Merged GPL + LGPL v2 or later EtherCAT extension. Fixed headers and copyright notice.
<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://www.plcopen.org/xml/tc6.xsd"
xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xmlns:xhtml="http://www.w3.org/1999/xhtml">
<fileHeader companyName="Laurent BESSARD"
productName="test_ethercat"
productVersion="1.0"
creationDateTime="2011-10-20T19:01:52"/>
<contentHeader name="test_ethercat"
modificationDateTime="2012-05-20T19:26:53">
<coordinateInfo>
<fbd>
<scaling x="0" y="0"/>
</fbd>
<ld>
<scaling x="0" y="0"/>
</ld>
<sfc>
<scaling x="0" y="0"/>
</sfc>
</coordinateInfo>
</contentHeader>
<types>
<dataTypes/>
<pous>
<pou name="Prog" pouType="program">
<interface>
<localVars>
<variable name="CLOCK" address="%QX0.0.2.28672.1">
<type>
<BOOL/>
</type>
</variable>
<variable name="GREENLED" address="%QX0.0.2.28688.1">
<type>
<BOOL/>
</type>
<initialValue>
<simpleValue value="TRUE"/>
</initialValue>
</variable>
<variable name="ControlWord" address="%QW0.0.3.24640.0">
<type>
<UINT/>
</type>
</variable>
<variable name="StatusWord" address="%IW0.0.3.24641.0">
<type>
<UINT/>
</type>
</variable>
<variable name="ErrorCode" address="%IW0.0.3.24639.0">
<type>
<UINT/>
</type>
</variable>
<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>
<ST>
<![CDATA[CLOCK := NOT CLOCK;]]>
</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#0.5ms" priority="0">
<pouInstance name="main_instance" typeName="Prog"/>
<pouInstance name="test_MCL_instance" typeName="test_MCL"/>
</task>
</resource>
</configuration>
</configurations>
</instances>
</project>