RO 0 motion.servo.last-period-ns
5 u32 RW 0x00000000 motion.servo.overruns
6 s32 RW 0 servo-thread.tmax
5 float RO 0 tc.0.acc
5 float RO 0 tc.0.pos
5 float RO 0 tc.0.vel
5 float RO 0 tc.1.acc
5 float RO 0 tc.1.pos
5 float RO 0 tc.1.vel
5 float RO 0 tc.2.acc
5 float RO 0 tc.2.pos
5 float RO 0 tc.2.vel
5 float RO 0 tc.3.acc
5 float RO 0 tc.3.pos
5 float RO 0 tc.3.vel
5 u32 RO 0x00000000 traj.active_tc
5 float RO 0 traj.pos_out
5 float RO 0 traj.vel_out
Parameter Aliases:
Alias Original Name
Exported Functions:
Owner CodeAddr Arg FP Users Name
00008 fa3fd880 f6a87000 YES 0 hm2_5i25.0.read
00008 fa3fd500 f6a87000 YES 0 hm2_5i25.0.read_gpio
00008 fa3fd760 f6a87000 YES 0 hm2_5i25.0.write
00008 fa3fd730 f6a87000 YES 0 hm2_5i25.0.write_gpio
00005 fa6ce930 00000000 YES 0 motion-command-handler
00005 fa6d13f0 00000000 YES 0 motion-controller
Realtime Threads:
Period FP Name ( Time, Max-Time )
999909 YES servo-thread ( 0, 0 )