Tag: Improvements

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Machine Shop

Tek CC Milled Cursor: MVP

What a difference 100 µm can make:

Hairline V tool tests - 0.3 mm 10 kRPM 24 ipm
Hairline V tool tests – 0.3 mm 10 kRPM 24 ipm

All three hairlines have 0.3 mm depth of cut, with the spindle running at 10 kRPM and the cut proceeding at 24 inch/min = 600 mm/min. All three cuts went through a strip of water + detergent along their length, which seems to work perfectly.

The cuts start on the left side:

Hairline V tool tests - 0.3 mm 10 kRPM 24 ipm - start
Hairline V tool tests – 0.3 mm 10 kRPM 24 ipm – start

I cut the red hairline through the PET cursor’s protective film to confirm doing it that way is a Bad Idea™; the gnarly appearance is sufficient proof.

The cuts end on the right:

Hairline V tool tests - 0.3 mm 10 kRPM 24 ipm - end
Hairline V tool tests – 0.3 mm 10 kRPM 24 ipm – end

Eyeballometrically, the cuts are the same depth on both ends, with a slight texture difference at the start as the X axis ramps up to full speed.

They’d be a bit stout on an old-school engraved slide rule, but look just fine laid against a laser-printed Homage Tek Circuit Computer:

Hairline V tool tests - 0.3 mm 10 kRPM 24 ipm - Tek CC
Hairline V tool tests – 0.3 mm 10 kRPM 24 ipm – Tek CC

Flushed with success, here’s a fresh-cut red hairline in action:

Tek CC cursor hairline - V tool red fill
Tek CC cursor hairline – V tool red fill

The end of the cursor sticks out 1 mm over the rim of the bottom deck, because I wanted to find out whether that would make it easier to move. It turns out the good folks at Tek knew what they were doing; a too-long cursor buckles too easily.

The trick will be touching off the V tool accurately enough on the cursor surface to get the correct depth of cut. The classic machinist’s technique involves a pack of rolling papers, which might be coming back into fashion here in NY.

Machine Shop

Tek CC Milled Cursor vs. Speed vs. Coolant

After getting the Sherline running with the Mesa 5I25, I could return to milling cursor hairlines for the Tek Circuit Computer:

Hairline V tool - fixture
Hairline V tool – fixture

That’s the fixture intended for Gyros circular saw blades, repurposed for V tool engraving. The V tool in the Sherline tool holder collet is one of the ten-pack from the CNC 3018, unused until this adventure.

The actual setup had a scrap cursor secured with a strip of Kapton tape:

Hairline V tool - 0.2 0.3 0.4 DOC 10K RPM - Kapton fixture
Hairline V tool – 0.2 0.3 0.4 DOC 10K RPM – Kapton fixture

Those are three passes at (nominal) depths of 0.2, 0.3, and 0.4 mm (bottom to top) with a pre-existing hairline visible just above the second pass. The spindle ran at the Sherline’s top speed of just under 10 kRPM with no coolant on the workpiece.

I touched off the 0.2 mm cut by lowering the tool 0.1 mm at a time until it just left a mark on the Kapton tape, after a coarse touch-off atop a 0.5 mm plastic card, and calling it zero.

Scribbling over the cuts with a red Industrial Sharpie looked downright gory:

Hairline V tool - 0.2 0.3 0.4 DOC - Kapton Sharpie
Hairline V tool – 0.2 0.3 0.4 DOC – Kapton Sharpie

Peeling the tape and applying a cloth moistened with denatured alcohol showed three gnarly hairlines:

Hairline V tool - 0.2 0.3 0.4 DOC 10K RPM - Kapton start
Hairline V tool – 0.2 0.3 0.4 DOC 10K RPM – Kapton start

The top hairline shows distinct signs of melted PET plastic along the trench, with poor color fill due to the Sharpie not sticking to / wiping off the smooth-ish trench bottom. The next one is the existing saw-cut hairline with the lead-in cut over on the left.

The 0.3 and 0.2 mm hairlines look much better, with less debris and more complete fill. Unfortunately, the right side of the Sherline’s tooling plate seems to be a few tenths of a millimeter lower than the left, causing the 0.2 mm hairline to … disappear … where the cutter skipped up onto the Kapton tape:

Hairline V tool - 0.2 0.3 0.4 DOC 10K RPM - Kapton mid
Hairline V tool – 0.2 0.3 0.4 DOC 10K RPM – Kapton mid

Now, in practical terms, this is the first time I’ve actually needed platform alignment to within a hundred microns in subtractive machining. As some folks discover to their astonishment, however, 3D printing does require that level of accuracy:

Thinwall Box - platform height
Thinwall Box – platform height

Engraving through a layer of tape isn’t the right way to do it and some coolant will definitely improve the results, so I ignored the alignment issue, remounted the same scrap cursor with the red hairlines on the bottom, pulled a strip of water + detergent along the tool path, cut the same hairlines, and colored the trenches with blue Industrial Sharpie:

Hairline V tool - 0.2 0.3 0.4 DOC 10K RPM - water cool start
Hairline V tool – 0.2 0.3 0.4 DOC 10K RPM – water cool start

The 0.2 mm hairline on the bottom becomes a line as the V bit begins sliding along the surface at 10 kRPM without cutting:

Hairline V tool - 0.2 0.3 0.4 DOC 10K RPM - water cool mid
Hairline V tool – 0.2 0.3 0.4 DOC 10K RPM – water cool mid

The 0.3 mm hairline looks pretty good and the 0.4 mm hairline remains too rugged by the end of the passes. I think the actual depth of cut is at least 0.05 mm less than at the start:

Hairline V tool - 0.2 0.3 0.4 DOC 10K RPM - water cool end
Hairline V tool – 0.2 0.3 0.4 DOC 10K RPM – water cool end

Obviously, neurotically precise touchoff carries a big reward, as will aligning the tooling plate to an absurd degree.

A real machinist simply flycuts the top of an offending part / fixture / tooling plate to align it with the machine’s spindle, but I have a sneaky suspicion the real problem is a speck (or ten) of swarf between the Sherline’s table and the tooling plate; better cleanliness and attention to detail may improve the situation.

Electronics Workbench, Machine Shop, Software

Sherline CNC Driver Step Pulse Width Puzzle

Long long ago, as part of tidying up the power distribution inside the Sherline CNC controller PCB, I wrote a cleanroom reimplementation of its PIC firmware and settled on a 25 µs Step pulse width with a minimum 50 µs period:

[PARPORT]
ADDRESS = 0x378
RESET_TIME = 10000
STEPLEN = 25000
STEPSPACE = 25000
DIRSETUP = 50000
DIRHOLD = 50000

Even shorter values for the Direction signal worked with the initial pncconf setup for the Mesa 5I25 FPGA card:

DIRSETUP   = 25000
DIRHOLD    = 25000
STEPLEN    = 25000
STEPSPACE  = 25000

After thrashing through enough of the Kicad-to-HAL converter to get a HAL file sufficiently tasty to prevent LinuxCNC from spitting it out, the X and A axes moved with a gritty sound and the two other axes were pretty much inert.

After eliminating everything else, including having Tiny Scope™ confirm the pulses were exactly the right duration, I increased them by 10 µs:

DIRSETUP   = 35000
DIRHOLD    = 35000
STEPLEN    = 35000
STEPSPACE  = 35000

After which, all the axes suddenly worked perfectly.

At some point along the way, I (re)discovered that Sherline Step pulses are active-low, although in practical terms getting the pulse upside-down just delays the active edge by its width. Given that the Sherline’s top speed is 24 inch/min = 0.4 inch/s, the minimum step period is 156 µs and even a wrong-polarity step should work fine.

For the record, here’s a perfectly good Step pulse:

Mesa 5I25 35us active-low Step pulse
Mesa 5I25 35us active-low Step pulse

Gotta wipe off that screen more often …

Electronics Workbench, Software

Logitech Gamepad: HAL Startup Holdoff

The HAL configuration for the Logitech gamepad has only a few changes from the decade-ago (!) version.

The HAL driver will reverse the direction of the Y and Z axes by feeding -127.5 to the scale inputs:

Sherline HAL schematic - Logitech YZ invert
Sherline HAL schematic – Logitech YZ invert

The flat inputs make sure the joystick knob has a dead zone around the rest position; otherwise, the axes tend to crawl off without a hand on the controls.

The gamepad doesn’t emit any values until you poke a button or move a joystick, the driver starts up with all zeros in its counts registers, so the HAL axis position pins emit XYZA = -1 +1 +1 -1 just as if you had the joysticks jammed hard at their upper-left corners. The only way out is to squelch the joystick until a button gets pressed and the machine is turned on:

Sherline HAL schematic - gamepad valid - parameters
Sherline HAL schematic – gamepad valid – parameters

The Gamepad-Valid signal forcibly disables all four axes:

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

That’s from an earlier iteration of the axis priority logic, before I got the Kicad annotate-starting-at-100 code working.

I somewhat finessed the startup issue by dedicating two of the gamepad’s back-panel buttons to clearing the initial E-Stop and turning the machine on:

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

However, if you flip those two conditions with the LinuxCNC GUI, the joysticks will remain zeroed until you do poke a button or move a knob. So, without the Gamepad-Valid logic, the Sherline will take off for the far upper left corner at a pretty good clip, which is not what you want.

The gamepad outputs remain valid for the rest of the session, so there’s no need to reset the Gamepad-Valid flipflop. HAL does not take kindly to hotplugging USB devices, so (AFAICT) you can’t hard-reset the gamepad + driver to the initial no-data-yet condition.

Earlier versions of the top two schematics used CONSTANT symbols, but it turns out PARAMETER symbols work just as well and the resulting setp commands eliminate the need for nets and real time functions.

Electronics Workbench, Software

Kicad-to-HAL: Overview

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

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

Logitech gampad - rear buttons
Logitech gampad – rear buttons

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

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

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

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

loadrt and2		count=22 


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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

# Parse Kicad schematic netlist into a LinuxCNC HAL configuration file
#
# Ed Nisley - KE4ZNU
# 2021-04
import argparse
from pathlib import Path
import sys
from lxml import etree
# ----------
# remove Kicad annotation from reference as needed
# kref = Kicad annotated reference
# ma = lowest annotation number
def cleanHALref(kref,ma):
comp = components.xpath('comp[@ref="' + kref + '"]')[0]
fields = comp.xpath('fields/field[@name="StripAnno"]')
if len(fields) and (fields[0].text).startswith("1"):
retval = kref.rpartition(".")[0]
else:
r, _, a = kref.rpartition('.')
retval = '{}.{}'.format(r,int(a) - ma)
# print('strip: {} -> {}'.format(kref,retval))
return retval
# ----------
# do the whole thing
parser = argparse.ArgumentParser(
description="Process Kicad schematic netlist into LinuxCNC HAL configuration file"
)
parser.add_argument("netlist", help="input: Kicad XML netlist file describing HAL configuration")
parser.add_argument("hal", help="output: LinuxCNC HAL configuration file")
args = parser.parse_args()
xmlfn = Path(args.netlist)
if not xmlfn.exists():
print("** No such file: {!s}".format(xmlfn))
exit()
print("Opening XML file: {!s}".format(xmlfn))
Netlist = etree.parse(xmlfn.name)
halfn = Path(args.hal)
if halfn is None:
halfn = xmlfn.with_name(xmlfn.stem + ".hal")
print("Writing HAL file: {!s}".format(halfn))
halfile = open(halfn, "w")
design = Netlist.xpath("//design")[0]
print("XML date: {}".format(design.xpath("date")[0].text))
libraries = Netlist.xpath("//libraries")[0]
print("Libraries:")
for l in libraries:
print(" {}".format(l.xpath("uri")[0].text))
components = Netlist.xpath("//components")[0]
print("Components: {:.0f}".format(components.xpath("count(comp)")))
libparts = Netlist.xpath("//libparts")[0]
print("Library parts: {:.0f}".format(libparts.xpath("count(libpart)")))
nets = Netlist.xpath("//nets")[0]
print("Nets: {:.0f}".format(nets.xpath("count(net)")))
halfile.write("# LinuxCNC HAL file\n\n# Kicad netlist: {}\n".format(xmlfn))
halfile.write("# {}\n\n".format(design.xpath("date")[0].text))
# -----
# find smallest reference number
comps = components.xpath('comp')
minanno = sys.maxsize
for comp in comps:
ref = comp.attrib["ref"]
anno = ref.rpartition('.')[2]
if int(anno) < minanno:
minanno = int(anno)
print('Minimum Kicad annotation: {}'.format(minanno))
halfile.write("# Minimum Kicad annotation: {}\n".format(minanno))
# -----
# load realtime modules
# LOADRT components
comps = components.xpath('comp[value="LOADRT"]')
comps.sort(key=lambda r: r.attrib["ref"])
#print(f'LRT sort: {comps=}')
llist = []
for comp in comps:
sname = comp.xpath('sheetpath')[0].attrib['names']
ref = comp.attrib["ref"]
fld = comp.xpath('fields/field[@name="LoadRT"]')[0]
#print(f' cfg: {ref=} -> {fld.text=}')
llist += ["loadrt {}\t\t# {}{}".format(fld.text, sname, ref)]
if len(llist):
llist += ["\n"]
# collect all other components with a LoadRT field
# a leading + indicates a component using Kicad reference counting
# concatenate rest of field in order of ref sequence
rtfs = components.xpath('comp[value!="LOADRT"]/fields/field[@name="LoadRT"]')
#print(f'LRT flds: {rtfs=}')
rtfs.sort(key=lambda f: f.xpath("ancestor::comp")[0].attrib["ref"])
modules = {}
for f in rtfs:
comp = f.xpath("ancestor::comp")[0]
sname = comp.xpath('sheetpath')[0].attrib['names']
ref = comp.attrib["ref"]
mod = comp.xpath("libsource")[0].attrib["part"]
#print(f'LRT {ref=} {mod=}')
if f.text.startswith("+"):
if mod in modules:
modules[mod][0] += 1
modules[mod][1] += f.text.lstrip("+ ")
else:
modules.update({mod: [1, f.text.lstrip("+ ")]})
#print(f" added {mod=} {modules[mod]=}")
else:
llist += ["loadrt {}\t{}\t\t# {}{}".format(mod, f.text, sname, ref)]
if len(modules):
#print(f'modules: {modules=}')
for mod, v in sorted(modules.items(), key=lambda kv: kv[0]):
llist += ["loadrt {}\t\tcount={} {}".format(mod.lower(), v[0], v[1])]
if len(llist):
halfile.write("\n#------\n# LoadRT modules\n\n")
halfile.write("\n".join(llist) + "\n")
# -----
# collect LoadUsr fields from components
llist = []
ufs = components.xpath('comp/fields/field[@name="LoadUsr"]')
#print(f'Flds: {ufs=}')
for f in ufs:
comp = f.xpath("ancestor::comp")[0]
sname = comp.xpath('sheetpath')[0].attrib['names']
ref = comp.attrib["ref"]
if len(f.text):
#print(f' {ref=} {f.text=}')
llist += ["loadusr {}\t\t# {}{}".format(f.text, sname, ref)]
if len(llist):
halfile.write("\n#------\n# LoadUsr modules\n\n")
halfile.write("\n".join(llist) + "\n")
# -----
# collect functions from power-input pins into addf statements
halfile.write("\n#------\n# Function hookups\n\n")
addflist = []
# find library THREAD part to get pins for addf sequencing
tpart = libparts.xpath('libpart[@part="THREAD"]')[0]
tpins = tpart.xpath("pins/pin")
#print(f'Fns: {tpart=}')
#print(f' tpins: {tpins=}')
# step through all THREAD components
tcomps = components.xpath('comp[value="THREAD"]')
#print(f' {tcomps=}')
for tcomp in tcomps:
tcref = tcomp.attrib["ref"]
cleantcr = cleanHALref(tcref,minanno)
#print(f' {tcomp=} {tcref=} {cleantcr=}')
for tpin in tpins:
pnum = tpin.attrib["num"]
pname = tpin.attrib["name"]
# use pin number to find other nodes in net
pnode = nets.xpath('net/node[@ref="' + tcref + '" and @pin="' + pnum + '"]')[0]
nodes = pnode.xpath("preceding-sibling::node")
nodes += pnode.xpath("following-sibling::node")
#print(f' {nodes=}')
if len(nodes) == 0:
continue
nlist = []
#print(f' {pname=}')
for node in nodes:
ref = node.attrib["ref"]
cleanref = cleanHALref(ref,minanno)
pin = node.attrib["pin"]
#print(f' {node=} {ref=} = {cleanref=} {pin=}')
dcomp = components.xpath('comp[@ref="' + ref + '"]')[0]
sname = dcomp.xpath('sheetpath')[0].attrib['names']
# look up destination pin name to weed out "_" defaults
# and find "/" prefix indicating no ref prefix
dval = dcomp.xpath("value")[0]
#print(f' {dval=} {dval.text=}')
dsrc = dcomp.xpath("libsource")[0]
dpart = dsrc.attrib["part"]
#print(f' {dsrc=} {dpart=}')
ldparts = libparts.xpath('libpart[@part="' + dpart + '"]')
#print(f' {ldparts=}')
if len(ldparts):
ldpart = ldparts[0]
ldpin = ldpart.xpath('pins/pin[@num="' + pin + '"]')[0]
ldpname = ldpin.attrib["name"]
#print(f' {ldpin=} {ldpname=} {dpart=}')
if ldpname == "_":
nlist += ["addf {}\t\t{}\t\t# {}{}".format(cleanref, cleantcr, sname, ref)]
else:
if ldpname.startswith("/"):
nlist += [
"addf {}\t\t{}\t\t# {}{}".format(ldpname.removeprefix("/"), cleantcr, sname, ref)
]
else:
nlist += ["addf {}.{}\t\t{}\t\t# {}{}".format(cleanref, ldpname, cleantcr,sname, ref)]
if pname == "_":
nlist = sorted(nlist,key = lambda k: k.rpartition("/")[2])
addflist += ["# Position: " + pname + "\n"] + nlist + ["\n"]
if len(addflist):
halfile.write("\n".join(addflist) + "\n")
# -----
# set parameter values
# trace through nets to find other nodes to set
params = 0
parlist = []
for comp in components:
sname = comp.xpath('sheetpath')[0].attrib['names']
ref = comp.attrib["ref"]
# ignore non-parameter components
if not ref.startswith("parameter."):
continue
params += 1
value = comp.xpath("value")[0].text
#print(f'param {ref=} {value=}')
pnode = nets.xpath('net/node[@ref="' + ref + '"]')[0]
nodes = pnode.xpath("preceding-sibling::node") + pnode.xpath("following-sibling::node")
for node in nodes:
nref = node.attrib["ref"]
npin = node.attrib["pin"]
dref = cleanHALref(nref,minanno)
#print(f' {ref=} {dref=} {npin=}')
ncomp = components.xpath('comp[@ref="' + nref + '"]')[0]
nls = ncomp.xpath("libsource")[0]
nname = nls.attrib["part"]
lpart = libparts.xpath('libpart[@part="' + nname + '"]')[0]
lpin = lpart.xpath('pins/pin[@num="' + npin + '"]')[0]
#print(f' {ref=} {dref=} {npin=} {lpin=}')
parlist += [
"setp {}.{} {}\t\t# {}{}".format(dref, lpin.attrib["name"], value, sname, ref)
]
if len(parlist):
halfile.write("\n#------\n# Parameters\n\n")
# better sorted in order of target pin, not annotation
# p = sorted(parlist,key = lambda k: k.rpartition("#")[2])
p = sorted(parlist,key = lambda k: k.split(" ")[1])
halfile.write("\n".join(p) + "\n")
print("Parameters: {}".format(params))
# -----
# set constant parameters
# the .value pin is hardcoded here to keep the schematic part tidy
consts = 0
conlist = []
for comp in components:
sname = comp.xpath('sheetpath')[0].attrib['names']
ref = comp.attrib["ref"]
# ignore non-constant components
if not ref.startswith("constant."):
continue
consts += 1
value = comp.xpath("value")[0].text
#print(' {ref=} = {value=}')
pval = cleanHALref(ref,minanno) + ".value"
conlist += ["setp {} {}\t\t# {}{}".format(pval, value, sname, ref)]
if len(conlist):
halfile.write("\n#------\n# Constants\n\n")
c = sorted(conlist,key = lambda k: k.rpartition("#")[2])
halfile.write("\n".join(c) + "\n")
print("Constants: {}".format(consts))
# -----
# generate HAL net connections
halfile.write("\n#------\n# Nets\n\n")
hallist = []
single = 0
multi = 0
netID = 1
for net in nets:
name = net.attrib["name"]
# skip special net for unconnected addf functions handled later
if name == "_":
multi += 1
continue
#print(f'{net.attrib=}')
nodes = net.xpath("node")
# skip single-pin nets
# suppress error for pin names starting with *
if len(nodes) < 2:
if not (name.startswith("Net-") or name.startswith("*")):
hallist += [
"#* Named net with single pin: {} {}\n".format(nodes[0].attrib["ref"], name)
]
single += 1
continue
nameclean = name.translate(name.maketrans("/ ", "__", "()"))
#print(f' {name=} {nameclean=}')
multi += 1
halstr = "net "
halsrc = "\t\t# "
halsinks = []
outputs = 0
for node in nodes:
ref = node.attrib["ref"]
cleanref = cleanHALref(ref,minanno)
pnum = node.attrib["pin"]
#print(f' {node.attrib=}')
comp = components.xpath('comp[@ref="' + ref + '"]')[0]
sname = comp.xpath('sheetpath')[0].attrib['names']
ls = comp.xpath("libsource")[0]
#print(f' {ls.attrib=}')
lpart = libparts.xpath('libpart[@part="' + ls.attrib["part"] + '"]')[0]
#print(f' {lpart.attrib=}')
lpin = lpart.xpath('pins/pin[@num="' + pnum + '"]')[0]
pname = lpin.attrib["name"].lstrip("*")
ptype = lpin.attrib["type"]
#print(f' {ptype=} {pname=}')
if ptype == "output":
if name.startswith("Net-"):
halstr += "N_{:0>3d} <= {}.{} => ".format(netID, cleanref, pname)
netID += 1
else:
halstr += "{} <= {}.{} => ".format(nameclean, cleanref, pname)
halsrc += sname + ref
outputs += 1
else:
halsinks += [cleanref + "." + pname]
halstr += " ".join(sorted(halsinks)) + halsrc
if "parameter" in halstr or "-thread" in halstr: # discard parameters and threads
#print(f' discard: {halstr=}')
multi -= 1
continue
elif outputs == 0:
halstr = "#* No output pins: {}\n".format(halstr)
elif outputs > 1:
halstr = "#* Multiple output pins: {}\n".format(halstr)
#print(f' {halstr=}')
hallist += [halstr]
if len(hallist):
hallist = sorted(hallist,key = lambda k: k.split(" ")[1])
halfile.write("\n".join(hallist) + "\n")
print('HAL nets: {:d}'.format(multi))
halfile.write("\n#------\n# Done!\n")
halfile.close()
view raw Kicad-to-HAL.py hosted with ❤ by GitHub
EESchema-DOCLIB Version 2.0
#
$CMP AND2
F https://linuxcnc.org/docs/2.8/html/man/man9/and2.9.html
$ENDCMP
#
$CMP COMP
F https://linuxcnc.org/docs/2.8/html/man/man9/comp.9.html
$ENDCMP
#
$CMP CONSTANT
F https://linuxcnc.org/docs/2.8/html/man/man9/constant.9.html
$ENDCMP
#
$CMP CONV_FLOAT_S32
F https://linuxcnc.org/docs/2.8/html/man/man9/conv_float_s32.9.html
$ENDCMP
#
$CMP CONV_FLOAT_U32
F https://linuxcnc.org/docs/2.8/html/man/man9/conv_float_u32.9.html
$ENDCMP
#
$CMP DBOUNCE
F https://linuxcnc.org/docs/2.8/html/man/man9/dbounce.9.html
$ENDCMP
#
$CMP FLIPFLOP
F https://linuxcnc.org/docs/2.8/html/man/man9/flipflop.9.html
$ENDCMP
#
$CMP HALUI
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_AXIS
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_AXIS_L
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_AXIS_SELECTED
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_ESTOP
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_FEED_OVERRIDE
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_FLOOD
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_JOINT
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_JOINT_N
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_JOINT_SELECTED
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_LUBE
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_MACHINE
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_MAX_VELOCITY
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_MIST
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_MODE
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_PROGRAM
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_RAPID_OVERRIDE
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_SPINDLE_N
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HALUI_TOOL
F https://linuxcnc.org/docs/2.8/html/man/man1/halui.1.html
$ENDCMP
#
$CMP HAL_MANUALTOOLCHANGE
F https://linuxcnc.org/docs/2.8/html/man/man1/hal_manualtoolchange.1.html
$ENDCMP
#
$CMP HM2_BOARD
F https://linuxcnc.org/docs/2.8/html/man/man9/hostmot2.9.html
$ENDCMP
#
$CMP HM2_GPIO
F https://linuxcnc.org/docs/2.8/html/man/man9/hostmot2.9.html
$ENDCMP
#
$CMP HM2_PWMGEN
F https://linuxcnc.org/docs/2.8/html/drivers/hostmot2.html#_pwmgen
$ENDCMP
#
$CMP HM2_PWMGEN_N
F https://linuxcnc.org/docs/2.8/html/drivers/hostmot2.html#_pwmgen
$ENDCMP
#
$CMP HM2_STEPGEN
F https://linuxcnc.org/docs/2.8/html/man/man9/hostmot2.9.html
$ENDCMP
#
$CMP IOCONTROL
F https://linuxcnc.org/docs/2.8/html/man/man1/iocontrol.1.html
$ENDCMP
#
$CMP JOINT_N
F https://linuxcnc.org/docs/2.8/html/man/man9/motion.9.html
$ENDCMP
#
$CMP LOADRT
F https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_loadrt
$ENDCMP
#
$CMP LOADUSR
F https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_loadusr
$ENDCMP
#
$CMP LOGIC
F https://linuxcnc.org/docs/2.8/html/man/man9/logic.9.html
$ENDCMP
#
$CMP LOGITECH_GAMEPAD_GUF13A
F https://wiki.linuxcnc.org/cgi-bin/wiki.pl?Simple_Remote_Pendant
$ENDCMP
#
$CMP MOTION
F https://linuxcnc.org/docs/2.8/html/man/man9/motion.9.html
$ENDCMP
#
$CMP MUX2
F https://linuxcnc.org/docs/2.8/html/man/man9/mux2.9.html
$ENDCMP
#
$CMP MUX4
F https://linuxcnc.org/docs/2.8/html/man/man9/mux4.9.html
$ENDCMP
#
$CMP MUX8
F https://linuxcnc.org/docs/2.8/html/man/man9/mux8.9.html
$ENDCMP
#
$CMP NOT
F https://linuxcnc.org/docs/2.8/html/man/man9/not.9.html
$ENDCMP
#
$CMP OR2
F https://linuxcnc.org/docs/2.8/html/man/man9/or2.9.html
$ENDCMP
#
$CMP PARAMETER
F https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_setp
$ENDCMP
#
$CMP PID
F https://linuxcnc.org/docs/2.8/html/man/man9/pid.9.html
$ENDCMP
#
$CMP SCALE
F https://linuxcnc.org/docs/2.8/html/man/man9/scale.9.html
$ENDCMP
#
$CMP SPINDLE
F https://linuxcnc.org/docs/2.8/html/man/man9/motion.9.html
$ENDCMP
#
$CMP THREAD
F https://linuxcnc.org/docs/2.8/html/hal/basic-hal.html#_addf
$ENDCMP
#
$CMP TIMEDELAY
F https://linuxcnc.org/docs/2.8/html/man/man9/timedelay.9.html
$ENDCMP
#
$CMP TOGGLE
F https://linuxcnc.org/docs/2.8/html/man/man9/toggle.9.html
$ENDCMP
#
$CMP XOR2
F https://linuxcnc.org/docs/2.8/html/man/man9/xor2.9.html
$ENDCMP
#
#End Doc Library
view raw LinuxCNC-HAL.dcm hosted with ❤ by GitHub
EESchema-LIBRARY Version 2.4
#encoding utf-8
#
# AND2
#
DEF AND2 and2. 0 0 N Y 1 F N
F0 "and2." 0 200 50 H V C CNN
F1 "AND2" 0 0 50 H V C CNN
F2 "" 0 0 50 H I C CNN
F3 "" 0 0 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
A 0 0 150 0 900 0 1 0 f 150 0 0 150
A 0 0 150 0 -900 0 1 0 f 150 0 0 -150
P 4 0 1 0 0 150 -150 150 -150 -150 0 -150 f
X in0 1 -300 100 150 R 50 50 1 1 I
X in1 2 -300 -100 150 R 50 50 1 1 I
X out 3 300 0 150 L 50 50 1 1 O
X _ 4 -250 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# COMP
#
DEF COMP comp. 0 20 N Y 1 F N
F0 "comp." -50 300 50 H V C CNN
F1 "COMP" -50 200 50 H V C CNN
F2 "" 300 -50 50 H I C CNN
F3 "" 300 -50 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
T 0 -100 -50 50 0 0 0 + Normal 0 C C
T 0 -100 50 50 0 0 0 - Normal 0 C C
S 200 150 -300 250 0 1 0 f
S -300 150 200 -350 1 1 0 N
X in0 1 -400 50 100 R 50 50 1 1 I
X out 2 300 50 100 L 50 50 1 1 O
X in1 3 -400 -50 100 R 50 50 1 1 I
X hyst 4 -400 -250 154 R 50 50 1 1 I I
X _ 5 -400 -150 100 R 50 50 1 1 W NC
X equal 6 300 -50 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# CONSTANT
#
DEF CONSTANT constant. 0 0 N N 1 F N
F0 "constant." 0 100 50 H I C CNN
F1 "CONSTANT" 200 0 50 H V R CNN
F2 "" 250 -250 50 H I C CNN
F3 "" 250 -250 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
P 4 0 1 0 -400 50 250 50 250 -50 -400 -50 N
X out 1 350 0 100 L 50 50 1 1 O
X _ 2 -500 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# CONV_FLOAT_S32
#
DEF CONV_FLOAT_S32 conv-float-s32. 0 20 N Y 1 F N
F0 "conv-float-s32." 0 300 50 H V C CNN
F1 "CONV_FLOAT_S32" 0 200 50 H V C CNN
F2 "" 0 0 50 H I C CNN
F3 "" 0 0 50 H I C CNN
F4 "+" 0 100 50 H I C CNN "LoadRT"
DRAW
S 400 150 -400 250 0 1 0 f
S -400 150 400 -150 1 1 0 N
X in 1 -500 100 100 R 50 50 1 1 I
X clamp 2 -500 -100 157 R 50 50 1 1 I I
X out-of-range 3 500 0 100 L 50 50 1 1 O
X out 4 500 100 100 L 50 50 1 1 O
X _ 5 -500 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# CONV_FLOAT_U32
#
DEF CONV_FLOAT_U32 conv-float-u32. 0 40 N Y 1 F N
F0 "conv-float-u32." 0 300 50 H V C CNN
F1 "CONV_FLOAT_U32" 0 200 50 H V C CNN
F2 "" 0 50 50 H I C CNN
F3 "" 0 50 50 H I C CNN
F4 "+" 0 100 50 H I C CNN "LoadRT"
DRAW
S -400 150 400 -150 1 1 0 N
S 400 150 -400 250 1 1 0 f
X in 1 -500 100 100 R 50 50 1 1 I
X clamp 2 -500 -100 157 R 50 50 1 1 I I
X out-of-range 3 500 0 100 L 50 50 1 1 O
X out 4 500 100 100 L 50 50 1 1 O
X _ 5 -500 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# DBOUNCE
#
DEF DBOUNCE dbounce. 0 20 N Y 1 F N
F0 "dbounce." 0 300 50 H V C CNN
F1 "DBOUNCE" 0 200 50 H V C CNN
F2 "" 600 -350 50 H I C CNN
F3 "" 600 -350 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
S 200 150 -200 250 0 1 0 f
S -200 150 200 -150 1 1 0 N
X in 1 -300 100 100 R 50 50 1 1 I
X out 2 300 100 100 L 50 50 1 1 O
X delay 3 -300 -100 100 R 50 50 1 1 I
X _ 4 -300 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# FLIPFLOP
#
DEF FLIPFLOP flipflop. 0 20 N Y 1 F N
F0 "flipflop." 0 450 50 H V C CNN
F1 "FLIPFLOP" 0 350 50 H V C CNN
F2 "" 400 -150 50 H I C CNN
F3 "" 400 -150 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
S 200 300 -200 400 0 1 0 f
S -200 300 200 -300 1 1 0 N
X data 2 -300 200 100 R 50 50 1 0 I
X out 5 300 0 100 L 50 50 1 0 O
X reset 1 -300 -200 100 R 50 50 1 1 I
X clk 3 -300 100 100 R 50 50 1 1 I
X set 4 -300 -100 100 R 50 50 1 1 I
X _ 6 -300 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# HALUI
#
DEF HALUI halui. 0 40 N Y 1 F N
F0 "halui." 0 500 59 H V C CNN
F1 "HALUI" 0 400 50 H V C CNN
F2 "" -150 300 50 H I C CNN
F3 "" -150 300 50 H I C CNN
F4 "1" 350 400 50 H V C CNN "StripAnno"
DRAW
S -400 -300 400 350 0 1 0 N
S -400 450 400 350 0 1 0 f
X abort 1 -500 250 100 R 0 50 1 0 I
X home-all 2 -500 100 100 R 50 50 1 1 I
X mdi-command-00 ~ -500 -100 100 R 50 50 1 1 I
X mdi-command-01 ~ -500 -200 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_AXIS
#
DEF HALUI_AXIS halui.axis. 0 40 N Y 1 F N
F0 "halui.axis." 0 400 50 H V C CNN
F1 "HALUI_AXIS" 0 300 50 H V C CNN
F2 "" 450 400 50 H I C CNN
F3 "" 450 400 50 H I C CNN
F4 "1" 500 300 50 H V C CNN "StripAnno"
DRAW
S -550 -50 550 250 0 1 0 N
S 550 350 -550 250 0 1 0 f
X jog-deadband 1 -650 50 100 R 50 50 1 1 I
X jog-speed 2 -650 150 100 R 50 50 1 1 I
X selected 3 650 150 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_AXIS_L
#
DEF HALUI_AXIS_L halui.axis.x. 0 40 N Y 1 F N
F0 "halui.axis.x." 0 400 50 H V C CNN
F1 "HALUI_AXIS_L" 0 300 50 H V C CNN
F2 "" -100 350 50 H I C CNN
F3 "" -100 350 50 H I C CNN
F4 "1" 600 300 50 H V C CNN "StripAnno"
DRAW
S -650 350 650 250 0 1 0 f
S 650 250 -650 -600 0 1 0 N
X analog 1 -750 50 100 R 50 50 1 1 I
X pos-relative 10 750 -150 100 L 50 50 1 1 O
X select 11 -750 200 100 R 50 50 1 1 I
X increment 2 -750 -100 100 R 50 50 1 1 I
X increment-minus 3 -750 -200 100 R 50 50 1 1 I
X increment-plus 4 -750 -300 100 R 50 50 1 1 I
X is-selected 5 750 200 100 L 50 50 1 1 O
X minus 6 -750 -450 100 R 50 50 1 1 I
X plus 7 -750 -550 100 R 50 50 1 1 I
X pos-commanded 8 750 50 100 L 50 50 1 1 O
X pos-feedback 9 750 -50 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_AXIS_SELECTED
#
DEF HALUI_AXIS_SELECTED halui.axis.selected. 0 40 N Y 1 F N
F0 "halui.axis.selected." 50 400 50 H V C CNN
F1 "HALUI_AXIS_SELECTED" 50 300 50 H V C CNN
F2 "" 1200 850 50 H I C CNN
F3 "" 1200 850 50 H I C CNN
F4 "1" 550 300 50 H V C CNN "StripAnno"
DRAW
S -500 -500 600 250 1 1 0 N
S 600 350 -500 250 1 1 0 f
X increment 1 -600 150 100 R 50 50 1 1 I
X increment-minus 2 -600 0 100 R 50 50 1 1 I
X increment-plus 3 -600 -100 100 R 50 50 1 1 I
X minus 4 -600 -300 100 R 50 50 1 1 I
X plus 5 -600 -400 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_ESTOP
#
DEF HALUI_ESTOP halui.estop. 0 40 N Y 1 F N
F0 "halui.estop." 0 300 50 H V C CNN
F1 "HALUI_ESTOP" 0 200 50 H V C CNN
F2 "" 0 0 50 H I C CNN
F3 "" 0 0 50 H I C CNN
F4 "1" 300 200 50 H V C CNN "StripAnno"
DRAW
S -350 -150 350 150 0 1 0 N
S 350 150 -350 250 0 1 0 f
X activate 1 -450 100 100 R 0 50 1 1 I
X is-activated 2 450 0 100 L 0 50 1 1 O
X reset 3 -450 -100 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_FEED_OVERRIDE
#
DEF HALUI_FEED_OVERRIDE halui.feed-override. 0 40 N Y 1 F N
F0 "halui.feed-override." 0 450 50 H V C CNN
F1 "HALUI_FEED_OVERRIDE" 0 350 50 H V C CNN
F2 "" 200 50 50 H I C CNN
F3 "" 200 50 50 H I C CNN
F4 "1" 500 350 50 H V C CNN "StripAnno"
DRAW
S -450 -400 450 300 0 1 0 N
S 450 300 -450 400 0 1 0 f
X count-enable 1 -550 250 100 R 0 50 1 1 I
X counts 2 -550 150 100 R 0 50 1 1 I
X decrease 3 -550 -100 100 R 0 50 1 1 I
X direct-value 4 -550 -250 100 R 0 50 1 1 I
X increase 5 -550 0 100 R 0 50 1 1 I
X scale 6 -550 -350 100 R 0 50 1 1 I
X value 7 550 250 100 L 0 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_FLOOD
#
DEF HALUI_FLOOD halui.flood. 0 40 N Y 1 F N
F0 "halui.flood." 0 250 50 H V C CNN
F1 "HALUI_FLOOD" 0 150 50 H V C CNN
F2 "" 0 0 50 H I C CNN
F3 "" 0 0 50 H I C CNN
F4 "1" 350 150 50 H V C CNN "StripAnno"
DRAW
S -300 100 300 -100 1 1 0 N
S -300 200 300 100 1 1 0 f
X is-on 1 400 0 100 L 0 50 1 1 O
X off 2 -400 -50 100 R 0 50 1 1 I
X on 3 -400 50 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_JOINT
#
DEF HALUI_JOINT halui.joint. 0 40 N Y 1 F N
F0 "halui.joint." 0 200 50 H V C CNN
F1 "HALUI_JOINT" 0 100 50 H V C CNN
F2 "" 750 150 50 H I C CNN
F3 "" 750 150 50 H I C CNN
F4 "1" 400 100 50 H V C CNN "StripAnno"
DRAW
S 450 50 -450 -250 1 1 0 N
S 450 50 -450 150 1 1 0 f
X jog-deadband 1 -550 -150 100 R 50 50 1 1 I
X selected 2 550 -50 100 L 50 50 1 1 O
X jog-speed 3 -550 -50 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_JOINT_N
#
DEF HALUI_JOINT_N halui.joint.0. 0 40 N Y 1 F N
F0 "halui.joint.0." 0 300 50 H V C CNN
F1 "HALUI_JOINT_N" 0 200 50 H V C CNN
F2 "" 400 300 50 H I C CNN
F3 "" 400 300 50 H I C CNN
F4 "1" 700 200 50 H V C CNN "StripAnno"
DRAW
S -800 -1050 750 150 0 1 0 N
S 750 150 -800 250 0 1 0 f
X minus 1 -900 -850 100 R 50 50 1 1 I
X analog 10 -900 -350 100 R 50 50 1 1 I
X is-selected 11 850 50 100 L 50 50 1 1 O
X is-homed 12 850 -100 100 L 50 50 1 1 O
X increment-plus 13 -900 -700 100 R 50 50 1 1 I
X increment-minus 14 -900 -600 100 R 50 50 1 1 I
X increment 15 -900 -500 100 R 50 50 1 1 I
X home 16 -900 -100 100 R 50 50 1 1 I
X has-fault 17 850 -950 100 L 50 50 1 1 O
X unhome 2 -900 -200 100 R 50 50 1 1 I
X select 3 -900 50 100 R 50 50 1 1 I
X plus 4 -900 -950 100 R 50 50 1 1 I
X override-limits 5 850 -850 100 L 50 50 1 1 O
X on-soft-min-limit 6 850 -700 100 L 50 50 1 1 O
X on-soft-max-limit 7 850 -600 100 L 50 50 1 1 O
X on-hard-min-limit 8 850 -450 100 L 50 50 1 1 O
X on-hard-max-limit 9 850 -350 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_JOINT_SELECTED
#
DEF HALUI_JOINT_SELECTED halui.joint.selected. 0 40 N Y 1 F N
F0 "halui.joint.selected." 0 500 50 H V C CNN
F1 "HALUI_JOINT_SELECTED" 0 400 50 H V C CNN
F2 "" 150 450 50 H I C CNN
F3 "" 150 450 50 H I C CNN
F4 "1" 700 400 50 H V C CNN "StripAnno"
DRAW
S 750 350 -800 -550 0 1 0 N
S 750 350 -800 450 0 1 0 f
X is-homed 1 850 250 100 L 50 50 1 1 O
X increment-plus 10 -900 -200 100 R 50 50 1 1 I
X increment-minus 11 -900 -100 100 R 50 50 1 1 I
X increment 12 -900 0 100 R 50 50 1 1 I
X home 13 -900 250 100 R 50 50 1 1 I
X has-fault 14 850 150 100 L 50 50 1 1 O
X unhome 2 -900 150 100 R 50 50 1 1 I
X plus 3 -900 -450 100 R 50 50 1 1 I
X override-limits 4 850 -450 100 L 50 50 1 1 O
X on-soft-min-limit 5 850 -350 100 L 50 50 1 1 O
X on-soft-max-limit 6 850 -250 100 L 50 50 1 1 O
X on-hard-min-limit 7 850 -100 100 L 50 50 1 1 O
X on-hard-max-limit 8 850 0 100 L 50 50 1 1 O
X minus 9 -900 -350 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_LUBE
#
DEF HALUI_LUBE halui.lube. 0 40 N Y 1 F N
F0 "halui.lube." 0 250 50 H V C CNN
F1 "HALUI_LUBE" -50 150 50 H V C CNN
F2 "" 0 0 50 H I C CNN
F3 "" 0 0 50 H I C CNN
F4 "1" 250 150 50 H V C CNN "StripAnno"
DRAW
S -300 100 300 -100 1 1 0 N
S -300 200 300 100 1 1 0 f
X is-on 1 400 0 100 L 0 50 1 1 O
X off 2 -400 -50 100 R 0 50 1 1 I
X on 3 -400 50 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_MACHINE
#
DEF HALUI_MACHINE halui.machine. 0 40 N Y 1 F N
F0 "halui.machine." 0 300 50 H V C CNN
F1 "HALUI_MACHINE" 0 200 50 H V C CNN
F2 "" 2450 1450 50 H I C CNN
F3 "" 2450 1450 50 H I C CNN
F4 "1" 400 200 50 H V C CNN "StripAnno"
DRAW
S -400 -250 450 150 0 1 0 N
S 450 150 -400 250 0 1 0 f
X is-on 1 550 50 100 L 0 50 1 1 O
X off 2 -500 -50 100 R 0 50 1 1 I
X on 3 -500 50 100 R 0 50 1 1 I
X units-per-mm 4 550 -150 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_MAX_VELOCITY
#
DEF HALUI_MAX_VELOCITY halui.max-velocity. 0 40 N Y 1 F N
F0 "halui.max-velocity." 0 550 50 H V C CNN
F1 "HALUI_MAX_VELOCITY" -50 450 50 H V C CNN
F2 "" 1350 900 50 H I C CNN
F3 "" 1350 900 50 H I C CNN
F4 "1" 450 450 50 H V C CNN "StripAnno"
DRAW
S -500 -400 500 400 0 1 0 N
S 500 400 -500 500 0 1 0 f
X direct-value 1 -600 -200 100 R 50 50 0 0 I
X count 2 -600 200 100 R 0 50 1 1 I
X count-enable 3 -600 300 100 R 0 50 1 1 I
X decrease 4 -600 50 100 R 0 50 1 1 I
X increase 5 -600 -50 100 R 0 50 1 1 I
X scale 6 -600 -300 100 R 0 50 1 1 I
X value 7 600 200 100 L 0 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_MIST
#
DEF HALUI_MIST halui.mist. 0 40 N Y 1 F N
F0 "halui.mist." 0 250 50 H V C CNN
F1 "HALUI_MIST" 0 150 50 H V C CNN
F2 "" 0 -50 50 H I C CNN
F3 "" 0 -50 50 H I C CNN
F4 "1" 300 150 50 H V C CNN "StripAnno"
DRAW
S -300 100 350 -100 0 1 0 N
S -300 200 350 100 0 1 0 f
X is-on 1 450 0 100 L 0 50 1 1 O
X off 2 -400 -50 100 R 0 50 1 1 I
X on 3 -400 50 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_MODE
#
DEF HALUI_MODE halui.mode. 0 40 N Y 1 F N
F0 "halui.mode." 0 500 50 H V C CNN
F1 "HALUI_MODE" 0 400 50 H V C CNN
F2 "" 900 750 50 H I C CNN
F3 "" 900 750 50 H I C CNN
F4 "1" 350 400 50 H V C CNN "StripAnno"
DRAW
S -400 -650 400 350 0 1 0 N
S 400 350 -400 450 0 1 0 f
X auto 1 -500 250 100 R 0 50 1 1 I
X teleop 10 -500 -550 100 R 0 50 1 1 I
X is-auto 2 500 250 100 L 0 50 1 1 O
X is-joint 3 500 50 100 L 0 50 1 1 O
X is-manual 4 500 -150 100 L 0 50 1 1 O
X is-mdi 5 500 -350 100 L 0 50 1 1 O
X is-teleop 6 500 -550 100 L 0 50 1 1 O
X joint 7 -500 50 100 R 0 50 1 1 I
X manual 8 -500 -150 100 R 0 50 1 1 I
X mdi 9 -500 -350 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_PROGRAM
#
DEF HALUI_PROGRAM halui.program. 0 40 N Y 1 F N
F0 "halui.program." -50 550 50 H V C CNN
F1 "HALUI_PROGRAM" -50 450 50 H V C CNN
F2 "" 50 300 50 H I C CNN
F3 "" 50 300 50 H I C CNN
F4 "1" 400 450 50 H V C CNN "StripAnno"
DRAW
S -500 400 450 -950 0 1 0 N
S 450 400 -500 500 0 1 0 f
X block-delete.is-on 1 550 -750 100 L 0 50 1 1 O
X pause 10 -600 -50 100 R 0 50 1 1 I
X resume 11 -600 -150 100 R 0 50 1 1 I
X run 12 -600 300 100 R 0 50 1 1 I
X step 13 -600 200 100 R 0 50 1 1 I
X stop 14 -600 100 100 R 0 50 1 1 I
X block-delete.off 2 -600 -850 100 R 0 50 1 1 I
X block-delete.on 3 -600 -650 100 R 0 50 1 1 I
X is-idle 4 550 200 100 L 0 50 1 1 O
X is-paused 5 550 -50 100 L 0 50 1 1 O
X is-running 6 550 300 100 L 0 50 1 1 O
X optional-stop.is-on 7 550 -400 100 L 0 50 1 1 O
X optional-stop.off 8 -600 -500 100 R 0 50 1 1 I
X optional-stop.on 9 -600 -300 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_RAPID_OVERRIDE
#
DEF HALUI_RAPID_OVERRIDE halui.rapid-override. 0 40 N Y 1 F N
F0 "halui.rapid-override." 0 450 50 H V C CNN
F1 "HALUI_RAPID_OVERRIDE" -50 350 50 H V C CNN
F2 "" 1050 750 50 H I C CNN
F3 "" 1050 750 50 H I C CNN
F4 "1" 500 350 50 H V C CNN "StripAnno"
DRAW
S -550 -500 550 300 1 1 0 N
S 550 300 -550 400 1 1 0 f
X count-enable 1 -650 200 100 R 0 50 1 1 I
X counts 2 -650 100 100 R 0 50 1 1 I
X decrease 3 -650 -150 100 R 0 50 1 1 I
X direct-value 4 -650 -300 100 R 0 50 1 1 I
X increase 5 -650 -50 100 R 0 50 1 1 I
X scale 6 -650 -400 100 R 0 50 1 1 I
X value 7 650 200 100 L 0 50 1 1 O
ENDDRAW
ENDDEF
#
# HALUI_SPINDLE_N
#
DEF HALUI_SPINDLE_N halui.spindle.0. 0 40 N Y 1 F N
F0 "halui.spindle.0." 0 900 50 H V C CNN
F1 "HALUI_SPINDLE_N" 0 800 50 H V C CNN
F2 "" -50 1450 50 H I C CNN
F3 "" -50 1450 50 H I C CNN
F4 "1" 550 800 50 H V C CNN "StripAnno"
DRAW
S -650 -950 600 750 0 1 0 N
S 600 750 -650 850 0 1 0 f
X override.direct-value 11 -750 -850 100 R 50 50 0 0 I
X override.counts 1 -750 -550 100 R 0 50 1 1 I
X override.decrease 10 -750 -650 100 R 0 50 1 1 I
X override.count-enable 12 -750 -450 100 R 0 50 1 1 I
X is-on 13 700 -100 100 L 0 50 1 1 O
X increase 14 -750 150 100 R 0 50 1 1 I
X forward 15 -750 400 100 R 0 50 1 1 I
X decrease 16 -750 50 100 R 0 50 1 1 I
X brake.off 17 -750 550 100 R 0 50 1 1 I
X brake-on 18 -750 650 100 R 0 50 1 1 I
X brake-is-on 19 700 650 100 L 0 50 1 1 O
X stop 2 -750 -200 100 R 0 50 1 1 I
X start 3 -750 -100 100 R 0 50 1 1 I
X runs-forward 4 700 400 100 L 0 50 1 1 O
X runs-backwards 5 700 300 100 L 0 50 1 1 O
X reverse 6 -750 300 100 R 0 50 1 1 I
X override.value 7 700 -350 100 L 0 50 1 1 O
X override.scale 8 -750 -350 100 R 0 50 1 1 I
X override.increase 9 -750 -750 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# HALUI_TOOL
#
DEF HALUI_TOOL halui.tool. 0 40 N Y 1 F N
F0 "halui.tool." -50 750 50 H V C CNN
F1 "HALUI_TOOL" -50 650 50 H V C CNN
F2 "" -50 300 50 H I C CNN
F3 "" -50 300 50 H I C CNN
F4 "1" 250 650 50 H V C CNN "StripAnno"
DRAW
S -400 600 300 700 0 1 0 f
S 300 600 -400 -800 0 1 0 N
X diameter 1 400 400 100 L 0 50 1 1 O
X length-offset.z 10 400 -700 100 L 0 50 1 1 O
X number 11 400 500 100 L 0 50 1 1 O
X length-offset.a 2 400 250 100 L 0 50 1 1 O
X length-offset.b 3 400 150 100 L 0 50 1 1 O
X length-offset.c 4 400 50 100 L 0 50 1 1 O
X length-offset.u 5 400 -150 100 L 0 50 1 1 O
X length-offset.v 6 400 -250 100 L 0 50 1 1 O
X length-offset.w 7 400 -350 100 L 0 50 1 1 O
X length-offset.x 8 400 -500 100 L 0 50 1 1 O
X length-offset.y 9 400 -600 100 L 0 50 1 1 O
ENDDRAW
ENDDEF
#
# HAL_MANUALTOOLCHANGE
#
DEF HAL_MANUALTOOLCHANGE hal_manualtoolchange. 0 40 Y Y 1 F N
F0 "hal_manualtoolchange." -50 300 59 H V C CNN
F1 "HAL_MANUALTOOLCHANGE" -100 200 50 H V C CNN
F2 "" 0 -100 50 H I C CNN
F3 "" 0 -100 50 H I C CNN
F4 "1" 450 200 50 H V C CNN "StripAnno"
F5 "-W hal_manualtoolchange" -50 100 50 H V C CNN "LoadUsr"
DRAW
S -600 -450 500 50 1 1 0 N
S 500 50 -600 250 1 1 0 f
X change 1 -700 -50 100 R 0 50 1 0 I
X change_button 2 -700 -200 100 R 0 50 1 0 I
X changed 3 600 -50 100 L 0 50 1 0 O
X number 4 -700 -350 100 R 0 50 1 0 I
ENDDRAW
ENDDEF
#
# HM2_BOARD
#
DEF HM2_BOARD [HM2](C0). 0 20 N Y 1 F N
F0 "[HM2](C0)." 0 500 50 H V C CNN
F1 "HM2_BOARD" 0 400 50 H V C CNN
F2 "" 550 -200 50 H I C CNN
F3 "" 550 -200 50 H I C CNN
F4 "1" 400 400 50 H V C CNN "StripAnno"
DRAW
S -450 350 450 -550 0 1 0 N
S 450 350 -450 450 0 1 0 f
X watchdog.timeout_ns 8 -550 50 157 R 50 50 1 0 I I
X watchdog.has_bit 1 550 -50 100 L 50 50 1 1 O
X led.CR01 2 -550 300 100 R 50 50 1 1 I
X led.CR02 3 -550 200 100 R 50 50 1 1 I
X read 4 -550 -150 100 R 50 50 1 1 W C
X *read_gpio 5 -550 -350 100 R 50 50 1 1 W NC
X write 6 -550 -250 100 R 50 50 1 1 W C
X *write_gpio 7 -550 -450 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# HM2_GPIO
#
DEF HM2_GPIO [HM2](C0).gpio.000. 0 40 N Y 1 F N
F0 "[HM2](C0).gpio.000." 0 300 50 H V C CNN
F1 "HM2_GPIO" -50 200 50 H V C CNN
F2 "" 150 -250 50 H I C CNN
F3 "" 150 -250 50 H I C CNN
F4 "1" 350 200 50 H V C CNN "StripAnno"
DRAW
S -400 150 400 250 0 1 0 f
S 400 150 -400 -350 0 1 0 N
X in 1 500 100 100 L 50 50 1 1 O
X in_not 2 500 0 100 L 50 50 1 1 O
X invert_output 3 -500 -200 157 R 50 50 1 1 I I
X is_opendrain 4 -500 -300 157 R 50 50 1 1 I I
X is_output 5 -500 -100 157 R 50 50 1 1 I I
X out 6 -500 100 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# HM2_PWMGEN
#
DEF HM2_PWMGEN [HM2](C0).pwmgen. 0 40 N Y 1 F N
F0 "[HM2](C0).pwmgen." 0 550 50 H V C CNN
F1 "HM2_PWMGEN" 0 450 50 H V C CNN
F2 "" 0 0 50 H I C CNN
F3 "" 0 0 50 H I C CNN
F4 "1" 450 450 50 H V C CNN "StripAnno"
DRAW
S -450 400 500 100 1 1 0 N
S -450 500 500 400 1 1 0 f
X pdm_frequency 1 -550 200 157 R 50 50 1 1 I I
X pwm_frequency 2 -550 300 157 R 50 50 1 1 I I
ENDDRAW
ENDDEF
#
# HM2_PWMGEN_N
#
DEF HM2_PWMGEN_N [HM2](C0).pwmgen.00. 0 40 N Y 1 F N
F0 "[HM2](C0).pwmgen.00." 0 650 50 H V C CNN
F1 "HM2_PWMGEN_N" 0 550 50 H V C CNN
F2 "" 0 -250 50 H I C CNN
F3 "" 0 -250 50 H I C CNN
F4 "1" 450 550 50 H V C CNN "StripAnno"
DRAW
S -450 500 500 -700 1 1 0 N
S -450 600 500 500 1 1 0 f
X value 1 -550 400 100 R 50 50 1 1 I
X enable 2 -550 300 100 R 50 50 1 1 I
X scale 3 -550 150 157 R 50 50 1 1 I I
X output-type 4 -550 0 157 R 50 50 1 1 I I
X out0.invert_output 5 -550 -250 157 R 50 50 1 1 I I
X out1.invert_output 6 -550 -500 157 R 50 50 1 1 I I
X offset-mode 7 -550 -100 157 R 50 50 1 1 I I
X out0.is_opendrain 8 -550 -350 157 R 50 50 1 1 I I
X out1.is_opendrain 9 -550 -600 157 R 50 50 1 1 I I
ENDDRAW
ENDDEF
#
# HM2_STEPGEN
#
DEF HM2_STEPGEN [HM2](C0).stepgen.00. 0 20 N Y 1 F N
F0 "[HM2](C0).stepgen.00." -50 900 50 H V C CNN
F1 "HM2_STEPGEN" -50 800 50 H V C CNN
F2 "" 0 500 50 H I C CNN
F3 "" 0 500 50 H I C CNN
F4 "1" 400 800 50 H V C CNN "StripAnno"
DRAW
S -500 750 450 -1250 0 1 0 N
S -500 850 450 750 0 1 0 f
X control-type 1 -600 500 100 R 50 50 1 1 I
X position-scale 10 -600 -50 157 R 50 50 1 1 I I
X step_type 11 -600 -1150 157 R 50 50 1 1 I I
X steplen 12 -600 -200 157 R 50 50 1 1 I I
X stepspace 13 -600 -300 157 R 50 50 1 1 I I
X step.invert_output 14 -600 -400 157 R 50 50 1 1 I I
X direction.invert_output 15 -600 -750 157 R 50 50 1 1 I I
X velocity-cmd 16 -600 200 100 R 50 50 1 1 I
X velocity-fb 17 550 100 100 L 50 50 1 1 O
X counts 2 550 650 100 L 50 50 1 1 O
X dirhold 3 -600 -650 157 R 50 50 1 1 I I
X dirsetup 4 -600 -550 157 R 50 50 1 1 I I
X enable 5 -600 650 100 R 50 50 1 1 I
X maxaccel 6 -600 -1000 157 R 50 50 1 1 I I
X maxvel 7 -600 -900 157 R 50 50 1 1 I I
X position-cmd 8 -600 400 100 R 50 50 1 1 I
X position-fb 9 550 300 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# IOCONTROL
#
DEF IOCONTROL iocontrol.0. 0 40 N Y 1 F N
F0 "iocontrol.0." 0 700 59 H V C CNN
F1 "IOCONTROL" 0 600 50 H V C CNN
F2 "" -100 200 50 H I C CNN
F3 "" -100 200 50 H I C CNN
F4 "1" 650 600 50 H V C CNN "StripAnno"
DRAW
S -750 550 700 650 1 1 0 f
S 700 550 -750 -950 1 1 0 N
X coolant-flood 1 800 -50 100 L 0 50 1 0 O
X tool-prep-pocket 10 800 -750 100 L 0 50 1 0 O
X tool-prepare 11 800 -550 100 L 0 50 1 0 O
X tool-prepared 12 -850 -550 100 R 0 50 1 0 I
X user-enable-out 13 800 450 100 L 0 50 1 0 O
X user-request-enable 14 800 350 100 L 0 50 1 0 O
X coolant-mist 2 800 -150 100 L 0 50 1 0 O
X emc-enable-in 3 -850 450 100 R 0 50 1 0 I
X lube 4 800 150 100 L 0 50 1 0 O
X lube-level 5 -850 150 100 R 0 50 1 0 I
X tool-change 6 800 -850 100 L 0 50 1 0 O
X tool-changed 7 -850 -850 100 R 0 50 1 0 I
X tool-number 8 800 -350 100 L 0 50 1 0 O
X tool-prep-number 9 800 -650 100 L 0 50 1 0 O
X tool-prep-index 15 800 -450 157 L 50 50 1 1 O I
ENDDRAW
ENDDEF
#
# JOINT_N
#
DEF JOINT_N joint.0. 0 40 N Y 1 F N
F0 "joint.0." 0 800 50 H V C CNN
F1 "JOINT_N" 0 700 50 H V C CNN
F2 "" 1050 150 50 H I C CNN
F3 "" 1050 150 50 H I C CNN
F4 "1" 700 700 50 H V C CNN "StripAnno"
DRAW
S -700 650 750 -1500 0 1 0 N
S -700 650 750 750 0 1 0 f
X jog-enable 1 -800 -950 100 R 50 50 1 1 I
X motor-pos-cmd 10 850 550 100 L 50 50 1 1 O
X jog-vel-mode 11 -800 -1150 100 R 50 50 1 1 I
X jog-scale 12 -800 -1050 100 R 50 50 1 1 I
X active 13 850 50 100 L 50 50 1 1 O
X jog-counts 14 -800 -850 100 R 50 50 1 1 I
X jog-accel-fraction 15 -800 -750 100 R 50 50 1 1 I
X is-unlocked 16 -800 -600 100 R 50 50 1 1 I
X index-enable 17 -800 -450 100 R 50 50 1 1 B
X homing 18 850 -450 100 L 50 50 1 1 O
X homed 19 850 -350 100 L 50 50 1 1 O
X unlock 2 850 -600 100 L 50 50 1 1 O
X home-sw-in 20 -800 -350 100 R 50 50 1 1 I
X faulted 21 850 -150 100 L 50 50 1 1 O
X error 22 850 -50 100 L 50 50 1 1 O
X amp-fault-in 23 -800 -150 100 R 50 50 1 1 I
X amp-enable-out 24 850 450 100 L 50 50 1 1 O
X pos-lim-sw-in 3 -800 -1400 100 R 50 50 1 1 I
X pos-hard-limit 4 850 -1400 100 L 50 50 1 1 O
X pos-fb 5 850 200 100 L 50 50 1 1 O
X pos-cmd 6 850 300 100 L 50 50 1 1 O
X neg-lim-sw-in 7 -800 -1300 100 R 50 50 1 1 I
X neg-hard-limit 8 850 -1300 100 L 50 50 1 1 O
X motor-pos-fb 9 -800 550 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# LOADRT
#
DEF LOADRT loadrt.0. 0 0 N N 1 F N
F0 "loadrt.0." 0 250 50 H V C CNN
F1 "LOADRT" -50 150 50 H V C CNN
F2 "" 800 -500 50 H I C CNN
F3 "" 800 -500 50 H I C CNN
F4 "Component + options go here" -250 50 50 H V L CNN "LoadRT"
F5 "1" 250 150 50 H V C CNN "StripAnno"
DRAW
P 2 0 0 0 300 100 950 100 N
P 2 0 0 0 300 200 300 100 N
P 3 0 0 0 -300 100 -300 0 950 0 N
P 4 0 1 0 300 200 -300 200 -300 100 300 100 f
ENDDRAW
ENDDEF
#
# LOADUSR
#
DEF LOADUSR loadusr.0. 0 0 N N 1 F N
F0 "loadusr.0." 0 250 50 H V C CNN
F1 "LOADUSR" -50 150 50 H V C CNN
F2 "" 850 -500 50 H I C CNN
F3 "" 850 -500 50 H I C CNN
F4 "Module + options go here" -250 50 50 H V L CNN "LoadUsr"
F5 "1" 250 150 50 H V C CNN "StripAnno"
DRAW
P 2 1 1 0 300 100 850 100 N
P 2 1 1 0 300 200 300 100 N
P 3 1 1 0 -300 100 -300 0 850 0 N
P 4 1 1 0 300 200 -300 200 -300 100 300 100 f
ENDDRAW
ENDDEF
#
# LOGIC
#
DEF LOGIC logic.0. 0 20 N Y 1 F N
F0 "logic.0." 0 650 50 H V C CNN
F1 "LOGIC" 0 550 50 H V C CNN
F2 "" 350 -200 50 H I C CNN
F3 "" 350 -200 50 H I C CNN
F4 "1" 300 550 50 H V C CNN "StripAnno"
F5 "+ personality=0x108" -50 -550 50 H V C CNN "LoadRT"
DRAW
T 0 -50 400 50 0 0 0 " 100" Normal 0 L C
T 0 -50 300 50 0 0 0 " 200" Normal 0 L C
T 0 -50 200 50 0 0 0 " 400" Normal 0 L C
T 0 -50 100 50 0 0 0 " 800" Normal 0 L C
T 0 -50 0 50 0 0 0 1000 Normal 0 L C
S 350 500 -400 600 0 1 0 f
S -400 500 350 -500 1 1 0 N
X in-00 1 -500 400 100 R 50 50 1 1 I
X or 10 450 300 100 L 50 50 1 1 O
X xor 11 450 200 100 L 50 50 1 1 O
X nand 12 450 100 100 L 50 50 1 1 O
X nor 13 450 0 100 L 50 50 1 1 O
X _ 14 -500 -400 100 R 50 50 1 1 W NC
X in-01 2 -500 300 100 R 50 50 1 1 I
X in-02 3 -500 200 100 R 50 50 1 1 I
X in-03 4 -500 100 100 R 50 50 1 1 I
X in-04 5 -500 0 100 R 50 50 1 1 I
X in-05 6 -500 -100 100 R 50 50 1 1 I
X in-06 7 -500 -200 100 R 50 50 1 1 I
X in-07 8 -500 -300 100 R 50 50 1 1 I
X and 9 450 400 100 L 50 50 1 1 O
ENDDRAW
ENDDEF
#
# LOGITECH_GAMEPAD_GUF13A
#
DEF LOGITECH_GAMEPAD_GUF13A input.0. 0 40 N Y 2 L N
F0 "input.0." 0 1850 50 H V C CNN
F1 "LOGITECH_GAMEPAD_GUF13A" -50 1750 50 H V C CNN
F2 "" 5500 3600 50 H I C CNN
F3 "" 5500 3600 50 H I C CNN
F4 "1" 550 1750 50 H V C CNN "StripAnno"
F5 "-W hal_input -KA Dual" -50 1650 50 H V C CNN "LoadUsr"
DRAW
T 0 -350 1400 59 0 2 1 1 Normal 0 L B
T 0 -400 -1300 59 0 2 1 10 Normal 0 L B
T 0 -350 1100 59 0 2 1 2 Normal 0 L B
T 0 -350 800 59 0 2 1 3 Normal 0 L B
T 0 -350 500 59 0 2 1 4 Normal 0 L B
T 0 -350 200 59 0 2 1 5 Normal 0 L B
T 0 -350 -100 59 0 2 1 6 Normal 0 L B
T 0 -350 -400 59 0 2 1 7 Normal 0 L B
T 0 -350 -700 59 0 2 1 8 Normal 0 L B
T 0 -350 -1000 59 0 2 1 9 Normal 0 L B
T 0 -550 -1600 59 0 2 1 "L Push" Normal 0 L B
T 0 -550 -1900 59 0 2 1 "R Push" Normal 0 L B
S -850 -1400 750 1600 1 1 0 N
S 750 1600 -850 1800 1 1 0 f
S -650 1600 600 1800 2 1 0 f
S 600 -1950 -650 1600 2 1 0 N
X abs-z-offset 1 -950 -500 100 R 0 50 1 1 I
X abs-z-is-pos 11 850 -700 100 L 0 50 1 1 O
X abs-z-is-neg 12 850 -800 100 L 0 50 1 1 O
X abs-z-fuzz 13 -950 -800 100 R 0 50 1 1 I
X abs-z-flat 14 -950 -700 100 R 0 50 1 1 I
X abs-z-counts 15 850 -500 100 L 0 50 1 1 O
X abs-y-scale 16 -950 -100 100 R 0 50 1 1 I
X abs-y-position 17 850 -100 100 L 0 50 1 1 O
X abs-y-offset 18 -950 0 100 R 0 50 1 1 I
X abs-y-is-pos 28 850 -200 100 L 0 50 1 1 O
X abs-hat0y-flat 37 -950 800 100 R 0 50 1 1 I
X abs-rz-flat 38 -950 -1200 100 R 0 50 1 1 I
X abs-rz-counts 39 850 -1000 100 L 0 50 1 1 O
X abs-hat0y-scale 40 -950 900 100 R 0 50 1 1 I
X abs-hat0y-position 41 850 900 100 L 0 50 1 1 O
X abs-hat0y-offset 42 -950 1000 100 R 0 50 1 1 I
X abs-hat0y-is-pos 43 850 800 100 L 0 50 1 1 O
X abs-hat0y-is-neg 44 850 700 100 L 0 50 1 1 O
X abs-hat0y-fuzz 45 -950 700 100 R 0 50 1 1 I
X abs-rz-fuzz 46 -950 -1300 100 R 0 50 1 1 I
X abs-hat0y-counts 47 850 1000 100 L 0 50 1 1 O
X abs-hat0x-scale 48 -950 1400 100 R 0 50 1 1 I
X abs-hat0x-position 49 850 1400 100 L 0 50 1 1 O
X abs-hat0x-offset 50 -950 1500 100 R 0 50 1 1 I
X abs-hat0x-is-pos 51 850 1300 100 L 0 50 1 1 O
X abs-hat0x-is-neg 52 850 1200 100 L 0 50 1 1 O
X abs-hat0x-fuzz 53 -950 1200 100 R 0 50 1 1 I
X abs-hat0x-flat 54 -950 1300 100 R 0 50 1 1 I
X abs-x-is-neg 55 850 200 100 L 0 50 1 1 O
X abs-y-is-neg 56 850 -300 100 L 0 50 1 1 O
X abs-y-fuzz 57 -950 -300 100 R 0 50 1 1 I
X abs-y-flat 58 -950 -200 100 R 0 50 1 1 I
X abs-y-counts 59 850 0 100 L 0 50 1 1 O
X abs-x-scale 60 -950 400 100 R 0 50 1 1 I
X abs-x-position 61 850 400 100 L 0 50 1 1 O
X abs-x-offset 62 -950 500 100 R 0 50 1 1 I
X abs-x-is-pos 63 850 300 100 L 0 50 1 1 O
X abs-hat0x-counts 64 850 1500 100 L 0 50 1 1 O
X abs-x-fuzz 65 -950 200 100 R 0 50 1 1 I
X abs-x-flat 66 -950 300 100 R 0 50 1 1 I
X abs-x-counts 67 850 500 100 L 0 50 1 1 O
X abs-rz-scale 68 -950 -1100 100 R 0 50 1 1 I
X abs-rz-position 69 850 -1100 100 L 0 50 1 1 O
X abs-rz-offset 70 -950 -1000 100 R 0 50 1 1 I
X abs-rz-is-pos 71 850 -1200 100 L 0 50 1 1 O
X abs-rz-is-neg 72 850 -1300 100 L 0 50 1 1 O
X abs-z-scale 8 -950 -600 100 R 0 50 1 1 I
X abs-z-position 9 850 -600 100 L 0 50 1 1 O
X btn-base4 10 700 -1200 100 L 0 50 2 1 O
X btn-pinkie-not 19 700 -100 100 L 0 50 2 1 O
X btn-base3-not 2 700 -1000 100 L 0 50 2 1 O
X btn-top2-not 20 700 200 100 L 0 50 2 1 O
X btn-top2 21 700 300 100 L 0 50 2 1 O
X btn-top-not 22 700 500 100 L 0 50 2 1 O
X btn-top 23 700 600 100 L 0 50 2 1 O
X btn-thumb2-not 24 700 800 100 L 0 50 2 1 O
X btn-thumb2 25 700 900 100 L 0 50 2 1 O
X btn-thumb-not 26 700 1100 100 L 0 50 2 1 O
X btn-thumb 27 700 1200 100 L 0 50 2 1 O
X btn-pinkie 29 700 0 100 L 0 50 2 1 O
X btn-base3 3 700 -900 100 L 0 50 2 1 O
X btn-joystick-not 30 700 1400 100 L 0 50 2 1 O
X btn-joystick 31 700 1500 100 L 0 50 2 1 O
X btn-base6-not 32 700 -1900 100 L 0 50 2 1 O
X btn-base6 33 700 -1800 100 L 0 50 2 1 O
X btn-base5-not 34 700 -1600 100 L 0 50 2 1 O
X btn-base5 35 700 -1500 100 L 0 50 2 1 O
X btn-base4-not 36 700 -1300 100 L 0 50 2 1 O
X btn-base2-not 4 700 -700 100 L 0 50 2 1 O
X btn-base2 5 700 -600 100 L 0 50 2 1 O
X btn-base-not 6 700 -400 100 L 0 50 2 1 O
X btn-base 7 700 -300 100 L 0 50 2 1 O
ENDDRAW
ENDDEF
#
# MOTION
#
DEF MOTION motion. 0 40 N Y 1 F N
F0 "motion." 0 1550 59 H V C CNN
F1 "MOTION" 0 1450 50 H V C CNN
F2 "" 0 350 50 H I C CNN
F3 "" 0 350 50 H I C CNN
F4 "1" 600 1450 50 H V C CNN "StripAnno"
DRAW
S -600 1400 650 -1100 1 1 0 N
S 650 1400 -600 1500 1 1 0 f
X feed-hold 1 -700 1000 100 R 0 50 1 0 I
X coord-mode 10 750 950 100 L 0 50 1 0 O
X distance-to-go 11 750 350 100 L 0 50 1 0 O
X probe-input 12 -700 600 100 R 0 50 1 0 I
X in-position 13 750 1300 100 L 0 50 1 0 O
X adaptive-feed 14 -700 800 100 R 0 50 1 0 I
X enable 15 -700 1300 100 R 0 50 1 0 I
X digital-out-03 16 750 -750 100 L 0 50 1 0 O
X digital-out-02 17 750 -650 100 L 0 50 1 0 O
X digital-out-01 18 750 -550 100 L 0 50 1 0 O
X digital-out-00 19 750 -450 100 L 0 50 1 0 O
X homing-inhibit 2 -700 450 100 R 0 50 1 0 I
X analog-out-00 20 750 -200 100 L 0 50 1 0 O
X analog-out-01 21 750 -300 100 L 0 50 1 0 O
X digital-in-03 22 -700 -750 100 R 0 50 1 0 I
X digital-in-02 23 -700 -650 100 R 0 50 1 0 I
X digital-in-01 24 -700 -550 100 R 0 50 1 0 I
X analog-in-00 25 -700 -200 100 R 0 50 1 0 I
X analog-in-01 26 -700 -300 100 R 0 50 1 0 I
X digital-in-00 27 -700 -450 100 R 0 50 1 0 I
X feed-inhibit 3 -700 900 100 R 0 50 1 0 I
X on-soft-limit 30 750 -50 100 L 0 50 1 0 O
X requested-vel 31 750 500 100 L 0 50 1 0 O
X teleop-mode 32 750 750 100 L 0 50 1 0 O
X motion-type 4 750 1100 100 L 0 50 1 0 O
X motion-enabled 5 750 1200 100 L 0 50 1 0 O
X offset-limited 6 750 100 100 L 0 50 1 0 O
X current-vel 7 750 600 100 L 0 50 1 0 O
X coord-error 8 750 850 100 L 0 50 1 0 O
X offset-active 9 750 200 100 L 0 50 1 0 O
X /motion-controller 28 -700 -1000 100 R 50 50 1 1 W C
X /motion-command-handler 29 -700 -900 100 R 50 50 1 1 W C
ENDDRAW
ENDDEF
#
# MUX2
#
DEF MUX2 mux2. 0 20 N Y 1 F N
F0 "mux2." 0 300 50 H V C CNN
F1 "MUX2" 0 200 50 H V C CNN
F2 "" 350 -150 50 H I C CNN
F3 "" 350 -150 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
S -150 150 150 -250 0 1 0 N
S 150 150 -150 250 0 1 0 f
X in0 1 -250 100 100 R 50 50 1 1 I
X in1 2 -250 0 100 R 50 50 1 1 I
X sel 3 -250 -200 100 R 50 50 1 1 I
X out 4 250 100 100 L 50 50 1 1 O
X _ 5 -250 -100 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# MUX4
#
DEF MUX4 mux4. 0 20 N Y 1 F N
F0 "mux4." 0 450 50 H V C CNN
F1 "MUX4" 0 350 50 H V C CNN
F2 "" 400 -100 50 H I C CNN
F3 "" 400 -100 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
S 150 300 -150 400 0 1 0 f
S -150 300 150 -400 1 1 0 N
X in0 1 -250 250 100 R 50 50 1 1 I
X in1 2 -250 150 100 R 50 50 1 1 I
X in2 3 -250 50 100 R 50 50 1 1 I
X in3 4 -250 -50 100 R 50 50 1 1 I
X sel0 5 -250 -250 100 R 50 50 1 1 I
X sel1 6 -250 -350 100 R 50 50 1 1 I
X out 7 250 250 100 L 50 50 1 1 O
X _ 8 -250 -150 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# MUX8
#
DEF MUX8 mux8. 0 20 N Y 1 F N
F0 "mux8." 0 750 50 H V C CNN
F1 "MUX8" 0 650 50 H V C CNN
F2 "" 350 -100 50 H I C CNN
F3 "" 350 -100 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
S 150 600 -150 700 0 1 0 f
S -150 600 150 -600 1 1 0 N
X in0 1 -250 550 100 R 50 50 1 1 I
X sel1 10 -250 -450 100 R 50 50 1 1 I
X sel2 11 -250 -550 100 R 50 50 1 1 I
X _ 12 -250 -250 100 R 50 50 1 1 W NC
X in1 2 -250 450 100 R 50 50 1 1 I
X in2 3 -250 350 100 R 50 50 1 1 I
X in3 4 -250 250 100 R 50 50 1 1 I
X in4 5 -250 150 100 R 50 50 1 1 I
X in5 6 -250 50 100 R 50 50 1 1 I
X in6 7 -250 -50 100 R 50 50 1 1 I
X out 7 250 550 100 L 50 50 1 1 O
X in7 8 -250 -150 100 R 50 50 1 1 I
X sel0 9 -250 -350 100 R 50 50 1 1 I
ENDDRAW
ENDDEF
#
# NOT
#
DEF NOT not. 0 0 N N 1 F N
F0 "not." 100 150 50 H V C CNN
F1 "NOT" 0 0 50 H V C CNN
F2 "" 350 -250 50 H I C CNN
F3 "" 350 -250 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
C 225 0 25 0 1 0 f
P 4 1 0 10 -100 150 -100 -150 200 0 -100 150 f
X in 1 -250 0 150 R 50 50 1 1 I
X out 2 450 0 197 L 50 50 1 1 O
X _ 3 -200 -100 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# OR2
#
DEF OR2 or2. 0 0 N N 1 F N
F0 "or2." 0 200 50 H V C CNN
F1 "OR2" 0 0 50 H V C CNN
F2 "" 50 0 50 H I C CNN
F3 "" 50 0 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
A -360 0 258 354 -354 1 1 10 N -150 150 -150 -150
A -47 -52 204 150 837 1 1 10 f 150 0 -24 150
A -47 52 204 -150 -837 1 1 10 f 150 0 -24 -150
P 2 1 1 10 -150 -150 -25 -150 f
P 2 1 1 10 -150 150 -25 150 f
P 12 1 1 -1000 -25 150 -150 150 -150 150 -140 134 -119 89 -106 41 -103 -10 -109 -59 -125 -107 -150 -150 -150 -150 -25 -150 f
X in0 1 -300 100 177 R 50 50 1 1 I
X in1 2 -300 -100 177 R 50 50 1 1 I
X out 3 300 0 150 L 50 50 1 1 O
X _ 4 -200 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# PARAMETER
#
DEF PARAMETER parameter. 0 0 N N 1 F N
F0 "parameter." 0 100 50 H I C CNN
F1 "PARAMETER" 200 0 50 H V R CNN
F2 "" 300 0 50 H I C CNN
F3 "" 300 0 50 H I C CNN
DRAW
P 4 1 1 0 -350 50 300 50 300 -50 -350 -50 N
X out 1 400 0 154 L 50 50 1 0 O I
ENDDRAW
ENDDEF
#
# PID
#
DEF PID pid.0. 0 40 N Y 1 F N
F0 "pid.0." 0 1400 50 H V C CNN
F1 "PID" 0 1300 50 H V C CNN
F2 "" 750 600 50 H I C CNN
F3 "" 750 600 50 H I C CNN
F4 "1" 600 1300 50 H V C CNN "StripAnno"
DRAW
S -550 1250 650 -1750 0 0 0 N
S 650 1250 -550 1350 0 0 0 f
X do-pid-calcs 1 -650 -1650 100 R 0 50 1 0 I C
X maxerrorD 10 -650 -1000 100 R 0 50 1 0 I
X maxerror 11 -650 -900 100 R 0 50 1 0 I
X maxcmdDDD 12 -650 -1450 100 R 0 50 1 0 I
X maxcmdDD 13 -650 -1350 100 R 0 50 1 0 I
X maxcmdD 14 -650 -1250 100 R 0 50 1 0 I
X index-enable 15 -650 600 100 R 0 50 1 0 I
X Igain 16 -650 100 100 R 0 50 1 0 I
X FF3 17 -650 -450 100 R 0 50 1 0 I
X FF2 18 -650 -350 100 R 0 50 1 0 I
X FF1 19 -650 -250 100 R 0 50 1 0 I
X command 2 -650 950 100 R 0 50 1 0 I
X FF0 20 -650 -150 100 R 0 50 1 0 I
X feedback-deriv 21 -650 1100 100 R 0 50 1 0 I
X feedback 22 -650 1200 100 R 0 50 1 0 I
X error-previous-target 23 -650 -650 100 R 0 50 1 0 I
X error 24 750 850 100 L 0 50 1 0 O
X enable 25 -650 700 100 R 0 50 1 0 I
X Dgain 26 -650 0 100 R 0 50 1 0 I
X deadband 27 -650 350 100 R 0 50 1 0 I
X command-deriv 28 -650 850 100 R 0 50 1 0 I
X bias 29 -650 450 100 R 0 50 1 0 I
X saturated-s 3 750 600 100 L 0 50 1 0 O
X saturated-count 4 750 500 100 L 0 50 1 0 O
X saturated 5 750 700 100 L 0 50 1 0 O
X Pgain 6 -650 200 100 R 0 50 1 0 I
X output 7 750 950 100 L 0 50 1 0 O
X maxoutput 8 -650 -750 100 R 0 50 1 0 I
X maxerrorI 9 -650 -1100 100 R 0 50 1 0 I
ENDDRAW
ENDDEF
#
# SCALE
#
DEF SCALE scale. 0 20 N Y 1 F N
F0 "scale." 0 300 50 H V C CNN
F1 "SCALE" 0 200 50 H V C CNN
F2 "" 550 -350 50 H I C CNN
F3 "" 550 -350 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
S 150 150 -150 250 0 1 0 f
S -150 150 150 -250 1 1 0 N
X in 1 -250 100 100 R 50 50 1 1 I
X gain 2 -250 -100 100 R 50 50 1 1 I
X offset 3 -250 -200 100 R 50 50 1 1 I
X out 4 250 100 100 L 50 50 1 1 O
X _ 5 -250 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# SPINDLE
#
DEF SPINDLE spindle.0. 0 40 N Y 1 F N
F0 "spindle.0." -50 900 50 H V C CNN
F1 "SPINDLE" -50 800 50 H V C CNN
F2 "" -50 100 50 H I C CNN
F3 "" -50 100 50 H I C CNN
F4 "1" 550 800 50 H V C CNN "StripAnno"
DRAW
S -650 750 600 -1000 1 1 0 N
S 600 750 -650 850 1 1 0 f
X at-speed 1 -750 -650 100 R 0 50 1 1 I
X index-enable 10 -750 200 100 R 0 50 1 1 B
X amp-fault-in 11 -750 -200 100 R 0 50 1 1 I
X speed-out-abs 12 700 -700 100 L 0 50 1 1 O
X speed-out-rps-abs 13 700 -900 100 L 0 50 1 1 O
X speed-out-rps 14 700 -800 100 L 0 50 1 1 O
X speed-cmd-rps 15 700 -450 100 L 0 50 1 1 O
X orient-mode 16 700 -200 100 L 0 50 1 1 O
X orient-angle 17 700 -100 100 L 0 50 1 1 O
X speed-in 18 -750 -550 100 R 0 50 1 1 I
X revs 19 -750 -300 100 R 0 50 1 1 I
X speed-out 2 700 -550 100 L 0 50 1 1 O
X orient-fault 20 -750 -50 100 R 0 50 1 1 I
X is-oriented 21 -750 50 100 R 0 50 1 1 I
X orient 3 700 0 100 L 0 50 1 1 O
X locked 4 700 200 100 L 0 50 1 1 O
X reverse 5 700 450 100 L 0 50 1 1 O
X on 6 700 650 100 L 0 50 1 1 O
X forward 7 700 550 100 L 0 50 1 1 O
X brake 8 700 350 100 L 0 50 1 1 O
X inhibit 9 -750 650 100 R 0 50 1 1 I
ENDDRAW
ENDDEF
#
# THREAD
#
DEF THREAD name-thread. 0 40 N Y 1 F N
F0 "name-thread." 0 550 59 H V C CNN
F1 "THREAD" 0 450 50 H V C CNN
F2 "" 100 100 50 H I C CNN
F3 "" 100 100 50 H I C CNN
F4 "1" 400 450 50 H V C CNN "StripAnno"
DRAW
T 0 300 350 50 0 0 0 "First in thread" Normal 0 R C
T 0 250 -350 50 0 0 0 "Last in thread" Normal 0 R C
T 0 300 0 50 0 0 0 "Sorted by ref" Normal 0 R C
S -450 400 450 500 0 1 0 f
S 450 -450 -450 400 0 1 0 N
X 1 1 550 350 100 L 0 50 1 0 w C
X 2 2 550 250 100 L 0 50 1 0 w C
X 3 3 550 150 100 L 0 50 1 0 w C
X _ 4 550 0 100 L 0 50 1 0 w C
X -3 5 550 -150 100 L 0 50 1 0 w C
X -2 6 550 -250 100 L 0 50 1 0 w C
X -1 7 550 -350 100 L 0 50 1 0 w C
ENDDRAW
ENDDEF
#
# TIMEDELAY
#
DEF TIMEDELAY timedelay. 0 20 N Y 1 F N
F0 "timedelay." 0 350 50 H V C CNN
F1 "TIMEDELAY" 0 250 50 H V C CNN
F2 "" 0 150 50 H I C CNN
F3 "" 0 150 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
S 250 200 -250 300 0 1 0 f
S -250 200 250 -200 1 1 0 N
X in 1 -350 150 100 R 50 50 1 1 I
X on-delay 2 -350 -50 100 R 50 50 1 1 I
X off-delay 3 -350 -150 100 R 50 50 1 1 I
X out 4 350 150 100 L 50 50 1 1 O
X elapsed 5 350 50 100 L 50 50 1 1 O
X _ 6 -350 50 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# TOGGLE
#
DEF TOGGLE toggle. 0 20 N Y 1 F N
F0 "toggle." 0 300 50 H V C CNN
F1 "TOGGLE" 0 200 50 H V C CNN
F2 "" 300 -50 50 H I C CNN
F3 "" 300 -50 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
S 250 150 -200 250 0 1 0 f
S -200 150 250 -150 1 1 0 N
X in 1 -300 100 100 R 50 50 1 1 I
X out 2 350 100 100 L 50 50 1 1 O
X debounce 4 -250 -100 100 R 50 50 1 1 I I
X _ 5 -300 0 100 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
# XOR2
#
DEF XOR2 xor2. 0 0 N N 1 F N
F0 "xor2." -50 200 50 H V C CNN
F1 "XOR2" 25 0 50 H V C CNN
F2 "" 0 0 50 H I C CNN
F3 "" 0 0 50 H I C CNN
F4 "+" 0 0 50 H I C CNN "LoadRT"
DRAW
A -385 0 258 354 -354 1 1 10 N -175 150 -175 -150
A -360 0 258 354 -354 1 1 10 N -150 150 -150 -150
A -47 -52 204 150 837 1 1 10 f 150 0 -24 150
A -47 52 204 -150 -837 1 1 10 f 150 0 -24 -150
P 2 1 1 10 -150 -150 -25 -150 f
P 2 1 1 10 -150 150 -25 150 f
P 12 1 1 -1000 -25 150 -150 150 -150 150 -140 134 -119 89 -106 41 -103 -10 -109 -59 -125 -107 -150 -150 -150 -150 -25 -150 f
X in0 1 -350 100 228 R 50 50 1 1 I
X in1 2 -350 -100 228 R 50 50 1 1 I
X out 3 300 0 150 L 50 50 1 1 O
X _ 4 -250 0 150 R 50 50 1 1 W NC
ENDDRAW
ENDDEF
#
#End Library
view raw LinuxCNC-HAL.lib hosted with ❤ by GitHub
Electronics Workbench, Software

Kicad-to-HAL: LoadRT

Each Kicad LOADRT symbol (upper right):

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

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:

Gamepad Valid schematic
Gamepad Valid schematic

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:

Kicad symbol - NOT
Kicad symbol – NOT

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.