From 173400e7f0769b877fbef6d793e102a24e01eeb5 Mon Sep 17 00:00:00 2001
From: Paul Barron <paul.barron@esss.se>
Date: Mon, 9 Dec 2019 14:41:16 +0100
Subject: [PATCH] Change Reference Velocity to 600

Changed for axis 1 and 2
---
 solution/solution.tsproj | 40 ++++++++++++++++++++--------------------
 1 file changed, 20 insertions(+), 20 deletions(-)

diff --git a/solution/solution.tsproj b/solution/solution.tsproj
index d567ed2..afa0b59 100644
--- a/solution/solution.tsproj
+++ b/solution/solution.tsproj
@@ -1320,7 +1320,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000004}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..3] OF BIT</Name>
 			<BitSize>4</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1347,7 +1347,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000002}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..1] OF BIT</Name>
 			<BitSize>2</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1356,7 +1356,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-002000000001}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..0] OF BIT</Name>
 			<BitSize>1</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1374,7 +1374,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-00200000000C}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..11] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-00200000000C}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..11] OF BIT</Name>
 			<BitSize>12</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1383,7 +1383,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-00200000000E}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..13] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-00200000000E}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..13] OF BIT</Name>
 			<BitSize>14</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1392,7 +1392,7 @@ External Setpoint Generation:
 			</ArrayInfo>
 		</DataType>
 		<DataType>
-			<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
+			<Name GUID="{18071995-0000-0000-0000-00200000000D}" IecBaseType="true" BitType="true" AutoDeleteType="true" HideSubItems="true">ARRAY [0..12] OF BIT</Name>
 			<BitSize>13</BitSize>
 			<BaseType GUID="{18071995-0000-0000-0000-000000000010}">BIT</BaseType>
 			<ArrayInfo>
@@ -1516,7 +1516,7 @@ External Setpoint Generation:
 					</Encoder>
 					<Drive Name="Drive" DrvType="24">
 						<DrvPara>
-							<Analog TorqueScale="10" ScaleFactorActTorque="0.1"/>
+							<Analog VeloReferenz="600" TorqueScale="10" ScaleFactorActTorque="0.1"/>
 							<TimeComp TaskDelayCycles="1"/>
 						</DrvPara>
 						<Vars VarGrpType="1">
@@ -1731,7 +1731,7 @@ External Setpoint Generation:
 					</Encoder>
 					<Drive Name="Drive" DrvType="24">
 						<DrvPara>
-							<Analog TorqueScale="10" ScaleFactorActTorque="0.1"/>
+							<Analog VeloReferenz="600" TorqueScale="10" ScaleFactorActTorque="0.1"/>
 							<TimeComp TaskDelayCycles="1"/>
 						</DrvPara>
 						<Vars VarGrpType="1">
@@ -2089,18 +2089,6 @@ External Setpoint Generation:
 							<Comment><![CDATA[*****Outputs: Power for Limit switches and Home Sensors (every 4th output)*******]]></Comment>
 							<Type>BOOL</Type>
 						</Var>
-						<Var>
-							<Name>GVL.axes[1].Axis.PlcToNc</Name>
-							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
-						</Var>
-						<Var>
-							<Name>GVL.axes[2].Axis.PlcToNc</Name>
-							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
-						</Var>
-						<Var>
-							<Name>GVL.axes[3].Axis.PlcToNc</Name>
-							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
-						</Var>
 						<Var>
 							<Name>MAIN.bOutput2</Name>
 							<Type>BOOL</Type>
@@ -2122,6 +2110,18 @@ External Setpoint Generation:
 							<Name>MAIN.bOutput7</Name>
 							<Type>BOOL</Type>
 						</Var>
+						<Var>
+							<Name>GVL.axes[1].Axis.PlcToNc</Name>
+							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+						</Var>
+						<Var>
+							<Name>GVL.axes[2].Axis.PlcToNc</Name>
+							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+						</Var>
+						<Var>
+							<Name>GVL.axes[3].Axis.PlcToNc</Name>
+							<Type GUID="{63A84524-72E3-41C8-BEAB-4CCE44690A13}" Namespace="MC">PLCTONC_AXIS_REF</Type>
+						</Var>
 					</Vars>
 					<TaskPouOids>
 						<TaskPouOid Prio="20" OTCID="#x08502041"/>