--- a/ethercat_tests/wago_sanyo/plc.xml Sun Mar 11 21:57:00 2012 +0100
+++ b/ethercat_tests/wago_sanyo/plc.xml Sun Mar 18 23:57:32 2012 +0100
@@ -8,7 +8,7 @@
productVersion="1.0"
creationDateTime="2011-10-20T19:01:52"/>
<contentHeader name="test_ethercat"
- modificationDateTime="2012-02-15T00:53:41">
+ modificationDateTime="2012-03-18T23:04:07">
<coordinateInfo>
<fbd>
<scaling x="0" y="0"/>
@@ -27,12 +27,12 @@
<pou name="Prog" pouType="program">
<interface>
<localVars>
- <variable name="CLOCK" address="%QX0.0.0.2.28672.1">
+ <variable name="CLOCK" address="%QX0.0.2.28672.1">
<type>
<BOOL/>
</type>
</variable>
- <variable name="LED" address="%QX0.0.0.2.28688.1">
+ <variable name="LED" address="%QX0.0.2.28688.1">
<type>
<BOOL/>
</type>
@@ -40,26 +40,36 @@
<simpleValue value="TRUE"/>
</initialValue>
</variable>
- <variable name="ControlWord" address="%QW0.0.1.0.24640.0">
+ <variable name="ControlWord" address="%QW0.0.3.24640.0">
<type>
<UINT/>
</type>
</variable>
- <variable name="StatusWord" address="%IW0.0.1.0.24641.0">
+ <variable name="StatusWord" address="%IW0.0.3.24641.0">
<type>
<UINT/>
</type>
</variable>
- <variable name="ErrorCode" address="%IW0.0.1.0.24639.0">
+ <variable name="ErrorCode" address="%IW0.0.3.24639.0">
<type>
<UINT/>
</type>
</variable>
- <variable name="Mode" address="%IB0.0.1.0.24673.0">
+ <variable name="ModeDisplay" address="%IB0.0.3.24673.0">
<type>
<SINT/>
</type>
</variable>
+ <variable name="ActualPosition" address="%ID0.0.3.24676.0">
+ <type>
+ <DINT/>
+ </type>
+ </variable>
+ <variable name="TargetPosition" address="%QD0.0.3.24698.0">
+ <type>
+ <DINT/>
+ </type>
+ </variable>
</localVars>
</interface>
<body>
@@ -68,14 +78,353 @@
</ST>
</body>
</pou>
+ <pou name="test_MCL" pouType="program">
+ <interface>
+ <localVars>
+ <variable name="CLOCK">
+ <type>
+ <UDINT/>
+ </type>
+ </variable>
+ </localVars>
+ <localVars>
+ <variable name="Axis" address="%IW0.0.3.0">
+ <type>
+ <INT/>
+ </type>
+ </variable>
+ </localVars>
+ <localVars>
+ <variable name="switch">
+ <type>
+ <derived name="MC_Power"/>
+ </type>
+ </variable>
+ <variable name="move1">
+ <type>
+ <derived name="MC_MoveAbsolute"/>
+ </type>
+ </variable>
+ </localVars>
+ </interface>
+ <body>
+ <FBD>
+ <inVariable localId="1" height="27" width="53">
+ <position x="45" y="36"/>
+ <connectionPointOut>
+ <relPosition x="53" y="13"/>
+ </connectionPointOut>
+ <expression>CLOCK</expression>
+ </inVariable>
+ <block localId="2" width="111" height="116" typeName="ADD">
+ <position x="149" y="5"/>
+ <inputVariables>
+ <variable formalParameter="IN1">
+ <connectionPointIn>
+ <relPosition x="0" y="44"/>
+ <connection refLocalId="1">
+ <position x="149" y="49"/>
+ <position x="98" y="49"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN2">
+ <connectionPointIn>
+ <relPosition x="0" y="92"/>
+ <connection refLocalId="3">
+ <position x="149" y="97"/>
+ <position x="98" y="97"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="111" y="44"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="3" height="27" width="18">
+ <position x="80" y="84"/>
+ <connectionPointOut>
+ <relPosition x="18" y="13"/>
+ </connectionPointOut>
+ <expression>1</expression>
+ </inVariable>
+ <outVariable localId="4" height="27" width="53">
+ <position x="302" y="36"/>
+ <connectionPointIn>
+ <relPosition x="0" y="13"/>
+ <connection refLocalId="2" formalParameter="OUT">
+ <position x="302" y="49"/>
+ <position x="260" y="49"/>
+ </connection>
+ </connectionPointIn>
+ <expression>CLOCK</expression>
+ </outVariable>
+ <inVariable localId="5" height="27" width="53">
+ <position x="46" y="234"/>
+ <connectionPointOut>
+ <relPosition x="53" y="13"/>
+ </connectionPointOut>
+ <expression>CLOCK</expression>
+ </inVariable>
+ <inVariable localId="6" height="27" width="50">
+ <position x="49" y="268"/>
+ <connectionPointOut>
+ <relPosition x="50" y="13"/>
+ </connectionPointOut>
+ <expression>4000</expression>
+ </inVariable>
+ <block localId="7" width="99" height="89" typeName="GT">
+ <position x="155" y="210"/>
+ <inputVariables>
+ <variable formalParameter="IN1">
+ <connectionPointIn>
+ <relPosition x="0" y="37"/>
+ <connection refLocalId="5">
+ <position x="155" y="247"/>
+ <position x="99" y="247"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="IN2">
+ <connectionPointIn>
+ <relPosition x="0" y="71"/>
+ <connection refLocalId="6">
+ <position x="155" y="281"/>
+ <position x="99" y="281"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="OUT">
+ <connectionPointOut>
+ <relPosition x="99" y="37"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <block localId="8" width="159" height="204" typeName="MC_Power" instanceName="switch">
+ <position x="398" y="173"/>
+ <inputVariables>
+ <variable formalParameter="Axis">
+ <connectionPointIn>
+ <relPosition x="0" y="38"/>
+ <connection refLocalId="9">
+ <position x="398" y="211"/>
+ <position x="344" y="211"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Enable">
+ <connectionPointIn>
+ <relPosition x="0" y="74"/>
+ <connection refLocalId="7" formalParameter="OUT">
+ <position x="398" y="247"/>
+ <position x="254" y="247"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="EnablePositive">
+ <connectionPointIn>
+ <relPosition x="0" y="110"/>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="EnableNegative">
+ <connectionPointIn>
+ <relPosition x="0" y="146"/>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="Axis">
+ <connectionPointOut>
+ <relPosition x="159" y="38"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Status">
+ <connectionPointOut>
+ <relPosition x="159" y="74"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Valid">
+ <connectionPointOut>
+ <relPosition x="159" y="110"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Error">
+ <connectionPointOut>
+ <relPosition x="159" y="146"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="ErrorID">
+ <connectionPointOut>
+ <relPosition x="159" y="182"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="9" height="27" width="36">
+ <position x="308" y="198"/>
+ <connectionPointOut>
+ <relPosition x="36" y="13"/>
+ </connectionPointOut>
+ <expression>Axis</expression>
+ </inVariable>
+ <block localId="10" width="252" height="389" typeName="MC_MoveAbsolute" instanceName="move1">
+ <position x="744" y="173"/>
+ <inputVariables>
+ <variable formalParameter="Axis">
+ <connectionPointIn>
+ <relPosition x="0" y="38"/>
+ <connection refLocalId="8" formalParameter="Axis">
+ <position x="744" y="211"/>
+ <position x="557" y="211"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Execute">
+ <connectionPointIn>
+ <relPosition x="0" y="74"/>
+ <connection refLocalId="8" formalParameter="Status">
+ <position x="744" y="247"/>
+ <position x="557" y="247"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="ContinuousUpdate">
+ <connectionPointIn>
+ <relPosition x="0" y="110"/>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Position">
+ <connectionPointIn>
+ <relPosition x="0" y="146"/>
+ <connection refLocalId="11">
+ <position x="744" y="319"/>
+ <position x="672" y="319"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Velocity">
+ <connectionPointIn>
+ <relPosition x="0" y="182"/>
+ <connection refLocalId="12">
+ <position x="744" y="355"/>
+ <position x="671" y="355"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Acceleration">
+ <connectionPointIn>
+ <relPosition x="0" y="218"/>
+ <connection refLocalId="12">
+ <position x="744" y="391"/>
+ <position x="707" y="391"/>
+ <position x="707" y="355"/>
+ <position x="671" y="355"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Deceleration">
+ <connectionPointIn>
+ <relPosition x="0" y="254"/>
+ <connection refLocalId="12">
+ <position x="744" y="427"/>
+ <position x="707" y="427"/>
+ <position x="707" y="355"/>
+ <position x="671" y="355"/>
+ </connection>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Jerk">
+ <connectionPointIn>
+ <relPosition x="0" y="290"/>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="Direction">
+ <connectionPointIn>
+ <relPosition x="0" y="326"/>
+ </connectionPointIn>
+ </variable>
+ <variable formalParameter="BufferMode">
+ <connectionPointIn>
+ <relPosition x="0" y="362"/>
+ </connectionPointIn>
+ </variable>
+ </inputVariables>
+ <inOutVariables/>
+ <outputVariables>
+ <variable formalParameter="Axis">
+ <connectionPointOut>
+ <relPosition x="252" y="38"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Done">
+ <connectionPointOut>
+ <relPosition x="252" y="74"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Busy">
+ <connectionPointOut>
+ <relPosition x="252" y="110"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Active">
+ <connectionPointOut>
+ <relPosition x="252" y="146"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="CommandAborted">
+ <connectionPointOut>
+ <relPosition x="252" y="182"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="Error">
+ <connectionPointOut>
+ <relPosition x="252" y="218"/>
+ </connectionPointOut>
+ </variable>
+ <variable formalParameter="ErrorID">
+ <connectionPointOut>
+ <relPosition x="252" y="254"/>
+ </connectionPointOut>
+ </variable>
+ </outputVariables>
+ </block>
+ <inVariable localId="11" height="27" width="54">
+ <position x="630" y="306"/>
+ <connectionPointOut>
+ <relPosition x="54" y="13"/>
+ </connectionPointOut>
+ <expression>1800.0</expression>
+ </inVariable>
+ <inVariable localId="12" height="27" width="46">
+ <position x="637" y="342"/>
+ <connectionPointOut>
+ <relPosition x="46" y="13"/>
+ </connectionPointOut>
+ <expression>360.0</expression>
+ </inVariable>
+ </FBD>
+ </body>
+ </pou>
</pous>
</types>
<instances>
<configurations>
<configuration name="conf">
<resource name="res">
- <task name="main_task" interval="T#0.4ms" priority="0">
+ <task name="main_task" interval="T#0.5ms" priority="0">
<pouInstance name="main_instance" typeName="Prog"/>
+ <pouInstance name="test_MCL_instance" typeName="test_MCL"/>
</task>
</resource>
</configuration>