Updating ethercat example for higen drive adding an example of Ethercat SDO upload block usage
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xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd"
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<fileHeader companyName="Laurent BESSARD"
productName="test_ethercat"
productVersion="1.0"
creationDateTime="2011-10-20T19:01:52"/>
<contentHeader name="test_ethercat"
modificationDateTime="2012-10-30T00:18:20">
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<interface>
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<variable name="CLOCK" address="%QX0.0.2.28672.1">
<type>
<BOOL/>
</type>
</variable>
<variable name="GREENLED" address="%QX0.0.2.28688.1">
<type>
<BOOL/>
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<initialValue>
<simpleValue value="TRUE"/>
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<variable name="ControlWord" address="%QW0.0.3.24640.0">
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<UINT/>
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<variable name="StatusWord" address="%IW0.0.3.24641.0">
<type>
<UINT/>
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<variable name="ModeDisplay" address="%IB0.0.3.24673.0">
<type>
<SINT/>
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</variable>
<variable name="ActualPosition" address="%ID0.0.3.24676.0">
<type>
<DINT/>
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</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>
<derived name="AXIS_REF"/>
</type>
</variable>
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<localVars>
<variable name="switch">
<type>
<derived name="MC_Power"/>
</type>
</variable>
<variable name="move1">
<type>
<derived name="MC_MoveAbsolute"/>
</type>
</variable>
<variable name="EtherLabSDOUpload0">
<type>
<derived name="EtherLabSDOUpload"/>
</type>
</variable>
<variable name="ActualPosition">
<type>
<DINT/>
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<variable name="Valid">
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<BOOL/>
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<position x="45" y="36"/>
<connectionPointOut>
<relPosition x="53" y="13"/>
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<block localId="2" width="111" height="116" typeName="ADD">
<position x="149" y="5"/>
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<connectionPointIn>
<relPosition x="0" y="44"/>
<connection refLocalId="1">
<position x="149" y="49"/>
<position x="98" y="49"/>
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<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/>
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<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="111" y="44"/>
</connectionPointOut>
</variable>
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<inVariable localId="3" height="27" width="18">
<position x="80" y="84"/>
<connectionPointOut>
<relPosition x="18" y="13"/>
</connectionPointOut>
<expression>1</expression>
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<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>
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<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>
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<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="99" y="37"/>
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</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>
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<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>
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<inOutVariables/>
<outputVariables>
<variable formalParameter="Axis">
<connectionPointOut>
<relPosition x="159" y="38"/>
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<variable formalParameter="Status">
<connectionPointOut>
<relPosition x="159" y="74"/>
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</variable>
<variable formalParameter="Valid">
<connectionPointOut>
<relPosition x="159" y="110"/>
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<variable formalParameter="Error">
<connectionPointOut>
<relPosition x="159" y="146"/>
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<variable formalParameter="ErrorID">
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<relPosition x="159" y="182"/>
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<position x="308" y="198"/>
<connectionPointOut>
<relPosition x="36" y="13"/>
</connectionPointOut>
<expression>Axis</expression>
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<position x="744" y="173"/>
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<variable formalParameter="Axis">
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<relPosition x="0" y="38"/>
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<position x="744" y="211"/>
<position x="557" y="211"/>
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<relPosition x="0" y="74"/>
<connection refLocalId="8" formalParameter="Status">
<position x="744" y="247"/>
<position x="557" y="247"/>
</connection>
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<variable formalParameter="ContinuousUpdate">
<connectionPointIn>
<relPosition x="0" y="110"/>
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<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>
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<variable formalParameter="Direction">
<connectionPointIn>
<relPosition x="0" y="326"/>
</connectionPointIn>
</variable>
<variable formalParameter="BufferMode">
<connectionPointIn>
<relPosition x="0" y="362"/>
</connectionPointIn>
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<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>
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</block>
<inVariable localId="11" height="27" width="54">
<position x="630" y="306"/>
<connectionPointOut>
<relPosition x="54" y="13"/>
</connectionPointOut>
<expression>1800.0</expression>
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<inVariable localId="12" height="27" width="46">
<position x="637" y="342"/>
<connectionPointOut>
<relPosition x="46" y="13"/>
</connectionPointOut>
<expression>360.0</expression>
</inVariable>
<block localId="14" width="162" height="216" typeName="EtherLabSDOUpload" instanceName="EtherLabSDOUpload0">
<position x="1207" y="208"/>
<inputVariables>
<variable formalParameter="EXECUTE">
<connectionPointIn>
<relPosition x="0" y="39"/>
<connection refLocalId="10" formalParameter="Done">
<position x="1207" y="247"/>
<position x="996" y="247"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="POS">
<connectionPointIn>
<relPosition x="0" y="78"/>
<connection refLocalId="15">
<position x="1207" y="286"/>
<position x="1156" y="286"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="INDEX">
<connectionPointIn>
<relPosition x="0" y="117"/>
<connection refLocalId="16">
<position x="1207" y="325"/>
<position x="1156" y="325"/>
</connection>
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</variable>
<variable formalParameter="SUBINDEX">
<connectionPointIn>
<relPosition x="0" y="156"/>
<connection refLocalId="17">
<position x="1207" y="364"/>
<position x="1156" y="364"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="VARTYPE">
<connectionPointIn>
<relPosition x="0" y="195"/>
<connection refLocalId="18">
<position x="1207" y="403"/>
<position x="1156" y="403"/>
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<variable formalParameter="ACK">
<connectionPointOut>
<relPosition x="162" y="39"/>
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<variable formalParameter="VALID">
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<relPosition x="162" y="78"/>
</connectionPointOut>
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<variable formalParameter="VALUE">
<connectionPointOut>
<relPosition x="162" y="117"/>
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<position x="1121" y="273"/>
<connectionPointOut>
<relPosition x="35" y="13"/>
</connectionPointOut>
<expression>3</expression>
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<inVariable localId="16" height="27" width="68">
<position x="1088" y="312"/>
<connectionPointOut>
<relPosition x="68" y="13"/>
</connectionPointOut>
<expression>16#6064</expression>
</inVariable>
<inVariable localId="17" height="27" width="32">
<position x="1124" y="351"/>
<connectionPointOut>
<relPosition x="32" y="13"/>
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<expression>0</expression>
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<inVariable localId="18" height="27" width="52">
<position x="1104" y="390"/>
<connectionPointOut>
<relPosition x="52" y="13"/>
</connectionPointOut>
<expression>'int32'</expression>
</inVariable>
<outVariable localId="19" height="27" width="109">
<position x="1576" y="312"/>
<connectionPointIn>
<relPosition x="0" y="13"/>
<connection refLocalId="20" formalParameter="OUT">
<position x="1576" y="325"/>
<position x="1539" y="325"/>
</connection>
</connectionPointIn>
<expression>ActualPosition</expression>
</outVariable>
<block localId="20" width="126" height="40" typeName="STRING_TO_DINT">
<position x="1413" y="295"/>
<inputVariables>
<variable formalParameter="IN">
<connectionPointIn>
<relPosition x="0" y="30"/>
<connection refLocalId="14" formalParameter="VALUE">
<position x="1413" y="325"/>
<position x="1369" y="325"/>
</connection>
</connectionPointIn>
</variable>
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<inOutVariables/>
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<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="126" y="30"/>
</connectionPointOut>
</variable>
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<outVariable localId="21" height="27" width="45">
<position x="1576" y="234"/>
<connectionPointIn>
<relPosition x="0" y="13"/>
<connection refLocalId="22" formalParameter="OUT">
<position x="1576" y="247"/>
<position x="1509" y="247"/>
</connection>
</connectionPointIn>
<expression>Valid</expression>
</outVariable>
<block localId="22" width="67" height="72" typeName="AND">
<position x="1442" y="214"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="33"/>
<connection refLocalId="14" formalParameter="ACK">
<position x="1442" y="247"/>
<position x="1369" y="247"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="59"/>
<connection refLocalId="14" formalParameter="VALID">
<position x="1442" y="273"/>
<position x="1399" y="273"/>
<position x="1399" y="286"/>
<position x="1369" y="286"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="67" y="33"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
</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>