--- a/etherlab/pous.xml Fri Nov 09 11:27:30 2012 +0100
+++ b/etherlab/pous.xml Thu Nov 15 22:43:44 2012 +0100
@@ -8,7 +8,7 @@
productVersion="1"
creationDateTime="2012-10-22T12:12:45"/>
<contentHeader name="EtherlabMaster SDO Blocks"
- modificationDateTime="2012-10-25T19:53:33">
+ modificationDateTime="2012-11-13T18:03:39">
<coordinateInfo>
<fbd>
<scaling x="0" y="0"/>
@@ -267,6 +267,1042 @@
</ST>
</body>
</pou>
+ <pou name="EtherLabSetTorqueLimit" pouType="functionBlock">
+ <interface>
+ <inputVars>
+ <variable name="Pos">
+ <type>
+ <INT/>
+ </type>
+ </variable>
+ <variable name="Execute">
+ <type>
+ <BOOL/>
+ </type>
+ </variable>
+ <variable name="TorqueLimitPos">
+ <type>
+ <UINT/>
+ </type>
+ </variable>
+ <variable name="TorqueLimitNeg">
+ <type>
+ <UINT/>
+ </type>
+ </variable>
+ </inputVars>
+ <outputVars>
+ <variable name="Done">
+ <type>
+ <BOOL/>
+ </type>
+ </variable>
+ <variable name="Busy">
+ <type>
+ <BOOL/>
+ </type>
+ </variable>
+ <variable name="Error">
+ <type>
+ <BOOL/>
+ </type>
+ </variable>
+ <variable name="ErrorID">
+ <type>
+ <WORD/>
+ </type>
+ </variable>
+ </outputVars>
+ <localVars>
+ <variable name="EtherLabSDOUpload0">
+ <type>
+ <derived name="EtherLabSDODownload"/>
+ </type>
+ </variable>
+ <variable name="EtherLabSDOUpload1">
+ <type>
+ <derived name="EtherLabSDODownload"/>
+ </type>
+ </variable>
+ <variable name="RS0">
+ <type>
+ <derived name="RS"/>
+ </type>
+ </variable>
+ </localVars>
+ </interface>
+ <body>
+ <FBD>
+ <block localId="1" width="168" height="238" typeName="EtherLabSDODownload" instanceName="EtherLabSDOUpload0">
+ <position x="479" y="70"/>
+ <inputVariables>
+ <variable formalParameter="EXECUTE">
+ <connectionPointIn>
+ <relPosition x="0" y="38"/>
+ <connection refLocalId="3">
+ <position x="479" y="108"/>
+ <position x="111" y="108"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="POS">
+ <connectionPointIn>
+ <relPosition x="0" y="74"/>
+ <connection refLocalId="4">
+ <position x="479" y="144"/>
+ <position x="423" y="144"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="INDEX">
+ <connectionPointIn>
+ <relPosition x="0" y="110"/>
+ <connection refLocalId="6">
+ <position x="479" y="180"/>
+ <position x="423" y="180"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="SUBINDEX">
+ <connectionPointIn>
+ <relPosition x="0" y="146"/>
+ <connection refLocalId="8">
+ <position x="479" y="216"/>
+ <position x="423" y="216"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="VARTYPE">
+ <connectionPointIn>
+ <relPosition x="0" y="182"/>
+ <connection refLocalId="10">
+ <position x="479" y="252"/>
+ <position x="423" y="252"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="VALUE">
+ <connectionPointIn>
+ <relPosition x="0" y="218"/>
+ <connection refLocalId="25" formalParameter="OUT">
+ <position x="479" y="288"/>
+ <position x="450" y="288"/>
+ <position x="450" y="306"/>
+ <position x="422" y="306"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="ACK">
+ <connectionPointOut>
+ <relPosition x="168" y="38"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="ERROR">
+ <connectionPointOut>
+ <relPosition x="168" y="74"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <block localId="2" width="168" height="264" typeName="EtherLabSDODownload" instanceName="EtherLabSDOUpload1">
+ <position x="482" y="351"/>
+ <inputVariables>
+ <variable formalParameter="EXECUTE">
+ <connectionPointIn>
+ <relPosition x="0" y="40"/>
+ <connection refLocalId="3">
+ <position x="482" y="391"/>
+ <position x="131" y="391"/>
+ <position x="131" y="108"/>
+ <position x="111" y="108"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="POS">
+ <connectionPointIn>
+ <relPosition x="0" y="80"/>
+ <connection refLocalId="5">
+ <position x="482" y="431"/>
+ <position x="431" y="431"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="INDEX">
+ <connectionPointIn>
+ <relPosition x="0" y="120"/>
+ <connection refLocalId="7">
+ <position x="482" y="471"/>
+ <position x="431" y="471"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="SUBINDEX">
+ <connectionPointIn>
+ <relPosition x="0" y="160"/>
+ <connection refLocalId="9">
+ <position x="482" y="511"/>
+ <position x="430" y="511"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="VARTYPE">
+ <connectionPointIn>
+ <relPosition x="0" y="200"/>
+ <connection refLocalId="11">
+ <position x="482" y="551"/>
+ <position x="431" y="551"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="VALUE">
+ <connectionPointIn>
+ <relPosition x="0" y="240"/>
+ <connection refLocalId="12" formalParameter="OUT">
+ <position x="482" y="591"/>
+ <position x="456" y="591"/>
+ <position x="456" y="610"/>
+ <position x="431" y="610"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="ACK">
+ <connectionPointOut>
+ <relPosition x="168" y="40"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="ERROR">
+ <connectionPointOut>
+ <relPosition x="168" y="80"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="3" height="27" width="63">
+ <position x="48" y="95"/>
+ <connectionPointOut>
+ <relPosition x="63" y="13"/>
+ </connectionPointOut>
+ <expression>Execute</expression>
+ </inVariable>
+ <inVariable localId="4" height="27" width="35">
+ <position x="388" y="131"/>
+ <connectionPointOut>
+ <relPosition x="35" y="13"/>
+ </connectionPointOut>
+ <expression>Pos</expression>
+ </inVariable>
+ <inVariable localId="5" height="27" width="35">
+ <position x="396" y="418"/>
+ <connectionPointOut>
+ <relPosition x="35" y="13"/>
+ </connectionPointOut>
+ <expression>Pos</expression>
+ </inVariable>
+ <inVariable localId="6" height="27" width="68">
+ <position x="355" y="167"/>
+ <connectionPointOut>
+ <relPosition x="68" y="13"/>
+ </connectionPointOut>
+ <expression>16#60E0</expression>
+ </inVariable>
+ <inVariable localId="7" height="27" width="68">
+ <position x="363" y="458"/>
+ <connectionPointOut>
+ <relPosition x="68" y="13"/>
+ </connectionPointOut>
+ <expression>16#60E0</expression>
+ </inVariable>
+ <inVariable localId="8" height="27" width="33">
+ <position x="390" y="203"/>
+ <connectionPointOut>
+ <relPosition x="33" y="13"/>
+ </connectionPointOut>
+ <expression>0</expression>
+ </inVariable>
+ <inVariable localId="9" height="27" width="33">
+ <position x="397" y="498"/>
+ <connectionPointOut>
+ <relPosition x="33" y="13"/>
+ </connectionPointOut>
+ <expression>0</expression>
+ </inVariable>
+ <inVariable localId="10" height="27" width="60">
+ <position x="363" y="239"/>
+ <connectionPointOut>
+ <relPosition x="60" y="13"/>
+ </connectionPointOut>
+ <expression>'uint16'</expression>
+ </inVariable>
+ <inVariable localId="11" height="27" width="60">
+ <position x="371" y="538"/>
+ <connectionPointOut>
+ <relPosition x="60" y="13"/>
+ </connectionPointOut>
+ <expression>'uint16'</expression>
+ </inVariable>
+ <block localId="16" width="67" height="98" typeName="AND">
+ <position x="763" y="69"/>
+ <inputVariables>
+ <variable formalParameter="IN1">
+ <connectionPointIn>
+ <relPosition x="0" y="39"/>
+ <connection refLocalId="1" formalParameter="ACK">
+ <position x="763" y="108"/>
+ <position x="647" y="108"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN2">
+ <connectionPointIn>
+ <relPosition x="0" y="78"/>
+ <connection refLocalId="2" formalParameter="ACK">
+ <position x="763" y="147"/>
+ <position x="707" y="147"/>
+ <position x="707" y="391"/>
+ <position x="650" y="391"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="67" y="39"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <outVariable localId="17" height="27" width="45">
+ <position x="941" y="95"/>
+ <connectionPointIn>
+ <relPosition x="0" y="13"/>
+ <connection refLocalId="16" formalParameter="OUT">
+ <position x="941" y="108"/>
+ <position x="830" y="108"/>
+ </connection>
+ </connectionPointIn>
+ <expression>Done</expression>
+ </outVariable>
+ <block localId="18" width="67" height="111" typeName="OR">
+ <position x="778" y="344"/>
+ <inputVariables>
+ <variable formalParameter="IN1">
+ <connectionPointIn>
+ <relPosition x="0" y="42"/>
+ <connection refLocalId="1" formalParameter="ERROR">
+ <position x="778" y="386"/>
+ <position x="752" y="386"/>
+ <position x="752" y="254"/>
+ <position x="659" y="254"/>
+ <position x="659" y="144"/>
+ <position x="647" y="144"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN2">
+ <connectionPointIn>
+ <relPosition x="0" y="87"/>
+ <connection refLocalId="2" formalParameter="ERROR">
+ <position x="778" y="431"/>
+ <position x="650" y="431"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="67" y="42"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <block localId="19" width="67" height="98" typeName="AND">
+ <position x="933" y="308"/>
+ <inputVariables>
+ <variable formalParameter="IN1">
+ <connectionPointIn>
+ <relPosition x="0" y="39"/>
+ <connection refLocalId="16" formalParameter="OUT">
+ <position x="933" y="347"/>
+ <position x="886" y="347"/>
+ <position x="886" y="108"/>
+ <position x="830" y="108"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN2">
+ <connectionPointIn>
+ <relPosition x="0" y="78"/>
+ <connection refLocalId="18" formalParameter="OUT">
+ <position x="933" y="386"/>
+ <position x="845" y="386"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="67" y="39"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <outVariable localId="20" height="27" width="45">
+ <position x="1037" y="334"/>
+ <connectionPointIn>
+ <relPosition x="0" y="13"/>
+ <connection refLocalId="19" formalParameter="OUT">
+ <position x="1037" y="347"/>
+ <position x="1000" y="347"/>
+ </connection>
+ </connectionPointIn>
+ <expression>Error</expression>
+ </outVariable>
+ <block localId="22" width="97" height="93" typeName="RS" instanceName="RS0">
+ <position x="854" y="498"/>
+ <inputVariables>
+ <variable formalParameter="S">
+ <connectionPointIn>
+ <relPosition x="0" y="38"/>
+ <connection refLocalId="23">
+ <position x="854" y="536"/>
+ <position x="795" y="536"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="R1">
+ <connectionPointIn>
+ <relPosition x="0" y="74"/>
+ <connection refLocalId="21">
+ <position x="854" y="572"/>
+ <position x="790" y="572"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="Q1">
+ <connectionPointOut>
+ <relPosition x="97" y="38"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="21" height="27" width="45">
+ <position x="745" y="559"/>
+ <connectionPointOut>
+ <relPosition x="45" y="13"/>
+ </connectionPointOut>
+ <expression>Done</expression>
+ </inVariable>
+ <inVariable localId="23" height="27" width="63">
+ <position x="732" y="523"/>
+ <connectionPointOut>
+ <relPosition x="63" y="13"/>
+ </connectionPointOut>
+ <expression>Execute</expression>
+ </inVariable>
+ <outVariable localId="24" height="27" width="41">
+ <position x="1006" y="523"/>
+ <connectionPointIn>
+ <relPosition x="0" y="13"/>
+ <connection refLocalId="22" formalParameter="Q1">
+ <position x="1006" y="536"/>
+ <position x="951" y="536"/>
+ </connection>
+ </connectionPointIn>
+ <expression>Busy</expression>
+ </outVariable>
+ <block localId="25" width="126" height="40" typeName="UINT_TO_STRING">
+ <position x="296" y="276"/>
+ <inputVariables>
+ <variable formalParameter="IN">
+ <connectionPointIn>
+ <relPosition x="0" y="30"/>
+ <connection refLocalId="14">
+ <position x="296" y="306"/>
+ <position x="262" y="306"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="126" y="30"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="14" height="27" width="117">
+ <position x="145" y="293"/>
+ <connectionPointOut>
+ <relPosition x="117" y="13"/>
+ </connectionPointOut>
+ <expression>TorqueLimitPos</expression>
+ </inVariable>
+ <block localId="12" width="126" height="40" typeName="UINT_TO_STRING">
+ <position x="305" y="580"/>
+ <inputVariables>
+ <variable formalParameter="IN">
+ <connectionPointIn>
+ <relPosition x="0" y="30"/>
+ <connection refLocalId="15">
+ <position x="305" y="610"/>
+ <position x="283" y="610"/>
+ <position x="283" y="611"/>
+ <position x="262" y="611"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="126" y="30"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="15" height="27" width="119">
+ <position x="143" y="598"/>
+ <connectionPointOut>
+ <relPosition x="119" y="13"/>
+ </connectionPointOut>
+ <expression>TorqueLimitNeg</expression>
+ </inVariable>
+ </FBD>
+ </body>
+ </pou>
+ <pou name="EtherLabGetTorqueLimit" pouType="functionBlock">
+ <interface>
+ <inputVars>
+ <variable name="Pos">
+ <type>
+ <INT/>
+ </type>
+ </variable>
+ <variable name="Execute">
+ <type>
+ <BOOL/>
+ </type>
+ </variable>
+ </inputVars>
+ <outputVars>
+ <variable name="Done">
+ <type>
+ <BOOL/>
+ </type>
+ </variable>
+ <variable name="Busy">
+ <type>
+ <BOOL/>
+ </type>
+ </variable>
+ <variable name="Error">
+ <type>
+ <BOOL/>
+ </type>
+ </variable>
+ <variable name="ErrorID">
+ <type>
+ <WORD/>
+ </type>
+ </variable>
+ <variable name="TorqueLimitPos">
+ <type>
+ <UINT/>
+ </type>
+ </variable>
+ <variable name="TorqueLimitNeg">
+ <type>
+ <UINT/>
+ </type>
+ </variable>
+ </outputVars>
+ <localVars>
+ <variable name="EtherLabSDOUpload0">
+ <type>
+ <derived name="EtherLabSDOUpload"/>
+ </type>
+ </variable>
+ <variable name="EtherLabSDOUpload1">
+ <type>
+ <derived name="EtherLabSDOUpload"/>
+ </type>
+ </variable>
+ <variable name="RS0">
+ <type>
+ <derived name="RS"/>
+ </type>
+ </variable>
+ </localVars>
+ </interface>
+ <body>
+ <FBD>
+ <block localId="1" width="149" height="203" typeName="EtherLabSDOUpload" instanceName="EtherLabSDOUpload0">
+ <position x="283" y="70"/>
+ <inputVariables>
+ <variable formalParameter="EXECUTE">
+ <connectionPointIn>
+ <relPosition x="0" y="38"/>
+ <connection refLocalId="3">
+ <position x="283" y="108"/>
+ <position x="111" y="108"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="POS">
+ <connectionPointIn>
+ <relPosition x="0" y="74"/>
+ <connection refLocalId="4">
+ <position x="283" y="144"/>
+ <position x="219" y="144"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="INDEX">
+ <connectionPointIn>
+ <relPosition x="0" y="110"/>
+ <connection refLocalId="6">
+ <position x="283" y="180"/>
+ <position x="219" y="180"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="SUBINDEX">
+ <connectionPointIn>
+ <relPosition x="0" y="146"/>
+ <connection refLocalId="8">
+ <position x="283" y="216"/>
+ <position x="219" y="216"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="VARTYPE">
+ <connectionPointIn>
+ <relPosition x="0" y="182"/>
+ <connection refLocalId="10">
+ <position x="283" y="252"/>
+ <position x="219" y="252"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="ACK">
+ <connectionPointOut>
+ <relPosition x="149" y="38"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="VALID">
+ <connectionPointOut>
+ <relPosition x="149" y="74"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="VALUE">
+ <connectionPointOut>
+ <relPosition x="149" y="110"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <block localId="2" width="149" height="228" typeName="EtherLabSDOUpload" instanceName="EtherLabSDOUpload1">
+ <position x="284" y="321"/>
+ <inputVariables>
+ <variable formalParameter="EXECUTE">
+ <connectionPointIn>
+ <relPosition x="0" y="40"/>
+ <connection refLocalId="3">
+ <position x="284" y="361"/>
+ <position x="131" y="361"/>
+ <position x="131" y="108"/>
+ <position x="111" y="108"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="POS">
+ <connectionPointIn>
+ <relPosition x="0" y="81"/>
+ <connection refLocalId="5">
+ <position x="284" y="402"/>
+ <position x="219" y="402"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="INDEX">
+ <connectionPointIn>
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+ <connection refLocalId="7">
+ <position x="284" y="443"/>
+ <position x="219" y="443"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="SUBINDEX">
+ <connectionPointIn>
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+ <connection refLocalId="9">
+ <position x="284" y="484"/>
+ <position x="219" y="484"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="VARTYPE">
+ <connectionPointIn>
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+ <connection refLocalId="11">
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+ <position x="219" y="525"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="ACK">
+ <connectionPointOut>
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+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="VALID">
+ <connectionPointOut>
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+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="VALUE">
+ <connectionPointOut>
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+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="3" height="27" width="63">
+ <position x="48" y="95"/>
+ <connectionPointOut>
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+ </connectionPointOut>
+ <expression>Execute</expression>
+ </inVariable>
+ <inVariable localId="4" height="27" width="35">
+ <position x="184" y="131"/>
+ <connectionPointOut>
+ <relPosition x="35" y="13"/>
+ </connectionPointOut>
+ <expression>Pos</expression>
+ </inVariable>
+ <inVariable localId="5" height="27" width="35">
+ <position x="184" y="389"/>
+ <connectionPointOut>
+ <relPosition x="35" y="13"/>
+ </connectionPointOut>
+ <expression>Pos</expression>
+ </inVariable>
+ <inVariable localId="6" height="27" width="68">
+ <position x="151" y="167"/>
+ <connectionPointOut>
+ <relPosition x="68" y="13"/>
+ </connectionPointOut>
+ <expression>16#60E0</expression>
+ </inVariable>
+ <inVariable localId="7" height="27" width="68">
+ <position x="151" y="430"/>
+ <connectionPointOut>
+ <relPosition x="68" y="13"/>
+ </connectionPointOut>
+ <expression>16#60E0</expression>
+ </inVariable>
+ <inVariable localId="8" height="27" width="33">
+ <position x="186" y="203"/>
+ <connectionPointOut>
+ <relPosition x="33" y="13"/>
+ </connectionPointOut>
+ <expression>0</expression>
+ </inVariable>
+ <inVariable localId="9" height="27" width="33">
+ <position x="186" y="471"/>
+ <connectionPointOut>
+ <relPosition x="33" y="13"/>
+ </connectionPointOut>
+ <expression>0</expression>
+ </inVariable>
+ <inVariable localId="10" height="27" width="60">
+ <position x="159" y="239"/>
+ <connectionPointOut>
+ <relPosition x="60" y="13"/>
+ </connectionPointOut>
+ <expression>'uint16'</expression>
+ </inVariable>
+ <inVariable localId="11" height="27" width="60">
+ <position x="159" y="512"/>
+ <connectionPointOut>
+ <relPosition x="60" y="13"/>
+ </connectionPointOut>
+ <expression>'uint16'</expression>
+ </inVariable>
+ <block localId="12" width="126" height="40" typeName="STRING_TO_UINT">
+ <position x="492" y="150"/>
+ <inputVariables>
+ <variable formalParameter="IN">
+ <connectionPointIn>
+ <relPosition x="0" y="30"/>
+ <connection refLocalId="1" formalParameter="VALUE">
+ <position x="492" y="180"/>
+ <position x="432" y="180"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="126" y="30"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <block localId="13" width="126" height="40" typeName="STRING_TO_UINT">
+ <position x="498" y="413"/>
+ <inputVariables>
+ <variable formalParameter="IN">
+ <connectionPointIn>
+ <relPosition x="0" y="30"/>
+ <connection refLocalId="2" formalParameter="VALUE">
+ <position x="498" y="443"/>
+ <position x="433" y="443"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="126" y="30"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <outVariable localId="14" height="27" width="117">
+ <position x="673" y="167"/>
+ <connectionPointIn>
+ <relPosition x="0" y="13"/>
+ <connection refLocalId="12" formalParameter="OUT">
+ <position x="673" y="180"/>
+ <position x="618" y="180"/>
+ </connection>
+ </connectionPointIn>
+ <expression>TorqueLimitPos</expression>
+ </outVariable>
+ <outVariable localId="15" height="27" width="119">
+ <position x="679" y="430"/>
+ <connectionPointIn>
+ <relPosition x="0" y="13"/>
+ <connection refLocalId="13" formalParameter="OUT">
+ <position x="679" y="443"/>
+ <position x="624" y="443"/>
+ </connection>
+ </connectionPointIn>
+ <expression>TorqueLimitNeg</expression>
+ </outVariable>
+ <block localId="16" width="67" height="98" typeName="AND">
+ <position x="861" y="69"/>
+ <inputVariables>
+ <variable formalParameter="IN1">
+ <connectionPointIn>
+ <relPosition x="0" y="39"/>
+ <connection refLocalId="1" formalParameter="ACK">
+ <position x="861" y="108"/>
+ <position x="432" y="108"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN2">
+ <connectionPointIn>
+ <relPosition x="0" y="78"/>
+ <connection refLocalId="2" formalParameter="ACK">
+ <position x="861" y="147"/>
+ <position x="804" y="147"/>
+ <position x="804" y="361"/>
+ <position x="433" y="361"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="67" y="39"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <outVariable localId="17" height="27" width="45">
+ <position x="1009" y="95"/>
+ <connectionPointIn>
+ <relPosition x="0" y="13"/>
+ <connection refLocalId="16" formalParameter="OUT">
+ <position x="1009" y="108"/>
+ <position x="928" y="108"/>
+ </connection>
+ </connectionPointIn>
+ <expression>Done</expression>
+ </outVariable>
+ <block localId="18" width="67" height="111" typeName="OR">
+ <position x="862" y="315"/>
+ <inputVariables>
+ <variable formalParameter="IN1" negated="true">
+ <connectionPointIn>
+ <relPosition x="0" y="42"/>
+ <connection refLocalId="1" formalParameter="VALID">
+ <position x="862" y="357"/>
+ <position x="839" y="357"/>
+ <position x="839" y="254"/>
+ <position x="469" y="254"/>
+ <position x="469" y="144"/>
+ <position x="432" y="144"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN2" negated="true">
+ <connectionPointIn>
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+ <connection refLocalId="2" formalParameter="VALID">
+ <position x="862" y="402"/>
+ <position x="433" y="402"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="67" y="42"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <block localId="19" width="67" height="98" typeName="AND">
+ <position x="989" y="279"/>
+ <inputVariables>
+ <variable formalParameter="IN1">
+ <connectionPointIn>
+ <relPosition x="0" y="39"/>
+ <connection refLocalId="16" formalParameter="OUT">
+ <position x="989" y="318"/>
+ <position x="958" y="318"/>
+ <position x="958" y="108"/>
+ <position x="928" y="108"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN2">
+ <connectionPointIn>
+ <relPosition x="0" y="78"/>
+ <connection refLocalId="18" formalParameter="OUT">
+ <position x="989" y="357"/>
+ <position x="929" y="357"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="67" y="39"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <outVariable localId="20" height="27" width="45">
+ <position x="1102" y="305"/>
+ <connectionPointIn>
+ <relPosition x="0" y="13"/>
+ <connection refLocalId="19" formalParameter="OUT">
+ <position x="1102" y="318"/>
+ <position x="1056" y="318"/>
+ </connection>
+ </connectionPointIn>
+ <expression>Error</expression>
+ </outVariable>
+ <block localId="22" width="97" height="93" typeName="RS" instanceName="RS0">
+ <position x="657" y="517"/>
+ <inputVariables>
+ <variable formalParameter="S">
+ <connectionPointIn>
+ <relPosition x="0" y="38"/>
+ <connection refLocalId="23">
+ <position x="657" y="555"/>
+ <position x="600" y="555"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="R1">
+ <connectionPointIn>
+ <relPosition x="0" y="74"/>
+ <connection refLocalId="21">
+ <position x="657" y="591"/>
+ <position x="599" y="591"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="Q1">
+ <connectionPointOut>
+ <relPosition x="97" y="38"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="21" height="27" width="45">
+ <position x="554" y="578"/>
+ <connectionPointOut>
+ <relPosition x="45" y="13"/>
+ </connectionPointOut>
+ <expression>Done</expression>
+ </inVariable>
+ <inVariable localId="23" height="27" width="63">
+ <position x="537" y="542"/>
+ <connectionPointOut>
+ <relPosition x="63" y="13"/>
+ </connectionPointOut>
+ <expression>Execute</expression>
+ </inVariable>
+ <outVariable localId="24" height="27" width="41">
+ <position x="811" y="542"/>
+ <connectionPointIn>
+ <relPosition x="0" y="13"/>
+ <connection refLocalId="22" formalParameter="Q1">
+ <position x="811" y="555"/>
+ <position x="754" y="555"/>
+ </connection>
+ </connectionPointIn>
+ <expression>Busy</expression>
+ </outVariable>
+ </FBD>
+ </body>
+ </pou>
</pous>
</types>
<instances>