# HG changeset patch
# User Laurent Bessard
# Date 1353015824 -3600
# Node ID c9776ae8b5d0b46820033979ad1eafcc08e3f544
# Parent d964dbc2c7b0bb7c12bb2eafaabbc8a08d2df5d2
Adding support for Etherlab specific function blocks for MCL fieldbus interface function blocks
diff -r d964dbc2c7b0 -r c9776ae8b5d0 etherlab/etherlab.py
--- a/etherlab/etherlab.py Fri Nov 09 11:27:30 2012 +0100
+++ b/etherlab/etherlab.py Thu Nov 15 22:43:44 2012 +0100
@@ -208,6 +208,31 @@
])
]
EXTRA_NODE_VARIABLES_DICT = dict([("Enable" + name, value) for name, value in EXTRA_NODE_VARIABLES])
+
+ BLOCK_INPUT_TEMPLATE = " __SET_VAR(%(blockname)s.,%(input_name)s, %(input_value)s);"
+ BLOCK_OUTPUT_TEMPLATE = " __SET_VAR(data__->,%(output_name)s, __GET_VAR(%(blockname)s.%(output_name)s));"
+
+ BLOCK_FUNCTION_TEMPLATE = """
+void __%(blocktype)s_%(location)s(MCL_%(ucase_blocktype)s *data__) {
+ extern ETHERLAB%(ucase_blocktype)s %(blockname)s;
+%(extract_inputs)s
+ ETHERLAB%(ucase_blocktype)s_body__(&%(blockname)s);
+%(return_outputs)s
+}
+"""
+
+ BLOCK_FUNTION_DEFINITION_TEMPLATE = " __CIA402Node_%(location)s.axis->__mcl_func_%(blocktype)s = &(__%(blocktype)s_%(location)s);"
+
+ GLOBAL_INSTANCES = [
+ {"blocktype": "GetTorqueLimit",
+ "inputs": [],
+ "outputs": [{"name": "TorqueLimitPos", "type": "UINT"},
+ {"name": "TorqueLimitNeg", "type": "UINT"}]},
+ {"blocktype": "SetTorqueLimit",
+ "inputs": [{"name": "TorqueLimitPos", "type": "UINT"},
+ {"name": "TorqueLimitNeg", "type": "UINT"}],
+ "outputs": []},
+ ]
class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN):
XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
@@ -260,6 +285,11 @@
"children": children,
}
+ def CTNGlobalInstances(self):
+ current_location = self.GetCurrentLocation()
+ return [("%s_%s" % (block_infos["blocktype"], "_".join(map(str, current_location))),
+ "EtherLab%s" % block_infos["blocktype"]) for block_infos in GLOBAL_INSTANCES]
+
def _getCIA402AxisRef(self):
data = wx.TextDataObject(str(("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())),
"location", "AXIS_REF", self.CTNName(), "")))
@@ -294,6 +324,8 @@
"location": location_str,
"MCL_headers": Headers,
"extern_located_variables_declaration": [],
+ "fieldbus_interface_declaration": [],
+ "fieldbus_interface_definition": [],
"entry_variables": [],
"init_axis_params": [],
"init_entry_variables": [],
@@ -301,6 +333,39 @@
"extra_variables_publish": []
}
+ for blocktype_infos in GLOBAL_INSTANCES:
+ texts = {
+ "blocktype": blocktype_infos["blocktype"],
+ "ucase_blocktype": blocktype_infos["blocktype"].upper(),
+ "location": "_".join(map(str, current_location))
+ }
+ texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts
+
+ inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())},
+ {"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\
+ [{"input_name": input["name"].upper(),
+ "input_value": "__GET_VAR(data__->%s)" % input["name"].upper()}
+ for input in blocktype_infos["inputs"]]
+ input_texts = []
+ for input_infos in inputs:
+ input_infos.update(texts)
+ input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos)
+ texts["extract_inputs"] = "\n".join(input_texts)
+
+ outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \
+ [{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]]
+ output_texts = []
+ for output_infos in outputs:
+ output_infos.update(texts)
+ output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos)
+ texts["return_outputs"] = "\n".join(output_texts)
+
+ str_completion["fieldbus_interface_declaration"].append(
+ BLOCK_FUNCTION_TEMPLATE % texts)
+
+ str_completion["fieldbus_interface_definition"].append(
+ BLOCK_FUNTION_DEFINITION_TEMPLATE % texts)
+
variables = NODE_VARIABLES[:]
params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
@@ -353,6 +418,8 @@
var_infos["var_type"], var_infos["dir"], var_infos["var_name"])
for element in ["extern_located_variables_declaration",
+ "fieldbus_interface_declaration",
+ "fieldbus_interface_definition",
"entry_variables",
"init_axis_params",
"init_entry_variables",
diff -r d964dbc2c7b0 -r c9776ae8b5d0 etherlab/plc_cia402node.c
--- a/etherlab/plc_cia402node.c Fri Nov 09 11:27:30 2012 +0100
+++ b/etherlab/plc_cia402node.c Thu Nov 15 22:43:44 2012 +0100
@@ -11,6 +11,8 @@
#include "iec_std_lib.h"
#endif
+#include "POUS.h"
+
IEC_INT beremiz__IW%(location)s_0;
IEC_INT *__IW%(location)s_0 = &beremiz__IW%(location)s_0;
@@ -48,11 +50,14 @@
%(extern_located_variables_declaration)s
+%(fieldbus_interface_declaration)s
+
int __init_%(location)s()
{
%(init_entry_variables)s
*__IW%(location)s_0 = __MK_Alloc_AXIS_REF();
__CIA402Node_%(location)s.axis = __MK_GetPublic_AXIS_REF(*__IW%(location)s_0);
+%(fieldbus_interface_definition)s
__MK_Set_AXIS_REF_Pos(*__IW%(location)s_0, %(slave_pos)d);
*(__CIA402Node_%(location)s.ModesOfOperation) = 0x08;
return 0;
diff -r d964dbc2c7b0 -r c9776ae8b5d0 etherlab/pous.xml
--- a/etherlab/pous.xml Fri Nov 09 11:27:30 2012 +0100
+++ b/etherlab/pous.xml Thu Nov 15 22:43:44 2012 +0100
@@ -8,7 +8,7 @@
productVersion="1"
creationDateTime="2012-10-22T12:12:45"/>
<contentHeader name="EtherlabMaster SDO Blocks"
- modificationDateTime="2012-10-25T19:53:33">
+ modificationDateTime="2012-11-13T18:03:39">
<coordinateInfo>
<fbd>
<scaling x="0" y="0"/>
@@ -267,6 +267,1042 @@
</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#60E0</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"/>
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+ <variable formalParameter="VALID">
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+ </FBD>
+ </body>
+ </pou>
</pous>
</types>
<instances>