Added runtime/spawn_subprocess.py. Force use posix spawn instead of fork, with API similar to subprocess. Using fork in runtime is incompatible with Xenomai, because memory is locked and this can lead to out of memory error.
<?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="EtherlabMaster"
productName="EtherlabMaster"
productVersion="1"
creationDateTime="2012-10-22T12:12:45"/>
<contentHeader name="EtherlabMaster SDO Blocks"
modificationDateTime="2012-11-13T18:03:39">
<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="EtherLabSDOUpload" pouType="functionBlock">
<interface>
<inputVars>
<variable name="EXECUTE">
<type>
<BOOL/>
</type>
</variable>
<variable name="POS">
<type>
<INT/>
</type>
</variable>
<variable name="INDEX">
<type>
<UINT/>
</type>
</variable>
<variable name="SUBINDEX">
<type>
<USINT/>
</type>
</variable>
<variable name="VARTYPE">
<type>
<string/>
</type>
</variable>
</inputVars>
<outputVars>
<variable name="ACK">
<type>
<BOOL/>
</type>
</variable>
<variable name="VALID">
<type>
<BOOL/>
</type>
</variable>
<variable name="VALUE">
<type>
<string/>
</type>
</variable>
</outputVars>
<localVars>
<variable name="PY0">
<type>
<derived name="python_eval"/>
</type>
</variable>
<variable name="PY1">
<type>
<derived name="python_eval"/>
</type>
</variable>
<variable name="EXECUTE0">
<type>
<BOOL/>
</type>
</variable>
<variable name="STATE">
<type>
<INT/>
</type>
<initialValue>
<simpleValue value="0"/>
</initialValue>
</variable>
</localVars>
</interface>
<body>
<ST>
<![CDATA[{extern int AcquireSDOLock();}
{extern int HasAnswer();}
{extern void ReleaseSDOLock();}
CASE STATE OF
0:
IF EXECUTE AND NOT EXECUTE0 THEN
STATE := 1;
ACK := 0;
VALID := 0;
VALUE := 'None';
END_IF;
1:
{if (AcquireSDOLock()) __SET_VAR(data__->,STATE,, 2)}
2:
IF PY0.ACK THEN
STATE := 3;
END_IF;
3:
{if (HasAnswer()) __SET_VAR(data__->,STATE,, 4)}
4:
IF PY1.ACK THEN
ACK := 1;
VALUE := PY1.RESULT;
VALID := NE(VALUE, 'None');
STATE := 0;
{ReleaseSDOLock();}
END_IF;
ELSE
STATE := 0;
END_CASE;
EXECUTE0 := EXECUTE;
PY0(TRIG := STATE = 2,
CODE := CONCAT('EthercatSDOUpload(',
INT_TO_STRING(POS),
',',
UINT_TO_STRING(INDEX),
',',
USINT_TO_STRING(SUBINDEX),
',"',
VARTYPE,
'")'));
PY1(TRIG := STATE = 4,
CODE := 'GetResult()');
]]>
</ST>
</body>
</pou>
<pou name="EtherLabSDODownload" pouType="functionBlock">
<interface>
<inputVars>
<variable name="EXECUTE">
<type>
<BOOL/>
</type>
</variable>
<variable name="POS">
<type>
<INT/>
</type>
</variable>
<variable name="INDEX">
<type>
<UINT/>
</type>
</variable>
<variable name="SUBINDEX">
<type>
<USINT/>
</type>
</variable>
<variable name="VARTYPE">
<type>
<string/>
</type>
</variable>
<variable name="VALUE">
<type>
<string/>
</type>
</variable>
</inputVars>
<outputVars>
<variable name="ACK">
<type>
<BOOL/>
</type>
</variable>
<variable name="ERROR">
<type>
<BOOL/>
</type>
</variable>
</outputVars>
<localVars>
<variable name="PY0">
<type>
<derived name="python_eval"/>
</type>
</variable>
<variable name="PY1">
<type>
<derived name="python_eval"/>
</type>
</variable>
<variable name="EXECUTE0">
<type>
<BOOL/>
</type>
</variable>
<variable name="STATE">
<type>
<INT/>
</type>
<initialValue>
<simpleValue value="0"/>
</initialValue>
</variable>
</localVars>
</interface>
<body>
<ST>
<![CDATA[{extern int AcquireSDOLock();}
{extern int HasAnswer();}
{extern void ReleaseSDOLock();}
CASE STATE OF
0:
IF EXECUTE AND NOT EXECUTE0 THEN
STATE := 1;
ACK := 0;
ERROR := 0;
END_IF;
1:
{if (AcquireSDOLock()) __SET_VAR(data__->,STATE,, 2)}
2:
IF PY0.ACK THEN
STATE := 3;
END_IF;
3:
{if (HasAnswer()) __SET_VAR(data__->,STATE,, 4)}
4:
IF PY1.ACK THEN
ACK := 1;
ERROR := EQ(PY1.RESULT, 'False');
STATE := 0;
{ReleaseSDOLock();}
END_IF;
ELSE
STATE := 0;
END_CASE;
EXECUTE0 := EXECUTE;
PY0(TRIG := STATE = 2,
CODE := CONCAT('EthercatSDODownload(',
INT_TO_STRING(POS),
',',
UINT_TO_STRING(INDEX),
',',
USINT_TO_STRING(SUBINDEX),
',"',
VARTYPE,
'",',
VALUE,
')'));
PY1(TRIG := STATE = 4,
CODE := 'GetResult()');
]]>
</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#60E1</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>
<relPosition x="0" y="122"/>
<connection refLocalId="7">
<position x="284" y="443"/>
<position x="219" y="443"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="SUBINDEX">
<connectionPointIn>
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<variable formalParameter="VARTYPE">
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<connection refLocalId="11">
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<position x="219" y="525"/>
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<variable formalParameter="ACK">
<connectionPointOut>
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</variable>
<variable formalParameter="VALID">
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</variable>
<variable formalParameter="VALUE">
<connectionPointOut>
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<connectionPointOut>
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<expression>Execute</expression>
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<connectionPointOut>
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</connectionPointOut>
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<inVariable localId="6" height="27" width="68">
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<connectionPointOut>
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</connectionPointOut>
<expression>16#60E0</expression>
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<connectionPointOut>
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<expression>16#60E1</expression>
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<expression>0</expression>
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<connectionPointOut>
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<expression>0</expression>
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<inVariable localId="10" height="27" width="60">
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<connectionPointOut>
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<expression>'uint16'</expression>
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<expression>'uint16'</expression>
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<variable formalParameter="IN">
<connectionPointIn>
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<connection refLocalId="1" formalParameter="VALUE">
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<position x="432" y="180"/>
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<variable formalParameter="OUT">
<connectionPointOut>
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<block localId="13" width="126" height="40" typeName="STRING_TO_UINT">
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<variable formalParameter="IN">
<connectionPointIn>
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<connection refLocalId="2" formalParameter="VALUE">
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<variable formalParameter="OUT">
<connectionPointOut>
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<connectionPointIn>
<relPosition x="0" y="13"/>
<connection refLocalId="12" formalParameter="OUT">
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<position x="618" y="180"/>
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<expression>TorqueLimitPos</expression>
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<outVariable localId="15" height="27" width="119">
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<connectionPointIn>
<relPosition x="0" y="13"/>
<connection refLocalId="13" formalParameter="OUT">
<position x="679" y="443"/>
<position x="624" y="443"/>
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<expression>TorqueLimitNeg</expression>
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<block localId="16" width="67" height="98" typeName="AND">
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<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
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<connection refLocalId="1" formalParameter="ACK">
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<position x="432" y="108"/>
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</variable>
<variable formalParameter="IN2">
<connectionPointIn>
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<connection refLocalId="2" formalParameter="ACK">
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<position x="804" y="147"/>
<position x="804" y="361"/>
<position x="433" y="361"/>
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</variable>
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<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">
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<position x="928" y="108"/>
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</connectionPointIn>
<expression>Done</expression>
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<block localId="18" width="67" height="111" typeName="OR">
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<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>
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</variable>
<variable formalParameter="IN2" negated="true">
<connectionPointIn>
<relPosition x="0" y="87"/>
<connection refLocalId="2" formalParameter="VALID">
<position x="862" y="402"/>
<position x="433" y="402"/>
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</connectionPointIn>
</variable>
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<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="67" y="42"/>
</connectionPointOut>
</variable>
</outputVariables>
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<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>
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<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>
<configurations/>
</instances>
</project>