Python Safe Globals now have more reliable triggering of OnChange call. Added "Onchange" object to accessible runtime variables that let user python code see count of changes and first and last values.
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productName="EtherlabMaster"
productVersion="1"
creationDateTime="2012-10-22T12:12:45"/>
<contentHeader name="EtherlabMaster SDO Blocks"
modificationDateTime="2012-11-13T18:03:39">
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{extern int HasAnswer();}
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STATE := 1;
ACK := 0;
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{if (AcquireSDOLock()) __SET_VAR(data__->,STATE, 2)}
2:
IF PY0.ACK THEN
STATE := 3;
END_IF;
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{if (HasAnswer()) __SET_VAR(data__->,STATE, 4)}
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IF PY1.ACK THEN
ACK := 1;
ERROR := EQ(PY1.RESULT, 'False');
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STATE := 0;
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EXECUTE0 := EXECUTE;
PY0(TRIG := STATE = 2,
CODE := CONCAT('EthercatSDODownload(',
INT_TO_STRING(POS),
',',
UINT_TO_STRING(INDEX),
',',
USINT_TO_STRING(SUBINDEX),
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VARTYPE,
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VALUE,
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PY1(TRIG := STATE = 4,
CODE := 'GetResult()');
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<variable formalParameter="ACK">
<connectionPointOut>
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<variable formalParameter="VALID">
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</variable>
<variable formalParameter="VALUE">
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<inVariable localId="6" height="27" width="68">
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<connectionPointOut>
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<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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<expression>0</expression>
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<inVariable localId="10" height="27" width="60">
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<expression>'uint16'</expression>
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<expression>'uint16'</expression>
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<variable formalParameter="IN">
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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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<variable formalParameter="OUT">
<connectionPointOut>
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<connectionPointIn>
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<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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<connectionPointIn>
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<connection refLocalId="13" formalParameter="OUT">
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<position x="624" y="443"/>
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<expression>TorqueLimitNeg</expression>
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<variable formalParameter="IN1">
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<connection refLocalId="1" formalParameter="ACK">
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<variable formalParameter="IN2">
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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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<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
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</connectionPointOut>
</variable>
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</block>
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<connectionPointIn>
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<connection refLocalId="16" formalParameter="OUT">
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<position x="928" y="108"/>
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<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>
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<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"/>
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<variable formalParameter="IN2" negated="true">
<connectionPointIn>
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<connection refLocalId="2" formalParameter="VALID">
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<position x="433" y="402"/>
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<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="67" y="42"/>
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</variable>
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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"/>
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</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"/>
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</connectionPointIn>
</variable>
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<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>
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<block localId="22" width="97" height="93" typeName="RS" instanceName="RS0">
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<inputVariables>
<variable formalParameter="S">
<connectionPointIn>
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<connection refLocalId="23">
<position x="657" y="555"/>
<position x="600" y="555"/>
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</connectionPointIn>
</variable>
<variable formalParameter="R1">
<connectionPointIn>
<relPosition x="0" y="74"/>
<connection refLocalId="21">
<position x="657" y="591"/>
<position x="599" y="591"/>
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</connectionPointIn>
</variable>
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<inOutVariables/>
<outputVariables>
<variable formalParameter="Q1">
<connectionPointOut>
<relPosition x="97" y="38"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="21" height="27" width="45">
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<connectionPointOut>
<relPosition x="45" y="13"/>
</connectionPointOut>
<expression>Done</expression>
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<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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<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>