====>Version
ver: 204 F:201
oem: std:100001
id: CARD1
ip: 192.168.1.110
time: 2016_6_2 9:57:38 
res: ax8 enc13 ad4 da4
buid:D2026082008:27:16 F202608041619=0
dev sts:0x0=0
driver ver:0.0=0
DspSn: 146=0
FpgaSn: 7=0
LocalAxCnt: 8=0
BusAxCnt: 0=0
SysTick: 0=1061
 
====>System
ProfilePeriod= 1000,rtn=0
    devResetCallCnt=0 rtn=1061
    GetMtLibVersionCallCnt=7 rtn=0
    WatchDogTrigCnt=0 rtn=0
====>Axis
  Axis_0
    Config Info:
    estpDi=0xffffffff estpDiSn=0x0 rtn=0
    almOnOff=0x0 almSns=0x0 rtn=0
    hmSns=0x0 rtn=0
    lmtOnOff=0,0 lmtSns=0,0 rtn=0
    stepMode=0,stepDir=0 rtn=0
    SwLmeOnOff=1,v=2147483647 -2147483648 rtn=0
    posLmt=30000 rtn=0
    prfCoe=1.000000 rtn=0
    encCoe=1.000000 rtn=0
    stepFilt=0 rtn=0
    velFilt=0 rtn=0
    estpAcc=32767.00000 maxAcc=32767.00000 maxVel=32767.00000 rtn=0
    hmMode=0 hmDir=0 hmOff=0 hmVel1=0.10000 hmVel2=0.10000 hmAcc=0.10000 rtn=0
    reScanEn=0 homeEdge=0 lmtEdge=0 zEdge=0 iniRetPos=0 retSwOffset=0 safeLen=0 usePreSetPtpPara=0 reserved2=0  
    ctrlMode=0 rtn=0
    dacLmt=32767 bias=0 inverse=0 rtn=0
    pid: kp=0.0000 ki=0.0000 kd=-0.0000 kvff=1.4500 derivativeLimit=1069128089 integralLimit=-1717986918 outLimit=-26214  rtn=728

    Sts Info:
    sts=0x2 rtn=0
    prfPos=0 rtn=0
    axPos=0 rtn=0
    encPos=0 rtn=0
    cmdPos=0 rtn=0
    prfMode=0 rtn=0
  Axis_1
    Config Info:
    estpDi=0xffffffff estpDiSn=0x0 rtn=0
    almOnOff=0x0 almSns=0x0 rtn=0
    hmSns=0x0 rtn=0
    lmtOnOff=0,0 lmtSns=0,0 rtn=0
    stepMode=0,stepDir=0 rtn=0
    SwLmeOnOff=1,v=2147483647 -2147483648 rtn=0
    posLmt=30000 rtn=0
    prfCoe=1.000000 rtn=0
    encCoe=1.000000 rtn=0
    stepFilt=0 rtn=0
    velFilt=0 rtn=0
    estpAcc=32767.00000 maxAcc=32767.00000 maxVel=32767.00000 rtn=0
    hmMode=0 hmDir=0 hmOff=0 hmVel1=0.10000 hmVel2=0.10000 hmAcc=0.10000 rtn=0
    reScanEn=0 homeEdge=0 lmtEdge=0 zEdge=0 iniRetPos=0 retSwOffset=0 safeLen=0 usePreSetPtpPara=0 reserved2=0  
    ctrlMode=0 rtn=0
    dacLmt=32767 bias=0 inverse=0 rtn=0
    pid: kp=0.0000 ki=0.0000 kd=-0.0000 kvff=1.4500 derivativeLimit=1069128089 integralLimit=-1717986918 outLimit=-26214  rtn=728

    Sts Info:
    sts=0x2 rtn=0
    prfPos=0 rtn=0
    axPos=0 rtn=0
    encPos=0 rtn=0
    cmdPos=0 rtn=0
    prfMode=0 rtn=0
  Axis_2
    Config Info:
    estpDi=0xffffffff estpDiSn=0x0 rtn=0
    almOnOff=0x0 almSns=0x0 rtn=0
    hmSns=0x0 rtn=0
    lmtOnOff=0,0 lmtSns=0,0 rtn=0
    stepMode=0,stepDir=0 rtn=0
    SwLmeOnOff=1,v=2147483647 -2147483648 rtn=0
    posLmt=30000 rtn=0
    prfCoe=1.000000 rtn=0
    encCoe=1.000000 rtn=0
    stepFilt=0 rtn=0
    velFilt=0 rtn=0
    estpAcc=32767.00000 maxAcc=32767.00000 maxVel=32767.00000 rtn=0
    hmMode=0 hmDir=0 hmOff=0 hmVel1=0.10000 hmVel2=0.10000 hmAcc=0.10000 rtn=0
    reScanEn=0 homeEdge=0 lmtEdge=0 zEdge=0 iniRetPos=0 retSwOffset=0 safeLen=0 usePreSetPtpPara=0 reserved2=0  
    ctrlMode=0 rtn=0
    dacLmt=32767 bias=0 inverse=0 rtn=0
    pid: kp=0.0000 ki=0.0000 kd=-0.0000 kvff=1.4500 derivativeLimit=1069128089 integralLimit=-1717986918 outLimit=-26214  rtn=728

    Sts Info:
    sts=0x2 rtn=0
    prfPos=0 rtn=0
    axPos=0 rtn=0
    encPos=0 rtn=0
    cmdPos=0 rtn=0
    prfMode=0 rtn=0
  Axis_3
    Config Info:
    estpDi=0xffffffff estpDiSn=0x0 rtn=0
    almOnOff=0x0 almSns=0x0 rtn=0
    hmSns=0x0 rtn=0
    lmtOnOff=0,0 lmtSns=0,0 rtn=0
    stepMode=0,stepDir=0 rtn=0
    SwLmeOnOff=1,v=2147483647 -2147483648 rtn=0
    posLmt=30000 rtn=0
    prfCoe=1.000000 rtn=0
    encCoe=1.000000 rtn=0
    stepFilt=0 rtn=0
    velFilt=0 rtn=0
    estpAcc=32767.00000 maxAcc=32767.00000 maxVel=32767.00000 rtn=0
    hmMode=0 hmDir=0 hmOff=0 hmVel1=0.10000 hmVel2=0.10000 hmAcc=0.10000 rtn=0
    reScanEn=0 homeEdge=0 lmtEdge=0 zEdge=0 iniRetPos=0 retSwOffset=0 safeLen=0 usePreSetPtpPara=0 reserved2=0  
    ctrlMode=0 rtn=0
    dacLmt=32767 bias=0 inverse=0 rtn=0
    pid: kp=0.0000 ki=0.0000 kd=-0.0000 kvff=1.4500 derivativeLimit=1069128089 integralLimit=-1717986918 outLimit=-26214  rtn=728

    Sts Info:
    sts=0x2 rtn=0
    prfPos=0 rtn=0
    axPos=0 rtn=0
    encPos=0 rtn=0
    cmdPos=0 rtn=0
    prfMode=0 rtn=0
  Axis_4
    Config Info:
    estpDi=0xffffffff estpDiSn=0x0 rtn=0
    almOnOff=0x0 almSns=0x0 rtn=0
    hmSns=0x0 rtn=0
    lmtOnOff=0,0 lmtSns=0,0 rtn=0
    stepMode=0,stepDir=0 rtn=0
    SwLmeOnOff=1,v=2147483647 -2147483648 rtn=0
    posLmt=30000 rtn=0
    prfCoe=1.000000 rtn=0
    encCoe=1.000000 rtn=0
    stepFilt=0 rtn=0
    velFilt=0 rtn=0
    estpAcc=32767.00000 maxAcc=32767.00000 maxVel=32767.00000 rtn=0
    hmMode=0 hmDir=0 hmOff=0 hmVel1=0.10000 hmVel2=0.10000 hmAcc=0.10000 rtn=0
    reScanEn=0 homeEdge=0 lmtEdge=0 zEdge=0 iniRetPos=0 retSwOffset=0 safeLen=0 usePreSetPtpPara=0 reserved2=0  
    ctrlMode=0 rtn=0
    dacLmt=32767 bias=0 inverse=0 rtn=0
    pid: kp=0.0000 ki=0.0000 kd=-0.0000 kvff=1.4500 derivativeLimit=1069128089 integralLimit=-1717986918 outLimit=-26214  rtn=728

    Sts Info:
    sts=0x2 rtn=0
    prfPos=0 rtn=0
    axPos=0 rtn=0
    encPos=0 rtn=0
    cmdPos=0 rtn=0
    prfMode=0 rtn=0
  Axis_5
    Config Info:
    estpDi=0xffffffff estpDiSn=0x0 rtn=0
    almOnOff=0x0 almSns=0x0 rtn=0
    hmSns=0x0 rtn=0
    lmtOnOff=0,0 lmtSns=0,0 rtn=0
    stepMode=0,stepDir=0 rtn=0
    SwLmeOnOff=1,v=2147483647 -2147483648 rtn=0
    posLmt=30000 rtn=0
    prfCoe=1.000000 rtn=0
    encCoe=1.000000 rtn=0
    stepFilt=0 rtn=0
    velFilt=0 rtn=0
    estpAcc=32767.00000 maxAcc=32767.00000 maxVel=32767.00000 rtn=0
    hmMode=0 hmDir=0 hmOff=0 hmVel1=0.10000 hmVel2=0.10000 hmAcc=0.10000 rtn=0
    reScanEn=0 homeEdge=0 lmtEdge=0 zEdge=0 iniRetPos=0 retSwOffset=0 safeLen=0 usePreSetPtpPara=0 reserved2=0  
    ctrlMode=0 rtn=0
    dacLmt=32767 bias=0 inverse=0 rtn=0
    pid: kp=0.0000 ki=0.0000 kd=-0.0000 kvff=1.4500 derivativeLimit=1069128089 integralLimit=-1717986918 outLimit=-26214  rtn=728

    Sts Info:
    sts=0x2 rtn=0
    prfPos=0 rtn=0
    axPos=0 rtn=0
    encPos=0 rtn=0
    cmdPos=0 rtn=0
    prfMode=0 rtn=0
  Axis_6
    Config Info:
    estpDi=0xffffffff estpDiSn=0x0 rtn=0
    almOnOff=0x0 almSns=0x0 rtn=0
    hmSns=0x0 rtn=0
    lmtOnOff=0,0 lmtSns=0,0 rtn=0
    stepMode=0,stepDir=0 rtn=0
    SwLmeOnOff=1,v=2147483647 -2147483648 rtn=0
    posLmt=30000 rtn=0
    prfCoe=1.000000 rtn=0
    encCoe=1.000000 rtn=0
    stepFilt=0 rtn=0
    velFilt=0 rtn=0
    estpAcc=32767.00000 maxAcc=32767.00000 maxVel=32767.00000 rtn=0
    hmMode=0 hmDir=0 hmOff=0 hmVel1=0.10000 hmVel2=0.10000 hmAcc=0.10000 rtn=0
    reScanEn=0 homeEdge=0 lmtEdge=0 zEdge=0 iniRetPos=0 retSwOffset=0 safeLen=0 usePreSetPtpPara=0 reserved2=0  
    ctrlMode=0 rtn=0
    dacLmt=32767 bias=0 inverse=0 rtn=0
    pid: kp=0.0000 ki=0.0000 kd=-0.0000 kvff=1.4500 derivativeLimit=1069128089 integralLimit=-1717986918 outLimit=-26214  rtn=728

    Sts Info:
    sts=0x2 rtn=0
    prfPos=0 rtn=0
    axPos=0 rtn=0
    encPos=0 rtn=0
    cmdPos=0 rtn=0
    prfMode=0 rtn=0
  Axis_7
    Config Info:
    estpDi=0xffffffff estpDiSn=0x0 rtn=0
    almOnOff=0x0 almSns=0x0 rtn=0
    hmSns=0x0 rtn=0
    lmtOnOff=0,0 lmtSns=0,0 rtn=0
    stepMode=0,stepDir=0 rtn=0
    SwLmeOnOff=1,v=2147483647 -2147483648 rtn=0
    posLmt=30000 rtn=0
    prfCoe=1.000000 rtn=0
    encCoe=1.000000 rtn=0
    stepFilt=0 rtn=0
    velFilt=0 rtn=0
    estpAcc=32767.00000 maxAcc=32767.00000 maxVel=32767.00000 rtn=0
    hmMode=0 hmDir=0 hmOff=0 hmVel1=0.10000 hmVel2=0.10000 hmAcc=0.10000 rtn=0
    reScanEn=0 homeEdge=0 lmtEdge=0 zEdge=0 iniRetPos=0 retSwOffset=0 safeLen=0 usePreSetPtpPara=0 reserved2=0  
    ctrlMode=0 rtn=0
    dacLmt=32767 bias=0 inverse=0 rtn=0
    pid: kp=0.0000 ki=0.0000 kd=-0.0000 kvff=1.4500 derivativeLimit=1069128089 integralLimit=-1717986918 outLimit=-26214  rtn=728

    Sts Info:
    sts=0x2 rtn=0
    prfPos=0 rtn=0
    axPos=0 rtn=0
    encPos=0 rtn=0
    cmdPos=0 rtn=0
    prfMode=0 rtn=0
====>Encoder&IO
  encoder_0
    encMode=0x500 =0
    encPos=0 =0
  encoder_1
    encMode=0x500 =0
    encPos=0 =0
  encoder_2
    encMode=0x500 =0
    encPos=0 =0
  encoder_3
    encMode=0x500 =0
    encPos=0 =0
  encoder_4
    encMode=0x0 =0
    encPos=0 =0
  encoder_5
    encMode=0x500 =0
    encPos=0 =0
  encoder_6
    encMode=0x500 =0
    encPos=0 =0
  encoder_7
    encMode=0x500 =0
    encPos=0 =0
  encoder_8
    encMode=0x500 =0
    encPos=0 =0
  encoder_9
    encMode=0x500 =0
    encPos=0 =0
  encoder_10
    encMode=0x500 =0
    encPos=0 =0
  encoder_11
    encMode=0x500 =0
    encPos=0 =0
  encoder_12
    encMode=0x500 =0
    encPos=0 =0
  encoder_256
    encMode=0x0 =0
    encPos=0 =0
    do_group=0 val=0xFFFFFFFF,rtn=0
    do_group=1 val=0xFFFFFFFF,rtn=0
    do_group=2 val=0x3,rtn=1313
    do_group=3 val=0x3,rtn=1313
    do_group=4 val=0x3,rtn=1313
    do_group=5 val=0x3,rtn=1313
    di_group=0 val=0xFFDFFFFF,rtn=0
    di_group=1 val=0x0,rtn=0
    di_group=2 val=0x3,rtn=1293
    di_group=3 val=0x3,rtn=1293
    di_group=4 val=0x3,rtn=1293
    di_group=5 val=0x3,rtn=1293
    adc_chn=0 val=0xFFFFFFF8,rtn=0
    adc_chn=1 val=0xFFFFFFF8,rtn=0
    adc_chn=2 val=0xFFFFFFF8,rtn=0
    adc_chn=3 val=0xFFFFFFF8,rtn=0
    adc_chn=4 val=0xFFFFFFF8,rtn=570
    adc_chn=5 val=0xFFFFFFF8,rtn=570
    adc_chn=6 val=0xFFFFFFF8,rtn=570
    adc_chn=7 val=0xFFFFFFF8,rtn=570
    adc_chn=256 val=0x9,rtn=0
    adc_chn=257 val=0xE,rtn=0
    adc_chn=258 val=0xE,rtn=570
    adc_chn=259 val=0xE,rtn=570
    adc_chn=260 val=0xE,rtn=570
    adc_chn=261 val=0xE,rtn=570
    dac_chn=0 val=0x0,rtn=0
    dac_chn=1 val=0x0,rtn=0
    dac_chn=2 val=0x0,rtn=0
    dac_chn=3 val=0x0,rtn=0
    dac_chn=4 val=0x0,rtn=559
    dac_chn=5 val=0x0,rtn=559
    dac_chn=6 val=0x0,rtn=559
    dac_chn=7 val=0x0,rtn=559
    dac_chn=256 val=0x0,rtn=0
    dac_chn=257 val=0x0,rtn=0
    dac_chn=258 val=0x0,rtn=559
    dac_chn=259 val=0x0,rtn=559
    dac_chn=260 val=0x0,rtn=559
    dac_chn=261 val=0x0,rtn=559
====>Crd
  crd_0
    CrdGetSts=1128
  crd_1
    CrdGetSts=1128
  crd_2
    CrdGetSts=1127
  crd_3
    CrdGetSts=1127
  crd_4
    CrdGetSts=1127
  crd_5
    CrdGetSts=1127
  crd_6
    CrdGetSts=1127
  crd_7
    CrdGetSts=1127
====>Output
