CNC – Page 3 – The Smell of Molten Projects in the Morning

Kicad-to-HAL: Parameters and Constants

Kicad PARAMETER symbols (center, left of the upper TOGGLE) provide the value for HAL setp commands:

Which becomes this line in the HAL file:

setp toggle.0.debounce 5	# parameter.0

Parameter pins use the Inverted graphic style decorating them with a small circle to distinguish parameters from ordinary data pins, but the data value is not inverted. Parameter components can also connect to ordinary HAL input pins without the Inverted style.

PARAMETER symbols have an invisible reference value (parameter.0 in the example) that you don’t care about:

Kicad symbol - PARAMETER — Kicad symbol – PARAMETER

Edit the value inside the symbol to whatever you need.

Kicad CONSTANT symbols (lower center, left of the TIMEDELAY symbol) generate HAL CONSTANT modules, set their values, and connect them to a thread. The resulting HAL commands look like this:

addf constant.0		servo-thread
addf constant.1		servo-thread

… snippage …

setp constant.0.value [BLINKY]ON
setp constant.1.value [BLINKY]OFF

… snippage …

net N_001 <= constant.1.out => timedelay.0.off-delay
net N_002 <= constant.0.out => timedelay.0.on-delay

The thread connections works the same way as for other HAL components with the automagic net connection to “_”:

Kicad symbol - CONSTANT — Kicad symbol – CONSTANT

The (invisible) + in the middle tells Kicad-to-HAL to put the total number of CONSTANT components into the addf command.

As with Parameters, edit the CONSTANT inside the symbol as needed.

Both Parameters and Constants can use text values defined in the INI file:

[BLINKY]
ON = 0.2
OFF = 2.0

Both Parameters and Constants can connect to nets going to multiple input pins, but it’s probably not worth cluttering a schematic with off-page connectors just to reuse a single instance. When you copy-n-paste an otherwise identical symbol somewhere else, it will get a different reference number and generate additional HAL commands, which may offend your sense of neatness.

Electronics Workbench, Software

Kicad-to-HAL: Threads

The Kicad THREAD symbol (center bottom) creates the HAL addf commands connecting HAL component functions to the realtime threads:

Change the Kicad reference to match the HAL thread name. AFAICT, you can use either servo-thread or base-thread, as defined by the LoadRT configuration (center top).

Opinion: contemporary x86-64 PC architecture pretty much prevents running a base-thread at the pace required for step generation through a parallel port. In point of fact, I wrote Kicad-to-HAL specifically to configure a PC around a Mesa Electronics 5i25 FPGA controller for my Sherline CNC mill, as the real-time latency had regular glitches far exceeding the nominal 50 µs period. I suspect few new CNC installations will need a fast base thread.

The THREAD symbol has seven “Power output” pins drawn in the Clock graphic style:

Kicad symbol - THREAD — Kicad symbol – THREAD

Kicad-to-HAL finds the other components attached to each pin and generates addf commands:

#------
# Function hookups

# Position: 1

addf hm2_5i25.0.read		servo-thread
 
# Position: _

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
 
# Position: -1

addf hm2_5i25.0.write		servo-thread

FiXME: Contrary to the comment in the symbol, addf commands for each pin come out sorted by reference.

The Mesa hostmot2 HAL component (middle right in the first screenshot) generates several function names that don’t require connections, but Kicad-to-HAL produces a warning for single-pin (i.e. unconnected) nets with non-default names. Prefix the pin name with an asterisk (*read-gpio) to suppress the error message.

The motion HAL component (lower right below) has functions that do not follow the normal naming convention:

Prefix the Kicad pin name with a slash (/motion-controller) to tell Kicad-to-HAL to use the name without the standard motion. prefix:

# Position: 2

addf motion-command-handler		servo-thread
addf motion-controller		servo-thread

Perhaps they were supposed to be motion.command-handler and motion.controller, but it’s too late to change? If so, I know that feeling.

Other quirks surely lurk within other HAL components, but, on the whole, this seems to work pretty well.

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Kicad-to-HAL: LoadRT

Each Kicad LOADRT symbol (upper right):

produces a corresponding HAL loadrt command:

loadrt [KINS]KINEMATICS		# loadrt.0.0
loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS		# loadrt.1.0
loadrt hostmot2		# loadrt.2.0
loadrt hm2_pci config="num_encoders=0 num_pwmgens=0 num_stepgens=4"		# loadrt.3.0

Symbols with a (typically not-visble) + in their LoadRT field generate matching loadrt commands with the total number of identical symbols:

loadrt and2 count=1<br>loadrt constant count=2<br>loadrt not count=1<br>loadrt timedelay count=1<br>loadrt toggle count=1

Kicad symbols may have additional text after the (typically visible) + sign, as in the LOGIC symbol:

Kicad-to-HAL will concatenate the text, in reference order, into the loadrt command:

loadrt logic		count=1 personality=0x804

The LOGIC symbol shows how that works:

Kicad symbol - LOGIC — Kicad symbol – LOGIC

Edit the LoadRT field text as needed for each Kicad component, with subsequent blocks omitting the personality= and including a leading comma:

+ ,0x1004

Because the order of the symbols matters, the symbol reference includes a number (the 0 in the symbol reference field) that you must edit by hand for each new schematic component, because the Kicad annotation tacked on the end will change every time you generate new annotations.

The current version of Kicad-to-HAL sorts schematic references alphanumerically, so if you have more than ten LOGIC symbols with concatenated text, it won’t work: FIXME. Maybe annotating with Kicad numbers starting at 100, then subtracting 100 to get the HAL numbers would be simpler?

Update: Yes, numbering from 100 works fine, along with automagically finding the lowest annotation and subtracting it. Upcoming snippets will show both ways.

The Kicad LOGIC symbol has eight input pins and all five possible output pins, despite what the configuration value may create in the corresponding HAL function. As long as you don’t connect anything to the undefined inputs and outputs, Kicad turns them into one-pin anonymous nets which Kicad-to-HAL weeds out of the HAL file.

The demo schematic as a GitHub Gist:

	EESchema Schematic File Version 4
	EELAYER 30 0
	EELAYER END
	$Descr USLetter 11000 8500
	encoding utf-8
	Sheet 1 1
	Title "Kicad-to-HAL Demo Schematic"
	Date "2021-03-23"
	Rev ""
	Comp "Ed Nisley - KE4ZNU"
	Comment1 ""
	Comment2 ""
	Comment3 ""
	Comment4 ""
	$EndDescr
	$Comp
	L LinuxCNC-HAL:THREAD servo-thread.0
	U 1 1 6059ED1C
	P 5650 5200
	F 0 "servo-thread.0" H 5650 5750 59 0000 C CNN
	F 1 "THREAD" H 5650 5650 50 0000 C CNN
	F 2 "" H 5750 5300 50 0001 C CNN
	F 3 "" H 5750 5300 50 0001 C CNN
	F 4 "1" H 6050 5650 50 0000 C CNN "StripAnno"
	1 5650 5200
	1 0 0 -1
	$EndComp
	$Comp
	L LinuxCNC-HAL:LOGITECH_GAMEPAD_GUF13A input.0.0
	U 2 1 605A12D7
	P 3000 3500
	F 0 "input.0.0" H 3000 5350 50 0000 C CNN
	F 1 "LOGITECH_GAMEPAD_GUF13A" H 2950 5250 50 0000 C CNN
	F 2 "" H 8500 7100 50 0001 C CNN
	F 3 "" H 8500 7100 50 0001 C CNN
	F 4 "1" H 3550 5250 50 0000 C CNN "StripAnno"
	F 5 "-W hal_input -KA Dual" H 2950 5150 50 0000 C CNN "LoadUsr"
	2 3000 3500
	1 0 0 -1
	$EndComp
	$Comp
	L LinuxCNC-HAL:AND2 and2.0
	U 1 1 605A4CD8
	P 4350 3300
	F 0 "and2.0" H 4350 3500 50 0000 C CNN
	F 1 "AND2" H 4350 3300 50 0000 C CNN
	F 2 "" H 4350 3300 50 0001 C CNN
	F 3 "" H 4350 3300 50 0001 C CNN
	F 4 "+" H 4350 3300 50 0001 C CNN "LoadRT"
	1 4350 3300
	1 0 0 -1
	$EndComp
	Wire Wire Line
	3700 3800 3850 3800
	Wire Wire Line
	3850 3800 3850 3400
	Wire Wire Line
	3850 3400 4050 3400
	Wire Wire Line
	4050 3200 3700 3200
	$Comp
	L LinuxCNC-HAL:TOGGLE toggle.0
	U 1 1 605A7FF1
	P 5750 3400
	F 0 "toggle.0" H 5750 3700 50 0000 C CNN
	F 1 "TOGGLE" H 5750 3600 50 0000 C CNN
	F 2 "" H 6050 3350 50 0001 C CNN
	F 3 "" H 6050 3350 50 0001 C CNN
	F 4 "+" H 5750 3400 50 0001 C CNN "LoadRT"
	1 5750 3400
	1 0 0 -1
	$EndComp
	$Comp
	L LinuxCNC-HAL:PARAMETER parameter.0
	U 1 1 605A8894
	P 4950 3500
	F 0 "parameter.0" H 4950 3600 50 0001 C CNN
	F 1 "5" H 5150 3500 50 0000 R CNN
	F 2 "" H 5250 3500 50 0001 C CNN
	F 3 "" H 5250 3500 50 0001 C CNN
	1 4950 3500
	1 0 0 -1
	$EndComp
	$Comp
	L LinuxCNC-HAL:HM2_5I25 hm2_5i25.0.0
	U 1 1 605A8E84
	P 7700 4300
	F 0 "hm2_5i25.0.0" H 7700 4800 50 0000 C CNN
	F 1 "HM2_5I25" H 7700 4700 50 0000 C CNN
	F 2 "" H 8250 4100 50 0001 C CNN
	F 3 "" H 8250 4100 50 0001 C CNN
	F 4 "1" H 8100 4700 50 0000 C CNN "StripAnno"
	1 7700 4300
	1 0 0 -1
	$EndComp
	Wire Wire Line
	4650 3300 5450 3300
	Wire Wire Line
	5350 3500 5500 3500
	Wire Wire Line
	6100 3300 6950 3300
	Wire Wire Line
	7150 4550 6900 4550
	Wire Wire Line
	6900 4550 6900 5550
	Wire Wire Line
	6900 5550 6200 5550
	$Comp
	L LinuxCNC-HAL:LOADRT loadrt.3.?
	U 1 1 605AF190
	P 5000 2950
	AR Path="/6047689B/605AF190" Ref="loadrt.3.?" Part="1"
	AR Path="/605AF190" Ref="loadrt.3.0" Part="1"
	F 0 "loadrt.3.0" H 5000 3200 50 0000 C CNN
	F 1 "LOADRT" H 4950 3100 50 0000 C CNN
	F 2 "" H 5800 2450 50 0001 C CNN
	F 3 "https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_loadrt" H 5800 2450 50 0001 C CNN
	F 4 "hm2_pci config=\"num_encoders=0 num_pwmgens=0 num_stepgens=4\"" H 4750 3000 50 0000 L CNN "LoadRT"
	F 5 "1" H 5250 3100 50 0000 C CNN "StripAnno"
	1 5000 2950
	1 0 0 -1
	$EndComp
	$Comp
	L LinuxCNC-HAL:LOADRT loadrt.2.?
	U 1 1 605AF198
	P 5000 2600
	AR Path="/6047689B/605AF198" Ref="loadrt.2.?" Part="1"
	AR Path="/605AF198" Ref="loadrt.2.0" Part="1"
	F 0 "loadrt.2.0" H 5000 2850 50 0000 C CNN
	F 1 "LOADRT" H 4950 2750 50 0000 C CNN
	F 2 "" H 5800 2100 50 0001 C CNN
	F 3 "https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_loadrt" H 5800 2100 50 0001 C CNN
	F 4 "hostmot2" H 4750 2650 50 0000 L CNN "LoadRT"
	F 5 "1" H 5250 2750 50 0000 C CNN "StripAnno"
	1 5000 2600
	1 0 0 -1
	$EndComp
	Text GLabel 6450 5200 2 50 Output ~ 0
	_
	$Comp
	L LinuxCNC-HAL:LOADRT loadrt.0.?
	U 1 1 605B697F
	P 5000 1900
	AR Path="/6047689B/605B697F" Ref="loadrt.0.?" Part="1"
	AR Path="/605B697F" Ref="loadrt.0.0" Part="1"
	F 0 "loadrt.0.0" H 5000 2150 50 0000 C CNN
	F 1 "LOADRT" H 4950 2050 50 0000 C CNN
	F 2 "" H 5800 1400 50 0001 C CNN
	F 3 "https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_loadrt" H 5800 1400 50 0001 C CNN
	F 4 "[KINS]KINEMATICS" H 4750 1950 50 0000 L CNN "LoadRT"
	F 5 "1" H 5250 2050 50 0000 C CNN "StripAnno"
	1 5000 1900
	1 0 0 -1
	$EndComp
	$Comp
	L LinuxCNC-HAL:LOADRT loadrt.1.?
	U 1 1 605B6987
	P 5000 2250
	AR Path="/6047689B/605B6987" Ref="loadrt.1.?" Part="1"
	AR Path="/605B6987" Ref="loadrt.1.0" Part="1"
	F 0 "loadrt.1.0" H 5000 2500 50 0000 C CNN
	F 1 "LOADRT" H 4950 2400 50 0000 C CNN
	F 2 "" H 5800 1750 50 0001 C CNN
	F 3 "https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_loadrt" H 5800 1750 50 0001 C CNN
	F 4 "[EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS" H 4750 2300 50 0000 L CNN "LoadRT"
	F 5 "1" H 5250 2400 50 0000 C CNN "StripAnno"
	1 5000 2250
	1 0 0 -1
	$EndComp
	Wire Wire Line
	6200 5200 6450 5200
	Wire Wire Line
	6700 4450 7150 4450
	Wire Wire Line
	6700 4450 6700 4850
	Wire Wire Line
	6700 4850 6200 4850
	$Comp
	L LinuxCNC-HAL:TIMEDELAY timedelay.0
	U 1 1 605C692D
	P 5200 4250
	F 0 "timedelay.0" H 5200 4600 50 0000 C CNN
	F 1 "TIMEDELAY" H 5200 4500 50 0000 C CNN
	F 2 "" H 5200 4400 50 0001 C CNN
	F 3 "" H 5200 4400 50 0001 C CNN
	F 4 "+" H 5200 4250 50 0001 C CNN "LoadRT"
	1 5200 4250
	1 0 0 -1
	$EndComp
	$Comp
	L LinuxCNC-HAL:CONSTANT constant.0
	U 1 1 605C7C1F
	P 4350 4300
	F 0 "constant.0" H 4350 4400 50 0001 C CNN
	F 1 "[BLINKY]ON" H 4500 4300 50 0000 R CNN
	F 2 "" H 4600 4050 50 0001 C CNN
	F 3 "" H 4600 4050 50 0001 C CNN
	F 4 "+" H 4350 4300 50 0001 C CNN "LoadRT"
	1 4350 4300
	1 0 0 -1
	$EndComp
	$Comp
	L LinuxCNC-HAL:CONSTANT constant.1
	U 1 1 605C822C
	P 4350 4400
	F 0 "constant.1" H 4350 4500 50 0001 C CNN
	F 1 "[BLINKY]OFF" H 4500 4400 50 0000 R CNN
	F 2 "" H 4600 4150 50 0001 C CNN
	F 3 "" H 4600 4150 50 0001 C CNN
	F 4 "+" H 4350 4400 50 0001 C CNN "LoadRT"
	1 4350 4400
	1 0 0 -1
	$EndComp
	Wire Wire Line
	4750 4300 4850 4300
	Wire Wire Line
	4750 4400 4850 4400
	Wire Wire Line
	7150 4000 6950 4000
	Wire Wire Line
	6950 4000 6950 3300
	$Comp
	L LinuxCNC-HAL:NOT not.0
	U 1 1 605D425F
	P 6000 4100
	F 0 "not.0" H 6100 4250 50 0000 C CNN
	F 1 "NOT" H 6000 4100 50 0000 C CNN
	F 2 "" H 6350 3850 50 0001 C CNN
	F 3 "" H 6350 3850 50 0001 C CNN
	F 4 "+" H 6000 4100 50 0001 C CNN "LoadRT"
	1 6000 4100
	1 0 0 -1
	$EndComp
	Wire Wire Line
	5550 4100 5750 4100
	Wire Wire Line
	6450 4100 6600 4100
	Wire Wire Line
	6600 4100 6600 3800
	Wire Wire Line
	6600 3800 4700 3800
	Wire Wire Line
	4700 3800 4700 4100
	Wire Wire Line
	4700 4100 4850 4100
	Wire Wire Line
	6600 4100 7150 4100
	Connection ~ 6600 4100
	$EndSCHEMATC

view raw LinuxCNC Test Schematic.sch hosted with ❤ by GitHub

	[EMCMOT]
	EMCMOT = motmod
	COMM_TIMEOUT = 1.0
	SERVO_PERIOD = 1000000

	[KINS]
	JOINTS = 4
	KINEMATICS = trivkins coordinates=XYZA

	[BLINKY]
	ON = 0.2
	OFF = 2.0

view raw machine.ini hosted with ❤ by GitHub

	# LinuxCNC HAL file

	# Kicad netlist: LinuxCNC Test Schematic.xml
	# Tue 23 Mar 2021 10:47:04 AM EDT


	#------
	# LoadRT modules

	loadrt [KINS]KINEMATICS # loadrt.0.0
	loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS # loadrt.1.0
	loadrt hostmot2 # loadrt.2.0
	loadrt hm2_pci config="num_encoders=0 num_pwmgens=0 num_stepgens=4" # loadrt.3.0

	loadrt and2 count=1
	loadrt constant count=2
	loadrt not count=1
	loadrt timedelay count=1
	loadrt toggle count=1

	#------
	# LoadUsr modules

	loadusr -W hal_input -KA Dual # input.0.0

	#------
	# Function hookups

	# Position: 1

	addf hm2_5i25.0.read servo-thread

	# Position: _

	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

	# Position: -1

	addf hm2_5i25.0.write servo-thread


	#------
	# Parameters

	setp toggle.0.debounce 5 # parameter.0

	#------
	# Constants

	setp constant.0.value [BLINKY]ON
	setp constant.1.value [BLINKY]OFF

	#------
	# Nets

	net N_001 <= constant.1.out => timedelay.0.off-delay
	net N_002 <= constant.0.out => timedelay.0.on-delay
	net N_003 <= not.0.out => hm2_5i25.0.led.CR02 timedelay.0.in
	net N_004 <= toggle.0.out => hm2_5i25.0.led.CR01
	net N_006 <= and2.0.out => toggle.0.in
	net N_007 <= timedelay.0.out => not.0.in
	net N_008 <= input.0.btn-top2 => and2.0.in0
	net N_009 <= input.0.btn-base => and2.0.in1

	#------
	# Done!

view raw Test-Schematic.hal hosted with ❤ by GitHub

Electronics Workbench, Software

Kicad-to-HAL: Basic Schematic Symbols

The LinuxCNC definition of the HAL NOT component looks like this:

LinuxCNC HAL component - NOT — LinuxCNC HAL component – NOT

The loadrt command uses the “module name”, which is the file name of the module.

Functions and Pins use the “function name”, as defined by whatever code lives inside the module.

As a rule of thumb, module names will have underscores between words, where the corresponding function name will have hyphens, but this is not mandatory.

The numeric suffix on the Function name tells you which of the many identical components it is.

The Pin names generally have the Function name and numeric suffix as their prefix.

The NOT gate symbol in LinuxCNC-HAL.lib looks like this:

Note that there is no Kicad footprint: these components will never see a circuit board.

The symbol Reference (above the symbol: not.) must match the HAL Function name and must end in a period to make the Kicad numeric annotation easily separable. Jellybean components use the Kicad annotation as their identifier, so that the references will look like not.0, not.1, and so on.

The symbol Value (inside the symbol: NOT) must match the HAL module name; it will be lowercaseified as needed.

Kicad pin names must match the HAL pin names, must use only Kicad’s Input and Output “Electrical Type”, and must use only the Line “Graphic Style”. Kicad-to-HAL will glue the pin onto the Kicad reference with a period in between (not.0.out) for use in the HAL configuration.

I made the pins names visible for that screenshot. For a graphical component like this, I generally make them invisible.

The “Power input” pin is named “_” (a single underscore) and, in this case, is invisible. Kicad will automagically connect all such pins into a single net, so including a corresponding pin on a THREAD component (more about this later) will invoke Kicad-to-HAL magick connecting the function name (with the numeric suffix) to the appropriate thread:

addf not.0 servo-thread

The light gray + in the middle of the symbol (not quite centered in the O of NOT) comes from the LoadRT field you must include in the symbol properties:

Kicad Symbol Properties - NOT — Kicad Symbol Properties – NOT

That tells Kicad-to-HAL to add up the total number of NOT components and generate an appropriate loadrt command:

loadrt not		count=1

Not having to count the damn symbols, keep track of their numeric suffixes, and manually generate the addf commands justified this entire project.

Electronics Workbench, Machine Shop, Software

Kicad-to-HAL: Proof of Concept

So it turns out a few hundred lines of Python can convert a Kicad schematic:

Gamepad Axis Priority - schematic sample — Gamepad Axis Priority – schematic sample

Into a LinuxCNC HAL machine configuration file:

loadrt and2		count=22 
loadrt flipflop		count=5 
loadrt not		count=8 
<<< … etc … >>>

addf and2.0		servo-thread
<<< … etc … >>>

net X-Knob-Active <= or2.2.out => and2.1.in0 not.0.in
net X-Knob-Inactive <= not.0.out => and2.2.in0 and2.3.in0
<<< … etc … >>>
net Y-Knob-Active <= or2.3.out => and2.3.in1 not.1.in
net Y-Knob-Inactive <= not.1.out => and2.2.in1
<<< … etc … >>>
net _Axis_Priority_XY-Reset <= and2.2.out => flipflop.0.reset flipflop.1.reset
net _Axis_Priority_Y-Disable <= not.5.out => and2.1.in1
net _Axis_Priority_Y-Select <= and2.3.out => and2.7.in0
net _Axis_Priority_Y-Set <= and2.7.out => flipflop.1.set

The Kicad schematic interconnects components from a library defining LinuxCNC HAL devices:

Kicad symbol - AND2 — Kicad symbol – AND2

The process goes a little something like this:

Draw schematic using components in LinuxCNC-HAL.lib
Add missing components to LinuxCNC-HAL.lib
Iterate
Annotate schematic ~~(starting from 0)~~
Generate netlist in XML format
Run Kicad-to-HAL.py with Python 3.9.2 (sorry)
Fix whatever LinuxCNC complains about
Iterate
Fix logic flaws by adjusting schematic
Iterate

The Kicad components include magick HAL features, the Python program rides roughshod over Kicad conventions, and this thing stands deep in “It works for me!” territory, but I must coerce my notes into something resembling coherence before I forget the grisly details.

More to follow, but you can peruse the Python3 source code and Kicad library as a GitHub Gist:

	# Parse Kicad schematic netlist into a LinuxCNC HAL configuration file
	#
	# Ed Nisley - KE4ZNU
	# 2021-03

	import argparse
	from pathlib import Path

	from lxml import etree

	# ----------
	# remove Kicad annotation from reference as needed
	# kref = Kicad annotated reference
	# component has field entries for anything other than and value


	def cleanHALref(kref):

	comp = etree.XPath('comp[@ref="' + kref + '"]')(components)[0]

	fields = etree.XPath('fields/field[@name="StripAnno"]')(comp)

	if len(fields) and (fields[0].text).startswith("1"):
	retval = kref.rpartition(".")[0]
	else:
	retval = kref

	# 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 = etree.XPath("//design")(Netlist)[0]
	print("XML date: {}".format(etree.XPath("date")(design)[0].text))

	libraries = etree.XPath("//libraries")(Netlist)[0]
	print("Libraries:")
	for l in libraries:
	print(" {}".format(etree.XPath("uri")(l)[0].text))

	components = etree.XPath("//components")(Netlist)[0]
	print("Components: {:.0f}".format(etree.XPath("count(comp)")(components)))

	libparts = etree.XPath("//libparts")(Netlist)[0]
	print("Library parts: {:.0f}".format(etree.XPath("count(libpart)")(libparts)))

	nets = etree.XPath("//nets")(Netlist)[0]
	print("Nets: {:.0f}".format(etree.XPath("count(net)")(nets)))

	halfile.write("# LinuxCNC HAL file\n\n# Kicad netlist: {}\n".format(xmlfn))
	halfile.write("# {}\n\n".format(etree.XPath("date")(design)[0].text))

	# -----
	# load realtime modules

	# LOADRT components

	comps = etree.XPath('comp[value="LOADRT"]')(components)
	comps.sort(key=lambda r: r.attrib["ref"])
	# print('LRT sort: {}'.format(comps))

	llist = []
	for comp in comps:
	ref = comp.attrib["ref"]
	fld = etree.XPath('fields/field[@name="LoadRT"]')(comp)[0]
	# print(' cfg: {} -> {}'.format(ref,fld.text))
	llist += ["loadrt {}\t\t# {}".format(fld.text, ref)]

	if len(llist):
	llist += [" "]

	# 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 = etree.XPath('comp[value!="LOADRT"]/fields/field[@name="LoadRT"]')(components)
	# print('Flds: {}'.format(rtfs))
	rtfs.sort(key=lambda f: f.xpath("ancestor::comp")[0].attrib["ref"])

	modules = {}
	for f in rtfs:
	comp = etree.XPath("ancestor::comp")(f)[0]
	ref = comp.attrib["ref"]

	mod = (etree.XPath("libsource")(comp)[0]).attrib["part"]
	# print(' ref: {} mod: {}'.format(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(" added {} {}".format(mod,modules[mod]))
	else:
	llist += ["loadrt {}\t{}\t\t# {}".format(mod, f.text, ref)]

	if len(modules):
	# print('modules: {}'.format(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 = etree.XPath('comp/fields/field[@name="LoadUsr"]')(components)
	# print('Flds: {}'.format(ufs))

	for f in ufs:
	comp = etree.XPath("ancestor::comp")(f)[0]
	ref = comp.attrib["ref"]

	if len(f.text):
	llist += ["loadusr {}\t\t# {}".format(f.text, ref)]

	if len(llist):
	halfile.write("\n#------\n# LoadUsr modules\n\n")
	halfile.write("\n".join(llist) + "\n")

	# -----
	# collect 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 = etree.XPath('libpart[@part="THREAD"]')(libparts)[0]
	tpins = etree.XPath("pins/pin")(tpart)

	# print('tpart: {}'.format(tpart))
	# print('tpins: {}'.format(tpins))

	# step through all THREAD components

	tcomps = etree.XPath('comp[value="THREAD"]')(components)
	# print('tcomps: {}'.format(tcomps))

	for tcomp in tcomps:
	tcref = tcomp.attrib["ref"]
	# print('tcomp: {} tref: {}'.format(tcomp,tcref))

	for tpin in tpins:
	pnum = tpin.attrib["num"]
	pname = tpin.attrib["name"]

	# use pin number to find other nodes in net
	pnode = etree.XPath('net/node[@ref="' + tcref + '" and @pin="' + pnum + '"]')(nets)[0]

	nodes = etree.XPath("preceding-sibling::node")(pnode)
	nodes += etree.XPath("following-sibling::node")(pnode)

	# print('nodes: {}'.format(nodes))

	if len(nodes) == 0:
	continue

	nlist = ["# Position: " + pname + "\n"]
	# print(' thread position: {}'.format(pname))
	for node in nodes:

	ref = node.attrib["ref"]
	cleanref = cleanHALref(ref)
	pin = node.attrib["pin"]
	# print(' node: {} ref: {} = {} pin: {}'.format(node,ref,cleanref,pin))

	# look up destination pin name to weed out "_" defaults
	# and find "/" prefix indicating no ref prefix
	dval = etree.XPath('comp[@ref="' + ref + '"]/value')(components)[0]
	# print(' dval: {} {}'.format(dval,dval.text))

	dsrc = etree.XPath('comp[@ref="' + ref + '"]/libsource')(components)[0]
	dpart = dsrc.attrib["part"]
	# print(' dsrc: {} {}'.format(dsrc,dpart))

	ldparts = etree.XPath('libpart[@part="' + dpart + '"]')(libparts)
	# print(' ldparts: {}'.format(ldparts))

	if len(ldparts):
	ldpart = ldparts[0]
	ldpin = etree.XPath('pins/pin[@num="' + pin + '"]')(ldpart)[0]
	ldpname = ldpin.attrib["name"]
	# print(' ldpin: {} name: {} part: {}'.format(ldpin,ldpname,dpart))
	if ldpname == "_":
	nlist += ["addf {}\t\t{}".format(cleanref, cleanHALref(tcref))]
	else:
	if ldpname.startswith("/"):
	nlist += [
	"addf {}\t\t{}".format(ldpname.removeprefix("/"), cleanHALref(tcref))
	]
	else:
	nlist += ["addf {}.{}\t\t{}".format(cleanref, ldpname, cleanHALref(tcref))]

	if pname == "_":
	nlist.sort()

	addflist += nlist + [" "]

	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:

	ref = comp.attrib["ref"]

	# ignore non-parameter components
	if not ref.startswith("parameter."):
	continue

	params += 1
	value = etree.XPath("value")(comp)[0].text
	# print('param: {} = {}'.format(ref,value))

	pnode = etree.XPath('net/node[@ref="' + ref + '"]')(nets)[0]
	nodes = etree.XPath("preceding-sibling::node")(pnode) + etree.XPath("following-sibling::node")(
	pnode
	)

	for node in nodes:
	nref = node.attrib["ref"]
	npin = node.attrib["pin"]

	ncomp = etree.XPath('comp[@ref="' + nref + '"]')(components)[0]
	nls = etree.XPath("libsource")(ncomp)[0]
	nname = nls.attrib["part"]

	lpart = etree.XPath('libpart[@part="' + nname + '"]')(libparts)[0]
	lpin = etree.XPath('pins/pin[@num="' + npin + '"]')(lpart)[0]

	# print('ref: {} nref: {} npin: {} lpin: {}'.format(ref,cleanHALref(nref),npin,lpin))

	parlist += [
	"setp {}.{} {}\t\t# {}".format(cleanHALref(nref), lpin.attrib["name"], value, ref)
	]

	if len(parlist):
	halfile.write("\n#------\n# Parameters\n\n")
	parlist.sort()
	halfile.write("\n".join(parlist) + "\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:

	ref = comp.attrib["ref"]

	# ignore non-constant components
	if not ref.startswith("constant."):
	continue

	consts += 1
	value = etree.XPath("value")(comp)[0].text
	# print('const: {} = {}'.format(ref,value))

	pval = ref + ".value"

	conlist += ["setp {} {}".format(pval, value)]

	if len(conlist):
	halfile.write("\n#------\n# Constants\n\n")
	conlist.sort()
	halfile.write("\n".join(conlist) + "\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
	if name == "_":
	multi += 1
	continue

	# print('net {}'.format(net.attrib))

	nodes = etree.XPath("node")(net)

	# 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('name: {} -> {}'.format(name,nameclean))

	multi += 1
	halstr = "net "
	halsinks = []
	outputs = 0

	for node in nodes:
	ref = node.attrib["ref"]
	pnum = node.attrib["pin"]
	# print('node: {}'.format(node.attrib))

	comp = etree.XPath('comp[@ref="' + ref + '"]')(components)[0]
	ls = etree.XPath("libsource")(comp)[0]
	# print('libsource: {}'.format(ls.attrib))

	lpart = etree.XPath('libpart[@part="' + ls.attrib["part"] + '"]')(libparts)[0]
	# print('libpart: {}'.format(lpart.attrib))

	lpin = etree.XPath('pins/pin[@num="' + pnum + '"]')(lpart)[0]
	pname = lpin.attrib["name"]
	cleanname = pname.lstrip("*")
	ptype = lpin.attrib["type"]
	# print('pin: {} {}'.format(ptype,pname))

	if ptype == "output":
	if name.startswith("Net-"):
	halstr += "N_{:0>3d} <= {}.{} => ".format(netID, cleanHALref(ref), cleanname)
	netID += 1
	else:
	halstr += "{} <= {}.{} => ".format(nameclean, cleanHALref(ref), cleanname)
	outputs += 1
	else:
	halsinks += [cleanHALref(ref) + "." + cleanname]

	halstr += " ".join(sorted(halsinks))

	if "parameter" in halstr or "-thread" in halstr: # discard parameters and threads
	# print('discard: {}'.format(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('result {}'.format(halstr))
	hallist += [halstr]

	if len(hallist):
	hallist.sort()
	halfile.write("\n".join(hallist) + "\n")

	halfile.write("\n#------\n# Done!\n")
	halfile.close()

	# print(' = 1 : {:d}'.format(single))
	# print(' > 1 : {:d}'.format(multi))

view raw Kicad-to-HAL.py 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" 150 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 -250 50 200 50 200 -50 -250 -50 N
	X out 1 400 0 200 L 50 50 1 1 O
	X _ 2 -350 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_5I25
	#
	DEF HM2_5I25 hm2_5i25.0. 0 20 N Y 1 F N
	F0 "hm2_5i25.0." 0 500 50 H V C CNN
	F1 "HM2_5I25" 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_5I25_GPIO
	#
	DEF HM2_5I25_GPIO hm2_5i25.0.gpio.000. 0 40 N Y 1 F N
	F0 "hm2_5i25.0.gpio.000." 0 300 50 H V C CNN
	F1 "HM2_5I25_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_5I25_STEPGEN
	#
	DEF HM2_5I25_STEPGEN hm2_5i25.0.stepgen.00. 0 20 N Y 1 F N
	F0 "hm2_5i25.0.stepgen.00." -50 900 50 H V C CNN
	F1 "HM2_5I25_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 0 50 0 0 0 "Add in order found" Normal 0 R C
	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
	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
	#
	# THREAD_FLAG
	#
	DEF THREAD_FLAG thread-flag. 0 0 N N 1 F N
	F0 "thread-flag." 0 250 50 H V C CNN
	F1 "THREAD_FLAG" 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" 100 50 50 H V C CNN "StripAnno"
	DRAW
	P 6 0 1 0 0 0 0 50 -40 75 0 100 40 75 0 50 N
	X thread 1 0 0 0 U 50 50 0 0 B 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

Machine Shop, Software

The Joggy Thing vs. LinuxCNC 2.8

After getting the Sherline mostly working with LinuxCNC 2.8 and the Mesa 5I25 FPGA card, I updated the HAL code turning the Logitech gamepad into The Joggy Thing:

Sherline Mill - Logitech Gamepad Joggy Thing — Sherline Mill – Logitech Gamepad Joggy Thing

This required significantly more effort than I expected, mainly because I can no longer edit the Eagle schematics defining the HAL file. In the intervening years, Autodesk bought the Eagle EE CAD program, converted it into a subscription service, sutured it onto their Fusion 360 package, and priced the result far beyond my toy budget. While they do offer a free tier limited to “individuals for personal, non-commercial use”, schematics with only two sheets pretty much wipes out its value.

Because the EESchema part of Kicad can export its netlists as XML files, someone experienced in wrangling XSLT, perhaps using Python + lxml, could recreate the function of the Eagle ULP with Kicad schematics / netlists. I am not, however, that person, although it would certainly be a Learning Experience™ of the first water.

So I updated the automatically generated HAL file on hard mode with a text editor, which, given HAL’s limited debugging support, somewhat resembles juggling a greasy bowling ball, a full-throttle chainsaw, and a squalling baby in a poopy diaper.

The major conceptual problem was LinuxCNC’s recent separation of “axes” from “joints”, with resulting changes in both nomenclature and control. Eventually, I found some key hints in a very recent update to a LinuxCNC wiki entry describing a similar Logitech gamepad interface.

The basic Joggy Thing logic remains the same, with “analog” values from the joysticks now presented to both the halui.axis and halui.joint controls. The new trick of holding the pre-startup values (presumably zeros) with feedback around a multiplexer qualifies as a Moby Hack preventing a startup glitch from triggering an error having something to do with an E-stop.

The machine still runs away on X and Z at full throttle instantly after tapping the Machine-On button for the first time in the morning. Come to find out the gamepad starts up with all four joysticks jammed at -1 until the first activation of any axis or button, which I’m sure it always did, but something in HAL’s bowels now responds differently. More work will be required, although I think the simplest solution will involve holding everything inert until the logic sees a specific gamepad button.

The LinuxCNC HAL code as a GitHub Gist:

	# HAL for Logitech Joggy Thing


	####################################################
	# Load realtime and userspace modules

	loadusr -W hal_input -KA Dual

	#loadrt logic count=1 personality=0x104
	loadrt constant count=13
	loadrt and2 count=17
	loadrt conv_float_s32 count=1
	loadrt flipflop count=4
	loadrt mux2 count=1
	loadrt mux4 count=5
	loadrt not count=8
	loadrt or2 count=13
	loadrt scale count=7
	loadrt timedelay count=1
	loadrt toggle count=1


	####################################################
	# Hook functions into threads

	#addf logic.0 servo-thread

	addf constant.0 servo-thread
	addf constant.1 servo-thread
	addf constant.2 servo-thread
	addf constant.3 servo-thread
	addf constant.4 servo-thread
	addf constant.5 servo-thread
	addf constant.6 servo-thread
	addf constant.7 servo-thread
	addf constant.8 servo-thread
	addf constant.9 servo-thread
	addf constant.10 servo-thread
	addf constant.11 servo-thread
	addf constant.12 servo-thread
	addf and2.0 servo-thread
	addf and2.1 servo-thread
	addf and2.2 servo-thread
	addf and2.3 servo-thread
	addf and2.4 servo-thread
	addf and2.5 servo-thread
	addf and2.6 servo-thread
	addf and2.7 servo-thread
	addf and2.8 servo-thread
	addf and2.9 servo-thread
	addf and2.10 servo-thread
	addf and2.11 servo-thread
	addf and2.12 servo-thread
	addf and2.13 servo-thread
	addf and2.14 servo-thread
	addf and2.15 servo-thread
	addf and2.16 servo-thread
	addf conv-float-s32.0 servo-thread
	addf toggle.0 servo-thread
	addf flipflop.0 servo-thread
	addf flipflop.1 servo-thread
	addf flipflop.2 servo-thread
	addf flipflop.3 servo-thread
	addf timedelay.0 servo-thread
	addf or2.0 servo-thread
	addf or2.1 servo-thread
	addf or2.2 servo-thread
	addf or2.3 servo-thread
	addf or2.4 servo-thread
	addf or2.5 servo-thread
	addf or2.6 servo-thread
	addf or2.7 servo-thread
	addf or2.8 servo-thread
	addf or2.9 servo-thread
	addf or2.10 servo-thread
	addf or2.11 servo-thread
	addf or2.12 servo-thread
	addf not.0 servo-thread
	addf not.1 servo-thread
	addf not.2 servo-thread
	addf not.3 servo-thread
	addf not.4 servo-thread
	addf not.5 servo-thread
	addf not.6 servo-thread
	addf not.7 servo-thread
	addf scale.0 servo-thread
	addf scale.1 servo-thread
	addf scale.2 servo-thread
	addf scale.3 servo-thread
	addf scale.4 servo-thread
	addf scale.5 servo-thread
	addf scale.6 servo-thread
	addf mux2.0 servo-thread
	addf mux4.0 servo-thread
	addf mux4.1 servo-thread
	addf mux4.2 servo-thread
	addf mux4.3 servo-thread
	addf mux4.4 servo-thread


	####################################################
	# Set constants

	setp constant.0.value 0.1
	setp constant.1.value 20
	setp constant.2.value [TRAJ]MAX_LINEAR_VELOCITY
	setp constant.3.value [TRAJ]MAX_ANGULAR_VELOCITY
	setp constant.4.value 60
	setp constant.5.value 0.50
	setp constant.6.value 1.00
	setp constant.7.value 0.10
	setp constant.8.value 0.10
	setp constant.9.value 0.0
	setp constant.10.value -1.0
	setp constant.11.value 0.020
	setp constant.12.value 0.000


	####################################################
	# Connect Modules with nets

	# both rear top buttons for e-stop, bottom right to reset

	net estop-a input.0.btn-top2 and2.0.in0
	net estop-b input.0.btn-base and2.0.in1
	net n_13 and2.0.out halui.estop.activate

	net reset-estop input.0.btn-base2 halui.estop.reset

	# button to start manual mode (probably not needed with 2.8)

	net manual-mode halui.mode.manual input.0.btn-base3

	net program-resume halui.program.resume input.0.btn-base4

	net n_14 or2.3.in0 input.0.btn-base5
	net n_15 or2.3.in1 input.0.btn-base6
	net n_16 toggle.0.in or2.3.out
	net n_17 conv-float-s32.0.out input.0.abs-x-flat input.0.abs-y-flat input.0.abs-z-flat input.0.abs-rz-flat
	net n_18 constant.1.out conv-float-s32.0.in
	net n_19 constant.4.out scale.0.gain
	net n_20 constant.5.out scale.1.gain
	net n_21 constant.6.out scale.2.gain
	net n_22 constant.7.out scale.3.gain
	net n_23 scale.4.gain constant.8.out
	net n_24 constant.0.out halui.axis.jog-deadband
	net n_42 or2.7.in0 input.0.abs-x-is-pos
	net n_43 or2.7.in1 input.0.abs-x-is-neg
	net n_44 or2.8.in0 input.0.abs-y-is-pos
	net n_45 or2.8.in1 input.0.abs-y-is-neg
	net n_46 or2.9.in0 input.0.abs-z-is-pos
	net n_47 or2.9.in1 input.0.abs-z-is-neg
	net n_48 or2.10.in0 input.0.abs-rz-is-pos
	net n_49 or2.10.in1 input.0.abs-rz-is-neg
	net n_51 constant.10.out scale.5.gain scale.6.gain
	net n_57 and2.1.out halui.axis.x.minus halui.joint.0.minus
	net n_58 and2.2.out halui.axis.x.plus halui.joint.0.plus
	net n_59 and2.3.out halui.axis.y.minus halui.joint.1.minus
	net n_60 and2.4.out halui.axis.y.plus halui.joint.1.plus
	net n_61 and2.5.out halui.axis.z.minus halui.joint.2.minus
	net n_62 and2.6.out halui.axis.z.plus halui.joint.2.plus
	net n_63 and2.7.out halui.axis.a.minus halui.joint.3.minus
	net n_64 and2.8.out halui.axis.a.plus halui.joint.3.plus

	# sort out jog speeds

	net az-buttons-active or2.1.out or2.12.in1
	net xy-buttons-active or2.5.out or2.12.in0
	net any-buttons-active or2.12.out mux4.0.sel0 timedelay.0.in

	net n_54 constant.11.out timedelay.0.on-delay
	net n_55 constant.12.out timedelay.0.off-delay
	net n_56 timedelay.0.out and2.1.in1 and2.2.in1 and2.3.in1 and2.4.in1 and2.5.in1 and2.6.in1 and2.7.in1 and2.8.in1

	net jog-crawl toggle.0.out mux4.0.sel1
	net knob-fast scale.1.out mux4.0.in0 scale.3.in
	net button-fast scale.2.out mux4.0.in1 scale.4.in
	net knob-crawl scale.3.out mux4.0.in2
	net button-crawl scale.4.out mux4.0.in3
	net jog-speed mux4.0.out halui.axis.jog-speed halui.joint.jog-speed

	net angular_motion or2.11.out mux2.0.sel
	net n_25 constant.2.out mux2.0.in0
	net n_26 constant.3.out mux2.0.in1
	net vel-per-second mux2.0.out scale.0.in

	net vel-per-minute scale.0.out scale.1.in scale.2.in

	net az-reset and2.14.out flipflop.2.reset flipflop.3.reset
	net xy-reset and2.10.out flipflop.0.reset flipflop.1.reset

	# hold jog speed unchanged until machine turns on
	# mux S&H from https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Simple_Remote_Pendant

	net jog-mux-enable halui.machine.is-on mux4.1.sel1 mux4.2.sel1 mux4.3.sel1 mux4.4.sel1

	net axis-disabled-value constant.9.out mux4.1.in2 mux4.2.in2 mux4.3.in2 mux4.4.in2

	net x-analog mux4.1.out mux4.1.in0 mux4.1.in1 halui.axis.x.analog halui.joint.0.analog
	net y-analog mux4.2.out mux4.2.in0 mux4.2.in1 halui.axis.y.analog halui.joint.1.analog
	net z-analog mux4.3.out mux4.3.in0 mux4.3.in1 halui.axis.z.analog halui.joint.2.analog
	net a-analog mux4.4.out mux4.4.in0 mux4.4.in1 halui.axis.a.analog halui.joint.3.analog

	#net x-amp-enable logic.0.in-00
	#net y-amp-enable logic.0.in-01
	#net z-amp-enable logic.0.in-02
	#net a-amp-enable logic.0.in-03

	net x-buttons-active or2.4.out or2.5.in0
	net x-disable not.4.out and2.12.in1
	net x-enable flipflop.0.out not.4.in mux4.1.sel0
	net x-hat-minus or2.4.in1 input.0.abs-hat0x-is-neg and2.1.in0
	net x-hat-plus or2.4.in0 input.0.abs-hat0x-is-pos and2.2.in0
	net x-jog input.0.abs-x-position mux4.1.in3
	net x-knob-active or2.7.out not.0.in and2.9.in0
	net x-knob-inactive not.0.out and2.10.in0 and2.11.in0
	net x-set and2.9.out flipflop.0.set

	net y-buttons-active or2.6.out or2.5.in1
	net y-disable not.5.out and2.9.in1
	net y-enable flipflop.1.out not.5.in mux4.2.sel0
	net y-hat-minus or2.6.in1 input.0.abs-hat0y-is-neg and2.4.in0
	net y-hat-plus or2.6.in0 input.0.abs-hat0y-is-pos and2.3.in0
	net y-jog input.0.abs-y-position scale.5.in
	net y-jog-reversed scale.5.out mux4.2.in3
	net y-knob-active not.1.in or2.8.out and2.11.in1
	net y-knob-inactive not.1.out and2.10.in1
	net y-select and2.12.in0 and2.11.out
	net y-set flipflop.1.set and2.12.out

	net z-button-minus or2.2.in0 input.0.btn-thumb and2.5.in0
	net z-button-plus or2.2.in1 input.0.btn-top and2.6.in0
	net z-buttons-active or2.2.out or2.1.in1
	net z-disable not.6.out and2.16.in1
	net z-enable not.6.in flipflop.2.out mux4.3.sel0
	net z-jog input.0.abs-rz-position scale.6.in
	net z-jog-reversed scale.6.out mux4.3.in3
	net z-knob-active not.3.in or2.10.out and2.13.in0
	net z-knob-inactive not.3.out and2.15.in0 and2.14.in0
	net z-set and2.13.out flipflop.2.set

	net a-button-minus or2.0.in0 input.0.btn-joystick and2.7.in0
	net a-button-plus or2.0.in1 input.0.btn-thumb2 and2.8.in0
	net a-buttons-active or2.0.out or2.1.in0 or2.11.in1
	net a-disable not.7.out and2.13.in1
	net a-enable or2.11.in0 flipflop.3.out not.7.in mux4.4.sel0
	net a-jog input.0.abs-z-position mux4.4.in3
	net a-knob-active or2.9.out not.2.in and2.15.in1
	net a-knob-inactive not.2.out and2.14.in1
	net a-select and2.16.in0 and2.15.out
	net a-set flipflop.3.set and2.16.out

view raw joggy.hal hosted with ❤ by GitHub

Machine Shop, Software

LinuxCNC: Mesa 5I25 For The Sherline Mill

Updating the Sherline’s LinuxCNC from 2.7.ancient to 2.8.1, which I did by the simple expedient of replacing the hard drive with an SSD from the heap and doing a clean installation, provided the opportunity of switching from the parallel port to a Mesa 5I25 FPGA card to put timing-critical step generation under hardware control.

I has flashed the card with Mesa’s Probotix PBX-RF BIT file, then invoked it with a configuration string turning off everything except the stepgen modules:

loadrt hm2_pci config="num_encoders=0 num_pwmgens=0 num_stepgens=4"

Which produces a simple pinout on the back panel DB-25 connector:

hm2_pci: loading Mesa AnyIO HostMot2 driver version 0.7
hm2_pci: discovered 5i25 at 0000:04:02.0
hm2/hm2_5i25.0: Low Level init 0.15
hm2/hm2_5i25.0: 34 I/O Pins used:
hm2/hm2_5i25.0:     IO Pin 000 (P3-01): IOPort
hm2/hm2_5i25.0:     IO Pin 001 (P3-14): IOPort
hm2/hm2_5i25.0:     IO Pin 002 (P3-02): StepGen #0, pin Step (Output)
hm2/hm2_5i25.0:     IO Pin 003 (P3-15): IOPort
hm2/hm2_5i25.0:     IO Pin 004 (P3-03): StepGen #0, pin Direction (Output)
hm2/hm2_5i25.0:     IO Pin 005 (P3-16): IOPort
hm2/hm2_5i25.0:     IO Pin 006 (P3-04): StepGen #1, pin Step (Output)
hm2/hm2_5i25.0:     IO Pin 007 (P3-17): IOPort
hm2/hm2_5i25.0:     IO Pin 008 (P3-05): StepGen #1, pin Direction (Output)
hm2/hm2_5i25.0:     IO Pin 009 (P3-06): StepGen #2, pin Step (Output)
hm2/hm2_5i25.0:     IO Pin 010 (P3-07): StepGen #2, pin Direction (Output)
hm2/hm2_5i25.0:     IO Pin 011 (P3-08): StepGen #3, pin Step (Output)
hm2/hm2_5i25.0:     IO Pin 012 (P3-09): StepGen #3, pin Direction (Output)
hm2/hm2_5i25.0:     IO Pin 013 (P3-10): IOPort
hm2/hm2_5i25.0:     IO Pin 014 (P3-11): IOPort
hm2/hm2_5i25.0:     IO Pin 015 (P3-12): IOPort
hm2/hm2_5i25.0:     IO Pin 016 (P3-13): IOPort

The Sherline CNC driver requires an adapter to swap the Step and Direction signals on the output connector.

The Sherline controller expects active-low Step signals:

# invert step output bits
setp   [HMOT](FPGA0).gpio.002.invert_output     1
setp   [HMOT](FPGA0).gpio.006.invert_output     1
setp   [HMOT](FPGA0).gpio.009.invert_output     1
setp   [HMOT](FPGA0).gpio.011.invert_output     1

The Y and Z drivers needed the same Direction swap as before:

# invert direction output bits
setp   [HMOT](FPGA0).gpio.008.invert_output     1
setp   [HMOT](FPGA0).gpio.010.invert_output     1

Because the 5I25 uses 3.3 V logic with interface drivers to match the “parallel port” 5 V levels, it has different electrical characteristics than the parallel port built into the Dell Optiplex 760. Putting a 100 nF cap across the Probe input reduced, but did not eliminate, what looked like a nice 60 Hz signal on that long wire, so I added a firmware debouncer:

loadrt debounce cfg=2
addf debounce.0               servo-thread
setp debounce.0.delay 3

net probe-raw debounce.0.1.in [HMOT](FPGA0).gpio.003.in_not
net probe-in debounce.0.1.out

The additional 3 ms delay doesn’t amount to much distance, even were I to probe at the machine’s top 10 mm/s speed.

Although the seemingly identical Home switch input seemed stable, it got the same treatment:

net home-raw debounce.0.0.in [HMOT](FPGA0).gpio.013.in_not
net all-home debounce.0.0.out

The PID loops have a very simple setup, with P = 1000 and FF1 = 1, which seems entirely adequate without any attempt at tuning. The following errors seems to stay under 20 ppm, in the machine’s native inches, while cutting the standard Axis “splash G-Code” file with all the speeds cranked up to 24 in/min = 610 mm/min:

LinuxCNC - Sherline f-error — LinuxCNC – Sherline f-error

Claiming a 20 µinch error for a Sherline is certainly aspirational.

The INI and HAL files as a GitHub Gist:

	# DO NOT RUN PNCCONF EVER AGAIN

	loadrt [KINS]KINEMATICS
	loadrt [EMCMOT]EMCMOT servo_period_nsec=[EMCMOT]SERVO_PERIOD num_joints=[KINS]JOINTS
	loadrt hostmot2
	loadrt hm2_pci config="num_encoders=0 num_pwmgens=0 num_stepgens=4"

	loadrt debounce cfg=2
	addf debounce.0 servo-thread
	setp debounce.0.delay 3

	setp [HMOT](FPGA0).watchdog.timeout_ns 5000000

	loadrt pid names=pid.x,pid.y,pid.z,pid.a

	addf [HMOT](FPGA0).read servo-thread

	addf motion-command-handler servo-thread
	addf motion-controller servo-thread

	addf pid.x.do-pid-calcs servo-thread
	addf pid.y.do-pid-calcs servo-thread
	addf pid.z.do-pid-calcs servo-thread
	addf pid.a.do-pid-calcs servo-thread

	addf [HMOT](FPGA0).write servo-thread

	# external output signals

	#setp [HMOT](FPGA0).gpio.000.out 1
	net estop-out [HMOT](FPGA0).gpio.000.out

	#net all-amps-enabled logic.0.and [HMOT](FPGA0).gpio.007.out

	# Home switch

	net home-raw debounce.0.0.in [HMOT](FPGA0).gpio.013.in_not
	net all-home debounce.0.0.out

	# Probe switch

	net probe-raw debounce.0.1.in [HMOT](FPGA0).gpio.003.in_not
	net probe-in debounce.0.1.out


	#*******************
	# AXIS X JOINT 0
	#*******************

	setp pid.x.Pgain [JOINT_0]P
	setp pid.x.Igain [JOINT_0]I
	setp pid.x.Dgain [JOINT_0]D
	setp pid.x.bias [JOINT_0]BIAS
	setp pid.x.FF0 [JOINT_0]FF0
	setp pid.x.FF1 [JOINT_0]FF1
	setp pid.x.FF2 [JOINT_0]FF2
	setp pid.x.deadband [JOINT_0]DEADBAND
	setp pid.x.maxoutput [JOINT_0]MAX_OUTPUT
	setp pid.x.error-previous-target true

	# This setting is to limit bogus stepgen
	# velocity corrections caused by position
	# feedback sample time jitter.
	setp pid.x.maxerror 0.000500

	net x-index-enable <=> pid.x.index-enable
	net x-amp-enable => pid.x.enable
	net x-pos-cmd => pid.x.command
	net x-pos-fb => pid.x.feedback
	net x-output <= pid.x.output

	# Step Gen signals/setup

	setp [HMOT](FPGA0).stepgen.00.dirsetup [JOINT_0]DIRSETUP
	setp [HMOT](FPGA0).stepgen.00.dirhold [JOINT_0]DIRHOLD
	setp [HMOT](FPGA0).stepgen.00.steplen [JOINT_0]STEPLEN
	setp [HMOT](FPGA0).stepgen.00.stepspace [JOINT_0]STEPSPACE
	setp [HMOT](FPGA0).stepgen.00.position-scale [JOINT_0]STEP_SCALE
	setp [HMOT](FPGA0).stepgen.00.step_type 0
	setp [HMOT](FPGA0).stepgen.00.control-type 1
	setp [HMOT](FPGA0).stepgen.00.maxaccel [JOINT_0]STEPGEN_MAXACCEL
	setp [HMOT](FPGA0).stepgen.00.maxvel [JOINT_0]STEPGEN_MAXVEL

	# invert step output bit
	setp [HMOT](FPGA0).gpio.002.invert_output 1

	# ---closedloop stepper signals---

	net x-pos-cmd <= joint.0.motor-pos-cmd
	net x-vel-cmd <= joint.0.vel-cmd
	net x-output <= [HMOT](FPGA0).stepgen.00.velocity-cmd
	net x-pos-fb <= [HMOT](FPGA0).stepgen.00.position-fb
	net x-pos-fb => joint.0.motor-pos-fb
	net x-amp-enable <= joint.0.amp-enable-out
	net x-amp-enable => [HMOT](FPGA0).stepgen.00.enable

	# ---setup home / limit switch signals---

	net all-home => joint.0.home-sw-in

	net x-neg-limit => joint.0.neg-lim-sw-in
	net x-pos-limit => joint.0.pos-lim-sw-in

	#*******************
	# AXIS Y JOINT 1
	#*******************

	setp pid.y.Pgain [JOINT_1]P
	setp pid.y.Igain [JOINT_1]I
	setp pid.y.Dgain [JOINT_1]D
	setp pid.y.bias [JOINT_1]BIAS
	setp pid.y.FF0 [JOINT_1]FF0
	setp pid.y.FF1 [JOINT_1]FF1
	setp pid.y.FF2 [JOINT_1]FF2
	setp pid.y.deadband [JOINT_1]DEADBAND
	setp pid.y.maxoutput [JOINT_1]MAX_OUTPUT
	setp pid.y.error-previous-target true

	# This setting is to limit bogus stepgen
	# velocity corrections caused by position
	# feedback sample time jitter.
	setp pid.y.maxerror 0.000500

	net y-index-enable <=> pid.y.index-enable
	net y-amp-enable => pid.y.enable
	net y-pos-cmd => pid.y.command
	net y-pos-fb => pid.y.feedback
	net y-output <= pid.y.output

	# Step Gen signals/setup

	setp [HMOT](FPGA0).stepgen.01.dirsetup [JOINT_1]DIRSETUP
	setp [HMOT](FPGA0).stepgen.01.dirhold [JOINT_1]DIRHOLD
	setp [HMOT](FPGA0).stepgen.01.steplen [JOINT_1]STEPLEN
	setp [HMOT](FPGA0).stepgen.01.stepspace [JOINT_1]STEPSPACE
	setp [HMOT](FPGA0).stepgen.01.position-scale [JOINT_1]STEP_SCALE
	setp [HMOT](FPGA0).stepgen.01.step_type 0
	setp [HMOT](FPGA0).stepgen.01.control-type 1
	setp [HMOT](FPGA0).stepgen.01.maxaccel [JOINT_1]STEPGEN_MAXACCEL
	setp [HMOT](FPGA0).stepgen.01.maxvel [JOINT_1]STEPGEN_MAXVEL

	# invert step output bit
	setp [HMOT](FPGA0).gpio.006.invert_output 1

	# invert direction output bit
	setp [HMOT](FPGA0).gpio.008.invert_output 1


	# ---closedloop stepper signals---

	net y-pos-cmd <= joint.1.motor-pos-cmd
	net y-vel-cmd <= joint.1.vel-cmd
	net y-output <= [HMOT](FPGA0).stepgen.01.velocity-cmd
	net y-pos-fb <= [HMOT](FPGA0).stepgen.01.position-fb
	net y-pos-fb => joint.1.motor-pos-fb
	net y-amp-enable <= joint.1.amp-enable-out
	net y-amp-enable => [HMOT](FPGA0).stepgen.01.enable

	# ---setup home / limit switch signals---

	net all-home => joint.1.home-sw-in
	net y-neg-limit => joint.1.neg-lim-sw-in
	net y-pos-limit => joint.1.pos-lim-sw-in

	#*******************
	# AXIS Z JOINT 2
	#*******************

	setp pid.z.Pgain [JOINT_2]P
	setp pid.z.Igain [JOINT_2]I
	setp pid.z.Dgain [JOINT_2]D
	setp pid.z.bias [JOINT_2]BIAS
	setp pid.z.FF0 [JOINT_2]FF0
	setp pid.z.FF1 [JOINT_2]FF1
	setp pid.z.FF2 [JOINT_2]FF2
	setp pid.z.deadband [JOINT_2]DEADBAND
	setp pid.z.maxoutput [JOINT_2]MAX_OUTPUT
	setp pid.z.error-previous-target true

	# This setting is to limit bogus stepgen
	# velocity corrections caused by position
	# feedback sample time jitter.
	setp pid.z.maxerror 0.000500

	net z-index-enable <=> pid.z.index-enable
	net z-amp-enable => pid.z.enable
	net z-pos-cmd => pid.z.command
	net z-pos-fb => pid.z.feedback
	net z-output <= pid.z.output

	# Step Gen signals/setup

	setp [HMOT](FPGA0).stepgen.02.dirsetup [JOINT_2]DIRSETUP
	setp [HMOT](FPGA0).stepgen.02.dirhold [JOINT_2]DIRHOLD
	setp [HMOT](FPGA0).stepgen.02.steplen [JOINT_2]STEPLEN
	setp [HMOT](FPGA0).stepgen.02.stepspace [JOINT_2]STEPSPACE
	setp [HMOT](FPGA0).stepgen.02.position-scale [JOINT_2]STEP_SCALE
	setp [HMOT](FPGA0).stepgen.02.step_type 0
	setp [HMOT](FPGA0).stepgen.02.control-type 1
	setp [HMOT](FPGA0).stepgen.02.maxaccel [JOINT_2]STEPGEN_MAXACCEL
	setp [HMOT](FPGA0).stepgen.02.maxvel [JOINT_2]STEPGEN_MAXVEL

	# invert step output bit
	setp [HMOT](FPGA0).gpio.009.invert_output 1

	# invert direction output bit
	setp [HMOT](FPGA0).gpio.010.invert_output 1

	# ---closedloop stepper signals---

	net z-pos-cmd <= joint.2.motor-pos-cmd
	net z-vel-cmd <= joint.2.vel-cmd
	net z-output <= [HMOT](FPGA0).stepgen.02.velocity-cmd
	net z-pos-fb <= [HMOT](FPGA0).stepgen.02.position-fb
	net z-pos-fb => joint.2.motor-pos-fb
	net z-amp-enable <= joint.2.amp-enable-out
	net z-amp-enable => [HMOT](FPGA0).stepgen.02.enable

	# ---setup home / limit switch signals---

	net all-home => joint.2.home-sw-in
	net z-neg-limit => joint.2.neg-lim-sw-in
	net z-pos-limit => joint.2.pos-lim-sw-in

	#*******************
	# AXIS A JOINT 3
	#*******************

	setp pid.a.Pgain [JOINT_3]P
	setp pid.a.Igain [JOINT_3]I
	setp pid.a.Dgain [JOINT_3]D
	setp pid.a.bias [JOINT_3]BIAS
	setp pid.a.FF0 [JOINT_3]FF0
	setp pid.a.FF1 [JOINT_3]FF1
	setp pid.a.FF2 [JOINT_3]FF2
	setp pid.a.deadband [JOINT_3]DEADBAND
	setp pid.a.maxoutput [JOINT_3]MAX_OUTPUT
	setp pid.a.error-previous-target true

	# This setting is to limit bogus stepgen
	# velocity corrections caused by position
	# feedback sample time jitter.
	setp pid.a.maxerror 0.000500

	net a-index-enable <=> pid.a.index-enable
	net a-amp-enable => pid.a.enable
	net a-pos-cmd => pid.a.command
	net a-pos-fb => pid.a.feedback
	net a-output <= pid.a.output

	# Step Gen signals/setup

	setp [HMOT](FPGA0).stepgen.03.dirsetup [JOINT_3]DIRSETUP
	setp [HMOT](FPGA0).stepgen.03.dirhold [JOINT_3]DIRHOLD
	setp [HMOT](FPGA0).stepgen.03.steplen [JOINT_3]STEPLEN
	setp [HMOT](FPGA0).stepgen.03.stepspace [JOINT_3]STEPSPACE
	setp [HMOT](FPGA0).stepgen.03.position-scale [JOINT_3]STEP_SCALE
	setp [HMOT](FPGA0).stepgen.03.step_type 0
	setp [HMOT](FPGA0).stepgen.03.control-type 1
	setp [HMOT](FPGA0).stepgen.03.maxaccel [JOINT_3]STEPGEN_MAXACCEL
	setp [HMOT](FPGA0).stepgen.03.maxvel [JOINT_3]STEPGEN_MAXVEL

	# invert step output bit
	setp [HMOT](FPGA0).gpio.011.invert_output 1

	# ---closedloop stepper signals---

	net a-pos-cmd <= joint.3.motor-pos-cmd
	net a-vel-cmd <= joint.3.vel-cmd
	net a-output <= [HMOT](FPGA0).stepgen.03.velocity-cmd
	net a-pos-fb <= [HMOT](FPGA0).stepgen.03.position-fb
	net a-pos-fb => joint.3.motor-pos-fb
	net a-amp-enable <= joint.3.amp-enable-out
	net a-amp-enable => [HMOT](FPGA0).stepgen.03.enable

	# ---setup home / limit switch signals---

	net all-home => joint.3.home-sw-in
	net a-neg-limit => joint.3.neg-lim-sw-in
	net a-pos-limit => joint.3.pos-lim-sw-in


	#******************************
	# connect miscellaneous signals
	#******************************

	# ---HALUI signals---

	net axis-select-x halui.axis.x.select
	net x-is-homed halui.joint.0.is-homed

	net axis-select-y halui.axis.y.select
	net y-is-homed halui.joint.1.is-homed

	net axis-select-z halui.axis.z.select
	net z-is-homed halui.joint.2.is-homed

	net axis-select-a halui.axis.a.select
	net a-is-homed halui.joint.3.is-homed

	net jog-selected-pos halui.axis.selected.plus
	net jog-selected-neg halui.axis.selected.minus

	net spindle-manual-cw halui.spindle.0.forward
	net spindle-manual-ccw halui.spindle.0.reverse
	net spindle-manual-stop halui.spindle.0.stop

	net MDI-mode halui.mode.is-mdi

	# ---coolant signals---

	net coolant-mist <= iocontrol.0.coolant-mist
	net coolant-flood <= iocontrol.0.coolant-flood

	# ---probe signal---

	net probe-in => motion.probe-input

	# ---motion control signals---

	net in-position <= motion.in-position
	net machine-is-enabled <= motion.motion-enabled

	# ---digital in / out signals---

	# ---estop signals---

	net estop-out <= iocontrol.0.user-enable-out
	net estop-out => iocontrol.0.emc-enable-in

	# ---manual tool change signals---

	loadusr -W hal_manualtoolchange
	net tool-change-request iocontrol.0.tool-change => hal_manualtoolchange.change
	net tool-change-confirmed iocontrol.0.tool-changed <= hal_manualtoolchange.changed
	net tool-number iocontrol.0.tool-prep-number => hal_manualtoolchange.number
	net tool-prepare-loopback iocontrol.0.tool-prepare => iocontrol.0.tool-prepared

view raw razor-5i25.hal hosted with ❤ by GitHub

	# DO NOT RUN PNCCONF EVER AGAIN

	[EMC]
	MACHINE = Razor-5i25
	DEBUG = 0
	VERSION = 1.1


	[DISPLAY]
	DISPLAY = axis
	POSITION_OFFSET = RELATIVE
	POSITION_FEEDBACK = ACTUAL
	MAX_FEED_OVERRIDE = 2.000000
	MAX_SPINDLE_OVERRIDE = 1.000000
	MIN_SPINDLE_OVERRIDE = 0.500000
	INTRO_GRAPHIC = /home/ed/linuxcnc/configs/razor-5i25/Sherline.gif
	INTRO_TIME = 3
	PROGRAM_PREFIX = /mnt/bulkdata/
	INCREMENTS = 50mm 10mm 1mm 0.1mm 90 45 10 5 1
	GRIDS = 100mm 50mm 25mm 10mm 5mm
	POSITION_FEEDBACK = ACTUAL
	DEFAULT_LINEAR_VELOCITY = 0.200000
	MAX_LINEAR_VELOCITY = 0.400000
	MIN_LINEAR_VELOCITY = 0.016670
	DEFAULT_ANGULAR_VELOCITY = 12.000000
	MAX_ANGULAR_VELOCITY = 180.000000
	MIN_ANGULAR_VELOCITY = 1.666667
	EDITOR = gedit
	GEOMETRY = axyz

	[FILTER]
	PROGRAM_EXTENSION = .png,.gif,.jpg Greyscale Depth Image
	PROGRAM_EXTENSION = .py Python Script
	png = image-to-gcode
	gif = image-to-gcode
	jpg = image-to-gcode
	py = python

	[TASK]
	TASK = milltask
	CYCLE_TIME = 0.010

	[RS274NGC]
	PARAMETER_FILE = linuxcnc.var
	RS274NGC_STARTUP_CODE = G21 G40 G49 G54 G80 G90 G92.1 G94 G97 G98

	[EMCMOT]
	EMCMOT = motmod
	COMM_TIMEOUT = 1.0
	SERVO_PERIOD = 1000000

	[HMOT]
	FPGA0 = hm2_5i25.0

	[HAL]
	TWOPASS = on
	HALUI = halui
	HALFILE = razor-5i25.hal
	#HALFILE = joggy.hal
	HALFILE = custom.hal
	POSTGUI_HALFILE = postgui_call_list.hal
	SHUTDOWN = shutdown.hal
	#HALFILE = LIB:halcheck.tcl

	[HALUI]

	[KINS]
	JOINTS = 4
	KINEMATICS = trivkins coordinates=XYZA

	[TRAJ]
	COORDINATES = XYZA
	LINEAR_UNITS = inch
	ANGULAR_UNITS = degree
	DEFAULT_LINEAR_VELOCITY = 0.10
	MAX_LINEAR_VELOCITY = 0.4
	MAX_ANGULAR_VELOCITY = 45
	DEFAULT_ANGULAR_VELOCITY = 25.00
	NO_FORCE_HOMING = 1
	POSITION_FILE = lastposition.txt


	[EMCIO]
	EMCIO = io
	CYCLE_TIME = 0.100
	TOOL_TABLE = tool.tbl

	#******************************************
	[AXIS_X]
	MIN_LIMIT = -1.0
	MAX_LIMIT = 9.5
	MAX_VELOCITY = 0.4
	MAX_ACCELERATION = 5.0

	[JOINT_0]
	TYPE = LINEAR
	FERROR = 0.01
	MIN_FERROR = 0.001
	MAX_VELOCITY = 0.4
	MAX_ACCELERATION = 5.0
	BACKLASH = 0.003
	# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
	# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
	STEPGEN_MAXVEL = 0.6
	STEPGEN_MAXACCEL = 20

	P = 1000.0
	I = 0.0
	D = 0.0
	FF0 = 0.0
	FF1 = 1.0
	FF2 = 0.0
	BIAS = 0.0
	DEADBAND = 0.0
	MAX_OUTPUT = 0.0

	# these are in nanoseconds
	DIRSETUP = 25000
	DIRHOLD = 25000
	STEPLEN = 25000
	STEPSPACE = 25000
	STEP_SCALE = 16000

	MIN_LIMIT = -1.0
	MAX_LIMIT = 9.5

	HOME = 5.25
	HOME_OFFSET = 9.1
	HOME_SEARCH_VEL = 0.3
	HOME_LATCH_VEL = 0.03
	HOME_FINAL_VEL = 0.4
	HOME_USE_INDEX = NO
	HOME_IS_SHARED = 1
	HOME_SEQUENCE = 1
	#******************************************


	#******************************************
	[AXIS_Y]
	MIN_LIMIT = 0.00
	MAX_LIMIT = 5.10
	MAX_VELOCITY = 0.4
	MAX_ACCELERATION = 5.0

	[JOINT_1]
	TYPE = LINEAR
	FERROR = 0.01
	MIN_FERROR = 0.001
	MAX_VELOCITY = 0.4
	MAX_ACCELERATION = 5.0
	BACKLASH = 0.003
	# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
	# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
	STEPGEN_MAXVEL = 0.6
	STEPGEN_MAXACCEL = 10.0

	P = 1000.0
	I = 0.0
	D = 0.0
	FF0 = 0.0
	FF1 = 1.0
	FF2 = 0.0
	BIAS = 0.0
	DEADBAND = 0.0
	MAX_OUTPUT = 0.0

	# these are in nanoseconds
	DIRSETUP = 25000
	DIRHOLD = 25000
	STEPLEN = 25000
	STEPSPACE = 25000
	STEP_SCALE = 16000

	MIN_LIMIT = 0.0
	MAX_LIMIT = 5.1

	HOME = 4.5
	HOME_OFFSET = 5.1
	HOME_SEARCH_VEL = 0.3
	HOME_LATCH_VEL = 0.03
	HOME_FINAL_VEL = 0.4
	HOME_USE_INDEX = NO
	HOME_IS_SHARED = 1
	HOME_SEQUENCE = 2
	#******************************************


	#******************************************
	[AXIS_Z]
	MIN_LIMIT = 0.0
	MAX_LIMIT = 6.680
	MAX_VELOCITY = 0.333
	MAX_ACCELERATION = 3.0

	[JOINT_2]
	TYPE = LINEAR
	FERROR = 0.01
	MIN_FERROR = 0.001
	MAX_VELOCITY = 0.333
	MAX_ACCELERATION = 3.0
	BACKLASH = 0.005
	# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
	# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
	STEPGEN_MAXVEL = 0.6
	STEPGEN_MAXACCEL = 6

	P = 1000.0
	I = 0.0
	D = 0.0
	FF0 = 0.0
	FF1 = 1.0
	FF2 = 0.0
	BIAS = 0.0
	DEADBAND = 0.0
	MAX_OUTPUT = 0.0

	# these are in nanoseconds
	DIRSETUP = 25000
	DIRHOLD = 25000
	STEPLEN = 25000
	STEPSPACE = 25000
	STEP_SCALE = 16000

	MIN_LIMIT = 0.0
	MAX_LIMIT = 6.68

	HOME = 6.5
	HOME_OFFSET = 6.68
	HOME_SEARCH_VEL = 0.15
	HOME_LATCH_VEL = 0.015
	HOME_FINAL_VEL = 0.33
	HOME_USE_INDEX = NO
	HOME_IS_SHARED = 1
	HOME_SEQUENCE = 0
	#******************************************


	#******************************************
	[AXIS_A]
	MIN_LIMIT = -9999999
	MAX_LIMIT = 9999999
	MAX_VELOCITY = 45.0
	MAX_ACCELERATION = 250.0

	[JOINT_3]
	TYPE = ANGULAR
	FERROR = 0.1
	MIN_FERROR = 0.01
	MAX_VELOCITY = 45.0
	MAX_ACCELERATION = 250.0
	# The values below should be 25% larger than MAX_VELOCITY and MAX_ACCELERATION
	# If using BACKLASH compensation STEPGEN_MAXACCEL should be 100% larger.
	STEPGEN_MAXVEL = 50
	STEPGEN_MAXACCEL = 300

	P = 1000.0
	I = 0.0
	D = 0.0
	FF0 = 0.0
	FF1 = 1.0
	FF2 = 0.0
	BIAS = 0.0
	DEADBAND = 0.0
	MAX_OUTPUT = 0.0

	# these are in nanoseconds
	DIRSETUP = 25000
	DIRHOLD = 25000
	STEPLEN = 25000
	STEPSPACE = 25000
	STEP_SCALE = 160

	MIN_LIMIT = -9999999
	MAX_LIMIT = 9999999

	HOME = 0.0
	HOME_OFFSET = 0
	HOME_SEARCH_VEL = 0
	HOME_LATCH_VEL = 0
	HOME_FINAL_VEL = 0
	HOME_USE_INDEX = NO
	HOME_SEQUENCE = 3
	#******************************************

view raw razor-5i25.ini hosted with ❤ by GitHub

Adapting the HAL code driving my Joggy Thing to its new home didn’t go quite as smoothly, about which, more later.