<?xml version="1.0" encoding="utf-8"?>
<!DOCTYPE eagle SYSTEM "eagle.dtd">
<eagle version="6.6.0">
<drawing>
<board>
<plain>
<wire x1="0" y1="0" x2="0" y2="80" width="0" layer="20"/>
<wire x1="0" y1="80" x2="100" y2="80" width="0" layer="20"/>
<wire x1="100" y1="80" x2="100" y2="0" width="0" layer="20"/>
<wire x1="100" y1="0" x2="0" y2="0" width="0" layer="20"/>
<text>Hexapod Interface</text>
<text>kls 01/1999</text>
<text>TOP</text>
<text>BOT</text>
</plain>
<libraries>
<library name="klaus">
<packages>
<package name="DIL-16">
</package>
</packages>
</library>
<library name="PINHEAD">
<packages>
<package name="2X25">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
</package>
<package name="1X02">
<description>&lt;b&gt;PIN HEADER&lt;/b&gt;</description>
</package>
</packages>
</library>
<library name="RECTIF">
<packages>
<package name="FB100">
</package>
</packages>
</library>
<library name="ELKO">
<packages>
<package name="E2,5-5">
</package>
<package name="E35-16">
</package>
</packages>
</library>
<library name="CAP-WI">
<packages>
<package name="C5B2,5A">
</package>
</packages>
</library>
<library name="LINEAR">
<packages>
<package name="TO220H">
<description>&lt;b&gt;TO-220&lt;/b&gt;</description>
</package>
</packages>
</library>
<library name="R">
<packages>
<package name="0207/10">
</package>
<package name="0207/10@1">
</package>
</packages>
</library>
<library name="ST-ML">
<packages>
<package name="ML16">
</package>
<package name="ML26">
</package>
</packages>
</library>
<library name="diode">
<packages>
<package name="DO41Z10">
<description>&lt;B&gt;DIODE&lt;/B&gt;&lt;p&gt;
diameter 2.54 mm, horizontal, grid 10.16 mm</description>
</package>
</packages>
</library>
</libraries>
<attributes>
</attributes>
<variantdefs>
</variantdefs>
<elements>
<element name="IC1" library="klaus" package="DIL-16" value="HCTL2016">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="IC2" library="klaus" package="DIL-16" value="HCTL2016">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="IC3" library="klaus" package="DIL-16" value="HCTL2016">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="IC4" library="klaus" package="DIL-16" value="HCTL2016">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="IC5" library="klaus" package="DIL-16" value="HCTL2016">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="IC6" library="klaus" package="DIL-16" value="HCTL2016">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="IC7" library="klaus" package="DIL-16" value="DS3668">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="IC8" library="klaus" package="DIL-16" value="DS3668">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="IC9" library="klaus" package="DIL-16" value="DS3668">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="ST1" library="ST-ML" package="ML16" value="PINHD-2X8">
<attribute name="NAME"/>
</element>
<element name="ST2" library="ST-ML" package="ML26" value="PINHD-2X13">
<attribute name="NAME"/>
</element>
<element name="BU6" library="PINHEAD" package="2X25" value="PINHD-2X25">
<attribute name="NAME"/>
</element>
<element name="BU5" library="PINHEAD" package="2X25" value="PINHD-2X25">
<attribute name="NAME"/>
</element>
<element name="B1" library="RECTIF" package="FB100" value="FB100">
<attribute name="NAME"/>
</element>
<element name="C2" library="CAP-WI" package="C5B2,5A" value="100nf">
<attribute name="NAME"/>
</element>
<element name="C4" library="ELKO" package="E2,5-5" value="4,7uf/10V">
<attribute name="NAME"/>
</element>
<element name="U1" library="LINEAR" package="TO220H" value="78S24">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="U2" library="LINEAR" package="TO220H" value="7805">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="C3" library="ELKO" package="E2,5-5" value="4,7uf/35V">
<attribute name="NAME"/>
</element>
<element name="R5" library="R" package="0207/10" value="0207/10">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R4" library="R" package="0207/10" value="0207/10">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R2" library="R" package="0207/10" value="0207/10">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="R1" library="R" package="0207/10" value="0207/10">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="ST3" library="ST-ML" package="ML16" value="PINHD-2X8">
<attribute name="NAME"/>
</element>
<element name="D1" library="diode" package="DO41Z10" value="BZX85">
<attribute name="NAME"/>
</element>
<element name="R3" library="R" package="0207/10@1" value="10k">
<attribute name="NAME"/>
<attribute name="VALUE"/>
</element>
<element name="JP1" library="PINHEAD" package="1X02" value="PINHD-1X2">
<attribute name="NAME"/>
</element>
<element name="C1" library="ELKO" package="E35-16" value="2200uF/35V">
<attribute name="NAME"/>
</element>
<element name="C6" library="ELKO" package="E2,5-5" value="4,7uf/35V">
<attribute name="NAME"/>
</element>
<element name="C5" library="ELKO" package="E2,5-5" value="4,7uf/10V">
<attribute name="NAME"/>
</element>
</elements>
<signals>
<signal name="D0">
<contactref element="IC6" pad="1"/>
<contactref element="IC5" pad="1"/>
<contactref element="IC4" pad="1"/>
<contactref element="IC3" pad="1"/>
<contactref element="IC2" pad="1"/>
<contactref element="IC1" pad="1"/>
<contactref element="BU6" pad="13"/>
</signal>
<signal name="D1">
<contactref element="IC6" pad="15"/>
<contactref element="IC5" pad="15"/>
<contactref element="IC4" pad="15"/>
<contactref element="IC3" pad="15"/>
<contactref element="IC2" pad="15"/>
<contactref element="IC1" pad="15"/>
<contactref element="BU6" pad="16"/>
</signal>
<signal name="D2">
<contactref element="IC6" pad="14"/>
<contactref element="IC5" pad="14"/>
<contactref element="IC4" pad="14"/>
<contactref element="IC3" pad="14"/>
<contactref element="IC2" pad="14"/>
<contactref element="IC1" pad="14"/>
<contactref element="BU6" pad="15"/>
</signal>
<signal name="D3">
<contactref element="IC6" pad="13"/>
<contactref element="IC5" pad="13"/>
<contactref element="IC4" pad="13"/>
<contactref element="IC3" pad="13"/>
<contactref element="IC2" pad="13"/>
<contactref element="IC1" pad="13"/>
<contactref element="BU6" pad="18"/>
</signal>
<signal name="D4">
<contactref element="IC6" pad="12"/>
<contactref element="IC5" pad="12"/>
<contactref element="IC4" pad="12"/>
<contactref element="IC3" pad="12"/>
<contactref element="IC2" pad="12"/>
<contactref element="IC1" pad="12"/>
<contactref element="BU6" pad="17"/>
</signal>
<signal name="D5">
<contactref element="IC6" pad="11"/>
<contactref element="IC5" pad="11"/>
<contactref element="IC4" pad="11"/>
<contactref element="IC3" pad="11"/>
<contactref element="IC2" pad="11"/>
<contactref element="IC1" pad="11"/>
<contactref element="BU6" pad="20"/>
</signal>
<signal name="D6">
<contactref element="IC6" pad="10"/>
<contactref element="IC5" pad="10"/>
<contactref element="IC4" pad="10"/>
<contactref element="IC3" pad="10"/>
<contactref element="IC2" pad="10"/>
<contactref element="IC1" pad="10"/>
<contactref element="BU6" pad="19"/>
</signal>
<signal name="D7">
<contactref element="IC6" pad="9"/>
<contactref element="IC5" pad="9"/>
<contactref element="IC4" pad="9"/>
<contactref element="IC3" pad="9"/>
<contactref element="IC2" pad="9"/>
<contactref element="IC1" pad="9"/>
<contactref element="BU6" pad="22"/>
</signal>
<signal name="CLK">
<contactref element="IC6" pad="2"/>
<contactref element="IC1" pad="2"/>
<contactref element="IC2" pad="2"/>
<contactref element="IC3" pad="2"/>
<contactref element="IC4" pad="2"/>
<contactref element="IC5" pad="2"/>
<contactref element="BU6" pad="1"/>
</signal>
<signal name="SEL">
<contactref element="IC6" pad="3"/>
<contactref element="IC1" pad="3"/>
<contactref element="IC2" pad="3"/>
<contactref element="IC3" pad="3"/>
<contactref element="IC4" pad="3"/>
<contactref element="IC5" pad="3"/>
<contactref element="BU6" pad="11"/>
</signal>
<signal name="!OE5">
<contactref element="IC6" pad="4"/>
<contactref element="BU6" pad="12"/>
</signal>
<signal name="!RST">
<contactref element="IC6" pad="5"/>
<contactref element="IC1" pad="5"/>
<contactref element="IC2" pad="5"/>
<contactref element="IC3" pad="5"/>
<contactref element="IC4" pad="5"/>
<contactref element="IC5" pad="5"/>
<contactref element="BU6" pad="14"/>
</signal>
<signal name="!OE0">
<contactref element="IC1" pad="4"/>
<contactref element="BU6" pad="5"/>
</signal>
<signal name="!OE1">
<contactref element="IC2" pad="4"/>
<contactref element="BU6" pad="8"/>
</signal>
<signal name="!OE2">
<contactref element="IC3" pad="4"/>
<contactref element="BU6" pad="7"/>
</signal>
<signal name="!OE3">
<contactref element="IC4" pad="4"/>
<contactref element="BU6" pad="10"/>
</signal>
<signal name="!OE4">
<contactref element="IC5" pad="4"/>
<contactref element="BU6" pad="9"/>
</signal>
<signal name="ENC0">
<contactref element="IC1" pad="7"/>
<contactref element="ST1" pad="5"/>
</signal>
<signal name="ENC1">
<contactref element="IC1" pad="6"/>
<contactref element="ST1" pad="6"/>
</signal>
<signal name="ENC2">
<contactref element="IC2" pad="7"/>
<contactref element="ST1" pad="7"/>
</signal>
<signal name="ENC3">
<contactref element="IC2" pad="6"/>
<contactref element="ST1" pad="8"/>
</signal>
<signal name="ENC4">
<contactref element="IC3" pad="7"/>
<contactref element="ST1" pad="9"/>
</signal>
<signal name="ENC5">
<contactref element="IC3" pad="6"/>
<contactref element="ST1" pad="10"/>
</signal>
<signal name="ENC6">
<contactref element="IC4" pad="7"/>
<contactref element="ST1" pad="11"/>
</signal>
<signal name="ENC7">
<contactref element="IC4" pad="6"/>
<contactref element="ST1" pad="12"/>
</signal>
<signal name="ENC8">
<contactref element="IC5" pad="7"/>
<contactref element="ST1" pad="13"/>
</signal>
<signal name="ENC9">
<contactref element="IC5" pad="6"/>
<contactref element="ST1" pad="14"/>
</signal>
<signal name="ENC10">
<contactref element="IC6" pad="7"/>
<contactref element="ST1" pad="15"/>
</signal>
<signal name="ENC11">
<contactref element="IC6" pad="6"/>
<contactref element="ST1" pad="16"/>
</signal>
<signal name="+5V">
<contactref element="U2" pad="3"/>
<contactref element="C4" pad="+"/>
<contactref element="BU6" pad="50"/>
<contactref element="R4" pad="1"/>
<contactref element="R2" pad="1"/>
<contactref element="R1" pad="1"/>
<contactref element="IC1" pad="16"/>
<contactref element="IC9" pad="11"/>
<contactref element="IC2" pad="16"/>
<contactref element="IC3" pad="16"/>
<contactref element="IC4" pad="16"/>
<contactref element="IC5" pad="16"/>
<contactref element="IC6" pad="16"/>
<contactref element="IC7" pad="11"/>
<contactref element="IC8" pad="11"/>
<contactref element="D1" pad="C"/>
<contactref element="C5" pad="+"/>
<contactref element="ST1" pad="4"/>
<contactref element="ST1" pad="3"/>
</signal>
<signal name="GND">
<contactref element="BU6" pad="49"/>
<contactref element="C2" pad="1"/>
<contactref element="B1" pad="-"/>
<contactref element="U1" pad="2"/>
<contactref element="C3" pad="-"/>
<contactref element="C4" pad="-"/>
<contactref element="U2" pad="2"/>
<contactref element="IC1" pad="8"/>
<contactref element="IC9" pad="13"/>
<contactref element="IC9" pad="12"/>
<contactref element="IC9" pad="5"/>
<contactref element="IC9" pad="4"/>
<contactref element="IC8" pad="13"/>
<contactref element="IC8" pad="12"/>
<contactref element="IC8" pad="5"/>
<contactref element="IC8" pad="4"/>
<contactref element="IC7" pad="13"/>
<contactref element="IC7" pad="12"/>
<contactref element="IC7" pad="5"/>
<contactref element="IC7" pad="4"/>
<contactref element="IC6" pad="8"/>
<contactref element="IC5" pad="8"/>
<contactref element="IC4" pad="8"/>
<contactref element="IC3" pad="8"/>
<contactref element="IC2" pad="8"/>
<contactref element="D1" pad="A"/>
<contactref element="R3" pad="1"/>
<contactref element="C1" pad="-"/>
<contactref element="ST3" pad="2"/>
<contactref element="ST3" pad="4"/>
<contactref element="C5" pad="-"/>
<contactref element="C6" pad="-"/>
<contactref element="ST1" pad="1"/>
<contactref element="ST1" pad="2"/>
</signal>
<signal name="EN">
<contactref element="IC7" pad="14"/>
<contactref element="IC8" pad="14"/>
<contactref element="IC9" pad="14"/>
<contactref element="R3" pad="2"/>
<contactref element="BU5" pad="9"/>
</signal>
<signal name="VALVE0">
<contactref element="IC7" pad="16"/>
<contactref element="BU5" pad="21"/>
</signal>
<signal name="VALVE1">
<contactref element="IC7" pad="15"/>
<contactref element="BU5" pad="20"/>
</signal>
<signal name="VALVE2">
<contactref element="IC7" pad="10"/>
<contactref element="BU5" pad="19"/>
</signal>
<signal name="VALVE3">
<contactref element="IC7" pad="9"/>
<contactref element="BU5" pad="18"/>
</signal>
<signal name="VALVE4">
<contactref element="IC8" pad="16"/>
<contactref element="BU5" pad="17"/>
</signal>
<signal name="VALVE5">
<contactref element="IC8" pad="15"/>
<contactref element="BU5" pad="16"/>
</signal>
<signal name="VALVE6">
<contactref element="IC8" pad="10"/>
<contactref element="BU5" pad="15"/>
</signal>
<signal name="VALVE7">
<contactref element="IC8" pad="9"/>
<contactref element="BU5" pad="14"/>
</signal>
<signal name="VALVE8">
<contactref element="IC9" pad="16"/>
<contactref element="BU5" pad="13"/>
</signal>
<signal name="VALVE9">
<contactref element="IC9" pad="15"/>
<contactref element="BU5" pad="12"/>
</signal>
<signal name="VALVE10">
<contactref element="IC9" pad="10"/>
<contactref element="BU5" pad="11"/>
</signal>
<signal name="VALVE11">
<contactref element="IC9" pad="9"/>
<contactref element="BU5" pad="10"/>
</signal>
<signal name="COIL0">
<contactref element="IC7" pad="1"/>
<contactref element="ST2" pad="2"/>
</signal>
<signal name="COIL1">
<contactref element="IC7" pad="3"/>
<contactref element="ST2" pad="4"/>
</signal>
<signal name="COIL2">
<contactref element="IC7" pad="6"/>
<contactref element="ST2" pad="6"/>
</signal>
<signal name="COIL3">
<contactref element="IC7" pad="8"/>
<contactref element="ST2" pad="8"/>
</signal>
<signal name="COIL4">
<contactref element="IC8" pad="1"/>
<contactref element="ST2" pad="10"/>
</signal>
<signal name="COIL5">
<contactref element="IC8" pad="3"/>
<contactref element="ST2" pad="12"/>
</signal>
<signal name="COIL6">
<contactref element="IC8" pad="6"/>
<contactref element="ST2" pad="14"/>
</signal>
<signal name="COIL7">
<contactref element="IC8" pad="8"/>
<contactref element="ST2" pad="16"/>
</signal>
<signal name="COIL8">
<contactref element="IC9" pad="1"/>
<contactref element="ST2" pad="18"/>
</signal>
<signal name="COIL9">
<contactref element="IC9" pad="3"/>
<contactref element="ST2" pad="20"/>
</signal>
<signal name="COIL10">
<contactref element="IC9" pad="6"/>
<contactref element="ST2" pad="22"/>
</signal>
<signal name="COIL11">
<contactref element="IC9" pad="8"/>
<contactref element="ST2" pad="24"/>
</signal>
<signal name="+24V">
<contactref element="IC7" pad="2"/>
<contactref element="IC7" pad="7"/>
<contactref element="IC8" pad="7"/>
<contactref element="IC8" pad="2"/>
<contactref element="IC9" pad="7"/>
<contactref element="IC9" pad="2"/>
<contactref element="U1" pad="3"/>
<contactref element="C3" pad="+"/>
<contactref element="R5" pad="1"/>
<contactref element="ST2" pad="1"/>
<contactref element="ST2" pad="3"/>
<contactref element="ST2" pad="5"/>
<contactref element="ST2" pad="7"/>
<contactref element="ST2" pad="9"/>
<contactref element="ST2" pad="11"/>
<contactref element="ST2" pad="13"/>
<contactref element="ST2" pad="15"/>
<contactref element="ST2" pad="17"/>
<contactref element="ST2" pad="19"/>
<contactref element="ST2" pad="21"/>
<contactref element="ST2" pad="23"/>
<contactref element="ST2" pad="25"/>
<contactref element="ST2" pad="26"/>
<contactref element="C6" pad="+"/>
</signal>
<signal name="VIN">
<contactref element="B1" pad="+"/>
<contactref element="U1" pad="1"/>
<contactref element="C2" pad="2"/>
<contactref element="U2" pad="1"/>
<contactref element="C1" pad="+"/>
</signal>
<signal name="STATUS0">
<contactref element="BU5" pad="7"/>
<contactref element="ST3" pad="8"/>
</signal>
<signal name="STATUS1">
<contactref element="BU5" pad="6"/>
<contactref element="ST3" pad="6"/>
</signal>
<signal name="AC1">
<contactref element="B1" pad="AC1"/>
<contactref element="ST3" pad="10"/>
<contactref element="ST3" pad="12"/>
<contactref element="ST3" pad="9"/>
<contactref element="ST3" pad="11"/>
</signal>
<signal name="AC2">
<contactref element="B1" pad="AC2"/>
<contactref element="ST3" pad="14"/>
<contactref element="ST3" pad="16"/>
<contactref element="ST3" pad="13"/>
<contactref element="ST3" pad="15"/>
</signal>
<signal name="N$5">
<contactref element="R4" pad="2"/>
<contactref element="ST3" pad="3"/>
</signal>
<signal name="N$6">
<contactref element="R2" pad="2"/>
<contactref element="ST3" pad="5"/>
</signal>
<signal name="N$7">
<contactref element="R1" pad="2"/>
<contactref element="ST3" pad="7"/>
</signal>
<signal name="N$8">
<contactref element="JP1" pad="2"/>
<contactref element="BU6" pad="35"/>
</signal>
<signal name="N$9">
<contactref element="JP1" pad="1"/>
<contactref element="BU6" pad="37"/>
</signal>
<signal name="N$4">
<contactref element="R5" pad="2"/>
<contactref element="ST3" pad="1"/>
</signal>
</signals>
</board>
</drawing>
</eagle>
