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working without encoder

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berti_r committed 2025-08-22 10:47:23 +02:00
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.vs/CouplingProject/v15/.suo
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CouplingProject.project.~u
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berti_r
PC16663
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638914492255895376
CouplingProject.sln
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Microsoft Visual Studio Solution File, Format Version 12.00
# TcXaeShell Solution File, Format Version 11.00
VisualStudioVersion = 15.0.35116.124
MinimumVisualStudioVersion = 10.0.40219.1
Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "CouplingProject", "CouplingProject\CouplingProject.tsproj", "{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}"
EndProject
Project("{FD9F1D59-E000-42F3-8744-88DE1BE93C06}") = "TwinCAT Measurement Project1", "TwinCAT Measurement Project1\TwinCAT Measurement Project1.tcmproj", "{239C13C0-6306-4EC5-92DB-7A05606AC225}"
EndProject
Global
GlobalSection(SolutionConfigurationPlatforms) = preSolution
Debug|TwinCAT CE7 (ARMV7) = Debug|TwinCAT CE7 (ARMV7)
Debug|TwinCAT OS (ARMT2) = Debug|TwinCAT OS (ARMT2)
Debug|TwinCAT OS (x64) = Debug|TwinCAT OS (x64)
Debug|TwinCAT RT (x64) = Debug|TwinCAT RT (x64)
Debug|TwinCAT RT (x86) = Debug|TwinCAT RT (x86)
Release|TwinCAT CE7 (ARMV7) = Release|TwinCAT CE7 (ARMV7)
Release|TwinCAT OS (ARMT2) = Release|TwinCAT OS (ARMT2)
Release|TwinCAT OS (x64) = Release|TwinCAT OS (x64)
Release|TwinCAT RT (x64) = Release|TwinCAT RT (x64)
Release|TwinCAT RT (x86) = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(ProjectConfigurationPlatforms) = postSolution
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT OS (x64).ActiveCfg = Debug|TwinCAT OS (ARMT2)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT OS (x64).ActiveCfg = Release|TwinCAT OS (ARMT2)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT OS (x64).ActiveCfg = Debug|TwinCAT OS (ARMT2)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT OS (x64).ActiveCfg = Release|TwinCAT OS (ARMT2)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
{F1559E2A-422F-4034-9B3D-BDFCC2E63C4E}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86)
{239C13C0-6306-4EC5-92DB-7A05606AC225}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7)
{239C13C0-6306-4EC5-92DB-7A05606AC225}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2)
{239C13C0-6306-4EC5-92DB-7A05606AC225}.Debug|TwinCAT OS (x64).ActiveCfg = Debug|TwinCAT OS (x64)
{239C13C0-6306-4EC5-92DB-7A05606AC225}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64)
{239C13C0-6306-4EC5-92DB-7A05606AC225}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86)
{239C13C0-6306-4EC5-92DB-7A05606AC225}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7)
{239C13C0-6306-4EC5-92DB-7A05606AC225}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2)
{239C13C0-6306-4EC5-92DB-7A05606AC225}.Release|TwinCAT OS (x64).ActiveCfg = Release|TwinCAT OS (x64)
{239C13C0-6306-4EC5-92DB-7A05606AC225}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64)
{239C13C0-6306-4EC5-92DB-7A05606AC225}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86)
EndGlobalSection
GlobalSection(SolutionProperties) = preSolution
HideSolutionNode = FALSE
EndGlobalSection
GlobalSection(ExtensibilityGlobals) = postSolution
SolutionGuid = {8FE256EA-2BAF-443F-9ECF-646E464038C5}
EndGlobalSection
EndGlobal
CouplingProject/CouplingProject.tsproj
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CouplingProject/CouplingProject.tsproj.bak
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CouplingProject/Untitled1/GVLs/GVL.TcGVL
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.15">
<GVL Name="GVL" Id="{2aba574d-0755-44e0-83df-600f0e48b732}">
<Declaration><![CDATA[{attribute 'qualified_only'}
VAR_GLOBAL
InPos : BOOL;
endSwitch1 : BOOL;
endSwitch2 : BOOL;
END_VAR]]></Declaration>
</GVL>
</TcPlcObject>
CouplingProject/Untitled1/POUs/MAIN.TcPOU
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.15">
<POU Name="MAIN" Id="{56453c0e-bad0-4c10-8ff9-86e652affd20}" SpecialFunc="None">
<Declaration><![CDATA[PROGRAM MAIN
VAR
axis1 : AXIS_REF;
axis4 : AXIS_REF;
fbPower1 : MC_Power;
fbPower4 : MC_Power;
fbStop1 : MC_Stop;
fbStop4 : MC_Stop;
fbReset1 : MC_Reset;
fbReset4 : MC_Reset;
fbMoveAbsolute : MC_MoveAbsolute;
fbGearIn : MC_GearIn;
enableAxis : BOOL;
executeGearIn : BOOL;
executeStop : BOOL;
executeReset : BOOL;
executeMove : BOOL;
override : LREAL := 0;
position : LREAL := -45000; // ToDo: set to a reachable position
velocity : LREAL := 0.5; // ToDo: set velocity for move absolute
gearedStatus : BOOL;
errOut : BOOL;
errNr : UDINT;
{attribute 'TcInitSymbol'}
bEndSwitchR AT%I* :BOOL;
bEndSwitchL AT%I* :BOOL;
END_VAR]]></Declaration>
<Implementation>
<ST><![CDATA[
fbPower1(
Axis := axis1,
Enable := enableAxis,
Enable_Positive := bEndSwitchL,
Enable_Negative := bEndSwitchR,
Override := override,
BufferMode := ,
Options := ,
Status => ,
Busy => ,
Active => ,
Error => ,
ErrorID => errNr );
fbPower4(
Axis := axis4,
Enable := enableAxis,
Enable_Positive := bEndSwitchR,
Enable_Negative := bEndSwitchL,
Override := override,
BufferMode := ,
Options := ,
Status => ,
Busy => ,
Active => ,
Error => ,
ErrorID => errNr );
fbStop1(
Axis := axis1,
Execute := executeStop, // The command is executed with a positive edge.
Deceleration := , // If the value is <= 0, the deceleration
// parameterized with the last Move command is used.
Jerk := , // If the value is <= 0, the jerk parameterized
// with the last Move command is used.
Options := ,
Done => ,
Busy => ,
Active => ,
CommandAborted => ,
Error => ,
ErrorID => );
fbStop4(
Axis := axis4,
Execute := executeStop, // The command is executed with a positive edge.
Deceleration := , // If the value is <= 0, the deceleration
// parameterized with the last Move command is used.
Jerk := , // If the value is <= 0, the jerk parameterized
// with the last Move command is used.
Options := ,
Done => ,
Busy => ,
Active => ,
CommandAborted => ,
Error => ,
ErrorID => );
fbReset1(
Axis := axis1,
Execute := executeReset, // The command is executed with a positive edge.
Done => ,
Busy => ,
Error => ,
ErrorID => );
fbReset4(
Axis := axis4,
Execute := executeReset, // The command is executed with a positive edge.
Done => ,
Busy => ,
Error => ,
ErrorID => );
fbMoveAbsolute(
Axis := axis4,
Execute := executeMove, // The command is executed with a positive edge.
Position := position,
Velocity := velocity,
Acceleration := , // If the value is 0, the standard acceleration from
// the axis configuration in the System Manager is used.
Deceleration := , // If the value is 0, the standard deceleration from
// the axis configuration in the System Manager is used.
Jerk := , // If the value is 0, the standard jerk from the axis
// configuration in the System Manager is applied.
BufferMode := MC_BufferMode.MC_Buffered,
Options := ,
Done => ,
Busy => ,
Active => ,
CommandAborted => ,
Error => ,
ErrorId => );
fbGearIn(
Master := axis1,
Slave := axis4,
Execute := executeGearIn,
RatioNumerator := 1,
RatioDenominator := 1,
Acceleration :=,
Deceleration :=,
Jerk :=,
BufferMode := MC_BufferMode.MC_Aborting,
Options =>,
InGear => gearedStatus,
Busy =>,
Active =>,
CommandAborted =>,
Error => errOut,
ErrorID =>);
]]></ST>
</Implementation>
<LineIds Name="MAIN">
<LineId Id="29" Count="110" />
<LineId Id="165" Count="0" />
<LineId Id="2" Count="0" />
</LineIds>
</POU>
</TcPlcObject>
CouplingProject/Untitled1/PlcTask.TcTTO
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<?xml version="1.0" encoding="utf-8"?>
<TcPlcObject Version="1.1.0.1" ProductVersion="3.1.4024.15">
<Task Name="PlcTask" Id="{64fdbcb5-3012-4c54-9ced-353d99944eb9}">
<!--CycleTime in micro seconds.-->
<CycleTime>10000</CycleTime>
<Priority>20</Priority>
<PouCall>
<Name>MAIN</Name>
</PouCall>
<TaskFBGuid>{fa7c1129-86c8-4f3f-8c66-d3a0dfcf8016}</TaskFBGuid>
<Fb_init>{7f2b2014-85d3-4616-89fb-1c66cf6dbdb7}</Fb_init>
<Fb_exit>{65a4ba46-0243-498f-8997-db1f0c7b240c}</Fb_exit>
<CycleUpdate>{341745bc-5823-44ab-8afe-a0dab6877c96}</CycleUpdate>
<PostCycleUpdate>{a7a08a3a-90cd-4d5c-aac2-c9bdabbc945e}</PostCycleUpdate>
</Task>
</TcPlcObject>
CouplingProject/Untitled1/Untitled1.plcproj
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<?xml version="1.0" encoding="utf-8"?>
<Project DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<PropertyGroup>
<FileVersion>1.0.0.0</FileVersion>
<SchemaVersion>2.0</SchemaVersion>
<ProjectGuid>{f1559e2a-422f-4034-9b3d-bdfcc2e63c4e}</ProjectGuid>
<SubObjectsSortedByName>True</SubObjectsSortedByName>
<DownloadApplicationInfo>true</DownloadApplicationInfo>
<WriteProductVersion>true</WriteProductVersion>
<GenerateTpy>false</GenerateTpy>
<Name>Untitled1</Name>
<ProgramVersion>3.1.4024.0</ProgramVersion>
<Application>{d0439dd1-b6db-48d9-888d-e6e6509db4de}</Application>
<TypeSystem>{3976711f-c21a-4dd7-8fb5-b123d4ee310b}</TypeSystem>
<Implicit_Task_Info>{9db5a9d0-bd49-448a-b801-cd1beb43e2ac}</Implicit_Task_Info>
<Implicit_KindOfTask>{15a97939-45fb-4cef-8a85-9dba422c9d22}</Implicit_KindOfTask>
<Implicit_Jitter_Distribution>{4ea642fc-99ad-4a79-af68-6c7427fbb9a3}</Implicit_Jitter_Distribution>
<LibraryReferences>{27ef28d3-a1f7-4a34-8eee-8d7255580b6b}</LibraryReferences>
</PropertyGroup>
<ItemGroup>
<Compile Include="GVLs\GVL.TcGVL">
<SubType>Code</SubType>
<LinkAlways>true</LinkAlways>
</Compile>
<Compile Include="PlcTask.TcTTO">
<SubType>Code</SubType>
</Compile>
<Compile Include="POUs\MAIN.TcPOU">
<SubType>Code</SubType>
</Compile>
</ItemGroup>
<ItemGroup>
<Folder Include="DUTs" />
<Folder Include="GVLs" />
<Folder Include="VISUs" />
<Folder Include="POUs" />
</ItemGroup>
<ItemGroup>
<PlaceholderReference Include="Tc2_MC2">
<DefaultResolution>Tc2_MC2, * (Beckhoff Automation GmbH)</DefaultResolution>
</PlaceholderReference>
<PlaceholderReference Include="Tc2_Standard">
<DefaultResolution>Tc2_Standard, * (Beckhoff Automation GmbH)</DefaultResolution>
<Namespace>Tc2_Standard</Namespace>
</PlaceholderReference>
<PlaceholderReference Include="Tc2_System">
<DefaultResolution>Tc2_System, * (Beckhoff Automation GmbH)</DefaultResolution>
<Namespace>Tc2_System</Namespace>
</PlaceholderReference>
<PlaceholderReference Include="Tc3_Module">
<DefaultResolution>Tc3_Module, * (Beckhoff Automation GmbH)</DefaultResolution>
<Namespace>Tc3_Module</Namespace>
</PlaceholderReference>
</ItemGroup>
<ItemGroup>
<None Include="Untitled1.tmc">
<SubType>Content</SubType>
</None>
</ItemGroup>
<ProjectExtensions>
<PlcProjectOptions>
<XmlArchive>
<Data>
<o xml:space="preserve" t="OptionKey">
<v n="Name">"&lt;ProjectRoot&gt;"</v>
<d n="SubKeys" t="Hashtable" ckt="String" cvt="OptionKey">
<v>{40450F57-0AA3-4216-96F3-5444ECB29763}</v>
<o>
<v n="Name">"{40450F57-0AA3-4216-96F3-5444ECB29763}"</v>
<d n="SubKeys" t="Hashtable" />
<d n="Values" t="Hashtable" ckt="String" cvt="String">
<v>ActiveVisuProfile</v>
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CouplingProject/Untitled1/Untitled1.tmc
+83
View File
@@ -0,0 +1,83 @@
<?xml version="1.0" encoding="utf-8"?><TcModuleClass xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2009/05/TcModuleClass" Hash="{0EA972D2-4DDA-0800-D221-E1DA6675BD6C}" GeneratedBy="TwinCAT XAE Plc"><DataTypes><DataType><Name GUID="{6F5942ED-BFA1-497D-8225-23C6DAAD0A09}" TcBaseType="true">ST_LibVersion</Name><BitSize>288</BitSize><SubItem><Name>iMajor</Name><Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type><BitSize>16</BitSize><BitOffs>0</BitOffs></SubItem><SubItem><Name>iMinor</Name><Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type><BitSize>16</BitSize><BitOffs>16</BitOffs></SubItem><SubItem><Name>iBuild</Name><Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type><BitSize>16</BitSize><BitOffs>32</BitOffs></SubItem><SubItem><Name>iRevision</Name><Type GUID="{18071995-0000-0000-0000-000000000005}">UINT</Type><BitSize>16</BitSize><BitOffs>48</BitOffs></SubItem><SubItem><Name>nFlags</Name><Type GUID="{18071995-0000-0000-0000-000000000007}">DWORD</Type><BitSize>32</BitSize><BitOffs>64</BitOffs></SubItem><SubItem><Name>sVersion</Name><Type GUID="{18071995-0000-0000-0000-000100000017}">STRING(23)</Type><BitSize>192</BitSize><BitOffs>96</BitOffs></SubItem></DataType><DataType><Name Namespace="Tc2_System">T_AmsNetID</Name><Comment><![CDATA[ TwinCAT AMS netID address string. ]]></Comment><BitSize>192</BitSize><BaseType>STRING(23)</BaseType></DataType><DataType><Name Namespace="Tc2_MC2">_ST_NCADS_IDXOFFS_AxisParameter</Name><BitSize>1632</BitSize><SubItem><Name>PARAMSTRUCT</Name><Type>UDINT</Type><Comment><![CDATA[ NC ADS Index Offsets for Axis Parameters ]]></Comment><BitSize>32</BitSize><BitOffs>0</BitOffs><Default><Value>0</Value></Default></SubItem><SubItem><Name>ID</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>32</BitOffs><Default><Value>1</Value></Default></SubItem><SubItem><Name>NAME</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>64</BitOffs><Default><Value>2</Value></Default></SubItem><SubItem><Name>AXISTYPE</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>96</BitOffs><Default><Value>3</Value></Default></SubItem><SubItem><Name>CYCLETIME</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>128</BitOffs><Default><Value>4</Value></Default></SubItem><SubItem><Name>UNITNAME</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>160</BitOffs><Default><Value>5</Value></Default></SubItem><SubItem><Name>VELOREFSEARCH</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>192</BitOffs><Default><Value>6</Value></Default></SubItem><SubItem><Name>VELOSYNCSEARCH</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>224</BitOffs><Default><Value>7</Value></Default></SubItem><SubItem><Name>VELOSLOWMANUAL</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>256</BitOffs><Default><Value>8</Value></Default></SubItem><SubItem><Name>VELOFASTMANUAL</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>288</BitOffs><Default><Value>9</Value></Default></SubItem><SubItem><Name>VELOFAST</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>320</BitOffs><Default><Value>10</Value></Default></SubItem><SubItem><Name>POSAREAENABLE</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>352</BitOffs><Default><Value>15</Value></Default></SubItem><SubItem><Name>POSAREARANGE</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>384</BitOffs><Default><Value>16</Value></Default></SubItem><SubItem><Name>MOTCNTRLENABLE</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>416</BitOffs><Default><Value>17</Value></Default></SubItem><SubItem><Name>MOTCNTRLTIME</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>448</BitOffs><Default><Value>18</Value></Default></SubItem><SubItem><Name>LOOPENABLE</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>480</BitOffs><Default><Value>19</Value></Default></SubItem><SubItem><Name>LOOPDISTANCE</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>512</BitOffs><Default><Value>20</Value></Default></SubItem><SubItem><Name>TARGETPOSENA</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>544</BitOffs><Default><Value>21</Value></Default></SubItem><SubItem><Name>TARGETPOSRANGE</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>576</BitOffs><Default><Value>22</Value></Default></SubItem><SubItem><Name>TARGETPOSTIME</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>608</BitOffs><Default><Value>23</Value></Default></SubItem><SubItem><Name>PULSDISTPOS</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>640</BitOffs><Default><Value>24</Value></Default></SubItem><SubItem><Name>PULSDISTNEG</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>672</BitOffs><Default><Value>25</Value></Default></SubItem><SubItem><Name>FADINGACCELERATION</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>704</BitOffs><Default><Value>29</Value></Default></SubItem><SubItem><Name>FASTAXISSTOPSIGNALTYPE</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>736</BitOffs><Default><Value>30</Value></Default></SubItLine truncated
ACTPOS = TCNC_IDXOFFS_AXmappedENC | 0x00000002; // 0x00010002;
ACTVELO = TCNC_IDXOFFS_AXmappedENC | 0x00000005; // 0x00010005;
ACTACC = TCNC_IDXOFFS_AXmappedENC | 0x00000006; // 0x00010006;
MODULOACTPOS = TCNC_IDXOFFS_AXmappedENC | 0x00000003; // 0x00010003;
MODULOACTTURNS = TCNC_IDXOFFS_AXmappedENC | 0x00000004; // 0x00010004;
ACTINCREMENTS = TCNC_IDXOFFS_AXmappedENC | 0x00000007; // 0x00010007;
]]></Comment><BitSize>32</BitSize><BitOffs>64</BitOffs><Default><Value>9</Value></Default></SubItem><SubItem><Name>SETPOS</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>96</BitOffs><Default><Value>10</Value></Default></SubItem><SubItem><Name>SETVELO</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>128</BitOffs><Default><Value>14</Value></Default></SubItem><SubItem><Name>SETACC</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>160</BitOffs><Default><Value>15</Value></Default></SubItem><SubItem><Name>MODULOSETPOS</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>192</BitOffs><Default><Value>11</Value></Default></SubItem><SubItem><Name>MODULOSETTURNS</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>224</BitOffs><Default><Value>12</Value></Default></SubItem><SubItem><Name>SETDIR</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>256</BitOffs><Default><Value>13</Value></Default></SubItem><SubItem><Name>TARGETPOSITION</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>288</BitOffs><Default><Value>19</Value></Default></SubItem><SubItem><Name>REMAININGTIMEANDPOS</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>320</BitOffs><Default><Value>20</Value></Default></SubItem><SubItem><Name>STOPINFORMATION</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>352</BitOffs><Default><Value>24</Value></Default></SubItem><SubItem><Name>SETTASKCYCLE_WITHOUTCORR</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>384</BitOffs><Default><Value>25</Value></Default></SubItem><SubItem><Name>SETPOS_WITHOUTCORR</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>416</BitOffs><Default><Value>26</Value></Default></SubItem><SubItem><Name>SETVELO_WITHOUTCORR</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>448</BitOffs><Default><Value>30</Value></Default></SubItem><SubItem><Name>SETACC_WITHOUTCORR</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>480</BitOffs><Default><Value>31</Value></Default></SubItem><SubItem><Name>SETDIR_WITHOUTCORR</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>512</BitOffs><Default><Value>29</Value></Default></SubItem><SubItem><Name>COUPLESTATE</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>544</BitOffs><Default><Value>32</Value></Default></SubItem><SubItem><Name>CPLPARAMS</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>576</BitOffs><Default><Value>34</Value></Default></SubItem><SubItem><Name>CPLFACTOR</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>608</BitOffs><Default><Value>35</Value></Default></SubItem><SubItem><Name>AXISCTRLLOOPIDX</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>640</BitOffs><Default><Value>36</Value></Default></SubItem><SubItem><Name>AXISSETPOINTGENIDX</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>672</BitOffs><Default><Value>37</Value></Default></SubItem><SubItem><Name>CPLCHARACVALUES</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>704</BitOffs><Default><Value>38</Value></Default></SubItem><SubItem><Name>CAMINFO</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>736</BitOffs><Default><Value>39</Value></Default></SubItem><SubItem><Name>CAMSTATUS</Name><Type>UDINT</Type><Comment><![CDATA[ activation status etc. ]]></Comment><BitSize>32</BitSize><BitOffs>768</BitOffs><Default><Value>40</Value></Default></SubItem><SubItem><Name>ENCODERINITIALIZATIONDONE</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>800</BitOffs><Default><Value>65560</Value></Default></SubItem><Properties><Property><Name>conditionalshow</Name></Property></Properties></DataType><DataType><Name Namespace="Tc2_MC2">_ST_NCADS_AxisState</Name><BitSize>864</BitSize><SubItem><Name>IDXGRP</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>0</BitOffs><Default><Value>16640</Value></Default></SubItem><SubItem><Name>IDXOFFS</Name><Type Namespace="Tc2_MC2">_ST_NCADS_IDXOFFS_AxisState</Type><BitSize>832</BitSize><BitOffs>32</BitOffs></SubItem><Properties><Property><Name>conditionalshow</Name></Property></Properties></DataType><DataType><Name Namespace="Tc2_MC2">_ST_NCADS_IDXOFFS_AxisFunctions</Name><BitSize>1824</BitSize><SubItem><Name>RESET</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>0</BitOffs><Default><Value>1</Value></Default></SubItem><SubItem><Name>STOP</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>32</BitOffs><Default><Value>2</Value></Default></SubItem><SubItem><Name>CLEAR</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>64</BitOffs><Default><Value>3</Value></Default></SubItem><SubItem><Name>EMERGENCYSTOP</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>96</BitOffs><Default><Value>4</Value></Default></SubItem><SubItem><Name>PARAMETRIZEDSTOP</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>128</BitOffs><Default><Value>5</Value></Default></SubItem><SubItem><Name>INITIALIZE</Name><Type>UDINT</Type><Comment><![CDATA[ Initialize Axis ]]></Comment><BitSize>32</BitSize><BitOffs>160</BitOffs><Default><Value>7</Value></Default></SubItem><SubItem><Name>ORIENTEDSTOP</Name><Type>UDINT</Type><Comment><![CDATLine truncated
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="{6BDEED54-7268-405F-A18B-665A0AE0FEE9}" 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="{60E203BA-3CEE-4BB0-8728-643B1F529592}" Namespace="MC">NCTOPLC_AXIS_REF_STATE3</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>AbsPhasingPos</Name><Type GUID="{18071995-0000-0000-0000-00000000000E}">LREAL</Type><BitSize>64</BitSize><BitOffs>1664</BitOffs></SubItem><SubItem><Name>TorqueOffset</Name><Type GUID="{18071995-Line truncated
The axis states are defined in the PLCopen state diagram
]]></Comment><BitSize>16</BitSize><BaseType>INT</BaseType><EnumInfo><Text>MC_AXISSTATE_UNDEFINED</Text><Enum>0</Enum></EnumInfo><EnumInfo><Text>MC_AXISSTATE_DISABLED</Text><Enum>1</Enum></EnumInfo><EnumInfo><Text>MC_AXISSTATE_STANDSTILL</Text><Enum>2</Enum></EnumInfo><EnumInfo><Text>MC_AXISSTATE_ERRORSTOP</Text><Enum>3</Enum></EnumInfo><EnumInfo><Text>MC_AXISSTATE_STOPPING</Text><Enum>4</Enum></EnumInfo><EnumInfo><Text>MC_AXISSTATE_HOMING</Text><Enum>5</Enum></EnumInfo><EnumInfo><Text>MC_AXISSTATE_DISCRETEMOTION</Text><Enum>6</Enum></EnumInfo><EnumInfo><Text>MC_AXISSTATE_CONTINOUSMOTION</Text><Enum>7</Enum></EnumInfo><EnumInfo><Text>MC_AXISSTATE_SYNCHRONIZEDMOTION</Text><Enum>8</Enum></EnumInfo></DataType><DataType><Name Namespace="Tc2_MC2">ST_AxisOpModes</Name><Comment><![CDATA[ axis operation mode feedback from NcToPlc. ]]></Comment><BitSize>136</BitSize><SubItem><Name>PositionAreaMonitoring</Name><Type>BOOL</Type><Comment><![CDATA[ bit 0 - OpModeDWord ]]></Comment><BitSize>8</BitSize><BitOffs>0</BitOffs></SubItem><SubItem><Name>TargetPositionMonitoring</Name><Type>BOOL</Type><Comment><![CDATA[ bit 1 - OpModeDWord ]]></Comment><BitSize>8</BitSize><BitOffs>8</BitOffs></SubItem><SubItem><Name>LoopMode</Name><Type>BOOL</Type><Comment><![CDATA[ bit 2 - OpModeDWord - loop mode for two speed axes ]]></Comment><BitSize>8</BitSize><BitOffs>16</BitOffs></SubItem><SubItem><Name>MotionMonitoring</Name><Type>BOOL</Type><Comment><![CDATA[ bit 3 - OpModeDWord ]]></Comment><BitSize>8</BitSize><BitOffs>24</BitOffs></SubItem><SubItem><Name>PEHTimeMonitoring</Name><Type>BOOL</Type><Comment><![CDATA[ bit 4 - OpModeDWord ]]></Comment><BitSize>8</BitSize><BitOffs>32</BitOffs></SubItem><SubItem><Name>BacklashCompensation</Name><Type>BOOL</Type><Comment><![CDATA[ bit 5 - OpModeDWord ]]></Comment><BitSize>8</BitSize><BitOffs>40</BitOffs></SubItem><SubItem><Name>DelayedErrorReaction</Name><Type>BOOL</Type><Comment><![CDATA[ bit 6 - OpModeDWord ]]></Comment><BitSize>8</BitSize><BitOffs>48</BitOffs></SubItem><SubItem><Name>Modulo</Name><Type>BOOL</Type><Comment><![CDATA[ bit 7 - OpModeDWord - axis is parameterized as modulo axis ]]></Comment><BitSize>8</BitSize><BitOffs>56</BitOffs></SubItem><SubItem><Name>SimulationAxis</Name><Type>BOOL</Type><Comment><![CDATA[ bit 8 - OpModeDWord - axis is a simulation axis - available from 2.11 R2 B2033 - 2011-05-31 KSt ]]></Comment><BitSize>8</BitSize><BitOffs>64</BitOffs></SubItem><SubItem><Name>StopMonitoring</Name><Type>BOOL</Type><Comment><![CDATA[ bit 12 - OpModeDWord - TargetPositionMonitoring for Stop and Halt commands - available from 2.11 R3 - 2011-12-09 KSt ]]></Comment><BitSize>8</BitSize><BitOffs>72</BitOffs></SubItem><SubItem><Name>PositionLagMonitoring</Name><Type>BOOL</Type><Comment><![CDATA[ bit 16 - OpModeDWord ]]></Comment><BitSize>8</BitSize><BitOffs>80</BitOffs></SubItem><SubItem><Name>VelocityLagMonitoring</Name><Type>BOOL</Type><Comment><![CDATA[ bit 17 - OpModeDWord ]]></Comment><BitSize>8</BitSize><BitOffs>88</BitOffs></SubItem><SubItem><Name>SoftLimitMinMonitoring</Name><Type>BOOL</Type><Comment><![CDATA[ bit 18 - OpModeDWord ]]></Comment><BitSize>8</BitSize><BitOffs>96</BitOffs></SubItem><SubItem><Name>SoftLimitMaxMonitoring</Name><Type>BOOL</Type><Comment><![CDATA[ bit 19 - OpModeDWord ]]></Comment><BitSize>8</BitSize><BitOffs>104</BitOffs></SubItem><SubItem><Name>PositionCorrection</Name><Type>BOOL</Type><Comment><![CDATA[ bit 20 - OpModeDWord ]]></Comment><BitSize>8</BitSize><BitOffs>112</BitOffs></SubItem><SubItem><Name>AllowSlaveCommands</Name><Type>BOOL</Type><Comment><![CDATA[ 2009-02-20 KSt ]]></Comment><BitSize>8</BitSize><BitOffs>120</BitOffs></SubItem><SubItem><Name>AllowExtSetAxisCommands</Name><Type>BOOL</Type><Comment><![CDATA[ 2011-10-13 KSt ]]></Comment><BitSize>8</BitSize><BitOffs>128</BitOffs></SubItem></DataType><DataType><Name Namespace="Tc2_MC2">ST_AxisStatus</Name><BitSize>768</BitSize><SubItem><Name>UpdateTaskIndex</Name><Type>BYTE</Type><Comment><![CDATA[ Task-Index of the task that updated this data set ]]></Comment><BitSize>8</BitSize><BitOffs>0</BitOffs></SubItem><SubItem><Name>UpdateCycleTime</Name><Type>LREAL</Type><Comment><![CDATA[ task cycle time of the task which calls the status function ]]></Comment><BitSize>64</BitSize><BitOffs>64</BitOffs></SubItem><SubItem><Name>CycleCounter</Name><Type>UDINT</Type><Comment><![CDATA[ PLC cycle counter when this data set updated ]]></Comment><BitSize>32</BitSize><BitOffs>128</BitOffs></SubItem><SubItem><Name>NcCycleCounter</Name><Type>UDINT</Type><Comment><![CDATA[ NC cycle counter incremented after NC task updated NcToPlc data structures ]]></Comment><BitSize>32</BitSize><BitOffs>160</BitOffs></SubItem><SubItem><Name>MotionState</Name><Type Namespace="Tc2_MC2">MC_AxisStates</Type><Comment><![CDATA[ motion state in the PLCopen state diagram ]]></Comment><BitSize>16</BitSize><BitOffs>192</BitOffs></SubItem><SubItem><Name>Error</Name><Type>BOOL</Type><Comment><![CDATA[ StateDWord bit 31 - axis errorLine truncated
AXIS_REF data structure
The FBAXIS_REF is actually not a function block but a data structure
It includes the axis I/O variables as well as additional information.
The reason for not using a STRUCT is that structures cannot hold
located I/O variables.
The user is supposed to use the AXIS_REF data type which internally
redirects the type to this function block definition (alias).
]]></Comment><BitSize>9088</BitSize><SubItem><Name>PlcToNc</Name><Type GUID="{96B75FEB-2D84-43BE-A3EC-D9A681F27D52}">PLCTONC_AXIS_REF</Type><BitSize>1024</BitSize><BitOffs>64</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property><Property><Name>TcAddressType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>NcToPlc</Name><Type GUID="{25521FAA-EA5F-4C7F-8864-BBCCDACD2E98}">NCTOPLC_AXIS_REF</Type><BitSize>2048</BitSize><BitOffs>1088</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property><Property><Name>TcAddressType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>ADS</Name><Type Namespace="Tc2_MC2">ST_AdsAddress</Type><BitSize>224</BitSize><BitOffs>3136</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>Status</Name><Type Namespace="Tc2_MC2">ST_AxisStatus</Type><BitSize>768</BitSize><BitOffs>3392</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>DriveAddress</Name><Type Namespace="Tc2_MC2">ST_DriveAddress</Type><BitSize>672</BitSize><BitOffs>4160</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>_internal</Name><Type Namespace="Tc2_MC2">_InternalAxisRefData</Type><BitSize>160</BitSize><BitOffs>4832</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><SubItem><Name>Storage</Name><Type>DWORD</Type><ArrayInfo><LBound>0</LBound><Elements>128</Elements></ArrayInfo><BitSize>4096</BitSize><BitOffs>4992</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><Action><Name>ReadStatus</Name></Action><Properties><Property><Name>PouType</Name><Value>FunctionBlock</Value></Property><Property><Name>conditionalshow_all_locals</Name></Property></Properties></DataType><DataType><Name Namespace="Tc2_MC2">MC_BufferMode</Name><BitSize>16</BitSize><BaseType>UINT</BaseType><EnumInfo><Text>MC_Aborting</Text><Enum>0</Enum></EnumInfo><EnumInfo><Text>MC_Buffered</Text><Enum>1</Enum></EnumInfo><EnumInfo><Text>MC_BlendingLow</Text><Enum>18</Enum></EnumInfo><EnumInfo><Text>MC_BlendingPrevious</Text><Enum>19</Enum></EnumInfo><EnumInfo><Text>MC_BlendingNext</Text><Enum>20</Enum></EnumInfo><EnumInfo><Text>MC_BlendingHigh</Text><Enum>21</Enum></EnumInfo></DataType><DataType><Name Namespace="Tc2_MC2">ST_PowerOptions</Name><BitSize>8</BitSize><SubItem><Name>reserved</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>0</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem></DataType><DataType><Name Namespace="Tc2_Standard">TON</Name><BitSize>256</BitSize><SubItem><Name>IN</Name><Type>BOOL</Type><Comment><![CDATA[ starts timer with rising edge, resets timer with falling edge ]]></Comment><BitSize>8</BitSize><BitOffs>64</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>PT</Name><Type>TIME</Type><Comment><![CDATA[ time to pass, before Q is set ]]></Comment><BitSize>32</BitSize><BitOffs>96</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Q</Name><Type>BOOL</Type><Comment><![CDATA[ gets TRUE, delay time (PT) after a rising edge at IN ]]></Comment><BitSize>8</BitSize><BitOffs>128</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>ET</Name><Type>TIME</Type><Comment><![CDATA[ elapsed time ]]></Comment><BitSize>32</BitSize><BitOffs>160</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>M</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>192</BitOffs></SubItem><SubItem><Name>StartTime</Name><Type>TIME</Type><BitSize>32</BitSize><BitOffs>224</BitOffs></SubItem><Properties><Property><Name>PouType</Name><Value>FunctionBlock</Value></Property></Properties></DataType><DataType><Name Namespace="Tc2_Standard">TP</Name><Comment><![CDATA[
Pulse Timer.
Q produces a High-Signal with the length of PT on every rising edge on IN.
]]></Comment><BitSize>256</BitSize><SubItem><Name>IN</Name><Type>BOOL</Type><Comment><![CDATA[ Trigger for Start of the Signal ]]></Comment><BitSize>8</BitSize><BitOffs>64</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>PT</Name><Type>TIME</Type><Comment><![CDATA[ The length of the High-Signal in 10ms ]]></Comment><BitSize>32</BitSize><BitOffs>96</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Q</Name><Type>BOOL</Type><Comment><![CDATA[ The pulse ]]></Comment><BitSize>8</BitSize><BitOffs>128</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>ET</Name><Type>TIME</Type><Comment><![CDATA[ The current phase of the High-Signal ]]></Comment><BitSize>32</BitSize><BitOffs>160</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>StartTime</Name><Type>TIME</Type><BitSize>32</BitSize><BitOffs>192</BitOffs></SubItem><Properties><Property><Name>PouType</Name><Value>FunctionBlock</Value></Property></Properties></DataType><DataType><Name Namespace="Tc2_MC2">MC_Power</Name><BitSize>960</BitSize><SubItem><Name>Axis</Name><Type Namespace="Tc2_MC2" ReferenceTo="true">AXIS_REF</Type><Comment><![CDATA[Reference to an axis]]></Comment><BitSize>64</BitSize><BitOffs>64</BitOffs><Properties><Property><Name>ItemType</Name><Value>InOut</Value></Property></Properties></SubItem><SubItem><Name>Enable</Name><Type>BOOL</Type><Comment><![CDATA[ B ]]></Comment><BitSize>8</BitSize><BitOffs>128</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Enable_Positive</Name><Type>BOOL</Type><Comment><![CDATA[ E ]]></Comment><BitSize>8</BitSize><BitOffs>136</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Enable_Negative</Name><Type>BOOL</Type><Comment><![CDATA[ E ]]></Comment><BitSize>8</BitSize><BitOffs>144</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Override</Name><Type>LREAL</Type><Comment><![CDATA[ in percent - Beckhoff proprietary input ]]></Comment><BitSize>64</BitSize><BitOffs>192</BitOffs><Default><Value>100</Value></Default><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>BufferMode</Name><Type Namespace="Tc2_MC2">MC_BufferMode</Type><Comment><![CDATA[ V ]]></Comment><BitSize>16</BitSize><BitOffs>256</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Options</Name><Type Namespace="Tc2_MC2">ST_PowerOptions</Type><BitSize>8</BitSize><BitOffs>272</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Status</Name><Type>BOOL</Type><Comment><![CDATA[ B ]]></Comment><BitSize>8</BitSize><BitOffs>280</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>Busy</Name><Type>BOOL</Type><Comment><![CDATA[ V ]]></Comment><BitSize>8</BitSize><BitOffs>288</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>Error</Name><Type>BOOL</Type><Comment><![CDATA[ B ]]></Comment><BitSize>8</BitSize><BitOffs>304</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>ErrorID</Name><Type>UDINT</Type><Comment><![CDATA[ E ]]></Comment><BitSize>32</BitSize><BitOffs>320</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property><Property><Name>displaymode</Name><Value>hex</Value></Property></Properties></SubItem><SubItem><Name>EnableTimeout</Name><Type Namespace="Tc2_Standard">TON</Type><BitSize>256</BitSize><BitOffs>384</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><SubItem><Name>EnableOffOnDelay</Name><Type Namespace="Tc2_Standard">TP</Type><BitSize>256</BitSize><BitOffs>640</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><SubItem><Name>iOverride</Name><Type>DWORD</Type><BitSize>32</BitSize><BitOffs>896</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><Properties><Property><Name>PouType</Name><Value>FunctionBlock</Value></Property><Property><Name>conditionalshow_all_locals</Name></Property></Properties></DataType><DataType><Name Namespace="Tc2_MC2">ST_MoveOptions</Name><BitSize>320</BitSize><SubItem><Name>EnableBlendingPosition</Name><Type>BOOL</Type><Comment><![CDATA[ Command activation at defined ActivationPosition - extends the buffer mode when enabled ]]></Comment><BitSize>8</BitSize><BitOffs>0</BitOffs></SubItem><SubItLine truncated
Monitoring can just be enabled if the monitoring parameters of the axis are enabled as well
The default is no monitoring for both commands even if monitoring options are enabled by axis parameters ]]></Comment><BitSize>8</BitSize><BitOffs>264</BitOffs></SubItem></DataType><DataType><Name Namespace="Tc2_MC2">_ST_FunctionBlockResults</Name><BitSize>96</BitSize><SubItem><Name>Done</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>0</BitOffs></SubItem><SubItem><Name>CommandAborted</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>8</BitOffs></SubItem><SubItem><Name>Error</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>16</BitOffs></SubItem><SubItem><Name>ErrorID</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>32</BitOffs><Properties><Property><Name>displaymode</Name><Value>hex</Value></Property></Properties></SubItem><SubItem><Name>BusyCounter</Name><Type>UDINT</Type><Comment><![CDATA[ busy cycles since triggering the block - 2018-01-24 KSt ]]></Comment><BitSize>32</BitSize><BitOffs>64</BitOffs><Properties><Property><Name>displaymode</Name><Value>dec</Value></Property></Properties></SubItem><Properties><Property><Name>conditionalshow</Name></Property></Properties></DataType><DataType><Name Namespace="Tc2_MC2">_E_TcNC_StartPosType</Name><BitSize>16</BitSize><BaseType>UINT</BaseType><EnumInfo><Text>TCNC_START_ABSOLUTE</Text><Enum>1</Enum><Comment><![CDATA[Start to absolute position]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_RELATIVE</Text><Enum>2</Enum><Comment><![CDATA[Start to relative position]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_ENDLESS_PLUS</Text><Enum>3</Enum><Comment><![CDATA[Start to endless positive position]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_ENDLESS_MINUS</Text><Enum>4</Enum><Comment><![CDATA[Start to endless negative position]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_MODULO</Text><Enum>5</Enum><Comment><![CDATA[Start to modulo position ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_ADDITIVE</Text><Enum>6</Enum><Comment><![CDATA[Start to a position relative to the last recent target position ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_MODULO_SHORT</Text><Enum>261</Enum><Comment><![CDATA[Start to modulo position ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_MODULO_PLUS</Text><Enum>517</Enum><Comment><![CDATA[Start to modulo position ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_MODULO_MINUS</Text><Enum>773</Enum><Comment><![CDATA[Start to modulo position ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_MODULO_CURRENT</Text><Enum>1029</Enum><Comment><![CDATA[ start to modulo position in current direction ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_ABS_INTERNAL</Text><Enum>9</Enum><Comment><![CDATA[Start to absolute position, internal use]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_ENDLESSPLUS_SLOWMANUAL</Text><Enum>272</Enum><Comment><![CDATA[ manual jog mode ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_ENDLESSMINUS_SLOWMANUAL</Text><Enum>273</Enum><Comment><![CDATA[ manual jog mode ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_ENDLESSPLUS_FASTMANUAL</Text><Enum>528</Enum><Comment><![CDATA[ manual jog mode ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_ENDLESSMINUS_FASTMANUAL</Text><Enum>529</Enum><Comment><![CDATA[ manual jog mode ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_STOPANDLOCK</Text><Enum>4096</Enum><Comment><![CDATA[ stop axis and lock against any motion commands ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_HALT</Text><Enum>8192</Enum><Comment><![CDATA[ halt axis - can be interrupted by any motion commands ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_TORQUE_ABORT</Text><Enum>12288</Enum><Comment><![CDATA[ 20181210 Fap - halt torque control ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_TORQUE_ABSOLUTE</Text><Enum>12289</Enum><Comment><![CDATA[ 20181210 Fap - Start torque control absolute ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_START_TORQUE_RELATIVE</Text><Enum>12290</Enum><Comment><![CDATA[ 20190108 Fap - Start torque control relative NOT IMPLEMENTED ]]></Comment></EnumInfo><Properties><Property><Name>conditionalshow</Name></Property></Properties></DataType><DataType><Name Namespace="Tc2_MC2">ST_TorqueControlOptions</Name><BitSize>128</BitSize><SubItem><Name>EnableManualTorqueStartValue</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>0</BitOffs></SubItem><SubItem><Name>ManualTorqueStartValue</Name><Type>LREAL</Type><BitSize>64</BitSize><BitOffs>64</BitOffs></SubItem></DataType><DataType><Name Namespace="Tc2_MC2">_E_TcMC_STATES</Name><BitSize>16</BitSize><BaseType>INT</BaseType><EnumInfo><Text>STATE_INITIALIZATION</Text><Enum>100</Enum></EnumInfo><EnumInfo><Text>STATE_ORDER</Text><Enum>101</Enum></EnumInfo><EnumInfo><Text>STATE_RUNNING</Text><Enum>102</Enum></EnumInfo><EnumInfo><Text>STATE_WAITING</Text><Enum>103</Enum></EnumInfo><EnumInfo><Text>STATE_MOTIONCOMMANDSLOCKED</Text><Enum>104</Enum></EnumInfo><Properties><Property><Name>conditionalshow</Name></Property></Properties></DataType><DataType><Name Namespace="Tc2_MC2">_ST_TcNC_UnversalAxisStLine truncated
Rising Edge detection.
]]></Comment><BitSize>128</BitSize><SubItem><Name>CLK</Name><Type>BOOL</Type><Comment><![CDATA[ Signal to detect ]]></Comment><BitSize>8</BitSize><BitOffs>64</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Q</Name><Type>BOOL</Type><Comment><![CDATA[ rising edge at signal detected ]]></Comment><BitSize>8</BitSize><BitOffs>72</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>M</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>80</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><Properties><Property><Name>PouType</Name><Value>FunctionBlock</Value></Property><Property><Name>conditionalshow_all_locals</Name></Property></Properties></DataType><DataType><Name Namespace="Tc2_MC2">_ST_TcNc_OperationModes</Name><BitSize>128</BitSize><SubItem><Name>PosAreaControl</Name><Type>DWORD</Type><Comment><![CDATA[ OpModeDWord in cyclic interface
0 ]]></Comment><BitSize>32</BitSize><BitOffs>0</BitOffs><Default><Value>1</Value></Default></SubItem><SubItem><Name>TargetPosControl</Name><Type>DWORD</Type><Comment><![CDATA[ 1 ]]></Comment><BitSize>32</BitSize><BitOffs>32</BitOffs><Default><Value>2</Value></Default></SubItem><SubItem><Name>StopMonitoring</Name><Type>DWORD</Type><Comment><![CDATA[ 2
Loop : DWORD := 2#0000_0000_0000_0000_0000_0000_0000_0100;
3
MotionControl : DWORD := 2#0000_0000_0000_0000_0000_0000_0000_1000;
4
PEHTimeControl : DWORD := 2#0000_0000_0000_0000_0000_0000_0001_0000;
5
BacklashComp : DWORD := 2#0000_0000_0000_0000_0000_0000_0010_0000;
6
DelayedErrorReaction
7
Modulo
8
SimulationAxis
bits 9 .. 11 reserved for supplement products
12 ]]></Comment><BitSize>32</BitSize><BitOffs>64</BitOffs><Default><Value>4096</Value></Default></SubItem><SubItem><Name>AllowSlaveCommands</Name><Type>DWORD</Type><Comment><![CDATA[ bits 13 .. 15 reserved
16
PosDiffControl : DWORD := 2#0000_0000_0000_0001_0000_0000_0000_0000;
17
VeloDiffControl : DWORD := 2#0000_0000_0000_0010_0000_0000_0000_0000;
18
SoftEndMinControl : DWORD := 2#0000_0000_0000_0100_0000_0000_0000_0000;
19
SoftEndMaxControl: DWORD := 2#0000_0000_0000_1000_0000_0000_0000_0000;
20
ActPosCorrection : DWORD := 2#0000_0000_0001_0000_0000_0000_0000_0000;
21 ]]></Comment><BitSize>32</BitSize><BitOffs>96</BitOffs><Default><Value>2097152</Value></Default></SubItem><Properties><Property><Name>conditionalshow</Name></Property></Properties></DataType><DataType><Name Namespace="Tc2_MC2">_FB_MoveUniversalGeneric</Name><BitSize>8512</BitSize><SubItem><Name>Axis</Name><Type Namespace="Tc2_MC2" ReferenceTo="true">AXIS_REF</Type><Comment><![CDATA[Reference to an axis]]></Comment><BitSize>64</BitSize><BitOffs>64</BitOffs><Properties><Property><Name>ItemType</Name><Value>InOut</Value></Property></Properties></SubItem><SubItem><Name>LastExecutionResult</Name><Type Namespace="Tc2_MC2" ReferenceTo="true">_ST_FunctionBlockResults</Type><BitSize>64</BitSize><BitOffs>128</BitOffs><Properties><Property><Name>ItemType</Name><Value>InOut</Value></Property></Properties></SubItem><SubItem><Name>Execute</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>192</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>StartType</Name><Type Namespace="Tc2_MC2">_E_TcNC_StartPosType</Type><Comment><![CDATA[ 20110511 KSt type changed for Tc3 ]]></Comment><BitSize>16</BitSize><BitOffs>208</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Position</Name><Type>LREAL</Type><BitSize>64</BitSize><BitOffs>256</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Torque</Name><Type>LREAL</Type><BitSize>64</BitSize><BitOffs>320</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>TorqueRamp</Name><Type>LREAL</Type><BitSize>64</BitSize><BitOffs>384</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Velocity</Name><Type>LREAL</Type><BitSize>64</BitSize><BitOffs>448</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>VelocityLimitHigh</Name><Type>LREAL</Type><BitSize>64</BitSize><BitOffs>512</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>VelocityLimitLow</Name><Type>LREAL</Type><BitSize>64</BitSize><BitOffs>576</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Acceleration</Name><Type>LREAL</Type><BitSize>64</BitSize><BitOffs>640</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Deceleration</Name><Type>LREAL</Type><BitSize>64</BitSize><BitOffs>704</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Jerk</Name><Type>LREAL</Type><BitSize>64</BitSize><BitOffs>768</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>BufferMode</Name><Type Namespace="Tc2_MC2">MC_BufferMode</Type><Comment><![CDATA[ Direction : MC_Direction := MC_Positive_Direction;
E ]]></Comment><BitSize>16</BitSize><BitOffs>832</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Options</Name><Type Namespace="Tc2_MC2">ST_MoveOptions</Type><BitSize>320</BitSize><BitOffs>896</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>OptionsTorque</Name><Type Namespace="Tc2_MC2">ST_TorqueControlOptions</Type><BitSize>128</BitSize><BitOffs>1216</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Reset</Name><Type>BOOL</Type><Comment><![CDATA[ for internal use only ]]></Comment><BitSize>8</BitSize><BitOffs>1344</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>GotoRunState</Name><Type>BOOL</Type><Comment><![CDATA[ for internal use only ]]></Comment><BitSize>8</BitSize><BitOffs>1352</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>ContinuousUpdate</Name><Type>BOOL</Type><Comment><![CDATA[ for internal use only (TorqueControl) ]]></Comment><BitSize>8</BitSize><BitOffs>1360</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Done</Name><Type>BOOL</Type><Comment><![CDATA[ Same meaning as InVelocity for continous motion commands ]]></Comment><BitSize>8</BitSize><BitOffs>1368</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>Busy</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>1376</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>Active</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>1384</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>CommandAborted</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>1392</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>Error</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>1400</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>ErrorID</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>1408</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property><Property><Name>displaymode</Name><Value>hex</Value></Property></Properties></SubItem><SubItem><Name>CmdNo</Name><Type>UINT</Type><BitSize>16</BitSize><BitOffs>1440</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>ADSbusy</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>1456</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>InTorque</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>1464</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>iState</Name><Type Namespace="Tc2_MC2">_E_TcMC_STATES</Type><BitSize>16</BitSize><BitOffs>1472</BitOffs><Default><EnumText>_E_TcMC_STATES.STATE_INITIALIZATION</EnumText></Default></SubItem><SubItem><Name>sStartRequest</Name><Type Namespace="Tc2_MC2">_ST_TcNC_UnversalAxisStartRequest</Type><BitSize>640</BitSize><BitOffs>1536</BitOffs></SubItem><SubItem><Name>sTorqueStartRequest</Name><Type Namespace="Tc2_MC2">_ST_TcNC_UniversalAxisTorqueStartRequest</Type><BitSize>576</BitSize><BitOffs>2176</BitOffs></SubItem><SubItem><Name>sStartResponse</Name><Type Namespace="Tc2_MC2">_ST_TcNC_UnversalAxisStartResponse</Type><BitSize>32</BitSize><BitOffs>2752</BitOffs></SubItem><SubItem><Name>fbAdsReadWrite</Name><Type Namespace="Tc2_System">ADSRDWRTEX</Type><BitSize>1792</BitSize><BitOffs>2816</BitOffs></SubItem><SubItem><Name>ContinousMode</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>4608</BitOffs></SubItem><SubItem><Name>InVelocity</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>4616</BitOffs></SubItem><SubItem><Name>DiffCycleCounter</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>4640</BitOffs></SubItem><SubItem><Name>EmptyStartResponse</Name><Type Namespace="Tc2_MC2">_ST_TcNC_UnversalAxisStartResponse</Type><BitSize>32</BitSize><BitOffs>4672</BitOffs></SubItem><SubItem><Name>COUNT_R</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>4704</BitOffs></SubItem><SubItem><Name>CounterCmdNoZero</Name><Type>BYTE</Type><BitSize>8</BitSize><BitOffs>4736</BitOffs></SubItem><SubItem><Name>CounterCmdNotStarted</Name><Type>BYTE</Type><BitSize>8</BitSize><BitOffs>4744</BitOffs></SubItem><SubItem><Name>DiffCmdNo</Name><Type>INT</Type><BitSize>16</BitSize><BitOffs>4752</BitOffs></SubItem><SubItem><Name>InitialNcToPlcCmdNo</Name><Type>UINT</Type><BitSize>16</BitSize><BitOffLine truncated
not available ]]></Comment><BitSize>16</BitSize><BitOffs>512</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Options</Name><Type Namespace="Tc2_MC2">ST_MoveOptions</Type><Comment><![CDATA[ optional parameters ]]></Comment><BitSize>320</BitSize><BitOffs>576</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Done</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>896</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>Busy</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>904</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>Active</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>912</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>CommandAborted</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>920</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>Error</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>928</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>ErrorID</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>960</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property><Property><Name>displaymode</Name><Value>hex</Value></Property></Properties></SubItem><SubItem><Name>LastExecutionResult</Name><Type Namespace="Tc2_MC2">_ST_FunctionBlockResults</Type><BitSize>96</BitSize><BitOffs>992</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><SubItem><Name>ADSbusy</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>1088</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><SubItem><Name>MoveGeneric</Name><Type Namespace="Tc2_MC2">_FB_MoveUniversalGeneric</Type><BitSize>8512</BitSize><BitOffs>1152</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><SubItem><Name>CmdNo</Name><Type>UINT</Type><BitSize>16</BitSize><BitOffs>9664</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><Properties><Property><Name>PouType</Name><Value>FunctionBlock</Value></Property><Property><Name>conditionalshow_all_locals</Name></Property></Properties></DataType><DataType><Name Namespace="Tc2_MC2">_E_TcNC_SlaveTypes</Name><BitSize>16</BitSize><BaseType>INT</BaseType><EnumInfo><Text>TCNC_SLAVETYPE_LINEAR</Text><Enum>1</Enum><Comment><![CDATA[ Lineare Kopplung (Geradengleichung) ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_SLAVETYPE_FLYINGSAW_ONVELOCITY</Text><Enum>2</Enum><Comment><![CDATA[ diagonal synchron. Aufkoppeln schnellstens auf Geschwindigkeit ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_SLAVETYPE_FLYINGSAW_ONPOSITION</Text><Enum>3</Enum><Comment><![CDATA[ diagonal synchron. Aufkoppeln auf Position und Geschwindigkeit ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_SLAVETYPE_FLYINGSAW_QUADRATIC</Text><Enum>4</Enum><Comment><![CDATA[ diagonal synchron. Aufkoppeln (quadratisches Geschw.-Profil) ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_SLAVETYPE_SYNCHRONIZING_ONVELO</Text><Enum>5</Enum><Comment><![CDATA[ synchron. Aufkoppeln instantan auf Geschwindigkeit ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_SLAVETYPE_SYNCHRONIZING_ONPOS</Text><Enum>6</Enum><Comment><![CDATA[ synchron. Aufkoppeln auf Positionen und Geschwindigkeit ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_SLAVETYPE_SYNCJERKSETTER_ONVELO</Text><Enum>7</Enum><Comment><![CDATA[ synchron. Aufkoppeln auf Geschwindigkeit (zeitbasiert mittels Ruck-Steller) ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_SLAVETYPE_TABULAR</Text><Enum>10</Enum><Comment><![CDATA[ Tabellen-Kopplung ("simple/standard tabular slave") ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_SLAVETYPE_MULTITABULAR</Text><Enum>11</Enum><Comment><![CDATA[ Tabellen-Kopplung ("multiscalable multi-tabular slave") ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_SLAVETYPE_FLYINGMODULO_LINEAR</Text><Enum>12</Enum><Comment><![CDATA[ Modulo Kopplung auf Position und/oder Geschwindigkeit mit anschliessender Linear Kopplung ("Schuette") ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_SLAVETYPE_MOTIONFUNCTIONTABULAR</Text><Enum>13</Enum><Comment><![CDATA[ Tabellen-Kopplung "motion functions" ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_SLAVETYPE_UNIVERSALTABULAR</Text><Enum>14</Enum><Comment><![CDATA[ Tabellen-Kopplung, universal tabular type substitues TABULAR, MULTITABULAR and MOTIONFUNCTION - 08.07.05 ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_SLAVETYPE_LINEAR_CYCLICCHANGES_RAMP</Text><Enum>15</Enum><Comment><![CDATA[ Lineare Kopplung (Geradengleichung) mit zyklischer Koppelfaktoraenderung ]]></Comment></EnumInfo><EnumInfo><Text>TCNC_SLALine truncated
not available ]]></Comment><BitSize>64</BitSize><BitOffs>384</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Deceleration</Name><Type>LREAL</Type><BitSize>64</BitSize><BitOffs>448</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Jerk</Name><Type>LREAL</Type><BitSize>64</BitSize><BitOffs>512</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>BufferMode</Name><Type Namespace="Tc2_MC2">MC_BufferMode</Type><BitSize>16</BitSize><BitOffs>576</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>Options</Name><Type Namespace="Tc2_MC2">ST_GearInOptions</Type><Comment><![CDATA[ optional parameters ]]></Comment><BitSize>16</BitSize><BitOffs>592</BitOffs><Properties><Property><Name>ItemType</Name><Value>Input</Value></Property></Properties></SubItem><SubItem><Name>InGear</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>608</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>Busy</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>616</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>Active</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>624</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>CommandAborted</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>632</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>Error</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>640</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property></Properties></SubItem><SubItem><Name>ErrorID</Name><Type>UDINT</Type><BitSize>32</BitSize><BitOffs>672</BitOffs><Properties><Property><Name>ItemType</Name><Value>Output</Value></Property><Property><Name>displaymode</Name><Value>hex</Value></Property></Properties></SubItem><SubItem><Name>LastExecutionResult</Name><Type Namespace="Tc2_MC2">_ST_FunctionBlockResults</Type><BitSize>96</BitSize><BitOffs>704</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><SubItem><Name>ADSbusy</Name><Type>BOOL</Type><BitSize>8</BitSize><BitOffs>800</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><SubItem><Name>iState</Name><Type Namespace="Tc2_MC2">_E_TcMC_STATES</Type><BitSize>16</BitSize><BitOffs>816</BitOffs><Default><EnumText>_E_TcMC_STATES.STATE_INITIALIZATION</EnumText></Default><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><SubItem><Name>fbAdsWrite</Name><Type Namespace="Tc2_System">ADSWRITE</Type><BitSize>1344</BitSize><BitOffs>832</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><SubItem><Name>sCouple</Name><Type Namespace="Tc2_MC2">_ST_TcNC_CoupleSlave</Type><BitSize>384</BitSize><BitOffs>2176</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><SubItem><Name>fbOptGearInDyn</Name><Type Namespace="Tc2_MC2">MC_GearInDyn</Type><BitSize>4416</BitSize><BitOffs>2560</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><SubItem><Name>fbOnTrigger</Name><Type Namespace="Tc2_Standard">R_TRIG</Type><BitSize>128</BitSize><BitOffs>6976</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><SubItem><Name>TimerStateFeedback</Name><Type Namespace="Tc2_Standard">TON</Type><BitSize>256</BitSize><BitOffs>7104</BitOffs><Properties><Property><Name>conditionalshow</Name></Property></Properties></SubItem><Action><Name>ActGearInDyn</Name></Action><Action><Name>WriteGearRatio</Name></Action><Properties><Property><Name>PouType</Name><Value>FunctionBlock</Value></Property><Property><Name>conditionalshow_all_locals</Name></Property></Properties></DataType><DataType><Name GUID="{4591E628-DBCE-4E33-AE0B-7EB853AA256E}" Namespace="PLC" TcBaseType="true">EPlcPersistentStatus</Name><BitSize>8</BitSize><BaseType GUID="{18071995-0000-0000-0000-000000000002}">USINT</BaseType><EnumInfo><Text><![CDATA[PS_None]]></Text><Enum>0</Enum></EnumInfo><EnumInfo><Text><![CDATA[PS_All]]></Text><Enum>1</Enum></EnumInfo><EnumInfo><Text><![CDATA[PS_Partial]]></Text><Enum>2</Enum></EnumInfo></DataType><DataType><Name GUID="{941FDF6E-37CE-4C30-AA23-3236AFA461E2}" Namespace="PLC" TcBaseType="true">PlcAppSystemInfo</Name><BitSize>2048</BitSize><SubItem><Name>ObjId</Name><Type GUID="{18071995-0000-0000-0000-00000000000F}">OTCID</Type><BitSize>32</BitSize><BitOffs>0</BitOffs></SubItem><SubItem><Name>TaskCnt</Name><Type GUID="{18071995-0000-0000-0000-000000000008}">UDINT</Type><BitSize>32<Line truncated
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<?xml version="1.0"?>
<TcTargetDesc>
<TargetVersion>
<Version>3</Version>
<Revision>1</Revision>
<Build>4024</Build>
<Subbuild>67</Subbuild>
</TargetVersion>
</TcTargetDesc>
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<?xml version="1.0"?>
<TcBootProject CreateTime="2025-08-22T09:40:49">
<System>
<LockedMemSize>33554432</LockedMemSize>
<AffinityMask>#x1</AffinityMask>
<TComSrvAffinity>#x1</TComSrvAffinity>
<RtParam>
<P1 Desc="MaxStackSize">64</P1>
<P0 Desc="MaxNumTasks">7</P0>
</RtParam>
<RequiredTargetVersion>3.1.4021</RequiredTargetVersion>
</System>
<Drivers>
<Driver>
<Type>1</Type>
<ServiceName>TcIoEth</ServiceName>
</Driver>
<Driver>
<Type>1</Type>
<ServiceName>TcRtsObjects</ServiceName>
</Driver>
<Driver>
<Type>1</Type>
<ServiceName>TcIoECat</ServiceName>
</Driver>
<Driver>
<Type>1</Type>
<ServiceName>TcIo</ServiceName>
</Driver>
<Driver>
<Type>1</Type>
<ServiceName>TcNc</ServiceName>
</Driver>
<Driver>
<Type>1</Type>
<ServiceName>TcPlc30</ServiceName>
</Driver>
<Driver>
<Type>1</Type>
<ServiceName>TcRTime</ServiceName>
</Driver>
</Drivers>
<InitCmds>
<InitCmd>
<key>Init1\IO: Download Config Id</key>
<port>300</port>
<iGrp>61696</iGrp>
<iOffs>4</iOffs>
<data>00000000</data>
</InitCmd>
<InitCmd>
<key>Init1\IO: Create TComObj PREOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>0200000200000000f0000000000000641000500800005008020000000000000000000000000000000000000000000000506c634175785461736b000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000005400000048000000030000000000000000000000010000011b00000000000000000000000e010b0000000000506c634175785461736b00000000000002100002040000003200000000000000071000020400000001000000</data>
</InitCmd>
<InitCmd>
<key>Init1\IO: Download Config Id</key>
<port>12</port>
<iGrp>96</iGrp>
<iOffs>0</iOffs>
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<message>Download TCom interface method counts</message>
<timeout>-2147473648</timeout>
</InitCmd>
<InitCmd>
<key>Init3\IO: Set State TComObj SAFEOP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>100050080400000000000000</data>
</InitCmd>
<InitCmd>
<key>Init4\IO: Download Task Attrib</key>
<port>500</port>
<iGrp>5129</iGrp>
<iOffs>0</iOffs>
<message>NC: new startup</message>
</InitCmd>
<InitCmd>
<key>Init4\IO: Download Task Attrib</key>
<port>501</port>
<cmdId>8216</cmdId>
<data>01000000</data>
<message>Task NC-Task 1 SAF Attributes downloaded</message>
</InitCmd>
<InitCmd>
<key>Init4\RTime: Start Interrupt</key>
<port>200</port>
<iGrp>1</iGrp>
<iOffs>37</iOffs>
<data>0000000050000000102700000000000000000000010000000000000000000000</data>
<message>Ticker started</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>6100010300000000f00000000000006413000103100001030200000000000000000000000000000000000000000000004465766963652031202845746865724341542920284343415420504349290000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000080200001c03000002000000000000000000000064000103d000000003000000ec1500500000000002000000000002000020000000000000001000000001000002000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000006780010314010000000100000000000000000000030000002678b91d00000000ff000000ffffffffffffffffffff000000000000ffffffff00000000ffff000000000000ffffffff00000000ffff000000000000ffffffff00000000ffff000000000000ffffffff00000000ffff000000000000ffffffff00000000ffff000000000000ffffffff00000000ffff000000000000ffffffff00000000ffff000000000000ffffffff00000000ffff000000000000ffffffff00000000ffff000000000000ffffffff00000000ffff000000000000ffffffff00000000ffff000000000000ffffffff00000000ffff000000000000ffffffff00000000ffff000000000000ffffffff00000000ffff000000000000ffffffff00000000</data>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>2700010300000000f0000000000000641100010310000103020000000000000000000000000000000000000000000000446576696365203120284574686572434154292028434341542041646170746572290000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000010000d8010000040000000000000000000000500001030400000013000103000000005100010304000000002000000000000034000103b800000001000000430043004100540020004100640061007000740065007200200050006f0072007400000000000000000000000000000000000000000000000000000000000000000000000000010041000000040000000000000211000003ffffffff00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000005b0001030200000000010000</data>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
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 truncated
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>0400020300000000f000000000000064300008031000010304000000000000000000000000000000000000000000000053796e63556e69743a20273c756e7265666572656e6365643e2700000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000008010000fc0000000b000000000000000000000001200203040000001000010300000000013202030400000010000403000000000eb2020304000000000000000000000002320203040000002000040300000000033202033000000006000203000000000700020300000000080002030000000009000203000000000a000203000000000f00020300000000000000000432020308000000952f0000942f0000000000000532020318000000240000002e00000038000000420000004400000096000000000000000632020304000000b02f0000000000000732020304000000a00000000000000009b202030400000000000000000000000fb202030a0000003c64656661756c743e000000</data>
<message>Create EtherCAT SyncUnit &lt;unreferenced&gt; (set to PREOP)</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>0400020300000000f000000000000064400008031000010304000000000000000000000000000000000000000000000053796e63556e69743a20274e432d5461736b2031205341462700000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000ec000000e00000000b000000000000000000000001200203040000001000010300000000013202030400000010000403000000000eb202030400000010000005000000000232020304000000200004030000000003320203200000000b000203000000000c000203000000000d000203000000000e00020300000000000000000432020304000000932f0000000000000532020310000000460000005a0000006e00000082000000000000000632020304000000b12f0000000000000732020304000000a80000000000000009b202030400000000000000000000000fb202030a0000003c64656661756c743e000000</data>
<message>Create EtherCAT SyncUnit NC-Task 1 SAF (set to PREOP)</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>0400020300000000f000000000000064100008031000010304000000000000000000000000000000000000000000000053796e63556e69743a20273c756e7265666572656e6365643e27000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000d4000000c80000000b000000000000000000000001200203040000001000010300000000013202030400000010000403000000000eb202030400000000000000000000000232020304000000200004030000000003320203080000000200020300000000000000000432020304000000962f00000000000005320203040000000c000000000000000632020304000000b22f0000000000000732020304000000b00000000000000009b202030400000000000100000000000fb20203150000005465726d20322028454c393232372d353530302900000000</data>
<message>Create EtherCAT SyncUnit &lt;unreferenced&gt; (set to PREOP)</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>0400020300000000f000000000000064200008031000010304000000000000000000000000000000000000000000000053796e63556e69743a20273c756e7265666572656e6365643e27000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000d4000000c80000000b000000000000000000000001200203040000001000010300000000013202030400000010000403000000000eb202030400000000000000000000000232020304000000200004030000000003320203080000000500020300000000000000000432020304000000972f00000000000005320203040000001a000000000000000632020304000000b32f0000000000000732020304000000b80000000000000009b202030400000000000200000000000fb20203150000005465726d20352028454c393232372d353530302900000000</data>
<message>Create EtherCAT SyncUnit &lt;unreferenced&gt; (set to PREOP)</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>6200020100000000f0000000000000644000030201205008020000000000000000000000000000000000000000000000556e7469746c65643120496e7374616e6365202d204465766963652031202845746865724341542920310000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000680100005c0100000e00000000000000000000002020000304000000012050080000000021200003040000001000040300000000302000030400000000205008000000003120000304000000100004030000000021000201040000000000000000000000220002010400000000000000000000006200020140000000000000000000000077020000000000000100000000000000000000800300000000000000000000007f02000000000000010000000000000011000080030000000000000063000201000000000000000066800201230000004d41494e2e62456e6453776974636852004d41494e2e62456e645377697463684c0000000000000015a10003100000001b353a497669a052eb9b6bcd0925ff740000000016a1000310000000cfe475e5ad3e893350dd3f84cf0809d60000000017a1000310000000848300bb3bff8425ea5fb939fe17876a0000000023000201040000000000000000000000240002010400000000000000</data>
<message>Create Object Untitled1 Instance - Device 1 (EtherCAT) 1</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
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<message>Create Object NC-Task 1 SAF - Untitled1 Instance</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5121</iGrp>
<iOffs>0</iOffs>
<data>01000000010000004178657300000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</data>
<message>NC-Channel Axes created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5122</iGrp>
<iOffs>0</iOffs>
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<message>Group Axis 1 created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5123</iGrp>
<iOffs>0</iOffs>
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<message>Axis Axis 1 created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5124</iGrp>
<iOffs>0</iOffs>
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<message>Encoder Enc created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5126</iGrp>
<iOffs>0</iOffs>
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<message>Drive Drive created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5125</iGrp>
<iOffs>0</iOffs>
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<message>Controller Ctrl created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5122</iGrp>
<iOffs>0</iOffs>
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<message>Group Axis 2 created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5123</iGrp>
<iOffs>0</iOffs>
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<message>Axis Axis 2 created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5124</iGrp>
<iOffs>0</iOffs>
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<message>Encoder Enc created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5126</iGrp>
<iOffs>0</iOffs>
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<message>Drive Drive created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5125</iGrp>
<iOffs>0</iOffs>
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<message>Controller Ctrl created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5122</iGrp>
<iOffs>0</iOffs>
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<message>Group Axis 3 created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5123</iGrp>
<iOffs>0</iOffs>
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<message>Axis Axis 3 created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5124</iGrp>
<iOffs>0</iOffs>
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<message>Encoder Enc created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5126</iGrp>
<iOffs>0</iOffs>
<data>0300000010000000447269766500000000000000000000000000000000000000000000000000000048020000c80300000000000001000000000000000000f0bf000000000000f03fffffffff000002000000000000000000280001002800010000000000000000009a9999999999b93f000000000000000000000000000000000d0002030000000000000000020000007b14ae47e17a843f000000000000244000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000030a140000000000000f03f0000000000000000000000000000f03f000000000000f03f000000000000f03f000000000000f03f000000000000000000000000000000000000000000000000000000000000f03f0000000000000000000000000000f03f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000003060c090000000085000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000093d000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</data>
<message>Drive Drive created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5125</iGrp>
<iOffs>0</iOffs>
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<message>Controller Ctrl created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5122</iGrp>
<iOffs>0</iOffs>
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<message>Group Axis 4 created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5123</iGrp>
<iOffs>0</iOffs>
<data>04000000010000004178697320340000000000000000000000000000000000000000000000000000040000000000000004000000000000000000000000000000000000000000000000000000000000000000000004000000000000000000000000000000000000000000000000000000000000000000000004000000000000000000000000000000000000000000000000000000000000000000000070020000ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff800001000000000000000000000000000000000000000000000000000000000000000000f0030000ffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffffff0001020000000000000000000000000000000000000000000000000000000000000000006d6d000000000000000000000000000000000000000000000000144000000000000014400000000000003e400000000000003e4000000000000059400000000000c082400000000000409f400000000000409f4001000000000000000000000001000000000000000000000000000000000014409a9999999999b93f000000000000e03f000000000000594000000000000000407b14ae47e17a943f00000000000014400000000000000000000000000543de760201f50300000000000000000000000000000000000000000100000000000000000000000000000000000000004ccd4000000000004ccd40000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000007097400000000000709740000000000094a140000000000000000003000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000f03f000000000000f03f0000000000004940000000000000494000000000000014400000000000001440000000000000f03f000000000000f03f9a9999999999b93f0000000000003940000000000000000000000000000000000000000000000000000000000000000000000000000000000100000003000000000000000000f03f0000000000002040000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</data>
<message>Axis Axis 4 created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5124</iGrp>
<iOffs>0</iOffs>
<data>0400000013000000456e630000000000000000000000000000000000000000000000000000000000f0020000f00400002d431cebe2361a3f000000000000f03f000000000000000000000000008076400000000002000000ffffffff0000000000000000000000007b14ae47e17a843f9a9999999999b93f00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000002800010028000100000000000e0002030000000000000000000000000000000000000000000000000000000000000000000000000000000001000000000000000000000000000000000000000000000000000000ffff0f000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</data>
<message>Encoder Enc created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5126</iGrp>
<iOffs>0</iOffs>
<data>0400000010000000447269766500000000000000000000000000000000000000000000000000000018030000180500000000000001000000000000000000f0bf000000000000f03fffffffff000002000000000000000000280001002800010000000000000000009a9999999999b93f000000000000000000000000000000000e0002030000000000000000020000007b14ae47e17a843f0000000000002440000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000004940000000000000f03f00000000000000000000000000004940000000000000f03f000000000000f03f000000000000f03f000000000000000000000000000000000000000000000000000000000000f03f0000000000000000000000000000f03f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000003060c090000000085000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000093d000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</data>
<message>Drive Drive created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>500</port>
<iGrp>5125</iGrp>
<iOffs>0</iOffs>
<data>04000000010000004374726c000000000000000000000000000000000000000000000000000000000100000000000000000000000000f03f010000000000000000000000000014407b14ae47e17a943f00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000024400000000000000000000000000000000000000000000000009a9999999999b93f9a9999999999b93f00000000000000009a9999999999b93f000000000000e03f9a9999999999b93f0000000000000000000000000000000000000000000000009a9999999999b93f9a9999999999b93f0000000000000000000000000000f03f7b14ae47e17a843f000000000000e03f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000f03f000000000000f03f0000000000003440000000000000f03ffca9f1d24d62503f000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000594000000000000059400000000000408f40000000000000594014000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000</data>
<message>Controller Ctrl created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>0100500800000000f0000000000000640020500800005008020000000000000000000000000000000000000000000000556e7469746c65643120496e7374616e63650000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000e8000000dc0000000c00000000000000000000000300500809000000506f72745f38353100000000000000000c0050080a000000556e7469746c65643100000000000000040050080200000053030000000000000b0050080400000010005008000000000d00500804000000cc3aa868000000001b805008010000000100000000000000050050080400000001205008000000000f8050080400000000000000000000001980500809000000506c635461736b0000000000000000001a8050080400000050000102000000001c80500804000000000001000000000006005008080000004000030230000302</data>
<message>Create Object Untitled1 Instance</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>0100020100000000f0000000000000641100000300000002020000000000000000000000000000000000000000000000492f4f2049646c65205461736b00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000680000005c000000040000000000000000000000010000011d000000000000000000000054010d0000000000492f4f2049646c65205461736b00000000000000011000020400000040420f000000000002100002040000000b00000000000000071000020400000001000000</data>
<message>Task 'I/O Idle Task' created</message>
</InitCmd>
<InitCmd>
<key>Init10\IO: Create TComObj PREOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>0100020100000000f0000000000000645000010200000002020000000000000000000000000000000000000000000000506c635461736b000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000006000000054000000040000000000000000000000010000011700000000000000000000005e01070000000000506c635461736b00000000000110000204000000809698000000000002100002040000001400000000000000071000020400000001000000</data>
<message>Task 'PlcTask' created</message>
</InitCmd>
<InitCmd>
<key>Init11\IO: Create TComObj SAFEOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>2200000300000000f0000000000000641000040310000103040000000000000000000000000000000000000000000000496d616765000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000a00000009400000006000000000000000000000026000003200000000006000000060000090000000000000000000003000000000000000000000000000000000200000304000000000000020000000022000003040000001000010300000000011000020400000080841e000000000015a1000310000000311ee461291c55f731531f5d417ae6c80000000016a1000310000000bca9a1a78e8a571a2f7bc36b52db0a34</data>
<message>Create Image Image (set to SAFEOP)</message>
</InitCmd>
<InitCmd>
<key>Init11\IO: Create TComObj SAFEOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>2200000300000000f0000000000000642000040310000103040000000000000000000000000000000000000000000000496d6167652d496e666f0000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000074000000680000000400000000000000000000002600000320000000c0000000000000000a000000000000000000000300060000000600000000000000000000020000030400000000000002000000002200000304000000100001030000000015a10003100000003be0d24de48f5bbc554ca70bf35b8ba8</data>
<message>Create Image Image-Info (set to SAFEOP)</message>
</InitCmd>
<InitCmd>
<key>Init11\IO: Create TComObj SAFEOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
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<message>Create Object NC-Task 1 SAF - Device 1 (EtherCAT) 1</message>
</InitCmd>
<InitCmd>
<key>Init11\IO: Set Para TComObj PREOP</key>
<port>10</port>
<iGrp>33751104</iGrp>
<iOffs>50372870</iOffs>
<data>01</data>
<message>Enable online change 'Untitled1 Instance - Device 1 (EtherCAT) 1'</message>
</InitCmd>
<InitCmd>
<key>Init11\IO: Create TComObj SAFEOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>6000020100000000f00000000000006420000302100000050400000000000000000000000000000000000000000000004e432d5461736b203120534146202d204465766963652031202845746865724341542920496e666f00000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000e8010000dc0100000c0000000000000000000000202000030400000000000000000000002120000304000000200004030000000030200003040000003000040300000000312000030400000020000403000000000110000204000000000000000000000002100002040000000400000000000000620002010001000000000000000000009002000040060000200000000000000000000000030000000000000000000000b00200000005000020000000000000000000000003000000000000000000000030030000c00c000020000000000000000000000003000000000000000000000050030000800b0000200000000000000000000000030000000000000000000000d003000040130000200000000000000000000000030000000000000000000000f00300000012000020000000000000000000000003000000000000000000000070040000c0190000200000000000000000000000030000000000000000000000900400008018000020000000000000000000000003000000000000006300020100000000000000006680020101000000000000000000000015a1000310000000999ddb17f9a919e16b51a023aba7827d0000000016a1000310000000100c823ac62e793f5c85decc6ac816560000000017a1000310000000331b14215287106f69887536bb960edd</data>
<message>Create Object NC-Task 1 SAF - Device 1 (EtherCAT) Info</message>
</InitCmd>
<InitCmd>
<key>Init11\IO: Set Para TComObj PREOP</key>
<port>10</port>
<iGrp>33751088</iGrp>
<iOffs>50372870</iOffs>
<data>01</data>
<message>Enable online change 'NC-Task 1 SAF - Untitled1 Instance'</message>
</InitCmd>
<InitCmd>
<key>Init11\IO: Create TComObj SAFEOP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
<data>2200000300000000f0000000000000643000040310000005040000000000000000000000000000000000000000000000496d61676500000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000090000000840000000500000000000000000000002600000320000000400300004005000001000000000000000000000300000000000000000000000000000000020000030400000000000002000000002020000304000000100000050000000015a1000310000000c7696f4d2f8f025376eb747feecbf7400000000016a1000310000000ed48fbe5859c250a1634cc28773320e9</data>
<message>Create Image Image (set to SAFEOP)</message>
</InitCmd>
<InitCmd>
<key>Init11\IO: Set Para TComObj PREOP</key>
<port>10</port>
<iGrp>139468800</iGrp>
<iOffs>263</iOffs>
<data>3400000001000000100003004d41494e2e62456e6453776974636852000000000000000095190718000000000000000000000030</data>
<message>Load Init Symbols</message>
</InitCmd>
<InitCmd>
<key>Init12\IO: Set State TComObj SAFEOP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>300008030400000000000000</data>
<message>EtherCAT SyncUnit &lt;unreferenced&gt; (set to SAFEOP)</message>
</InitCmd>
<InitCmd>
<key>Init12\IO: Set State TComObj SAFEOP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>400008030400000000000000</data>
<message>EtherCAT SyncUnit NC-Task 1 SAF (set to SAFEOP)</message>
</InitCmd>
<InitCmd>
<key>Init12\IO: Set State TComObj SAFEOP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>100008030400000000000000</data>
<message>EtherCAT SyncUnit &lt;unreferenced&gt; (set to SAFEOP)</message>
</InitCmd>
<InitCmd>
<key>Init12\IO: Set State TComObj SAFEOP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>200008030400000000000000</data>
<message>EtherCAT SyncUnit &lt;unreferenced&gt; (set to SAFEOP)</message>
</InitCmd>
<InitCmd>
<key>Init12\IO: Set State TComObj SAFEOP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>10000005040000002c0000003000000002000000000000000000000010000005040000003000040300000000011000020400000080841e00</data>
<message>NC Task NC-Task 1 SAF (set to SAFEOP)</message>
</InitCmd>
<InitCmd>
<key>Init12\IO: Set State TComObj SAFEOP</key>
<port>10</port>
<iGrp>260</iGrp>
<iOffs>1</iOffs>
<data>1000010310000705100001052000070520000105300007053000010540000705400001051100000350000102</data>
<message>Set Objects (11) to SAFEOP</message>
<timeout>10000</timeout>
</InitCmd>
<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
<port>10</port>
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<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
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</InitCmd>
<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
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</InitCmd>
<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
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</InitCmd>
<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
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</InitCmd>
<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
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<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
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<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
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</InitCmd>
<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
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</InitCmd>
<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
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</InitCmd>
<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
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</InitCmd>
<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
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</InitCmd>
<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
<port>10</port>
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</InitCmd>
<InitCmd>
<key>Init14\IO: Create TComObj OP</key>
<port>10</port>
<iGrp>3</iGrp>
<iOffs>0</iOffs>
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 truncated
</InitCmd>
<InitCmd>
<key>Init15\IO: Set State TComObj PREOP OP</key>
<port>10</port>
<iGrp>259</iGrp>
<iOffs>0</iOffs>
<data>1300010311000103</data>
<message>Set Objects (2) to OP</message>
</InitCmd>
<InitCmd>
<key>Init16\IO: Set State TComObj SAFEOP OP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>100004030800000000000000</data>
<message>Image Image (set to OP)</message>
</InitCmd>
<InitCmd>
<key>Init16\IO: Set State TComObj SAFEOP OP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>200004030800000000000000</data>
<message>Image Image-Info (set to OP)</message>
</InitCmd>
<InitCmd>
<key>Init16\IO: Set State TComObj SAFEOP OP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>300008030800000000000000</data>
<message>EtherCAT SyncUnit &lt;unreferenced&gt; (set to OP)</message>
</InitCmd>
<InitCmd>
<key>Init16\IO: Set State TComObj SAFEOP OP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>400008030800000000000000</data>
<message>EtherCAT SyncUnit NC-Task 1 SAF (set to OP)</message>
</InitCmd>
<InitCmd>
<key>Init16\IO: Set State TComObj SAFEOP OP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>100008030800000000000000</data>
<message>EtherCAT SyncUnit &lt;unreferenced&gt; (set to OP)</message>
</InitCmd>
<InitCmd>
<key>Init16\IO: Set State TComObj SAFEOP OP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>200008030800000000000000</data>
<message>EtherCAT SyncUnit &lt;unreferenced&gt; (set to OP)</message>
</InitCmd>
<InitCmd>
<key>Init16\IO: Set State TComObj SAFEOP OP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>100003020800000000000000</data>
<message>Set Object NC-Task 1 SAF - Device 1 (EtherCAT) 1 to OP</message>
</InitCmd>
<InitCmd>
<key>Init16\IO: Set State TComObj SAFEOP OP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>200003020800000000000000</data>
<message>Set Object NC-Task 1 SAF - Device 1 (EtherCAT) Info to OP</message>
</InitCmd>
<InitCmd>
<key>Init16\IO: Set State TComObj SAFEOP OP</key>
<port>10</port>
<iGrp>256</iGrp>
<iOffs>0</iOffs>
<data>300004030800000000000000</data>
<message>Image Image (set to OP)</message>
</InitCmd>
<InitCmd>
<key>Init16\IO: Set State TComObj SAFEOP OP</key>
<port>10</port>
<iGrp>259</iGrp>
<iOffs>0</iOffs>
<data>10000103</data>
<message>Set Objects (1) to OP</message>
<timeout>10000</timeout>
</InitCmd>
<InitCmd>
<key>Init28\IO: Download Symbols</key>
<port>501</port>
<iGrp>61453</iGrp>
<iOffs>0</iOffs>
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 truncated
<message>Symbols downloaded</message>
</InitCmd>
<InitCmd>
<key>Init28\IO: Download Symbols</key>
<port>851</port>
<iGrp>61468</iGrp>
<iOffs>0</iOffs>
<data>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 truncated
<message>Symbols downloaded</message>
</InitCmd>
<InitCmd>
<key>Init31\NC: Download Config Id</key>
<port>500</port>
<cmdId>254</cmdId>
<data>e4b59129</data>
<message>Configuration Id downloaded</message>
</InitCmd>
<InitCmd>
<key>Init31\NC: Handle Retain</key>
<port>500</port>
<cmdId>253</cmdId>
<data>00000000</data>
<message>Handle Retain</message>
</InitCmd>
<InitCmd>
<key>Init34\NC: Start Tasks</key>
<port>501</port>
<cmdId>1280</cmdId>
<data>01000400204e000001000000</data>
<message>Task NC-Task 1 SAF started</message>
</InitCmd>
<InitCmd>
<key>Init34\NC: Start Tasks</key>
<port>511</port>
<cmdId>1280</cmdId>
<data>01000800a086010001000000</data>
<message>Task NC-Task 1 SVB started</message>
</InitCmd>
<InitCmd>
<key>Init41\IO: Send EtherCAT Init Commands</key>
<port>65535</port>
<netId>5.67.222.118.2.1</netId>
<iGrp>3</iGrp>
<iOffs>8</iOffs>
<message>Init EtherCAT Master</message>
<timeout>-2147463508</timeout>
</InitCmd>
<InitCmd>
<key>Init44\IO: Set State TComObj PREOP OP</key>
<port>10</port>
<iGrp>139468800</iGrp>
<iOffs>139460617</iOffs>
<message>Check for autostart</message>
<timeout>50000</timeout>
</InitCmd>
</InitCmds>
<PostCmds>
<InitCmd>
<key>Init16\IO: Set State TComObj SAFEOP OP</key>
<port>10</port>
<iGrp>512</iGrp>
<iOffs>0</iOffs>
</InitCmd>
</PostCmds>
<ProjectInfo>
<ProjectName>CouplingProject</ProjectName>
<ProjectGuid>{9AB684AF-5DAF-4717-A9A0-49F58BF2B019}</ProjectGuid>
<ConfigurationFile>C:\Users\berti_r\Documents\TcXaeShell\CouplingProject\CouplingProject\CouplingProject.tsproj</ConfigurationFile>
<DataTypes/>
<PlcProjects/>
<Tasks/>
<Devices/>
</ProjectInfo>
</TcBootProject>
CouplingProject/_Boot/TwinCAT RT (x64)/CurrentConfig/Untitled1.tpzip
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CouplingProject/_Boot/TwinCAT RT (x64)/CurrentEventMessages.xml
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<?xml version="1.0"?>
<TcEventSources Version="2">
<Source>
<GUID>{28111931-0002-0000-5230-0B247C151200}</GUID>
<Name LcId="1031">EL9227-5500 Überstromschutz 24V DC, 2K., max. 10A (Summe), einstellbar, erweiterte Funktionen</Name>
<Name LcId="1033">EL9227-5500 Overcurrent protection 24V DC, 2Ch., max. 10A (sum), adjustable, extended functionalities</Name>
<Event>
<Id>5632</Id>
<Message LcId="1031">Abkühlphase noch aktiv, Kanal {0}</Message>
<Message LcId="1033">Cooling down time still active, channel {0}</Message>
</Event>
<Event>
<Id>17937</Id>
<Message LcId="1031">Überschreitung des maximalen Summenstroms (max. {0} A)</Message>
<Message LcId="1033">exceeding the maximum sum of current (max. {0} A)</Message>
</Event>
<Event>
<Id>17938</Id>
<Message LcId="1031">Unterspannung erkannt, Kanal {0} </Message>
<Message LcId="1033">Undervoltage detected, channel {0} </Message>
</Event>
<Event>
<Id>17939</Id>
<Message LcId="1031">Parameter-Wert wird nicht von dieser Klemmenvariante unterstützt, Kanal {0}</Message>
<Message LcId="1033">Parameter-value is not supported by this variant of terminal, channel {0}</Message>
</Event>
<Event>
<Id>17940</Id>
<Message LcId="1031">Parameter-Wert nicht erlaubt und wurde verkleinert, Kanal {0}</Message>
<Message LcId="1033">Parameter-value not allowed and was reduced automatically, channel {0}</Message>
</Event>
<Event>
<Id>18190</Id>
<Message LcId="1031">Übertemperatur im Gerät</Message>
<Message LcId="1033">Overtemperature in device</Message>
</Event>
<Event>
<Id>33151</Id>
<Message LcId="1031">Interner Hardwarefehler ({0})</Message>
<Message LcId="1033">internal hardware error ({0})</Message>
</Event>
<Event>
<Id>34336</Id>
<Message LcId="1031">Unterspannung erkannt, Kanal {0} ausgelöst</Message>
<Message LcId="1033">Undervoltage detected, channel {0} tripped</Message>
</Event>
<Event>
<Id>34337</Id>
<Message LcId="1031">Überspannung erkannt, Kanal {0} ausgelöst</Message>
<Message LcId="1033">Overvoltage detected, channel {0} tripped</Message>
</Event>
<Event>
<Id>34338</Id>
<Message LcId="1031">Rückwärtseinspeisung erkannt, Kanal {0} ausgelöst</Message>
<Message LcId="1033">Reverse current detected, channel {0} tripped</Message>
</Event>
<Event>
<Id>34339</Id>
<Message LcId="1031">Kurzschluss erkannt, Kanal {0} ausgelöst</Message>
<Message LcId="1033">Short circuit detected, channel {0} tripped</Message>
</Event>
<Event>
<Id>34340</Id>
<Message LcId="1031">Überlast erkannt, Kanal {0} ausgelöst</Message>
<Message LcId="1033">Overload detected, channel {0} tripped</Message>
</Event>
<Property>
<Name>DisplayTxtId</Name>
<Value>true</Value>
</Property>
</Source>
<Source>
<GUID>{28111931-0002-0000-5230-B21300001000}</GUID>
<Name LcId="1031">EL5042 2K. BiSS-C Encoder</Name>
<Name LcId="1033">EL5042 2Ch. BiSS-C Encoder</Name>
<Event>
<Id>2</Id>
<Message LcId="1031">Kommunikation aufgebaut</Message>
<Message LcId="1033">Communication established</Message>
</Event>
<Event>
<Id>3</Id>
<Message LcId="1031">Initialisierung: 0x{0,X}, 0x{1,X}, 0x{2,X}</Message>
<Message LcId="1033">Initialization: 0x{0,X}, 0x{1,X}, 0x{2,X}</Message>
</Event>
<Event>
<Id>4096</Id>
<Message LcId="1031">Information: 0x{0,X}, 0x{1,X}, 0x{2,X}</Message>
<Message LcId="1033">Information: 0x{0,X}, 0x{1,X}, 0x{2,X}</Message>
</Event>
<Event>
<Id>4867</Id>
<Message LcId="1031">Encoder Netzteil ok</Message>
<Message LcId="1033">Encoder Supply ok</Message>
</Event>
<Event>
<Id>4868</Id>
<Message LcId="1031">Encoder Initialisierung erfolgreich abgeschlossen, Kanal: {0,X}</Message>
<Message LcId="1033">Encoder initialization successfully, channel: {0,X}</Message>
</Event>
<Event>
<Id>16384</Id>
<Message LcId="1031">Warnung: 0x{0,X}, 0x{1,X}, 0x{2,X}</Message>
<Message LcId="1033">Warning: 0x{0,X}, 0x{1,X}, 0x{2,X}</Message>
</Event>
<Event>
<Id>32769</Id>
<Message LcId="1031">Fehler: 0x{0,X}, 0x{1,X}, 0x{2,X}</Message>
<Message LcId="1033">Error: 0x{0,X}, 0x{1,X}, 0x{2,X}</Message>
</Event>
<Event>
<Id>33281</Id>
<Message LcId="1031">Keine Kommunikation zur Feldseite (Hilfsspannung fehlt)</Message>
<Message LcId="1033">No communication to field-side (Auxiliary voltage missing)</Message>
</Event>
<Event>
<Id>33538</Id>
<Message LcId="1031">Allgemeiner Encoder Fehler, Kanal: {0,X}</Message>
<Message LcId="1033">general encoder error, channel: {0,X}</Message>
</Event>
<Event>
<Id>33539</Id>
<Message LcId="1031">Encoder Netzteil Fehler</Message>
<Message LcId="1033">Encoder supply error</Message>
</Event>
<Event>
<Id>33540</Id>
<Message LcId="1031">Encoder Kommunikationsfehler, Kanal: {0,X}</Message>
<Message LcId="1033">Encoder communication error, channel: {0,X}</Message>
</Event>
<Event>
<Id>33547</Id>
<Message LcId="1031">Encoder Watchdog Fehler, Kanal: {0,X}</Message>
<Message LcId="1033">Encoder Watchdog Error, channel: {0,X}</Message>
</Event>
<Event>
<Id>33548</Id>
<Message LcId="1031">Encoder Single-Cycle-Data Fehler, Kanal: {0,X}</Message>
<Message LcId="1033">Encoder Single-Cycle-Data Error, channel: {0,X}</Message>
</Event>
<Event>
<Id>65535</Id>
<Message LcId="1031">Debug: 0x{0,X}, 0x{1,X}, 0x{2,X}</Message>
<Message LcId="1033">Debug: 0x{0,X}, 0x{1,X}, 0x{2,X}</Message>
</Event>
<Property>
<Name>DisplayTxtId</Name>
<Value>true</Value>
</Property>
</Source>
<Source>
<GUID>{28111931-0002-0000-5230-2B1C36232000}</GUID>
<Name LcId="1031">EL7211-9014 1K. MDP742 Servo-Motor-Endstufe mit OCT (50V, 4,5A RMS) und STO Eingang</Name>
<Name LcId="1033">EL7211-9014 1Ch. MDP742 Servo motor output stage with OCT (50V, 4.5A RMS) and STO input</Name>
<Event>
<Id>1</Id>
<Message LcId="1031">kein Fehler</Message>
<Message LcId="1033">No error</Message>
</Event>
<Event>
<Id>2</Id>
<Message LcId="1031">Kommunikation aufgebaut</Message>
<Message LcId="1033">Communication established</Message>
</Event>
<Event>
<Id>4609</Id>
<Message LcId="1031">Verbindung zur Feldseite wiederhergestellt</Message>
<Message LcId="1033">Communication re-established</Message>
</Event>
<Event>
<Id>16641</Id>
<Message LcId="1031">Klemmen-Übertemperatur</Message>
<Message LcId="1033">Terminal-Overtemperature</Message>
</Event>
<Event>
<Id>16642</Id>
<Message LcId="1031">Diskrepanz in der PDO-Konfiguration</Message>
<Message LcId="1033">Discrepancy in the PDO-Configuration</Message>
</Event>
<Event>
<Id>17153</Id>
<Message LcId="1031">Feedback-Warnung</Message>
<Message LcId="1033">Feedback-Warning</Message>
</Event>
<Event>
<Id>17425</Id>
<Message LcId="1031">Unterspannung DC-Zwischenkreis</Message>
<Message LcId="1033">DC-Link undervoltage</Message>
</Event>
<Event>
<Id>17426</Id>
<Message LcId="1031">Überspannung DC-Zwischenkreis</Message>
<Message LcId="1033">DC-Link overvoltage</Message>
</Event>
<Event>
<Id>17427</Id>
<Message LcId="1031">I2T-Modell Verstärker Überlast</Message>
<Message LcId="1033">I2T Amplifier overload</Message>
</Event>
<Event>
<Id>17428</Id>
<Message LcId="1031">I2T-Modell Motor Überlast</Message>
<Message LcId="1033">I2T Motor overload</Message>
</Event>
<Event>
<Id>17429</Id>
<Message LcId="1031">Geschwindigkeit wird begrenzt</Message>
<Message LcId="1033">Speed limitation active</Message>
</Event>
<Event>
<Id>17431</Id>
<Message LcId="1031">Motor-Übertemperatur</Message>
<Message LcId="1033">Motor-Overtemperature</Message>
</Event>
<Event>
<Id>17432</Id>
<Message LcId="1031">Limit: Strom wird limitiert</Message>
<Message LcId="1033">Limit: Current</Message>
</Event>
<Event>
<Id>17433</Id>
<Message LcId="1031">Limit: Verstärker I2T-Modell übersteigt 100%</Message>
<Message LcId="1033">Limit: Amplifier I2T-model exceeds 100%</Message>
</Event>
<Event>
<Id>17434</Id>
<Message LcId="1031">Limit: Motor I2T-Modell übersteigt 100%</Message>
<Message LcId="1033">Limit: Motor I2T-model exceeds 100%</Message>
</Event>
<Event>
<Id>17435</Id>
<Message LcId="1031">Limit: Drehzahl wird limitiert</Message>
<Message LcId="1033">Limit: Velocity limitation</Message>
</Event>
<Event>
<Id>17436</Id>
<Message LcId="1031">Spannung am STO-/Hardware enable Eingang fehlt</Message>
<Message LcId="1033">Voltage on STO-/Hardware enable input missing</Message>
</Event>
<Event>
<Id>17437</Id>
<Message LcId="1031">Interner Hardwarefehler</Message>
<Message LcId="1033">Internal hardware error</Message>
</Event>
<Event>
<Id>17440</Id>
<Message LcId="1031">Cogging Kompensation nicht unterstützt ({0})</Message>
<Message LcId="1033">Cogging compensation not supported ({0})</Message>
</Event>
<Event>
<Id>32770</Id>
<Message LcId="1031">Kommunikation abgebrochen</Message>
<Message LcId="1033">Communication aborted</Message>
</Event>
<Event>
<Id>33026</Id>
<Message LcId="1031">Ungültige Kombination von In- und Output PDOs</Message>
<Message LcId="1033">Invalid combination of Inputs and Outputs PDOs</Message>
</Event>
<Event>
<Id>33027</Id>
<Message LcId="1031">Keine Variablen verknüpft</Message>
<Message LcId="1033">No variable linkage</Message>
</Event>
<Event>
<Id>33028</Id>
<Message LcId="1031">Klemmen-Übertemperatur</Message>
<Message LcId="1033">Terminal-Overtemperature</Message>
</Event>
<Event>
<Id>33029</Id>
<Message LcId="1031">PD-Watchdog</Message>
<Message LcId="1033">PD-Watchdog</Message>
</Event>
<Event>
<Id>33077</Id>
<Message LcId="1031">Zykluszeit muss ein vielfaches von 125 µs sein</Message>
<Message LcId="1033">Cycletime has to be a multiple of 125 µs</Message>
</Event>
<Event>
<Id>33079</Id>
<Message LcId="1031">Elektronisches Typenschild: CRC-Fehler</Message>
<Message LcId="1033">Electronic name plate: CRC error</Message>
</Event>
<Event>
<Id>33094</Id>
<Message LcId="1031">Sync-Mode und PDO-Konfiguration sind nicht kompatibel</Message>
<Message LcId="1033">Sync-Mode and PDO-Configuration are not compatible</Message>
</Event>
<Event>
<Id>33281</Id>
<Message LcId="1031">Keine Kommunikation zur Feldseite ( Hilfsspannung fehlt)</Message>
<Message LcId="1033">No communication to field-side (Auxiliary voltage missing)</Message>
</Event>
<Event>
<Id>33538</Id>
<Message LcId="1031">Feedback-Fehler</Message>
<Message LcId="1033">Feedback-Error</Message>
</Event>
<Event>
<Id>33540</Id>
<Message LcId="1031">OCT Kommunikationsfehler</Message>
<Message LcId="1033">OCT communication error</Message>
</Event>
<Event>
<Id>33795</Id>
<Message LcId="1031">Fehler bei der ADC-Strommessung</Message>
<Message LcId="1033">ADC Error</Message>
</Event>
<Event>
<Id>33796</Id>
<Message LcId="1031">Überstrom auf Phase U, V oder W</Message>
<Message LcId="1033">Overcurrent</Message>
</Event>
<Event>
<Id>33798</Id>
<Message LcId="1031">Unterspannung DC-Zwischenkreis</Message>
<Message LcId="1033">Undervoltage DC-Link</Message>
</Event>
<Event>
<Id>33799</Id>
<Message LcId="1031">Überspannung DC-Zwischenkreis</Message>
<Message LcId="1033">Overvoltage DC-Link</Message>
</Event>
<Event>
<Id>33800</Id>
<Message LcId="1031">I2T-Modell Verstärker Überlast</Message>
<Message LcId="1033">I2T-Model Amplifier overload</Message>
</Event>
<Event>
<Id>33801</Id>
<Message LcId="1031">I2T-Modell Motor Überlast</Message>
<Message LcId="1033">I2T-Model motor overload</Message>
</Event>
<Event>
<Id>33803</Id>
<Message LcId="1031">Motorfehler oder Fehler in der Kommutierung</Message>
<Message LcId="1033">Motor error or commutation malfunction</Message>
</Event>
<Event>
<Id>33804</Id>
<Message LcId="1031">Phasenfehler</Message>
<Message LcId="1033">Phase failure</Message>
</Event>
<Event>
<Id>33814</Id>
<Message LcId="1031">Motor-Übertemperatur</Message>
<Message LcId="1033">Motor-Overtemperature</Message>
</Event>
<Event>
<Id>33815</Id>
<Message LcId="1031">Maximale Drehfeldfrequenz überschritten</Message>
<Message LcId="1033">Maximum rotating field velocity exceeded</Message>
</Event>
<Event>
<Id>33820</Id>
<Message LcId="1031">STO-/Hardware enable Eingang ist bei aktiver Achse abgefallen</Message>
<Message LcId="1033">STO-/Hardware enable input de-energized while the axis was enabled</Message>
</Event>
<Event>
<Id>33821</Id>
<Message LcId="1031">Interner Hardwarefehler</Message>
<Message LcId="1033">Internal hardware error</Message>
</Event>
<Event>
<Id>33857</Id>
<Message LcId="1031">Schleppabstand überschritten</Message>
<Message LcId="1033">Following error</Message>
</Event>
<Event>
<Id>33872</Id>
<Message LcId="1031">Ungültiger Start-Typ 0x{0,x}</Message>
<Message LcId="1033">Invalid start type 0x{0,x}</Message>
</Event>
<Event>
<Id>33873</Id>
<Message LcId="1031">Ungültiger Endschalter Zustand</Message>
<Message LcId="1033">Invalid limit switch level</Message>
</Event>
<Event>
<Id>33874</Id>
<Message LcId="1031">Antriebsfehler während der Positionierung</Message>
<Message LcId="1033">Drive error during positioning</Message>
</Event>
<Event>
<Id>33875</Id>
<Message LcId="1031">Latch-Einheit wird von mehreren Modulen zeitgleich genutzt</Message>
<Message LcId="1033">Latch unit will be used by multiple modules</Message>
</Event>
<Event>
<Id>33876</Id>
<Message LcId="1031">Antrieb nicht in Regelung</Message>
<Message LcId="1033">Drive not in control</Message>
</Event>
<Event>
<Id>33877</Id>
<Message LcId="1031"><![CDATA[Ungültiger Wert für "Target acceleration"]]></Message>
<Message LcId="1033"><![CDATA[Invalid value for "Target acceleration"]]></Message>
</Event>
<Event>
<Id>33878</Id>
<Message LcId="1031"><![CDATA[Ungültiger Wert für "Target deceleration"]]></Message>
<Message LcId="1033"><![CDATA[Invalid value for "Target deceleration"]]></Message>
</Event>
<Event>
<Id>33879</Id>
<Message LcId="1031"><![CDATA[Ungültiger Wert für "Target velocity"]]></Message>
<Message LcId="1033"><![CDATA[Invalid value for "Target velocity"]]></Message>
</Event>
<Event>
<Id>33880</Id>
<Message LcId="1031"><![CDATA[Ungültiger Wert für "Target position"]]></Message>
<Message LcId="1033"><![CDATA[Invalid value for "Target position"]]></Message>
</Event>
<Event>
<Id>33881</Id>
<Message LcId="1031">Emergency Stop ist aktiv</Message>
<Message LcId="1033">Emergency stop active</Message>
</Event>
<Event>
<Id>33882</Id>
<Message LcId="1031">Target position ist größer als der Modulofaktor</Message>
<Message LcId="1033">Target position exceeds Modulofactor</Message>
</Event>
<Event>
<Id>33883</Id>
<Message LcId="1031">Antrieb darf nicht in Regelung sein</Message>
<Message LcId="1033">Drive must be disabled</Message>
</Event>
<Event>
<Id>33884</Id>
<Message LcId="1031">Kein Feedback gefunden</Message>
<Message LcId="1033">No Feedback found</Message>
</Event>
<Event>
<Id>33885</Id>
<Message LcId="1031">Ungültiger Modulofaktor</Message>
<Message LcId="1033">Modulo factor invalid</Message>
</Event>
<Event>
<Id>33886</Id>
<Message LcId="1031">Ungültiges Zeilpositionsfenster</Message>
<Message LcId="1033">Invalid target position window</Message>
</Event>
<Property>
<Name>DisplayTxtId</Name>
<Value>true</Value>
</Property>
</Source>
</TcEventSources>
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<Project ToolsVersion="4.0" DefaultTargets="Build" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
<PropertyGroup>
<Configuration Condition=" '$(Configuration)' == '' ">Debug</Configuration>
<SchemaVersion>2.0</SchemaVersion>
<ProjectGuid>{239c13c0-6306-4ec5-92db-7a05606ac225}</ProjectGuid>
<OutputType>Exe</OutputType>
<RootNamespace>MyApplication</RootNamespace>
<AssemblyName>MyApplication</AssemblyName>
<Name>TwinCAT Measurement Project1</Name>
</PropertyGroup>
<ItemGroup>
<Content Include="ScopeWizard.tcscopex">
<SubType>Content</SubType>
</Content>
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TwinCAT Measurement Project1/VSSettings/.vsm
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<Node>
<Title>TwinCAT Measurement Project1</Title>
<Expanded>False</Expanded>
<FileName></FileName>
<Children>
<Node>
<Title>ScopeWizard</Title>
<Expanded>True</Expanded>
<FileName>C:\Users\berti_r\Documents\TcXaeShell\CouplingProject\TwinCAT Measurement Project1\ScopeWizard.tcscopex</FileName>
<Children>
<Node>
<Title>DataPool</Title>
<Expanded>False</Expanded>
<FileName></FileName>
<Children>
<Node>
<Title>ActAcc</Title>
<Expanded>False</Expanded>
<FileName></FileName>
<Children />
</Node>
<Node>
<Title>ActPos</Title>
<Expanded>False</Expanded>
<FileName></FileName>
<Children />
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<Node>
<Title>ActVelo</Title>
<Expanded>False</Expanded>
<FileName></FileName>
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<Node>
<Title>PosDiff</Title>
<Expanded>False</Expanded>
<FileName></FileName>
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<Node>
<Title>SetAcc</Title>
<Expanded>False</Expanded>
<FileName></FileName>
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<Node>
<Title>SetPos</Title>
<Expanded>False</Expanded>
<FileName></FileName>
<Children />
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<Node>
<Title>SetVelo</Title>
<Expanded>False</Expanded>
<FileName></FileName>
<Children />
</Node>
</Children>
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<Node>
<Title>Axis 1</Title>
<Expanded>True</Expanded>
<FileName></FileName>
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<Node>
<Title>Position absolute</Title>
<Expanded>True</Expanded>
<FileName></FileName>
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<Title>ActPos</Title>
<Expanded>False</Expanded>
<FileName></FileName>
<Children />
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<Node>
<Title>SetPos</Title>
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<FileName></FileName>
<Children />
</Node>
</Children>
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<Node>
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<Expanded>True</Expanded>
<FileName></FileName>
<Children>
<Node>
<Title>ActVelo</Title>
<Expanded>False</Expanded>
<FileName></FileName>
<Children />
</Node>
<Node>
<Title>SetVelo</Title>
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<FileName></FileName>
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</Node>
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<Expanded>True</Expanded>
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<Node>
<Title>SetAcc</Title>
<Expanded>False</Expanded>
<FileName></FileName>
<Children />
</Node>
</Children>
</Node>
<Node>
<Title>Position Lab</Title>
<Expanded>True</Expanded>
<FileName></FileName>
<Children>
<Node>
<Title>PosDiff</Title>
<Expanded>False</Expanded>
<FileName></FileName>
<Children />
</Node>
</Children>
</Node>
</Children>
</Node>
<Node>
<Title>Trigger</Title>
<Expanded>False</Expanded>
<FileName></FileName>
<Children />
</Node>
</Children>
</Node>
</Children>
</Node>