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Thanks for the code, im getting this error on startup ./main.hal:239: Pin 'xor.0.in0' does not exist

here is my hal file

# This file was created with the Mesa Configuration Tool on Nov 26 2024 15:50:59
# If you make changes to this file DO NOT run the configuration tool again!
# This file will be replaced with a new file if you do!

# kinematics
loadrt [KINS](KINEMATICS)

# motion controller
loadrt [EMCMOT](EMCMOT) servo_period_nsec=[EMCMOT](SERVO_PERIOD) num_joints=[KINS]JOINTS num_dio=30 num_aio=30

# hostmot2 driver
loadrt hostmot2
loadrt [HM2](DRIVER) board_ip=[HM2](ADDRESS) config="sserial_port_0=00000000"
loadrt oneshot count=1

setp hm2_[MESA](BOARD).0.watchdog.timeout_ns 10000000
loadrt timedelay count=1
loadrt xor2
loadrt pid names=pid.x,pid.y,pid.z,pid.s



# PID Information for Stepper Boards
# Mesa hardware step generators at every servo thread invocation, the step
# generator hardware is given a new velocity. Without feedback from the PID
# controller the hardware position would slowly drift because of clock speed and
# timing differences between LinuxCNC and the step generator hardware.
# The PID controller gets feedback from the actual (fractional) step position and
# corrects for these small differences.

# THREADS
addf hm2_[MESA](BOARD).0.read servo-thread
addf motion-command-handler servo-thread
addf motion-controller servo-thread
addf pid.x.do-pid-calcs servo-thread
addf pid.y.do-pid-calcs servo-thread
addf pid.z.do-pid-calcs servo-thread
addf pid.s.do-pid-calcs servo-thread
addf hm2_[MESA](BOARD).0.write servo-thread
addf timedelay.0 servo-thread
addf xor2.0 servo-thread



# DPLL TIMER
setp hm2_[MESA](BOARD).0.dpll.01.timer-us -50
setp hm2_[MESA](BOARD).0.stepgen.timer-number 1

# amp enable
#net motion-enable <= motion.motion-enabled => hm2_7i95.0.ssr.00.out-02

# Spindle Air Oil solenoid


# Board: 7i95

# Axis: X Joint: 0 Output: 0
# PID Setup
setp pid.x.Pgain [JOINT_0](P)
setp pid.x.Igain [JOINT_0](I)
setp pid.x.Dgain [JOINT_0](D)
setp pid.x.bias [JOINT_0](BIAS)
setp pid.x.FF0 [JOINT_0](FF0)
setp pid.x.FF1 [JOINT_0](FF1)
setp pid.x.FF2 [JOINT_0](FF2)
setp pid.x.deadband [JOINT_0](DEADBAND)
setp pid.x.maxoutput [JOINT_0](MAX_OUTPUT)
setp pid.x.error-previous-target True
# limit stepgen velocity corrections caused by position feedback jitter
setp pid.x.maxerror [JOINT_0](MAX_ERROR)

# joint-0 enable chain
net joint-0-index-enable <=> pid.x.index-enable
net joint-0-index-enable <=> joint.0.index-enable

net joint-0-enable <= joint.0.amp-enable-out
net joint-0-enable => pid.x.enable

net joint-0-enable => hm2_[MESA](BOARD).0.stepgen.00.enable

# Joint 0 Step Generator Settings
setp hm2_[MESA](BOARD).0.stepgen.00.dirsetup [JOINT_0](DIRSETUP)
setp hm2_[MESA](BOARD).0.stepgen.00.dirhold [JOINT_0](DIRHOLD)
setp hm2_[MESA](BOARD).0.stepgen.00.steplen [JOINT_0](STEPLEN)
setp hm2_[MESA](BOARD).0.stepgen.00.stepspace [JOINT_0](STEPSPACE)
setp hm2_[MESA](BOARD).0.stepgen.00.position-scale [JOINT_0](SCALE)
setp hm2_[MESA](BOARD).0.stepgen.00.maxvel [JOINT_0](STEPGEN_MAX_VEL)
setp hm2_[MESA](BOARD).0.stepgen.00.maxaccel [JOINT_0](STEPGEN_MAX_ACC)
setp hm2_[MESA](BOARD).0.stepgen.00.step_type 0
setp hm2_[MESA](BOARD).0.stepgen.00.control-type 1


# position command and feedback
net joint-0-pos-cmd <= joint.0.motor-pos-cmd
net joint-0-pos-cmd => pid.x.command

net joint-0-pos-fb <= hm2_[MESA](BOARD).0.stepgen.00.position-fb
net joint-0-pos-fb => joint.0.motor-pos-fb
net joint-0-pos-fb => pid.x.feedback

# PID Output
net joint.0.output <= pid.x.output
net joint.0.output => hm2_[MESA](BOARD).0.stepgen.00.velocity-cmd

# Axis: Y Joint: 1 Output: 1
# PID Setup
setp pid.y.Pgain [JOINT_1](P)
setp pid.y.Igain [JOINT_1](I)
setp pid.y.Dgain [JOINT_1](D)
setp pid.y.bias [JOINT_1](BIAS)
setp pid.y.FF0 [JOINT_1](FF0)
setp pid.y.FF1 [JOINT_1](FF1)
setp pid.y.FF2 [JOINT_1](FF2)
setp pid.y.deadband [JOINT_1](DEADBAND)
setp pid.y.maxoutput [JOINT_1](MAX_OUTPUT)
setp pid.y.error-previous-target True
# limit stepgen velocity corrections caused by position feedback jitter
setp pid.y.maxerror [JOINT_1](MAX_ERROR)

# joint-1 enable chain
net joint-1-index-enable <=> pid.y.index-enable
net joint-1-index-enable <=> joint.1.index-enable

net joint-1-enable <= joint.1.amp-enable-out
net joint-1-enable => pid.y.enable

net joint-1-enable => hm2_[MESA](BOARD).0.stepgen.01.enable

# Joint 1 Step Generator Settings
setp hm2_[MESA](BOARD).0.stepgen.01.dirsetup [JOINT_1](DIRSETUP)
setp hm2_[MESA](BOARD).0.stepgen.01.dirhold [JOINT_1](DIRHOLD)
setp hm2_[MESA](BOARD).0.stepgen.01.steplen [JOINT_1](STEPLEN)
setp hm2_[MESA](BOARD).0.stepgen.01.stepspace [JOINT_1](STEPSPACE)
setp hm2_[MESA](BOARD).0.stepgen.01.position-scale [JOINT_1](SCALE)
setp hm2_[MESA](BOARD).0.stepgen.01.maxvel [JOINT_1](STEPGEN_MAX_VEL)
setp hm2_[MESA](BOARD).0.stepgen.01.maxaccel [JOINT_1](STEPGEN_MAX_ACC)
setp hm2_[MESA](BOARD).0.stepgen.01.step_type 0
setp hm2_[MESA](BOARD).0.stepgen.01.control-type 1


# position command and feedback
net joint-1-pos-cmd <= joint.1.motor-pos-cmd
net joint-1-pos-cmd => pid.y.command

net joint-1-pos-fb <= hm2_[MESA](BOARD).0.stepgen.01.position-fb
net joint-1-pos-fb => joint.1.motor-pos-fb
net joint-1-pos-fb => pid.y.feedback

# PID Output
net joint.1.output <= pid.y.output
net joint.1.output => hm2_[MESA](BOARD).0.stepgen.01.velocity-cmd

# Axis: Z Joint: 2 Output: 2
# PID Setup
setp pid.z.Pgain [JOINT_2](P)
setp pid.z.Igain [JOINT_2](I)
setp pid.z.Dgain [JOINT_2](D)
setp pid.z.bias [JOINT_2](BIAS)
setp pid.z.FF0 [JOINT_2](FF0)
setp pid.z.FF1 [JOINT_2](FF1)
setp pid.z.FF2 [JOINT_2](FF2)
setp pid.z.deadband [JOINT_2](DEADBAND)
setp pid.z.maxoutput [JOINT_2](MAX_OUTPUT)
setp pid.z.error-previous-target True
# limit stepgen velocity corrections caused by position feedback jitter
setp pid.z.maxerror [JOINT_2](MAX_ERROR)

# joint-2 enable chain
net joint-2-index-enable <=> pid.z.index-enable
net joint-2-index-enable <=> joint.2.index-enable

net joint-2-enable <= joint.2.amp-enable-out
net joint-2-enable => pid.z.enable

net joint-2-enable => hm2_[MESA](BOARD).0.stepgen.02.enable

# Joint 2 Step Generator Settings
setp hm2_[MESA](BOARD).0.stepgen.02.dirsetup [JOINT_2](DIRSETUP)
setp hm2_[MESA](BOARD).0.stepgen.02.dirhold [JOINT_2](DIRHOLD)
setp hm2_[MESA](BOARD).0.stepgen.02.steplen [JOINT_2](STEPLEN)
setp hm2_[MESA](BOARD).0.stepgen.02.stepspace [JOINT_2](STEPSPACE)
setp hm2_[MESA](BOARD).0.stepgen.02.position-scale [JOINT_2](SCALE)
setp hm2_[MESA](BOARD).0.stepgen.02.maxvel [JOINT_2](STEPGEN_MAX_VEL)
setp hm2_[MESA](BOARD).0.stepgen.02.maxaccel [JOINT_2](STEPGEN_MAX_ACC)
setp hm2_[MESA](BOARD).0.stepgen.02.step_type 0
setp hm2_[MESA](BOARD).0.stepgen.02.control-type 1


# position command and feedback
net joint-2-pos-cmd <= joint.2.motor-pos-cmd
net joint-2-pos-cmd => pid.z.command

net joint-2-pos-fb <= hm2_[MESA](BOARD).0.stepgen.02.position-fb
net joint-2-pos-fb => joint.2.motor-pos-fb
net joint-2-pos-fb => pid.z.feedback

# PID Output
net joint.2.output <= pid.z.output
net joint.2.output => hm2_[MESA](BOARD).0.stepgen.02.velocity-cmd

# Manual Tool Change Dialog
loadusr -W hal_manualtoolchange
net tool-change-request => hal_manualtoolchange.change
net tool-change-confirmed <= hal_manualtoolchange.changed
net tool-number => hal_manualtoolchange.number

# create signals for tool loading loopback
net tool-prep-loop iocontrol.0.tool-prepare => iocontrol.0.tool-prepared
net tool-change-loop iocontrol.0.tool-change => iocontrol.0.tool-changed

# # Load Classicladder without GUI
loadrt classicladder_rt
addf classicladder.0.refresh servo-thread 1

# E-Stop Chain
loadrt estop_latch count=1
addf estop-latch.0 servo-thread

# E-Stop Loop
net estop-loopin iocontrol.0.user-enable-out => estop-latch.0.ok-in
net estop-loopout estop-latch.0.ok-out => iocontrol.0.emc-enable-in

# E-Stop Reset
net estop-reset iocontrol.0.user-request-enable
net estop-reset => estop-latch.0.reset
net remote-estop0 estop-latch.0.fault-in <= hm2_7i95.0.inmux.00.input-01-not

# Input and output configuration
net button-press <= hm2_7i95.0.inmux.00.input-05 # Connect input pin 5 to signal button-press
net relay-1-control => hm2_7i95.0.ssr.00.out-01 # Connect signal relay-1-control to relay output 1
net relay-2-control => hm2_7i95.0.ssr.00.out-03 # Connect signal relay-2-control to relay output 3

setp timedelay.0.on-delay 1.0 # 1-second delay
setp timedelay.0.off-delay 0.0 # No off delay

# Timedelay connections
net button-press => timedelay.0.in xor.0.in0 # Link button-press to timedelay and logic
net relay-1-control <= timedelay.0.out xor.0.in1 # Link timedelay output to relay-1-control and logic
net relay-2-control <= xor.0.out # Link xor out to relay-2-control


#*******************
# SPINDLE
#*******************

setp pid.s.Pgain [SPINDLE_0]P
setp pid.s.Igain [SPINDLE_0]I
setp pid.s.Dgain [SPINDLE_0]D
setp pid.s.bias [SPINDLE_0]BIAS
setp pid.s.FF0 [SPINDLE_0]FF0
setp pid.s.FF1 [SPINDLE_0]FF1
setp pid.s.FF2 [SPINDLE_0]FF2
setp pid.s.deadband [SPINDLE_0]DEADBAND
setp pid.s.maxoutput [SPINDLE_0]MAX_OUTPUT
setp pid.s.error-previous-target true
# This setting is to limit bogus stepgen
# velocity corrections caused by position
# feedback sample time jitter.
setp pid.s.maxerror 0.012700

net spindle-index-enable => pid.s.index-enable
net spindle-enable => pid.s.enable
net spindle-vel-cmd-rpm => pid.s.command
net spindle-vel-fb-rpm => pid.s.feedback
net spindle-output <= pid.s.output

# Step Gen signals/setup

setp hm2_[MESA](BOARD).0.stepgen.03.dirsetup [SPINDLE_0]DIRSETUP
setp hm2_[MESA](BOARD).0.stepgen.03.dirhold [SPINDLE_0]DIRHOLD
setp hm2_[MESA](BOARD).0.stepgen.03.steplen [SPINDLE_0]STEPLEN
setp hm2_[MESA](BOARD).0.stepgen.03.stepspace [SPINDLE_0]STEPSPACE
setp hm2_[MESA](BOARD).0.stepgen.03.position-scale [SPINDLE_0]SCALE
setp hm2_[MESA](BOARD).0.stepgen.03.step_type 0
setp hm2_[MESA](BOARD).0.stepgen.03.control-type 1
setp hm2_[MESA](BOARD).0.stepgen.03.maxaccel [SPINDLE_0]STEPGEN_MAX_ACC
setp hm2_[MESA](BOARD).0.stepgen.03.maxvel [SPINDLE_0]STEPGEN_MAX_VEL

net machine-is-on => hm2_[MESA](BOARD).0.stepgen.03.enable
net spindle-vel-cmd-rps => hm2_[MESA](BOARD).0.stepgen.03.velocity-cmd
net spindle-vel-fb-rps <= hm2_[MESA](BOARD).0.stepgen.03.velocity-fb

# ---setup spindle control signals---

net spindle-vel-cmd-rps <= spindle.0.speed-out-rps
net spindle-vel-cmd-rps-abs <= spindle.0.speed-out-rps-abs
net spindle-vel-cmd-rpm <= spindle.0.speed-out
net spindle-vel-cmd-rpm-abs <= spindle.0.speed-out-abs
net spindle-enable <= spindle.0.on
net spindle-cw <= spindle.0.forward
net spindle-ccw <= spindle.0.reverse
net spindle-brake <= spindle.0.brake
net spindle-revs => spindle.0.revs
net spindle-at-speed => spindle.0.at-speed
net spindle-vel-fb-rps => spindle.0.speed-in
net spindle-index-enable <=> spindle.0.index-enable

# ---Setup spindle at speed signals---

sets spindle-at-speed true
net spindle-manual-cw halui.spindle.0.forward
net spindle-manual-ccw halui.spindle.0.reverse
net spindle-manual-stop halui.spindle.0.stop