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ethercat_tests/wago_higen/plc.xml
author Laurent Bessard
Mon, 22 Apr 2013 23:54:22 +0200
changeset 2132 9f5e4dc43053
parent 2087 8421bd1f8b06
child 2142 f407a0e154c5
permissions -rw-r--r--
Added support for stopping SDOThreadProc when stopping PLC
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<?xml version="1.0" encoding="UTF-8"?>
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<project xmlns="http://www.plcopen.org/xml/tc6.xsd"
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         xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd"
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         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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         xmlns:xhtml="http://www.w3.org/1999/xhtml">
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  <fileHeader companyName="Laurent BESSARD"
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              productName="test_ethercat"
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              productVersion="1.0"
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              creationDateTime="2011-10-20T19:01:52"/>
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  <contentHeader name="test_ethercat"
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                 modificationDateTime="2012-10-30T00:18:20">
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    <coordinateInfo>
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      <fbd>
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        <scaling x="0" y="0"/>
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      </fbd>
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      <ld>
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        <scaling x="0" y="0"/>
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      </ld>
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      <sfc>
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        <scaling x="0" y="0"/>
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      </sfc>
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    </coordinateInfo>
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  </contentHeader>
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  <types>
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    <dataTypes/>
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    <pous>
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      <pou name="Prog" pouType="program">
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        <interface>
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          <localVars>
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            <variable name="CLOCK" address="%QX0.0.2.28672.1">
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              <type>
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                <BOOL/>
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              </type>
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            </variable>
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            <variable name="GREENLED" address="%QX0.0.2.28688.1">
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              <type>
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                <BOOL/>
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              </type>
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              <initialValue>
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                <simpleValue value="TRUE"/>
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              </initialValue>
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            </variable>
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            <variable name="ControlWord" address="%QW0.0.3.24640.0">
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              <type>
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                <UINT/>
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              </type>
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            </variable>
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            <variable name="StatusWord" address="%IW0.0.3.24641.0">
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              <type>
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                <UINT/>
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              </type>
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            </variable>
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            <variable name="ModeDisplay" address="%IB0.0.3.24673.0">
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              <type>
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                <SINT/>
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              </type>
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            </variable>
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            <variable name="ActualPosition" address="%ID0.0.3.24676.0">
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              <type>
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                <DINT/>
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              </type>
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            </variable>
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            <variable name="TargetPosition" address="%QD0.0.3.24698.0">
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              <type>
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                <DINT/>
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              </type>
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            </variable>
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          </localVars>
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        </interface>
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        <body>
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          <ST>
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<![CDATA[CLOCK := NOT CLOCK;]]>
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          </ST>
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        </body>
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      </pou>
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      <pou name="test_MCL" pouType="program">
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        <interface>
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          <localVars>
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            <variable name="CLOCK">
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              <type>
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                <UDINT/>
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              </type>
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            </variable>
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          </localVars>
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          <localVars>
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            <variable name="Axis" address="%IW0.0.3.0">
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              <type>
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                <derived name="AXIS_REF"/>
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              </type>
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            </variable>
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          </localVars>
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          <localVars>
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            <variable name="switch">
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              <type>
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                <derived name="MC_Power"/>
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              </type>
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            </variable>
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            <variable name="move1">
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              <type>
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                <derived name="MC_MoveAbsolute"/>
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              </type>
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            </variable>
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            <variable name="EtherLabSDOUpload0">
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              <type>
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                <derived name="EtherLabSDOUpload"/>
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              </type>
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            </variable>
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            <variable name="ActualPosition">
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              <type>
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                <DINT/>
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              </type>
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            </variable>
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            <variable name="Valid">
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              <type>
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                <BOOL/>
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              </type>
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            </variable>
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          </localVars>
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        </interface>
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        <body>
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          <FBD>
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            <inVariable localId="1" height="27" width="53">
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              <position x="45" y="36"/>
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              <connectionPointOut>
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                <relPosition x="53" y="13"/>
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              </connectionPointOut>
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              <expression>CLOCK</expression>
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            </inVariable>
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            <block localId="2" width="111" height="116" typeName="ADD">
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              <position x="149" y="5"/>
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              <inputVariables>
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                <variable formalParameter="IN1">
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                  <connectionPointIn>
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                    <relPosition x="0" y="44"/>
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                    <connection refLocalId="1">
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                      <position x="149" y="49"/>
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                      <position x="98" y="49"/>
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                    </connection>
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                  </connectionPointIn>
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                </variable>
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                <variable formalParameter="IN2">
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                  <connectionPointIn>
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                    <relPosition x="0" y="92"/>
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                    <connection refLocalId="3">
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                      <position x="149" y="97"/>
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                      <position x="98" y="97"/>
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                    </connection>
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                  </connectionPointIn>
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                </variable>
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              </inputVariables>
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              <inOutVariables/>
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              <outputVariables>
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                <variable formalParameter="OUT">
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                  <connectionPointOut>
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                    <relPosition x="111" y="44"/>
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                  </connectionPointOut>
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                </variable>
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              </outputVariables>
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            </block>
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            <inVariable localId="3" height="27" width="18">
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              <position x="80" y="84"/>
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              <connectionPointOut>
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                <relPosition x="18" y="13"/>
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              </connectionPointOut>
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              <expression>1</expression>
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            </inVariable>
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            <outVariable localId="4" height="27" width="53">
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              <position x="302" y="36"/>
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              <connectionPointIn>
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                <relPosition x="0" y="13"/>
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                <connection refLocalId="2" formalParameter="OUT">
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                  <position x="302" y="49"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   173
 
                  <position x="260" y="49"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   174
 
                </connection>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   175
 
              </connectionPointIn>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   176
 
              <expression>CLOCK</expression>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   177
 
            </outVariable>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   178
 
            <inVariable localId="5" height="27" width="53">
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   179
 
              <position x="46" y="234"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   180
 
              <connectionPointOut>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   181
 
                <relPosition x="53" y="13"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   182
 
              </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   183
 
              <expression>CLOCK</expression>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   184
 
            </inVariable>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   185
 
            <inVariable localId="6" height="27" width="50">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   186
 
              <position x="49" y="268"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   187
 
              <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   188
 
                <relPosition x="50" y="13"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   189
 
              </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   190
 
              <expression>4000</expression>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   191
 
            </inVariable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   192
 
            <block localId="7" width="99" height="89" typeName="GT">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   193
 
              <position x="155" y="210"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   194
 
              <inputVariables>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   195
 
                <variable formalParameter="IN1">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   196
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   197
 
                    <relPosition x="0" y="37"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   198
 
                    <connection refLocalId="5">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   199
 
                      <position x="155" y="247"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   200
 
                      <position x="99" y="247"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   201
 
                    </connection>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   202
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   203
 
                </variable>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   204
 
                <variable formalParameter="IN2">
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   205
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   206
 
                    <relPosition x="0" y="71"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   207
 
                    <connection refLocalId="6">
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   208
 
                      <position x="155" y="281"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   209
 
                      <position x="99" y="281"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   210
 
                    </connection>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   211
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   212
 
                </variable>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   213
 
              </inputVariables>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   214
 
              <inOutVariables/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   215
 
              <outputVariables>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   216
 
                <variable formalParameter="OUT">
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   217
 
                  <connectionPointOut>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   218
 
                    <relPosition x="99" y="37"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   219
 
                  </connectionPointOut>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   220
 
                </variable>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   221
 
              </outputVariables>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   222
 
            </block>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   223
 
            <block localId="8" width="159" height="204" typeName="MC_Power" instanceName="switch">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   224
 
              <position x="398" y="173"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   225
 
              <inputVariables>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   226
 
                <variable formalParameter="Axis">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   227
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   228
 
                    <relPosition x="0" y="38"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   229
 
                    <connection refLocalId="9">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   230
 
                      <position x="398" y="211"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   231
 
                      <position x="344" y="211"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   232
 
                    </connection>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   233
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   234
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   235
 
                <variable formalParameter="Enable">
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   236
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   237
 
                    <relPosition x="0" y="74"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   238
 
                    <connection refLocalId="7" formalParameter="OUT">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   239
 
                      <position x="398" y="247"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   240
 
                      <position x="254" y="247"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   241
 
                    </connection>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   242
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   243
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   244
 
                <variable formalParameter="EnablePositive">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   245
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   246
 
                    <relPosition x="0" y="110"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   247
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   248
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   249
 
                <variable formalParameter="EnableNegative">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   250
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   251
 
                    <relPosition x="0" y="146"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   252
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   253
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   254
 
              </inputVariables>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   255
 
              <inOutVariables/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   256
 
              <outputVariables>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   257
 
                <variable formalParameter="Axis">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   258
 
                  <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   259
 
                    <relPosition x="159" y="38"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   260
 
                  </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   261
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   262
 
                <variable formalParameter="Status">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   263
 
                  <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   264
 
                    <relPosition x="159" y="74"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   265
 
                  </connectionPointOut>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   266
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   267
 
                <variable formalParameter="Valid">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   268
 
                  <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   269
 
                    <relPosition x="159" y="110"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   270
 
                  </connectionPointOut>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   271
 
                </variable>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   272
 
                <variable formalParameter="Error">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   273
 
                  <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   274
 
                    <relPosition x="159" y="146"/>
62e102935f3e Adding test project using higen drive
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parents:
diff changeset 
   275
 
                  </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   276
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   277
 
                <variable formalParameter="ErrorID">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   278
 
                  <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   279
 
                    <relPosition x="159" y="182"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   280
 
                  </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   281
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   282
 
              </outputVariables>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   283
 
            </block>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   284
 
            <inVariable localId="9" height="27" width="36">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   285
 
              <position x="308" y="198"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   286
 
              <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   287
 
                <relPosition x="36" y="13"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   288
 
              </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   289
 
              <expression>Axis</expression>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   290
 
            </inVariable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   291
 
            <block localId="10" width="252" height="389" typeName="MC_MoveAbsolute" instanceName="move1">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   292
 
              <position x="744" y="173"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   293
 
              <inputVariables>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   294
 
                <variable formalParameter="Axis">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   295
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   296
 
                    <relPosition x="0" y="38"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   297
 
                    <connection refLocalId="8" formalParameter="Axis">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   298
 
                      <position x="744" y="211"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   299
 
                      <position x="557" y="211"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   300
 
                    </connection>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   301
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   302
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   303
 
                <variable formalParameter="Execute">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   304
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   305
 
                    <relPosition x="0" y="74"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   306
 
                    <connection refLocalId="8" formalParameter="Status">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   307
 
                      <position x="744" y="247"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   308
 
                      <position x="557" y="247"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   309
 
                    </connection>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   310
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   311
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   312
 
                <variable formalParameter="ContinuousUpdate">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   313
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   314
 
                    <relPosition x="0" y="110"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   315
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   316
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   317
 
                <variable formalParameter="Position">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   318
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   319
 
                    <relPosition x="0" y="146"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   320
 
                    <connection refLocalId="11">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   321
 
                      <position x="744" y="319"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   322
 
                      <position x="672" y="319"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   323
 
                    </connection>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   324
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   325
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   326
 
                <variable formalParameter="Velocity">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   327
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   328
 
                    <relPosition x="0" y="182"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   329
 
                    <connection refLocalId="12">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   330
 
                      <position x="744" y="355"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   331
 
                      <position x="671" y="355"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   332
 
                    </connection>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   333
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   334
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   335
 
                <variable formalParameter="Acceleration">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   336
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   337
 
                    <relPosition x="0" y="218"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   338
 
                    <connection refLocalId="12">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   339
 
                      <position x="744" y="391"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   340
 
                      <position x="707" y="391"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   341
 
                      <position x="707" y="355"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   342
 
                      <position x="671" y="355"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   343
 
                    </connection>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   344
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   345
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   346
 
                <variable formalParameter="Deceleration">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   347
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   348
 
                    <relPosition x="0" y="254"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   349
 
                    <connection refLocalId="12">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   350
 
                      <position x="744" y="427"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   351
 
                      <position x="707" y="427"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   352
 
                      <position x="707" y="355"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   353
 
                      <position x="671" y="355"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   354
 
                    </connection>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   355
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   356
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   357
 
                <variable formalParameter="Jerk">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   358
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   359
 
                    <relPosition x="0" y="290"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   360
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   361
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   362
 
                <variable formalParameter="Direction">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   363
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   364
 
                    <relPosition x="0" y="326"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   365
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   366
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   367
 
                <variable formalParameter="BufferMode">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   368
 
                  <connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   369
 
                    <relPosition x="0" y="362"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   370
 
                  </connectionPointIn>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   371
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   372
 
              </inputVariables>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   373
 
              <inOutVariables/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   374
 
              <outputVariables>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   375
 
                <variable formalParameter="Axis">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   376
 
                  <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   377
 
                    <relPosition x="252" y="38"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   378
 
                  </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   379
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   380
 
                <variable formalParameter="Done">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   381
 
                  <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   382
 
                    <relPosition x="252" y="74"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   383
 
                  </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   384
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   385
 
                <variable formalParameter="Busy">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   386
 
                  <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   387
 
                    <relPosition x="252" y="110"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   388
 
                  </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   389
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   390
 
                <variable formalParameter="Active">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   391
 
                  <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   392
 
                    <relPosition x="252" y="146"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   393
 
                  </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   394
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   395
 
                <variable formalParameter="CommandAborted">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   396
 
                  <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   397
 
                    <relPosition x="252" y="182"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   398
 
                  </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   399
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   400
 
                <variable formalParameter="Error">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   401
 
                  <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   402
 
                    <relPosition x="252" y="218"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   403
 
                  </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   404
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   405
 
                <variable formalParameter="ErrorID">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   406
 
                  <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   407
 
                    <relPosition x="252" y="254"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   408
 
                  </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   409
 
                </variable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   410
 
              </outputVariables>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   411
 
            </block>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   412
 
            <inVariable localId="11" height="27" width="54">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   413
 
              <position x="630" y="306"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   414
 
              <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   415
 
                <relPosition x="54" y="13"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   416
 
              </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   417
 
              <expression>1800.0</expression>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   418
 
            </inVariable>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   419
 
            <inVariable localId="12" height="27" width="46">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   420
 
              <position x="637" y="342"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   421
 
              <connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   422
 
                <relPosition x="46" y="13"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   423
 
              </connectionPointOut>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   424
 
              <expression>360.0</expression>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   425
 
            </inVariable>
2087
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   426
 
            <block localId="14" width="162" height="216" typeName="EtherLabSDOUpload" instanceName="EtherLabSDOUpload0">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   427
 
              <position x="1207" y="208"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   428
 
              <inputVariables>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
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diff changeset 
   429
 
                <variable formalParameter="EXECUTE">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
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diff changeset 
   430
 
                  <connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   431
 
                    <relPosition x="0" y="39"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   432
 
                    <connection refLocalId="10" formalParameter="Done">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   433
 
                      <position x="1207" y="247"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
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diff changeset 
   434
 
                      <position x="996" y="247"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   435
 
                    </connection>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   436
 
                  </connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   437
 
                </variable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   438
 
                <variable formalParameter="POS">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   439
 
                  <connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   440
 
                    <relPosition x="0" y="78"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   441
 
                    <connection refLocalId="15">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   442
 
                      <position x="1207" y="286"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   443
 
                      <position x="1156" y="286"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   444
 
                    </connection>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   445
 
                  </connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   446
 
                </variable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   447
 
                <variable formalParameter="INDEX">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   448
 
                  <connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   449
 
                    <relPosition x="0" y="117"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   450
 
                    <connection refLocalId="16">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   451
 
                      <position x="1207" y="325"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   452
 
                      <position x="1156" y="325"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   453
 
                    </connection>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   454
 
                  </connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   455
 
                </variable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   456
 
                <variable formalParameter="SUBINDEX">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   457
 
                  <connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   458
 
                    <relPosition x="0" y="156"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   459
 
                    <connection refLocalId="17">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   460
 
                      <position x="1207" y="364"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   461
 
                      <position x="1156" y="364"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   462
 
                    </connection>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   463
 
                  </connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   464
 
                </variable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   465
 
                <variable formalParameter="VARTYPE">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   466
 
                  <connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   467
 
                    <relPosition x="0" y="195"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   468
 
                    <connection refLocalId="18">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   469
 
                      <position x="1207" y="403"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   470
 
                      <position x="1156" y="403"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   471
 
                    </connection>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   472
 
                  </connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   473
 
                </variable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   474
 
              </inputVariables>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   475
 
              <inOutVariables/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   476
 
              <outputVariables>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   477
 
                <variable formalParameter="ACK">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   478
 
                  <connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   479
 
                    <relPosition x="162" y="39"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   480
 
                  </connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   481
 
                </variable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   482
 
                <variable formalParameter="VALID">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   483
 
                  <connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   484
 
                    <relPosition x="162" y="78"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   485
 
                  </connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   486
 
                </variable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   487
 
                <variable formalParameter="VALUE">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   488
 
                  <connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   489
 
                    <relPosition x="162" y="117"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   490
 
                  </connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   491
 
                </variable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   492
 
              </outputVariables>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   493
 
            </block>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   494
 
            <inVariable localId="15" height="27" width="35">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   495
 
              <position x="1121" y="273"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   496
 
              <connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   497
 
                <relPosition x="35" y="13"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   498
 
              </connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   499
 
              <expression>3</expression>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   500
 
            </inVariable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   501
 
            <inVariable localId="16" height="27" width="68">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   502
 
              <position x="1088" y="312"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   503
 
              <connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   504
 
                <relPosition x="68" y="13"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   505
 
              </connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   506
 
              <expression>16#6064</expression>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   507
 
            </inVariable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   508
 
            <inVariable localId="17" height="27" width="32">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   509
 
              <position x="1124" y="351"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   510
 
              <connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   511
 
                <relPosition x="32" y="13"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   512
 
              </connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   513
 
              <expression>0</expression>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   514
 
            </inVariable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   515
 
            <inVariable localId="18" height="27" width="52">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   516
 
              <position x="1104" y="390"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   517
 
              <connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   518
 
                <relPosition x="52" y="13"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   519
 
              </connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   520
 
              <expression>'int32'</expression>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   521
 
            </inVariable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   522
 
            <outVariable localId="19" height="27" width="109">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   523
 
              <position x="1576" y="312"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   524
 
              <connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   525
 
                <relPosition x="0" y="13"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   526
 
                <connection refLocalId="20" formalParameter="OUT">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   527
 
                  <position x="1576" y="325"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   528
 
                  <position x="1539" y="325"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   529
 
                </connection>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   530
 
              </connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   531
 
              <expression>ActualPosition</expression>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   532
 
            </outVariable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   533
 
            <block localId="20" width="126" height="40" typeName="STRING_TO_DINT">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   534
 
              <position x="1413" y="295"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   535
 
              <inputVariables>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   536
 
                <variable formalParameter="IN">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   537
 
                  <connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   538
 
                    <relPosition x="0" y="30"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   539
 
                    <connection refLocalId="14" formalParameter="VALUE">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   540
 
                      <position x="1413" y="325"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   541
 
                      <position x="1369" y="325"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   542
 
                    </connection>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   543
 
                  </connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   544
 
                </variable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   545
 
              </inputVariables>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   546
 
              <inOutVariables/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   547
 
              <outputVariables>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   548
 
                <variable formalParameter="OUT">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   549
 
                  <connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   550
 
                    <relPosition x="126" y="30"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   551
 
                  </connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   552
 
                </variable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   553
 
              </outputVariables>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   554
 
            </block>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   555
 
            <outVariable localId="21" height="27" width="45">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   556
 
              <position x="1576" y="234"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   557
 
              <connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   558
 
                <relPosition x="0" y="13"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   559
 
                <connection refLocalId="22" formalParameter="OUT">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   560
 
                  <position x="1576" y="247"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   561
 
                  <position x="1509" y="247"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   562
 
                </connection>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   563
 
              </connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   564
 
              <expression>Valid</expression>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   565
 
            </outVariable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   566
 
            <block localId="22" width="67" height="72" typeName="AND">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   567
 
              <position x="1442" y="214"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   568
 
              <inputVariables>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   569
 
                <variable formalParameter="IN1">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   570
 
                  <connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   571
 
                    <relPosition x="0" y="33"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   572
 
                    <connection refLocalId="14" formalParameter="ACK">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   573
 
                      <position x="1442" y="247"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   574
 
                      <position x="1369" y="247"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   575
 
                    </connection>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   576
 
                  </connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   577
 
                </variable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   578
 
                <variable formalParameter="IN2">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   579
 
                  <connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   580
 
                    <relPosition x="0" y="59"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   581
 
                    <connection refLocalId="14" formalParameter="VALID">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   582
 
                      <position x="1442" y="273"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   583
 
                      <position x="1399" y="273"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   584
 
                      <position x="1399" y="286"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   585
 
                      <position x="1369" y="286"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   586
 
                    </connection>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   587
 
                  </connectionPointIn>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   588
 
                </variable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   589
 
              </inputVariables>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   590
 
              <inOutVariables/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   591
 
              <outputVariables>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   592
 
                <variable formalParameter="OUT">
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   593
 
                  <connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   594
 
                    <relPosition x="67" y="33"/>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   595
 
                  </connectionPointOut>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   596
 
                </variable>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   597
 
              </outputVariables>
8421bd1f8b06 Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
Laurent Bessard
parents: 2050
diff changeset 
   598
 
            </block>
2045
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   599
 
          </FBD>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   600
 
        </body>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   601
 
      </pou>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   602
 
    </pous>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   603
 
  </types>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   604
 
  <instances>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   605
 
    <configurations>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   606
 
      <configuration name="conf">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   607
 
        <resource name="res">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   608
 
          <task name="main_task" interval="T#0.5ms" priority="0">
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   609
 
            <pouInstance name="main_instance" typeName="Prog"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   610
 
            <pouInstance name="test_MCL_instance" typeName="test_MCL"/>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   611
 
          </task>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   612
 
        </resource>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   613
 
      </configuration>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   614
 
    </configurations>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   615
 
  </instances>
62e102935f3e Adding test project using higen drive
laurent
parents:
diff changeset 
   616
 
</project>
beremiz