Kicad-to-HAL: Review

A LinuxCNC HAL configuration document “wires up” a CNC system’s I/O {hardware} and defines the good judgment operations required for right kind operation. My Kicad-to-HAL program converts a specifically drawn Kicad schematic describing the {hardware} and interconnections into the HAL configuration document required to arrange the system; it’s impressed via the Eagle2HAL converter I used (*17*)a few years in the past.

As an example, my Logitech USB gamepad has four buttons on its again floor:

(*1*)
Logitech gampad – rear buttons

This Kicad schematic defines the {hardware} elements and good judgment required to cause the system’s Emergency Forestall via urgent buttons 5 and 7 on the identical time:

(*2*)
Sherline HAL schematic – gamepad EStop good judgment

The massive block at the left represents the gamepad’s buttons, the AND2 gate (“2” that means “two inputs”, even though there are, as but, no AND gates with extra) combines the two button alerts, and the turn on enter of the halui_estop.100 block places the system into Emergency Forestall state when it sees a true good judgment price.

The Kicad-to-HAL program converts that schematic into those strains within the HAL configuration document:

loadrt and2 depend=22 loadusr -W hal_input -KA Twin # /Gamepad Axes/enter.0.100 addf and2.0 servo-thread # /Gamepad Buttons/and2.100 internet N_014 <= and2.0.out => halui.estop.turn on # /Gamepad Buttons/and2.100 internet _Gamepad_Buttons_E-Forestall-A <= enter.0.btn-top2 => and2.0.in0 # /Gamepad Axes/enter.0.100
internet _Gamepad_Buttons_E-Forestall-B <= enter.0.btn-base => and2.0.in1 # /Gamepad Axes/enter.0.100 

Any other 21 AND2 gates in your entire schematic for my Sherline give a contribution to the depend within the first line. To outline a configuration the usage of naked HAL code, you will have to depend every AND2 gate you utilize, quantity them sequentially ranging from 0, use the correct gate numbers in the entire gate interconnections, and get it precisely proper each and every time. Then do all of it once more, for the OR2 gates, and so on and so forth.

That’s my number one motivation for writing Kicad-to-HAL: computer systems can depend and duplicate higher than I will.

Wiring up the opposite two buttons to reset the E-Forestall situation and switch the system on calls for just a little much less effort:

internet _Gamepad_Buttons_Machine-On <= enter.0.btn-pinkie => halui.system.on # /Gamepad Axes/enter.0.100 internet _Gamepad_Buttons_E-Forestall-Reset <= enter.0.btn-base2 => halui.estop.reset # /Gamepad Axes/enter.0.100 

As a result of Kicad calls for distinct annotations (the trailing quantity) for every form of part and HAL makes use of annotations in a fairly other (and from time to time self-inconsistent) approach, it’s very best to let Kicad annotate All The Issues. Kicad-to-HAL will in finding the smallest Kicad annotation quantity and subtract it from the entire annotations to supply the corresponding HAL annotation: Kicad’s and2.100 turns into HAL’s and2.0. Telling Kicad to start out from 100 makes the annotations more uncomplicated to check up via eye, even though that’s no longer a demand.

The Kicad elements references give you the stems for the HAL names of the part’s pins, in order that and2.0 has an output referred to as and2.100.out after the conversion from and2.100. Some HAL elements shouldn’t have annotations, which Kicad-to-HAL acknowledges via the presence of the StripAnno box after which eliminates the numbers to make pin names like halui.estop.turn on.

The schematic will have to use elements from the LinuxCNC-HAL.lib library document and its information fields saved within the LinuxCNC-HAL.dcm documentation document. I created most effective the elements I wanted for my Sherline setup, as a result of I will take a look at them with some self assurance. Growing a brand new part normally begins via copying one that turns out equivalent and tweaking as wanted, which is one thing you get used to when the usage of any schematic program for any reason why.

A easy flat Kicad sheet hierarchy suffices for the Sherline schematic, with international labels connecting alerts between the sheets. Possibly you’ll additionally use hierarchical pins, however I haven’t examined that. The foundation sheet thus displays thirteen empty blocks with out their global-label interconnections.

So I used fourteen schematic sheets for all the HAL configuration for the Sherline, together with the instrument size probe, three domestic switches, and the Logitech USB gamepad for jogging. Extra advanced machines will require extra schematic sheets, however the common thought is to position separate purposes on separate sheets and let Kicad care for the connections and counting.

The unique (and most likely relatively old-fashioned) writeups of the method have extra main points:

The Python supply code and Kicad libary information as a GitHub Gist:

# Parse Kicad schematic netlist right into a LinuxCNC HAL configuration document
#
# Ed Nisley – KE4ZNU
# 2021-04
import argparse
from pathlib import Trail
import sys
from lxml import etree
# ———-
# take away Kicad annotation from reference as wanted
# kref = Kicad annotated reference
# ma = lowest annotation quantity
def cleanHALref(kref,ma):
comp = elements.xpath(‘comp[@ref=”‘ + kref + ‘”]’)[0]
fields = comp.xpath(‘fields/box[@name=”StripAnno”]’)
if len(fields) and (fields[0].textual content).startswith(“1”):
retval = kref.rpartition(“.”)[0]
else:
r, _, a = kref.rpartition(‘.’)
retval = ‘{}.{}’.structure(r,int(a) ma)
# print(‘strip: {} -> {}’.structure(kref,retval))
go back retval
# ———-
# do the entire thing
parser = argparse.ArgumentParser(
description=“Procedure Kicad schematic netlist into LinuxCNC HAL configuration document”
)
parser.add_argument(“netlist”, assist=“enter: Kicad XML netlist document describing HAL configuration”)
parser.add_argument(“hal”, assist=“output: LinuxCNC HAL configuration document”)
args = parser.parse_args()
xmlfn = Trail(args.netlist)
if no longer xmlfn.exists():
print(“** No such document: {!s}”.structure(xmlfn))
go out()
print(“Opening XML document: {!s}”.structure(xmlfn))
Netlist = etree.parse(xmlfn.call)
halfn = Trail(args.hal)
if halfn is None:
halfn = xmlfn.with_name(xmlfn.stem + “.hal”)
print(“Writing HAL document: {!s}”.structure(halfn))
halfile = open(halfn, “w”)
design = Netlist.xpath(“//design”)[0]
print(“XML date: {}”.structure(design.xpath(“date”)[0].textual content))
libraries = Netlist.xpath(“//libraries”)[0]
print(“Libraries:”)
for l in libraries:
print(” {}”.structure(l.xpath(“uri”)[0].textual content))
elements = Netlist.xpath(“//elements”)[0]
print(“Elements: {:.0f}”.structure(elements.xpath(“depend(comp)”)))
libparts = Netlist.xpath(“//libparts”)[0]
print(“Library portions: {:.0f}”.structure(libparts.xpath(“depend(libpart)”)))
nets = Netlist.xpath(“//nets”)[0]
print(“Nets: {:.0f}”.structure(nets.xpath(“depend(internet)”)))
halfile.write(“# LinuxCNC HAL documentnn# Kicad netlist: {}n.structure(xmlfn))
halfile.write(“# {}nn.structure(design.xpath(“date”)[0].textual content))
# —–
# in finding smallest reference quantity
comps = elements.xpath(‘comp’)
minanno = sys.maxsize
for comp in comps:
ref = comp.attrib[“ref”]
anno = ref.rpartition(‘.’)[2]
if int(anno) < minanno:
minanno = int(anno)
print(‘Minimal Kicad annotation: {}’.structure(minanno))
halfile.write(“# Minimal Kicad annotation: {}n.structure(minanno))
# —–
# load realtime modules
# LOADRT elements
comps = elements.xpath(‘comp[value=”LOADRT”]’)
comps.kind(key=lambda r: r.attrib[“ref”])
#print(f’LRT kind: {comps=}’)
llist = []
for comp in comps:
sname = comp.xpath(‘sheetpath’)[0].attrib[‘names’]
ref = comp.attrib[“ref”]
fld = comp.xpath(‘fields/box[@name=”LoadRT”]’)[0]
#print(f’ cfg: {ref=} -> {fld.textual content=}’)
llist += (*10*)
if len(llist):
llist += [n]
# gather all different elements with a LoadRT box
# a number one + signifies an element the usage of Kicad reference counting
# concatenate remainder of box so as of ref series
rtfs = elements.xpath(‘comp[value!=”LOADRT”]/fields/box[@name=”LoadRT”]’)
#print(f’LRT flds: {rtfs=}’)
rtfs.kind(key=lambda f: f.xpath(“ancestor::comp”)[0].attrib[“ref”])
modules = {}
for f in rtfs:
comp = f.xpath(“ancestor::comp”)[0]
sname = comp.xpath(‘sheetpath’)[0].attrib[‘names’]
ref = comp.attrib[“ref”]
mod = comp.xpath(“libsource”)[0].attrib[“part”]
#print(f’LRT {ref=} {mod=}’)
if f.textual content.startswith(“+”):
if mod in modules:
modules[mod][0] += 1
modules[mod][1] += f.textual content.lstrip(“+ “)
else:
modules.replace({mod: (*15*)})
#print(f” added {mod=} {modules[mod]=}”)
else:
llist += (*8*)
if len(modules):
#print(f’modules: {modules=}’)
for mod, v in looked after(modules.pieces(), key=lambda kv: kv[0]):
llist += (*11*), v[1])]
if len(llist):
halfile.write(n#——n# LoadRT modulesnn)
halfile.write(n.sign up for(llist) + n)
# —–
# gather LoadUsr fields from elements
llist = []
ufs = elements.xpath(‘comp/fields/box[@name=”LoadUsr”]’)
#print(f’Flds: {ufs=}’)
for f in ufs:
comp = f.xpath(“ancestor::comp”)[0]
sname = comp.xpath(‘sheetpath’)[0].attrib[‘names’]
ref = comp.attrib[“ref”]
if len(f.textual content):
#print(f’ {ref=} {f.textual content=}’)
llist += (*12*)
if len(llist):
halfile.write(n#——n# LoadUsr modulesnn)
halfile.write(n.sign up for(llist) + n)
# —–
# gather purposes from power-input pins into addf statements
halfile.write(n#——n# Serve as hookupsnn)
addflist = []
# in finding library THREAD phase to get pins for addf sequencing
tpart = libparts.xpath(‘libpart[@part=”THREAD”]’)[0]
tpins = tpart.xpath(“pins/pin”)
#print(f’Fns: {tpart=}’)
#print(f’ tpins: {tpins=}’)
# step thru all THREAD elements
tcomps = elements.xpath(‘comp[value=”THREAD”]’)
#print(f’ {tcomps=}’)
for tcomp in tcomps:
tcref = tcomp.attrib[“ref”]
cleantcr = cleanHALref(tcref,minanno)
#print(f’ {tcomp=} {tcref=} {cleantcr=}’)
for tpin in tpins:
pnum = tpin.attrib[“num”]
pname = tpin.attrib[“name”]
# use pin quantity to search out different nodes in internet
pnode = nets.xpath(‘internet/node(*13*)’)[0]
nodes = pnode.xpath(“preceding-sibling::node”)
nodes += pnode.xpath(“following-sibling::node”)
#print(f’ {nodes=}’)
if len(nodes) == 0:
proceed
nlist = []
#print(f’ {pname=}’)
for node in nodes:
ref = node.attrib[“ref”]
cleanref = cleanHALref(ref,minanno)
pin = node.attrib[“pin”]
#print(f’ {node=} {ref=} = {cleanref=} {pin=}’)
dcomp = elements.xpath(‘comp[@ref=”‘ + ref + ‘”]’)[0]
sname = dcomp.xpath(‘sheetpath’)[0].attrib[‘names’]
# glance up vacation spot pin call to weed out “_” defaults
# and in finding “/” prefix indicating no ref prefix
dval = dcomp.xpath(“price”)[0]
#print(f’ {dval=} {dval.textual content=}’)
dsrc = dcomp.xpath(“libsource”)[0]
dpart = dsrc.attrib[“part”]
#print(f’ {dsrc=} {dpart=}’)
ldparts = libparts.xpath(‘libpart(*20*)’)
#print(f’ {ldparts=}’)
if len(ldparts):
ldpart = ldparts[0]
ldpin = ldpart.xpath(‘pins/pin[@num=”‘ + pin + ‘”]’)[0]
ldpname = ldpin.attrib[“name”]
#print(f’ {ldpin=} {ldpname=} {dpart=}’)
if ldpname == “_”:
nlist += (*7*)
else:
if ldpname.startswith(“/”):
nlist += (*3*)
else:
nlist += (*6*)
if pname == “_”:
nlist = looked after(nlist,key = lambda okay: okay.rpartition(“/”)[2])
addflist += (*14*) + nlist + [n]
if len(addflist):
halfile.write(n.sign up for(addflist) + n)
# —–
# set parameter values
# hint thru nets to search out different nodes to set
params = 0
parlist = []
for comp in elements:
sname = comp.xpath(‘sheetpath’)[0].attrib[‘names’]
ref = comp.attrib[“ref”]
# forget about non-parameter elements
if no longer ref.startswith(“parameter.”):
proceed
params += 1
price = comp.xpath(“price”)[0].textual content
#print(f’param {ref=} {price=}’)
pnode = nets.xpath(‘internet/node[@ref=”‘ + ref + ‘”]’)[0]
nodes = pnode.xpath(“preceding-sibling::node”) + pnode.xpath(“following-sibling::node”)
for node in nodes:
nref = node.attrib[“ref”]
npin = node.attrib[“pin”]
dref = cleanHALref(nref,minanno)
#print(f’ {ref=} {dref=} {npin=}’)
ncomp = elements.xpath(‘comp[@ref=”‘ + nref + ‘”]’)[0]
nls = ncomp.xpath(“libsource”)[0]
nname = nls.attrib[“part”]
lpart = libparts.xpath(‘libpart(*19*)’)[0]
lpin = lpart.xpath(‘pins/pin[@num=”‘ + npin + ‘”]’)[0]
#print(f’ {ref=} {dref=} {npin=} {lpin=}’)
parlist += (*4*), price, sname, ref)
]
if len(parlist):
halfile.write(n#——n# Parametersnn)
# higher looked after so as of goal pin, no longer annotation
# p = looked after(parlist,key = lambda okay: okay.rpartition(“#”)[2])
p = looked after(parlist,key = lambda okay: okay.break up(” “)[1])
halfile.write(n.sign up for(p) + n)
print(“Parameters: {}”.structure(params))
# —–
# set fixed parameters
# the .price pin is hardcoded right here to stay the schematic phase tidy
consts = 0
conlist = []
for comp in elements:
sname = comp.xpath(‘sheetpath’)[0].attrib[‘names’]
ref = comp.attrib[“ref”]
# forget about non-constant elements
if no longer ref.startswith(“fixed.”):
proceed
consts += 1
price = comp.xpath(“price”)[0].textual content
#print(‘ {ref=} = {price=}’)
pval = cleanHALref(ref,minanno) + “.price”
conlist += (*9*)
if len(conlist):
halfile.write(n#——n# Constantsnn)
c = looked after(conlist,key = lambda okay: okay.rpartition(“#”)[2])
halfile.write(n.sign up for(c) + n)
print(“Constants: {}”.structure(consts))
# —–
# generate HAL internet connections
halfile.write(n#——n# Netsnn)
hallist = []
unmarried = 0
multi = 0
netID = 1
for internet in nets:
call = internet.attrib[“name”]
# skip particular internet for unconnected addf purposes treated later
if call == “_”:
multi += 1
proceed
#print(f'{internet.attrib=}’)
nodes = internet.xpath(“node”)
# skip single-pin nets
# suppress error for pin names beginning with *
if len(nodes) < 2:
if no longer (call.startswith(“Web-“) or call.startswith(“*”)):
hallist += (*5*).attrib[“ref”], call)
]
unmarried += 1
proceed
nameclean = call.translate(call.maketrans(“/ “, “__”, “()”))
#print(f’ {call=} {nameclean=}’)
multi += 1
halstr = “internet “
halsrc = tt# “
halsinks = []
outputs = 0
for node in nodes:
ref = node.attrib[“ref”]
cleanref = cleanHALref(ref,minanno)
pnum = node.attrib[“pin”]
#print(f’ {node.attrib=}’)
comp = elements.xpath(‘comp[@ref=”‘ + ref + ‘”]’)[0]
sname = comp.xpath(‘sheetpath’)[0].attrib[‘names’]
ls = comp.xpath(“libsource”)[0]
#print(f’ {ls.attrib=}’)
lpart = libparts.xpath(‘libpart(*18*) + ‘”]’)[0]
#print(f’ {lpart.attrib=}’)
lpin = lpart.xpath(‘pins/pin[@num=”‘ + pnum + ‘”]’)[0]
pname = lpin.attrib[“name”].lstrip(“*”)
ptype = lpin.attrib[“type”]
#print(f’ {ptype=} {pname=}’)
if ptype == “output”:
if call.startswith(“Web-“):
halstr += “N_{:0>3d} <= {}.{} => “.structure(netID, cleanref, pname)
netID += 1
else:
halstr += “{} <= {}.{} => “.structure(nameclean, cleanref, pname)
halsrc += sname + ref
outputs += 1
else:
halsinks += (*16*)
halstr += ” “.sign up for(looked after(halsinks)) + halsrc
if “parameter” in halstr or “-thread” in halstr: # discard parameters and threads
#print(f’ discard: {halstr=}’)
multi -= 1
proceed
elif outputs == 0:
halstr = “#* No output pins: {}n.structure(halstr)
elif outputs > 1:
halstr = “#* A couple of output pins: {}n.structure(halstr)
#print(f’ {halstr=}’)
hallist += [halstr]
if len(hallist):
hallist = looked after(hallist,key = lambda okay: okay.break up(” “)[1])
halfile.write(n.sign up for(hallist) + n)
print(‘HAL nets: {:d}’.structure(multi))
halfile.write(n#——n# Achieved!n)
halfile.shut()

EESchema-LIBRARY Model 2.4
#encoding utf-8
#
# AND2
#
DEF AND2 and2. 0 0 N Y 1 F N
F0 “and2.” 0 200 50 H V C CNN
F1 “AND2” 0 0 50 H V C CNN
F2 “” 0 0 50 H I C CNN
F3 “” 0 0 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
A 0 0 150 0 900 0 1 0 f 150 0 0 150
A 0 0 150 0 -900 0 1 0 f 150 0 0 -150
P 4 0 1 0 0 150 -150 150 -150 -150 0 -150 f
X in0 1 -300 100 150 R 50 50 1 1 I
X in1 2 -300 -100 150 R 50 50 1 1 I
X out 3 300 0 150 L 50 50 1 1 O
X _ 4 -250 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# COMP
#
DEF COMP comp. 0 20 N Y 1 F N
F0 “comp.” -50 300 50 H V C CNN
F1 “COMP” -50 200 50 H V C CNN
F2 “” 300 -50 50 H I C CNN
F3 “” 300 -50 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
T 0 -100 -50 50 0 0 0 + Commonplace 0 C C
T 0 -100 50 50 0 0 0 – Commonplace 0 C C
S 200 150 -300 250 0 1 0 f
S -300 150 200 -350 1 1 0 N
X in0 1 -400 50 100 R 50 50 1 1 I
X out 2 300 50 100 L 50 50 1 1 O
X in1 3 -400 -50 100 R 50 50 1 1 I
X hyst 4 -400 -250 154 R 50 50 1 1 I I
X _ 5 -400 -150 100 R 50 50 1 1 W NC
X equivalent 6 300 -50 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# CONSTANT
#
DEF CONSTANT fixed. 0 0 N N 1 F N
F0 “fixed.” 0 100 50 H I C CNN
F1 “CONSTANT” 200 0 50 H V R CNN
F2 “” 250 -250 50 H I C CNN
F3 “” 250 -250 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
P 4 0 1 0 -400 50 250 50 250 -50 -400 -50 N
X out 1 350 0 100 L 50 50 1 1 O
X _ 2 -500 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# CONV_FLOAT_S32
#
DEF CONV_FLOAT_S32 conv-float-s32. 0 20 N Y 1 F N
F0 “conv-float-s32.” 0 300 50 H V C CNN
F1 “CONV_FLOAT_S32” 0 200 50 H V C CNN
F2 “” 0 0 50 H I C CNN
F3 “” 0 0 50 H I C CNN
F4 “+” 0 100 50 H I C CNN “LoadRT”
DRAW
S 400 150 -400 250 0 1 0 f
S -400 150 400 -150 1 1 0 N
X in 1 -500 100 100 R 50 50 1 1 I
X clamp 2 -500 -100 157 R 50 50 1 1 I I
X out-of-range 3 500 0 100 L 50 50 1 1 O
X out 4 500 100 100 L 50 50 1 1 O
X _ 5 -500 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# CONV_FLOAT_U32
#
DEF CONV_FLOAT_U32 conv-float-u32. 0 40 N Y 1 F N
F0 “conv-float-u32.” 0 300 50 H V C CNN
F1 “CONV_FLOAT_U32” 0 200 50 H V C CNN
F2 “” 0 50 50 H I C CNN
F3 “” 0 50 50 H I C CNN
F4 “+” 0 100 50 H I C CNN “LoadRT”
DRAW
S -400 150 400 -150 1 1 0 N
S 400 150 -400 250 1 1 0 f
X in 1 -500 100 100 R 50 50 1 1 I
X clamp 2 -500 -100 157 R 50 50 1 1 I I
X out-of-range 3 500 0 100 L 50 50 1 1 O
X out 4 500 100 100 L 50 50 1 1 O
X _ 5 -500 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# DBOUNCE
#
DEF DBOUNCE dbounce. 0 20 N Y 1 F N
F0 “dbounce.” 0 300 50 H V C CNN
F1 “DBOUNCE” 0 200 50 H V C CNN
F2 “” 600 -350 50 H I C CNN
F3 “” 600 -350 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
S 200 150 -200 250 0 1 0 f
S -200 150 200 -150 1 1 0 N
X in 1 -300 100 100 R 50 50 1 1 I
X out 2 300 100 100 L 50 50 1 1 O
X put off 3 -300 -100 100 R 50 50 1 1 I
X _ 4 -300 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# FLIPFLOP
#
DEF FLIPFLOP flipflop. 0 20 N Y 1 F N
F0 “flipflop.” 0 450 50 H V C CNN
F1 “FLIPFLOP” 0 350 50 H V C CNN
F2 “” 400 -150 50 H I C CNN
F3 “” 400 -150 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
S 200 300 -200 400 0 1 0 f
S -200 300 200 -300 1 1 0 N
X information 2 -300 200 100 R 50 50 1 0 I
X out 5 300 0 100 L 50 50 1 0 O
X reset 1 -300 -200 100 R 50 50 1 1 I
X clk 3 -300 100 100 R 50 50 1 1 I
X set 4 -300 -100 100 R 50 50 1 1 I
X _ 6 -300 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# HALUI
#
DEF HALUI halui. 0 40 N Y 1 F N
F0 “halui.” 0 500 59 H V C CNN
F1 “HALUI” 0 400 50 H V C CNN
F2 “” -150 300 50 H I C CNN
F3 “” -150 300 50 H I C CNN
F4 “1” 350 400 50 H V C CNN “StripAnno”
DRAW
S -400 -300 400 350 0 1 0 N
S -400 450 400 350 0 1 0 f
X abort 1 -500 250 100 R 0 50 1 0 I
X home-all 2 -500 100 100 R 50 50 1 1 I
X mdi-command-00 ~ -500 -100 100 R 50 50 1 1 I
X mdi-command-01 ~ -500 -200 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_AXIS
#
DEF HALUI_AXIS halui.axis. 0 40 N Y 1 F N
F0 “halui.axis.” 0 400 50 H V C CNN
F1 “HALUI_AXIS” 0 300 50 H V C CNN
F2 “” 450 400 50 H I C CNN
F3 “” 450 400 50 H I C CNN
F4 “1” 500 300 50 H V C CNN “StripAnno”
DRAW
S -550 -50 550 250 0 1 0 N
S 550 350 -550 250 0 1 0 f
X jog-deadband 1 -650 50 100 R 50 50 1 1 I
X jog-speed 2 -650 150 100 R 50 50 1 1 I
X chosen 3 650 150 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_AXIS_L
#
DEF HALUI_AXIS_L halui.axis.x. 0 40 N Y 1 F N
F0 “halui.axis.x.” 0 400 50 H V C CNN
F1 “HALUI_AXIS_L” 0 300 50 H V C CNN
F2 “” -100 350 50 H I C CNN
F3 “” -100 350 50 H I C CNN
F4 “1” 600 300 50 H V C CNN “StripAnno”
DRAW
S -650 350 650 250 0 1 0 f
S 650 250 -650 -600 0 1 0 N
X analog 1 -750 50 100 R 50 50 1 1 I
X pos-relative 10 750 -150 100 L 50 50 1 1 O
X choose 11 -750 200 100 R 50 50 1 1 I
X increment 2 -750 -100 100 R 50 50 1 1 I
X increment-minus 3 -750 -200 100 R 50 50 1 1 I
X increment-plus 4 -750 -300 100 R 50 50 1 1 I
X is-selected 5 750 200 100 L 50 50 1 1 O
X minus 6 -750 -450 100 R 50 50 1 1 I
X plus 7 -750 -550 100 R 50 50 1 1 I
X pos-commanded 8 750 50 100 L 50 50 1 1 O
X pos-feedback 9 750 -50 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_AXIS_SELECTED
#
DEF HALUI_AXIS_SELECTED halui.axis.chosen. 0 40 N Y 1 F N
F0 “halui.axis.chosen.” 50 400 50 H V C CNN
F1 “HALUI_AXIS_SELECTED” 50 300 50 H V C CNN
F2 “” 1200 850 50 H I C CNN
F3 “” 1200 850 50 H I C CNN
F4 “1” 550 300 50 H V C CNN “StripAnno”
DRAW
S -500 -500 600 250 1 1 0 N
S 600 350 -500 250 1 1 0 f
X increment 1 -600 150 100 R 50 50 1 1 I
X increment-minus 2 -600 0 100 R 50 50 1 1 I
X increment-plus 3 -600 -100 100 R 50 50 1 1 I
X minus 4 -600 -300 100 R 50 50 1 1 I
X plus 5 -600 -400 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_ESTOP
#
DEF HALUI_ESTOP halui.estop. 0 40 N Y 1 F N
F0 “halui.estop.” 0 300 50 H V C CNN
F1 “HALUI_ESTOP” 0 200 50 H V C CNN
F2 “” 0 0 50 H I C CNN
F3 “” 0 0 50 H I C CNN
F4 “1” 300 200 50 H V C CNN “StripAnno”
DRAW
S -350 -150 350 150 0 1 0 N
S 350 150 -350 250 0 1 0 f
X turn on 1 -450 100 100 R 0 50 1 1 I
X is-activated 2 450 0 100 L 0 50 1 1 O
X reset 3 -450 -100 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_FEED_OVERRIDE
#
DEF HALUI_FEED_OVERRIDE halui.feed-override. 0 40 N Y 1 F N
F0 “halui.feed-override.” 0 450 50 H V C CNN
F1 “HALUI_FEED_OVERRIDE” 0 350 50 H V C CNN
F2 “” 200 50 50 H I C CNN
F3 “” 200 50 50 H I C CNN
F4 “1” 500 350 50 H V C CNN “StripAnno”
DRAW
S -450 -400 450 300 0 1 0 N
S 450 300 -450 400 0 1 0 f
X count-enable 1 -550 250 100 R 0 50 1 1 I
X counts 2 -550 150 100 R 0 50 1 1 I
X lower 3 -550 -100 100 R 0 50 1 1 I
X direct-value 4 -550 -250 100 R 0 50 1 1 I
X building up 5 -550 0 100 R 0 50 1 1 I
X scale 6 -550 -350 100 R 0 50 1 1 I
X price 7 550 250 100 L 0 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_FLOOD
#
DEF HALUI_FLOOD halui.flood. 0 40 N Y 1 F N
F0 “halui.flood.” 0 250 50 H V C CNN
F1 “HALUI_FLOOD” 0 150 50 H V C CNN
F2 “” 0 0 50 H I C CNN
F3 “” 0 0 50 H I C CNN
F4 “1” 350 150 50 H V C CNN “StripAnno”
DRAW
S -300 100 300 -100 1 1 0 N
S -300 200 300 100 1 1 0 f
X is-on 1 400 0 100 L 0 50 1 1 O
X off 2 -400 -50 100 R 0 50 1 1 I
X on 3 -400 50 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_JOINT
#
DEF HALUI_JOINT halui.joint. 0 40 N Y 1 F N
F0 “halui.joint.” 0 200 50 H V C CNN
F1 “HALUI_JOINT” 0 100 50 H V C CNN
F2 “” 750 150 50 H I C CNN
F3 “” 750 150 50 H I C CNN
F4 “1” 400 100 50 H V C CNN “StripAnno”
DRAW
S 450 50 -450 -250 1 1 0 N
S 450 50 -450 150 1 1 0 f
X jog-deadband 1 -550 -150 100 R 50 50 1 1 I
X chosen 2 550 -50 100 L 50 50 1 1 O
X jog-speed 3 -550 -50 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_JOINT_N
#
DEF HALUI_JOINT_N halui.joint.0. 0 40 N Y 1 F N
F0 “halui.joint.0.” 0 300 50 H V C CNN
F1 “HALUI_JOINT_N” 0 200 50 H V C CNN
F2 “” 400 300 50 H I C CNN
F3 “” 400 300 50 H I C CNN
F4 “1” 700 200 50 H V C CNN “StripAnno”
DRAW
S -800 -1050 750 150 0 1 0 N
S 750 150 -800 250 0 1 0 f
X minus 1 -900 -850 100 R 50 50 1 1 I
X analog 10 -900 -350 100 R 50 50 1 1 I
X is-selected 11 850 50 100 L 50 50 1 1 O
X is-homed 12 850 -100 100 L 50 50 1 1 O
X increment-plus 13 -900 -700 100 R 50 50 1 1 I
X increment-minus 14 -900 -600 100 R 50 50 1 1 I
X increment 15 -900 -500 100 R 50 50 1 1 I
X domestic 16 -900 -100 100 R 50 50 1 1 I
X has-fault 17 850 -950 100 L 50 50 1 1 O
X unhome 2 -900 -200 100 R 50 50 1 1 I
X choose 3 -900 50 100 R 50 50 1 1 I
X plus 4 -900 -950 100 R 50 50 1 1 I
X override-limits 5 850 -850 100 L 50 50 1 1 O
X on-soft-min-limit 6 850 -700 100 L 50 50 1 1 O
X on-soft-max-limit 7 850 -600 100 L 50 50 1 1 O
X on-hard-min-limit 8 850 -450 100 L 50 50 1 1 O
X on-hard-max-limit 9 850 -350 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_JOINT_SELECTED
#
DEF HALUI_JOINT_SELECTED halui.joint.chosen. 0 40 N Y 1 F N
F0 “halui.joint.chosen.” 0 500 50 H V C CNN
F1 “HALUI_JOINT_SELECTED” 0 400 50 H V C CNN
F2 “” 150 450 50 H I C CNN
F3 “” 150 450 50 H I C CNN
F4 “1” 700 400 50 H V C CNN “StripAnno”
DRAW
S 750 350 -800 -550 0 1 0 N
S 750 350 -800 450 0 1 0 f
X is-homed 1 850 250 100 L 50 50 1 1 O
X increment-plus 10 -900 -200 100 R 50 50 1 1 I
X increment-minus 11 -900 -100 100 R 50 50 1 1 I
X increment 12 -900 0 100 R 50 50 1 1 I
X domestic 13 -900 250 100 R 50 50 1 1 I
X has-fault 14 850 150 100 L 50 50 1 1 O
X unhome 2 -900 150 100 R 50 50 1 1 I
X plus 3 -900 -450 100 R 50 50 1 1 I
X override-limits 4 850 -450 100 L 50 50 1 1 O
X on-soft-min-limit 5 850 -350 100 L 50 50 1 1 O
X on-soft-max-limit 6 850 -250 100 L 50 50 1 1 O
X on-hard-min-limit 7 850 -100 100 L 50 50 1 1 O
X on-hard-max-limit 8 850 0 100 L 50 50 1 1 O
X minus 9 -900 -350 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_LUBE
#
DEF HALUI_LUBE halui.lube. 0 40 N Y 1 F N
F0 “halui.lube.” 0 250 50 H V C CNN
F1 “HALUI_LUBE” -50 150 50 H V C CNN
F2 “” 0 0 50 H I C CNN
F3 “” 0 0 50 H I C CNN
F4 “1” 250 150 50 H V C CNN “StripAnno”
DRAW
S -300 100 300 -100 1 1 0 N
S -300 200 300 100 1 1 0 f
X is-on 1 400 0 100 L 0 50 1 1 O
X off 2 -400 -50 100 R 0 50 1 1 I
X on 3 -400 50 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_MACHINE
#
DEF HALUI_MACHINE halui.system. 0 40 N Y 1 F N
F0 “halui.system.” 0 300 50 H V C CNN
F1 “HALUI_MACHINE” 0 200 50 H V C CNN
F2 “” 2450 1450 50 H I C CNN
F3 “” 2450 1450 50 H I C CNN
F4 “1” 400 200 50 H V C CNN “StripAnno”
DRAW
S -400 -250 450 150 0 1 0 N
S 450 150 -400 250 0 1 0 f
X is-on 1 550 50 100 L 0 50 1 1 O
X off 2 -500 -50 100 R 0 50 1 1 I
X on 3 -500 50 100 R 0 50 1 1 I
X units-per-mm 4 550 -150 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_MAX_VELOCITY
#
DEF HALUI_MAX_VELOCITY halui.max-velocity. 0 40 N Y 1 F N
F0 “halui.max-velocity.” 0 550 50 H V C CNN
F1 “HALUI_MAX_VELOCITY” -50 450 50 H V C CNN
F2 “” 1350 900 50 H I C CNN
F3 “” 1350 900 50 H I C CNN
F4 “1” 450 450 50 H V C CNN “StripAnno”
DRAW
S -500 -400 500 400 0 1 0 N
S 500 400 -500 500 0 1 0 f
X direct-value 1 -600 -200 100 R 50 50 0 0 I
X depend 2 -600 200 100 R 0 50 1 1 I
X count-enable 3 -600 300 100 R 0 50 1 1 I
X lower 4 -600 50 100 R 0 50 1 1 I
X building up 5 -600 -50 100 R 0 50 1 1 I
X scale 6 -600 -300 100 R 0 50 1 1 I
X price 7 600 200 100 L 0 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_MIST
#
DEF HALUI_MIST halui.mist. 0 40 N Y 1 F N
F0 “halui.mist.” 0 250 50 H V C CNN
F1 “HALUI_MIST” 0 150 50 H V C CNN
F2 “” 0 -50 50 H I C CNN
F3 “” 0 -50 50 H I C CNN
F4 “1” 300 150 50 H V C CNN “StripAnno”
DRAW
S -300 100 350 -100 0 1 0 N
S -300 200 350 100 0 1 0 f
X is-on 1 450 0 100 L 0 50 1 1 O
X off 2 -400 -50 100 R 0 50 1 1 I
X on 3 -400 50 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_MODE
#
DEF HALUI_MODE halui.mode. 0 40 N Y 1 F N
F0 “halui.mode.” 0 500 50 H V C CNN
F1 “HALUI_MODE” 0 400 50 H V C CNN
F2 “” 900 750 50 H I C CNN
F3 “” 900 750 50 H I C CNN
F4 “1” 350 400 50 H V C CNN “StripAnno”
DRAW
S -400 -650 400 350 0 1 0 N
S 400 350 -400 450 0 1 0 f
X auto 1 -500 250 100 R 0 50 1 1 I
X teleop 10 -500 -550 100 R 0 50 1 1 I
X is-auto 2 500 250 100 L 0 50 1 1 O
X is-joint 3 500 50 100 L 0 50 1 1 O
X is-manual 4 500 -150 100 L 0 50 1 1 O
X is-mdi 5 500 -350 100 L 0 50 1 1 O
X is-teleop 6 500 -550 100 L 0 50 1 1 O
X joint 7 -500 50 100 R 0 50 1 1 I
X guide 8 -500 -150 100 R 0 50 1 1 I
X mdi 9 -500 -350 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_PROGRAM
#
DEF HALUI_PROGRAM halui.program. 0 40 N Y 1 F N
F0 “halui.program.” -50 550 50 H V C CNN
F1 “HALUI_PROGRAM” -50 450 50 H V C CNN
F2 “” 50 300 50 H I C CNN
F3 “” 50 300 50 H I C CNN
F4 “1” 400 450 50 H V C CNN “StripAnno”
DRAW
S -500 400 450 -950 0 1 0 N
S 450 400 -500 500 0 1 0 f
X block-delete.is-on 1 550 -750 100 L 0 50 1 1 O
X pause 10 -600 -50 100 R 0 50 1 1 I
X resume 11 -600 -150 100 R 0 50 1 1 I
X run 12 -600 300 100 R 0 50 1 1 I
X step 13 -600 200 100 R 0 50 1 1 I
X quit 14 -600 100 100 R 0 50 1 1 I
X block-delete.off 2 -600 -850 100 R 0 50 1 1 I
X block-delete.on 3 -600 -650 100 R 0 50 1 1 I
X is-idle 4 550 200 100 L 0 50 1 1 O
X is-paused 5 550 -50 100 L 0 50 1 1 O
X is-running 6 550 300 100 L 0 50 1 1 O
X optional-stop.is-on 7 550 -400 100 L 0 50 1 1 O
X optional-stop.off 8 -600 -500 100 R 0 50 1 1 I
X optional-stop.on 9 -600 -300 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_RAPID_OVERRIDE
#
DEF HALUI_RAPID_OVERRIDE halui.rapid-override. 0 40 N Y 1 F N
F0 “halui.rapid-override.” 0 450 50 H V C CNN
F1 “HALUI_RAPID_OVERRIDE” -50 350 50 H V C CNN
F2 “” 1050 750 50 H I C CNN
F3 “” 1050 750 50 H I C CNN
F4 “1” 500 350 50 H V C CNN “StripAnno”
DRAW
S -550 -500 550 300 1 1 0 N
S 550 300 -550 400 1 1 0 f
X count-enable 1 -650 200 100 R 0 50 1 1 I
X counts 2 -650 100 100 R 0 50 1 1 I
X lower 3 -650 -150 100 R 0 50 1 1 I
X direct-value 4 -650 -300 100 R 0 50 1 1 I
X building up 5 -650 -50 100 R 0 50 1 1 I
X scale 6 -650 -400 100 R 0 50 1 1 I
X price 7 650 200 100 L 0 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_SPINDLE_N
#
DEF HALUI_SPINDLE_N halui.spindle.0. 0 40 N Y 1 F N
F0 “halui.spindle.0.” 0 900 50 H V C CNN
F1 “HALUI_SPINDLE_N” 0 800 50 H V C CNN
F2 “” -50 1450 50 H I C CNN
F3 “” -50 1450 50 H I C CNN
F4 “1” 550 800 50 H V C CNN “StripAnno”
DRAW
S -650 -950 600 750 0 1 0 N
S 600 750 -650 850 0 1 0 f
X override.direct-value 11 -750 -850 100 R 50 50 0 0 I
X override.counts 1 -750 -550 100 R 0 50 1 1 I
X override.lower 10 -750 -650 100 R 0 50 1 1 I
X override.count-enable 12 -750 -450 100 R 0 50 1 1 I
X is-on 13 700 -100 100 L 0 50 1 1 O
X building up 14 -750 150 100 R 0 50 1 1 I
X ahead 15 -750 400 100 R 0 50 1 1 I
X lower 16 -750 50 100 R 0 50 1 1 I
X brake.off 17 -750 550 100 R 0 50 1 1 I
X brake-on 18 -750 650 100 R 0 50 1 1 I
X brake-is-on 19 700 650 100 L 0 50 1 1 O
X quit 2 -750 -200 100 R 0 50 1 1 I
X get started 3 -750 -100 100 R 0 50 1 1 I
X runs-forward 4 700 400 100 L 0 50 1 1 O
X runs-backwards 5 700 300 100 L 0 50 1 1 O
X opposite 6 -750 300 100 R 0 50 1 1 I
X override.price 7 700 -350 100 L 0 50 1 1 O
X override.scale 8 -750 -350 100 R 0 50 1 1 I
X override.building up 9 -750 -750 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_TOOL
#
DEF HALUI_TOOL halui.instrument. 0 40 N Y 1 F N
F0 “halui.instrument.” -50 750 50 H V C CNN
F1 “HALUI_TOOL” -50 650 50 H V C CNN
F2 “” -50 300 50 H I C CNN
F3 “” -50 300 50 H I C CNN
F4 “1” 250 650 50 H V C CNN “StripAnno”
DRAW
S -400 600 300 700 0 1 0 f
S 300 600 -400 -800 0 1 0 N
X diameter 1 400 400 100 L 0 50 1 1 O
X length-offset.z 10 400 -700 100 L 0 50 1 1 O
X quantity 11 400 500 100 L 0 50 1 1 O
X length-offset.a 2 400 250 100 L 0 50 1 1 O
X length-offset.b 3 400 150 100 L 0 50 1 1 O
X length-offset.c 4 400 50 100 L 0 50 1 1 O
X length-offset.u 5 400 -150 100 L 0 50 1 1 O
X length-offset.v 6 400 -250 100 L 0 50 1 1 O
X length-offset.w 7 400 -350 100 L 0 50 1 1 O
X length-offset.x 8 400 -500 100 L 0 50 1 1 O
X length-offset.y 9 400 -600 100 L 0 50 1 1 O
ENDDRAW
ENDDEF
#
# HAL_MANUALTOOLCHANGE
#
DEF HAL_MANUALTOOLCHANGE hal_manualtoolchange. 0 40 Y Y 1 F N
F0 “hal_manualtoolchange.” -50 300 59 H V C CNN
F1 “HAL_MANUALTOOLCHANGE” -100 200 50 H V C CNN
F2 “” 0 -100 50 H I C CNN
F3 “” 0 -100 50 H I C CNN
F4 “1” 450 200 50 H V C CNN “StripAnno”
F5 “-W hal_manualtoolchange” -50 100 50 H V C CNN “LoadUsr”
DRAW
S -600 -450 500 50 1 1 0 N
S 500 50 -600 250 1 1 0 f
X substitute 1 -700 -50 100 R 0 50 1 0 I
X change_button 2 -700 -200 100 R 0 50 1 0 I
X replaced 3 600 -50 100 L 0 50 1 0 O
X quantity 4 -700 -350 100 R 0 50 1 0 I
ENDDRAW
ENDDEF
#
# HM2_BOARD
#
DEF HM2_BOARD [HM2](C0). 0 20 N Y 1 F N
F0 “[HM2](C0).” 0 500 50 H V C CNN
F1 “HM2_BOARD” 0 400 50 H V C CNN
F2 “” 550 -200 50 H I C CNN
F3 “” 550 -200 50 H I C CNN
F4 “1” 400 400 50 H V C CNN “StripAnno”
DRAW
S -450 350 450 -550 0 1 0 N
S 450 350 -450 450 0 1 0 f
X watchdog.timeout_ns 8 -550 50 157 R 50 50 1 0 I I
X watchdog.has_bit 1 550 -50 100 L 50 50 1 1 O
X led.CR01 2 -550 300 100 R 50 50 1 1 I
X led.CR02 3 -550 200 100 R 50 50 1 1 I
X learn 4 -550 -150 100 R 50 50 1 1 W C
X *read_gpio 5 -550 -350 100 R 50 50 1 1 W NC
X write 6 -550 -250 100 R 50 50 1 1 W C
X *write_gpio 7 -550 -450 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# HM2_GPIO
#
DEF HM2_GPIO [HM2](C0).gpio.000. 0 40 N Y 1 F N
F0 “[HM2](C0).gpio.000.” 0 300 50 H V C CNN
F1 “HM2_GPIO” -50 200 50 H V C CNN
F2 “” 150 -250 50 H I C CNN
F3 “” 150 -250 50 H I C CNN
F4 “1” 350 200 50 H V C CNN “StripAnno”
DRAW
S -400 150 400 250 0 1 0 f
S 400 150 -400 -350 0 1 0 N
X in 1 500 100 100 L 50 50 1 1 O
X in_not 2 500 0 100 L 50 50 1 1 O
X invert_output 3 -500 -200 157 R 50 50 1 1 I I
X is_opendrain 4 -500 -300 157 R 50 50 1 1 I I
X is_output 5 -500 -100 157 R 50 50 1 1 I I
X out 6 -500 100 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# HM2_PWMGEN
#
DEF HM2_PWMGEN [HM2](C0).pwmgen. 0 40 N Y 1 F N
F0 “[HM2](C0).pwmgen.” 0 550 50 H V C CNN
F1 “HM2_PWMGEN” 0 450 50 H V C CNN
F2 “” 0 0 50 H I C CNN
F3 “” 0 0 50 H I C CNN
F4 “1” 450 450 50 H V C CNN “StripAnno”
DRAW
S -450 400 500 100 1 1 0 N
S -450 500 500 400 1 1 0 f
X pdm_frequency 1 -550 200 157 R 50 50 1 1 I I
X pwm_frequency 2 -550 300 157 R 50 50 1 1 I I
ENDDRAW
ENDDEF
#
# HM2_PWMGEN_N
#
DEF HM2_PWMGEN_N [HM2](C0).pwmgen.00. 0 40 N Y 1 F N
F0 “[HM2](C0).pwmgen.00.” 0 650 50 H V C CNN
F1 “HM2_PWMGEN_N” 0 550 50 H V C CNN
F2 “” 0 -250 50 H I C CNN
F3 “” 0 -250 50 H I C CNN
F4 “1” 450 550 50 H V C CNN “StripAnno”
DRAW
S -450 500 500 -700 1 1 0 N
S -450 600 500 500 1 1 0 f
X price 1 -550 400 100 R 50 50 1 1 I
X allow 2 -550 300 100 R 50 50 1 1 I
X scale 3 -550 150 157 R 50 50 1 1 I I
X output-type 4 -550 0 157 R 50 50 1 1 I I
X out0.invert_output 5 -550 -250 157 R 50 50 1 1 I I
X out1.invert_output 6 -550 -500 157 R 50 50 1 1 I I
X offset-mode 7 -550 -100 157 R 50 50 1 1 I I
X out0.is_opendrain 8 -550 -350 157 R 50 50 1 1 I I
X out1.is_opendrain 9 -550 -600 157 R 50 50 1 1 I I
ENDDRAW
ENDDEF
#
# HM2_STEPGEN
#
DEF HM2_STEPGEN [HM2](C0).stepgen.00. 0 20 N Y 1 F N
F0 “[HM2](C0).stepgen.00.” -50 900 50 H V C CNN
F1 “HM2_STEPGEN” -50 800 50 H V C CNN
F2 “” 0 500 50 H I C CNN
F3 “” 0 500 50 H I C CNN
F4 “1” 400 800 50 H V C CNN “StripAnno”
DRAW
S -500 750 450 -1250 0 1 0 N
S -500 850 450 750 0 1 0 f
X control-type 1 -600 500 100 R 50 50 1 1 I
X position-scale 10 -600 -50 157 R 50 50 1 1 I I
X step_type 11 -600 -1150 157 R 50 50 1 1 I I
X steplen 12 -600 -200 157 R 50 50 1 1 I I
X stepspace 13 -600 -300 157 R 50 50 1 1 I I
X step.invert_output 14 -600 -400 157 R 50 50 1 1 I I
X path.invert_output 15 -600 -750 157 R 50 50 1 1 I I
X velocity-cmd 16 -600 200 100 R 50 50 1 1 I
X velocity-fb 17 550 100 100 L 50 50 1 1 O
X counts 2 550 650 100 L 50 50 1 1 O
X dirhold 3 -600 -650 157 R 50 50 1 1 I I
X dirsetup 4 -600 -550 157 R 50 50 1 1 I I
X allow 5 -600 650 100 R 50 50 1 1 I
X maxaccel 6 -600 -1000 157 R 50 50 1 1 I I
X maxvel 7 -600 -900 157 R 50 50 1 1 I I
X position-cmd 8 -600 400 100 R 50 50 1 1 I
X position-fb 9 550 300 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# IOCONTROL
#
DEF IOCONTROL iocontrol.0. 0 40 N Y 1 F N
F0 “iocontrol.0.” 0 700 59 H V C CNN
F1 “IOCONTROL” 0 600 50 H V C CNN
F2 “” -100 200 50 H I C CNN
F3 “” -100 200 50 H I C CNN
F4 “1” 650 600 50 H V C CNN “StripAnno”
DRAW
S -750 550 700 650 1 1 0 f
S 700 550 -750 -950 1 1 0 N
X coolant-flood 1 800 -50 100 L 0 50 1 0 O
X tool-prep-pocket 10 800 -750 100 L 0 50 1 0 O
X tool-prepare 11 800 -550 100 L 0 50 1 0 O
X tool-prepared 12 -850 -550 100 R 0 50 1 0 I
X user-enable-out 13 800 450 100 L 0 50 1 0 O
X user-request-enable 14 800 350 100 L 0 50 1 0 O
X coolant-mist 2 800 -150 100 L 0 50 1 0 O
X emc-enable-in 3 -850 450 100 R 0 50 1 0 I
X lube 4 800 150 100 L 0 50 1 0 O
X lube-level 5 -850 150 100 R 0 50 1 0 I
X tool-change 6 800 -850 100 L 0 50 1 0 O
X tool-changed 7 -850 -850 100 R 0 50 1 0 I
X tool-number 8 800 -350 100 L 0 50 1 0 O
X tool-prep-number 9 800 -650 100 L 0 50 1 0 O
X tool-prep-index 15 800 -450 157 L 50 50 1 1 O I
ENDDRAW
ENDDEF
#
# JOINT_N
#
DEF JOINT_N joint.0. 0 40 N Y 1 F N
F0 “joint.0.” 0 800 50 H V C CNN
F1 “JOINT_N” 0 700 50 H V C CNN
F2 “” 1050 150 50 H I C CNN
F3 “” 1050 150 50 H I C CNN
F4 “1” 700 700 50 H V C CNN “StripAnno”
DRAW
S -700 650 750 -1500 0 1 0 N
S -700 650 750 750 0 1 0 f
X jog-enable 1 -800 -950 100 R 50 50 1 1 I
X motor-pos-cmd 10 850 550 100 L 50 50 1 1 O
X jog-vel-mode 11 -800 -1150 100 R 50 50 1 1 I
X jog-scale 12 -800 -1050 100 R 50 50 1 1 I
X energetic 13 850 50 100 L 50 50 1 1 O
X jog-counts 14 -800 -850 100 R 50 50 1 1 I
X jog-accel-fraction 15 -800 -750 100 R 50 50 1 1 I
X is-unlocked 16 -800 -600 100 R 50 50 1 1 I
X index-enable 17 -800 -450 100 R 50 50 1 1 B
X homing 18 850 -450 100 L 50 50 1 1 O
X homed 19 850 -350 100 L 50 50 1 1 O
X unencumber 2 850 -600 100 L 50 50 1 1 O
X home-sw-in 20 -800 -350 100 R 50 50 1 1 I
X faulted 21 850 -150 100 L 50 50 1 1 O
X error 22 850 -50 100 L 50 50 1 1 O
X amp-fault-in 23 -800 -150 100 R 50 50 1 1 I
X amp-enable-out 24 850 450 100 L 50 50 1 1 O
X pos-lim-sw-in 3 -800 -1400 100 R 50 50 1 1 I
X pos-hard-limit 4 850 -1400 100 L 50 50 1 1 O
X pos-fb 5 850 200 100 L 50 50 1 1 O
X pos-cmd 6 850 300 100 L 50 50 1 1 O
X neg-lim-sw-in 7 -800 -1300 100 R 50 50 1 1 I
X neg-hard-limit 8 850 -1300 100 L 50 50 1 1 O
X motor-pos-fb 9 -800 550 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# LOADRT
#
DEF LOADRT loadrt.0. 0 0 N N 1 F N
F0 “loadrt.0.” 0 250 50 H V C CNN
F1 “LOADRT” -50 150 50 H V C CNN
F2 “” 800 -500 50 H I C CNN
F3 “” 800 -500 50 H I C CNN
F4 “Part + choices cross right here” -250 50 50 H V L CNN “LoadRT”
F5 “1” 250 150 50 H V C CNN “StripAnno”
DRAW
P 2 0 0 0 300 100 950 100 N
P 2 0 0 0 300 200 300 100 N
P 3 0 0 0 -300 100 -300 0 950 0 N
P 4 0 1 0 300 200 -300 200 -300 100 300 100 f
ENDDRAW
ENDDEF
#
# LOADUSR
#
DEF LOADUSR loadusr.0. 0 0 N N 1 F N
F0 “loadusr.0.” 0 250 50 H V C CNN
F1 “LOADUSR” -50 150 50 H V C CNN
F2 “” 850 -500 50 H I C CNN
F3 “” 850 -500 50 H I C CNN
F4 “Module + choices cross right here” -250 50 50 H V L CNN “LoadUsr”
F5 “1” 250 150 50 H V C CNN “StripAnno”
DRAW
P 2 1 1 0 300 100 850 100 N
P 2 1 1 0 300 200 300 100 N
P 3 1 1 0 -300 100 -300 0 850 0 N
P 4 1 1 0 300 200 -300 200 -300 100 300 100 f
ENDDRAW
ENDDEF
#
# LOGIC
#
DEF LOGIC good judgment.0. 0 20 N Y 1 F N
F0 “good judgment.0.” 0 650 50 H V C CNN
F1 “LOGIC” 0 550 50 H V C CNN
F2 “” 350 -200 50 H I C CNN
F3 “” 350 -200 50 H I C CNN
F4 “1” 300 550 50 H V C CNN “StripAnno”
F5 “+ persona=0x108” -50 -550 50 H V C CNN “LoadRT”
DRAW
T 0 -50 400 50 0 0 0 ” 100″ Commonplace 0 L C
T 0 -50 300 50 0 0 0 ” 200″ Commonplace 0 L C
T 0 -50 200 50 0 0 0 ” 400″ Commonplace 0 L C
T 0 -50 100 50 0 0 0 ” 800″ Commonplace 0 L C
T 0 -50 0 50 0 0 0 1000 Commonplace 0 L C
S 350 500 -400 600 0 1 0 f
S -400 500 350 -500 1 1 0 N
X in-00 1 -500 400 100 R 50 50 1 1 I
X or 10 450 300 100 L 50 50 1 1 O
X xor 11 450 200 100 L 50 50 1 1 O
X nand 12 450 100 100 L 50 50 1 1 O
X nor 13 450 0 100 L 50 50 1 1 O
X _ 14 -500 -400 100 R 50 50 1 1 W NC
X in-01 2 -500 300 100 R 50 50 1 1 I
X in-02 3 -500 200 100 R 50 50 1 1 I
X in-03 4 -500 100 100 R 50 50 1 1 I
X in-04 5 -500 0 100 R 50 50 1 1 I
X in-05 6 -500 -100 100 R 50 50 1 1 I
X in-06 7 -500 -200 100 R 50 50 1 1 I
X in-07 8 -500 -300 100 R 50 50 1 1 I
X and 9 450 400 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# LOGITECH_GAMEPAD_GUF13A
#
DEF LOGITECH_GAMEPAD_GUF13A enter.0. 0 40 N Y 2 L N
F0 “enter.0.” 0 1850 50 H V C CNN
F1 “LOGITECH_GAMEPAD_GUF13A” -50 1750 50 H V C CNN
F2 “” 5500 3600 50 H I C CNN
F3 “” 5500 3600 50 H I C CNN
F4 “1” 550 1750 50 H V C CNN “StripAnno”
F5 “-W hal_input -KA Twin” -50 1650 50 H V C CNN “LoadUsr”
DRAW
T 0 -350 1400 59 0 2 1 1 Commonplace 0 L B
T 0 -400 -1300 59 0 2 1 10 Commonplace 0 L B
T 0 -350 1100 59 0 2 1 2 Commonplace 0 L B
T 0 -350 800 59 0 2 1 3 Commonplace 0 L B
T 0 -350 500 59 0 2 1 4 Commonplace 0 L B
T 0 -350 200 59 0 2 1 5 Commonplace 0 L B
T 0 -350 -100 59 0 2 1 6 Commonplace 0 L B
T 0 -350 -400 59 0 2 1 7 Commonplace 0 L B
T 0 -350 -700 59 0 2 1 8 Commonplace 0 L B
T 0 -350 -1000 59 0 2 1 9 Commonplace 0 L B
T 0 -550 -1600 59 0 2 1 “L Push” Commonplace 0 L B
T 0 -550 -1900 59 0 2 1 “R Push” Commonplace 0 L B
S -850 -1400 750 1600 1 1 0 N
S 750 1600 -850 1800 1 1 0 f
S -650 1600 600 1800 2 1 0 f
S 600 -1950 -650 1600 2 1 0 N
X abs-z-offset 1 -950 -500 100 R 0 50 1 1 I
X abs-z-is-pos 11 850 -700 100 L 0 50 1 1 O
X abs-z-is-neg 12 850 -800 100 L 0 50 1 1 O
X abs-z-fuzz 13 -950 -800 100 R 0 50 1 1 I
X abs-z-flat 14 -950 -700 100 R 0 50 1 1 I
X abs-z-counts 15 850 -500 100 L 0 50 1 1 O
X abs-y-scale 16 -950 -100 100 R 0 50 1 1 I
X abs-y-position 17 850 -100 100 L 0 50 1 1 O
X abs-y-offset 18 -950 0 100 R 0 50 1 1 I
X abs-y-is-pos 28 850 -200 100 L 0 50 1 1 O
X abs-hat0y-flat 37 -950 800 100 R 0 50 1 1 I
X abs-rz-flat 38 -950 -1200 100 R 0 50 1 1 I
X abs-rz-counts 39 850 -1000 100 L 0 50 1 1 O
X abs-hat0y-scale 40 -950 900 100 R 0 50 1 1 I
X abs-hat0y-position 41 850 900 100 L 0 50 1 1 O
X abs-hat0y-offset 42 -950 1000 100 R 0 50 1 1 I
X abs-hat0y-is-pos 43 850 800 100 L 0 50 1 1 O
X abs-hat0y-is-neg 44 850 700 100 L 0 50 1 1 O
X abs-hat0y-fuzz 45 -950 700 100 R 0 50 1 1 I
X abs-rz-fuzz 46 -950 -1300 100 R 0 50 1 1 I
X abs-hat0y-counts 47 850 1000 100 L 0 50 1 1 O
X abs-hat0x-scale 48 -950 1400 100 R 0 50 1 1 I
X abs-hat0x-position 49 850 1400 100 L 0 50 1 1 O
X abs-hat0x-offset 50 -950 1500 100 R 0 50 1 1 I
X abs-hat0x-is-pos 51 850 1300 100 L 0 50 1 1 O
X abs-hat0x-is-neg 52 850 1200 100 L 0 50 1 1 O
X abs-hat0x-fuzz 53 -950 1200 100 R 0 50 1 1 I
X abs-hat0x-flat 54 -950 1300 100 R 0 50 1 1 I
X abs-x-is-neg 55 850 200 100 L 0 50 1 1 O
X abs-y-is-neg 56 850 -300 100 L 0 50 1 1 O
X abs-y-fuzz 57 -950 -300 100 R 0 50 1 1 I
X abs-y-flat 58 -950 -200 100 R 0 50 1 1 I
X abs-y-counts 59 850 0 100 L 0 50 1 1 O
X abs-x-scale 60 -950 400 100 R 0 50 1 1 I
X abs-x-position 61 850 400 100 L 0 50 1 1 O
X abs-x-offset 62 -950 500 100 R 0 50 1 1 I
X abs-x-is-pos 63 850 300 100 L 0 50 1 1 O
X abs-hat0x-counts 64 850 1500 100 L 0 50 1 1 O
X abs-x-fuzz 65 -950 200 100 R 0 50 1 1 I
X abs-x-flat 66 -950 300 100 R 0 50 1 1 I
X abs-x-counts 67 850 500 100 L 0 50 1 1 O
X abs-rz-scale 68 -950 -1100 100 R 0 50 1 1 I
X abs-rz-position 69 850 -1100 100 L 0 50 1 1 O
X abs-rz-offset 70 -950 -1000 100 R 0 50 1 1 I
X abs-rz-is-pos 71 850 -1200 100 L 0 50 1 1 O
X abs-rz-is-neg 72 850 -1300 100 L 0 50 1 1 O
X abs-z-scale 8 -950 -600 100 R 0 50 1 1 I
X abs-z-position 9 850 -600 100 L 0 50 1 1 O
X btn-base4 10 700 -1200 100 L 0 50 2 1 O
X btn-pinkie-not 19 700 -100 100 L 0 50 2 1 O
X btn-base3-not 2 700 -1000 100 L 0 50 2 1 O
X btn-top2-not 20 700 200 100 L 0 50 2 1 O
X btn-top2 21 700 300 100 L 0 50 2 1 O
X btn-top-not 22 700 500 100 L 0 50 2 1 O
X btn-top 23 700 600 100 L 0 50 2 1 O
X btn-thumb2-not 24 700 800 100 L 0 50 2 1 O
X btn-thumb2 25 700 900 100 L 0 50 2 1 O
X btn-thumb-not 26 700 1100 100 L 0 50 2 1 O
X btn-thumb 27 700 1200 100 L 0 50 2 1 O
X btn-pinkie 29 700 0 100 L 0 50 2 1 O
X btn-base3 3 700 -900 100 L 0 50 2 1 O
X btn-joystick-not 30 700 1400 100 L 0 50 2 1 O
X btn-joystick 31 700 1500 100 L 0 50 2 1 O
X btn-base6-not 32 700 -1900 100 L 0 50 2 1 O
X btn-base6 33 700 -1800 100 L 0 50 2 1 O
X btn-base5-not 34 700 -1600 100 L 0 50 2 1 O
X btn-base5 35 700 -1500 100 L 0 50 2 1 O
X btn-base4-not 36 700 -1300 100 L 0 50 2 1 O
X btn-base2-not 4 700 -700 100 L 0 50 2 1 O
X btn-base2 5 700 -600 100 L 0 50 2 1 O
X btn-base-not 6 700 -400 100 L 0 50 2 1 O
X btn-base 7 700 -300 100 L 0 50 2 1 O
ENDDRAW
ENDDEF
#
# MOTION
#
DEF MOTION movement. 0 40 N Y 1 F N
F0 “movement.” 0 1550 59 H V C CNN
F1 “MOTION” 0 1450 50 H V C CNN
F2 “” 0 350 50 H I C CNN
F3 “” 0 350 50 H I C CNN
F4 “1” 600 1450 50 H V C CNN “StripAnno”
DRAW
S -600 1400 650 -1100 1 1 0 N
S 650 1400 -600 1500 1 1 0 f
X feed-hold 1 -700 1000 100 R 0 50 1 0 I
X coord-mode 10 750 950 100 L 0 50 1 0 O
X distance-to-go 11 750 350 100 L 0 50 1 0 O
X probe-input 12 -700 600 100 R 0 50 1 0 I
X in-position 13 750 1300 100 L 0 50 1 0 O
X adaptive-feed 14 -700 800 100 R 0 50 1 0 I
X allow 15 -700 1300 100 R 0 50 1 0 I
X digital-out-03 16 750 -750 100 L 0 50 1 0 O
X digital-out-02 17 750 -650 100 L 0 50 1 0 O
X digital-out-01 18 750 -550 100 L 0 50 1 0 O
X digital-out-00 19 750 -450 100 L 0 50 1 0 O
X homing-inhibit 2 -700 450 100 R 0 50 1 0 I
X analog-out-00 20 750 -200 100 L 0 50 1 0 O
X analog-out-01 21 750 -300 100 L 0 50 1 0 O
X digital-in-03 22 -700 -750 100 R 0 50 1 0 I
X digital-in-02 23 -700 -650 100 R 0 50 1 0 I
X digital-in-01 24 -700 -550 100 R 0 50 1 0 I
X analog-in-00 25 -700 -200 100 R 0 50 1 0 I
X analog-in-01 26 -700 -300 100 R 0 50 1 0 I
X digital-in-00 27 -700 -450 100 R 0 50 1 0 I
X feed-inhibit 3 -700 900 100 R 0 50 1 0 I
X on-soft-limit 30 750 -50 100 L 0 50 1 0 O
X requested-vel 31 750 500 100 L 0 50 1 0 O
X teleop-mode 32 750 750 100 L 0 50 1 0 O
X motion-type 4 750 1100 100 L 0 50 1 0 O
X motion-enabled 5 750 1200 100 L 0 50 1 0 O
X offset-limited 6 750 100 100 L 0 50 1 0 O
X current-vel 7 750 600 100 L 0 50 1 0 O
X coord-error 8 750 850 100 L 0 50 1 0 O
X offset-active 9 750 200 100 L 0 50 1 0 O
X /motion-controller 28 -700 -1000 100 R 50 50 1 1 W C
X /motion-command-handler 29 -700 -900 100 R 50 50 1 1 W C
ENDDRAW
ENDDEF
#
# MUX2
#
DEF MUX2 mux2. 0 20 N Y 1 F N
F0 “mux2.” 0 300 50 H V C CNN
F1 “MUX2” 0 200 50 H V C CNN
F2 “” 350 -150 50 H I C CNN
F3 “” 350 -150 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
S -150 150 150 -250 0 1 0 N
S 150 150 -150 250 0 1 0 f
X in0 1 -250 100 100 R 50 50 1 1 I
X in1 2 -250 0 100 R 50 50 1 1 I
X sel 3 -250 -200 100 R 50 50 1 1 I
X out 4 250 100 100 L 50 50 1 1 O
X _ 5 -250 -100 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# MUX4
#
DEF MUX4 mux4. 0 20 N Y 1 F N
F0 “mux4.” 0 450 50 H V C CNN
F1 “MUX4” 0 350 50 H V C CNN
F2 “” 400 -100 50 H I C CNN
F3 “” 400 -100 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
S 150 300 -150 400 0 1 0 f
S -150 300 150 -400 1 1 0 N
X in0 1 -250 250 100 R 50 50 1 1 I
X in1 2 -250 150 100 R 50 50 1 1 I
X in2 3 -250 50 100 R 50 50 1 1 I
X in3 4 -250 -50 100 R 50 50 1 1 I
X sel0 5 -250 -250 100 R 50 50 1 1 I
X sel1 6 -250 -350 100 R 50 50 1 1 I
X out 7 250 250 100 L 50 50 1 1 O
X _ 8 -250 -150 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# MUX8
#
DEF MUX8 mux8. 0 20 N Y 1 F N
F0 “mux8.” 0 750 50 H V C CNN
F1 “MUX8” 0 650 50 H V C CNN
F2 “” 350 -100 50 H I C CNN
F3 “” 350 -100 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
S 150 600 -150 700 0 1 0 f
S -150 600 150 -600 1 1 0 N
X in0 1 -250 550 100 R 50 50 1 1 I
X sel1 10 -250 -450 100 R 50 50 1 1 I
X sel2 11 -250 -550 100 R 50 50 1 1 I
X _ 12 -250 -250 100 R 50 50 1 1 W NC
X in1 2 -250 450 100 R 50 50 1 1 I
X in2 3 -250 350 100 R 50 50 1 1 I
X in3 4 -250 250 100 R 50 50 1 1 I
X in4 5 -250 150 100 R 50 50 1 1 I
X in5 6 -250 50 100 R 50 50 1 1 I
X in6 7 -250 -50 100 R 50 50 1 1 I
X out 7 250 550 100 L 50 50 1 1 O
X in7 8 -250 -150 100 R 50 50 1 1 I
X sel0 9 -250 -350 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# NOT
#
DEF NOT no longer. 0 0 N N 1 F N
F0 “no longer.” 100 150 50 H V C CNN
F1 “NOT” 0 0 50 H V C CNN
F2 “” 350 -250 50 H I C CNN
F3 “” 350 -250 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
C 225 0 25 0 1 0 f
P 4 1 0 10 -100 150 -100 -150 200 0 -100 150 f
X in 1 -250 0 150 R 50 50 1 1 I
X out 2 450 0 197 L 50 50 1 1 O
X _ 3 -200 -100 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# OR2
#
DEF OR2 or2. 0 0 N N 1 F N
F0 “or2.” 0 200 50 H V C CNN
F1 “OR2” 0 0 50 H V C CNN
F2 “” 50 0 50 H I C CNN
F3 “” 50 0 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
A -360 0 258 354 -354 1 1 10 N -150 150 -150 -150
A -47 -52 204 150 837 1 1 10 f 150 0 -24 150
A -47 52 204 -150 -837 1 1 10 f 150 0 -24 -150
P 2 1 1 10 -150 -150 -25 -150 f
P 2 1 1 10 -150 150 -25 150 f
P 12 1 1 -1000 -25 150 -150 150 -150 150 -140 134 -119 89 -106 41 -103 -10 -109 -59 -125 -107 -150 -150 -150 -150 -25 -150 f
X in0 1 -300 100 177 R 50 50 1 1 I
X in1 2 -300 -100 177 R 50 50 1 1 I
X out 3 300 0 150 L 50 50 1 1 O
X _ 4 -200 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# PARAMETER
#
DEF PARAMETER parameter. 0 0 N N 1 F N
F0 “parameter.” 0 100 50 H I C CNN
F1 “PARAMETER” 200 0 50 H V R CNN
F2 “” 300 0 50 H I C CNN
F3 “” 300 0 50 H I C CNN
DRAW
P 4 1 1 0 -350 50 300 50 300 -50 -350 -50 N
X out 1 400 0 154 L 50 50 1 0 O I
ENDDRAW
ENDDEF
#
# PID
#
DEF PID pid.0. 0 40 N Y 1 F N
F0 “pid.0.” 0 1400 50 H V C CNN
F1 “PID” 0 1300 50 H V C CNN
F2 “” 750 600 50 H I C CNN
F3 “” 750 600 50 H I C CNN
F4 “1” 600 1300 50 H V C CNN “StripAnno”
DRAW
S -550 1250 650 -1750 0 0 0 N
S 650 1250 -550 1350 0 0 0 f
X do-pid-calcs 1 -650 -1650 100 R 0 50 1 0 I C
X maxerrorD 10 -650 -1000 100 R 0 50 1 0 I
X maxerror 11 -650 -900 100 R 0 50 1 0 I
X maxcmdDDD 12 -650 -1450 100 R 0 50 1 0 I
X maxcmdDD 13 -650 -1350 100 R 0 50 1 0 I
X maxcmdD 14 -650 -1250 100 R 0 50 1 0 I
X index-enable 15 -650 600 100 R 0 50 1 0 I
X Igain 16 -650 100 100 R 0 50 1 0 I
X FF3 17 -650 -450 100 R 0 50 1 0 I
X FF2 18 -650 -350 100 R 0 50 1 0 I
X FF1 19 -650 -250 100 R 0 50 1 0 I
X command 2 -650 950 100 R 0 50 1 0 I
X FF0 20 -650 -150 100 R 0 50 1 0 I
X feedback-deriv 21 -650 1100 100 R 0 50 1 0 I
X suggestions 22 -650 1200 100 R 0 50 1 0 I
X error-previous-target 23 -650 -650 100 R 0 50 1 0 I
X error 24 750 850 100 L 0 50 1 0 O
X allow 25 -650 700 100 R 0 50 1 0 I
X Dgain 26 -650 0 100 R 0 50 1 0 I
X deadband 27 -650 350 100 R 0 50 1 0 I
X command-deriv 28 -650 850 100 R 0 50 1 0 I
X bias 29 -650 450 100 R 0 50 1 0 I
X saturated-s 3 750 600 100 L 0 50 1 0 O
X saturated-count 4 750 500 100 L 0 50 1 0 O
X saturated 5 750 700 100 L 0 50 1 0 O
X Pgain 6 -650 200 100 R 0 50 1 0 I
X output 7 750 950 100 L 0 50 1 0 O
X maxoutput 8 -650 -750 100 R 0 50 1 0 I
X maxerrorI 9 -650 -1100 100 R 0 50 1 0 I
ENDDRAW
ENDDEF
#
# SCALE
#
DEF SCALE scale. 0 20 N Y 1 F N
F0 “scale.” 0 300 50 H V C CNN
F1 “SCALE” 0 200 50 H V C CNN
F2 “” 550 -350 50 H I C CNN
F3 “” 550 -350 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
S 150 150 -150 250 0 1 0 f
S -150 150 150 -250 1 1 0 N
X in 1 -250 100 100 R 50 50 1 1 I
X achieve 2 -250 -100 100 R 50 50 1 1 I
X offset 3 -250 -200 100 R 50 50 1 1 I
X out 4 250 100 100 L 50 50 1 1 O
X _ 5 -250 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# SPINDLE
#
DEF SPINDLE spindle.0. 0 40 N Y 1 F N
F0 “spindle.0.” -50 900 50 H V C CNN
F1 “SPINDLE” -50 800 50 H V C CNN
F2 “” -50 100 50 H I C CNN
F3 “” -50 100 50 H I C CNN
F4 “1” 550 800 50 H V C CNN “StripAnno”
DRAW
S -650 750 600 -1000 1 1 0 N
S 600 750 -650 850 1 1 0 f
X at-speed 1 -750 -650 100 R 0 50 1 1 I
X index-enable 10 -750 200 100 R 0 50 1 1 B
X amp-fault-in 11 -750 -200 100 R 0 50 1 1 I
X speed-out-abs 12 700 -700 100 L 0 50 1 1 O
X speed-out-rps-abs 13 700 -900 100 L 0 50 1 1 O
X speed-out-rps 14 700 -800 100 L 0 50 1 1 O
X speed-cmd-rps 15 700 -450 100 L 0 50 1 1 O
X orient-mode 16 700 -200 100 L 0 50 1 1 O
X orient-angle 17 700 -100 100 L 0 50 1 1 O
X speed-in 18 -750 -550 100 R 0 50 1 1 I
X revs 19 -750 -300 100 R 0 50 1 1 I
X speed-out 2 700 -550 100 L 0 50 1 1 O
X orient-fault 20 -750 -50 100 R 0 50 1 1 I
X is-oriented 21 -750 50 100 R 0 50 1 1 I
X orient 3 700 0 100 L 0 50 1 1 O
X locked 4 700 200 100 L 0 50 1 1 O
X opposite 5 700 450 100 L 0 50 1 1 O
X on 6 700 650 100 L 0 50 1 1 O
X ahead 7 700 550 100 L 0 50 1 1 O
X brake 8 700 350 100 L 0 50 1 1 O
X inhibit 9 -750 650 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# THREAD
#
DEF THREAD name-thread. 0 40 N Y 1 F N
F0 “name-thread.” 0 550 59 H V C CNN
F1 “THREAD” 0 450 50 H V C CNN
F2 “” 100 100 50 H I C CNN
F3 “” 100 100 50 H I C CNN
F4 “1” 400 450 50 H V C CNN “StripAnno”
DRAW
T 0 300 350 50 0 0 0 “First in thread” Commonplace 0 R C
T 0 250 -350 50 0 0 0 “Ultimate in thread” Commonplace 0 R C
T 0 300 0 50 0 0 0 “Looked after via ref” Commonplace 0 R C
S -450 400 450 500 0 1 0 f
S 450 -450 -450 400 0 1 0 N
X 1 1 550 350 100 L 0 50 1 0 w C
X 2 2 550 250 100 L 0 50 1 0 w C
X 3 3 550 150 100 L 0 50 1 0 w C
X _ 4 550 0 100 L 0 50 1 0 w C
X -3 5 550 -150 100 L 0 50 1 0 w C
X -2 6 550 -250 100 L 0 50 1 0 w C
X -1 7 550 -350 100 L 0 50 1 0 w C
ENDDRAW
ENDDEF
#
# TIMEDELAY
#
DEF TIMEDELAY timedelay. 0 20 N Y 1 F N
F0 “timedelay.” 0 350 50 H V C CNN
F1 “TIMEDELAY” 0 250 50 H V C CNN
F2 “” 0 150 50 H I C CNN
F3 “” 0 150 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
S 250 200 -250 300 0 1 0 f
S -250 200 250 -200 1 1 0 N
X in 1 -350 150 100 R 50 50 1 1 I
X on-delay 2 -350 -50 100 R 50 50 1 1 I
X off-delay 3 -350 -150 100 R 50 50 1 1 I
X out 4 350 150 100 L 50 50 1 1 O
X elapsed 5 350 50 100 L 50 50 1 1 O
X _ 6 -350 50 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# TOGGLE
#
DEF TOGGLE toggle. 0 20 N Y 1 F N
F0 “toggle.” 0 300 50 H V C CNN
F1 “TOGGLE” 0 200 50 H V C CNN
F2 “” 300 -50 50 H I C CNN
F3 “” 300 -50 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
S 250 150 -200 250 0 1 0 f
S -200 150 250 -150 1 1 0 N
X in 1 -300 100 100 R 50 50 1 1 I
X out 2 350 100 100 L 50 50 1 1 O
X debounce 4 -250 -100 100 R 50 50 1 1 I I
X _ 5 -300 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# XOR2
#
DEF XOR2 xor2. 0 0 N N 1 F N
F0 “xor2.” -50 200 50 H V C CNN
F1 “XOR2” 25 0 50 H V C CNN
F2 “” 0 0 50 H I C CNN
F3 “” 0 0 50 H I C CNN
F4 “+” 0 0 50 H I C CNN “LoadRT”
DRAW
A -385 0 258 354 -354 1 1 10 N -175 150 -175 -150
A -360 0 258 354 -354 1 1 10 N -150 150 -150 -150
A -47 -52 204 150 837 1 1 10 f 150 0 -24 150
A -47 52 204 -150 -837 1 1 10 f 150 0 -24 -150
P 2 1 1 10 -150 -150 -25 -150 f
P 2 1 1 10 -150 150 -25 150 f
P 12 1 1 -1000 -25 150 -150 150 -150 150 -140 134 -119 89 -106 41 -103 -10 -109 -59 -125 -107 -150 -150 -150 -150 -25 -150 f
X in0 1 -350 100 228 R 50 50 1 1 I
X in1 2 -350 -100 228 R 50 50 1 1 I
X out 3 300 0 150 L 50 50 1 1 O
X _ 4 -250 0 150 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
#Finish Library