python3 support: pylint, W1633 # (round-builtin) round built-in referenced
because round behavior is changed to default behavior in Python3
(Banker round). It can cause slight differences in some cases.
Mostly graphical editors are affected, there could be single pixel differences.
Now I couldn't locate any visual differences in test programs.
<?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>
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<position x="219" y="484"/>
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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 formalParameter="VALID">
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</variable>
<variable formalParameter="VALUE">
<connectionPointOut>
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<connectionPointOut>
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<relPosition x="35" y="13"/>
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<inVariable localId="6" height="27" width="68">
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<connectionPointOut>
<relPosition x="68" y="13"/>
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<expression>16#60E0</expression>
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<inVariable localId="7" height="27" width="68">
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<connectionPointOut>
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<expression>16#60E1</expression>
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<inVariable localId="8" height="27" width="33">
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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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<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">
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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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<position x="432" y="108"/>
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<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>
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<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>
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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">
<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"/>
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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"/>
</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>
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<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>
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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">
<position x="554" y="578"/>
<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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<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>