%!PS-Adobe-3.0 EPSF-3.0 %%Title: D:\JMK\Drawings\emc2-motion-joint-controller-block-diag.FC7 %%BoundingBox: 19 9 784 593 %%Creator: PSCRIPT.DRV Version 4.0 %%CreationDate: 07/18/04 22:25:46 %%Pages: 1 %%Requirements: None %%DocumentNeededFonts: (atend) %%DocumentSuppliedFonts: (atend) %%LanguageLevel: 1 %%EndComments %%BeginProlog %%BeginProcSet: Pscript_Res_Emul 1.0 0 /defineresource where{pop}{userdict begin/defineresource{userdict/Resources 2 copy known{get begin}{15 dict dup begin put}ifelse exch readonly exch currentdict 1 index known not{dup 30 dict def}if load 3 -1 roll 2 index put end}bind readonly def/findresource{userdict/Resources get exch get exch get} bind readonly def/resourceforall{pop pop pop pop}bind readonly def /resourcestatus{userdict/Resources 2 copy known{get exch 2 copy known{get exch known{0 -1 true}{pop pop false}ifelse}{pop pop pop false}ifelse}{pop pop false }ifelse}bind readonly def end}ifelse %%EndProcSet %%BeginResource: procset Pscript_Win_Driver 2.0 0 /Pscript_Win_Driver 200 dict dup begin %%BeginResource: file Pscript_FatalError 2.0 0 /FatalErrorIf{{initgraphics findfont exch scalefont setfont counttomark 3 div cvi{moveto show}repeat showpage quit}{cleartomark}ifelse}bind def %%EndResource /VM? {vmstatus exch sub exch pop gt { [ (This job requires more memory than is available in this printer.) 100 500 (Try one or more of the following, and then print again:) 100 485 (In the PostScript dialog box, click Optimize For Portability.) 115 470 (In the Device Options dialog box, make sure the Available Printer Memory is accurate.) 115 455 (Reduce the number of fonts in the document.) 115 440 (Print the document in parts.) 115 425 12 /Times-Roman showpage (%%[ PrinterError: Low Printer VM ]%%) = true FatalErrorIf}if} bind def %%BeginResource: file Pscript_Win_Utils 2.0 0 /|/def load def/,/load load |/~/exch , |/?/ifelse , |/!/pop , |/`/begin , |/^ /index , |/@/dup , |/+/translate , |/$/roll , |/U/userdict , |/M/moveto , |/- /rlineto , |/&/currentdict , |/:/gsave , |/;/grestore , |/F/false , |/T/true , |/N/newpath , |/E/end , |/Ac/arc , |/An/arcn , |/A/ashow , |/D/awidthshow , | /C/closepath , |/V/div , |/O/eofill , |/L/fill , |/I/lineto , |/-C/rcurveto , |/-M/rmoveto , |/+S/scale , |/Ji/setfont , |/Lc/setlinecap , |/Lj/setlinejoin , |/Lw/setlinewidth , |/S/show , |/LH/showpage , |/K/stroke , |/W/widthshow , |/R/rotate , |/b{bind |}bind |/bd{bind |}bind |/xd{~ |}bd/ld{, |}bd/lw/Lw ld /lc/Lc ld/lj/Lj ld/sg/setgray ld/L2? F/languagelevel where{! languagelevel 2 ge{! T}if}if |/g{@ not{U/DefIf_save save put}if U/DefIf_bool 2 ^ put}b /DefIf_El{if U/DefIf_bool get not @{U/DefIf_save get restore}if}b/e{DefIf_El ! }b/self & |/reinitialize{[/TextInit/GraphInit/UtilsInit counttomark{@ where{ self eq}{F}?{cvx exec}{!}?}repeat cleartomark}b/initialize{`{/ADO_mxRot ~ | /TextInitialised? F | reinitialize E}{U/Pscript_Win_Data 200 dict @ ` put /ADO_mxRot ~ |/TextInitialised? F | reinitialize}?}b/terminate{!{& self eq{ exit}{E}?}loop E}b/suspend/terminate , |/resume{` Pscript_Win_Data `}b/snap{ transform 0.25 sub round 0.25 add ~ 0.25 sub round 0.25 add ~ itransform}b /dsnap{dtransform round ~ round ~ idtransform}b<04>cvn{}|/setjn{{statusdict /jobname known{statusdict/jobname 3 -1 $ put}if}stopped cleartomark}b/solid{[] 0 setdash}b/setdsh{0 setdash}b/colspRefresh{}b/rp{4 2 $ M 1 ^ 0 - 0 ~ - neg 0 -}b/rr{1 ^ 0 - 0 ~ - neg 0 - C}b %%EndResource %%BeginResource: file Pscript_Win_Utils_L1 2.0 0 L2? not g{/rf{N rp L}b/fx{1 1 dtransform @ 0 ge{1 sub 1}{1 add -0.25}? 3 -1 $ @ 0 ge{1 sub 1}{1 add -0.25}? 3 1 $ 4 1 $ idtransform 4 -2 $ idtransform}b/BZ{ 4 -2 $ snap + +S fx rf}b/rs{N rp C K}b/rc{N rp clip N}b/sg{setgray}b/sco{ setrgbcolor}b/sgco{{sg}{sco}?}b}e %%EndResource %%BeginResource: file Pscript_Win_Utils_L2 2.0 0 L2? g{/colspA/DeviceGray |/colspABC/DeviceRGB |/setAorABC{{colspA}{colspABC}? setcolorspace}b/rf/rectfill , |/fx{1 1 dtransform @ 0 ge{1 sub 0.5}{1 add -0.5 }? 3 -1 $ @ 0 ge{1 sub 0.5}{1 add -0.5}? 3 1 $ 4 1 $ idtransform 4 -2 $ idtransform}b/BZ{4 -2 $ snap + +S fx rf}b/rs/rectstroke , |/rc/rectclip , |/sg {@ @ setcolor}b/sco{setcolor}b/colspRefresh{colspABC setcolorspace}b/sgco{{sg }{sco}?}b/UtilsInit{F setglobal}b/definecolorrendering{/ColorRendering defineresource !}b/findcolorrendering{@/ColorRendering resourcestatus{! ! /ColorRendering findresource T}{! 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F}{eq}?{T}{@ ` T 32 1 127{Encoding 1 ^ get StandardEncoding 3 -1 $ get eq and}for E}?}?}{F}?{rF}{3 copyfont}? ` /OrigFontType ~ |/OrigFontName ~ | & E 2 ^ ~ definefont fM 5 4 -1 $ put fM 4 0 put fM makefont Pscript_Windows_Font 3 1 $ put}b/xF{scalefont Pscript_Windows_Font 3 1 $ put}b/xMF{mFM astore makefont Pscript_Windows_Font 3 1 $ put}b/xF2/scalefont , |/xMF2{mFM astore makefont}b/sLT{: Lw -M currentpoint snap M 0 - 0 Lc K ;}b/sSU{N/uW ~ |/yUP ~ |/xUP ~ |}b/sU{xUP yUP uW sLT}b/sST{N/sW ~ |/ySP ~ |/xSP ~ |}b/sT{xSP ySP sW sLT}b/sR{: + R 0 0 M}b /sRxy{: matrix astore concat 0 0 M}b/eR/; , | %%EndResource %%BeginResource: file Pscript_Win_Text_Bold 2.0 0 /mBF{@ 4 copyfont `/FontName ~ |/OrigFontType ~ |/OrigFontName ~ | 0 FontMatrix idtransform ! &/PaintType known{PaintType 0 eq{/PaintType 2 | /StrokeWidth ~ |}{PaintType 1 eq PaintType 2 eq or PaintType 3 eq or & /StrokeWidth known and{StrokeWidth add/StrokeWidth ~ |}{!}?}?}{!}? @ & E definefont Pscript_Windows_Font 3 1 $ put}b/xBF{Pscript_Windows_Font ` 1 ^ /FontName get 1 ^ scalefont 3 1 $ scalefont 2 copy ~ | ~ ! | E}b/xMBF{mFM astore Pscript_Windows_Font ` 1 ^/FontName get 1 ^ makefont 3 1 $ makefont 2 copy ~ | ~ ! | E}b/xBF2{/sB0 ~ mBF/sB1 sB0 3 -1 $ xBF sB1}b/xMBF2{/sB0 ~ mBF mFM astore/sB1 sB0 3 -1 $ xMBF sB1}b/sB{: Pscript_Windows_Font currentfont get Ji @ S ; S}b/asB{: Pscript_Windows_Font currentfont get Ji 3 copy A ; A}b/wsB{ : Pscript_Windows_Font currentfont get Ji 4 copy W ; W}b/awsB{: Pscript_Windows_Font currentfont get Ji 6 copy D ; D}b/sBT3{: @ S ; 1 1 -M S}b /asBT3{: 3 copy A ; 1 1 -M A}b/wsBT3{: 4 copy W ; 1 1 -M W}b/awsBT3{: 6 copy D ; 1 1 -M D}b/mIF{iMat 4 3 -1 $ put 2 copyfont `/OrigFontType ~ |/OrigFontName ~ | @ & E definefont iMat makefont Pscript_Windows_Font 3 1 $ put}b %%EndResource %%BeginResource: file Pscript_Win_Graphics 2.0 0 /SavedCTM null |/CTMsave{/SavedCTM SavedCTM currentmatrix |}b/CTMrestore{ SavedCTM setmatrix}b/mp null |/ADO_mxRot null |/GDIHMatrix null | /GDIHPatternDict 22 dict | GDIHPatternDict `/PatternType 1 |/PaintType 2 | /Reps L2?{1}{5}? |/XStep 8 Reps mul |/YStep XStep |/BBox[0 0 XStep YStep]| /TilingType 1 |/PaintProc{` 1 Lw[]0 setdash PaintData , exec E}b/FGnd null | /BGnd null |/HS_Horizontal{horiz}b/HS_Vertical{vert}b/HS_FDiagonal{fdiag}b /HS_BDiagonal{biag}b/HS_Cross{horiz vert}b/HS_DiagCross{fdiag biag}b/MaxXYStep XStep YStep gt{XStep}{YStep}? |/horiz{Reps{0 4 M XStep 0 - 0 8 +}repeat 0 -8 Reps mul + K}b/vert{Reps{4 0 M 0 YStep - 8 0 +}repeat 0 -8 Reps mul + K}b/biag {Reps{0 0 M MaxXYStep @ - 0 YStep neg M MaxXYStep @ - 0 8 +}repeat 0 -8 Reps mul + 0 YStep M 8 8 - K}b/fdiag{Reps{0 0 M MaxXYStep @ neg - 0 YStep M MaxXYStep @ neg - 0 8 +}repeat 0 -8 Reps mul + MaxXYStep @ M 8 -8 - K}b E /makehatch{GDIHPatternDict/PaintData 3 -1 $ put CTMsave GDIHMatrix setmatrix GDIHPatternDict matrix mp CTMrestore ~ U ~ 2 ^ put}b/h0{/h0/HS_Horizontal makehatch}b/h1{/h1/HS_Vertical makehatch}b/h2{/h2/HS_FDiagonal makehatch}b/h3{ /h3/HS_BDiagonal makehatch}b/h4{/h4/HS_Cross makehatch}b/h5{/h5/HS_DiagCross makehatch}b/GDIBWPatternDict 17 dict @ `/PatternType 1 |/PaintType L2?{1}{2}? |/RepsV L2?{1}{6}? |/RepsH L2?{1}{5}? |/BBox[0 0 RepsH 1]|/TilingType 1 | /XStep 1 |/YStep 1 |/Height 8 RepsV mul |/Width 8 |/mx[Width 0 0 Height neg 0 Height]|/FGnd null |/BGnd null |/SetBGndFGnd L2?{{BGnd null ne{BGnd aload ! sgco BBox aload ! 2 ^ sub ~ 3 ^ sub ~ rf}if FGnd null ne{FGnd aload ! sgco}if} }{{}}? b/PaintProc{` SetBGndFGnd RepsH{Width Height F mx PaintData imagemask Width 0 +}repeat E}b E |/GDIBWPatternMx null |/pfprep{save 4 1 $ /PatternOfTheDay 4 1 $ GDIBWPatternDict `/PaintData ~ |/BGnd ~ |/FGnd ~ | E CTMsave GDIBWPatternMx setmatrix GDIBWPatternDict matrix mp CTMrestore ~ !}b /hrf null |/prf{pfprep ~ 6 1 $ 5 hrf restore}b/GraphInit{GDIHMatrix null eq{ /SavedCTM matrix | : ADO_mxRot concat 0 0 snap + : 0.48 @ GDIHPatternDict ` YStep mul ~ XStep mul ~ dsnap YStep V ~ XStep V ~ E +S/GDIHMatrix matrix currentmatrix readonly | ; : 0.24 -0.24 +S GDIBWPatternDict ` Width Height E dsnap +S/GDIBWPatternMx matrix currentmatrix readonly | ; ;}if}b/cirp{360 0 An C}b/ellp{CTMsave + +S 0.5 0 M 0 0 0.5 360 0 An C CTMrestore}b/rrp{/rad ~ |/y2 ~ |/x2 ~ |/y1 ~ |/x1 ~ | x2 x1 add 2 V y1 M x1 y1 x1 y2 rad arct x1 y2 x2 y2 rad arct x2 y2 x2 y1 rad arct x2 y1 x1 y1 rad arct C}b/RRp{CTMsave + +S/dyS ~ |/dxS ~ | dxS 2 V 0 M 0 0 0 dyS 0.5 arct 0 dyS dxS dyS 0.5 arct dxS dyS dxS 0 0.5 arct dxS 0 0 0 0.5 arct C CTMrestore}b %%EndResource %%BeginResource: file Pscript_Win_Graphics_L1 2.0 0 L2? not g{/arct{arcto ! ! ! !}b/GDIpattfill{@ ` BGnd null ne PaintType 2 eq and{: BGnd aload ! sgco fEOFill{O}{L}? ; FGnd aload ! 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T |/computecmykclut{setuprgbcluts/bit4x rgbclut length 3 idiv 4 mul 4 sub |/cmykclut bit4x 4 add string |/cclut cmykclut |/mclut cclut 1 bit4x defsubclut/yclut cclut 2 bit4x defsubclut/kclut cclut 3 bit4x defsubclut/cmykindex 0 | 0 1 bit1x{@/cmykindex ~ bit1x ~ sub 4 mul | 3 mul @ rclut ~ get 255 V ~ @ gclut ~ get 255 V ~ bclut ~ get 255 V setrgbcolor currentcmykcolor ftoint kclut stuffclut ftoint yclut stuffclut ftoint mclut stuffclut ftoint cclut stuffclut}for}b/doclutimage{/rgbclut ~ | ! invalidcolortable?{computecmykclut}if/4compute cclut mclut yclut kclut spconcattransfer iw ih bpc[iw 0 0 ih 0 0][s/exec ,/@ , @ @]cvx nullproc nullproc nullproc T 4 colorimage}b}e c 0 eq g{/a{3 mul 3 getinterval putinterval ~ 3 add ~ 3 copy}b/8lookup/a , |/4lookup{/byte 1 ^ | -4 bitshift a byte 15 and a}b/2lookup{/byte 1 ^ | -6 bitshift a byte -4 bitshift 3 and a byte -2 bitshift 3 and a byte 3 and a}b/colorexpand{mystringexp 0 rgbclut 3 copy 7 -1 $/mylookup , forall ! ! ! ! !}b/createexpandstr{/mystringexp ~ mystring length mul string |}b/doclutimage{/rgbclut ~ | !/mylookup bpc 8 eq{3 createexpandstr/8lookup}{bpc 4 eq{6 createexpandstr/4lookup}{12 createexpandstr/2lookup}?}? , | iw ih bpc[iw 0 0 ih 0 0][s/exec ,/colorexpand ,/exec ,]cvx F 3 colorimage}b}e/colorimage where{! 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mystring}b/rledecodeascii{/DC 0 | /BC 0 |{DC mystring length ge{exit}if currentfile ss readhexstring ! 0 get/BC ~ | BC 127 le{/BC BC 1 add | DC 1 DC BC add 1 sub{mystring ~ currentfile ss readhexstring ! 0 get put}for}{/BC 257 BC sub | currentfile ss readhexstring ! 0 get/pp ~ | DC 1 DC BC add 1 sub{mystring ~ pp put}for}?/DC DC BC add |}loop mystring}b/setup1asciidecodeproc{[/rledecodeascii cvx]cvx bind}b /setup1binarydecodeproc{[/rledecodebinary cvx]cvx bind}b %%BeginResource: file Pscript_Win_Compat 2.0 0 userdict/Pscript_Win_Compat 13 dict dup begin/bd{bind def}bind def/ld{load def }bd/CB{pop pop pop pop}bind def/B{pop pop pop pop}bind def/$x matrix def/SS{ /pagesave save def}bind def/RS{/pagesave where{pop pagesave restore}{$x matrix invertmatrix concat}ifelse}bind def/ANSIVec[0/grave 1/acute 2/circumflex 3 /tilde 4/macron 5/breve 6/dotaccent 7/dieresis 8/ring 9/cedilla 10 /hungarumlaut 11/ogonek 12/caron 13/dotlessi 39/quotesingle 96/grave 124/bar 130/quotesinglbase 131/florin 132/quotedblbase 133/ellipsis 134/dagger 135 /daggerdbl 136/circumflex 137/perthousand 138/Scaron 139/guilsinglleft 140/OE 145/quoteleft 146/quoteright 147/quotedblleft 148/quotedblright 149/bullet 150 /endash 151/emdash 152/tilde 153/trademark 154/scaron 155/guilsinglright 156 /oe 159/Ydieresis 160/space 161/exclamdown 164/currency 165/yen 166/brokenbar 167/section 168/dieresis 169/copyright 170/ordfeminine 171/guillemotleft 172 /logicalnot 173/hyphen 174/registered 175/macron 176/degree 177/plusminus 178 /twosuperior 179/threesuperior 180/acute 181/mu 182/paragraph 183 /periodcentered 184/cedilla 185/onesuperior 186/ordmasculine 187 /guillemotright 188/onequarter 189/onehalf 190/threequarters 191/questiondown 192/Agrave 193/Aacute 194/Acircumflex 195/Atilde 196/Adieresis 197/Aring 198 /AE 199/Ccedilla 200/Egrave 201/Eacute 202/Ecircumflex 203/Edieresis 204 /Igrave 205/Iacute 206/Icircumflex 207/Idieresis 208/Eth 209/Ntilde 210/Ograve 211/Oacute 212/Ocircumflex 213/Otilde 214/Odieresis 215/multiply 216/Oslash 217/Ugrave 218/Uacute 219/Ucircumflex 220/Udieresis 221/Yacute 222/Thorn 223 /germandbls 224/agrave 225/aacute 226/acircumflex 227/atilde 228/adieresis 229 /aring 230/ae 231/ccedilla 232/egrave 233/eacute 234/ecircumflex 235/edieresis 236/igrave 237/iacute 238/icircumflex 239/idieresis 240/eth 241/ntilde 242 /ograve 243/oacute 244/ocircumflex 245/otilde 246/odieresis 247/divide 248 /oslash 249/ugrave 250/uacute 251/ucircumflex 252/udieresis 253/yacute 254 /thorn 255/ydieresis]def currentdict{dup type/operatortype eq{[exch]cvx def}{ pop pop}ifelse}forall/initialize{currentdict exch begin begin}bind def /terminate{/@FL where not{pop end end}{pop}ifelse}bind def/suspend/terminate load def/resume/initialize load def/M/moveto load def end put/Courier findfont 10 scalefont setfont %%EndResource end /ProcSet defineresource pop %%EndResource %%EndProlog %%BeginSetup Pscript_Win_Compat dup /initialize get exec [ 0 1.000 -1.000 0 0 0 ] false /Pscript_Win_Driver /ProcSet findresource dup /initialize get exec /mysetup [ 0.240 0 0 -0.240 8.880 592.800 ] | %%EndSetup %%Page: 1 1 %%BeginPageSetup userdict begin /pagesave save def end mysetup concat colspRefresh : 1.000 1.000 1.000 sco 0 0 2550 3300 rf ; %%EndPageSetup : 0 0 3229 2391 rc 2620 780 N M -27 -27 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 2593 753 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2593 753 N M 27 -28 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 2620 725 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2620 725 N M 360 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 2980 725 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2980 725 N M 0 55 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 2980 780 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2980 780 N M -360 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 2620 780 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2620 780 N M 0 0 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 2620 780 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2952 1665 N M 28 -28 - 1 Lw 1 Lc 1 Lj 0 0 0 sco K ; 2980 1637 N M 0 0 rr 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1560 N M 5 22 - 0 0 0 sco K ; 2399 1582 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2455 753 N M 138 0 - 0 0 0 sco K ; 2593 753 N M 0 0 rr : 0 0 0 sco O ; 2455 753 N M 22 5 - 0 -10 - -22 5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 2455 753 N M 22 5 - 0 0 0 sco K ; 2477 758 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2477 758 N M 0 -10 - 0 0 0 sco K ; 2477 748 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2477 748 N M -22 5 - 0 0 0 sco K ; 2455 753 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2593 1637 N M -138 0 - 0 0 0 sco K ; 2455 1637 N M 0 0 rr : 0 0 0 sco O ; 2593 1637 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 2593 1637 N M -22 -5 - 0 0 0 sco K ; 2571 1632 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2571 1632 N M 0 10 - 0 0 0 sco K ; 2571 1642 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2571 1642 N M 22 -5 - 0 0 0 sco K ; 2593 1637 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2399 1084 N M -83 0 - 0 0 0 sco K ; 2316 1084 N M 0 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rc 2261 1140 N M 0 110 - 0 0 0 sco K ; 2261 1250 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2261 1250 N M -83 0 - 0 0 0 sco K ; 2178 1250 N M 0 0 rr : 0 0 0 sco O ; 2261 1140 N M -5 22 - 10 0 - -5 -22 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 2261 1140 N M -5 22 - 0 0 0 sco K ; 2256 1162 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2256 1162 N M 10 0 - 0 0 0 sco K ; 2266 1162 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2266 1162 N M -5 -22 - 0 0 0 sco K ; 2261 1140 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 1902 1223 N M -332 0 - 0 0 0 sco K ; 1570 1223 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 1570 1223 N M 0 165 - 0 0 0 sco K ; 1570 1388 N M 0 0 rr : 0 0 0 sco O ; 1902 1223 N M -22 -5 - 0 10 - 22 -5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 1902 1223 N M -22 -5 - 0 0 0 sco K ; 1880 1218 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 1880 1218 N M 0 10 - 0 0 0 sco K ; 1880 1228 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 1880 1228 N M 22 -5 - 0 0 0 sco 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0 sco K ; 2261 1029 N M 0 0 rr : 0 0 0 sco O ; : 1325 1314 385 41 rc 0 0 0 sco F0_28_35 Ji 1360 1314 M 1.883 0 (free mode)A ; : 1339 1542 350 41 rc 0 0 0 sco F0_28_35 Ji 1374 1542 M 1.658 0 (teleop &)A ; : 1313 1583 420 41 rc 0 0 0 sco F0_28_35 Ji 1348 1583 M 2.016 0 (coord mode)A ; : 0 0 3229 2391 rc 1874 1471 N M 0 -55 - 0 0 0 sco K ; 1874 1416 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 1874 1416 N M 332 0 - 0 0 0 sco K ; 2206 1416 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2206 1416 N M 0 55 - 0 0 0 sco K ; 2206 1471 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2206 1471 N M -332 0 - 0 0 0 sco K ; 1874 1471 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 520 698 N M 0 -56 - 0 0 0 sco K ; 520 642 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 520 642 N M 332 0 - 0 0 0 sco K ; 852 642 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 852 642 N M 0 56 - 0 0 0 sco K ; 852 698 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 852 698 N M -332 0 - 0 0 0 sco K ; 520 698 N M 0 0 rr : 0 0 0 sco 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: 0 0 3229 2391 rc 852 1223 N M -332 0 - 0 0 0 sco K ; 520 1223 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 520 1333 N M 0 -55 - 0 0 0 sco K ; 520 1278 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 520 1278 N M 332 0 - 0 0 0 sco K ; 852 1278 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 852 1278 N M 0 55 - 0 0 0 sco K ; 852 1333 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 852 1333 N M -332 0 - 0 0 0 sco K ; 520 1333 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 1874 946 N M 0 -55 - 0 0 0 sco K ; 1874 891 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 1874 891 N M 332 0 - 0 0 0 sco K ; 2206 891 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2206 891 N M 0 55 - 0 0 0 sco K ; 2206 946 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2206 946 N M -332 0 - 0 0 0 sco K ; 1874 946 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 1294 1637 N M 0 -138 - 0 0 0 sco K ; 1294 1499 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 1294 1388 N M 0 -138 - 0 0 0 sco K ; 1294 1250 N M 0 0 rr : 0 0 0 sco O ; : 0 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rc 907 753 N M 22 5 - 0 0 0 sco K ; 929 758 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 929 758 N M 0 -10 - 0 0 0 sco K ; 929 748 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 929 748 N M -22 5 - 0 0 0 sco K ; 907 753 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 465 1554 N M 0 83 - 0 0 0 sco K ; 465 1637 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 1819 1554 N M 0 83 - 0 0 0 sco K ; 1819 1637 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 354 532 N M 0 1326 - 0 0 0 sco K ; 354 1858 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 907 753 N M -608 0 - 0 0 0 sco K ; 299 753 N M 0 0 rr : 0 0 0 sco O ; 299 753 N M 22 5 - 0 -10 - -22 5 - C : 0 0 0 sco O ; 0 0 0 sco K : 0 0 3229 2391 rc 299 753 N M 22 5 - 0 0 0 sco K ; 321 758 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 321 758 N M 0 -10 - 0 0 0 sco K ; 321 748 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 321 748 N M -22 5 - 0 0 0 sco K ; 299 753 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 2924 780 N M 0 830 - 0 0 0 sco K ; 2924 1610 N 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1637 N M -22 -5 - 0 0 0 sco K ; 443 1632 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 443 1632 N M 0 10 - 0 0 0 sco K ; 443 1642 N M 0 0 rr : 0 0 0 sco O ; : 0 0 3229 2391 rc 443 1642 N M 22 -5 - 0 0 0 sco K ; 465 1637 N M 0 0 rr : 0 0 0 sco O ; : 3006 1597 223 41 rc 0 0 0 sco F0_28_35 Ji 3041 1597 M 2.324 0 (Output)A ; : 3006 1639 223 41 rc 0 0 0 sco F0_28_35 Ji 3041 1639 M 2.234 0 (to HAL)A ; : 2985 713 244 41 rc 0 0 0 sco F0_28_35 Ji 3020 713 M 2.131 0 (Feedback)A ; : 2986 754 243 41 rc 0 0 0 sco F0_28_35 Ji 3021 754 M 2.470 0 (from HAL)A ; : 38 713 455 41 rc 0 0 0 sco F0_28_35 Ji 73 713 M 1.901 0 (Feedback to)A ; : 47 754 420 41 rc 0 0 0 sco F0_28_35 Ji 82 754 M 2.108 0 (Kinematics)A ; : 43 1577 350 41 rc 0 0 0 sco F0_28_35 Ji 78 1577 M 2.733 0 (Commands)A ; : 93 1618 210 41 rc 0 0 0 sco F0_28_35 Ji 128 1618 M 2.250 0 (from)A ; : 47 1659 420 41 rc 0 0 0 sco F0_28_35 Ji 82 1659 M 2.108 0 (Kinematics)A ; : 1452 568 630 41 rc 0 0 0 sco F0_28_35 Ji 1487 568 M 3.311 0 (JOINT 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