Kicad-to-HAL: Overview

A LinuxCNC HAL configuration file “wires up” a CNC machine’s I/O hardware and defines the logic operations required for proper operation. My Kicad-to-HAL program converts a specially drawn Kicad schematic describing the hardware and interconnections into the HAL configuration file required to set up the machine; it’s inspired by the Eagle2HAL converter I used many years ago.

For example, my Logitech USB gamepad has four buttons on its back surface:

Logitech gampad - rear buttons
Logitech gampad – rear buttons

This Kicad schematic defines the hardware components and logic required to trigger the machine’s Emergency Stop by pressing buttons 5 and 7 at the same time:

Sherline HAL schematic - gamepad EStop logic
Sherline HAL schematic – gamepad EStop logic

The large block on the left represents the gamepad’s buttons, the AND2 gate (“2” meaning “two inputs”, although there are, as yet, no AND gates with more) combines the two button signals, and the activate input of the halui_estop.100 block puts the machine into Emergency Stop state when it sees a true logic value.

The Kicad-to-HAL program converts that schematic into these lines in the HAL configuration file:

loadrt and2		count=22 


loadusr -W hal_input -KA Dual		# /Gamepad Axes/input.0.100

addf and2.0		servo-thread		# /Gamepad Buttons/and2.100

net N_014 <= and2.0.out => halui.estop.activate		# /Gamepad Buttons/and2.100

net _Gamepad_Buttons_E-Stop-A <= input.0.btn-top2 => and2.0.in0		# /Gamepad Axes/input.0.100
net _Gamepad_Buttons_E-Stop-B <= input.0.btn-base => and2.0.in1		# /Gamepad Axes/input.0.100


Another 21 AND2 gates in the complete schematic for my Sherline contribute to the count in the first line. To define a configuration using bare HAL code, you must count each AND2 gate you use, number them sequentially starting from zero, use the proper gate numbers in all the gate interconnections, and get it exactly right every time. Then do it all again, for the OR2 gates, and so forth and so on.

That’s my primary motivation for writing Kicad-to-HAL: computers can count and copy better than I can.

Wiring up the other two buttons to reset the E-Stop condition and turn the machine on requires a bit less effort:

net _Gamepad_Buttons_Machine-On <= input.0.btn-pinkie => halui.machine.on		# /Gamepad Axes/input.0.100

net _Gamepad_Buttons_E-Stop-Reset <= input.0.btn-base2 => halui.estop.reset		# /Gamepad Axes/input.0.100

Because Kicad requires distinct annotations (the trailing number) for each type of component and HAL uses annotations in a somewhat different (and occasionally self-inconsistent) manner, it’s easiest to let Kicad annotate All The Things. Kicad-to-HAL will find the smallest Kicad annotation number and subtract it from all of the annotations to produce the corresponding HAL annotation: Kicad’s and2.100 becomes HAL’s and2.0. Telling Kicad to start from 100 makes the annotations easier to match up by eye, although that’s not a requirement.

The Kicad components references provide the stems for the HAL names of the component’s pins, so that and2.0 has an output known as and2.100.out after the conversion from and2.100. Some HAL components do not have annotations, which Kicad-to-HAL recognizes by the presence of the StripAnno field and then removes the numbers to make pin names like halui.estop.activate.

The schematic must use components from the LinuxCNC-HAL.lib library file and its data fields stored in the LinuxCNC-HAL.dcm documentation file. I created only the components I needed for my Sherline setup, because I can test them with some confidence. Creating a new component generally starts by copying one that seems similar and tweaking as needed, which is something you get used to when using any schematic program for any reason.

A simple flat Kicad sheet hierarchy suffices for the Sherline schematic, with global labels connecting signals between the sheets. Presumably you can also use hierarchical pins, but I haven’t tested that. The root sheet thus shows thirteen empty blocks without their global-label interconnections.

So I used fourteen schematic sheets for the entire HAL configuration for the Sherline, including the tool length probe, three home switches, and the Logitech USB gamepad for jogging. More complex machines would require more schematic sheets, but the general idea is to put separate functions on separate sheets and let Kicad handle the connections and counting.

The original (and perhaps slightly outdated) writeups of the process have more details:

The Python source code and Kicad libary files as a GitHub Gist:

# Parse Kicad schematic netlist into a LinuxCNC HAL configuration file
#
# Ed Nisley - KE4ZNU
# 2021-04
import argparse
from pathlib import Path
import sys
from lxml import etree
# ----------
# remove Kicad annotation from reference as needed
# kref = Kicad annotated reference
# ma = lowest annotation number
def cleanHALref(kref,ma):
comp = components.xpath('comp[@ref="' + kref + '"]')[0]
fields = comp.xpath('fields/field[@name="StripAnno"]')
if len(fields) and (fields[0].text).startswith("1"):
retval = kref.rpartition(".")[0]
else:
r, _, a = kref.rpartition('.')
retval = '{}.{}'.format(r,int(a) - ma)
# print('strip: {} -> {}'.format(kref,retval))
return retval
# ----------
# do the whole thing
parser = argparse.ArgumentParser(
description="Process Kicad schematic netlist into LinuxCNC HAL configuration file"
)
parser.add_argument("netlist", help="input: Kicad XML netlist file describing HAL configuration")
parser.add_argument("hal", help="output: LinuxCNC HAL configuration file")
args = parser.parse_args()
xmlfn = Path(args.netlist)
if not xmlfn.exists():
print("** No such file: {!s}".format(xmlfn))
exit()
print("Opening XML file: {!s}".format(xmlfn))
Netlist = etree.parse(xmlfn.name)
halfn = Path(args.hal)
if halfn is None:
halfn = xmlfn.with_name(xmlfn.stem + ".hal")
print("Writing HAL file: {!s}".format(halfn))
halfile = open(halfn, "w")
design = Netlist.xpath("//design")[0]
print("XML date: {}".format(design.xpath("date")[0].text))
libraries = Netlist.xpath("//libraries")[0]
print("Libraries:")
for l in libraries:
print(" {}".format(l.xpath("uri")[0].text))
components = Netlist.xpath("//components")[0]
print("Components: {:.0f}".format(components.xpath("count(comp)")))
libparts = Netlist.xpath("//libparts")[0]
print("Library parts: {:.0f}".format(libparts.xpath("count(libpart)")))
nets = Netlist.xpath("//nets")[0]
print("Nets: {:.0f}".format(nets.xpath("count(net)")))
halfile.write("# LinuxCNC HAL file\n\n# Kicad netlist: {}\n".format(xmlfn))
halfile.write("# {}\n\n".format(design.xpath("date")[0].text))
# -----
# find smallest reference number
comps = components.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('Minimum Kicad annotation: {}'.format(minanno))
halfile.write("# Minimum Kicad annotation: {}\n".format(minanno))
# -----
# load realtime modules
# LOADRT components
comps = components.xpath('comp[value="LOADRT"]')
comps.sort(key=lambda r: r.attrib["ref"])
#print(f'LRT sort: {comps=}')
llist = []
for comp in comps:
sname = comp.xpath('sheetpath')[0].attrib['names']
ref = comp.attrib["ref"]
fld = comp.xpath('fields/field[@name="LoadRT"]')[0]
#print(f' cfg: {ref=} -> {fld.text=}')
llist += ["loadrt {}\t\t# {}{}".format(fld.text, sname, ref)]
if len(llist):
llist += ["\n"]
# collect all other components with a LoadRT field
# a leading + indicates a component using Kicad reference counting
# concatenate rest of field in order of ref sequence
rtfs = components.xpath('comp[value!="LOADRT"]/fields/field[@name="LoadRT"]')
#print(f'LRT flds: {rtfs=}')
rtfs.sort(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.text.startswith("+"):
if mod in modules:
modules[mod][0] += 1
modules[mod][1] += f.text.lstrip("+ ")
else:
modules.update({mod: [1, f.text.lstrip("+ ")]})
#print(f" added {mod=} {modules[mod]=}")
else:
llist += ["loadrt {}\t{}\t\t# {}{}".format(mod, f.text, sname, ref)]
if len(modules):
#print(f'modules: {modules=}')
for mod, v in sorted(modules.items(), key=lambda kv: kv[0]):
llist += ["loadrt {}\t\tcount={} {}".format(mod.lower(), v[0], v[1])]
if len(llist):
halfile.write("\n#------\n# LoadRT modules\n\n")
halfile.write("\n".join(llist) + "\n")
# -----
# collect LoadUsr fields from components
llist = []
ufs = components.xpath('comp/fields/field[@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.text):
#print(f' {ref=} {f.text=}')
llist += ["loadusr {}\t\t# {}{}".format(f.text, sname, ref)]
if len(llist):
halfile.write("\n#------\n# LoadUsr modules\n\n")
halfile.write("\n".join(llist) + "\n")
# -----
# collect functions from power-input pins into addf statements
halfile.write("\n#------\n# Function hookups\n\n")
addflist = []
# find library THREAD part 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 through all THREAD components
tcomps = components.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 number to find other nodes in net
pnode = nets.xpath('net/node[@ref="' + tcref + '" and @pin="' + pnum + '"]')[0]
nodes = pnode.xpath("preceding-sibling::node")
nodes += pnode.xpath("following-sibling::node")
#print(f' {nodes=}')
if len(nodes) == 0:
continue
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 = components.xpath('comp[@ref="' + ref + '"]')[0]
sname = dcomp.xpath('sheetpath')[0].attrib['names']
# look up destination pin name to weed out "_" defaults
# and find "/" prefix indicating no ref prefix
dval = dcomp.xpath("value")[0]
#print(f' {dval=} {dval.text=}')
dsrc = dcomp.xpath("libsource")[0]
dpart = dsrc.attrib["part"]
#print(f' {dsrc=} {dpart=}')
ldparts = libparts.xpath('libpart[@part="' + dpart + '"]')
#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 += ["addf {}\t\t{}\t\t# {}{}".format(cleanref, cleantcr, sname, ref)]
else:
if ldpname.startswith("/"):
nlist += [
"addf {}\t\t{}\t\t# {}{}".format(ldpname.removeprefix("/"), cleantcr, sname, ref)
]
else:
nlist += ["addf {}.{}\t\t{}\t\t# {}{}".format(cleanref, ldpname, cleantcr,sname, ref)]
if pname == "_":
nlist = sorted(nlist,key = lambda k: k.rpartition("/")[2])
addflist += ["# Position: " + pname + "\n"] + nlist + ["\n"]
if len(addflist):
halfile.write("\n".join(addflist) + "\n")
# -----
# set parameter values
# trace through nets to find other nodes to set
params = 0
parlist = []
for comp in components:
sname = comp.xpath('sheetpath')[0].attrib['names']
ref = comp.attrib["ref"]
# ignore non-parameter components
if not ref.startswith("parameter."):
continue
params += 1
value = comp.xpath("value")[0].text
#print(f'param {ref=} {value=}')
pnode = nets.xpath('net/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 = components.xpath('comp[@ref="' + nref + '"]')[0]
nls = ncomp.xpath("libsource")[0]
nname = nls.attrib["part"]
lpart = libparts.xpath('libpart[@part="' + nname + '"]')[0]
lpin = lpart.xpath('pins/pin[@num="' + npin + '"]')[0]
#print(f' {ref=} {dref=} {npin=} {lpin=}')
parlist += [
"setp {}.{} {}\t\t# {}{}".format(dref, lpin.attrib["name"], value, sname, ref)
]
if len(parlist):
halfile.write("\n#------\n# Parameters\n\n")
# better sorted in order of target pin, not annotation
# p = sorted(parlist,key = lambda k: k.rpartition("#")[2])
p = sorted(parlist,key = lambda k: k.split(" ")[1])
halfile.write("\n".join(p) + "\n")
print("Parameters: {}".format(params))
# -----
# set constant parameters
# the .value pin is hardcoded here to keep the schematic part tidy
consts = 0
conlist = []
for comp in components:
sname = comp.xpath('sheetpath')[0].attrib['names']
ref = comp.attrib["ref"]
# ignore non-constant components
if not ref.startswith("constant."):
continue
consts += 1
value = comp.xpath("value")[0].text
#print(' {ref=} = {value=}')
pval = cleanHALref(ref,minanno) + ".value"
conlist += ["setp {} {}\t\t# {}{}".format(pval, value, sname, ref)]
if len(conlist):
halfile.write("\n#------\n# Constants\n\n")
c = sorted(conlist,key = lambda k: k.rpartition("#")[2])
halfile.write("\n".join(c) + "\n")
print("Constants: {}".format(consts))
# -----
# generate HAL net connections
halfile.write("\n#------\n# Nets\n\n")
hallist = []
single = 0
multi = 0
netID = 1
for net in nets:
name = net.attrib["name"]
# skip special net for unconnected addf functions handled later
if name == "_":
multi += 1
continue
#print(f'{net.attrib=}')
nodes = net.xpath("node")
# skip single-pin nets
# suppress error for pin names starting with *
if len(nodes) < 2:
if not (name.startswith("Net-") or name.startswith("*")):
hallist += [
"#* Named net with single pin: {} {}\n".format(nodes[0].attrib["ref"], name)
]
single += 1
continue
nameclean = name.translate(name.maketrans("/ ", "__", "()"))
#print(f' {name=} {nameclean=}')
multi += 1
halstr = "net "
halsrc = "\t\t# "
halsinks = []
outputs = 0
for node in nodes:
ref = node.attrib["ref"]
cleanref = cleanHALref(ref,minanno)
pnum = node.attrib["pin"]
#print(f' {node.attrib=}')
comp = components.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[@part="' + ls.attrib["part"] + '"]')[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 name.startswith("Net-"):
halstr += "N_{:0>3d} <= {}.{} => ".format(netID, cleanref, pname)
netID += 1
else:
halstr += "{} <= {}.{} => ".format(nameclean, cleanref, pname)
halsrc += sname + ref
outputs += 1
else:
halsinks += [cleanref + "." + pname]
halstr += " ".join(sorted(halsinks)) + halsrc
if "parameter" in halstr or "-thread" in halstr: # discard parameters and threads
#print(f' discard: {halstr=}')
multi -= 1
continue
elif outputs == 0:
halstr = "#* No output pins: {}\n".format(halstr)
elif outputs > 1:
halstr = "#* Multiple output pins: {}\n".format(halstr)
#print(f' {halstr=}')
hallist += [halstr]
if len(hallist):
hallist = sorted(hallist,key = lambda k: k.split(" ")[1])
halfile.write("\n".join(hallist) + "\n")
print('HAL nets: {:d}'.format(multi))
halfile.write("\n#------\n# Done!\n")
halfile.close()
view raw Kicad-to-HAL.py hosted with ❤ by GitHub
EESchema-DOCLIB Version 2.0
#
$CMP AND2
F https://linuxcnc.org/docs/2.8/html/man/man9/and2.9.html
$ENDCMP
#
$CMP COMP
F https://linuxcnc.org/docs/2.8/html/man/man9/comp.9.html
$ENDCMP
#
$CMP CONSTANT
F https://linuxcnc.org/docs/2.8/html/man/man9/constant.9.html
$ENDCMP
#
$CMP CONV_FLOAT_S32
F https://linuxcnc.org/docs/2.8/html/man/man9/conv_float_s32.9.html
$ENDCMP
#
$CMP CONV_FLOAT_U32
F https://linuxcnc.org/docs/2.8/html/man/man9/conv_float_u32.9.html
$ENDCMP
#
$CMP DBOUNCE
F https://linuxcnc.org/docs/2.8/html/man/man9/dbounce.9.html
$ENDCMP
#
$CMP FLIPFLOP
F https://linuxcnc.org/docs/2.8/html/man/man9/flipflop.9.html
$ENDCMP
#
$CMP HALUI
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_AXIS
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_AXIS_L
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_AXIS_SELECTED
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_ESTOP
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_FEED_OVERRIDE
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_FLOOD
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_JOINT
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_JOINT_N
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_JOINT_SELECTED
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_LUBE
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_MACHINE
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_MAX_VELOCITY
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_MIST
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_MODE
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_PROGRAM
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_RAPID_OVERRIDE
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_SPINDLE_N
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_TOOL
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HAL_MANUALTOOLCHANGE
F https://linuxcnc.org/docs/2.8/html/man/man1/hal_manualtoolchange.1.html
$ENDCMP
#
$CMP HM2_BOARD
F https://linuxcnc.org/docs/2.8/html/man/man9/hostmot2.9.html
$ENDCMP
#
$CMP HM2_GPIO
F https://linuxcnc.org/docs/2.8/html/man/man9/hostmot2.9.html
$ENDCMP
#
$CMP HM2_PWMGEN
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$ENDCMP
#
$CMP HM2_PWMGEN_N
F https://linuxcnc.org/docs/2.8/html/drivers/hostmot2.html#_pwmgen
$ENDCMP
#
$CMP HM2_STEPGEN
F https://linuxcnc.org/docs/2.8/html/man/man9/hostmot2.9.html
$ENDCMP
#
$CMP IOCONTROL
F https://linuxcnc.org/docs/2.8/html/man/man1/iocontrol.1.html
$ENDCMP
#
$CMP JOINT_N
F https://linuxcnc.org/docs/2.8/html/man/man9/motion.9.html
$ENDCMP
#
$CMP LOADRT
F https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_loadrt
$ENDCMP
#
$CMP LOADUSR
F https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_loadusr
$ENDCMP
#
$CMP LOGIC
F https://linuxcnc.org/docs/2.8/html/man/man9/logic.9.html
$ENDCMP
#
$CMP LOGITECH_GAMEPAD_GUF13A
F https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Simple_Remote_Pendant
$ENDCMP
#
$CMP MOTION
F https://linuxcnc.org/docs/2.8/html/man/man9/motion.9.html
$ENDCMP
#
$CMP MUX2
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$CMP MUX4
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$CMP NOT
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$CMP OR2
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$CMP SCALE
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#
$CMP SPINDLE
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$CMP THREAD
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$ENDCMP
#
$CMP TIMEDELAY
F https://linuxcnc.org/docs/2.8/html/man/man9/timedelay.9.html
$ENDCMP
#
$CMP TOGGLE
F https://linuxcnc.org/docs/2.8/html/man/man9/toggle.9.html
$ENDCMP
#
$CMP XOR2
F https://linuxcnc.org/docs/2.8/html/man/man9/xor2.9.html
$ENDCMP
#
#End Doc Library
view raw LinuxCNC-HAL.dcm hosted with ❤ by GitHub
EESchema-LIBRARY Version 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 + Normal 0 C C
T 0 -100 50 50 0 0 0 - Normal 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 equal 6 300 -50 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# CONSTANT
#
DEF CONSTANT constant. 0 0 N N 1 F N
F0 "constant." 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 delay 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 data 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 selected 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 select 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.selected. 0 40 N Y 1 F N
F0 "halui.axis.selected." 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 activate 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 decrease 3 -550 -100 100 R 0 50 1 1 I
X direct-value 4 -550 -250 100 R 0 50 1 1 I
X increase 5 -550 0 100 R 0 50 1 1 I
X scale 6 -550 -350 100 R 0 50 1 1 I
X value 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 selected 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 home 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 select 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.selected. 0 40 N Y 1 F N
F0 "halui.joint.selected." 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 home 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.machine. 0 40 N Y 1 F N
F0 "halui.machine." 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 count 2 -600 200 100 R 0 50 1 1 I
X count-enable 3 -600 300 100 R 0 50 1 1 I
X decrease 4 -600 50 100 R 0 50 1 1 I
X increase 5 -600 -50 100 R 0 50 1 1 I
X scale 6 -600 -300 100 R 0 50 1 1 I
X value 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 manual 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 stop 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 decrease 3 -650 -150 100 R 0 50 1 1 I
X direct-value 4 -650 -300 100 R 0 50 1 1 I
X increase 5 -650 -50 100 R 0 50 1 1 I
X scale 6 -650 -400 100 R 0 50 1 1 I
X value 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.decrease 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 increase 14 -750 150 100 R 0 50 1 1 I
X forward 15 -750 400 100 R 0 50 1 1 I
X decrease 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 stop 2 -750 -200 100 R 0 50 1 1 I
X start 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 reverse 6 -750 300 100 R 0 50 1 1 I
X override.value 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.increase 9 -750 -750 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_TOOL
#
DEF HALUI_TOOL halui.tool. 0 40 N Y 1 F N
F0 "halui.tool." -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 number 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 change 1 -700 -50 100 R 0 50 1 0 I
X change_button 2 -700 -200 100 R 0 50 1 0 I
X changed 3 600 -50 100 L 0 50 1 0 O
X number 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 read 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 value 1 -550 400 100 R 50 50 1 1 I
X enable 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 direction.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 enable 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 active 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 unlock 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 "Component + options go 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 + options go 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 logic.0. 0 20 N Y 1 F N
F0 "logic.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 "+ personality=0x108" -50 -550 50 H V C CNN "LoadRT"
DRAW
T 0 -50 400 50 0 0 0 " 100" Normal 0 L C
T 0 -50 300 50 0 0 0 " 200" Normal 0 L C
T 0 -50 200 50 0 0 0 " 400" Normal 0 L C
T 0 -50 100 50 0 0 0 " 800" Normal 0 L C
T 0 -50 0 50 0 0 0 1000 Normal 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 input.0. 0 40 N Y 2 L N
F0 "input.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 Dual" -50 1650 50 H V C CNN "LoadUsr"
DRAW
T 0 -350 1400 59 0 2 1 1 Normal 0 L B
T 0 -400 -1300 59 0 2 1 10 Normal 0 L B
T 0 -350 1100 59 0 2 1 2 Normal 0 L B
T 0 -350 800 59 0 2 1 3 Normal 0 L B
T 0 -350 500 59 0 2 1 4 Normal 0 L B
T 0 -350 200 59 0 2 1 5 Normal 0 L B
T 0 -350 -100 59 0 2 1 6 Normal 0 L B
T 0 -350 -400 59 0 2 1 7 Normal 0 L B
T 0 -350 -700 59 0 2 1 8 Normal 0 L B
T 0 -350 -1000 59 0 2 1 9 Normal 0 L B
T 0 -550 -1600 59 0 2 1 "L Push" Normal 0 L B
T 0 -550 -1900 59 0 2 1 "R Push" Normal 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 motion. 0 40 N Y 1 F N
F0 "motion." 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 enable 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 not. 0 0 N N 1 F N
F0 "not." 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 feedback 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 enable 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 gain 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 reverse 5 700 450 100 L 0 50 1 1 O
X on 6 700 650 100 L 0 50 1 1 O
X forward 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" Normal 0 R C
T 0 250 -350 50 0 0 0 "Last in thread" Normal 0 R C
T 0 300 0 50 0 0 0 "Sorted by ref" Normal 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
#
#End Library
view raw LinuxCNC-HAL.lib hosted with ❤ by GitHub

Kicad-to-HAL: Naming Nets

Nets connecting Kicad components get their names in three different ways, each treated slightly differently by Kicad-to-HAL.

The simplest case happens with a Global Label attached to the net, as with the All-home signal on the right, which can be referenced anywhere in the schematic :

Home switches input - schematic
Home switches input – schematic

The XML file carries the Global Label text as the net name:

<net code="154" name="All-home">
    <node ref="joint.3.100" pin="20"/>
    <node ref="joint.2.100" pin="20"/>
    <node ref="joint.0.100" pin="20"/>
    <node ref="joint.1.100" pin="20"/>
    <node ref="dbounce.100" pin="2"/>
</net>

The order of the nodes within the net depends on which one Kicad encounters first, so Kicad-to-HAL sorts the destination references in ascending order:

net All-home <= dbounce.0.out => joint.0.home-sw-in joint.1.home-sw-in joint.2.home-sw-in joint.3.home-sw-in		# dbounce.100

The ASCII-art arrows around the HAL source reference set it off from the rest of the clutter, with the comment (off-screen right for you) giving the original Kicad source component reference.

Kicad generates a name for anonymous nets, like the one between the 5I25 GPIO pin and the debouncer, from the first component it encounters:

    <net code="617" name="Net-(dbounce.100-Pad1)">
      <node ref="hm2_5i25.0.gpio.013.100" pin="2"/>
      <node ref="dbounce.100" pin="1"/>
    </net>

Kicad-to-HAL replaces those names with a less noisy one in an ascending sequence:

net N_159 <= hm2_5i25.0.gpio.013.in_not => dbounce.0.in		# hm2_5i25.0.gpio.013.100

The anonymous Kicad net between the parameter setting the debounce delay starts with a similar name:

<net code="127" name="Net-(mux2.100-Pad1)">
    <node ref="parameter.106" pin="1"/>
    <node ref="mux2.100" pin="1"/>
</net>

Kicad-to-HAL extracts the source and destination nodes from the net to produce a HAL setp command for each destination:

setp dbounce.0.delay 3		# parameter.111

Kicad nets can get a name from a Local Label accessible only on that particular schematic sheet:

Jog Speed conversion - schematic
Jog Speed conversion – schematic

Those Kicad net names include the sheet name as a prefix:

<net code="130" name="/Jog Speed/Angular-Motion">
    <node ref="mux2.100" pin="3"/>
    <node ref="or2.112" pin="3"/>
</net>
<net code="132" name="/Jog Speed/Vel-Per-Second">
    <node ref="scale.104" pin="1"/>
    <node ref="mux2.100" pin="4"/>
</net>
<net code="138" name="/Jog Speed/Vel-Per-Minute">
    <node ref="scale.101" pin="1"/>
    <node ref="scale.104" pin="4"/>
    <node ref="scale.100" pin="1"/>
</net>

It’s not clear which characters HAL regards as valid, so KIcad-to-HAL smashes the Kicad name flat:

net _Jog_Speed_Angular-Motion <= or2.12.out => mux2.0.sel		# or2.112
net _Jog_Speed_Vel-Per-Minute <= scale.4.out => scale.0.in scale.1.in		# scale.104
net _Jog_Speed_Vel-Per-Second <= mux2.0.out => scale.4.in		# mux2.100

Kicad-to-HAL sorts the HAL net list by name to make a specific net easier to find.

The XML netlist file contains a zillion single-node nets, one for each unconnected pin in the schematic. If the Kicad net name doesn’t start with Net-, KIcad-to-HAL will include a note in the HAL file:

#* Named net with single pin: hm2_5i25.0.100 read_gpio

Prefix the pin name (when you create the symbol) with an asterisk to suppress that message. This will be most useful for HAL function pins intended for an optional thread connection:

Kicad Symbol Properties - HM2_5I25
Kicad Symbol Properties – HM2_5I25

Kicad-to-HAL does not generate HAL nets for Kicad nets with -thread in their names, as those generate addf commands.

Kicad-to-HAL: Charge Pump Driver

Just to see if all the conversion machinery hung together, I added the PWM component for the Mesa 5I25 card to the Kicad-to-HAL library:

PWM Charge Pump driver - schematic
PWM Charge Pump driver – schematic

The top symbol provides the reference stem for the per-group frequency controls and the second provides the stem for the per-PWM controls.

It requires conjuring one PWM in the FPGA:

PWM Charge Pump driver - LoadRT config
PWM Charge Pump driver – LoadRT config

The corresponding lines in the HAl file:

setp hm2_5i25.0.pwmgen.00.output-type 1		# parameter.116
setp hm2_5i25.0.pwmgen.00.value 0.5		# parameter.115
setp hm2_5i25.0.pwmgen.pwm_frequency 10000		# parameter.114

… snippage …

net Machine-Is-On <= halui.machine.is-on => and2.13.in1 hm2_5i25.0.pwmgen.00.enable

And then it just worked:

Mesa 5I25 10 kHz PWM output waveform
Mesa 5I25 10 kHz PWM output waveform

It’s not useful with the Sherline driver box, but I find it much easier to contemplate simple schematics than to puzzle out HAL code.

Kicad-to-HAL: Mesa Electronics 5I25 FPGA Card

The Mesa Electronics 5I25 FPGA card can implement a vast number of hardware I/O controllers, but I’ve only set up the few Kicad symbols required for my simple Sherline mill. The LinuxCNC hostmot2 doc gives the details.

The hm2_5i25.0 component (upper right) carries the pins and functions pertaining to the card itself:

Servo Thread Hookup schematic
Servo Thread Hookup schematic

If you have two such cards, you’ll also have an hm2_5i25.1 component. Kicad will annotate both with a zero, which Kicad-to-HAL then strips off before attaching the pin names.

The read and write functions must attach to the first and last positions of the servo-thread component, respectively, to make the thing work correctly.

The read_gpio and write_gpio functions are normally not connected; the * prefix suppresses a Kicad-to-HAL message about unconnected named pins. The code will strip the asterisk before connecting the pins, but that part is … lightly tested.

Similarly, the schematic shows the watchdog output connected to one of the on-card LEDs. I’m not sure how to test that and wouldn’t see it inside the PC case; it might work as described.

A hm2_5i25.0.gpio.000 Kicad symbol (middle) collects all of the HAL pins related to a single 5I25 GPIO pin; edit the three-digit pin identifier to match the hardware pin. Although the out and in names look backwards, they indicate the hardware direction: you write to the out pin and read from the in pin.

The Sherline uses four stepgen blocks, so that’s the only other Kicad symbol on offer:

X Axis Joint PID Stepgen schematic
X Axis Joint PID Stepgen schematic

The nets connecting those three components come directly from the LinuxCNC pncconf configuration utility. Fancier machines surely require more attention to the coefficient details.

Connecting a true parameter to the step.invert_output and direction.invert_output pins flips the polarity of those signals. The pins are aliases of the corresponding GPIO invert_output pin, with the key advantage of not requiring you to figure out which GPIO pin corresponds to the FPGA’s output pin for each axis.

The 5I25 card requires a pair of loadrt components to load the drivers and configure the FPGA:

Kicad-to-HAL Demo Schematic
Kicad-to-HAL Demo Schematic

The one-page demo schematic uses the same 5I25 configuration as the Sherline, with the LEDs driven by gamepad buttons to provide something to look at:

Mesa 5I25 card - LED activity
Mesa 5I25 card – LED activity

I should force-fit an LED into the Sherline driver box just to have something easier to see.

Kicad-to-HAL: HALUI Components

The LinuxCNC HALUI “component” has so many pins that I divided them among about 18 Kicad symbols, each collecting the pins related to one function:

Gamepad Button logic - HALUI components
Gamepad Button logic – HALUI components

The Kicad references (halui.mode.100) use periods as separators, not dashes, because HALUI runs automagically and has no thread functions.

The symbol name (HALUI_MODE) serves as a unique identifier that should match the reference stem. I used underscores just for pretty, but it doesn’t make any difference.

All of the Kicad symbols include the StripAnno field to remove the Kicad annotation, as described earlier. The Kicad annotations now start from 100, because I’m in the midst of tinkering an automagic way to produce the proper start-from-zero HAL numbering with everything properly sorted; this is very much a work in progress.

So the full name of the resume pin on the HALUI_PROGRAM component sporting Kicad reference halui.program.100 is just:

halui.program.resume

This corresponds to the description of that pin in the HALUI doc, without a numeric identifier: there is only one HALUI.

The net connecting the gamepad button to that pin:

net _Gamepad_Buttons_Program-Resume <= input.0.btn-base4 => halui.program.resume

A few more examples from the nets near the AND2 gate:

net _Gamepad_Buttons_E-Stop-A <= input.0.btn-top2 => and2.0.in0
net _Gamepad_Buttons_E-Stop-B <= input.0.btn-base => and2.0.in1
net _Gamepad_Buttons_E-Stop-Reset <= input.0.btn-base2 => halui.estop.reset
net _Gamepad_Buttons_Machine-On <= input.0.btn-pinkie => halui.machine.on
net _Gamepad_Buttons_Manual-Mode <= input.0.btn-base3 => halui.mode.manual

Some HALUI component references include numbers and letters identifying specific joints / axes / spindles, all of which you must edit as needed and none of which should be subjected to Kicad’s renumbering whims:

X Axis jogging schematic
X Axis jogging schematic

The HAL commands producing the nets connecting the AND2 gates to the HALUI pins:

net N_065 <= and2.14.out => halui.axis.x.minus halui.joint.0.minus
net N_066 <= and2.15.out => halui.axis.x.plus halui.joint.0.plus

The nets lack any specific name, so Kicad-to-HAL replaces Kicad’s default gibberish with the next integer from an ascending series. If your HAL configuration requires more than three digits worth of anonymous nets, feel free to tweak the format string.

Kicad-to-HAL: LoadUsr

The Kicad LOADUSR symbol puts its text directly into a HAL loadusr command:

Kicad symbol - LOADUSR
Kicad symbol – LOADUSR

Putting the same text in the LoadUsr field of a Kicad component may be tidier when there’s only one:

Kicad Symbol Properties - Logitech gamepad
Kicad Symbol Properties – Logitech gamepad

The gamepad symbol in a schematic:

Kicad-to-HAL Demo Schematic
Kicad-to-HAL Demo Schematic

Which produces this loadusr command in the HAL file:

loadusr -W hal_input -KA Dual		# input.0.0

You can edit the text after placing the Kicad component, so the symbol can contain placeholder text.

Kicad-to-HAL: Annotation Stripping

Kicad insists on annotating every component with a numeric suffix that can change depending on the sequence of components encountered during the annotation process. HAL, on the other hand, identifies multiple components using a numeric value as a suffix or embedded within the reference. HAL also has singleton components without a numeric value.

A Moby Hack™ merges the two systems: Kicad will annotate each of its components, then Kicad-to-HAL can strip the annotation from the reference to form the HAL identifier.

A Kicad component with a StripAnno field containing a “1” will trigger the stripping:

Kicad Symbol Properties - HM2_5I25
Kicad Symbol Properties – HM2_5I25

The StripAnno digit (generally) appears to the right of the component name. A Kicad component without a StripAnno field or with the field containing anything other than “1” will pass its reference field directly into the HAL component.

The Kicad reference for the HM2_5I25 component (center right) is hm2_5i25.0.0 and its stripped HAL reference is hm2_5i25.0:

addf hm2_5i25.0.read		servo-thread

The THREAD component (center bottom) is a singleton, because there will be only one component with a given thread name:

Kicad symbol - THREAD
Kicad symbol – THREAD

The Kicad reference appends a zero to make servo-thread.0:

Kicad-to-HAL Demo Schematic
Kicad-to-HAL Demo Schematic

The stripped HAL reference, as used in addf statements, is just servo-thread:

addf and2.0		servo-thread
addf constant.0		servo-thread
addf constant.1		servo-thread
addf not.0		servo-thread
addf timedelay.0		servo-thread
addf toggle.0		servo-thread

Every Kicad symbol must have a reference ending with a period so Kicad-to-HAL can strip the trailing annotation value.