1 <?xml version="1.0" encoding="UTF-8"?> |
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2 <project xmlns="http://www.plcopen.org/xml/tc6.xsd" |
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3 xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd" |
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4 xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" |
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5 xmlns:xhtml="http://www.w3.org/1999/xhtml"> |
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6 <fileHeader companyName="Laurent BESSARD" |
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7 productName="test_ethercat" |
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8 productVersion="1.0" |
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9 creationDateTime="2011-10-20T19:01:52"/> |
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10 <contentHeader name="test_ethercat" |
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11 modificationDateTime="2013-06-24T20:55:15"> |
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12 <coordinateInfo> |
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13 <fbd> |
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14 <scaling x="0" y="0"/> |
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15 </fbd> |
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16 <ld> |
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17 <scaling x="0" y="0"/> |
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18 </ld> |
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19 <sfc> |
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20 <scaling x="0" y="0"/> |
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21 </sfc> |
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22 </coordinateInfo> |
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23 </contentHeader> |
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24 <types> |
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25 <dataTypes/> |
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26 <pous> |
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27 <pou name="Prog" pouType="program"> |
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28 <interface> |
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29 <localVars> |
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30 <variable name="CLOCK" address="%QX0.0.2.28672.1"> |
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31 <type> |
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32 <BOOL/> |
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33 </type> |
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34 </variable> |
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35 <variable name="GREENLED" address="%QX0.0.2.28688.1"> |
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36 <type> |
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37 <BOOL/> |
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38 </type> |
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39 <initialValue> |
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40 <simpleValue value="TRUE"/> |
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41 </initialValue> |
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42 </variable> |
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43 <variable name="ControlWord" address="%QW0.0.3.24640.0"> |
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44 <type> |
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45 <UINT/> |
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46 </type> |
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47 </variable> |
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48 <variable name="StatusWord" address="%IW0.0.3.24641.0"> |
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49 <type> |
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50 <UINT/> |
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51 </type> |
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52 </variable> |
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53 <variable name="Mode" address="%QB0.0.3.24672.0"> |
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54 <type> |
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55 <SINT/> |
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56 </type> |
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57 </variable> |
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58 <variable name="ModeDisplay" address="%IB0.0.3.24673.0"> |
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59 <type> |
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60 <SINT/> |
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61 </type> |
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62 </variable> |
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63 <variable name="ActualPosition" address="%ID0.0.3.24676.0"> |
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64 <type> |
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65 <DINT/> |
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66 </type> |
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67 </variable> |
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68 <variable name="ActualVelocity" address="%ID0.0.3.24684.0"> |
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69 <type> |
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70 <DINT/> |
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71 </type> |
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72 </variable> |
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73 <variable name="TargetPosition" address="%QD0.0.3.24698.0"> |
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74 <type> |
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75 <DINT/> |
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76 </type> |
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77 </variable> |
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78 <variable name="TargetVelocity" address="%QD0.0.3.24831.0"> |
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79 <type> |
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80 <DINT/> |
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81 </type> |
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82 </variable> |
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83 <variable name="DigitalInputs" address="%ID0.0.3.24829.0"> |
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84 <type> |
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85 <UDINT/> |
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86 </type> |
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87 </variable> |
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88 </localVars> |
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89 </interface> |
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90 <body> |
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91 <ST> |
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92 <![CDATA[CLOCK := NOT CLOCK;]]> |
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93 </ST> |
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94 </body> |
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95 </pou> |
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96 <pou name="test_MCL" pouType="program"> |
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97 <interface> |
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98 <localVars> |
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99 <variable name="CLOCK"> |
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100 <type> |
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101 <UDINT/> |
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102 </type> |
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103 </variable> |
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104 </localVars> |
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105 <localVars> |
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106 <variable name="Axis" address="%IW0.0.3.402"> |
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107 <type> |
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108 <derived name="AXIS_REF"/> |
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109 </type> |
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110 </variable> |
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111 </localVars> |
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112 <localVars> |
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113 <variable name="switch"> |
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114 <type> |
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115 <derived name="MC_Power"/> |
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116 </type> |
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117 </variable> |
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118 <variable name="move1"> |
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119 <type> |
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120 <derived name="MC_MoveAbsolute"/> |
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121 </type> |
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122 </variable> |
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123 <variable name="ActualPosition"> |
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124 <type> |
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125 <DINT/> |
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126 </type> |
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127 </variable> |
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128 <variable name="Valid"> |
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129 <type> |
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130 <BOOL/> |
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131 </type> |
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132 </variable> |
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133 <variable name="Pn"> |
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134 <type> |
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135 <LREAL/> |
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136 </type> |
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137 </variable> |
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138 <variable name="Vn"> |
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139 <type> |
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140 <LREAL/> |
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141 </type> |
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142 </variable> |
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143 <variable name="MC_MoveVelocity0"> |
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144 <type> |
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145 <derived name="MC_MoveVelocity"/> |
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146 </type> |
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147 </variable> |
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148 <variable name="MC_MoveAbsolute0"> |
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149 <type> |
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150 <derived name="MC_MoveAbsolute"/> |
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151 </type> |
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152 </variable> |
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153 <variable name="readpos"> |
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154 <type> |
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155 <derived name="MC_ReadActualPosition"/> |
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156 </type> |
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157 </variable> |
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158 <variable name="readspeed"> |
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159 <type> |
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160 <derived name="MC_ReadParameter"/> |
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161 </type> |
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162 </variable> |
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163 <variable name="MC_SetPosition0"> |
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164 <type> |
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165 <derived name="MC_SetPosition"/> |
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166 </type> |
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167 </variable> |
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168 </localVars> |
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169 </interface> |
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170 <body> |
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171 <FBD> |
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172 <inVariable localId="1" height="27" width="53"> |
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173 <position x="45" y="36"/> |
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174 <connectionPointOut> |
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175 <relPosition x="53" y="13"/> |
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176 </connectionPointOut> |
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177 <expression>CLOCK</expression> |
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178 </inVariable> |
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179 <block localId="2" width="111" height="116" typeName="ADD"> |
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180 <position x="149" y="5"/> |
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181 <inputVariables> |
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182 <variable formalParameter="IN1"> |
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183 <connectionPointIn> |
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184 <relPosition x="0" y="44"/> |
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185 <connection refLocalId="1"> |
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186 <position x="149" y="49"/> |
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187 <position x="98" y="49"/> |
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188 </connection> |
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189 </connectionPointIn> |
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190 </variable> |
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191 <variable formalParameter="IN2"> |
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192 <connectionPointIn> |
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193 <relPosition x="0" y="92"/> |
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194 <connection refLocalId="3"> |
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195 <position x="149" y="97"/> |
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196 <position x="98" y="97"/> |
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197 </connection> |
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198 </connectionPointIn> |
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199 </variable> |
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200 </inputVariables> |
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201 <inOutVariables/> |
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202 <outputVariables> |
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203 <variable formalParameter="OUT"> |
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204 <connectionPointOut> |
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205 <relPosition x="111" y="44"/> |
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206 </connectionPointOut> |
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207 </variable> |
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208 </outputVariables> |
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209 </block> |
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210 <inVariable localId="3" height="27" width="18"> |
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211 <position x="80" y="84"/> |
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212 <connectionPointOut> |
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213 <relPosition x="18" y="13"/> |
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214 </connectionPointOut> |
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215 <expression>1</expression> |
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216 </inVariable> |
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217 <outVariable localId="4" height="27" width="53"> |
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218 <position x="302" y="36"/> |
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219 <connectionPointIn> |
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220 <relPosition x="0" y="13"/> |
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221 <connection refLocalId="2" formalParameter="OUT"> |
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222 <position x="302" y="49"/> |
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223 <position x="260" y="49"/> |
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224 </connection> |
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225 </connectionPointIn> |
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226 <expression>CLOCK</expression> |
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227 </outVariable> |
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228 <inVariable localId="5" height="27" width="53"> |
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229 <position x="46" y="234"/> |
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230 <connectionPointOut> |
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231 <relPosition x="53" y="13"/> |
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232 </connectionPointOut> |
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233 <expression>CLOCK</expression> |
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234 </inVariable> |
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235 <inVariable localId="6" height="27" width="50"> |
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236 <position x="49" y="268"/> |
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237 <connectionPointOut> |
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238 <relPosition x="50" y="13"/> |
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239 </connectionPointOut> |
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240 <expression>4000</expression> |
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241 </inVariable> |
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242 <block localId="7" width="99" height="89" typeName="GT"> |
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243 <position x="155" y="210"/> |
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244 <inputVariables> |
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245 <variable formalParameter="IN1"> |
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246 <connectionPointIn> |
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247 <relPosition x="0" y="37"/> |
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248 <connection refLocalId="5"> |
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249 <position x="155" y="247"/> |
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250 <position x="99" y="247"/> |
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251 </connection> |
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252 </connectionPointIn> |
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253 </variable> |
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254 <variable formalParameter="IN2"> |
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255 <connectionPointIn> |
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256 <relPosition x="0" y="71"/> |
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257 <connection refLocalId="6"> |
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258 <position x="155" y="281"/> |
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259 <position x="99" y="281"/> |
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260 </connection> |
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261 </connectionPointIn> |
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262 </variable> |
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263 </inputVariables> |
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264 <inOutVariables/> |
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265 <outputVariables> |
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266 <variable formalParameter="OUT"> |
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267 <connectionPointOut> |
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268 <relPosition x="99" y="37"/> |
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269 </connectionPointOut> |
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270 </variable> |
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271 </outputVariables> |
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272 </block> |
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273 <block localId="8" width="159" height="204" typeName="MC_Power" instanceName="switch"> |
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274 <position x="356" y="173"/> |
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275 <inputVariables> |
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276 <variable formalParameter="Axis"> |
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277 <connectionPointIn> |
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278 <relPosition x="0" y="38"/> |
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279 <connection refLocalId="9"> |
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280 <position x="356" y="211"/> |
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281 <position x="324" y="211"/> |
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282 </connection> |
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283 </connectionPointIn> |
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284 </variable> |
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285 <variable formalParameter="Enable"> |
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286 <connectionPointIn> |
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287 <relPosition x="0" y="74"/> |
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288 <connection refLocalId="7" formalParameter="OUT"> |
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289 <position x="356" y="247"/> |
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290 <position x="254" y="247"/> |
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291 </connection> |
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292 </connectionPointIn> |
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293 </variable> |
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294 <variable formalParameter="EnablePositive"> |
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295 <connectionPointIn> |
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296 <relPosition x="0" y="110"/> |
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297 </connectionPointIn> |
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298 </variable> |
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299 <variable formalParameter="EnableNegative"> |
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300 <connectionPointIn> |
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301 <relPosition x="0" y="146"/> |
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302 </connectionPointIn> |
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303 </variable> |
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304 </inputVariables> |
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305 <inOutVariables/> |
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306 <outputVariables> |
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307 <variable formalParameter="Axis"> |
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308 <connectionPointOut> |
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309 <relPosition x="159" y="38"/> |
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310 </connectionPointOut> |
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311 </variable> |
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312 <variable formalParameter="Status"> |
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313 <connectionPointOut> |
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314 <relPosition x="159" y="74"/> |
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315 </connectionPointOut> |
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316 </variable> |
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317 <variable formalParameter="Valid"> |
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318 <connectionPointOut> |
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319 <relPosition x="159" y="110"/> |
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320 </connectionPointOut> |
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321 </variable> |
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322 <variable formalParameter="Error"> |
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323 <connectionPointOut> |
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324 <relPosition x="159" y="146"/> |
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325 </connectionPointOut> |
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326 </variable> |
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327 <variable formalParameter="ErrorID"> |
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328 <connectionPointOut> |
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329 <relPosition x="159" y="182"/> |
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330 </connectionPointOut> |
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331 </variable> |
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332 </outputVariables> |
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333 </block> |
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334 <inVariable localId="9" height="27" width="36"> |
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335 <position x="288" y="198"/> |
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336 <connectionPointOut> |
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337 <relPosition x="36" y="13"/> |
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338 </connectionPointOut> |
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339 <expression>Axis</expression> |
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340 </inVariable> |
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341 <block localId="10" width="252" height="389" typeName="MC_MoveAbsolute" instanceName="move1"> |
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342 <position x="992" y="173"/> |
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343 <inputVariables> |
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344 <variable formalParameter="Axis"> |
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345 <connectionPointIn> |
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346 <relPosition x="0" y="38"/> |
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347 <connection refLocalId="42" formalParameter="Axis"> |
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348 <position x="992" y="211"/> |
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349 <position x="853" y="211"/> |
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350 </connection> |
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351 </connectionPointIn> |
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352 </variable> |
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353 <variable formalParameter="Execute"> |
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354 <connectionPointIn> |
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355 <relPosition x="0" y="74"/> |
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356 <connection refLocalId="42" formalParameter="Done"> |
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357 <position x="992" y="247"/> |
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358 <position x="853" y="247"/> |
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359 </connection> |
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360 </connectionPointIn> |
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361 </variable> |
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362 <variable formalParameter="ContinuousUpdate"> |
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363 <connectionPointIn> |
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364 <relPosition x="0" y="110"/> |
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365 </connectionPointIn> |
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366 </variable> |
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367 <variable formalParameter="Position"> |
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368 <connectionPointIn> |
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369 <relPosition x="0" y="146"/> |
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370 <connection refLocalId="11"> |
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371 <position x="992" y="319"/> |
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372 <position x="920" y="319"/> |
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373 </connection> |
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374 </connectionPointIn> |
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375 </variable> |
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376 <variable formalParameter="Velocity"> |
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377 <connectionPointIn> |
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378 <relPosition x="0" y="182"/> |
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379 <connection refLocalId="12"> |
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380 <position x="992" y="355"/> |
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381 <position x="919" y="355"/> |
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382 </connection> |
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383 </connectionPointIn> |
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384 </variable> |
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385 <variable formalParameter="Acceleration"> |
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386 <connectionPointIn> |
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387 <relPosition x="0" y="218"/> |
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388 <connection refLocalId="12"> |
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389 <position x="992" y="391"/> |
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390 <position x="955" y="391"/> |
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391 <position x="955" y="355"/> |
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392 <position x="919" y="355"/> |
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393 </connection> |
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394 </connectionPointIn> |
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395 </variable> |
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396 <variable formalParameter="Deceleration"> |
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397 <connectionPointIn> |
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398 <relPosition x="0" y="254"/> |
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399 <connection refLocalId="12"> |
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400 <position x="992" y="427"/> |
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401 <position x="955" y="427"/> |
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402 <position x="955" y="355"/> |
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403 <position x="919" y="355"/> |
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404 </connection> |
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405 </connectionPointIn> |
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406 </variable> |
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407 <variable formalParameter="Jerk"> |
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408 <connectionPointIn> |
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409 <relPosition x="0" y="290"/> |
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410 </connectionPointIn> |
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411 </variable> |
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412 <variable formalParameter="Direction"> |
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413 <connectionPointIn> |
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414 <relPosition x="0" y="326"/> |
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415 </connectionPointIn> |
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416 </variable> |
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417 <variable formalParameter="BufferMode"> |
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418 <connectionPointIn> |
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419 <relPosition x="0" y="362"/> |
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420 </connectionPointIn> |
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421 </variable> |
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422 </inputVariables> |
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423 <inOutVariables/> |
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424 <outputVariables> |
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425 <variable formalParameter="Axis"> |
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426 <connectionPointOut> |
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427 <relPosition x="252" y="38"/> |
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428 </connectionPointOut> |
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429 </variable> |
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430 <variable formalParameter="Done"> |
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431 <connectionPointOut> |
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432 <relPosition x="252" y="74"/> |
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433 </connectionPointOut> |
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434 </variable> |
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435 <variable formalParameter="Busy"> |
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436 <connectionPointOut> |
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437 <relPosition x="252" y="110"/> |
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438 </connectionPointOut> |
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439 </variable> |
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440 <variable formalParameter="Active"> |
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441 <connectionPointOut> |
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442 <relPosition x="252" y="146"/> |
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443 </connectionPointOut> |
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444 </variable> |
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445 <variable formalParameter="CommandAborted"> |
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446 <connectionPointOut> |
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447 <relPosition x="252" y="182"/> |
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448 </connectionPointOut> |
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449 </variable> |
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450 <variable formalParameter="Error"> |
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451 <connectionPointOut> |
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452 <relPosition x="252" y="218"/> |
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453 </connectionPointOut> |
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454 </variable> |
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455 <variable formalParameter="ErrorID"> |
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456 <connectionPointOut> |
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457 <relPosition x="252" y="254"/> |
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458 </connectionPointOut> |
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459 </variable> |
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460 </outputVariables> |
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461 </block> |
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462 <inVariable localId="11" height="27" width="54"> |
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463 <position x="878" y="306"/> |
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464 <connectionPointOut> |
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465 <relPosition x="54" y="13"/> |
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466 </connectionPointOut> |
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467 <expression>1800.0</expression> |
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468 </inVariable> |
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469 <inVariable localId="12" height="27" width="46"> |
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470 <position x="885" y="342"/> |
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471 <connectionPointOut> |
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472 <relPosition x="46" y="13"/> |
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473 </connectionPointOut> |
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474 <expression>360.0</expression> |
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475 </inVariable> |
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476 <block localId="23" width="255" height="352" typeName="MC_MoveVelocity" instanceName="MC_MoveVelocity0"> |
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477 <position x="1418" y="173"/> |
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478 <inputVariables> |
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479 <variable formalParameter="Axis"> |
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480 <connectionPointIn> |
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481 <relPosition x="0" y="38"/> |
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482 <connection refLocalId="10" formalParameter="Axis"> |
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483 <position x="1418" y="211"/> |
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484 <position x="1244" y="211"/> |
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485 </connection> |
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486 </connectionPointIn> |
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487 </variable> |
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488 <variable formalParameter="Execute"> |
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489 <connectionPointIn> |
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490 <relPosition x="0" y="74"/> |
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491 <connection refLocalId="10" formalParameter="Done"> |
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492 <position x="1418" y="247"/> |
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493 <position x="1244" y="247"/> |
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494 </connection> |
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495 </connectionPointIn> |
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496 </variable> |
|
497 <variable formalParameter="ContinuousUpdate"> |
|
498 <connectionPointIn> |
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499 <relPosition x="0" y="110"/> |
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500 </connectionPointIn> |
|
501 </variable> |
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502 <variable formalParameter="Velocity"> |
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503 <connectionPointIn> |
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504 <relPosition x="0" y="146"/> |
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505 <connection refLocalId="24"> |
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506 <position x="1418" y="319"/> |
|
507 <position x="1349" y="319"/> |
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508 </connection> |
|
509 </connectionPointIn> |
|
510 </variable> |
|
511 <variable formalParameter="Acceleration"> |
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512 <connectionPointIn> |
|
513 <relPosition x="0" y="182"/> |
|
514 <connection refLocalId="13"> |
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515 <position x="1418" y="355"/> |
|
516 <position x="1349" y="355"/> |
|
517 </connection> |
|
518 </connectionPointIn> |
|
519 </variable> |
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520 <variable formalParameter="Deceleration"> |
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521 <connectionPointIn> |
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522 <relPosition x="0" y="218"/> |
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523 <connection refLocalId="13"> |
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524 <position x="1418" y="391"/> |
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525 <position x="1383" y="391"/> |
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526 <position x="1383" y="355"/> |
|
527 <position x="1349" y="355"/> |
|
528 </connection> |
|
529 </connectionPointIn> |
|
530 </variable> |
|
531 <variable formalParameter="Jerk"> |
|
532 <connectionPointIn> |
|
533 <relPosition x="0" y="254"/> |
|
534 </connectionPointIn> |
|
535 </variable> |
|
536 <variable formalParameter="Direction"> |
|
537 <connectionPointIn> |
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538 <relPosition x="0" y="290"/> |
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539 </connectionPointIn> |
|
540 </variable> |
|
541 <variable formalParameter="BufferMode"> |
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542 <connectionPointIn> |
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543 <relPosition x="0" y="326"/> |
|
544 </connectionPointIn> |
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545 </variable> |
|
546 </inputVariables> |
|
547 <inOutVariables/> |
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548 <outputVariables> |
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549 <variable formalParameter="Axis"> |
|
550 <connectionPointOut> |
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551 <relPosition x="255" y="38"/> |
|
552 </connectionPointOut> |
|
553 </variable> |
|
554 <variable formalParameter="InVelocity"> |
|
555 <connectionPointOut> |
|
556 <relPosition x="255" y="74"/> |
|
557 </connectionPointOut> |
|
558 </variable> |
|
559 <variable formalParameter="Busy"> |
|
560 <connectionPointOut> |
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561 <relPosition x="255" y="110"/> |
|
562 </connectionPointOut> |
|
563 </variable> |
|
564 <variable formalParameter="Active"> |
|
565 <connectionPointOut> |
|
566 <relPosition x="255" y="146"/> |
|
567 </connectionPointOut> |
|
568 </variable> |
|
569 <variable formalParameter="CommandAborted"> |
|
570 <connectionPointOut> |
|
571 <relPosition x="255" y="182"/> |
|
572 </connectionPointOut> |
|
573 </variable> |
|
574 <variable formalParameter="Error"> |
|
575 <connectionPointOut> |
|
576 <relPosition x="255" y="218"/> |
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577 </connectionPointOut> |
|
578 </variable> |
|
579 <variable formalParameter="ErrorID"> |
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580 <connectionPointOut> |
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581 <relPosition x="255" y="254"/> |
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582 </connectionPointOut> |
|
583 </variable> |
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584 </outputVariables> |
|
585 </block> |
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586 <inVariable localId="13" height="27" width="46"> |
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587 <position x="1303" y="342"/> |
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588 <connectionPointOut> |
|
589 <relPosition x="46" y="13"/> |
|
590 </connectionPointOut> |
|
591 <expression>360.0</expression> |
|
592 </inVariable> |
|
593 <inVariable localId="24" height="27" width="46"> |
|
594 <position x="1303" y="306"/> |
|
595 <connectionPointOut> |
|
596 <relPosition x="46" y="13"/> |
|
597 </connectionPointOut> |
|
598 <expression>-360.0</expression> |
|
599 </inVariable> |
|
600 <block localId="25" width="235" height="350" typeName="MC_MoveAbsolute" instanceName="MC_MoveAbsolute0"> |
|
601 <position x="1862" y="175"/> |
|
602 <inputVariables> |
|
603 <variable formalParameter="Axis"> |
|
604 <connectionPointIn> |
|
605 <relPosition x="0" y="36"/> |
|
606 <connection refLocalId="23" formalParameter="Axis"> |
|
607 <position x="1862" y="211"/> |
|
608 <position x="1673" y="211"/> |
|
609 </connection> |
|
610 </connectionPointIn> |
|
611 </variable> |
|
612 <variable formalParameter="Execute"> |
|
613 <connectionPointIn> |
|
614 <relPosition x="0" y="69"/> |
|
615 <connection refLocalId="26" formalParameter="OUT"> |
|
616 <position x="1862" y="244"/> |
|
617 <position x="1825" y="244"/> |
|
618 </connection> |
|
619 </connectionPointIn> |
|
620 </variable> |
|
621 <variable formalParameter="ContinuousUpdate"> |
|
622 <connectionPointIn> |
|
623 <relPosition x="0" y="102"/> |
|
624 </connectionPointIn> |
|
625 </variable> |
|
626 <variable formalParameter="Position"> |
|
627 <connectionPointIn> |
|
628 <relPosition x="0" y="135"/> |
|
629 <connection refLocalId="40"> |
|
630 <position x="1862" y="310"/> |
|
631 <position x="1809" y="310"/> |
|
632 </connection> |
|
633 </connectionPointIn> |
|
634 </variable> |
|
635 <variable formalParameter="Velocity"> |
|
636 <connectionPointIn> |
|
637 <relPosition x="0" y="168"/> |
|
638 <connection refLocalId="37"> |
|
639 <position x="1862" y="343"/> |
|
640 <position x="1808" y="343"/> |
|
641 </connection> |
|
642 </connectionPointIn> |
|
643 </variable> |
|
644 <variable formalParameter="Acceleration"> |
|
645 <connectionPointIn> |
|
646 <relPosition x="0" y="201"/> |
|
647 <connection refLocalId="37"> |
|
648 <position x="1862" y="376"/> |
|
649 <position x="1818" y="376"/> |
|
650 <position x="1818" y="343"/> |
|
651 <position x="1808" y="343"/> |
|
652 </connection> |
|
653 </connectionPointIn> |
|
654 </variable> |
|
655 <variable formalParameter="Deceleration"> |
|
656 <connectionPointIn> |
|
657 <relPosition x="0" y="234"/> |
|
658 <connection refLocalId="37"> |
|
659 <position x="1862" y="409"/> |
|
660 <position x="1818" y="409"/> |
|
661 <position x="1818" y="343"/> |
|
662 <position x="1808" y="343"/> |
|
663 </connection> |
|
664 </connectionPointIn> |
|
665 </variable> |
|
666 <variable formalParameter="Jerk"> |
|
667 <connectionPointIn> |
|
668 <relPosition x="0" y="267"/> |
|
669 </connectionPointIn> |
|
670 </variable> |
|
671 <variable formalParameter="Direction"> |
|
672 <connectionPointIn> |
|
673 <relPosition x="0" y="300"/> |
|
674 </connectionPointIn> |
|
675 </variable> |
|
676 <variable formalParameter="BufferMode"> |
|
677 <connectionPointIn> |
|
678 <relPosition x="0" y="333"/> |
|
679 </connectionPointIn> |
|
680 </variable> |
|
681 </inputVariables> |
|
682 <inOutVariables/> |
|
683 <outputVariables> |
|
684 <variable formalParameter="Axis"> |
|
685 <connectionPointOut> |
|
686 <relPosition x="235" y="36"/> |
|
687 </connectionPointOut> |
|
688 </variable> |
|
689 <variable formalParameter="Done"> |
|
690 <connectionPointOut> |
|
691 <relPosition x="235" y="69"/> |
|
692 </connectionPointOut> |
|
693 </variable> |
|
694 <variable formalParameter="Busy"> |
|
695 <connectionPointOut> |
|
696 <relPosition x="235" y="102"/> |
|
697 </connectionPointOut> |
|
698 </variable> |
|
699 <variable formalParameter="Active"> |
|
700 <connectionPointOut> |
|
701 <relPosition x="235" y="135"/> |
|
702 </connectionPointOut> |
|
703 </variable> |
|
704 <variable formalParameter="CommandAborted"> |
|
705 <connectionPointOut> |
|
706 <relPosition x="235" y="168"/> |
|
707 </connectionPointOut> |
|
708 </variable> |
|
709 <variable formalParameter="Error"> |
|
710 <connectionPointOut> |
|
711 <relPosition x="235" y="201"/> |
|
712 </connectionPointOut> |
|
713 </variable> |
|
714 <variable formalParameter="ErrorID"> |
|
715 <connectionPointOut> |
|
716 <relPosition x="235" y="234"/> |
|
717 </connectionPointOut> |
|
718 </variable> |
|
719 </outputVariables> |
|
720 </block> |
|
721 <block localId="26" width="53" height="63" typeName="LT"> |
|
722 <position x="1772" y="214"/> |
|
723 <inputVariables> |
|
724 <variable formalParameter="IN1"> |
|
725 <connectionPointIn> |
|
726 <relPosition x="0" y="30"/> |
|
727 <connection refLocalId="36"> |
|
728 <position x="1772" y="244"/> |
|
729 <position x="1752" y="244"/> |
|
730 <position x="1752" y="237"/> |
|
731 <position x="1741" y="237"/> |
|
732 </connection> |
|
733 </connectionPointIn> |
|
734 </variable> |
|
735 <variable formalParameter="IN2"> |
|
736 <connectionPointIn> |
|
737 <relPosition x="0" y="51"/> |
|
738 <connection refLocalId="35"> |
|
739 <position x="1772" y="265"/> |
|
740 <position x="1741" y="265"/> |
|
741 </connection> |
|
742 </connectionPointIn> |
|
743 </variable> |
|
744 </inputVariables> |
|
745 <inOutVariables/> |
|
746 <outputVariables> |
|
747 <variable formalParameter="OUT"> |
|
748 <connectionPointOut> |
|
749 <relPosition x="53" y="30"/> |
|
750 </connectionPointOut> |
|
751 </variable> |
|
752 </outputVariables> |
|
753 </block> |
|
754 <block localId="28" width="176" height="248" typeName="MC_ReadActualPosition" instanceName="readpos"> |
|
755 <position x="237" y="606"/> |
|
756 <inputVariables> |
|
757 <variable formalParameter="Axis"> |
|
758 <connectionPointIn> |
|
759 <relPosition x="0" y="40"/> |
|
760 <connection refLocalId="31"> |
|
761 <position x="237" y="646"/> |
|
762 <position x="109" y="646"/> |
|
763 </connection> |
|
764 </connectionPointIn> |
|
765 </variable> |
|
766 <variable formalParameter="Enable"> |
|
767 <connectionPointIn> |
|
768 <relPosition x="0" y="80"/> |
|
769 <connection refLocalId="29"> |
|
770 <position x="237" y="686"/> |
|
771 <position x="165" y="686"/> |
|
772 </connection> |
|
773 </connectionPointIn> |
|
774 </variable> |
|
775 </inputVariables> |
|
776 <inOutVariables/> |
|
777 <outputVariables> |
|
778 <variable formalParameter="Axis"> |
|
779 <connectionPointOut> |
|
780 <relPosition x="176" y="40"/> |
|
781 </connectionPointOut> |
|
782 </variable> |
|
783 <variable formalParameter="Valid"> |
|
784 <connectionPointOut> |
|
785 <relPosition x="176" y="80"/> |
|
786 </connectionPointOut> |
|
787 </variable> |
|
788 <variable formalParameter="Busy"> |
|
789 <connectionPointOut> |
|
790 <relPosition x="176" y="112"/> |
|
791 </connectionPointOut> |
|
792 </variable> |
|
793 <variable formalParameter="Error"> |
|
794 <connectionPointOut> |
|
795 <relPosition x="176" y="152"/> |
|
796 </connectionPointOut> |
|
797 </variable> |
|
798 <variable formalParameter="ErrorID"> |
|
799 <connectionPointOut> |
|
800 <relPosition x="176" y="192"/> |
|
801 </connectionPointOut> |
|
802 </variable> |
|
803 <variable formalParameter="Position"> |
|
804 <connectionPointOut> |
|
805 <relPosition x="176" y="232"/> |
|
806 </connectionPointOut> |
|
807 </variable> |
|
808 </outputVariables> |
|
809 </block> |
|
810 <inVariable localId="29" height="32" width="96"> |
|
811 <position x="69" y="670"/> |
|
812 <connectionPointOut> |
|
813 <relPosition x="96" y="16"/> |
|
814 </connectionPointOut> |
|
815 <expression>BOOL#TRUE</expression> |
|
816 </inVariable> |
|
817 <outVariable localId="30" height="32" width="32"> |
|
818 <position x="437" y="822"/> |
|
819 <connectionPointIn> |
|
820 <relPosition x="0" y="16"/> |
|
821 <connection refLocalId="28" formalParameter="Position"> |
|
822 <position x="437" y="838"/> |
|
823 <position x="413" y="838"/> |
|
824 </connection> |
|
825 </connectionPointIn> |
|
826 <expression>Pn</expression> |
|
827 </outVariable> |
|
828 <inVariable localId="31" height="32" width="40"> |
|
829 <position x="69" y="630"/> |
|
830 <connectionPointOut> |
|
831 <relPosition x="40" y="16"/> |
|
832 </connectionPointOut> |
|
833 <expression>Axis</expression> |
|
834 </inVariable> |
|
835 <block localId="32" width="192" height="248" typeName="MC_ReadParameter" instanceName="readspeed"> |
|
836 <position x="613" y="606"/> |
|
837 <inputVariables> |
|
838 <variable formalParameter="Axis"> |
|
839 <connectionPointIn> |
|
840 <relPosition x="0" y="40"/> |
|
841 <connection refLocalId="28" formalParameter="Axis"> |
|
842 <position x="613" y="646"/> |
|
843 <position x="413" y="646"/> |
|
844 </connection> |
|
845 </connectionPointIn> |
|
846 </variable> |
|
847 <variable formalParameter="Enable"> |
|
848 <connectionPointIn> |
|
849 <relPosition x="0" y="80"/> |
|
850 <connection refLocalId="34"> |
|
851 <position x="613" y="686"/> |
|
852 <position x="597" y="686"/> |
|
853 <position x="597" y="679"/> |
|
854 <position x="581" y="679"/> |
|
855 </connection> |
|
856 </connectionPointIn> |
|
857 </variable> |
|
858 <variable formalParameter="ParameterNumber"> |
|
859 <connectionPointIn> |
|
860 <relPosition x="0" y="112"/> |
|
861 <connection refLocalId="33"> |
|
862 <position x="613" y="718"/> |
|
863 <position x="581" y="718"/> |
|
864 </connection> |
|
865 </connectionPointIn> |
|
866 </variable> |
|
867 </inputVariables> |
|
868 <inOutVariables/> |
|
869 <outputVariables> |
|
870 <variable formalParameter="Axis"> |
|
871 <connectionPointOut> |
|
872 <relPosition x="192" y="40"/> |
|
873 </connectionPointOut> |
|
874 </variable> |
|
875 <variable formalParameter="Valid"> |
|
876 <connectionPointOut> |
|
877 <relPosition x="192" y="80"/> |
|
878 </connectionPointOut> |
|
879 </variable> |
|
880 <variable formalParameter="Busy"> |
|
881 <connectionPointOut> |
|
882 <relPosition x="192" y="112"/> |
|
883 </connectionPointOut> |
|
884 </variable> |
|
885 <variable formalParameter="Error"> |
|
886 <connectionPointOut> |
|
887 <relPosition x="192" y="152"/> |
|
888 </connectionPointOut> |
|
889 </variable> |
|
890 <variable formalParameter="ErrorID"> |
|
891 <connectionPointOut> |
|
892 <relPosition x="192" y="192"/> |
|
893 </connectionPointOut> |
|
894 </variable> |
|
895 <variable formalParameter="Value"> |
|
896 <connectionPointOut> |
|
897 <relPosition x="192" y="232"/> |
|
898 </connectionPointOut> |
|
899 </variable> |
|
900 </outputVariables> |
|
901 </block> |
|
902 <inVariable localId="33" height="32" width="32"> |
|
903 <position x="549" y="702"/> |
|
904 <connectionPointOut> |
|
905 <relPosition x="32" y="16"/> |
|
906 </connectionPointOut> |
|
907 <expression>10</expression> |
|
908 </inVariable> |
|
909 <inVariable localId="34" height="32" width="96"> |
|
910 <position x="485" y="663"/> |
|
911 <connectionPointOut> |
|
912 <relPosition x="96" y="16"/> |
|
913 </connectionPointOut> |
|
914 <expression>BOOL#TRUE</expression> |
|
915 </inVariable> |
|
916 <outVariable localId="27" height="32" width="32"> |
|
917 <position x="837" y="822"/> |
|
918 <connectionPointIn> |
|
919 <relPosition x="0" y="16"/> |
|
920 <connection refLocalId="32" formalParameter="Value"> |
|
921 <position x="837" y="838"/> |
|
922 <position x="805" y="838"/> |
|
923 </connection> |
|
924 </connectionPointIn> |
|
925 <expression>Vn</expression> |
|
926 </outVariable> |
|
927 <inVariable localId="35" height="27" width="48"> |
|
928 <position x="1693" y="252"/> |
|
929 <connectionPointOut> |
|
930 <relPosition x="48" y="13"/> |
|
931 </connectionPointOut> |
|
932 <expression>-1800.0</expression> |
|
933 </inVariable> |
|
934 <inVariable localId="36" height="23" width="22"> |
|
935 <position x="1719" y="226"/> |
|
936 <connectionPointOut> |
|
937 <relPosition x="22" y="11"/> |
|
938 </connectionPointOut> |
|
939 <expression>Pn</expression> |
|
940 </inVariable> |
|
941 <inVariable localId="37" height="27" width="46"> |
|
942 <position x="1762" y="330"/> |
|
943 <connectionPointOut> |
|
944 <relPosition x="46" y="13"/> |
|
945 </connectionPointOut> |
|
946 <expression>360.0</expression> |
|
947 </inVariable> |
|
948 <inVariable localId="40" height="27" width="46"> |
|
949 <position x="1763" y="297"/> |
|
950 <connectionPointOut> |
|
951 <relPosition x="46" y="13"/> |
|
952 </connectionPointOut> |
|
953 <expression>0.0</expression> |
|
954 </inVariable> |
|
955 <block localId="42" width="189" height="204" typeName="MC_SetPosition" instanceName="MC_SetPosition0"> |
|
956 <position x="664" y="173"/> |
|
957 <inputVariables> |
|
958 <variable formalParameter="Axis"> |
|
959 <connectionPointIn> |
|
960 <relPosition x="0" y="38"/> |
|
961 <connection refLocalId="8" formalParameter="Axis"> |
|
962 <position x="664" y="211"/> |
|
963 <position x="515" y="211"/> |
|
964 </connection> |
|
965 </connectionPointIn> |
|
966 </variable> |
|
967 <variable formalParameter="Execute"> |
|
968 <connectionPointIn> |
|
969 <relPosition x="0" y="74"/> |
|
970 <connection refLocalId="8" formalParameter="Status"> |
|
971 <position x="664" y="247"/> |
|
972 <position x="515" y="247"/> |
|
973 </connection> |
|
974 </connectionPointIn> |
|
975 </variable> |
|
976 <variable formalParameter="Position"> |
|
977 <connectionPointIn> |
|
978 <relPosition x="0" y="110"/> |
|
979 <connection refLocalId="43"> |
|
980 <position x="664" y="283"/> |
|
981 <position x="629" y="283"/> |
|
982 </connection> |
|
983 </connectionPointIn> |
|
984 </variable> |
|
985 <variable formalParameter="Relative"> |
|
986 <connectionPointIn> |
|
987 <relPosition x="0" y="146"/> |
|
988 </connectionPointIn> |
|
989 </variable> |
|
990 <variable formalParameter="ExecutionMode"> |
|
991 <connectionPointIn> |
|
992 <relPosition x="0" y="182"/> |
|
993 </connectionPointIn> |
|
994 </variable> |
|
995 </inputVariables> |
|
996 <inOutVariables/> |
|
997 <outputVariables> |
|
998 <variable formalParameter="Axis"> |
|
999 <connectionPointOut> |
|
1000 <relPosition x="189" y="38"/> |
|
1001 </connectionPointOut> |
|
1002 </variable> |
|
1003 <variable formalParameter="Done"> |
|
1004 <connectionPointOut> |
|
1005 <relPosition x="189" y="74"/> |
|
1006 </connectionPointOut> |
|
1007 </variable> |
|
1008 <variable formalParameter="Busy"> |
|
1009 <connectionPointOut> |
|
1010 <relPosition x="189" y="110"/> |
|
1011 </connectionPointOut> |
|
1012 </variable> |
|
1013 <variable formalParameter="Error"> |
|
1014 <connectionPointOut> |
|
1015 <relPosition x="189" y="146"/> |
|
1016 </connectionPointOut> |
|
1017 </variable> |
|
1018 <variable formalParameter="ErrorID"> |
|
1019 <connectionPointOut> |
|
1020 <relPosition x="189" y="182"/> |
|
1021 </connectionPointOut> |
|
1022 </variable> |
|
1023 </outputVariables> |
|
1024 </block> |
|
1025 <inVariable localId="43" height="27" width="54"> |
|
1026 <position x="575" y="270"/> |
|
1027 <connectionPointOut> |
|
1028 <relPosition x="54" y="13"/> |
|
1029 </connectionPointOut> |
|
1030 <expression>0.0</expression> |
|
1031 </inVariable> |
|
1032 </FBD> |
|
1033 </body> |
|
1034 </pou> |
|
1035 </pous> |
|
1036 </types> |
|
1037 <instances> |
|
1038 <configurations> |
|
1039 <configuration name="conf"> |
|
1040 <resource name="res"> |
|
1041 <task name="main_task" interval="T#0.5ms" priority="0"> |
|
1042 <pouInstance name="main_instance" typeName="Prog"/> |
|
1043 <pouInstance name="test_MCL_instance" typeName="test_MCL"/> |
|
1044 </task> |
|
1045 </resource> |
|
1046 </configuration> |
|
1047 </configurations> |
|
1048 </instances> |
|
1049 </project> |
|