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6dbf29a0c4cdb9f54d9a01abfcca9289db33afdb
TC_iTomcat-ES2-Detector-Tow…/solution/solution.tsproj
Federico Rojas 6dbf29a0c4 New solution structure to fit the array of gvl paramaters structure 
AXES()creates the FB and associates the stAxisStruct structure of the gvl
MAIN has new varibales to fit the gvl array
New FB and new Strucutres under DUT Still developing in the tc_mca_std_lib
2019-03-20 15:37:31 +01:00

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<BitSize>32</BitSize>
<SubItem>
<Name>Operational</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Homed</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>1</BitOffs>
</SubItem>
<SubItem>
<Name>NotMoving</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>2</BitOffs>
</SubItem>
<SubItem>
<Name>InPositionArea</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>3</BitOffs>
</SubItem>
<SubItem>
<Name>InTargetPosition</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>4</BitOffs>
</SubItem>
<SubItem>
<Name>Protected</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>5</BitOffs>
</SubItem>
<SubItem>
<Name>ErrorPropagationDelayed</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>6</BitOffs>
</SubItem>
<SubItem>
<Name>HasBeenStopped</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>7</BitOffs>
</SubItem>
<SubItem>
<Name>HasJob</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>8</BitOffs>
</SubItem>
<SubItem>
<Name>PositiveDirection</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>9</BitOffs>
</SubItem>
<SubItem>
<Name>NegativeDirection</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>10</BitOffs>
</SubItem>
<SubItem>
<Name>HomingBusy</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>11</BitOffs>
</SubItem>
<SubItem>
<Name>ConstantVelocity</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>12</BitOffs>
</SubItem>
<SubItem>
<Name>Compensating</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>13</BitOffs>
</SubItem>
<SubItem>
<Name>ExtSetPointGenEnabled</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>14</BitOffs>
</SubItem>
<SubItem>
<Name>PhasingActive</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>15</BitOffs>
</SubItem>
<SubItem>
<Name>ExternalLatchValid</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>16</BitOffs>
</SubItem>
<SubItem>
<Name>NewTargetPos</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>17</BitOffs>
</SubItem>
<SubItem>
<Name>ContinuousMotion</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>19</BitOffs>
</SubItem>
<SubItem>
<Name>ControlLoopClosed</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>20</BitOffs>
</SubItem>
<SubItem>
<Name>CamTableQueued</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>21</BitOffs>
</SubItem>
<SubItem>
<Name>CamDataQueued</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>22</BitOffs>
</SubItem>
<SubItem>
<Name>CamScalingPending</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>23</BitOffs>
</SubItem>
<SubItem>
<Name>CmdBuffered</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>24</BitOffs>
</SubItem>
<SubItem>
<Name>PTPmode</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>25</BitOffs>
</SubItem>
<SubItem>
<Name>SoftLimitMinExceeded</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>26</BitOffs>
</SubItem>
<SubItem>
<Name>SoftLimitMaxExceeded</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>27</BitOffs>
</SubItem>
<SubItem>
<Name>DriveDeviceError</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>28</BitOffs>
</SubItem>
<SubItem>
<Name>MotionCommandsLocked</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>29</BitOffs>
</SubItem>
<SubItem>
<Name>IoDataInvalid</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>30</BitOffs>
</SubItem>
<SubItem>
<Name>Error</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>31</BitOffs>
</SubItem>
<Format Name="Short">
<Printf>%08x</Printf>
</Format>
<Format Name="Cpp">
<Printf>0x%08x</Printf>
</Format>
<Format Name="IEC">
<Printf>16#%08X</Printf>
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</DataType>
<DataType>
<Name GUID="{6EF49753-C72C-4F50-AA44-3C7498E76CFE}" Namespace="MC" TcBaseType="true" HideType="true" IecDeclaration="DWORD;">NCTOPLC_AXIS_REF_OPMODE</Name>
<BitSize>32</BitSize>
<SubItem>
<Name>OpModePosAreaMonitoring</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>OpModeTargetPosMonitoring</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>1</BitOffs>
</SubItem>
<SubItem>
<Name>OpModeLoop</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>2</BitOffs>
</SubItem>
<SubItem>
<Name>OpModeMotionMonitoring</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>3</BitOffs>
</SubItem>
<SubItem>
<Name>OpModePEHTimeMonitoring</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>4</BitOffs>
</SubItem>
<SubItem>
<Name>OpModeBacklashCompensation</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>5</BitOffs>
</SubItem>
<SubItem>
<Name>OpModeDelayedErrorReaction</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>6</BitOffs>
</SubItem>
<SubItem>
<Name>OpModeModulo</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>7</BitOffs>
</SubItem>
<SubItem>
<Name>OpModeSimulationAxis</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>8</BitOffs>
</SubItem>
<SubItem>
<Name>OpModePosLagMonitoring</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>16</BitOffs>
</SubItem>
<SubItem>
<Name>OpModeVeloLagMonitoring</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>17</BitOffs>
</SubItem>
<SubItem>
<Name>OpModeSoftLimitMinMonitoring</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>18</BitOffs>
</SubItem>
<SubItem>
<Name>OpModeSoftLimitMaxMonitoring</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>19</BitOffs>
</SubItem>
<SubItem>
<Name>OpModePosCorrection</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>20</BitOffs>
</SubItem>
<SubItem>
<Name>OpModeAllowSlaveCommands</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>21</BitOffs>
</SubItem>
<SubItem>
<Name>OpModeAllowExtSetAxisCommands</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>22</BitOffs>
</SubItem>
<SubItem>
<Name>ApplicationRequest</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>23</BitOffs>
</SubItem>
</DataType>
<DataType>
<Name GUID="{303D9411-849C-467F-8A4C-5C8CD0F3DD46}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE2_FLAGS</Name>
<BitSize>32</BitSize>
<SubItem>
<Name>AvoidingCollision</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<Format Name="Short">
<Printf>%08x</Printf>
</Format>
<Format Name="Cpp">
<Printf>0x%08x</Printf>
</Format>
<Format Name="IEC">
<Printf>16#%08X</Printf>
</Format>
</DataType>
<DataType>
<Name GUID="{669F3788-48FD-42CF-8A59-2DA946853FB6}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_STATE2</Name>
<BitSize>32</BitSize>
<SubItem>
<Name>Value</Name>
<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
<BitSize>32</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>Flags</Name>
<Type GUID="{303D9411-849C-467F-8A4C-5C8CD0F3DD46}" Namespace="MC">NCTOPLC_AXIS_REF_STATE2_FLAGS</Type>
<BitSize>32</BitSize>
<BitOffs>0</BitOffs>
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<Printf>%08x</Printf>
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<Format Name="Cpp">
<Printf>0x%08x</Printf>
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<Format Name="IEC">
<Printf>16#%08X</Printf>
</Format>
</DataType>
<DataType>
<Name GUID="{BA9D9D0F-1A4A-4A27-A19F-3032626A8491}" Namespace="MC" TcBaseType="true" HideType="true">NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE</Name>
<BitSize>8</BitSize>
<SubItem>
<Name>CamActivationPending</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>CamDeactivationPending</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>1</BitOffs>
</SubItem>
<SubItem>
<Name>CamActive</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>2</BitOffs>
</SubItem>
<SubItem>
<Name>CamDataQueued</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>6</BitOffs>
</SubItem>
<SubItem>
<Name>CamScalingPending</Name>
<Type GUID="{18071995-0000-0000-0000-000000000010}">BIT</Type>
<BitSize>1</BitSize>
<BitOffs>7</BitOffs>
</SubItem>
</DataType>
<DataType>
<Name GUID="{18071995-0000-0000-0000-000000000039}" TcBaseType="true" HideType="true">UINTARR8</Name>
<BitSize>128</BitSize>
<BaseType GUID="{18071995-0000-0000-0000-000000000005}">UINT</BaseType>
<ArrayInfo>
<LBound>0</LBound>
<Elements>8</Elements>
</ArrayInfo>
</DataType>
<DataType>
<Name GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC" TcBaseType="true">NCTOPLC_AXIS_REF</Name>
<BitSize>2048</BitSize>
<SubItem>
<Name>StateDWord</Name>
<Type GUID="{4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}" Namespace="MC">NCTOPLC_AXIS_REF_STATE</Type>
<BitSize>32</BitSize>
<BitOffs>0</BitOffs>
</SubItem>
<SubItem>
<Name>ErrorCode</Name>
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>32</BitOffs>
</SubItem>
<SubItem>
<Name>AxisState</Name>
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
<Comment>
<![CDATA[Present State Of The Axis Movement (continuous axis):
0 = INACTIVE: axis has no job
1 = RUNNING: axis is executing a motion job
2 = OVERRIDE_ZERO: axis is executing a job but override is zero
3 = PHASE_VELOCONST: axis is moving at constant velocity
4 = PHASE_ACCPOS: axis is accelerating
5 = PHASE_ACCNEG: axis is decelerating
Slaves only:
11 = PREPHASE: slave axis is in a motion pre-phase
12 = SYNCHRONIZING: slave axis is synchronizing
13 = SYNCHRONOUS: slave axis is moving synchronously
External Setpoint Generation:
41 = EXTSETGEN_MODE1: external setpoint generation active
42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
]]>
</Comment>
<BitSize>32</BitSize>
<BitOffs>64</BitOffs>
</SubItem>
<SubItem>
<Name>AxisModeConfirmation</Name>
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>96</BitOffs>
</SubItem>
<SubItem>
<Name>HomingState</Name>
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
<Comment>
<![CDATA[Axis Homing Status:
0: idle
1: start homing
2: searching home switch
3: stopping on home switch
4: moving off home switch
5: searching sync pulse
6: stopping after homing
]]>
</Comment>
<BitSize>32</BitSize>
<BitOffs>128</BitOffs>
</SubItem>
<SubItem>
<Name>CoupleState</Name>
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
<Comment>
<![CDATA[Axis Coupling Status:
0: axis is a single axis (not coupled)
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
]]>
</Comment>
<BitSize>32</BitSize>
<BitOffs>160</BitOffs>
</SubItem>
<SubItem>
<Name>SvbEntries</Name>
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>192</BitOffs>
</SubItem>
<SubItem>
<Name>SafEntries</Name>
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>224</BitOffs>
</SubItem>
<SubItem>
<Name>AxisId</Name>
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>256</BitOffs>
</SubItem>
<SubItem>
<Name>OpModeDWord</Name>
<Type GUID="{6EF49753-C72C-4F50-AA44-3C7498E76CFE}" Namespace="MC">NCTOPLC_AXIS_REF_OPMODE</Type>
<BitSize>32</BitSize>
<BitOffs>288</BitOffs>
</SubItem>
<SubItem>
<Name>ActPos</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>320</BitOffs>
</SubItem>
<SubItem>
<Name>ModuloActPos</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>384</BitOffs>
</SubItem>
<SubItem>
<Name>ActiveControlLoopIndex</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>448</BitOffs>
</SubItem>
<SubItem>
<Name>ControlLoopIndex</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>464</BitOffs>
</SubItem>
<SubItem>
<Name>ModuloActTurns</Name>
<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
<BitSize>32</BitSize>
<BitOffs>480</BitOffs>
</SubItem>
<SubItem>
<Name>ActVelo</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>512</BitOffs>
</SubItem>
<SubItem>
<Name>PosDiff</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>576</BitOffs>
</SubItem>
<SubItem>
<Name>SetPos</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>640</BitOffs>
</SubItem>
<SubItem>
<Name>SetVelo</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>704</BitOffs>
</SubItem>
<SubItem>
<Name>SetAcc</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>768</BitOffs>
</SubItem>
<SubItem>
<Name>TargetPos</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>832</BitOffs>
</SubItem>
<SubItem>
<Name>ModuloSetPos</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>896</BitOffs>
</SubItem>
<SubItem>
<Name>ModuloSetTurns</Name>
<Type GUID="{18071995-0000-0000-0000-000000000009}">DINT</Type>
<BitSize>32</BitSize>
<BitOffs>960</BitOffs>
</SubItem>
<SubItem>
<Name>CmdNo</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>992</BitOffs>
</SubItem>
<SubItem>
<Name>CmdState</Name>
<Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type>
<BitSize>16</BitSize>
<BitOffs>1008</BitOffs>
</SubItem>
<SubItem>
<Name>SetJerk</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>1024</BitOffs>
</SubItem>
<SubItem>
<Name>SetTorque</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>1088</BitOffs>
</SubItem>
<SubItem>
<Name>ActTorque</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>1152</BitOffs>
</SubItem>
<SubItem>
<Name>StateDWord2</Name>
<Type GUID="{669F3788-48FD-42CF-8A59-2DA946853FB6}" Namespace="MC">NCTOPLC_AXIS_REF_STATE2</Type>
<BitSize>32</BitSize>
<BitOffs>1216</BitOffs>
</SubItem>
<SubItem>
<Name>StateDWord3</Name>
<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
<BitSize>32</BitSize>
<BitOffs>1248</BitOffs>
</SubItem>
<SubItem>
<Name>TouchProbeState</Name>
<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
<BitSize>32</BitSize>
<BitOffs>1280</BitOffs>
</SubItem>
<SubItem>
<Name>TouchProbeCounter</Name>
<Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type>
<BitSize>32</BitSize>
<BitOffs>1312</BitOffs>
</SubItem>
<SubItem>
<Name>CamCouplingState</Name>
<Type GUID="{BA9D9D0F-1A4A-4A27-A19F-3032626A8491}" Namespace="MC">NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE</Type>
<ArrayInfo>
<LBound>0</LBound>
<Elements>8</Elements>
</ArrayInfo>
<BitSize>64</BitSize>
<BitOffs>1344</BitOffs>
</SubItem>
<SubItem>
<Name>CamCouplingTableID</Name>
<Type GUID="{18071995-0000-0000-0000-000000000039}">UINTARR8</Type>
<BitSize>128</BitSize>
<BitOffs>1408</BitOffs>
</SubItem>
<SubItem>
<Name>ActTorqueDerivative</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>1536</BitOffs>
</SubItem>
<SubItem>
<Name>SetTorqueDerivative</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>1600</BitOffs>
</SubItem>
<SubItem>
<Name>ActPosWithoutPosCorrection</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>1792</BitOffs>
</SubItem>
<SubItem>
<Name>ActAcc</Name>
<Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type>
<BitSize>64</BitSize>
<BitOffs>1856</BitOffs>
</SubItem>
<SubItem>
<Name>DcTimeStamp</Name>
<Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type>
<BitSize>32</BitSize>
<BitOffs>1920</BitOffs>
</SubItem>
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<Property>
<Name>NcStructType</Name>
<Value>2</Value>
</Property>
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<Relation Priority="100">
<Type GUID="{429B767E-373B-40AE-BFA5-E1C08B444DF3}">NCAXLESTRUCT_TOPLC</Type>
</Relation>
<Relation Priority="100">
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</Relation>
<Relation Priority="100">
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</Relation>
<Relation Priority="100">
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</Relation>
<Relation Priority="100">
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</Relation>
<Relation Priority="100">
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</Relation>
<Relation Priority="100">
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<System>
<Licenses>
<Target>
<ManualSelect>{3EBB9639-5FF3-42B6-8847-35C70DC013C8}</ManualSelect>
</Target>
</Licenses>
<Tasks>
<Task Id="2" Priority="26" CycleTime="10000" AmsPort="350" AdtTasks="true">
<Name>PlcTaskCom</Name>
</Task>
<Task Id="4" Priority="20" CycleTime="10000" AmsPort="351" AdtTasks="true">
<Name>PlcTask</Name>
</Task>
</Tasks>
</System>
<Motion>
<NC>
<SafTask Priority="4" CycleTime="20000" AmsPort="501" IoAtBegin="true">
<Name>NC-Task 1 SAF</Name>
<Vars VarGrpType="1" InsertType="1">
<Name>Inputs</Name>
</Vars>
<Vars VarGrpType="2" InsertType="1">
<Name>Outputs</Name>
</Vars>
<Image Id="3" AddrType="1" ImageType="1">
<Name>Image</Name>
</Image>
</SafTask>
<SvbTask Priority="8" CycleTime="100000" AmsPort="511">
<Name>NC-Task 1 SVB</Name>
</SvbTask>
<Axis CreateSymbols="true" AxisType="1" Id="1">
<Name>Axis 1</Name>
<AxisPara>
<Dynamic AccelerationMaximum="1500" DecelerationMaximum="1500" Acceleration="984.001" Deceleration="984.001" Jerk="5043"/>
<Velo RefSearch="10" RefSync="10" SlowManual="20" FastManual="100" Maximum="120"/>
<PositionAreaControl Range="0.05"/>
<TargetPosControl Range="0.1" Time="0.5"/>
<OtherSettings AllowMotionCmdToSlave="true" PulseDistancePos="1" PulseDistanceNeg="1"/>
</AxisPara>
<Encoder Name="Enc" EncType="4">
<EncPara ScaleFactorNumerator="60" ScaleFactorDenominator="2000" Inverse="true" MaxCount="#x0000ffff">
<SoftEndMinControl Range="5"/>
<SoftEndMaxControl Range="175"/>
<Inc RefMode="4" RefSoftSyncMask="#x0000ffff"/>
</EncPara>
<Vars VarGrpType="1">
<Name>Inputs</Name>
<Var>
<Name>In</Name>
<Type GUID="{901C2423-655B-45CE-B7E3-21F174F0F99F}" Namespace="MC">NCENCODERSTRUCT_IN2B</Type>
<BitOffs>1024</BitOffs>
<SubVar TypeFormatIndex="2">
<Name>nDataIn1</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn2</Name>
</SubVar>
<SubVar>
<Name>nState4</Name>
<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>
</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>
</SubVar>
</Var>
</Vars>
<Vars VarGrpType="2">
<Name>Outputs</Name>
<Var>
<Name>Out</Name>
<Type GUID="{9CC50AB2-5D79-4869-A3C2-1FA7761BAFEA}" Namespace="MC">NCENCODERSTRUCT_OUT2</Type>
<BitOffs>2048</BitOffs>
<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>
</Var>
</Vars>
</Encoder>
<Drive Name="Drive" DrvType="24">
<DrvPara>
<Analog VeloReferenz="600" ScaleFactorActTorque="0.1"/>
<TimeComp TaskDelayCycles="1"/>
</DrvPara>
<Vars VarGrpType="1">
<Name>Inputs</Name>
<Var>
<Name>In</Name>
<Type GUID="{F95C7C69-0C87-46C4-9559-1285CCA5B23A}" Namespace="MC">NCDRIVESTRUCT_IN2</Type>
<BitOffs>1344</BitOffs>
<SubVar TypeFormatIndex="2">
<Name>nDataIn1</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataIn2</Name>
</SubVar>
<SubVar>
<Name>nState4</Name>
<Comment>
<![CDATA[Drive Status 4 (automatically linked):
0x01 (0000 0001) = IO data invalid (e.g. EtherCAT 'WcState')
0x02 (0000 0010) = IO data input toggle (e.g. EtherCAT 'InputToggle')
Drive Status 4 (manually linked):
0x80 (1000 0000) = Fast axis stop (digital IO interrupt)
]]>
</Comment>
</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>
</Var>
</Vars>
<Vars VarGrpType="2">
<Name>Outputs</Name>
<Var>
<Name>Out</Name>
<Type GUID="{644DC4BD-3D15-4DCB-94C7-24F3A5D579AA}" Namespace="MC">NCDRIVESTRUCT_OUT2</Type>
<BitOffs>2368</BitOffs>
<SubVar TypeFormatIndex="2">
<Name>nDataOut1</Name>
</SubVar>
<SubVar TypeFormatIndex="2">
<Name>nDataOut2</Name>
</SubVar>
<SubVar>
<Name>nCtrl2</Name>
<Comment>
<![CDATA[Digital Outputs Setpoint Generator:
0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
0x80 (1000 0000) = Stop
]]>
</Comment>
</SubVar>
<SubVar>
<Name>nCtrl3</Name>
<Comment>
<![CDATA[Digital Outputs (Setpoint Generator + Position Controller):
0x41 (0100 0001) = Minus (0x42 for inverse motor polarity)
0x42 (0100 0010) = Plus (0x41 for inverse motor polarity)
0x80 (1000 0000) = Stop
]]>
</Comment>
</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>
</Var>
</Vars>
</Drive>
<Controller Name="Ctrl" CtrType="1">
<CtrPara PriorControlFactor="1">
<PosDiffControl Range="1" Time="0.5"/>
<PID PosKp="7"/>
<Observer BandWidth="20"/>
</CtrPara>
</Controller>
<Vars VarGrpType="1" InsertType="1">
<Name>Inputs</Name>
<Var>
<Name>FromPlc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
</Vars>
<Vars VarGrpType="2" InsertType="1">
<Name>Outputs</Name>
<Var>
<Name>ToPlc</Name>
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
<SubVar>
<Name>AxisState</Name>
<Comment>
<![CDATA[Present State Of The Axis Movement (continuous axis):
0 = INACTIVE: axis has no job
1 = RUNNING: axis is executing a motion job
2 = OVERRIDE_ZERO: axis is executing a job but override is zero
3 = PHASE_VELOCONST: axis is moving at constant velocity
4 = PHASE_ACCPOS: axis is accelerating
5 = PHASE_ACCNEG: axis is decelerating
Slaves only:
11 = PREPHASE: slave axis is in a motion pre-phase
12 = SYNCHRONIZING: slave axis is synchronizing
13 = SYNCHRONOUS: slave axis is moving synchronously
External Setpoint Generation:
41 = EXTSETGEN_MODE1: external setpoint generation active
42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
]]>
</Comment>
</SubVar>
<SubVar>
<Name>HomingState</Name>
<Comment>
<![CDATA[Axis Homing Status:
0: idle
1: start homing
2: searching home switch
3: stopping on home switch
4: moving off home switch
5: searching sync pulse
6: stopping after homing
]]>
</Comment>
</SubVar>
<SubVar>
<Name>CoupleState</Name>
<Comment>
<![CDATA[Axis Coupling Status:
0: axis is a single axis (not coupled)
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
]]>
</Comment>
</SubVar>
</Var>
</Vars>
</Axis>
</NC>
</Motion>
<Plc>
<Project GUID="{F935F1DE-0753-4702-B418-1DC0ED040A4D}" Name="tc_epicscommodule" PrjFilePath="tc_epicscommodule\tc_epicscommodule.plcproj" TmcFilePath="tc_epicscommodule\tc_epicscommodule.tmc" ReloadTmc="true" AmsPort="851" FileArchiveSettings="#x000e" SymbolicMapping="true">
<Instance Id="#x08502000" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_epicscommodule\tc_epicscommodule.tmc">
<Name>tc_epicscommodule Instance</Name>
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
<TaskPouOids>
<TaskPouOid Prio="26" OTCID="#x08502001"/>
</TaskPouOids>
</Instance>
</Project>
<Project GUID="{FB261665-FD20-4BF2-97F8-2854C82B752D}" Name="tc_project_app" PrjFilePath="tc_project_app\tc_project_app.plcproj" TmcFilePath="tc_project_app\tc_project_app.tmc" ReloadTmc="true" AmsPort="852" FileArchiveSettings="#x000e" SymbolicMapping="true">
<Instance Id="#x08502040" TcSmClass="TComPlcObjDef" KeepUnrestoredLinks="2" TmcPath="tc_project_app\tc_project_app.tmc">
<Name>tc_project_app Instance</Name>
<CLSID ClassFactory="TcPlc30">{08500001-0000-0000-F000-000000000064}</CLSID>
<Vars VarGrpType="1">
<Name>PlcTask Inputs</Name>
<Var>
<Name>GVL.axes[1].Axis.NcToPlc</Name>
<Type GUID="{6A65C767-34E5-42BF-AD87-E1A503EAC7BE}" Namespace="MC">NCTOPLC_AXIS_REF</Type>
<SubVar>
<Name>AxisState</Name>
<Comment>
<![CDATA[Present State Of The Axis Movement (continuous axis):
0 = INACTIVE: axis has no job
1 = RUNNING: axis is executing a motion job
2 = OVERRIDE_ZERO: axis is executing a job but override is zero
3 = PHASE_VELOCONST: axis is moving at constant velocity
4 = PHASE_ACCPOS: axis is accelerating
5 = PHASE_ACCNEG: axis is decelerating
Slaves only:
11 = PREPHASE: slave axis is in a motion pre-phase
12 = SYNCHRONIZING: slave axis is synchronizing
13 = SYNCHRONOUS: slave axis is moving synchronously
External Setpoint Generation:
41 = EXTSETGEN_MODE1: external setpoint generation active
42 = EXTSETGEN_MODE2: internal and external setpoint gen. active
]]>
</Comment>
</SubVar>
<SubVar>
<Name>HomingState</Name>
<Comment>
<![CDATA[Axis Homing Status:
0: idle
1: start homing
2: searching home switch
3: stopping on home switch
4: moving off home switch
5: searching sync pulse
6: stopping after homing
]]>
</Comment>
</SubVar>
<SubVar>
<Name>CoupleState</Name>
<Comment>
<![CDATA[Axis Coupling Status:
0: axis is a single axis (not coupled)
1: axis is a master axis
2: axis is master and slave
3: axis is a slave axis
]]>
</Comment>
</SubVar>
</Var>
<Var>
<Name>MAIN.bLimitFwd1</Name>
<Comment>
<![CDATA[M1:FB_DriveVirtual;
M2:FB_DriveVirtual;
M3:FB_DriveVirtual;
M4:FB_DriveVirtual;
M5:FB_DriveVirtual;
M6:FB_DriveVirtual;
M7:FB_DriveVirtual;
M8:FB_DriveVirtual;
*****Inputs (Limit switches and Home Sensors*******]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>MAIN.bLimitBwd1</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>MAIN.bHomeSensor1</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>MAIN.aFBAxes[1].fbDriveVirtual.InfoData_State</Name>
<Type>UINT</Type>
</Var>
</Vars>
<Vars VarGrpType="2">
<Name>PlcTask Outputs</Name>
<Var>
<Name>GVL.axes[1].Axis.PlcToNc</Name>
<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
</Var>
<Var>
<Name>MAIN.bOutput1</Name>
<Comment>
<![CDATA[bLimitFwd2 AT %I*: BOOL;
bLimitBwd2 AT %I*: BOOL;
bHomeSensor2 AT %I*: BOOL;
bLimitFwd3 AT %I*: BOOL;
bLimitBwd3 AT %I*: BOOL;
bHomeSensor3 AT %I*: BOOL;
bLimitFwd4 AT %I*: BOOL;
bLimitBwd4 AT %I*: BOOL;
bHomeSensor4 AT %I*: BOOL;
bLimitFwd5 AT %I*: BOOL;
bLimitBwd5 AT %I*: BOOL;
bHomeSensor5 AT %I*: BOOL;
bLimitFwd6 AT %I*: BOOL;
bLimitBwd6 AT %I*: BOOL;
bHomeSensor6 AT %I*: BOOL;
bLimitFwd7 AT %I*: BOOL;
bLimitBwd7 AT %I*: BOOL;
bHomeSensor7 AT %I*: BOOL;
bLimitFwd8 AT %I*: BOOL;
bLimitBwd8 AT %I*: BOOL;
bHomeSensor8 AT %I*: BOOL;
*****Outputs: Power for Limit switches and Home Sensors (every 4th output)*******]]>
</Comment>
<Type>BOOL</Type>
</Var>
<Var>
<Name>MAIN.bOutput2</Name>
<Type>BOOL</Type>
</Var>
<Var>
<Name>MAIN.bOutput3</Name>
<Type>BOOL</Type>
</Var>
</Vars>
<TaskPouOids>
<TaskPouOid Prio="20" OTCID="#x08502041"/>
</TaskPouOids>
</Instance>
</Project>
</Plc>
<Io>
<Device DevType="111" DevFlags="#x0003" AmsPort="28673" AmsNetId="192.168.88.55.2.1" RemoteName="Device 1 (EtherCAT)" Id="1">
<Name>Device 1 (EtherCAT)</Name>
<AddressInfo>
<Ccat>
<Address>-801112064</Address>
<Offset>131072</Offset>
<Size>8192</Size>
<BaseAddr>0</BaseAddr>
<BusNo>3</BusNo>
<SlotNo>0</SlotNo>
<VendorId>5612</VendorId>
<DeviceId>20480</DeviceId>
<Dma>
<Address>0</Address>
<Offset>4096</Offset>
<Size>256</Size>
<BaseAddr>2</BaseAddr>
<RxChn>0</RxChn>
<TxChn>1</TxChn>
</Dma>
<Identification>
<Value>498694182</Value>
<Version>1</Version>
<Size>256</Size>
</Identification>
</Ccat>
</AddressInfo>
<Image Id="1" AddrType="9" ImageType="3">
<Name>Image</Name>
</Image>
<Image Id="4" AddrType="10" ImageType="3">
<Name>Image-2</Name>
</Image>
<Box BoxType="9099" Id="1">
<Name>Term 1 (EK1200)</Name>
<ImageId>1000</ImageId>
<EtherCAT PdiType="#x0100" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x04b02c52" RevisionNo="#x00001388" InfoDataState="false" PortPhys="49" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EK1200-5000 EtherCAT Power supply (2A E-Bus)" Desc="EK1200" PortABoxInfo="#x00ffffff"/>
<Box BoxType="9099" Id="2">
<Name>Term 2 (EL1018)</Name>
<ImageId>7</ImageId>
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<SyncMan>001001000000010004000000000000000100001000010000</SyncMan>
<Fmmu>0000000000000000001000010100000002000000000000000000000000000000</Fmmu>
<Pdo Name="Channel 1" Index="#x1a00" Flags="#x0011" SyncMan="0">
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<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 2" Index="#x1a01" Flags="#x0011" SyncMan="0">
<Entry Name="Input" Index="#x6010" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 3" Index="#x1a02" Flags="#x0011" SyncMan="0">
<Entry Name="Input" Index="#x6020" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 4" Index="#x1a03" Flags="#x0011" SyncMan="0">
<Entry Name="Input" Index="#x6030" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 5" Index="#x1a04" Flags="#x0011" SyncMan="0">
<Entry Name="Input" Index="#x6040" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 6" Index="#x1a05" Flags="#x0011" SyncMan="0">
<Entry Name="Input" Index="#x6050" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 7" Index="#x1a06" Flags="#x0011" SyncMan="0">
<Entry Name="Input" Index="#x6060" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 8" Index="#x1a07" Flags="#x0011" SyncMan="0">
<Entry Name="Input" Index="#x6070" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
</EtherCAT>
</Box>
<Box BoxType="9099" Id="3">
<Name>Term 3 (EL2808)</Name>
<ImageId>1001</ImageId>
<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x0af83052" RevisionNo="#x00110000" RepeatSupport="true" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL2808 8Ch. Dig. Output 24V, 0.5A" Desc="EL2808" PortABoxInfo="#x01000002">
<SyncMan>000f01004400010003000000010001000100000f44090000</SyncMan>
<Fmmu>0000000000000000000f00020100000001000000000000000000000000000000</Fmmu>
<Pdo Name="Channel 1" Index="#x1600" InOut="1" Flags="#x0011" SyncMan="0">
<Entry Name="Output" Index="#x7000" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 2" Index="#x1601" InOut="1" Flags="#x0011" SyncMan="0">
<Entry Name="Output" Index="#x7010" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 3" Index="#x1602" InOut="1" Flags="#x0011" SyncMan="0">
<Entry Name="Output" Index="#x7020" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 4" Index="#x1603" InOut="1" Flags="#x0011" SyncMan="0">
<Entry Name="Output" Index="#x7030" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 5" Index="#x1604" InOut="1" Flags="#x0011" SyncMan="0">
<Entry Name="Output" Index="#x7040" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 6" Index="#x1605" InOut="1" Flags="#x0011" SyncMan="0">
<Entry Name="Output" Index="#x7050" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 7" Index="#x1606" InOut="1" Flags="#x0011" SyncMan="0">
<Entry Name="Output" Index="#x7060" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Channel 8" Index="#x1607" InOut="1" Flags="#x0011" SyncMan="0">
<Entry Name="Output" Index="#x7070" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
</EtherCAT>
</Box>
<Box BoxType="9099" BoxFlags="#x00000020" Id="4">
<Name>Term 4 (EL5101)</Name>
<ImageId>1002</ImageId>
<EtherCAT SlaveType="2" PdiType="#x0c05" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="7" FoeType="1" VendorId="#x00000002" ProductCode="#x13ed3052" RevisionNo="#x04000000" InfoDataAddr="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL5101 1Ch. Inc. Encoder 5V" Desc="EL5101" PortABoxInfo="#x01000003">
<SyncMan>001830002600010001000000300030003000001826010000</SyncMan>
<SyncMan>801830002200010002000000300030003000801822010000</SyncMan>
<SyncMan>001004002400010003000000000000000300001024010000</SyncMan>
<SyncMan>001106002000010004000000000000000500001120010000</SyncMan>
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<Fmmu>0000000000000000001100010100000002000000000000000000000000000000</Fmmu>
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
<BootStrapData>0010f400f410f400</BootStrapData>
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</Entry>
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<Type>UINT</Type>
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</Pdo>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<Type>BIT</Type>
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<ExcludePdo>#x1a02</ExcludePdo>
<ExcludePdo>#x1a05</ExcludePdo>
<Entry Name="Period value" Index="#x6010" Sub="#x14">
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<Entry Name="Timestamp" Index="#x6010" Sub="#x16">
<Type>ULINT</Type>
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<Pdo Name="ENC Timest. compact" Index="#x1a08" Flags="#x0010">
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<Pdo Name="Outputs" Index="#x1600" InOut="1" Flags="#x0010">
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<Type>BIT</Type>
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<Entry Name="Control__">
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<Entry Name="Control__">
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<Type>UINT</Type>
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<Pdo Name="ENC Control" Index="#x1603" InOut="1" Flags="#x0010">
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<Type>BIT</Type>
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<Entry Name="Control__">
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</Entry>
<Entry Name="Control__">
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</Entry>
<Entry Name="Set counter value" Index="#x7010" Sub="#x11">
<Type>UDINT</Type>
</Entry>
</Pdo>
<CoeProfile ProfileNo="33428361" DisplayName="MDP 510"/>
<CoeProfile ProfileNo="33493897" DisplayName="MDP 511"/>
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</Box>
<Box BoxType="9099" Id="5">
<Name>Term 5 (EL9505)</Name>
<ImageId>1003</ImageId>
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<SyncMan>001001000000010004000000000000000000001000000000</SyncMan>
<Fmmu>0000000000000000001000010100000002000000000000000000000000000000</Fmmu>
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<Entry Name="Power OK" Index="#x6000" Sub="#x01">
<Type>BIT</Type>
</Entry>
<Entry Name="Overload" Index="#x6000" Sub="#x02">
<Type>BIT</Type>
</Entry>
</Pdo>
</EtherCAT>
</Box>
<Box BoxType="9099" Id="6">
<Name>Term 6 (EL1252-0050)</Name>
<ImageId>7</ImageId>
<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x04e43052" RevisionNo="#x00110032" InfoDataDcTimes="true" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL1252-0050 2Ch. Fast Dig. Input 5V, 1µs, DC Latch" Desc="EL1252-0050" PortABoxInfo="#x01000005">
<SyncMan>001001002000010004000000000000000100001022010000</SyncMan>
<SyncMan>ae0922000000000004000000000000000000ae0900040000</SyncMan>
<SyncMan>100900000000000004000000000000000000100900040000</SyncMan>
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<Fmmu>0000000000000000ae0900010100000002000000060000000100000000000000</Fmmu>
<Fmmu>0000000000000000100900010000000002000000060000000200000000000000</Fmmu>
<DcData>0001000000000000000000000000000000000000000000000000000000000000</DcData>
<DcMode>44634c617463680000000000000000004443204c617463682053657474696e6773000000000000000000000000000000000000000000000000000000000000010000000000000000000000000000000000000000000000000000000000000000</DcMode>
<Pdo Name="Channel 1" Index="#x1a00" Flags="#x0011" SyncMan="0">
<Entry Name="Input" Index="#x6000" Sub="#x01">
<Type>BIT</Type>
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<Pdo Name="Channel 2" Index="#x1a01" Flags="#x0011" SyncMan="0">
<Entry Name="Input" Index="#x6000" Sub="#x02">
<Type>BIT</Type>
</Entry>
<Entry>
<Type GUID="{18071995-0000-0000-0000-002000000006}">ARRAY [0..5] OF BIT</Type>
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<Pdo Name="Reserved" Index="#x1a02" Flags="#x0011" SyncMan="0"/>
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<ExcludePdo>#x1a16</ExcludePdo>
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<Type>USINT</Type>
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<Entry Name="Status2" Index="#x1d09" Sub="#xaf">
<Type>USINT</Type>
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</Pdo>
<Pdo Name="Latch" Index="#x1a11" Flags="#x0030">
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<ExcludePdo>#x1a12</ExcludePdo>
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<Type>USINT</Type>
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<Entry>
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
</Entry>
<Entry Name="LatchPos2" Index="#x1d09" Sub="#xb0">
<Type>UDINT</Type>
</Entry>
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<Pdo Name="Latch" Index="#x1a12" Flags="#x0030">
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<Type>USINT</Type>
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<Entry>
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
</Entry>
<Entry Name="LatchPos1" Index="#x1d09" Sub="#xb0">
<Type>ULINT</Type>
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<Entry Name="LatchNeg1" Index="#x1d09" Sub="#xb8">
<Type>ULINT</Type>
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<Pdo Name="Latch" Index="#x1a13" Flags="#x0030" SyncMan="1">
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<Type>USINT</Type>
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<Entry Name="LatchPos1" Index="#x1d09" Sub="#xb0">
<Type>ULINT</Type>
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<Type>ULINT</Type>
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<Entry Name="LatchPos2" Index="#x1d09" Sub="#xc0">
<Type>ULINT</Type>
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<Type>ULINT</Type>
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<Pdo Name="SysTime" Index="#x1a14" Flags="#x0030">
<ExcludePdo>#x1a15</ExcludePdo>
<Entry Name="SysTime" Index="#x1d09" Sub="#x10">
<Type>UDINT</Type>
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<Pdo Name="SysTime" Index="#x1a15" Flags="#x0030">
<ExcludePdo>#x1a14</ExcludePdo>
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<Pdo Name="Latch" Index="#x1a16" Flags="#x0030">
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<ExcludePdo>#x1a11</ExcludePdo>
<ExcludePdo>#x1a12</ExcludePdo>
<ExcludePdo>#x1a13</ExcludePdo>
<Entry>
<Type GUID="{18071995-0000-0000-0000-002000000010}">ARRAY [0..1] OF BYTE</Type>
</Entry>
<Entry Name="LatchPos1" Index="#x6000" Sub="#x11">
<Type>ULINT</Type>
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<Entry Name="LatchNeg1" Index="#x6000" Sub="#x13">
<Type>ULINT</Type>
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<Entry Name="LatchPos2" Index="#x6010" Sub="#x11">
<Type>ULINT</Type>
</Entry>
<Entry Name="LatchNeg2" Index="#x6010" Sub="#x13">
<Type>ULINT</Type>
</Entry>
</Pdo>
<CoeProfile ProfileNo="8197001"/>
<CoeProfile ProfileNo="8197001"/>
</EtherCAT>
</Box>
<Box BoxType="9099" Id="7">
<Name>Term 7 (EL9410)</Name>
<ImageId>1003</ImageId>
<EtherCAT SlaveType="1" PdiType="#x0104" CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x24c23052" RevisionNo="#x00110000" RepeatSupport="true" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9410 E-Bus Power Supplier (Diagnostics)" Desc="EL9410" PortABoxInfo="#x01000006">
<SyncMan>001001000000010004000000000000000000001000000000</SyncMan>
<Fmmu>0000000000000000001000010100000002000000000000000000000000000000</Fmmu>
<Pdo Name="Status Us" Index="#x1a00" Flags="#x0011" SyncMan="0">
<Entry Name="Undervoltage" Index="#x6000" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="Status Up" Index="#x1a01" Flags="#x0011" SyncMan="0">
<Entry Name="Undervoltage" Index="#x6010" Sub="#x01">
<Type>BIT</Type>
</Entry>
</Pdo>
</EtherCAT>
</Box>
<Box BoxType="9099" BoxFlags="#x00000020" Id="8">
<Name>Term 8 (EL7037)</Name>
<ImageId>1004</ImageId>
<EtherCAT SlaveType="2" PdiType="#x0405" MboxDataLinkLayer="true" StateMBoxPolling="true" CycleMBoxPollingTime="0" CoeType="39" FoeType="1" VendorId="#x00000002" ProductCode="#x1b7d3052" RevisionNo="#x00110000" InfoDataAddr="true" InfoDataSoeDS401="true" RepeatSupport="true" TimeoutMailbox2="2000" CheckRevisionNoType="3" PortPhys="51" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL7037 1Ch. Stepper motor output stage (24V, 1.5A)" Desc="EL7037" PortABoxInfo="#x01000007">
<SyncMan>001080002600010001000000400080008000001026010000</SyncMan>
<SyncMan>801080002200010002000000400080008000801022010000</SyncMan>
<SyncMan>001108002400010003000000000000000800001124010000</SyncMan>
<SyncMan>801108002000010004000000000000000800801120010000</SyncMan>
<Fmmu>0000000000000000001100020100000001000000000000000000000000000000</Fmmu>
<Fmmu>0000000000000000801100010100000002000000000000000000000000000000</Fmmu>
<Fmmu>00000000000000000d0800010100000003000000000000000000000000000000</Fmmu>
<BootStrapData>0010f400f410f400</BootStrapData>
<DcMode>53796e6368726f6e00000000000000004672656552756e2f534d2d53796e6368726f6e00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</DcMode>
<DcMode>4443000000000000000000000000000044432d53796e6368726f6e000000000000000000000000000000000000000000000000000000000000000000000000030100000000000000000000000000000000000000000000000000000000000000</DcMode>
<MBoxUserCmdData>004003000c0000000000000003000000000000000000000000000000000000002081f001040000000000110000</MBoxUserCmdData>
<MBoxUserCmdData>004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000</MBoxUserCmdData>
<Pdo Name="ENC Status compact" Index="#x1a00" Flags="#x0010" SyncMan="3">
<ExcludePdo>#x1a01</ExcludePdo>
<Entry Name="Status__Latch C valid" Index="#x6000" Sub="#x01">
<Type>BIT</Type>
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<Entry Name="Status__Latch extern valid" Index="#x6000" Sub="#x02">
<Type>BIT</Type>
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<Entry Name="Status__Set counter done" Index="#x6000" Sub="#x03">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Counter underflow" Index="#x6000" Sub="#x04">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Counter overflow" Index="#x6000" Sub="#x05">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__">
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
</Entry>
<Entry Name="Status__Extrapolation stall" Index="#x6000" Sub="#x08">
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<Entry Name="Status__Status of input A" Index="#x6000" Sub="#x09">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Status of input B" Index="#x6000" Sub="#x0a">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Status of input C" Index="#x6000" Sub="#x0b">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__">
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
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<Entry Name="Status__Status of extern latch" Index="#x6000" Sub="#x0d">
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<Entry Name="Status__Sync error" Index="#x6000" Sub="#x0e">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__">
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
</Entry>
<Entry Name="Status__TxPDO Toggle" Index="#x6000" Sub="#x10">
<Type>BIT</Type>
</Entry>
<Entry Name="Counter value" Index="#x6000" Sub="#x11">
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<Entry Name="Latch value" Index="#x6000" Sub="#x12">
<Type>UINT</Type>
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<Pdo Name="ENC Status" Index="#x1a01" Flags="#x0010">
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<Entry Name="Status__Latch C valid" Index="#x6000" Sub="#x01">
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<Entry Name="Status__Latch extern valid" Index="#x6000" Sub="#x02">
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<Entry Name="Status__Set counter done" Index="#x6000" Sub="#x03">
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<Entry Name="Status__Counter underflow" Index="#x6000" Sub="#x04">
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<Entry Name="Status__">
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
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<Entry Name="Status__Status of input B" Index="#x6000" Sub="#x0a">
<Type>BIT</Type>
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<Entry Name="Status__Status of input C" Index="#x6000" Sub="#x0b">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__">
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
</Entry>
<Entry Name="Status__Status of extern latch" Index="#x6000" Sub="#x0d">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Sync error" Index="#x6000" Sub="#x0e">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__">
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
</Entry>
<Entry Name="Status__TxPDO Toggle" Index="#x6000" Sub="#x10">
<Type>BIT</Type>
</Entry>
<Entry Name="Counter value" Index="#x6000" Sub="#x11">
<Type>UDINT</Type>
</Entry>
<Entry Name="Latch value" Index="#x6000" Sub="#x12">
<Type>UDINT</Type>
</Entry>
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<Pdo Name="ENC Timest. compact" Index="#x1a02" Flags="#x0010">
<Entry Name="Timestamp" Index="#x6000" Sub="#x16">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="STM Status" Index="#x1a03" Flags="#x0010" SyncMan="3">
<Entry Name="Status__Ready to enable" Index="#x6010" Sub="#x01">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Ready" Index="#x6010" Sub="#x02">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Warning" Index="#x6010" Sub="#x03">
<Type>BIT</Type>
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<Entry Name="Status__Error" Index="#x6010" Sub="#x04">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Moving positive" Index="#x6010" Sub="#x05">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Moving negative" Index="#x6010" Sub="#x06">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Torque reduced" Index="#x6010" Sub="#x07">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Motor stall" Index="#x6010" Sub="#x08">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__">
<Type GUID="{18071995-0000-0000-0000-002000000003}">ARRAY [0..2] OF BIT</Type>
</Entry>
<Entry Name="Status__Digital input 1" Index="#x6010" Sub="#x0c">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Digital input 2" Index="#x6010" Sub="#x0d">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Sync error" Index="#x6010" Sub="#x0e">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__">
<Type GUID="{18071995-0000-0000-0000-002000000001}">ARRAY [0..0] OF BIT</Type>
</Entry>
<Entry Name="Status__TxPDO Toggle" Index="#x6010" Sub="#x10">
<Type>BIT</Type>
</Entry>
</Pdo>
<Pdo Name="STM Synchron info data" Index="#x1a04" Flags="#x0010">
<Entry Name="Info data 1" Index="#x6010" Sub="#x11">
<Type>UINT</Type>
</Entry>
<Entry Name="Info data 2" Index="#x6010" Sub="#x12">
<Type>UINT</Type>
</Entry>
</Pdo>
<Pdo Name="STM Motor load" Index="#x1a05" Flags="#x0010">
<Entry Name="Motor load" Index="#x6010" Sub="#x13">
<Type>INT</Type>
</Entry>
</Pdo>
<Pdo Name="POS Status compact" Index="#x1a06" Flags="#x0010">
<ExcludePdo>#x1a07</ExcludePdo>
<Entry Name="Status__Busy" Index="#x6020" Sub="#x01">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__In-Target" Index="#x6020" Sub="#x02">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Warning" Index="#x6020" Sub="#x03">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Error" Index="#x6020" Sub="#x04">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Calibrated" Index="#x6020" Sub="#x05">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Accelerate" Index="#x6020" Sub="#x06">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Decelerate" Index="#x6020" Sub="#x07">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__">
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
</Entry>
</Pdo>
<Pdo Name="POS Status" Index="#x1a07" Flags="#x0010">
<ExcludePdo>#x1a06</ExcludePdo>
<Entry Name="Status__Busy" Index="#x6020" Sub="#x01">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__In-Target" Index="#x6020" Sub="#x02">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Warning" Index="#x6020" Sub="#x03">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Error" Index="#x6020" Sub="#x04">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Calibrated" Index="#x6020" Sub="#x05">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Accelerate" Index="#x6020" Sub="#x06">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__Decelerate" Index="#x6020" Sub="#x07">
<Type>BIT</Type>
</Entry>
<Entry Name="Status__">
<Type GUID="{18071995-0000-0000-0000-002000000009}">ARRAY [0..8] OF BIT</Type>
</Entry>
<Entry Name="Actual position" Index="#x6020" Sub="#x11">
<Type>UDINT</Type>
</Entry>
<Entry Name="Actual velocity" Index="#x6020" Sub="#x21">
<Type>INT</Type>
</Entry>
<Entry Name="Actual drive time" Index="#x6020" Sub="#x22">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="STM Internal position" Index="#x1a08" Flags="#x0010">
<Entry Name="Internal position" Index="#x6010" Sub="#x14">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="STM External position" Index="#x1a09" Flags="#x0010">
<Entry Name="External position" Index="#x6010" Sub="#x15">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="ENC Control compact" Index="#x1600" InOut="1" Flags="#x0010" SyncMan="2">
<ExcludePdo>#x1601</ExcludePdo>
<Entry Name="Control__Enable latch C" Index="#x7000" Sub="#x01">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__Enable latch extern on positive edge" Index="#x7000" Sub="#x02">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__Set counter" Index="#x7000" Sub="#x03">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__Enable latch extern on negative edge" Index="#x7000" Sub="#x04">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__">
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
</Entry>
<Entry Name="Set counter value" Index="#x7000" Sub="#x11">
<Type>UINT</Type>
</Entry>
</Pdo>
<Pdo Name="ENC Control" Index="#x1601" InOut="1" Flags="#x0010">
<ExcludePdo>#x1600</ExcludePdo>
<Entry Name="Control__Enable latch C" Index="#x7000" Sub="#x01">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__Enable latch extern on positive edge" Index="#x7000" Sub="#x02">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__Set counter" Index="#x7000" Sub="#x03">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__Enable latch extern on negative edge" Index="#x7000" Sub="#x04">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__">
<Type GUID="{18071995-0000-0000-0000-00200000000C}">ARRAY [0..11] OF BIT</Type>
</Entry>
<Entry Name="Set counter value" Index="#x7000" Sub="#x11">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="STM Control" Index="#x1602" InOut="1" Flags="#x0010" SyncMan="2">
<Entry Name="Control__Enable" Index="#x7010" Sub="#x01">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__Reset" Index="#x7010" Sub="#x02">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__Reduce torque" Index="#x7010" Sub="#x03">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__">
<Type GUID="{18071995-0000-0000-0000-002000000008}">ARRAY [0..0] OF BYTE</Type>
</Entry>
<Entry Name="Control__Digital output 1" Index="#x7010" Sub="#x0c">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__">
<Type GUID="{18071995-0000-0000-0000-002000000004}">ARRAY [0..3] OF BIT</Type>
</Entry>
</Pdo>
<Pdo Name="STM Position" Index="#x1603" InOut="1" Flags="#x0010">
<ExcludePdo>#x1604</ExcludePdo>
<ExcludePdo>#x1605</ExcludePdo>
<ExcludePdo>#x1606</ExcludePdo>
<Entry Name="Position" Index="#x7010" Sub="#x11">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="STM Velocity" Index="#x1604" InOut="1" Flags="#x0010" SyncMan="2">
<ExcludePdo>#x1603</ExcludePdo>
<ExcludePdo>#x1605</ExcludePdo>
<ExcludePdo>#x1606</ExcludePdo>
<Entry Name="Velocity" Index="#x7010" Sub="#x21">
<Type>INT</Type>
</Entry>
</Pdo>
<Pdo Name="POS Control compact" Index="#x1605" InOut="1" Flags="#x0010">
<ExcludePdo>#x1603</ExcludePdo>
<ExcludePdo>#x1604</ExcludePdo>
<ExcludePdo>#x1606</ExcludePdo>
<Entry Name="Control__Execute" Index="#x7020" Sub="#x01">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__Emergency stop" Index="#x7020" Sub="#x02">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__">
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
</Entry>
<Entry Name="Target position" Index="#x7020" Sub="#x11">
<Type>UDINT</Type>
</Entry>
</Pdo>
<Pdo Name="POS Control" Index="#x1606" InOut="1" Flags="#x0010">
<ExcludePdo>#x1603</ExcludePdo>
<ExcludePdo>#x1604</ExcludePdo>
<ExcludePdo>#x1605</ExcludePdo>
<Entry Name="Control__Execute" Index="#x7020" Sub="#x01">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__Emergency stop" Index="#x7020" Sub="#x02">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__">
<Type GUID="{18071995-0000-0000-0000-00200000000E}">ARRAY [0..13] OF BIT</Type>
</Entry>
<Entry Name="Target position" Index="#x7020" Sub="#x11">
<Type>UDINT</Type>
</Entry>
<Entry Name="Velocity" Index="#x7020" Sub="#x21">
<Type>INT</Type>
</Entry>
<Entry Name="Start type" Index="#x7020" Sub="#x22">
<Type>UINT</Type>
</Entry>
<Entry Name="Acceleration" Index="#x7020" Sub="#x23">
<Type>UINT</Type>
</Entry>
<Entry Name="Deceleration" Index="#x7020" Sub="#x24">
<Type>UINT</Type>
</Entry>
</Pdo>
<Pdo Name="POS Control 2" Index="#x1607" InOut="1" Flags="#x0010">
<ExcludePdo>#x1603</ExcludePdo>
<ExcludePdo>#x1604</ExcludePdo>
<ExcludePdo>#x1605</ExcludePdo>
<Entry Name="Control__">
<Type GUID="{18071995-0000-0000-0000-002000000002}">ARRAY [0..1] OF BIT</Type>
</Entry>
<Entry Name="Control__Enable auto start" Index="#x7021" Sub="#x03">
<Type>BIT</Type>
</Entry>
<Entry Name="Control__">
<Type GUID="{18071995-0000-0000-0000-00200000000D}">ARRAY [0..12] OF BIT</Type>
</Entry>
<Entry Name="Target position" Index="#x7021" Sub="#x11">
<Type>UDINT</Type>
</Entry>
<Entry Name="Velocity" Index="#x7021" Sub="#x21">
<Type>INT</Type>
</Entry>
<Entry Name="Start type" Index="#x7021" Sub="#x22">
<Type>UINT</Type>
</Entry>
<Entry Name="Acceleration" Index="#x7021" Sub="#x23">
<Type>UINT</Type>
</Entry>
<Entry Name="Deceleration" Index="#x7021" Sub="#x24">
<Type>UINT</Type>
</Entry>
</Pdo>
<CoeProfile ProfileNo="33493897" DisplayName="Stepper interface"/>
<CoeProfile ProfileNo="46076809" DisplayName="Stepper interface"/>
<CoeProfile ProfileNo="46142345" DisplayName="Positioning interfa"/>
</EtherCAT>
</Box>
<Box BoxType="9099" Id="9">
<Name>Term 9 (EL9011)</Name>
<ImageId>1005</ImageId>
<EtherCAT CycleMBoxPollingTime="0" VendorId="#x00000002" ProductCode="#x23333050" InfoDataState="false" MaxSlotCount="256" MaxSlotGroupCount="1" SlotPdoIncrement="1" SlotIndexIncrement="16" Type="EL9011 End Terminal" Desc="EL9011" PortABoxInfo="#x01000008"/>
</Box>
</Box>
<EtherCAT DcSyncMode="3"/>
</Device>
</Io>
</Project>
<Mappings>
<MappingInfo Identifier="{05000010-2041-0850-3000-040340205008}" Id="#x02030020" Watchdog="04000000080000000400000004000000"/>
<MappingInfo Identifier="{00000000-0010-0304-3000-040310000403}" Id="#x02030010"/>
<MappingInfo Identifier="{00000000-2041-0850-4020-500841000403}" Id="#x02030030"/>
<OwnerA Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 4 (EL5101)">
<Link VarA="Enc^Inputs^In^nDataIn1[0]" VarB="ENC Status compact^Counter value"/>
<Link VarA="Enc^Inputs^In^nDataIn2[0]" VarB="ENC Status compact^Latch value"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter overflow" Size="1" OffsA="4"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Counter underflow" Size="1" OffsA="3"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Extrapolation stall" Size="1" OffsA="7"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch C valid"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Latch extern valid" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Open circuit" Size="1" OffsA="6"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Set counter done" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState1" VarB="ENC Status compact^Status^Status of input status" Size="1" OffsA="5"/>
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of extern latch" Size="1" OffsA="4"/>
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input A"/>
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input B" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input C" Size="1" OffsA="2"/>
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Status of input gate" Size="1" OffsA="3"/>
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^Sync error" Size="1" OffsA="5"/>
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO State" Size="1" OffsA="6"/>
<Link VarA="Enc^Inputs^In^nState2" VarB="ENC Status compact^Status^TxPDO Toggle" Size="1" OffsA="7"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Enc^Inputs^In^nState4" VarB="WcState^WcState"/>
<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch C"/>
<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch extern on negative edge" Size="1" OffsA="3"/>
<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Enable latch extern on positive edge" Size="1" OffsA="1"/>
<Link VarA="Enc^Outputs^Out^nCtrl1" VarB="ENC Control compact^Control^Set counter" Size="1" OffsA="2"/>
<Link VarA="Enc^Outputs^Out^nDataOut1[0]" VarB="ENC Control compact^Set counter value"/>
</OwnerB>
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 8 (EL7037)">
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Error" Size="1" OffsA="3"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Motor stall" Size="1" OffsA="7"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Moving negative" Size="1" OffsA="5"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Moving positive" Size="1" OffsA="4"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Ready" Size="1" OffsA="1"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Ready to enable"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Torque reduced" Size="1" OffsA="6"/>
<Link VarA="Drive^Inputs^In^nState1" VarB="STM Status^Status^Warning" Size="1" OffsA="2"/>
<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Digital input 1" Size="1" OffsA="3"/>
<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Digital input 2" Size="1" OffsA="4"/>
<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^Sync error" Size="1" OffsA="5"/>
<Link VarA="Drive^Inputs^In^nState2" VarB="STM Status^Status^TxPDO Toggle" Size="1" OffsA="7"/>
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^InputToggle" Size="1" OffsA="1"/>
<Link VarA="Drive^Inputs^In^nState4" VarB="WcState^WcState"/>
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Enable"/>
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reduce torque" Size="1" OffsA="2"/>
<Link VarA="Drive^Outputs^Out^nCtrl1" VarB="STM Control^Control^Reset" Size="1" OffsA="1"/>
<Link VarA="Drive^Outputs^Out^nCtrl2" VarB="STM Control^Control^Digital output 1" Size="1" OffsA="3"/>
<Link VarA="Drive^Outputs^Out^nDataOut2[0]" VarB="STM Velocity^Velocity"/>
</OwnerB>
</OwnerA>
<OwnerA Name="TIPC^tc_project_app^tc_project_app Instance">
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 2 (EL1018)">
<Link VarA="PlcTask Inputs^MAIN.bHomeSensor1" VarB="Channel 3^Input"/>
<Link VarA="PlcTask Inputs^MAIN.bLimitBwd1" VarB="Channel 2^Input"/>
<Link VarA="PlcTask Inputs^MAIN.bLimitFwd1" VarB="Channel 1^Input"/>
</OwnerB>
<OwnerB Name="TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^Term 3 (EL2808)">
<Link VarA="PlcTask Outputs^MAIN.bOutput1" VarB="Channel 1^Output"/>
<Link VarA="PlcTask Outputs^MAIN.bOutput2" VarB="Channel 2^Output"/>
<Link VarA="PlcTask Outputs^MAIN.bOutput3" VarB="Channel 3^Output"/>
</OwnerB>
<OwnerB Name="TINC^NC-Task 1 SAF^Axes^Axis 1">
<Link VarA="PlcTask Inputs^GVL.axes[1].Axis.NcToPlc" VarB="Outputs^ToPlc"/>
<Link VarA="PlcTask Outputs^GVL.axes[1].Axis.PlcToNc" VarB="Inputs^FromPlc"/>
</OwnerB>
</OwnerA>
</Mappings>
</TcSmProject>
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