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="2012-05-20T19:26:53"> |
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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="ErrorCode" address="%IW0.0.3.24639.0"> |
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54 <type> |
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55 <UINT/> |
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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="TargetPosition" address="%QD0.0.3.24698.0"> |
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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 </localVars> |
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74 </interface> |
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75 <body> |
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76 <ST> |
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77 <![CDATA[CLOCK := NOT CLOCK;]]> |
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78 </ST> |
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79 </body> |
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80 </pou> |
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81 <pou name="test_MCL" pouType="program"> |
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82 <interface> |
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83 <localVars> |
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84 <variable name="CLOCK"> |
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85 <type> |
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86 <UDINT/> |
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87 </type> |
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88 </variable> |
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89 </localVars> |
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90 <localVars> |
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91 <variable name="Axis" address="%IW0.0.3.0"> |
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92 <type> |
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93 <INT/> |
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94 </type> |
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95 </variable> |
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96 </localVars> |
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97 <localVars> |
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98 <variable name="switch"> |
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99 <type> |
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100 <derived name="MC_Power"/> |
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101 </type> |
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102 </variable> |
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103 <variable name="move1"> |
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104 <type> |
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105 <derived name="MC_MoveAbsolute"/> |
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106 </type> |
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107 </variable> |
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108 </localVars> |
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109 </interface> |
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110 <body> |
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111 <FBD> |
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112 <inVariable localId="1" height="27" width="53"> |
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113 <position x="45" y="36"/> |
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114 <connectionPointOut> |
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115 <relPosition x="53" y="13"/> |
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116 </connectionPointOut> |
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117 <expression>CLOCK</expression> |
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118 </inVariable> |
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119 <block localId="2" width="111" height="116" typeName="ADD"> |
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120 <position x="149" y="5"/> |
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121 <inputVariables> |
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122 <variable formalParameter="IN1"> |
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123 <connectionPointIn> |
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124 <relPosition x="0" y="44"/> |
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125 <connection refLocalId="1"> |
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126 <position x="149" y="49"/> |
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127 <position x="98" y="49"/> |
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128 </connection> |
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129 </connectionPointIn> |
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130 </variable> |
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131 <variable formalParameter="IN2"> |
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132 <connectionPointIn> |
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133 <relPosition x="0" y="92"/> |
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134 <connection refLocalId="3"> |
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135 <position x="149" y="97"/> |
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136 <position x="98" y="97"/> |
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137 </connection> |
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138 </connectionPointIn> |
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139 </variable> |
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140 </inputVariables> |
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141 <inOutVariables/> |
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142 <outputVariables> |
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143 <variable formalParameter="OUT"> |
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144 <connectionPointOut> |
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145 <relPosition x="111" y="44"/> |
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146 </connectionPointOut> |
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147 </variable> |
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148 </outputVariables> |
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149 </block> |
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150 <inVariable localId="3" height="27" width="18"> |
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151 <position x="80" y="84"/> |
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152 <connectionPointOut> |
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153 <relPosition x="18" y="13"/> |
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154 </connectionPointOut> |
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155 <expression>1</expression> |
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156 </inVariable> |
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157 <outVariable localId="4" height="27" width="53"> |
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158 <position x="302" y="36"/> |
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159 <connectionPointIn> |
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160 <relPosition x="0" y="13"/> |
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161 <connection refLocalId="2" formalParameter="OUT"> |
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162 <position x="302" y="49"/> |
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163 <position x="260" y="49"/> |
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164 </connection> |
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165 </connectionPointIn> |
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166 <expression>CLOCK</expression> |
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167 </outVariable> |
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168 <inVariable localId="5" height="27" width="53"> |
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169 <position x="46" y="234"/> |
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170 <connectionPointOut> |
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171 <relPosition x="53" y="13"/> |
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172 </connectionPointOut> |
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173 <expression>CLOCK</expression> |
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174 </inVariable> |
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175 <inVariable localId="6" height="27" width="50"> |
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176 <position x="49" y="268"/> |
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177 <connectionPointOut> |
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178 <relPosition x="50" y="13"/> |
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179 </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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191 </connection> |
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192 </connectionPointIn> |
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193 </variable> |
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194 <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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200 </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> |
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372 <relPosition x="252" y="74"/> |
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373 </connectionPointOut> |
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374 </variable> |
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375 <variable formalParameter="Busy"> |
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376 <connectionPointOut> |
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377 <relPosition x="252" y="110"/> |
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378 </connectionPointOut> |
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379 </variable> |
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380 <variable formalParameter="Active"> |
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381 <connectionPointOut> |
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382 <relPosition x="252" y="146"/> |
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383 </connectionPointOut> |
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384 </variable> |
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385 <variable formalParameter="CommandAborted"> |
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386 <connectionPointOut> |
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387 <relPosition x="252" y="182"/> |
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388 </connectionPointOut> |
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389 </variable> |
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390 <variable formalParameter="Error"> |
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391 <connectionPointOut> |
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392 <relPosition x="252" y="218"/> |
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393 </connectionPointOut> |
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394 </variable> |
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395 <variable formalParameter="ErrorID"> |
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396 <connectionPointOut> |
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397 <relPosition x="252" y="254"/> |
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398 </connectionPointOut> |
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399 </variable> |
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400 </outputVariables> |
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401 </block> |
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402 <inVariable localId="11" height="27" width="54"> |
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403 <position x="630" y="306"/> |
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404 <connectionPointOut> |
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405 <relPosition x="54" y="13"/> |
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406 </connectionPointOut> |
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407 <expression>1800.0</expression> |
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408 </inVariable> |
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409 <inVariable localId="12" height="27" width="46"> |
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410 <position x="637" y="342"/> |
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411 <connectionPointOut> |
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412 <relPosition x="46" y="13"/> |
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413 </connectionPointOut> |
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414 <expression>360.0</expression> |
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415 </inVariable> |
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416 </FBD> |
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417 </body> |
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418 </pou> |
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419 </pous> |
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420 </types> |
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421 <instances> |
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422 <configurations> |
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423 <configuration name="conf"> |
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424 <resource name="res"> |
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425 <task name="main_task" interval="T#0.5ms" priority="0"> |
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426 <pouInstance name="main_instance" typeName="Prog"/> |
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427 <pouInstance name="test_MCL_instance" typeName="test_MCL"/> |
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428 </task> |
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429 </resource> |
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430 </configuration> |
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431 </configurations> |
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432 </instances> |
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433 </project> |
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