Linux runtime: overrun detection for real-time timers and for plc execution.
If real-time timer wakes-up PLC thread too late (10% over period), then
warning is logged.
If PLC code (IO retreive, execution, IO publish) takes longer than requested
PLC execution cycle, then warning is logged, and CPU hoogging is mitigated
by delaying next PLC execution a few cylces more until having at least
1ms minimal idle time.
<?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">
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<variable formalParameter="VARTYPE">
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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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<relPosition x="35" y="13"/>
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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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<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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<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>
<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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<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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<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>
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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">
<position x="862" y="402"/>
<position x="433" y="402"/>
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</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"/>
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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"/>
</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">
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<inputVariables>
<variable formalParameter="S">
<connectionPointIn>
<relPosition x="0" y="38"/>
<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>