265 CODE := 'GetResult()'); |
265 CODE := 'GetResult()'); |
266 ]]> |
266 ]]> |
267 </ST> |
267 </ST> |
268 </body> |
268 </body> |
269 </pou> |
269 </pou> |
|
270 <pou name="EtherLabSetTorqueLimit" pouType="functionBlock"> |
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|
276 </type> |
|
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|
278 <variable name="Execute"> |
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279 <type> |
|
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|
281 </type> |
|
282 </variable> |
|
283 <variable name="TorqueLimitPos"> |
|
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|
285 <UINT/> |
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286 </type> |
|
287 </variable> |
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288 <variable name="TorqueLimitNeg"> |
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292 </variable> |
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
787 </inVariable> |
|
788 </FBD> |
|
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|
790 </pou> |
|
791 <pou name="EtherLabGetTorqueLimit" pouType="functionBlock"> |
|
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|
793 <inputVars> |
|
794 <variable name="Pos"> |
|
795 <type> |
|
796 <INT/> |
|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
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|
820 </variable> |
|
821 <variable name="ErrorID"> |
|
822 <type> |
|
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|
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|
825 </variable> |
|
826 <variable name="TorqueLimitPos"> |
|
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|
828 <UINT/> |
|
829 </type> |
|
830 </variable> |
|
831 <variable name="TorqueLimitNeg"> |
|
832 <type> |
|
833 <UINT/> |
|
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|
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|
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|
837 <localVars> |
|
838 <variable name="EtherLabSDOUpload0"> |
|
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|
840 <derived name="EtherLabSDOUpload"/> |
|
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|
842 </variable> |
|
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|
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|
845 <derived name="EtherLabSDOUpload"/> |
|
846 </type> |
|
847 </variable> |
|
848 <variable name="RS0"> |
|
849 <type> |
|
850 <derived name="RS"/> |
|
851 </type> |
|
852 </variable> |
|
853 </localVars> |
|
854 </interface> |
|
855 <body> |
|
856 <FBD> |
|
857 <block localId="1" width="149" height="203" typeName="EtherLabSDOUpload" instanceName="EtherLabSDOUpload0"> |
|
858 <position x="283" y="70"/> |
|
859 <inputVariables> |
|
860 <variable formalParameter="EXECUTE"> |
|
861 <connectionPointIn> |
|
862 <relPosition x="0" y="38"/> |
|
863 <connection refLocalId="3"> |
|
864 <position x="283" y="108"/> |
|
865 <position x="111" y="108"/> |
|
866 </connection> |
|
867 </connectionPointIn> |
|
868 </variable> |
|
869 <variable formalParameter="POS"> |
|
870 <connectionPointIn> |
|
871 <relPosition x="0" y="74"/> |
|
872 <connection refLocalId="4"> |
|
873 <position x="283" y="144"/> |
|
874 <position x="219" y="144"/> |
|
875 </connection> |
|
876 </connectionPointIn> |
|
877 </variable> |
|
878 <variable formalParameter="INDEX"> |
|
879 <connectionPointIn> |
|
880 <relPosition x="0" y="110"/> |
|
881 <connection refLocalId="6"> |
|
882 <position x="283" y="180"/> |
|
883 <position x="219" y="180"/> |
|
884 </connection> |
|
885 </connectionPointIn> |
|
886 </variable> |
|
887 <variable formalParameter="SUBINDEX"> |
|
888 <connectionPointIn> |
|
889 <relPosition x="0" y="146"/> |
|
890 <connection refLocalId="8"> |
|
891 <position x="283" y="216"/> |
|
892 <position x="219" y="216"/> |
|
893 </connection> |
|
894 </connectionPointIn> |
|
895 </variable> |
|
896 <variable formalParameter="VARTYPE"> |
|
897 <connectionPointIn> |
|
898 <relPosition x="0" y="182"/> |
|
899 <connection refLocalId="10"> |
|
900 <position x="283" y="252"/> |
|
901 <position x="219" y="252"/> |
|
902 </connection> |
|
903 </connectionPointIn> |
|
904 </variable> |
|
905 </inputVariables> |
|
906 <inOutVariables/> |
|
907 <outputVariables> |
|
908 <variable formalParameter="ACK"> |
|
909 <connectionPointOut> |
|
910 <relPosition x="149" y="38"/> |
|
911 </connectionPointOut> |
|
912 </variable> |
|
913 <variable formalParameter="VALID"> |
|
914 <connectionPointOut> |
|
915 <relPosition x="149" y="74"/> |
|
916 </connectionPointOut> |
|
917 </variable> |
|
918 <variable formalParameter="VALUE"> |
|
919 <connectionPointOut> |
|
920 <relPosition x="149" y="110"/> |
|
921 </connectionPointOut> |
|
922 </variable> |
|
923 </outputVariables> |
|
924 </block> |
|
925 <block localId="2" width="149" height="228" typeName="EtherLabSDOUpload" instanceName="EtherLabSDOUpload1"> |
|
926 <position x="284" y="321"/> |
|
927 <inputVariables> |
|
928 <variable formalParameter="EXECUTE"> |
|
929 <connectionPointIn> |
|
930 <relPosition x="0" y="40"/> |
|
931 <connection refLocalId="3"> |
|
932 <position x="284" y="361"/> |
|
933 <position x="131" y="361"/> |
|
934 <position x="131" y="108"/> |
|
935 <position x="111" y="108"/> |
|
936 </connection> |
|
937 </connectionPointIn> |
|
938 </variable> |
|
939 <variable formalParameter="POS"> |
|
940 <connectionPointIn> |
|
941 <relPosition x="0" y="81"/> |
|
942 <connection refLocalId="5"> |
|
943 <position x="284" y="402"/> |
|
944 <position x="219" y="402"/> |
|
945 </connection> |
|
946 </connectionPointIn> |
|
947 </variable> |
|
948 <variable formalParameter="INDEX"> |
|
949 <connectionPointIn> |
|
950 <relPosition x="0" y="122"/> |
|
951 <connection refLocalId="7"> |
|
952 <position x="284" y="443"/> |
|
953 <position x="219" y="443"/> |
|
954 </connection> |
|
955 </connectionPointIn> |
|
956 </variable> |
|
957 <variable formalParameter="SUBINDEX"> |
|
958 <connectionPointIn> |
|
959 <relPosition x="0" y="163"/> |
|
960 <connection refLocalId="9"> |
|
961 <position x="284" y="484"/> |
|
962 <position x="219" y="484"/> |
|
963 </connection> |
|
964 </connectionPointIn> |
|
965 </variable> |
|
966 <variable formalParameter="VARTYPE"> |
|
967 <connectionPointIn> |
|
968 <relPosition x="0" y="204"/> |
|
969 <connection refLocalId="11"> |
|
970 <position x="284" y="525"/> |
|
971 <position x="219" y="525"/> |
|
972 </connection> |
|
973 </connectionPointIn> |
|
974 </variable> |
|
975 </inputVariables> |
|
976 <inOutVariables/> |
|
977 <outputVariables> |
|
978 <variable formalParameter="ACK"> |
|
979 <connectionPointOut> |
|
980 <relPosition x="149" y="40"/> |
|
981 </connectionPointOut> |
|
982 </variable> |
|
983 <variable formalParameter="VALID"> |
|
984 <connectionPointOut> |
|
985 <relPosition x="149" y="81"/> |
|
986 </connectionPointOut> |
|
987 </variable> |
|
988 <variable formalParameter="VALUE"> |
|
989 <connectionPointOut> |
|
990 <relPosition x="149" y="122"/> |
|
991 </connectionPointOut> |
|
992 </variable> |
|
993 </outputVariables> |
|
994 </block> |
|
995 <inVariable localId="3" height="27" width="63"> |
|
996 <position x="48" y="95"/> |
|
997 <connectionPointOut> |
|
998 <relPosition x="63" y="13"/> |
|
999 </connectionPointOut> |
|
1000 <expression>Execute</expression> |
|
1001 </inVariable> |
|
1002 <inVariable localId="4" height="27" width="35"> |
|
1003 <position x="184" y="131"/> |
|
1004 <connectionPointOut> |
|
1005 <relPosition x="35" y="13"/> |
|
1006 </connectionPointOut> |
|
1007 <expression>Pos</expression> |
|
1008 </inVariable> |
|
1009 <inVariable localId="5" height="27" width="35"> |
|
1010 <position x="184" y="389"/> |
|
1011 <connectionPointOut> |
|
1012 <relPosition x="35" y="13"/> |
|
1013 </connectionPointOut> |
|
1014 <expression>Pos</expression> |
|
1015 </inVariable> |
|
1016 <inVariable localId="6" height="27" width="68"> |
|
1017 <position x="151" y="167"/> |
|
1018 <connectionPointOut> |
|
1019 <relPosition x="68" y="13"/> |
|
1020 </connectionPointOut> |
|
1021 <expression>16#60E0</expression> |
|
1022 </inVariable> |
|
1023 <inVariable localId="7" height="27" width="68"> |
|
1024 <position x="151" y="430"/> |
|
1025 <connectionPointOut> |
|
1026 <relPosition x="68" y="13"/> |
|
1027 </connectionPointOut> |
|
1028 <expression>16#60E0</expression> |
|
1029 </inVariable> |
|
1030 <inVariable localId="8" height="27" width="33"> |
|
1031 <position x="186" y="203"/> |
|
1032 <connectionPointOut> |
|
1033 <relPosition x="33" y="13"/> |
|
1034 </connectionPointOut> |
|
1035 <expression>0</expression> |
|
1036 </inVariable> |
|
1037 <inVariable localId="9" height="27" width="33"> |
|
1038 <position x="186" y="471"/> |
|
1039 <connectionPointOut> |
|
1040 <relPosition x="33" y="13"/> |
|
1041 </connectionPointOut> |
|
1042 <expression>0</expression> |
|
1043 </inVariable> |
|
1044 <inVariable localId="10" height="27" width="60"> |
|
1045 <position x="159" y="239"/> |
|
1046 <connectionPointOut> |
|
1047 <relPosition x="60" y="13"/> |
|
1048 </connectionPointOut> |
|
1049 <expression>'uint16'</expression> |
|
1050 </inVariable> |
|
1051 <inVariable localId="11" height="27" width="60"> |
|
1052 <position x="159" y="512"/> |
|
1053 <connectionPointOut> |
|
1054 <relPosition x="60" y="13"/> |
|
1055 </connectionPointOut> |
|
1056 <expression>'uint16'</expression> |
|
1057 </inVariable> |
|
1058 <block localId="12" width="126" height="40" typeName="STRING_TO_UINT"> |
|
1059 <position x="492" y="150"/> |
|
1060 <inputVariables> |
|
1061 <variable formalParameter="IN"> |
|
1062 <connectionPointIn> |
|
1063 <relPosition x="0" y="30"/> |
|
1064 <connection refLocalId="1" formalParameter="VALUE"> |
|
1065 <position x="492" y="180"/> |
|
1066 <position x="432" y="180"/> |
|
1067 </connection> |
|
1068 </connectionPointIn> |
|
1069 </variable> |
|
1070 </inputVariables> |
|
1071 <inOutVariables/> |
|
1072 <outputVariables> |
|
1073 <variable formalParameter="OUT"> |
|
1074 <connectionPointOut> |
|
1075 <relPosition x="126" y="30"/> |
|
1076 </connectionPointOut> |
|
1077 </variable> |
|
1078 </outputVariables> |
|
1079 </block> |
|
1080 <block localId="13" width="126" height="40" typeName="STRING_TO_UINT"> |
|
1081 <position x="498" y="413"/> |
|
1082 <inputVariables> |
|
1083 <variable formalParameter="IN"> |
|
1084 <connectionPointIn> |
|
1085 <relPosition x="0" y="30"/> |
|
1086 <connection refLocalId="2" formalParameter="VALUE"> |
|
1087 <position x="498" y="443"/> |
|
1088 <position x="433" y="443"/> |
|
1089 </connection> |
|
1090 </connectionPointIn> |
|
1091 </variable> |
|
1092 </inputVariables> |
|
1093 <inOutVariables/> |
|
1094 <outputVariables> |
|
1095 <variable formalParameter="OUT"> |
|
1096 <connectionPointOut> |
|
1097 <relPosition x="126" y="30"/> |
|
1098 </connectionPointOut> |
|
1099 </variable> |
|
1100 </outputVariables> |
|
1101 </block> |
|
1102 <outVariable localId="14" height="27" width="117"> |
|
1103 <position x="673" y="167"/> |
|
1104 <connectionPointIn> |
|
1105 <relPosition x="0" y="13"/> |
|
1106 <connection refLocalId="12" formalParameter="OUT"> |
|
1107 <position x="673" y="180"/> |
|
1108 <position x="618" y="180"/> |
|
1109 </connection> |
|
1110 </connectionPointIn> |
|
1111 <expression>TorqueLimitPos</expression> |
|
1112 </outVariable> |
|
1113 <outVariable localId="15" height="27" width="119"> |
|
1114 <position x="679" y="430"/> |
|
1115 <connectionPointIn> |
|
1116 <relPosition x="0" y="13"/> |
|
1117 <connection refLocalId="13" formalParameter="OUT"> |
|
1118 <position x="679" y="443"/> |
|
1119 <position x="624" y="443"/> |
|
1120 </connection> |
|
1121 </connectionPointIn> |
|
1122 <expression>TorqueLimitNeg</expression> |
|
1123 </outVariable> |
|
1124 <block localId="16" width="67" height="98" typeName="AND"> |
|
1125 <position x="861" y="69"/> |
|
1126 <inputVariables> |
|
1127 <variable formalParameter="IN1"> |
|
1128 <connectionPointIn> |
|
1129 <relPosition x="0" y="39"/> |
|
1130 <connection refLocalId="1" formalParameter="ACK"> |
|
1131 <position x="861" y="108"/> |
|
1132 <position x="432" y="108"/> |
|
1133 </connection> |
|
1134 </connectionPointIn> |
|
1135 </variable> |
|
1136 <variable formalParameter="IN2"> |
|
1137 <connectionPointIn> |
|
1138 <relPosition x="0" y="78"/> |
|
1139 <connection refLocalId="2" formalParameter="ACK"> |
|
1140 <position x="861" y="147"/> |
|
1141 <position x="804" y="147"/> |
|
1142 <position x="804" y="361"/> |
|
1143 <position x="433" y="361"/> |
|
1144 </connection> |
|
1145 </connectionPointIn> |
|
1146 </variable> |
|
1147 </inputVariables> |
|
1148 <inOutVariables/> |
|
1149 <outputVariables> |
|
1150 <variable formalParameter="OUT"> |
|
1151 <connectionPointOut> |
|
1152 <relPosition x="67" y="39"/> |
|
1153 </connectionPointOut> |
|
1154 </variable> |
|
1155 </outputVariables> |
|
1156 </block> |
|
1157 <outVariable localId="17" height="27" width="45"> |
|
1158 <position x="1009" y="95"/> |
|
1159 <connectionPointIn> |
|
1160 <relPosition x="0" y="13"/> |
|
1161 <connection refLocalId="16" formalParameter="OUT"> |
|
1162 <position x="1009" y="108"/> |
|
1163 <position x="928" y="108"/> |
|
1164 </connection> |
|
1165 </connectionPointIn> |
|
1166 <expression>Done</expression> |
|
1167 </outVariable> |
|
1168 <block localId="18" width="67" height="111" typeName="OR"> |
|
1169 <position x="862" y="315"/> |
|
1170 <inputVariables> |
|
1171 <variable formalParameter="IN1" negated="true"> |
|
1172 <connectionPointIn> |
|
1173 <relPosition x="0" y="42"/> |
|
1174 <connection refLocalId="1" formalParameter="VALID"> |
|
1175 <position x="862" y="357"/> |
|
1176 <position x="839" y="357"/> |
|
1177 <position x="839" y="254"/> |
|
1178 <position x="469" y="254"/> |
|
1179 <position x="469" y="144"/> |
|
1180 <position x="432" y="144"/> |
|
1181 </connection> |
|
1182 </connectionPointIn> |
|
1183 </variable> |
|
1184 <variable formalParameter="IN2" negated="true"> |
|
1185 <connectionPointIn> |
|
1186 <relPosition x="0" y="87"/> |
|
1187 <connection refLocalId="2" formalParameter="VALID"> |
|
1188 <position x="862" y="402"/> |
|
1189 <position x="433" y="402"/> |
|
1190 </connection> |
|
1191 </connectionPointIn> |
|
1192 </variable> |
|
1193 </inputVariables> |
|
1194 <inOutVariables/> |
|
1195 <outputVariables> |
|
1196 <variable formalParameter="OUT"> |
|
1197 <connectionPointOut> |
|
1198 <relPosition x="67" y="42"/> |
|
1199 </connectionPointOut> |
|
1200 </variable> |
|
1201 </outputVariables> |
|
1202 </block> |
|
1203 <block localId="19" width="67" height="98" typeName="AND"> |
|
1204 <position x="989" y="279"/> |
|
1205 <inputVariables> |
|
1206 <variable formalParameter="IN1"> |
|
1207 <connectionPointIn> |
|
1208 <relPosition x="0" y="39"/> |
|
1209 <connection refLocalId="16" formalParameter="OUT"> |
|
1210 <position x="989" y="318"/> |
|
1211 <position x="958" y="318"/> |
|
1212 <position x="958" y="108"/> |
|
1213 <position x="928" y="108"/> |
|
1214 </connection> |
|
1215 </connectionPointIn> |
|
1216 </variable> |
|
1217 <variable formalParameter="IN2"> |
|
1218 <connectionPointIn> |
|
1219 <relPosition x="0" y="78"/> |
|
1220 <connection refLocalId="18" formalParameter="OUT"> |
|
1221 <position x="989" y="357"/> |
|
1222 <position x="929" y="357"/> |
|
1223 </connection> |
|
1224 </connectionPointIn> |
|
1225 </variable> |
|
1226 </inputVariables> |
|
1227 <inOutVariables/> |
|
1228 <outputVariables> |
|
1229 <variable formalParameter="OUT"> |
|
1230 <connectionPointOut> |
|
1231 <relPosition x="67" y="39"/> |
|
1232 </connectionPointOut> |
|
1233 </variable> |
|
1234 </outputVariables> |
|
1235 </block> |
|
1236 <outVariable localId="20" height="27" width="45"> |
|
1237 <position x="1102" y="305"/> |
|
1238 <connectionPointIn> |
|
1239 <relPosition x="0" y="13"/> |
|
1240 <connection refLocalId="19" formalParameter="OUT"> |
|
1241 <position x="1102" y="318"/> |
|
1242 <position x="1056" y="318"/> |
|
1243 </connection> |
|
1244 </connectionPointIn> |
|
1245 <expression>Error</expression> |
|
1246 </outVariable> |
|
1247 <block localId="22" width="97" height="93" typeName="RS" instanceName="RS0"> |
|
1248 <position x="657" y="517"/> |
|
1249 <inputVariables> |
|
1250 <variable formalParameter="S"> |
|
1251 <connectionPointIn> |
|
1252 <relPosition x="0" y="38"/> |
|
1253 <connection refLocalId="23"> |
|
1254 <position x="657" y="555"/> |
|
1255 <position x="600" y="555"/> |
|
1256 </connection> |
|
1257 </connectionPointIn> |
|
1258 </variable> |
|
1259 <variable formalParameter="R1"> |
|
1260 <connectionPointIn> |
|
1261 <relPosition x="0" y="74"/> |
|
1262 <connection refLocalId="21"> |
|
1263 <position x="657" y="591"/> |
|
1264 <position x="599" y="591"/> |
|
1265 </connection> |
|
1266 </connectionPointIn> |
|
1267 </variable> |
|
1268 </inputVariables> |
|
1269 <inOutVariables/> |
|
1270 <outputVariables> |
|
1271 <variable formalParameter="Q1"> |
|
1272 <connectionPointOut> |
|
1273 <relPosition x="97" y="38"/> |
|
1274 </connectionPointOut> |
|
1275 </variable> |
|
1276 </outputVariables> |
|
1277 </block> |
|
1278 <inVariable localId="21" height="27" width="45"> |
|
1279 <position x="554" y="578"/> |
|
1280 <connectionPointOut> |
|
1281 <relPosition x="45" y="13"/> |
|
1282 </connectionPointOut> |
|
1283 <expression>Done</expression> |
|
1284 </inVariable> |
|
1285 <inVariable localId="23" height="27" width="63"> |
|
1286 <position x="537" y="542"/> |
|
1287 <connectionPointOut> |
|
1288 <relPosition x="63" y="13"/> |
|
1289 </connectionPointOut> |
|
1290 <expression>Execute</expression> |
|
1291 </inVariable> |
|
1292 <outVariable localId="24" height="27" width="41"> |
|
1293 <position x="811" y="542"/> |
|
1294 <connectionPointIn> |
|
1295 <relPosition x="0" y="13"/> |
|
1296 <connection refLocalId="22" formalParameter="Q1"> |
|
1297 <position x="811" y="555"/> |
|
1298 <position x="754" y="555"/> |
|
1299 </connection> |
|
1300 </connectionPointIn> |
|
1301 <expression>Busy</expression> |
|
1302 </outVariable> |
|
1303 </FBD> |
|
1304 </body> |
|
1305 </pou> |
270 </pous> |
1306 </pous> |
271 </types> |
1307 </types> |
272 <instances> |
1308 <instances> |
273 <configurations/> |
1309 <configurations/> |
274 </instances> |
1310 </instances> |