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2045
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1 |
<?xml version="1.0" encoding="UTF-8"?>
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<project xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
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xmlns="http://www.plcopen.org/xml/tc6.xsd"
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xmlns:xhtml="http://www.w3.org/1999/xhtml"
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xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd">
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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="2012-03-31T16:16:33">
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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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28 |
<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="LED" 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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48 |
<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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53 |
<variable name="ErrorCode" address="%IW0.0.3.24639.0">
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<type>
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<UINT/>
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</type>
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</variable>
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58 |
<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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</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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141 |
<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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157 |
<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"/>
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<position x="260" y="49"/>
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</connection>
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</connectionPointIn>
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<expression>CLOCK</expression>
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</outVariable>
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<inVariable localId="5" height="27" width="53">
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<position x="46" y="234"/>
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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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<inVariable localId="6" height="27" width="50">
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<position x="49" y="268"/>
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<connectionPointOut>
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<relPosition x="50" y="13"/>
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</connectionPointOut>
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180 |
<expression>4000</expression>
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181 |
</inVariable>
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182 |
<block localId="7" width="99" height="89" typeName="GT">
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183 |
<position x="155" y="210"/>
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184 |
<inputVariables>
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185 |
<variable formalParameter="IN1">
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186 |
<connectionPointIn>
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187 |
<relPosition x="0" y="37"/>
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188 |
<connection refLocalId="5">
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189 |
<position x="155" y="247"/>
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190 |
<position x="99" y="247"/>
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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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195 |
<connectionPointIn>
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196 |
<relPosition x="0" y="71"/>
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197 |
<connection refLocalId="6">
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198 |
<position x="155" y="281"/>
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199 |
<position x="99" y="281"/>
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</connection>
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201 |
</connectionPointIn>
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202 |
</variable>
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203 |
</inputVariables>
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204 |
<inOutVariables/>
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205 |
<outputVariables>
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206 |
<variable formalParameter="OUT">
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207 |
<connectionPointOut>
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208 |
<relPosition x="99" y="37"/>
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209 |
</connectionPointOut>
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210 |
</variable>
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211 |
</outputVariables>
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212 |
</block>
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213 |
<block localId="8" width="159" height="204" typeName="MC_Power" instanceName="switch">
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214 |
<position x="398" y="173"/>
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215 |
<inputVariables>
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216 |
<variable formalParameter="Axis">
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217 |
<connectionPointIn>
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218 |
<relPosition x="0" y="38"/>
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219 |
<connection refLocalId="9">
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220 |
<position x="398" y="211"/>
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221 |
<position x="344" y="211"/>
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222 |
</connection>
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223 |
</connectionPointIn>
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224 |
</variable>
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225 |
<variable formalParameter="Enable">
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226 |
<connectionPointIn>
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227 |
<relPosition x="0" y="74"/>
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228 |
<connection refLocalId="7" formalParameter="OUT">
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229 |
<position x="398" y="247"/>
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230 |
<position x="254" y="247"/>
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231 |
</connection>
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232 |
</connectionPointIn>
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233 |
</variable>
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234 |
<variable formalParameter="EnablePositive">
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235 |
<connectionPointIn>
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236 |
<relPosition x="0" y="110"/>
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237 |
</connectionPointIn>
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238 |
</variable>
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239 |
<variable formalParameter="EnableNegative">
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240 |
<connectionPointIn>
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241 |
<relPosition x="0" y="146"/>
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242 |
</connectionPointIn>
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243 |
</variable>
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244 |
</inputVariables>
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245 |
<inOutVariables/>
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246 |
<outputVariables>
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247 |
<variable formalParameter="Axis">
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248 |
<connectionPointOut>
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249 |
<relPosition x="159" y="38"/>
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250 |
</connectionPointOut>
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251 |
</variable>
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252 |
<variable formalParameter="Status">
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253 |
<connectionPointOut>
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254 |
<relPosition x="159" y="74"/>
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255 |
</connectionPointOut>
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256 |
</variable>
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257 |
<variable formalParameter="Valid">
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258 |
<connectionPointOut>
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259 |
<relPosition x="159" y="110"/>
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260 |
</connectionPointOut>
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261 |
</variable>
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262 |
<variable formalParameter="Error">
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263 |
<connectionPointOut>
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264 |
<relPosition x="159" y="146"/>
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265 |
</connectionPointOut>
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266 |
</variable>
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267 |
<variable formalParameter="ErrorID">
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268 |
<connectionPointOut>
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269 |
<relPosition x="159" y="182"/>
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270 |
</connectionPointOut>
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271 |
</variable>
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272 |
</outputVariables>
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273 |
</block>
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274 |
<inVariable localId="9" height="27" width="36">
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275 |
<position x="308" y="198"/>
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276 |
<connectionPointOut>
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277 |
<relPosition x="36" y="13"/>
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278 |
</connectionPointOut>
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279 |
<expression>Axis</expression>
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280 |
</inVariable>
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281 |
<block localId="10" width="252" height="389" typeName="MC_MoveAbsolute" instanceName="move1">
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282 |
<position x="744" y="173"/>
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283 |
<inputVariables>
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284 |
<variable formalParameter="Axis">
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285 |
<connectionPointIn>
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286 |
<relPosition x="0" y="38"/>
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287 |
<connection refLocalId="8" formalParameter="Axis">
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288 |
<position x="744" y="211"/>
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289 |
<position x="557" y="211"/>
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290 |
</connection>
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291 |
</connectionPointIn>
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292 |
</variable>
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293 |
<variable formalParameter="Execute">
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294 |
<connectionPointIn>
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295 |
<relPosition x="0" y="74"/>
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296 |
<connection refLocalId="8" formalParameter="Status">
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297 |
<position x="744" y="247"/>
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298 |
<position x="557" y="247"/>
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299 |
</connection>
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300 |
</connectionPointIn>
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301 |
</variable>
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302 |
<variable formalParameter="ContinuousUpdate">
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303 |
<connectionPointIn>
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304 |
<relPosition x="0" y="110"/>
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305 |
</connectionPointIn>
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306 |
</variable>
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307 |
<variable formalParameter="Position">
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308 |
<connectionPointIn>
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309 |
<relPosition x="0" y="146"/>
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310 |
<connection refLocalId="11">
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311 |
<position x="744" y="319"/>
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312 |
<position x="672" y="319"/>
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313 |
</connection>
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314 |
</connectionPointIn>
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315 |
</variable>
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316 |
<variable formalParameter="Velocity">
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317 |
<connectionPointIn>
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318 |
<relPosition x="0" y="182"/>
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319 |
<connection refLocalId="12">
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320 |
<position x="744" y="355"/>
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321 |
<position x="671" y="355"/>
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322 |
</connection>
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323 |
</connectionPointIn>
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324 |
</variable>
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325 |
<variable formalParameter="Acceleration">
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326 |
<connectionPointIn>
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327 |
<relPosition x="0" y="218"/>
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328 |
<connection refLocalId="12">
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|
329 |
<position x="744" y="391"/>
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|
330 |
<position x="707" y="391"/>
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|
331 |
<position x="707" y="355"/>
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|
332 |
<position x="671" y="355"/>
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|
333 |
</connection>
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334 |
</connectionPointIn>
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335 |
</variable>
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336 |
<variable formalParameter="Deceleration">
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337 |
<connectionPointIn>
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338 |
<relPosition x="0" y="254"/>
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|
339 |
<connection refLocalId="12">
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|
340 |
<position x="744" y="427"/>
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341 |
<position x="707" y="427"/>
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|
342 |
<position x="707" y="355"/>
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343 |
<position x="671" y="355"/>
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344 |
</connection>
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345 |
</connectionPointIn>
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346 |
</variable>
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347 |
<variable formalParameter="Jerk">
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348 |
<connectionPointIn>
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349 |
<relPosition x="0" y="290"/>
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350 |
</connectionPointIn>
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|
351 |
</variable>
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352 |
<variable formalParameter="Direction">
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353 |
<connectionPointIn>
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354 |
<relPosition x="0" y="326"/>
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|
355 |
</connectionPointIn>
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|
356 |
</variable>
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|
357 |
<variable formalParameter="BufferMode">
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358 |
<connectionPointIn>
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359 |
<relPosition x="0" y="362"/>
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|
360 |
</connectionPointIn>
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|
361 |
</variable>
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|
362 |
</inputVariables>
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|
363 |
<inOutVariables/>
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|
364 |
<outputVariables>
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|
365 |
<variable formalParameter="Axis">
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|
366 |
<connectionPointOut>
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|
367 |
<relPosition x="252" y="38"/>
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|
368 |
</connectionPointOut>
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|
369 |
</variable>
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|
370 |
<variable formalParameter="Done">
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|
371 |
<connectionPointOut>
|
|
|
372 |
<relPosition x="252" y="74"/>
|
|
|
373 |
</connectionPointOut>
|
|
|
374 |
</variable>
|
|
|
375 |
<variable formalParameter="Busy">
|
|
|
376 |
<connectionPointOut>
|
|
|
377 |
<relPosition x="252" y="110"/>
|
|
|
378 |
</connectionPointOut>
|
|
|
379 |
</variable>
|
|
|
380 |
<variable formalParameter="Active">
|
|
|
381 |
<connectionPointOut>
|
|
|
382 |
<relPosition x="252" y="146"/>
|
|
|
383 |
</connectionPointOut>
|
|
|
384 |
</variable>
|
|
|
385 |
<variable formalParameter="CommandAborted">
|
|
|
386 |
<connectionPointOut>
|
|
|
387 |
<relPosition x="252" y="182"/>
|
|
|
388 |
</connectionPointOut>
|
|
|
389 |
</variable>
|
|
|
390 |
<variable formalParameter="Error">
|
|
|
391 |
<connectionPointOut>
|
|
|
392 |
<relPosition x="252" y="218"/>
|
|
|
393 |
</connectionPointOut>
|
|
|
394 |
</variable>
|
|
|
395 |
<variable formalParameter="ErrorID">
|
|
|
396 |
<connectionPointOut>
|
|
|
397 |
<relPosition x="252" y="254"/>
|
|
|
398 |
</connectionPointOut>
|
|
|
399 |
</variable>
|
|
|
400 |
</outputVariables>
|
|
|
401 |
</block>
|
|
|
402 |
<inVariable localId="11" height="27" width="54">
|
|
|
403 |
<position x="630" y="306"/>
|
|
|
404 |
<connectionPointOut>
|
|
|
405 |
<relPosition x="54" y="13"/>
|
|
|
406 |
</connectionPointOut>
|
|
|
407 |
<expression>1800.0</expression>
|
|
|
408 |
</inVariable>
|
|
|
409 |
<inVariable localId="12" height="27" width="46">
|
|
|
410 |
<position x="637" y="342"/>
|
|
|
411 |
<connectionPointOut>
|
|
|
412 |
<relPosition x="46" y="13"/>
|
|
|
413 |
</connectionPointOut>
|
|
|
414 |
<expression>360.0</expression>
|
|
|
415 |
</inVariable>
|
|
|
416 |
</FBD>
|
|
|
417 |
</body>
|
|
|
418 |
</pou>
|
|
|
419 |
</pous>
|
|
|
420 |
</types>
|
|
|
421 |
<instances>
|
|
|
422 |
<configurations>
|
|
|
423 |
<configuration name="conf">
|
|
|
424 |
<resource name="res">
|
|
|
425 |
<task name="main_task" interval="T#0.5ms" priority="0">
|
|
|
426 |
<pouInstance name="main_instance" typeName="Prog"/>
|
|
|
427 |
<pouInstance name="test_MCL_instance" typeName="test_MCL"/>
|
|
|
428 |
</task>
|
|
|
429 |
</resource>
|
|
|
430 |
</configuration>
|
|
|
431 |
</configurations>
|
|
|
432 |
</instances>
|
|
|
433 |
</project>
|