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schwarb
2025-05-09 13:18:53 +02:00
parent 417d7cf967
commit c61edcfeb8
2 changed files with 240 additions and 256 deletions
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solution/_Config/NC/Axes/Axis 2.xti
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@@ -1,6 +1,216 @@
<?xml version="1.0"?>
<TcSmItem xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2012/07/TcSmProject" TcSmVersion="1.0" TcVersion="3.1.4024.55" ClassName="CNcAxisDef" SubType="1">
<DataTypes>
<DataType>
<Name GUID="{76EB036C-07A7-446B-91CB-CECCF6977DF3}" TcBaseType="true" HideType="true">UINTARR2_2</Name>
<BitSize>32</BitSize>
<BaseType GUID="{18071995-0000-0000-0000-000000000005}">UINT</BaseType>
<ArrayInfo>
<LBound>0</LBound>
<Elements>2</Elements>
</ArrayInfo>
<Format>
<Printf>0x%08X (%d)</Printf>
<Parameter>.</Parameter>
<Parameter>.</Parameter>
</Format>
</DataType>
<DataType>
<Name GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}" TcBaseType="true" HideType="true">UDINTARR2_2</Name>
<BitSize>64</BitSize>
<BaseType GUID="{76EB036C-07A7-446B-91CB-CECCF6977DF3}">UINTARR2_2</BaseType>
<ArrayInfo>
<LBound>0</LBound>
<Elements>2</Elements>
</ArrayInfo>
<Format>
<Printf>0x%016I64X (%I64d)</Printf>
<Parameter>.</Parameter>
<Parameter>.</Parameter>
</Format>
</DataType>
<DataType>
<Name GUID="{9ED17BA1-BC38-47CA-9DD2-F96861AB0266}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_IN3</Name>
<BitSize>640</BitSize>
<SubItem>
<Name>nDataIn1</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn2</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>64</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn3</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>128</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn4</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>192</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn5</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>256</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn6</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>320</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn7</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>384</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn8</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>448</BitOffs>
</SubItem>
<SubItem>
<Name>nState1</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>512</BitOffs>
</SubItem>
<SubItem>
<Name>nState2</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>528</BitOffs>
</SubItem>
<SubItem>
<Name>nState3</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>544</BitOffs>
</SubItem>
<SubItem>
<Name>nState4</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>560</BitOffs>
</SubItem>
<SubItem>
<Name>nState5</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>576</BitOffs>
</SubItem>
<SubItem>
<Name>nComState</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>592</BitOffs>
</SubItem>
<SubItem>
<Name>nDcInputTime</Name>
<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
<BitSize>32</BitSize>
<BitOffs>608</BitOffs>
</SubItem>
</DataType>
<DataType>
<Name GUID="{4AA66E19-7B91-4A09-817D-0357681B7869}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_OUT3</Name>
<BitSize>640</BitSize>
<SubItem>
<Name>nDataOut1</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut2</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>64</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut3</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>128</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut4</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>192</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut5</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>256</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut6</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>320</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut7</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>384</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut8</Name>
<Type GUID="{F1BC1285-B2E8-442A-9549-1FD625108D56}">UDINTARR2_2</Type>
<BitSize>64</BitSize>
<BitOffs>448</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl1</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>512</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl2</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>528</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl3</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>544</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl4</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>560</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl5</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>576</BitOffs>
</SubItem>
<SubItem>
<Name>nComCtrl</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>592</BitOffs>
</SubItem>
</DataType>
<DataType>
<Name GUID="{18071995-0000-0000-0000-000000000035}" TcBaseType="true" HideType="true">UINTARR2</Name>
<BitSize>32</BitSize>
@@ -26,216 +236,6 @@
<Parameter>.</Parameter>
</Format>
</DataType>
<DataType>
<Name GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_IN2B</Name>
<BitSize>320</BitSize>
<SubItem>
<Name>nDataIn1</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn2</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>32</BitOffs>
</SubItem>
<SubItem>
<Name>nState1</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>64</BitOffs>
</SubItem>
<SubItem>
<Name>nState2</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>72</BitOffs>
</SubItem>
<SubItem>
<Name>nState3</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>80</BitOffs>
</SubItem>
<SubItem>
<Name>nState4</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<Comment><![CDATA[Encoder Status 4 (automatically linked):
0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
]]></Comment>
<BitSize>8</BitSize>
<BitOffs>88</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn3</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>96</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn4</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>128</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn5</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>160</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn6</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
</SubItem>
<SubItem>
<Name>nState5</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>224</BitOffs>
</SubItem>
<SubItem>
<Name>nState6</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>232</BitOffs>
</SubItem>
<SubItem>
<Name>nState7</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>240</BitOffs>
</SubItem>
<SubItem>
<Name>nState8</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>248</BitOffs>
</SubItem>
<SubItem>
<Name>nDcInputTime</Name>
<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
<BitSize>32</BitSize>
<BitOffs>256</BitOffs>
</SubItem>
<SubItem>
<Name>nDataIn7</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<Comment><![CDATA[Drive Velocity Actual Value
]]></Comment>
<BitSize>32</BitSize>
<BitOffs>288</BitOffs>
</SubItem>
<Relations>
<Relation>
<Type GUID="{55728D3F-7B02-4448-8096-580617CECBA3}">NCENCODERSTRUCT_IN</Type>
<MapEntry>
<BitSize>96</BitSize>
</MapEntry>
</Relation>
</Relations>
</DataType>
<DataType>
<Name GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC" TcBaseType="true">NCENCODERSTRUCT_OUT2</Name>
<BitSize>320</BitSize>
<SubItem>
<Name>nDataOut1</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut2</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>32</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl1</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>64</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl2</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>72</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl3</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>80</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl4</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>88</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut3</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>96</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut4</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>128</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut5</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>160</BitOffs>
</SubItem>
<SubItem>
<Name>nDataOut6</Name>
<Type GUID="{18071995-0000-0000-0000-000000000035}">UINTARR2</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl5</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>224</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl6</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>232</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl7</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>240</BitOffs>
</SubItem>
<SubItem>
<Name>nCtrl8</Name>
<Type GUID="{18071995-0000-0000-0000-000000000002}">USINT</Type>
<BitSize>8</BitSize>
<BitOffs>248</BitOffs>
</SubItem>
<Relations>
<Relation>
<Type GUID="{5FE34D39-3B85-4458-8264-8C4874D8985C}">NCENCODERSTRUCT_OUT</Type>
<MapEntry>
<BitSize>96</BitSize>
</MapEntry>
</Relation>
</Relations>
</DataType>
<DataType>
<Name GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC" TcBaseType="true">NCDRIVESTRUCT_IN2</Name>
<BitSize>320</BitSize>
@@ -1431,34 +1431,29 @@ External Setpoint Generation:
<Velo RefSearch="0.380666666666667" RefSync="0.380666666666667" SlowManual="1.90333333333333" FastManual="11.42" Fast="38.0666666666667" Maximum="38.0666666666667"/>
<OtherSettings AllowMotionCmdToSlave="true"/>
</AxisPara>
<Encoder Name="Enc" EncType="19">
<EncPara ScaleFactorNumerator="2" ScaleFactorDenominator="1048576" MaxCount="#xffffffff"/>
<Encoder Name="Enc" EncType="29">
<EncPara ScaleFactorNumerator="2" ScaleFactorDenominator="1048576" MaxCount="#xffffffff" MaxCountHighDWord="#x0000001f"/>
<Vars VarGrpType="1">
<Name>Inputs</Name>
<Var>
<Name>In</Name>
<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
<SubVar TypeFormatIndex="2">
<Name>nDataIn1</Name>
<Type GUID="{9ED17BA1-BC38-47CA-9DD2-F96861AB0266}" Namespace="MC">NCENCODERSTRUCT_IN3</Type>
<SubVar>
<Name>nState1</Name>
<Comment><![CDATA[Encoder State 1 (automatically linked):
0x0001 (Bit 0) = Warning
0x0002 (Bit 1) = Error
0x0004 (Bit 2) = Ready
0x1000 (Bit 12) = Diagnosis
0x2000 (Bit 13) = TxPDO State
0xC000 (Bit 14+15) = Input Cycle Counter
]]></Comment>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn2</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn3</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn4</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn5</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn6</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn7</Name>
<Comment><![CDATA[Drive Velocity Actual Value
<SubVar>
<Name>nComState</Name>
<Comment><![CDATA[Encoder Communication State (automatically linked):
0x01 (Bit 0) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (Bit 1) = IO data input toggle (e.g. EtherCAT 'InputToggle')
]]></Comment>
</SubVar>
</Var>
@@ -1467,25 +1462,7 @@ External Setpoint Generation:
<Name>Outputs</Name>
<Var>
<Name>Out</Name>
<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
<SubVar TypeFormatIndex="2">
<Name>nDataOut1</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataOut2</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataOut3</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataOut4</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataOut5</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataOut6</Name>
</SubVar>
<Type GUID="{4AA66E19-7B91-4A09-817D-0357681B7869}" Namespace="MC">NCENCODERSTRUCT_OUT3</Type>
</Var>
</Vars>
</Encoder>
@@ -1567,6 +1544,17 @@ External Setpoint Generation:
</Axis>
<Mappings>
<OwnerA>
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 3 (EL5042)">
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nComState" VarB="WcState^WcState" Size="1"/>
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Inputs Channel 2^Position"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Diag" Size="1" OffsA="12"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Error" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Input cycle counter" Size="2" OffsA="14"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Ready" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^TxPDO State" Size="1" OffsA="13"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="FB Inputs Channel 2^Status^Warning" Size="1"/>
</OwnerB>
<OwnerB Name="TIID^Device 3 (EtherCAT)^Term 1 (EK1100)^Term 9 (EL7211-9014) Ax2 vertical">
<Link VarA="Drive^Inputs^In^nDcOutputTime" VarB="InfoData^DcOutputShift"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="DRV Statusword^Statusword" Size="8"/>
@@ -1576,10 +1564,6 @@ External Setpoint Generation:
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="DRV Controlword^Controlword" Size="8"/>
<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="DRV Controlword^Controlword" Size="8" OffsB="8"/>
<Link VarA="Drive^Outputs^Out^nDataOut2" VarB="DRV Target velocity^Target velocity"/>
<Link VarA="Enc^Inputs^In^nDataIn1" VarB="FB Position^Position"/>
<Link VarA="Enc^Inputs^In^nDcInputTime" VarB="InfoData^DcInputShift"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState" Size="1"/>
</OwnerB>
</OwnerA>
</Mappings>