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hal-config.lbr
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hal-config.lbr
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<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE eagle SYSTEM "eagle.dtd">
<eagle version="6.4">
<drawing>
<settings>
<setting alwaysvectorfont="no"/>
<setting verticaltext="up"/>
</settings>
<grid distance="100" unitdist="mil" unit="mil" style="lines" multiple="1" display="yes" altdistance="100" altunitdist="mil" altunit="mil"/>
<layers>
<layer number="1" name="Top" color="4" fill="1" visible="yes" active="yes"/>
<layer number="2" name="Route2" color="1" fill="3" visible="no" active="yes"/>
<layer number="3" name="Route3" color="4" fill="3" visible="no" active="no"/>
<layer number="4" name="Route4" color="1" fill="4" visible="no" active="no"/>
<layer number="5" name="Route5" color="4" fill="4" visible="no" active="no"/>
<layer number="6" name="Route6" color="1" fill="8" visible="no" active="no"/>
<layer number="7" name="Route7" color="4" fill="8" visible="no" active="no"/>
<layer number="8" name="Route8" color="1" fill="2" visible="no" active="no"/>
<layer number="9" name="Route9" color="4" fill="2" visible="no" active="no"/>
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<layer number="17" name="Pads" color="2" fill="1" visible="yes" active="yes"/>
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<layer number="19" name="Unrouted" color="6" fill="1" visible="yes" active="yes"/>
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<layer number="23" name="tOrigins" color="15" fill="1" visible="yes" active="yes"/>
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<layer number="33" name="tFinish" color="6" fill="3" visible="no" active="yes"/>
<layer number="34" name="bFinish" color="6" fill="6" visible="no" active="yes"/>
<layer number="35" name="tGlue" color="7" fill="4" visible="no" active="yes"/>
<layer number="36" name="bGlue" color="7" fill="5" visible="no" active="yes"/>
<layer number="37" name="tTest" color="7" fill="1" visible="no" active="yes"/>
<layer number="38" name="bTest" color="7" fill="1" visible="no" active="yes"/>
<layer number="39" name="tKeepout" color="4" fill="11" visible="yes" active="yes"/>
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<layer number="43" name="vRestrict" color="2" fill="10" visible="yes" active="yes"/>
<layer number="44" name="Drills" color="7" fill="1" visible="no" active="yes"/>
<layer number="45" name="Holes" color="7" fill="1" visible="no" active="yes"/>
<layer number="46" name="Milling" color="3" fill="1" visible="no" active="yes"/>
<layer number="47" name="Measures" color="7" fill="1" visible="no" active="yes"/>
<layer number="48" name="Document" color="7" fill="1" visible="yes" active="yes"/>
<layer number="49" name="Reference" color="7" fill="1" visible="yes" active="yes"/>
<layer number="50" name="dxf" color="7" fill="1" visible="no" active="yes"/>
<layer number="51" name="tDocu" color="7" fill="1" visible="yes" active="yes"/>
<layer number="52" name="bDocu" color="7" fill="1" visible="yes" active="yes"/>
<layer number="91" name="Nets" color="2" fill="1" visible="yes" active="yes"/>
<layer number="92" name="Busses" color="1" fill="1" visible="yes" active="yes"/>
<layer number="93" name="Pins" color="2" fill="1" visible="yes" active="yes"/>
<layer number="94" name="Symbols" color="4" fill="1" visible="yes" active="yes"/>
<layer number="95" name="Names" color="7" fill="1" visible="yes" active="yes"/>
<layer number="96" name="Values" color="7" fill="1" visible="yes" active="yes"/>
<layer number="97" name="Info" color="7" fill="1" visible="yes" active="yes"/>
<layer number="98" name="Guide" color="6" fill="1" visible="yes" active="yes"/>
<layer number="100" name="doku" color="8" fill="1" visible="yes" active="yes"/>
<layer number="250" name="Descript" color="3" fill="1" visible="no" active="no"/>
<layer number="251" name="SMDround" color="12" fill="11" visible="no" active="no"/>
</layers>
<library>
<description><h1>HAL-Configuration library</h1>
This library contains LinuxCNC modules that define HAL configuration files.<br>
See the <a href="http://wiki.linuxcnc.org/cgi-bin/wiki.pl?Eagle2HAL">Eagle2HAL LinuxCNC wiki page</a> for details.
<br>
Author: Martin Schoeneck 2008<br>
Additional gates and tweaks: Ed Nisley KE4ZNU 2010 2013<br>
Charalampos Alexopoulos 2011</description>
<packages>
<package name="DUMMY">
<wire x1="-2.54" y1="5.08" x2="-2.54" y2="-26.67" width="0.127" layer="21"/>
<wire x1="-2.54" y1="-26.67" x2="25.4" y2="-26.67" width="0.127" layer="21"/>
<wire x1="25.4" y1="-26.67" x2="25.4" y2="5.08" width="0.127" layer="21"/>
<wire x1="25.4" y1="5.08" x2="-2.54" y2="5.08" width="0.127" layer="21"/>
<pad name="P$1" x="0" y="-1.27" drill="0.8"/>
<pad name="P$2" x="0" y="-3.81" drill="0.8"/>
<pad name="P$3" x="0" y="-6.35" drill="0.8"/>
<pad name="P$4" x="0" y="-8.89" drill="0.8"/>
<pad name="P$5" x="0" y="-11.43" drill="0.8"/>
<pad name="P$6" x="0" y="-13.97" drill="0.8"/>
<pad name="P$7" x="0" y="-16.51" drill="0.8"/>
<pad name="P$8" x="0" y="-19.05" drill="0.8"/>
<pad name="P$9" x="0" y="-21.59" drill="0.8"/>
<pad name="P$10" x="0" y="-24.13" drill="0.8"/>
<pad name="P$11" x="2.54" y="-1.27" drill="0.8"/>
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<pad name="P$13" x="2.54" y="-6.35" drill="0.8"/>
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<pad name="P$15" x="2.54" y="-11.43" drill="0.8"/>
<pad name="P$16" x="2.54" y="-13.97" drill="0.8"/>
<pad name="P$17" x="2.54" y="-16.51" drill="0.8"/>
<pad name="P$18" x="2.54" y="-19.05" drill="0.8"/>
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<pad name="P$21" x="5.08" y="-1.27" drill="0.8"/>
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<pad name="P$97" x="22.86" y="-16.51" drill="0.8"/>
<pad name="P$98" x="22.86" y="-19.05" drill="0.8"/>
<pad name="P$99" x="22.86" y="-21.59" drill="0.8"/>
<pad name="P$100" x="22.86" y="-24.13" drill="0.8"/>
<text x="-1.27" y="1.27" size="1.27" layer="25">>Name</text>
<text x="-1.27" y="2.54" size="1.27" layer="21">Dummy package for:</text>
</package>
</packages>
<symbols>
<symbol name="IOCONTROL">
<description><h1>IOCONTROL</h1>
Machine control functions</description>
<wire x1="-22.86" y1="12.7" x2="20.32" y2="12.7" width="0.254" layer="94"/>
<wire x1="20.32" y1="12.7" x2="20.32" y2="10.16" width="0.254" layer="94"/>
<wire x1="20.32" y1="10.16" x2="20.32" y2="-27.94" width="0.254" layer="94"/>
<wire x1="20.32" y1="-27.94" x2="-22.86" y2="-27.94" width="0.254" layer="94"/>
<wire x1="-22.86" y1="-27.94" x2="-22.86" y2="10.16" width="0.254" layer="94"/>
<wire x1="-22.86" y1="10.16" x2="-22.86" y2="12.7" width="0.254" layer="94"/>
<wire x1="-22.86" y1="10.16" x2="20.32" y2="10.16" width="0.254" layer="94"/>
<text x="-22.86" y="10.16" size="1.778" layer="95">>Name</text>
<pin name="EMC-ENABLE-IN" x="-25.4" y="7.62" visible="pin" length="short" direction="in"/>
<pin name="LUBE_LEVEL" x="-25.4" y="0" visible="pin" length="short" direction="in"/>
<pin name="TOOL-CHANGED" x="-25.4" y="-25.4" visible="pin" length="short" direction="in"/>
<pin name="TOOL-PREPARED" x="-25.4" y="-17.78" visible="pin" length="short" direction="in"/>
<pin name="COOLANT-FLOOD" x="22.86" y="-5.08" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="COOLANT-MIST" x="22.86" y="-7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="LUBE" x="22.86" y="0" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL-CHANGE" x="22.86" y="-25.4" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL-PREP-NUMBER" x="22.86" y="-20.32" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL-PREPARE" x="22.86" y="-17.78" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="USER-ENABLE-OUT" x="22.86" y="7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="USER-REQUEST-ENABLE" x="22.86" y="5.08" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL-PREP-POCKET" x="22.86" y="-22.86" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL-NUMBER" x="22.86" y="-12.7" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="STEPGEN">
<wire x1="-20.32" y1="17.78" x2="20.32" y2="17.78" width="0.254" layer="94"/>
<wire x1="20.32" y1="17.78" x2="20.32" y2="15.24" width="0.254" layer="94"/>
<wire x1="20.32" y1="15.24" x2="20.32" y2="-20.32" width="0.254" layer="94"/>
<wire x1="20.32" y1="-20.32" x2="-20.32" y2="-20.32" width="0.254" layer="94"/>
<wire x1="-20.32" y1="-20.32" x2="-20.32" y2="15.24" width="0.254" layer="94"/>
<wire x1="-20.32" y1="15.24" x2="-20.32" y2="17.78" width="0.254" layer="94"/>
<wire x1="-20.32" y1="15.24" x2="20.32" y2="15.24" width="0.254" layer="94"/>
<text x="-20.32" y="15.24" size="1.778" layer="95">>Name</text>
<pin name="POSITION-CMD" x="-22.86" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="COUNTS" x="22.86" y="12.7" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="DIR" x="22.86" y="7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="POSITION-FB" x="-22.86" y="2.54" visible="pin" length="short" direction="out"/>
<pin name="STEP" x="22.86" y="5.08" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="VELOCITY-CMD" x="-22.86" y="-2.54" visible="pin" length="short" direction="in"/>
<pin name="UP" x="22.86" y="0" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="DOWN" x="22.86" y="-2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="PHASE-A" x="22.86" y="-7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="PHASE-B" x="22.86" y="-10.16" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="PHASE-C" x="22.86" y="-12.7" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="PHASE-D" x="22.86" y="-15.24" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="ENABLE" x="-22.86" y="12.7" visible="pin" length="short" direction="in"/>
<pin name="PHASE-E" x="22.86" y="-17.78" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="AXIS">
<wire x1="-22.86" y1="17.78" x2="22.86" y2="17.78" width="0.254" layer="94"/>
<wire x1="22.86" y1="17.78" x2="22.86" y2="15.24" width="0.254" layer="94"/>
<wire x1="22.86" y1="15.24" x2="22.86" y2="-20.32" width="0.254" layer="94"/>
<wire x1="22.86" y1="-20.32" x2="-22.86" y2="-20.32" width="0.254" layer="94"/>
<wire x1="-22.86" y1="-20.32" x2="-22.86" y2="15.24" width="0.254" layer="94"/>
<wire x1="-22.86" y1="15.24" x2="-22.86" y2="17.78" width="0.254" layer="94"/>
<wire x1="-22.86" y1="15.24" x2="22.86" y2="15.24" width="0.254" layer="94"/>
<text x="-22.86" y="15.24" size="1.778" layer="95">>Name</text>
<pin name="AMP-FAULT-IN" x="25.4" y="10.16" visible="pin" length="short" direction="in" rot="R180"/>
<pin name="HOME-SW-IN" x="-25.4" y="-17.78" visible="pin" length="short" direction="in"/>
<pin name="MOTOR-POS-FB" x="-25.4" y="0" visible="pin" length="short" direction="in"/>
<pin name="NEG-LIM-SW-IN" x="-25.4" y="-5.08" visible="pin" length="short" direction="in"/>
<pin name="AMP-ENABLE-OUT" x="25.4" y="12.7" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="MOTOR-POS-CMD" x="25.4" y="0" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="POS-LIM-SW-IN" x="-25.4" y="-7.62" visible="pin" length="short" direction="in"/>
<pin name="HOMING" x="25.4" y="-17.78" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="INDEX-ENABLE" x="25.4" y="-12.7" visible="pin" length="short" rot="R180"/>
<pin name="JOG-COUNTS" x="-25.4" y="12.7" visible="pin" length="short" direction="in"/>
<pin name="JOG-ENABLE" x="-25.4" y="10.16" visible="pin" length="short" direction="in"/>
<pin name="JOG-SCALE" x="-25.4" y="7.62" visible="pin" length="short" direction="in"/>
<pin name="JOG-VEL-MODE" x="-25.4" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="JOINT-POS-CMD" x="25.4" y="-5.08" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="JOINT-POS-FB" x="25.4" y="-7.62" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="PARPORT-OUT">
<description><h1>Parallel Port - Input-output mode</h1></description>
<wire x1="-12.7" y1="33.02" x2="15.24" y2="33.02" width="0.254" layer="94"/>
<wire x1="15.24" y1="33.02" x2="15.24" y2="30.48" width="0.254" layer="94"/>
<wire x1="15.24" y1="30.48" x2="15.24" y2="-30.48" width="0.254" layer="94"/>
<wire x1="15.24" y1="-30.48" x2="-12.7" y2="-30.48" width="0.254" layer="94"/>
<wire x1="-12.7" y1="-30.48" x2="-12.7" y2="30.48" width="0.254" layer="94"/>
<wire x1="-12.7" y1="30.48" x2="-12.7" y2="33.02" width="0.254" layer="94"/>
<wire x1="-12.7" y1="30.48" x2="15.24" y2="30.48" width="0.254" layer="94"/>
<text x="-12.7" y="30.48" size="1.778" layer="95">>Name</text>
<pin name="PIN-10-IN" x="-15.24" y="-5.08" visible="pin" length="short" direction="out"/>
<pin name="PIN-10-IN-NOT" x="-15.24" y="-7.62" visible="pin" length="short" direction="out"/>
<pin name="PIN-01-OUT" x="-15.24" y="27.94" visible="pin" length="short" direction="in"/>
<pin name="PIN-11-IN" x="-15.24" y="-10.16" visible="pin" length="short" direction="out"/>
<pin name="PIN-11-IN-NOT" x="-15.24" y="-12.7" visible="pin" length="short" direction="out"/>
<pin name="PIN-12-IN" x="-15.24" y="-15.24" visible="pin" length="short" direction="out"/>
<pin name="PIN-12-IN-NOT" x="-15.24" y="-17.78" visible="pin" length="short" direction="out"/>
<pin name="PIN-13-IN" x="-15.24" y="-20.32" visible="pin" length="short" direction="out"/>
<pin name="PIN-13-IN-NOT" x="-15.24" y="-22.86" visible="pin" length="short" direction="out"/>
<pin name="PIN-15-IN" x="-15.24" y="-25.4" visible="pin" length="short" direction="out"/>
<pin name="PIN-15-IN-NOT" x="-15.24" y="-27.94" visible="pin" length="short" direction="out"/>
<pin name="PIN-02-OUT" x="-15.24" y="25.4" visible="pin" length="short" direction="in"/>
<pin name="PIN-03-OUT" x="-15.24" y="22.86" visible="pin" length="short" direction="in"/>
<pin name="PIN-04-OUT" x="-15.24" y="20.32" visible="pin" length="short" direction="in"/>
<pin name="PIN-05-OUT" x="-15.24" y="17.78" visible="pin" length="short" direction="in"/>
<pin name="PIN-06-OUT" x="-15.24" y="15.24" visible="pin" length="short" direction="in"/>
<pin name="PIN-07-OUT" x="-15.24" y="12.7" visible="pin" length="short" direction="in"/>
<pin name="PIN-08-OUT" x="-15.24" y="10.16" visible="pin" length="short" direction="in"/>
<pin name="PIN-09-OUT" x="-15.24" y="7.62" visible="pin" length="short" direction="in"/>
<pin name="PIN-14-OUT" x="-15.24" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="PIN-16-OUT" x="-15.24" y="2.54" visible="pin" length="short" direction="in"/>
<pin name="PIN-17-OUT" x="-15.24" y="0" visible="pin" length="short" direction="in"/>
</symbol>
<symbol name="MOTION">
<wire x1="-25.4" y1="25.4" x2="27.94" y2="25.4" width="0.254" layer="94"/>
<wire x1="27.94" y1="25.4" x2="27.94" y2="22.86" width="0.254" layer="94"/>
<wire x1="27.94" y1="22.86" x2="27.94" y2="-25.4" width="0.254" layer="94"/>
<wire x1="27.94" y1="-25.4" x2="-25.4" y2="-25.4" width="0.254" layer="94"/>
<wire x1="-25.4" y1="-25.4" x2="-25.4" y2="22.86" width="0.254" layer="94"/>
<wire x1="-25.4" y1="22.86" x2="-25.4" y2="25.4" width="0.254" layer="94"/>
<wire x1="-25.4" y1="22.86" x2="27.94" y2="22.86" width="0.254" layer="94"/>
<text x="-25.4" y="22.86" size="1.778" layer="95">>Name</text>
<pin name="ENABLE" x="-27.94" y="20.32" visible="pin" length="short" direction="in"/>
<pin name="PROBE-INPUT" x="-27.94" y="-10.16" visible="pin" length="short" direction="in"/>
<pin name="SPINDLE-REVS" x="30.48" y="0" visible="pin" length="short" direction="in" rot="R180"/>
<pin name="DIGITAL-OUT-01" x="30.48" y="-17.78" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SPINDLE-ON" x="30.48" y="12.7" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="DIGITAL-OUT-02" x="30.48" y="-20.32" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="DIGITAL-OUT-03" x="30.48" y="-22.86" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="DIGITAL-OUT-00" x="30.48" y="-15.24" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="ADAPTIVE-FEED" x="-27.94" y="12.7" visible="pin" length="short" direction="in"/>
<pin name="DIGITAL-IN-00" x="-27.94" y="-15.24" visible="pin" length="short" direction="in"/>
<pin name="DIGITAL-IN-01" x="-27.94" y="-17.78" visible="pin" length="short" direction="in"/>
<pin name="DIGITAL-IN-02" x="-27.94" y="-20.32" visible="pin" length="short" direction="in"/>
<pin name="DIGITAL-IN-03" x="-27.94" y="-22.86" visible="pin" length="short" direction="in"/>
<pin name="FEED-HOLD" x="-27.94" y="17.78" visible="pin" length="short" direction="in"/>
<pin name="MOTION-INPOS" x="30.48" y="20.32" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SPINDLE-BRAKE" x="30.48" y="5.08" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SPINDLE-FORWARD" x="30.48" y="10.16" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SPINDLE-INDEX-ENABLE" x="30.48" y="2.54" visible="pin" length="short" rot="R180"/>
<pin name="SPINDLE-REVERSE" x="30.48" y="7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SPINDLE-SPEED-IN" x="30.48" y="-2.54" visible="pin" length="short" direction="in" rot="R180"/>
<pin name="SPINDLE-SPEED-OUT" x="30.48" y="-5.08" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="PARAMETER">
<description><h1>Parameter Value</h1>
Set parameter to part value</description>
<wire x1="12.7" y1="1.905" x2="0" y2="1.905" width="0.254" layer="94"/>
<wire x1="0" y1="1.905" x2="0" y2="-1.905" width="0.254" layer="94"/>
<wire x1="0" y1="-1.905" x2="12.7" y2="-1.905" width="0.254" layer="94"/>
<text x="0.635" y="-0.635" size="1.778" layer="96">>Value</text>
<pin name="P$2" x="-2.54" y="0" visible="off" length="short" direction="out" function="dot"/>
</symbol>
<symbol name="PARPORT-IN">
<wire x1="-12.7" y1="45.72" x2="17.78" y2="45.72" width="0.254" layer="94"/>
<wire x1="17.78" y1="45.72" x2="17.78" y2="43.18" width="0.254" layer="94"/>
<wire x1="17.78" y1="43.18" x2="17.78" y2="25.4" width="0.254" layer="94"/>
<wire x1="17.78" y1="25.4" x2="17.78" y2="-55.88" width="0.254" layer="94"/>
<wire x1="17.78" y1="-55.88" x2="-12.7" y2="-55.88" width="0.254" layer="94"/>
<wire x1="-12.7" y1="-55.88" x2="-12.7" y2="25.4" width="0.254" layer="94"/>
<wire x1="-12.7" y1="25.4" x2="-12.7" y2="43.18" width="0.254" layer="94"/>
<wire x1="-12.7" y1="43.18" x2="-12.7" y2="45.72" width="0.254" layer="94"/>
<wire x1="-12.7" y1="43.18" x2="17.78" y2="43.18" width="0.254" layer="94"/>
<wire x1="-12.7" y1="25.4" x2="17.78" y2="25.4" width="0.254" layer="94"/>
<text x="-12.7" y="43.18" size="1.778" layer="95">>Name</text>
<pin name="PIN-10-IN" x="-15.24" y="-17.78" visible="pin" length="short" direction="out"/>
<pin name="PIN-10-IN-NOT" x="-15.24" y="-20.32" visible="pin" length="short" direction="out"/>
<pin name="PIN-01-OUT" x="-15.24" y="-45.72" visible="pin" length="short" direction="in"/>
<pin name="PIN-11-IN" x="-15.24" y="-22.86" visible="pin" length="short" direction="out"/>
<pin name="PIN-11-IN-NOT" x="-15.24" y="-25.4" visible="pin" length="short" direction="out"/>
<pin name="PIN-12-IN" x="-15.24" y="-27.94" visible="pin" length="short" direction="out"/>
<pin name="PIN-12-IN-NOT" x="-15.24" y="-30.48" visible="pin" length="short" direction="out"/>
<pin name="PIN-13-IN" x="-15.24" y="-33.02" visible="pin" length="short" direction="out"/>
<pin name="PIN-13-IN-NOT" x="-15.24" y="-35.56" visible="pin" length="short" direction="out"/>
<pin name="PIN-15-IN" x="-15.24" y="-38.1" visible="pin" length="short" direction="out"/>
<pin name="PIN-15-IN-NOT" x="-15.24" y="-40.64" visible="pin" length="short" direction="out"/>
<pin name="PIN-02-IN" x="-15.24" y="22.86" visible="pin" length="short" direction="out"/>
<pin name="PIN-03-IN" x="-15.24" y="17.78" visible="pin" length="short" direction="out"/>
<pin name="PIN-04-IN" x="-15.24" y="12.7" visible="pin" length="short" direction="out"/>
<pin name="PIN-05-IN" x="-15.24" y="7.62" visible="pin" length="short" direction="out"/>
<pin name="PIN-06-IN" x="-15.24" y="2.54" visible="pin" length="short" direction="out"/>
<pin name="PIN-07-IN" x="-15.24" y="-2.54" visible="pin" length="short" direction="out"/>
<pin name="PIN-08-IN" x="-15.24" y="-7.62" visible="pin" length="short" direction="out"/>
<pin name="PIN-09-IN" x="-15.24" y="-12.7" visible="pin" length="short" direction="out"/>
<pin name="PIN-14-OUT" x="-15.24" y="-48.26" visible="pin" length="short" direction="in"/>
<pin name="PIN-16-OUT" x="-15.24" y="-50.8" visible="pin" length="short" direction="in"/>
<pin name="PIN-17-OUT" x="-15.24" y="-53.34" visible="pin" length="short" direction="in"/>
<pin name="PIN-02-IN-NOT" x="-15.24" y="20.32" visible="pin" length="short" direction="out"/>
<pin name="PIN-03-IN-NOT" x="-15.24" y="15.24" visible="pin" length="short" direction="out"/>
<pin name="PIN-04-IN-NOT" x="-15.24" y="10.16" visible="pin" length="short" direction="out"/>
<pin name="PIN-05-IN-NOT" x="-15.24" y="5.08" visible="pin" length="short" direction="out"/>
<pin name="PIN-06-IN-NOT" x="-15.24" y="0" visible="pin" length="short" direction="out"/>
<pin name="PIN-07-IN-NOT" x="-15.24" y="-5.08" visible="pin" length="short" direction="out"/>
<pin name="PIN-08-IN-NOT" x="-15.24" y="-10.16" visible="pin" length="short" direction="out"/>
<pin name="PIN-09-IN-NOT" x="-15.24" y="-15.24" visible="pin" length="short" direction="out"/>
<pin name=".PIN-01-OUT-INVERT" x="-15.24" y="40.64" visible="pin" length="short" direction="hiz" function="dot"/>
<pin name=".PIN-14-OUT-INVERT" x="-15.24" y="38.1" visible="pin" length="short" direction="hiz" function="dot"/>
<pin name=".PIN-16-OUT-INVERT" x="-15.24" y="35.56" visible="pin" length="short" direction="hiz" function="dot"/>
<pin name=".PIN-17-OUT-INVERT" x="-15.24" y="33.02" visible="pin" length="short" direction="hiz" function="dot"/>
<pin name=".RESET-TIME" x="-15.24" y="27.94" visible="pin" length="short" direction="hiz" function="dot"/>
</symbol>
<symbol name="SETP">
<wire x1="-17.78" y1="2.54" x2="22.86" y2="2.54" width="0.254" layer="94"/>
<wire x1="22.86" y1="2.54" x2="22.86" y2="-2.54" width="0.254" layer="94"/>
<wire x1="22.86" y1="-2.54" x2="-17.78" y2="-2.54" width="0.254" layer="94"/>
<wire x1="-17.78" y1="-2.54" x2="-17.78" y2="2.54" width="0.254" layer="94"/>
<text x="-17.78" y="0" size="1.778" layer="95">>Name</text>
<text x="-15.24" y="-2.54" size="1.778" layer="96">>Value</text>
<text x="-17.78" y="-2.54" size="1.778" layer="100">=</text>
</symbol>
<symbol name="AND2-DE">
<wire x1="-2.54" y1="5.08" x2="-2.54" y2="-5.08" width="0.4064" layer="94"/>
<wire x1="-2.54" y1="5.08" x2="-2.54" y2="-5.08" width="0.4064" layer="94" curve="-180"/>
<text x="-2.54" y="-6.985" size="1.778" layer="95">>NAME</text>
<pin name="IN0" x="-5.08" y="2.54" visible="off" length="short" direction="in"/>
<pin name="IN1" x="-5.08" y="-2.54" visible="off" length="short" direction="in"/>
<pin name="OUT" x="5.08" y="0" visible="off" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="THREAD">
<wire x1="-10.16" y1="10.16" x2="15.24" y2="10.16" width="0.254" layer="94"/>
<wire x1="15.24" y1="10.16" x2="15.24" y2="7.62" width="0.254" layer="94"/>
<wire x1="15.24" y1="7.62" x2="15.24" y2="-12.7" width="0.254" layer="94"/>
<wire x1="15.24" y1="-12.7" x2="-10.16" y2="-12.7" width="0.254" layer="94"/>
<wire x1="-10.16" y1="-12.7" x2="-10.16" y2="7.62" width="0.254" layer="94"/>
<wire x1="-10.16" y1="7.62" x2="-10.16" y2="10.16" width="0.254" layer="94"/>
<wire x1="-10.16" y1="7.62" x2="15.24" y2="7.62" width="0.254" layer="94"/>
<circle x="0" y="0" radius="5.08" width="0.254" layer="94"/>
<text x="-5.08" y="-10.16" size="1.778" layer="94">Thread</text>
<text x="-7.62" y="7.62" size="1.778" layer="95">>Name</text>
<pin name="-1" x="17.78" y="0" visible="pin" length="short" direction="out" function="clk" rot="R180"/>
<pin name="_" x="17.78" y="-2.54" visible="pin" length="short" direction="out" function="clk" rot="R180"/>
<pin name="1" x="17.78" y="-5.08" visible="pin" length="short" direction="out" function="clk" rot="R180"/>
<pin name="2" x="17.78" y="-7.62" visible="pin" length="short" direction="out" function="clk" rot="R180"/>
<pin name="3" x="17.78" y="-10.16" visible="pin" length="short" direction="out" function="clk" rot="R180"/>
<pin name="-2" x="17.78" y="2.54" visible="pin" length="short" direction="out" function="clk" rot="R180"/>
<pin name="-3" x="17.78" y="5.08" visible="pin" length="short" direction="out" function="clk" rot="R180"/>
<polygon width="0.254" layer="94">
<vertex x="0" y="5.08"/>
<vertex x="0" y="0"/>
<vertex x="5.08" y="0" curve="90"/>
</polygon>
</symbol>
<symbol name="LOADRT_STEPGEN">
<wire x1="0" y1="5.08" x2="25.4" y2="5.08" width="0.254" layer="94"/>
<wire x1="81.28" y1="0" x2="81.28" y2="-7.62" width="0.254" layer="94"/>
<wire x1="0" y1="-7.62" x2="0" y2="0" width="0.254" layer="94"/>
<wire x1="0" y1="5.08" x2="0" y2="0" width="0.254" layer="94"/>
<wire x1="0" y1="0" x2="25.4" y2="0" width="0.254" layer="94"/>
<wire x1="25.4" y1="0" x2="81.28" y2="0" width="0.254" layer="94"/>
<wire x1="0" y1="-7.62" x2="81.28" y2="-7.62" width="0.254" layer="94"/>
<text x="2.54" y="-2.54" size="1.778" layer="95">>Name</text>
<text x="2.54" y="-5.08" size="1.778" layer="96">>Value</text>
<text x="2.54" y="2.54" size="1.778" layer="94">LoadRT StepGen</text>
<wire x1="25.4" y1="5.08" x2="25.4" y2="0" width="0.254" layer="94"/>
</symbol>
<symbol name="LOADRT_PARPORT">
<wire x1="0" y1="5.08" x2="27.94" y2="5.08" width="0.254" layer="94"/>
<wire x1="81.28" y1="0" x2="81.28" y2="-7.62" width="0.254" layer="94"/>
<wire x1="0" y1="-7.62" x2="0" y2="0" width="0.254" layer="94"/>
<wire x1="0" y1="5.08" x2="0" y2="0" width="0.254" layer="94"/>
<wire x1="0" y1="0" x2="27.94" y2="0" width="0.254" layer="94"/>
<wire x1="27.94" y1="0" x2="81.28" y2="0" width="0.254" layer="94"/>
<wire x1="0" y1="-7.62" x2="81.28" y2="-7.62" width="0.254" layer="94"/>
<text x="2.54" y="-2.54" size="1.778" layer="95">>Name</text>
<text x="2.54" y="-5.08" size="1.778" layer="96">>Value</text>
<text x="2.54" y="2.54" size="1.778" layer="94">LoadRT hal_ParPort</text>
<wire x1="27.94" y1="5.08" x2="27.94" y2="0" width="0.254" layer="94"/>
</symbol>
<symbol name="LOADRT_MOTION">
<wire x1="0" y1="5.08" x2="27.94" y2="5.08" width="0.254" layer="94"/>
<wire x1="81.28" y1="0" x2="81.28" y2="-7.62" width="0.254" layer="94"/>
<wire x1="0" y1="-7.62" x2="0" y2="0" width="0.254" layer="94"/>
<wire x1="0" y1="5.08" x2="0" y2="0" width="0.254" layer="94"/>
<wire x1="0" y1="0" x2="27.94" y2="0" width="0.254" layer="94"/>
<wire x1="27.94" y1="0" x2="81.28" y2="0" width="0.254" layer="94"/>
<wire x1="0" y1="-7.62" x2="81.28" y2="-7.62" width="0.254" layer="94"/>
<text x="2.54" y="-2.54" size="1.778" layer="95">>Name</text>
<text x="2.54" y="-5.08" size="1.778" layer="96">>Value</text>
<wire x1="27.94" y1="5.08" x2="27.94" y2="0" width="0.254" layer="94"/>
<text x="2.54" y="2.54" size="1.778" layer="94">LoadRT Motion</text>
</symbol>
<symbol name="LOADRT">
<description><h1>HAL LoadRT</h1>
Loads realtime module<br>
Part Name field = &lt;index&gt;:MODULEn
<ul>
<li>Set &lt;index&gt; to control load sequence</li>
<li>MODULEn triggers Eagle-to-HAL script</li>
</ul>
Part Value field = HAL module command line:
<ul>
<li><code>loadrt threads name1=test-thread period1=1000000</code></li>
</ul></description>
<wire x1="-2.54" y1="5.08" x2="12.7" y2="5.08" width="0.254" layer="94"/>
<wire x1="78.74" y1="0" x2="78.74" y2="-7.62" width="0.254" layer="94"/>
<wire x1="78.74" y1="-7.62" x2="-2.54" y2="-7.62" width="0.254" layer="94"/>
<wire x1="-2.54" y1="-7.62" x2="-2.54" y2="0" width="0.254" layer="94"/>
<wire x1="-2.54" y1="5.08" x2="-2.54" y2="0" width="0.254" layer="94"/>
<wire x1="-2.54" y1="0" x2="12.7" y2="0" width="0.254" layer="94"/>
<text x="0" y="-2.54" size="1.778" layer="95">>Name</text>
<text x="0" y="-5.08" size="1.778" layer="96">>Value</text>
<wire x1="12.7" y1="0" x2="78.74" y2="0" width="0.254" layer="94"/>
<wire x1="12.7" y1="5.08" x2="12.7" y2="0" width="0.254" layer="94"/>
<text x="0" y="2.54" size="1.778" layer="94">LoadRT</text>
</symbol>
<symbol name="LOADUSR">
<description><h1>HAL LoadUsr</h1>
Loads userspace module<br>
Part Name field = &lt;index&gt;:MODULEn
<ul>
<li>Set &lt;index&gt; to control load sequence</li>
<li>MODULEn triggers Eagle-to-HAL script</li>
</ul>
Part Value field = HAL module command line:
<ul>
<li><code>loadusr -W hal_input -KA Dual</code></li>
</ul></description>
<wire x1="-2.54" y1="0" x2="12.7" y2="0" width="0.254" layer="94"/>
<wire x1="12.7" y1="0" x2="78.74" y2="0" width="0.254" layer="94"/>
<wire x1="78.74" y1="0" x2="78.74" y2="-7.62" width="0.254" layer="94"/>
<wire x1="-2.54" y1="0" x2="-2.54" y2="-7.62" width="0.254" layer="94"/>
<wire x1="-2.54" y1="-7.62" x2="78.74" y2="-7.62" width="0.254" layer="94"/>
<text x="0" y="-2.54" size="1.778" layer="95">>Name</text>
<text x="0" y="-5.08" size="1.778" layer="96">>Value</text>
<text x="0" y="2.54" size="1.778" layer="94">LoadUsr</text>
<wire x1="-2.54" y1="5.08" x2="-2.54" y2="0" width="0.254" layer="94"/>
<wire x1="-2.54" y1="5.08" x2="12.7" y2="5.08" width="0.254" layer="94"/>
<wire x1="12.7" y1="5.08" x2="12.7" y2="0" width="0.254" layer="94"/>
</symbol>
<symbol name="FLIPFLOP">
<description>HAL Flipflop</description>
<wire x1="-10.16" y1="-7.62" x2="10.16" y2="-7.62" width="0.254" layer="94"/>
<wire x1="10.16" y1="-7.62" x2="10.16" y2="7.62" width="0.254" layer="94"/>
<wire x1="10.16" y1="7.62" x2="-10.16" y2="7.62" width="0.254" layer="94"/>
<wire x1="-10.16" y1="7.62" x2="-10.16" y2="-7.62" width="0.254" layer="94"/>
<text x="-10.16" y="7.62" size="1.778" layer="95">>NAME</text>
<pin name="CLK" x="-12.7" y="2.54" visible="pin" length="short" direction="in"/>
<pin name="RESET" x="-12.7" y="-5.08" visible="pin" length="short" direction="in"/>
<pin name="SET" x="-12.7" y="-2.54" visible="pin" length="short" direction="in"/>
<pin name="OUT" x="12.7" y="5.08" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="DATA" x="-12.7" y="5.08" visible="pin" length="short" direction="in"/>
<wire x1="-10.16" y1="7.62" x2="-10.16" y2="10.16" width="0.254" layer="94"/>
<wire x1="-10.16" y1="10.16" x2="10.16" y2="10.16" width="0.254" layer="94"/>
<wire x1="10.16" y1="10.16" x2="10.16" y2="7.62" width="0.254" layer="94"/>
</symbol>
<symbol name="NOT">
<wire x1="-5.08" y1="5.08" x2="5.08" y2="0" width="0.4064" layer="94"/>
<wire x1="5.08" y1="0" x2="-5.08" y2="-5.08" width="0.4064" layer="94"/>
<wire x1="-5.08" y1="-5.08" x2="-5.08" y2="5.08" width="0.4064" layer="94"/>
<wire x1="5.08" y1="0" x2="7.62" y2="0" width="0.254" layer="94" curve="-180"/>
<wire x1="7.62" y1="0" x2="5.08" y2="0" width="0.254" layer="94" curve="-180"/>
<text x="-5.08" y="-6.985" size="1.778" layer="95">>NAME</text>
<pin name="IN" x="-7.62" y="0" visible="off" length="short" direction="in"/>
<pin name="OUT" x="10.16" y="0" visible="off" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="PIN_FUNCTION">
<text x="0" y="0" size="1.778" layer="95">>Name</text>
<pin name="PIN_THREAD" x="-5.08" y="0" visible="off" length="short" function="clk"/>
</symbol>
<symbol name="PIN_PARAMETER">
<text x="0" y="0" size="1.778" layer="95">>Name</text>
<pin name="PIN_PARAMETER" x="-5.08" y="0" visible="off" length="middle" function="dot"/>
</symbol>
<symbol name="ABS">
<wire x1="-7.62" y1="5.08" x2="7.62" y2="5.08" width="0.254" layer="94"/>
<wire x1="7.62" y1="5.08" x2="7.62" y2="-2.54" width="0.254" layer="94"/>
<wire x1="7.62" y1="-2.54" x2="-7.62" y2="-2.54" width="0.254" layer="94"/>
<wire x1="-7.62" y1="-2.54" x2="-7.62" y2="5.08" width="0.254" layer="94"/>
<text x="-7.62" y="-5.08" size="1.778" layer="95">>Name</text>
<pin name="IN" x="-10.16" y="2.54" visible="pin" length="short" direction="in"/>
<pin name="OUT" x="10.16" y="2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SIGN" x="10.16" y="0" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="AT_PID">
<wire x1="-12.7" y1="10.16" x2="15.24" y2="10.16" width="0.01" layer="94"/>
<wire x1="15.24" y1="10.16" x2="15.24" y2="-10.16" width="0.01" layer="94"/>
<wire x1="15.24" y1="-10.16" x2="-12.7" y2="-10.16" width="0.01" layer="94"/>
<wire x1="-12.7" y1="-10.16" x2="-12.7" y2="10.16" width="0.01" layer="94"/>
<text x="-12.7" y="-12.7" size="1.778" layer="95">>Name</text>
<pin name="COMMAND" x="-15.24" y="2.54" visible="pin" length="short" direction="in"/>
<pin name="FEEDBACK" x="-15.24" y="0" visible="pin" length="short" direction="in"/>
<pin name="ENABLE" x="-15.24" y="7.62" visible="pin" length="short" direction="in"/>
<pin name="TUNE-MODE" x="-15.24" y="-5.08" visible="pin" length="short" direction="in"/>
<pin name="TUNE-START" x="-15.24" y="-7.62" visible="pin" length="short"/>
<pin name="OUTPUT" x="17.78" y="7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="ERROR" x="17.78" y="2.54" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="BIQUAD">
<wire x1="-10.16" y1="5.08" x2="12.7" y2="5.08" width="0.254" layer="94"/>
<wire x1="12.7" y1="5.08" x2="12.7" y2="-5.08" width="0.254" layer="94"/>
<wire x1="12.7" y1="-5.08" x2="-10.16" y2="-5.08" width="0.254" layer="94"/>
<wire x1="-10.16" y1="-5.08" x2="-10.16" y2="5.08" width="0.254" layer="94"/>
<text x="-10.16" y="-7.62" size="1.778" layer="95">>Name</text>
<pin name="IN" x="-12.7" y="0" visible="pin" length="short" direction="in"/>
<pin name="ENABLE" x="-12.7" y="2.54" visible="pin" length="short" direction="in"/>
<pin name="OUT" x="15.24" y="0" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="VALID" x="15.24" y="-2.54" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="BLEND">
<wire x1="-10.16" y1="7.62" x2="10.16" y2="7.62" width="0.254" layer="94"/>
<wire x1="10.16" y1="7.62" x2="10.16" y2="-7.62" width="0.254" layer="94"/>
<wire x1="10.16" y1="-7.62" x2="-10.16" y2="-7.62" width="0.254" layer="94"/>
<wire x1="-10.16" y1="-7.62" x2="-10.16" y2="7.62" width="0.254" layer="94"/>
<text x="-10.16" y="-10.16" size="1.778" layer="95">>Name</text>
<pin name="OUT" x="12.7" y="2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="IN1" x="-12.7" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="IN2" x="-12.7" y="0" visible="pin" length="short" direction="in"/>
<pin name="SELECT" x="-12.7" y="-5.08" visible="pin" length="short" direction="in"/>
</symbol>
<symbol name="ESTOP-LATCH">
<wire x1="-15.24" y1="7.62" x2="15.24" y2="7.62" width="0.254" layer="94"/>
<wire x1="15.24" y1="7.62" x2="15.24" y2="-7.62" width="0.254" layer="94"/>
<wire x1="15.24" y1="-7.62" x2="-15.24" y2="-7.62" width="0.254" layer="94"/>
<wire x1="-15.24" y1="-7.62" x2="-15.24" y2="7.62" width="0.254" layer="94"/>
<text x="-15.24" y="-10.16" size="1.778" layer="95">>Name</text>
<pin name="RESET" x="-17.78" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="OK-IN" x="-17.78" y="2.54" visible="pin" length="short" direction="in"/>
<pin name="FAULT-IN" x="17.78" y="5.08" visible="pin" length="short" direction="in" rot="R180"/>
<pin name="OK-OUT" x="-17.78" y="0" visible="pin" length="short" direction="out"/>
<pin name="FAULT-OUT" x="17.78" y="0" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="WATCHDOG" x="17.78" y="-5.08" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="EDGE">
<wire x1="-10.16" y1="2.54" x2="12.7" y2="2.54" width="0.254" layer="94"/>
<wire x1="12.7" y1="2.54" x2="12.7" y2="-5.08" width="0.254" layer="94"/>
<wire x1="12.7" y1="-5.08" x2="-10.16" y2="-5.08" width="0.254" layer="94"/>
<wire x1="-10.16" y1="-5.08" x2="-10.16" y2="2.54" width="0.254" layer="94"/>
<text x="-10.16" y="-7.62" size="1.778" layer="95">>Name</text>
<pin name="IN" x="-12.7" y="0" visible="pin" length="short" direction="in"/>
<pin name="OUT" x="15.24" y="0" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="OUT-INVERT" x="15.24" y="-2.54" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="ONESHOT">
<wire x1="-12.7" y1="7.62" x2="12.7" y2="7.62" width="0.254" layer="94"/>
<wire x1="12.7" y1="7.62" x2="12.7" y2="-5.08" width="0.254" layer="94"/>
<wire x1="12.7" y1="-5.08" x2="-12.7" y2="-5.08" width="0.254" layer="94"/>
<wire x1="-12.7" y1="-5.08" x2="-12.7" y2="7.62" width="0.254" layer="94"/>
<text x="-12.7" y="-7.62" size="1.778" layer="95">>Name</text>
<pin name="IN" x="-15.24" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="OUT" x="15.24" y="5.08" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="OUT-NOT" x="15.24" y="2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TIME-LEFT" x="15.24" y="-2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="WIDTH" x="-15.24" y="-2.54" visible="pin" length="short" direction="in"/>
</symbol>
<symbol name="OR2-DE">
<wire x1="-2.54" y1="5.08" x2="-2.54" y2="2.54" width="0.4064" layer="94"/>
<wire x1="-2.54" y1="2.54" x2="-2.54" y2="-2.54" width="0.4064" layer="94"/>
<wire x1="-2.54" y1="-2.54" x2="-2.54" y2="-5.08" width="0.4064" layer="94"/>
<wire x1="-2.54" y1="5.08" x2="-2.54" y2="-5.08" width="0.4064" layer="94" curve="-180"/>
<wire x1="-2.54" y1="2.54" x2="1.905" y2="2.54" width="0.15" layer="94"/>
<wire x1="-2.54" y1="-2.54" x2="1.905" y2="-2.54" width="0.15" layer="94"/>
<text x="-2.54" y="-6.985" size="1.778" layer="95">>NAME</text>
<pin name="IN0" x="-5.08" y="2.54" visible="off" length="short" direction="in"/>
<pin name="IN1" x="-5.08" y="-2.54" visible="off" length="short" direction="in"/>
<pin name="OUT" x="5.08" y="0" visible="off" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="CONSTANT">
<wire x1="-12.7" y1="1.905" x2="0" y2="1.905" width="0.254" layer="94"/>
<wire x1="0" y1="1.905" x2="0" y2="-1.27" width="0.254" layer="94"/>
<wire x1="0" y1="-1.27" x2="-12.7" y2="-1.27" width="0.254" layer="94"/>
<text x="0" y="1.27" size="1.778" layer="96" rot="R180">>Value</text>
<pin name="OUT" x="2.54" y="0" visible="off" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="LOWPASS">
<wire x1="-7.62" y1="2.54" x2="10.16" y2="2.54" width="0.254" layer="94"/>
<wire x1="10.16" y1="2.54" x2="10.16" y2="-2.54" width="0.254" layer="94"/>
<wire x1="10.16" y1="-2.54" x2="-7.62" y2="-2.54" width="0.254" layer="94"/>
<wire x1="-7.62" y1="-2.54" x2="-7.62" y2="2.54" width="0.254" layer="94"/>
<text x="-7.62" y="-5.08" size="1.778" layer="95">>Name</text>
<pin name="IN" x="-10.16" y="0" visible="pin" length="short" direction="in"/>
<pin name="OUT" x="12.7" y="0" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="AND2">
<description><h1>HAL AND2</h1>
HAL 2 input AND gate</description>
<wire x1="-7.62" y1="5.08" x2="-7.62" y2="-5.08" width="0.4064" layer="94"/>
<wire x1="-7.62" y1="-5.08" x2="2.54" y2="-5.08" width="0.4064" layer="94"/>
<wire x1="2.54" y1="5.08" x2="2.54" y2="-5.08" width="0.4064" layer="94" curve="-180"/>
<wire x1="2.54" y1="5.08" x2="-7.62" y2="5.08" width="0.4064" layer="94"/>
<text x="-7.62" y="-7.62" size="1.778" layer="95">>NAME</text>
<pin name="IN0" x="-12.7" y="2.54" visible="off" length="middle" direction="in" swaplevel="1"/>
<pin name="IN1" x="-12.7" y="-2.54" visible="off" length="middle" direction="in" swaplevel="1"/>
<pin name="OUT" x="12.7" y="0" visible="off" length="middle" direction="out" rot="R180"/>
</symbol>
<symbol name="PWRN">
<text x="-0.635" y="-0.635" size="1.778" layer="95">>NAME</text>
<text x="1.905" y="-7.62" size="1.27" layer="95" rot="R90">GND</text>
<text x="1.905" y="5.08" size="1.27" layer="95" rot="R90">VCC</text>
<pin name="GND" x="0" y="-10.16" visible="pad" direction="pwr" rot="R90"/>
<pin name="VCC" x="0" y="10.16" visible="pad" direction="pwr" rot="R270"/>
</symbol>
<symbol name="OR2">
<description><h1>HAL OR2</h1>
HAL 2 input OR gate</description>
<wire x1="-1.27" y1="5.08" x2="-7.62" y2="5.08" width="0.4064" layer="94"/>
<wire x1="-1.27" y1="-5.08" x2="-7.62" y2="-5.08" width="0.4064" layer="94"/>
<wire x1="-7.62" y1="2.54" x2="-6.35" y2="2.54" width="0.1524" layer="94"/>
<wire x1="-7.62" y1="-2.54" x2="-6.35" y2="-2.54" width="0.1524" layer="94"/>
<wire x1="-1.2446" y1="-5.0678" x2="7.5439" y2="0.0507" width="0.4064" layer="94" curve="60.147106" cap="flat"/>
<wire x1="-1.2446" y1="5.0678" x2="7.5442" y2="-0.0505" width="0.4064" layer="94" curve="-60.148802" cap="flat"/>
<wire x1="-7.62" y1="5.08" x2="-7.62" y2="-5.08" width="0.4064" layer="94" curve="-77.319617"/>
<text x="-7.62" y="-7.62" size="1.778" layer="95">>NAME</text>
<pin name="IN0" x="-12.7" y="2.54" visible="off" length="middle" direction="in" swaplevel="1"/>
<pin name="IN1" x="-12.7" y="-2.54" visible="off" length="middle" direction="in" swaplevel="1"/>
<pin name="OUT" x="12.7" y="0" visible="off" length="middle" direction="out" rot="R180"/>
</symbol>
<symbol name="XOR2">
<wire x1="-1.27" y1="5.08" x2="-6.35" y2="5.08" width="0.4064" layer="94"/>
<wire x1="-1.27" y1="-5.08" x2="-6.35" y2="-5.08" width="0.4064" layer="94"/>
<wire x1="-7.62" y1="2.54" x2="-6.35" y2="2.54" width="0.1524" layer="94"/>
<wire x1="-7.62" y1="-2.54" x2="-6.35" y2="-2.54" width="0.1524" layer="94"/>
<wire x1="-1.2446" y1="-5.0678" x2="7.5439" y2="0.0507" width="0.4064" layer="94" curve="60.147106" cap="flat"/>
<wire x1="-1.2446" y1="5.0678" x2="7.5442" y2="-0.0505" width="0.4064" layer="94" curve="-60.148802" cap="flat"/>
<wire x1="-6.35" y1="5.08" x2="-6.35" y2="-5.08" width="0.4064" layer="94" curve="-77.319617"/>
<wire x1="-7.62" y1="5.08" x2="-7.62" y2="-5.08" width="0.4064" layer="94" curve="-77.319617" cap="flat"/>
<text x="-7.62" y="5.715" size="1.778" layer="95">>NAME</text>
<pin name="IN0" x="-12.7" y="2.54" visible="off" length="middle" direction="in" swaplevel="1"/>
<pin name="IN1" x="-12.7" y="-2.54" visible="off" length="middle" direction="in" swaplevel="1"/>
<pin name="OUT" x="12.7" y="0" visible="off" length="middle" direction="out" rot="R180"/>
</symbol>
<symbol name="HALUI">
<description><h1>HAL HalUI</h1>
First-level pins</description>
<wire x1="-15.24" y1="12.7" x2="-15.24" y2="15.24" width="0.254" layer="94"/>
<wire x1="-15.24" y1="15.24" x2="15.24" y2="15.24" width="0.254" layer="94"/>
<wire x1="15.24" y1="15.24" x2="15.24" y2="12.7" width="0.254" layer="94"/>
<wire x1="15.24" y1="12.7" x2="-15.24" y2="12.7" width="0.254" layer="94"/>
<wire x1="-15.24" y1="12.7" x2="-15.24" y2="-22.86" width="0.254" layer="94"/>
<wire x1="-15.24" y1="-22.86" x2="15.24" y2="-22.86" width="0.254" layer="94"/>
<wire x1="15.24" y1="-22.86" x2="15.24" y2="12.7" width="0.254" layer="94"/>
<text x="-15.24" y="12.7" size="1.27" layer="95">>NAME</text>
<pin name="ABORT" x="-17.78" y="10.16" visible="pin" length="short" direction="in"/>
<pin name="ESTOP.ACTIVATE" x="-17.78" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="ESTOP.RESET" x="-17.78" y="0" visible="pin" length="short" direction="in"/>
<pin name="ESTOP.IS-ACTIVATED" x="17.78" y="2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="MACHINE.IS-ON" x="17.78" y="-7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="MACHINE.ON" x="-17.78" y="-5.08" visible="pin" length="short" direction="in"/>
<pin name="MACHINE.OFF" x="-17.78" y="-10.16" visible="pin" length="short" direction="in"/>
<pin name="JOG-DEADBAND" x="-17.78" y="-15.24" visible="pin" length="short" direction="in"/>
<pin name="JOG-SPEED" x="-17.78" y="-20.32" visible="pin" length="short" direction="in"/>
</symbol>
<symbol name="HALUI-LUBE">
<wire x1="-10.16" y1="20.32" x2="10.16" y2="20.32" width="0.254" layer="94"/>
<wire x1="10.16" y1="20.32" x2="10.16" y2="17.78" width="0.254" layer="94"/>
<wire x1="10.16" y1="17.78" x2="10.16" y2="-17.78" width="0.254" layer="94"/>
<wire x1="10.16" y1="-17.78" x2="-10.16" y2="-17.78" width="0.254" layer="94"/>
<wire x1="-10.16" y1="-17.78" x2="-10.16" y2="17.78" width="0.254" layer="94"/>
<wire x1="-10.16" y1="17.78" x2="-10.16" y2="20.32" width="0.254" layer="94"/>
<wire x1="10.16" y1="17.78" x2="-10.16" y2="17.78" width="0.254" layer="94"/>
<text x="-10.16" y="17.78" size="1.27" layer="95">>NAME</text>
<pin name="FLOOD.OFF" x="-12.7" y="15.24" visible="pin" length="short" direction="in"/>
<pin name="FLOOD.ON" x="-12.7" y="10.16" visible="pin" length="short" direction="in"/>
<pin name="LUBE.OFF" x="-12.7" y="2.54" visible="pin" length="short" direction="in"/>
<pin name="LUBE.ON" x="-12.7" y="-2.54" visible="pin" length="short" direction="in"/>
<pin name="FLOOD.IS-ON" x="12.7" y="12.7" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="LUBE.IS-ON" x="12.7" y="0" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="MIST.IS-ON" x="12.7" y="-12.7" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="MIST.OFF" x="-12.7" y="-10.16" visible="pin" length="short" direction="in"/>
<pin name="MIST.ON" x="-12.7" y="-15.24" visible="pin" length="short" direction="in"/>
</symbol>
<symbol name="HALUI-JOGSEL">
<wire x1="-10.16" y1="10.16" x2="12.7" y2="10.16" width="0.254" layer="94"/>
<wire x1="12.7" y1="10.16" x2="12.7" y2="7.62" width="0.254" layer="94"/>
<wire x1="12.7" y1="7.62" x2="12.7" y2="-2.54" width="0.254" layer="94"/>
<wire x1="12.7" y1="-2.54" x2="-10.16" y2="-2.54" width="0.254" layer="94"/>
<wire x1="-10.16" y1="-2.54" x2="-10.16" y2="7.62" width="0.254" layer="94"/>
<wire x1="-10.16" y1="7.62" x2="-10.16" y2="10.16" width="0.254" layer="94"/>
<wire x1="-10.16" y1="7.62" x2="12.7" y2="7.62" width="0.254" layer="94"/>
<text x="-10.16" y="7.62" size="1.27" layer="95">>NAME</text>
<pin name="SELECTED.MINUS" x="-12.7" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="SELECTED.PLUS" x="-12.7" y="0" visible="pin" length="short" direction="in"/>
</symbol>
<symbol name="HALUI-FEED">
<wire x1="-20.32" y1="10.16" x2="-20.32" y2="12.7" width="0.254" layer="94"/>
<wire x1="-20.32" y1="12.7" x2="20.32" y2="12.7" width="0.254" layer="94"/>
<wire x1="20.32" y1="12.7" x2="20.32" y2="10.16" width="0.254" layer="94"/>
<wire x1="20.32" y1="10.16" x2="-20.32" y2="10.16" width="0.254" layer="94"/>
<wire x1="-20.32" y1="10.16" x2="-20.32" y2="-15.24" width="0.254" layer="94"/>
<wire x1="-20.32" y1="-15.24" x2="20.32" y2="-15.24" width="0.254" layer="94"/>
<wire x1="20.32" y1="-15.24" x2="20.32" y2="10.16" width="0.254" layer="94"/>
<text x="-20.32" y="10.16" size="1.778" layer="95">>NAME</text>
<pin name="FEED-OVERRIDE.COUNT-ENABLE" x="-22.86" y="7.62" visible="pin" length="short" direction="in"/>
<pin name="FEED-OVERRIDE.COUNTS" x="-22.86" y="2.54" visible="pin" length="short" direction="in"/>
<pin name="FEED-OVERRIDE.DECREASE" x="-22.86" y="-2.54" visible="pin" length="short" direction="in"/>
<pin name="FEED-OVERRIDE.INCREASE" x="-22.86" y="-7.62" visible="pin" length="short" direction="in"/>
<pin name="FEED-OVERRIDE.SCALE" x="-22.86" y="-12.7" visible="pin" length="short" direction="in"/>
<pin name="FEED-OVERRIDE.VALUE" x="22.86" y="0" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="HALUI-TOOL">
<description><h2>HAL HalUI Tool</h2>
HAL Tool pins</description>
<wire x1="-17.78" y1="20.32" x2="15.24" y2="20.32" width="0.254" layer="94"/>
<wire x1="15.24" y1="20.32" x2="15.24" y2="22.86" width="0.254" layer="94"/>
<wire x1="15.24" y1="22.86" x2="-17.78" y2="22.86" width="0.254" layer="94"/>
<wire x1="-17.78" y1="22.86" x2="-17.78" y2="-30.48" width="0.254" layer="94"/>
<wire x1="-17.78" y1="-30.48" x2="15.24" y2="-30.48" width="0.254" layer="94"/>
<wire x1="15.24" y1="-30.48" x2="15.24" y2="20.32" width="0.254" layer="94"/>
<text x="-17.78" y="20.32" size="1.778" layer="95">>NAME</text>
<pin name="TOOL.LENGTH-OFFSET.A" x="17.78" y="12.7" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL.LENGTH-OFFSET.B" x="17.78" y="7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL.LENGTH-OFFSET.C" x="17.78" y="2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL.LENGTH-OFFSET.U" x="17.78" y="-2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL.LENGTH-OFFSET.V" x="17.78" y="-7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL.LENGTH-OFFSET.W" x="17.78" y="-12.7" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL.LENGTH-OFFSET.X" x="17.78" y="-17.78" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL.LENGTH-OFFSET.Y" x="17.78" y="-22.86" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL.LENGTH-OFFSET.Z" x="17.78" y="-27.94" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="TOOL.NUMBER" x="17.78" y="17.78" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="HALUI-SPINDLE">
<wire x1="-22.86" y1="35.56" x2="22.86" y2="35.56" width="0.254" layer="94"/>
<wire x1="22.86" y1="35.56" x2="22.86" y2="33.02" width="0.254" layer="94"/>
<wire x1="22.86" y1="33.02" x2="22.86" y2="-38.1" width="0.254" layer="94"/>
<wire x1="22.86" y1="-38.1" x2="-22.86" y2="-38.1" width="0.254" layer="94"/>
<wire x1="-22.86" y1="-38.1" x2="-22.86" y2="33.02" width="0.254" layer="94"/>
<wire x1="-22.86" y1="33.02" x2="-22.86" y2="35.56" width="0.254" layer="94"/>
<wire x1="22.86" y1="33.02" x2="-22.86" y2="33.02" width="0.254" layer="94"/>
<text x="-22.86" y="33.02" size="1.778" layer="95">>NAME</text>
<pin name="SPINDLE.BRAKE.OFF" x="-25.4" y="30.48" visible="pin" length="short" direction="in"/>
<pin name="SPINDLE.BRAKE.ON" x="-25.4" y="25.4" visible="pin" length="short" direction="in"/>
<pin name="SPINDLE.DECREASE" x="-25.4" y="20.32" visible="pin" length="short" direction="in"/>
<pin name="SPINDLE.INCREASE" x="-25.4" y="15.24" visible="pin" length="short" direction="in"/>
<pin name="SPINDLE.REVERSE" x="-25.4" y="10.16" visible="pin" length="short" direction="in"/>
<pin name="SPINDLE.FORWARD" x="-25.4" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="SPINDLE.START" x="-25.4" y="-2.54" visible="pin" length="short" direction="in"/>
<pin name="SPINDLE.STOP" x="-25.4" y="-7.62" visible="pin" length="short" direction="in"/>
<pin name="SPINDLE.BRAKE-IS-ON" x="25.4" y="27.94" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SPINDLE.IS-ON" x="25.4" y="-5.08" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SPINDLE.RUNS-BACKWARD" x="25.4" y="7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SPINDLE.RUNS-FORWARD" x="25.4" y="2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SPINDLE-OVERRIDE.VALUE" x="25.4" y="-27.94" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SPINDLE-OVERRIDE.COUNT-ENABLE" x="-25.4" y="-15.24" visible="pin" length="short" direction="in"/>
<pin name="SPINDLE-OVERRIDE.COUNTS" x="-25.4" y="-20.32" visible="pin" length="short" direction="in"/>
<pin name="SPINDLE-OVERRIDE.DECREASE" x="-25.4" y="-25.4" visible="pin" length="short" direction="in"/>
<pin name="SPINDLE-OVERRIDE.INCREASE" x="-25.4" y="-30.48" visible="pin" length="short" direction="in"/>
<pin name="SPINDLE-OVERRIDE.SCALE" x="-25.4" y="-35.56" visible="pin" length="short" direction="in"/>
</symbol>
<symbol name="HALUI-PROGRAM">
<wire x1="-22.86" y1="20.32" x2="20.32" y2="20.32" width="0.254" layer="94"/>
<wire x1="20.32" y1="20.32" x2="20.32" y2="17.78" width="0.254" layer="94"/>
<wire x1="20.32" y1="17.78" x2="20.32" y2="-30.48" width="0.254" layer="94"/>
<wire x1="20.32" y1="-30.48" x2="-22.86" y2="-30.48" width="0.254" layer="94"/>
<wire x1="-22.86" y1="-30.48" x2="-22.86" y2="17.78" width="0.254" layer="94"/>
<wire x1="-22.86" y1="17.78" x2="-22.86" y2="20.32" width="0.254" layer="94"/>
<wire x1="-22.86" y1="17.78" x2="20.32" y2="17.78" width="0.254" layer="94"/>
<text x="-22.86" y="17.78" size="1.778" layer="95">>NAME</text>
<pin name="PROGRAM.BLOCK-DELETE.OFF" x="-25.4" y="15.24" visible="pin" length="short" direction="in"/>
<pin name="PROGRAM.BLOCK-DELETE.ON" x="-25.4" y="10.16" visible="pin" length="short" direction="in"/>
<pin name="PROGRAM.OPTIONAL-STOP.OFF" x="-25.4" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="PROGRAM.OPTIONAL-STOP.ON" x="-25.4" y="0" visible="pin" length="short" direction="in"/>
<pin name="PROGRAM.PAUSE" x="-25.4" y="-7.62" visible="pin" length="short" direction="in"/>
<pin name="PROGRAM.RESUME" x="-25.4" y="-12.7" visible="pin" length="short" direction="in"/>
<pin name="PROGRAM.RUN" x="-25.4" y="-17.78" visible="pin" length="short" direction="in"/>
<pin name="PROGRAM.STOP" x="-25.4" y="-22.86" visible="pin" length="short" direction="in"/>
<pin name="PROGRAM.STEP" x="-25.4" y="-27.94" visible="pin" length="short" direction="in"/>
<pin name="PROGRAM.BLOCK-DELETE.IS-ON" x="22.86" y="12.7" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="PROGRAM.OPTIONAL-STOP.IS-ON" x="22.86" y="2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="PROGRAM.IS-IDLE" x="22.86" y="-2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="PROGRAM.IS-PAUSED" x="22.86" y="-10.16" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="PROGRAM.IS-RUNNING" x="22.86" y="-20.32" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="HALUI-MODE">
<wire x1="-12.7" y1="15.24" x2="12.7" y2="15.24" width="0.254" layer="94"/>
<wire x1="12.7" y1="15.24" x2="12.7" y2="12.7" width="0.254" layer="94"/>
<wire x1="12.7" y1="12.7" x2="-12.7" y2="12.7" width="0.254" layer="94"/>
<wire x1="-12.7" y1="12.7" x2="-12.7" y2="15.24" width="0.254" layer="94"/>
<wire x1="-12.7" y1="12.7" x2="-12.7" y2="-15.24" width="0.254" layer="94"/>
<wire x1="-12.7" y1="-15.24" x2="12.7" y2="-15.24" width="0.254" layer="94"/>
<wire x1="12.7" y1="-15.24" x2="12.7" y2="12.7" width="0.254" layer="94"/>
<text x="-12.7" y="12.7" size="1.778" layer="95">>NAME</text>
<pin name="MODE.IS-AUTO" x="15.24" y="7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="MODE.IS-JOINT" x="15.24" y="2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="MODE.AUTO" x="-15.24" y="10.16" visible="pin" length="short" direction="in"/>
<pin name="MODE.JOINT" x="-15.24" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="MODE.MANUAL" x="-15.24" y="0" visible="pin" length="short" direction="in"/>
<pin name="MODE.MDI" x="-15.24" y="-5.08" visible="pin" length="short" direction="in"/>
<pin name="MODE.TELEOP" x="-15.24" y="-10.16" visible="pin" length="short" direction="in"/>
<pin name="MODE.IS-MANUAL" x="15.24" y="-2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="MODE.IS-MDI" x="15.24" y="-7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="MODE.IS-TELEOP" x="15.24" y="-12.7" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="HALUI-VELOCITY">
<wire x1="-20.32" y1="15.24" x2="17.78" y2="15.24" width="0.254" layer="94"/>
<wire x1="17.78" y1="15.24" x2="17.78" y2="12.7" width="0.254" layer="94"/>
<wire x1="17.78" y1="12.7" x2="17.78" y2="-12.7" width="0.254" layer="94"/>
<wire x1="17.78" y1="-12.7" x2="-20.32" y2="-12.7" width="0.254" layer="94"/>
<wire x1="-20.32" y1="-12.7" x2="-20.32" y2="12.7" width="0.254" layer="94"/>
<wire x1="-20.32" y1="12.7" x2="-20.32" y2="15.24" width="0.254" layer="94"/>
<wire x1="-20.32" y1="12.7" x2="17.78" y2="12.7" width="0.254" layer="94"/>
<text x="-20.32" y="12.7" size="1.778" layer="95">>NAME</text>
<pin name="MAX-VELOCITY.VALUE" x="20.32" y="-2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="MAX-VELOCITY.COUNT-ENABLE" x="-22.86" y="10.16" visible="pin" length="short" direction="in"/>
<pin name="MAX-VELOCITY.COUNTS" x="-22.86" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="MAX-VELOCITY.DECREASE" x="-22.86" y="0" visible="pin" length="short" direction="in"/>
<pin name="MAX-VELOCITY.INCREASE" x="-22.86" y="-5.08" visible="pin" length="short" direction="in"/>
<pin name="MAX-VELOCITY.SCALE" x="-22.86" y="-10.16" visible="pin" length="short" direction="in"/>
</symbol>
<symbol name="HALUI-JOINTSEL">
<wire x1="-20.32" y1="15.24" x2="-20.32" y2="17.78" width="0.254" layer="94"/>
<wire x1="-20.32" y1="17.78" x2="20.32" y2="17.78" width="0.254" layer="94"/>
<wire x1="20.32" y1="17.78" x2="20.32" y2="15.24" width="0.254" layer="94"/>
<wire x1="20.32" y1="15.24" x2="-20.32" y2="15.24" width="0.254" layer="94"/>
<wire x1="-20.32" y1="15.24" x2="-20.32" y2="-22.86" width="0.254" layer="94"/>
<wire x1="-20.32" y1="-22.86" x2="20.32" y2="-22.86" width="0.254" layer="94"/>
<wire x1="20.32" y1="-22.86" x2="20.32" y2="15.24" width="0.254" layer="94"/>
<text x="-20.32" y="15.24" size="1.778" layer="95">>NAME</text>
<pin name="SELECTED.UNHOME" x="-22.86" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="SELECTED.HOME" x="-22.86" y="10.16" visible="pin" length="short" direction="in"/>
<pin name="SELECTED" x="22.86" y="12.7" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SELECTED.HAS-FAULT" x="22.86" y="0" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SELECTED.IS-HOMED" x="22.86" y="7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SELECTED.ON-HARD-MAX-LIMIT" x="22.86" y="-5.08" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SELECTED.ON-HARD-MIN-LIMIT" x="22.86" y="-10.16" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SELECTED.ON-SOFT-MAX-LIMIT" x="22.86" y="-15.24" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SELECTED.ON-SOFT-MIN-LIMIT" x="22.86" y="-20.32" visible="pin" length="short" direction="out" rot="R180"/>
</symbol>
<symbol name="HALUI-JOINT">
<wire x1="-15.24" y1="17.78" x2="-15.24" y2="20.32" width="0.254" layer="94"/>
<wire x1="-15.24" y1="20.32" x2="15.24" y2="20.32" width="0.254" layer="94"/>
<wire x1="15.24" y1="20.32" x2="15.24" y2="17.78" width="0.254" layer="94"/>
<wire x1="15.24" y1="17.78" x2="-15.24" y2="17.78" width="0.254" layer="94"/>
<wire x1="-15.24" y1="17.78" x2="-15.24" y2="-20.32" width="0.254" layer="94"/>
<wire x1="-15.24" y1="-20.32" x2="15.24" y2="-20.32" width="0.254" layer="94"/>
<wire x1="15.24" y1="-20.32" x2="15.24" y2="17.78" width="0.254" layer="94"/>
<text x="-15.24" y="17.78" size="1.778" layer="95">>NAME</text>
<pin name="HAS-FAULT" x="17.78" y="2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="IS-HOMED" x="17.78" y="7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="ON-HARD-MAX-LIMIT" x="17.78" y="-2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="ON-HARD-MIN-LIMIT" x="17.78" y="-7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="ON-SOFT-MAX-LIMIT" x="17.78" y="-12.7" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="ON-SOFT-MIN-LIMIT" x="17.78" y="-17.78" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="IS-SELECTED" x="17.78" y="12.7" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="SELECT" x="-17.78" y="15.24" visible="pin" length="short" direction="in"/>
<pin name="HOME" x="-17.78" y="10.16" visible="pin" length="short" direction="in"/>
<pin name="UNHOME" x="-17.78" y="5.08" visible="pin" length="short" direction="in"/>
</symbol>
<symbol name="HALUI-AXIS">
<wire x1="-10.16" y1="7.62" x2="-10.16" y2="10.16" width="0.254" layer="94"/>
<wire x1="-10.16" y1="10.16" x2="12.7" y2="10.16" width="0.254" layer="94"/>
<wire x1="12.7" y1="10.16" x2="12.7" y2="7.62" width="0.254" layer="94"/>
<wire x1="12.7" y1="7.62" x2="-10.16" y2="7.62" width="0.254" layer="94"/>
<wire x1="-10.16" y1="7.62" x2="-10.16" y2="-7.62" width="0.254" layer="94"/>
<wire x1="-10.16" y1="-7.62" x2="12.7" y2="-7.62" width="0.254" layer="94"/>
<wire x1="12.7" y1="-7.62" x2="12.7" y2="7.62" width="0.254" layer="94"/>
<text x="-10.16" y="7.62" size="1.778" layer="95">>NAME</text>
<pin name="POS-COMMANDED" x="15.24" y="5.08" visible="pin" length="short" direction="in" rot="R180"/>
<pin name="POS-FEEDBACK" x="15.24" y="0" visible="pin" length="short" direction="in" rot="R180"/>
<pin name="POS-RELATIVE" x="15.24" y="-5.08" visible="pin" length="short" direction="in" rot="R180"/>
</symbol>
<symbol name="HALUI-JOG">
<description><h2>HalUI Jog</h2>
HAL UI Jog per-axis pins</description>
<wire x1="-10.16" y1="7.62" x2="-10.16" y2="10.16" width="0.254" layer="94"/>
<wire x1="-10.16" y1="10.16" x2="10.16" y2="10.16" width="0.254" layer="94"/>
<wire x1="10.16" y1="10.16" x2="10.16" y2="7.62" width="0.254" layer="94"/>
<wire x1="10.16" y1="7.62" x2="-10.16" y2="7.62" width="0.254" layer="94"/>
<wire x1="-10.16" y1="7.62" x2="-10.16" y2="-7.62" width="0.254" layer="94"/>
<wire x1="-10.16" y1="-7.62" x2="10.16" y2="-7.62" width="0.254" layer="94"/>
<wire x1="10.16" y1="-7.62" x2="10.16" y2="7.62" width="0.254" layer="94"/>
<text x="-10.16" y="7.62" size="1.778" layer="95">>NAME</text>
<pin name="ANALOG" x="-12.7" y="5.08" visible="pin" length="short" direction="in"/>
<pin name="MINUS" x="-12.7" y="0" visible="pin" length="short" direction="in"/>
<pin name="PLUS" x="-12.7" y="-5.08" visible="pin" length="short" direction="in"/>
</symbol>
<symbol name="LOGITECH-DUAL-ACTION-BUTTONS">
<description><h1>Logitech Dual-Action Gamepad</h1>
Button outputs</description>
<wire x1="-15.24" y1="43.18" x2="-15.24" y2="45.72" width="0.254" layer="94"/>
<wire x1="-15.24" y1="45.72" x2="15.24" y2="45.72" width="0.254" layer="94"/>
<wire x1="15.24" y1="45.72" x2="15.24" y2="43.18" width="0.254" layer="94"/>
<wire x1="15.24" y1="43.18" x2="-15.24" y2="43.18" width="0.254" layer="94"/>
<wire x1="-15.24" y1="43.18" x2="-15.24" y2="-48.26" width="0.254" layer="94"/>
<wire x1="-15.24" y1="-48.26" x2="15.24" y2="-48.26" width="0.254" layer="94"/>
<wire x1="15.24" y1="-48.26" x2="15.24" y2="43.18" width="0.254" layer="94"/>
<text x="-12.7" y="43.18" size="1.778" layer="95">>NAME</text>
<pin name="BTN-JOYSTICK" x="17.78" y="40.64" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-THUMB" x="17.78" y="33.02" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-THUMB2" x="17.78" y="25.4" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-TOP" x="17.78" y="17.78" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-TOP2" x="17.78" y="10.16" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-PINKIE" x="17.78" y="2.54" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-BASE" x="17.78" y="-5.08" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-BASE2" x="17.78" y="-12.7" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-BASE3" x="17.78" y="-20.32" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-BASE4" x="17.78" y="-27.94" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-BASE6" x="17.78" y="-43.18" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-BASE5" x="17.78" y="-35.56" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-JOYSTICK-NOT" x="17.78" y="38.1" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-THUMB-NOT" x="17.78" y="30.48" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-THUMB2-NOT" x="17.78" y="22.86" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-TOP-NOT" x="17.78" y="15.24" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-TOP2-NOT" x="17.78" y="7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-PINKIE-NOT" x="17.78" y="0" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-BASE-NOT" x="17.78" y="-7.62" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-BASE2-NOT" x="17.78" y="-15.24" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-BASE3-NOT" x="17.78" y="-22.86" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-BASE4-NOT" x="17.78" y="-30.48" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-BASE5-NOT" x="17.78" y="-38.1" visible="pin" length="short" direction="out" rot="R180"/>
<pin name="BTN-BASE6-NOT" x="17.78" y="-45.72" visible="pin" length="short" direction="out" rot="R180"/>
<text x="-12.7" y="38.1" size="1.778" layer="94">1</text>
<text x="-12.7" y="30.48" size="1.778" layer="94">2</text>
<text x="-12.7" y="22.86" size="1.778" layer="94">3</text>
<text x="-12.7" y="15.24" size="1.778" layer="94">4</text>
<text x="-12.7" y="7.62" size="1.778" layer="94">5</text>
<text x="-12.7" y="0" size="1.778" layer="94">6</text>
<text x="-12.7" y="-7.62" size="1.778" layer="94">7</text>
<text x="-12.7" y="-15.24" size="1.778" layer="94">8</text>
<text x="-12.7" y="-22.86" size="1.778" layer="94">9</text>