diff --git a/solution/Lin_motion.tsproj b/solution/Lin_motion.tsproj
index 36c64b6..37267d6 100644
--- a/solution/Lin_motion.tsproj
+++ b/solution/Lin_motion.tsproj
@@ -1,8 +1,142 @@
-
+
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+ 0
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+ ARRAY [0..7] OF BYTE
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+ 0
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+
+
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+ 0
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+ ARRAY [0..1] OF BIT
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+ ARRAY [0..9] OF BYTE
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+ 0
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+
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-
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@@ -18,5 +152,1706 @@
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+ Device 1 (EtherCAT)
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+ -801112064
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+ 0
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+ 498694182
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+ Image
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+ Term 1 (EK1200)
+ 1000
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+ Term 2 (EL9227-5500)
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+ 001080002600010001000000400080008000001026010000
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+ 00000000000000000d0800010100000003000000000000000000000000000000
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+ 004003000a00000000000000030010000000000000000000000000000000000020f3100502000000010000
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+ #x1a01
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+ ARRAY [0..10] OF BIT
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+ #x1a03
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+ ARRAY [0..10] OF BIT
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+
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+ #x1a02
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+ BIT
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+
+ BIT
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+
+ BIT
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+ BIT
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+ BIT
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+ BIT
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+ BIT
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+ BIT2
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+
+ BIT
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+ BIT
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+ BIT
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+
+ BIT
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+ ARRAY [0..10] OF BIT
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+ BIT
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+ BIT
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+
+ ARRAY [0..13] OF BIT
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+
+
+
+ BIT
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+ BIT
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+ ARRAY [0..13] OF BIT
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+
+
+
+
+
+
+
+
+ Term 3 (EL7211-9014)
+ 1002
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+
+
+
+
+ MotorType
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+
+ MotorDataSchema
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+
+ Feedback1Type
+ EDM35-2KF0A0S01
+
+
+
+ Motor vendor
+ Vendor
+ Beckhoff
+
+
+ Electric motor type
+ ElecType
+ AM8111-xFx1
+
+
+ Compatible elec motor type
+ CompElecType
+ AM8111-xFx0
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+
+ Motor Serial number
+ Serial#
+ 00462930
+
+
+ Motor oder code
+ OrderCode
+ AM8111-0FH1-0000
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+
+ Motor construction
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+ Pole Pairs
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+ 3
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+
+ Standstill Current
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+
+ Rated Current
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+
+ Peak Current
+ Iprms
+ 8.60
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+
+ Nominal Voltage
+ Unrms
+ 33.9
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+
+ Max Voltage
+ Umaxrms
+ 96
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+
+ Max winding du/dt
+ dudtMax
+ 8000000000
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+
+ Max Torque
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+ Torque Constant
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+ 0.0702
+
+
+ M(i) curve
+ M(i)
+
+ - 0.860
+ - 1.720
+ - 2.580
+ - 3.440
+ - 4.300
+ - 5.160
+ - 6.020
+ - 6.880
+ - 7.740
+ - 8.600
+
+
+ - 0.0784
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+ - 0.3691
+ - 0.4361
+ - 0.5008
+ - 0.5632
+ - 0.6233
+ - 0.6810
+
+
+
+ EMK
+ kErms
+ 0.00510
+
+
+ Winding resistance Ph-Ph 20°C
+ R
+ 2.55
+
+
+ Lq Ph-Ph
+ Lq
+ 0.00150
+
+
+ Ld Ph-Ph
+ Ld
+ 0.00150
+
+
+ Lq(i) curve
+ Lq(i)
+
+ - 0.860
+ - 1.720
+ - 2.580
+ - 3.440
+ - 4.300
+ - 5.160
+ - 6.020
+ - 6.880
+ - 7.740
+ - 8.600
+
+
+ - 0.00111
+ - 0.00106
+ - 0.00105
+ - 0.00103
+ - 0.00103
+ - 0.00103
+ - 0.00103
+ - 0.00103
+ - 0.00103
+ - 0.00103
+
+
+
+ Max speed
+ Nmax
+ 10000
+
+
+ J motor with brake and encoder
+ J
+ 0.00000571
+
+
+ T motor warn limit
+ TMotorWarn
+ 120
+
+
+ T motor shut down
+ TMotorLimit
+ 140
+
+
+ Time constant i2t
+ Ti2t
+ 34.1
+
+
+ Motor thermal constant
+ Mtc
+ 9
+
+
+ Motor brake type
+ BrakeType
+ 1
+
+
+ Min motor brake voltage
+ UBrakeMin
+ 21.6
+
+
+ Max motor brake voltage
+ UBrakeMax
+ 25.4
+
+
+ Min motor brake current for brake monitoring
+ IBrakeMin
+ 0.181
+
+
+ Brake holding torque
+ MBrake
+ 0.600
+
+
+ Motor brake: T on
+ TBrakeOn
+ 0.0140
+
+
+ Motor brake: T off
+ TBrakeOff
+ 0.00800
+
+
+ Motor brake: reduced holding current
+ IBrakeRed
+ 0.225
+
+
+ Motor brake: Time to reduce holding voltage
+ TBrakeRed
+ 3
+
+
+ NnUnrms
+ NnUnrms
+
+ - 17.0
+ - 33.9
+
+
+ - 1700
+ - 4000
+
+
+
+ MnUnrms
+ MnUnrms
+
+ - 17.0
+ - 33.9
+
+
+ - 0.200
+ - 0.190
+
+
+
+ Version
+ Version
+ 1.18
+
+
+ MechComOffs
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+
+
+
+
+
+ 0100
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+
+ 02
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+ 0016
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+ 020003000a0000001b00000000000000000000000000000000000000000000002011802d0200000055014d6f746f7220746865726d616c2074696d6520636f6e7374616e7400
+ 020003000a00000011000000000000000000000000000000000000000000000020128012020000000e004170706c69636174696f6e2064656c617900
+ 020003000a0000000d00000000000000000000000000000000000000000000002012801102000000080052656c656173652064656c617900
+ 020003000a00000012000000000000000000000000000000000000000000000020118015020000000e01436f6d6d75746174696f6e206f666673657400
+ 020003000c0000001600000000000000000000000000000000000000000000002011801b04000000ff1200004d6f746f72207370656564206c696d69746174696f6e00
+ 020003000a0000001d00000000000000000000000000000000000000000000002012801302000000f401456d657267656e6379206170706c69636174696f6e2074696d656f757400
+ 020003000a00000012000000000000000000000000000000000000000000000020108033020000000a005374616e64207374696c6c2077696e646f7700
+ 020003000a0000001e00000000000000000000000000000000000000000000002010801302000000b20043757272656e74206c6f6f702070726f706f7274696f6e616c206761696e00
+ 020003000a0000001a00000000000000000000000000000000000000000000002010801202000000050043757272656e74206c6f6f7020696e74656772616c2074696d6500
+ 020003000c0000001f000000000000000000000000000000000000000000000020108015040000004800000056656c6f63697479206c6f6f702070726f706f7274696f6e616c206761696e00
+ 020003000c0000001b000000000000000000000000000000000000000000000020108014040000009600000056656c6f63697479206c6f6f7020696e74656772616c2074696d6500
+
+
+ UDINT
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ INT
+
+
+
+
+ UINT
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..3] OF BIT
+
+
+ BIT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ UDINT
+
+
+
+
+ ARRAY [0..12] OF BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+
+
+ USINT
+
+
+
+ #x1a00
+ #x1a01
+ #x1a02
+ #x1a03
+ #x1a04
+ #x1a05
+ #x1a06
+ #x1a07
+ #x1a08
+ #x1a09
+ #x1a0a
+ #x1a0b
+ #x1a0c
+ #x1a0e
+ #x1a31
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..8] OF BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ LINT
+
+
+ INT
+
+
+ UDINT
+
+
+ LINT
+
+
+ INT
+
+
+ LINT
+
+
+ UDINT
+
+
+ USINT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ LINT
+
+
+ INT
+
+
+ INT
+
+
+ ARRAY [0..7] OF BYTE
+
+
+
+ #x1a00
+ #x1a01
+ #x1a02
+ #x1a03
+ #x1a04
+ #x1a05
+ #x1a06
+ #x1a07
+ #x1a08
+ #x1a09
+ #x1a0a
+ #x1a0b
+ #x1a0c
+ #x1a0e
+ #x1a30
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..8] OF BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..4] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..2] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ UDINT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ UDINT
+
+
+ USINT
+
+
+ ARRAY [0..0] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ INT
+
+
+ ARRAY [0..7] OF BYTE
+
+
+
+
+ UINT
+
+
+
+
+ DINT
+
+
+
+
+ INT
+
+
+
+
+ UINT
+
+
+
+
+ UINT
+
+
+
+
+ INT
+
+
+
+
+ UDINT
+
+
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..1] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT2
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..1] OF BIT
+
+
+
+
+ USINT
+
+
+
+ #x1600
+ #x1601
+ #x1602
+ #x1603
+ #x1604
+ #x1605
+ #x1606
+ #x1607
+ #x1608
+ #x1631
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..11] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ LINT
+
+
+ LINT
+
+
+ INT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+ ARRAY [0..9] OF BYTE
+
+
+
+ #x1600
+ #x1601
+ #x1602
+ #x1603
+ #x1604
+ #x1605
+ #x1606
+ #x1607
+ #x1608
+ #x1630
+
+ ARRAY [0..0] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..11] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ BIT
+
+
+ BIT
+
+
+ ARRAY [0..13] OF BIT
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ DINT
+
+
+ ARRAY [0..3] OF BYTE
+
+
+ INT
+
+
+ UINT
+
+
+ UINT
+
+
+ UINT
+
+
+ ARRAY [0..9] OF BYTE
+
+
+
+
+
+
+
+
+ Term 4 (EL9011)
+ 1003
+
+
+
+
+
+
+
+
+
+
diff --git a/solution/_Config/NC/NC.xti b/solution/_Config/NC/NC.xti
index ba2dbbd..6836803 100644
--- a/solution/_Config/NC/NC.xti
+++ b/solution/_Config/NC/NC.xti
@@ -1,5 +1,1429 @@
-
+
+
+
+ UINTARR2
+ 32
+ UINT
+
+ 0
+ 2
+
+
+ [%u, %u]
+ [0]
+ [1]
+
+
+ 0x%08x [%u, %u]
+ .
+ [0]
+ [1]
+
+
+ 0x%08x (%u)
+ .
+ .
+
+
+
+ NCENCODERSTRUCT_IN2B
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+ 8
+ 248
+
+
+ nDcInputTime
+ DINT
+ 32
+ 256
+
+
+ nDataIn7
+ UINTARR2
+
+ 32
+ 288
+
+
+
+ NCENCODERSTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCENCODERSTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCENCODERSTRUCT_OUT
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_IN2
+ 320
+
+ nDataIn1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataIn2
+ UINTARR2
+ 32
+ 32
+
+
+ nState1
+ USINT
+ 8
+ 64
+
+
+ nState2
+ USINT
+ 8
+ 72
+
+
+ nState3
+ USINT
+ 8
+ 80
+
+
+ nState4
+ USINT
+
+ 8
+ 88
+
+
+ nDataIn3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataIn4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataIn5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataIn6
+ UINTARR2
+ 32
+ 192
+
+
+ nState5
+ USINT
+ 8
+ 224
+
+
+ nState6
+ USINT
+ 8
+ 232
+
+
+ nState7
+ USINT
+ 8
+ 240
+
+
+ nState8
+ USINT
+
+ 8
+ 248
+
+
+ nDcOutputTime
+ DINT
+ 32
+ 256
+
+
+
+ NCDRIVESTRUCT_IN
+
+ 96
+
+
+
+
+
+ NCDRIVESTRUCT_OUT2
+ 320
+
+ nDataOut1
+ UINTARR2
+ 32
+ 0
+
+
+ nDataOut2
+ UINTARR2
+ 32
+ 32
+
+
+ nCtrl1
+ USINT
+ 8
+ 64
+
+
+ nCtrl2
+ USINT
+ 8
+ 72
+
+
+ nCtrl3
+ USINT
+ 8
+ 80
+
+
+ nCtrl4
+ USINT
+ 8
+ 88
+
+
+ nDataOut3
+ UINTARR2
+ 32
+ 96
+
+
+ nDataOut4
+ UINTARR2
+ 32
+ 128
+
+
+ nDataOut5
+ UINTARR2
+ 32
+ 160
+
+
+ nDataOut6
+ UINTARR2
+ 32
+ 192
+
+
+ nCtrl5
+ USINT
+ 8
+ 224
+
+
+ nCtrl6
+ USINT
+ 8
+ 232
+
+
+ nCtrl7
+ USINT
+ 8
+ 240
+
+
+ nCtrl8
+ USINT
+ 8
+ 248
+
+
+
+ NCDRIVESTRUCT_OUT
+
+ 96
+
+
+
+
+
+ PLCTONC_AXIS_REF_CTRL
+ 32
+
+ Enable
+ BIT
+ 1
+ 0
+
+
+ FeedEnablePlus
+ BIT
+ 1
+ 1
+
+
+ FeedEnableMinus
+ BIT
+ 1
+ 2
+
+
+ HomingSensor
+ BIT
+ 1
+ 5
+
+
+ AcceptBlockedDrive
+ BIT
+ 1
+ 8
+
+
+ PlcDebugFlag
+ BIT
+ 1
+ 30
+
+
+ NcDebugFlag
+ BIT
+ 1
+ 31
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ PLCTONC_AXIS_REF
+ 1024
+
+ ControlDWord
+ PLCTONC_AXIS_REF_CTRL
+ 32
+ 0
+
+
+ Override
+ UDINT
+ 32
+ 32
+
+
+ AxisModeRequest
+ UDINT
+ 32
+ 64
+
+
+ AxisModeDWord
+ UDINT
+ 32
+ 96
+
+
+ AxisModeLReal
+ LREAL
+ 64
+ 128
+
+
+ PositionCorrection
+ LREAL
+ 64
+ 192
+
+
+ ExtSetPos
+ LREAL
+ 64
+ 256
+
+
+ ExtSetVelo
+ LREAL
+ 64
+ 320
+
+
+ ExtSetAcc
+ LREAL
+ 64
+ 384
+
+
+ ExtSetDirection
+ DINT
+ 32
+ 448
+
+
+ ExtControllerOutput
+ LREAL
+ 64
+ 512
+
+
+ GearRatio1
+ LREAL
+ 64
+ 576
+
+
+ GearRatio2
+ LREAL
+ 64
+ 640
+
+
+ GearRatio3
+ LREAL
+ 64
+ 704
+
+
+ GearRatio4
+ LREAL
+ 64
+ 768
+
+
+ MapState
+ BOOL
+ 8
+ 832
+
+
+ PlcCycleControl
+ BYTE
+ 8
+ 840
+
+
+ PlcCycleCount
+ BYTE
+ 8
+ 848
+
+
+ ExtTorque
+ LREAL
+ 64
+ 896
+
+
+
+ NcStructType
+ 1
+
+
+
+
+
+
+
+
+
+
+
+
+ NCTOPLC_AXIS_REF_STATE
+ 32
+
+ Operational
+ BIT
+ 1
+ 0
+
+
+ Homed
+ BIT
+ 1
+ 1
+
+
+ NotMoving
+ BIT
+ 1
+ 2
+
+
+ InPositionArea
+ BIT
+ 1
+ 3
+
+
+ InTargetPosition
+ BIT
+ 1
+ 4
+
+
+ Protected
+ BIT
+ 1
+ 5
+
+
+ ErrorPropagationDelayed
+ BIT
+ 1
+ 6
+
+
+ HasBeenStopped
+ BIT
+ 1
+ 7
+
+
+ HasJob
+ BIT
+ 1
+ 8
+
+
+ PositiveDirection
+ BIT
+ 1
+ 9
+
+
+ NegativeDirection
+ BIT
+ 1
+ 10
+
+
+ HomingBusy
+ BIT
+ 1
+ 11
+
+
+ ConstantVelocity
+ BIT
+ 1
+ 12
+
+
+ Compensating
+ BIT
+ 1
+ 13
+
+
+ ExtSetPointGenEnabled
+ BIT
+ 1
+ 14
+
+
+ PhasingActive
+ BIT
+ 1
+ 15
+
+
+ ExternalLatchValid
+ BIT
+ 1
+ 16
+
+
+ NewTargetPos
+ BIT
+ 1
+ 17
+
+
+ IsDriveLimitActive
+ BIT
+ 1
+ 18
+
+
+ ContinuousMotion
+ BIT
+ 1
+ 19
+
+
+ ControlLoopClosed
+ BIT
+ 1
+ 20
+
+
+ CamTableQueued
+ BIT
+ 1
+ 21
+
+
+ CamDataQueued
+ BIT
+ 1
+ 22
+
+
+ CamScalingPending
+ BIT
+ 1
+ 23
+
+
+ CmdBuffered
+ BIT
+ 1
+ 24
+
+
+ PTPmode
+ BIT
+ 1
+ 25
+
+
+ SoftLimitMinExceeded
+ BIT
+ 1
+ 26
+
+
+ SoftLimitMaxExceeded
+ BIT
+ 1
+ 27
+
+
+ DriveDeviceError
+ BIT
+ 1
+ 28
+
+
+ MotionCommandsLocked
+ BIT
+ 1
+ 29
+
+
+ IoDataInvalid
+ BIT
+ 1
+ 30
+
+
+ Error
+ BIT
+ 1
+ 31
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}
+
+
+
+
+ NCTOPLC_AXIS_REF_OPMODE
+ 32
+
+ OpModePosAreaMonitoring
+ BIT
+ 1
+ 0
+
+
+ OpModeTargetPosMonitoring
+ BIT
+ 1
+ 1
+
+
+ OpModeLoop
+ BIT
+ 1
+ 2
+
+
+ OpModeMotionMonitoring
+ BIT
+ 1
+ 3
+
+
+ OpModePEHTimeMonitoring
+ BIT
+ 1
+ 4
+
+
+ OpModeBacklashCompensation
+ BIT
+ 1
+ 5
+
+
+ OpModeDelayedErrorReaction
+ BIT
+ 1
+ 6
+
+
+ OpModeModulo
+ BIT
+ 1
+ 7
+
+
+ OpModeSimulationAxis
+ BIT
+ 1
+ 8
+
+
+ OpModeStopMonitoring
+ BIT
+ 1
+ 12
+
+
+ OpModeOutputSmoothingFilter
+ BIT
+ 1
+ 13
+
+
+ OpModePosLagMonitoring
+ BIT
+ 1
+ 16
+
+
+ OpModeVeloLagMonitoring
+ BIT
+ 1
+ 17
+
+
+ OpModeSoftLimitMinMonitoring
+ BIT
+ 1
+ 18
+
+
+ OpModeSoftLimitMaxMonitoring
+ BIT
+ 1
+ 19
+
+
+ OpModePosCorrection
+ BIT
+ 1
+ 20
+
+
+ OpModeAllowSlaveCommands
+ BIT
+ 1
+ 21
+
+
+ OpModeAllowExtSetAxisCommands
+ BIT
+ 1
+ 22
+
+
+ ApplicationRequest
+ BIT
+ 1
+ 23
+
+
+
+ NCTOPLC_AXIS_REF_STATE2_FLAGS
+ 32
+
+ AvoidingCollision
+ BIT
+ 1
+ 0
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_STATE2
+ 32
+
+ Value
+ DWORD
+ 32
+ 0
+
+
+ Flags
+ NCTOPLC_AXIS_REF_STATE2_FLAGS
+ 32
+ 0
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_STATE3_FLAGS
+ 32
+
+ TouchProbe1InputState
+ BIT
+ 1
+ 0
+
+
+ TouchProbe2InputState
+ BIT
+ 1
+ 1
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_STATE3
+ 32
+
+ Value
+ DWORD
+ 32
+ 0
+
+
+ Flags
+ NCTOPLC_AXIS_REF_STATE3_FLAGS
+ 32
+ 0
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE
+ 8
+
+ CamActivationPending
+ BIT
+ 1
+ 0
+
+
+ CamDeactivationPending
+ BIT
+ 1
+ 1
+
+
+ CamActive
+ BIT
+ 1
+ 2
+
+
+ CamDataQueued
+ BIT
+ 1
+ 6
+
+
+ CamScalingPending
+ BIT
+ 1
+ 7
+
+
+
+ UINTARR8
+ 128
+ UINT
+
+ 0
+ 8
+
+
+
+ NCTOPLC_AXIS_REF
+ 2048
+
+ StateDWord
+ NCTOPLC_AXIS_REF_STATE
+ 32
+ 0
+
+
+ ErrorCode
+ UDINT
+ 32
+ 32
+
+
+ AxisState
+ UDINT
+
+ 32
+ 64
+
+
+ AxisModeConfirmation
+ UDINT
+ 32
+ 96
+
+
+ HomingState
+ UDINT
+
+ 32
+ 128
+
+
+ CoupleState
+ UDINT
+
+ 32
+ 160
+
+
+ SvbEntries
+ UDINT
+ 32
+ 192
+
+
+ SafEntries
+ UDINT
+ 32
+ 224
+
+
+ AxisId
+ UDINT
+ 32
+ 256
+
+
+ OpModeDWord
+ NCTOPLC_AXIS_REF_OPMODE
+ 32
+ 288
+
+
+ ActPos
+ LREAL
+ 64
+ 320
+
+
+ ModuloActPos
+ LREAL
+ 64
+ 384
+
+
+ ActiveControlLoopIndex
+ UINT
+ 16
+ 448
+
+
+ ControlLoopIndex
+ UINT
+ 16
+ 464
+
+
+ ModuloActTurns
+ DINT
+ 32
+ 480
+
+
+ ActVelo
+ LREAL
+ 64
+ 512
+
+
+ PosDiff
+ LREAL
+ 64
+ 576
+
+
+ SetPos
+ LREAL
+ 64
+ 640
+
+
+ SetVelo
+ LREAL
+ 64
+ 704
+
+
+ SetAcc
+ LREAL
+ 64
+ 768
+
+
+ TargetPos
+ LREAL
+ 64
+ 832
+
+
+ ModuloSetPos
+ LREAL
+ 64
+ 896
+
+
+ ModuloSetTurns
+ DINT
+ 32
+ 960
+
+
+ CmdNo
+ UINT
+ 16
+ 992
+
+
+ CmdState
+ UINT
+ 16
+ 1008
+
+
+ SetJerk
+ LREAL
+ 64
+ 1024
+
+
+ SetTorque
+ LREAL
+ 64
+ 1088
+
+
+ ActTorque
+ LREAL
+ 64
+ 1152
+
+
+ StateDWord2
+ NCTOPLC_AXIS_REF_STATE2
+ 32
+ 1216
+
+
+ StateDWord3
+ NCTOPLC_AXIS_REF_STATE3
+ 32
+ 1248
+
+
+ TouchProbeState
+ DWORD
+ 32
+ 1280
+
+
+ TouchProbeCounter
+ DWORD
+ 32
+ 1312
+
+
+ CamCouplingState
+ NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE
+
+ 0
+ 8
+
+ 64
+ 1344
+
+
+ CamCouplingTableID
+ UINTARR8
+ 128
+ 1408
+
+
+ ActTorqueDerivative
+ LREAL
+ 64
+ 1536
+
+
+ SetTorqueDerivative
+ LREAL
+ 64
+ 1600
+
+
+ AbsPhasingPos
+ LREAL
+ 64
+ 1664
+
+
+ TorqueOffset
+ LREAL
+ 64
+ 1728
+
+
+ ActPosWithoutPosCorrection
+ LREAL
+ 64
+ 1792
+
+
+ ActAcc
+ LREAL
+ 64
+ 1856
+
+
+ DcTimeStamp
+ UDINT
+ 32
+ 1920
+
+
+ UserData
+ LREAL
+ 64
+ 1984
+
+
+
+ NcStructType
+ 2
+
+
+
+
+ NCAXLESTRUCT_TOPLC
+
+
+ NCAXLESTRUCT_TOPLC2
+
+
+ NCAXLESTRUCT_TOPLC3
+
+
+ NCAXLESTRUCT_TOPLC4
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
NC-Task 1 SAF
@@ -16,5 +1440,173 @@
NC-Task 1 SVB
+
+ Axis 1
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCENCODERSTRUCT_IN2B
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+ nDataIn7
+
+
+
+
+
+ Outputs
+
+ Out
+ NCENCODERSTRUCT_OUT2
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ In
+ NCDRIVESTRUCT_IN2
+
+ nDataIn1
+
+
+ nDataIn2
+
+
+ nDataIn3
+
+
+ nDataIn4
+
+
+ nDataIn5
+
+
+ nDataIn6
+
+
+
+
+ Outputs
+
+ Out
+ NCDRIVESTRUCT_OUT2
+
+ nDataOut1
+
+
+ nDataOut2
+
+
+ nDataOut3
+
+
+ nDataOut4
+
+
+ nDataOut5
+
+
+ nDataOut6
+
+
+
+
+
+
+
+
+
+
+ Inputs
+
+ FromPlc
+ PLCTONC_AXIS_REF
+
+
+
+ Outputs
+
+ ToPlc
+ NCTOPLC_AXIS_REF
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
diff --git a/solution/_Config/PLC/tc_project_app.xti b/solution/_Config/PLC/tc_project_app.xti
index c654ed6..9067cf5 100644
--- a/solution/_Config/PLC/tc_project_app.xti
+++ b/solution/_Config/PLC/tc_project_app.xti
@@ -1,7 +1,989 @@
-
+
+
+
+ NCTOPLC_AXIS_REF_STATE
+ 32
+
+ Operational
+ BIT
+ 1
+ 0
+
+
+ Homed
+ BIT
+ 1
+ 1
+
+
+ NotMoving
+ BIT
+ 1
+ 2
+
+
+ InPositionArea
+ BIT
+ 1
+ 3
+
+
+ InTargetPosition
+ BIT
+ 1
+ 4
+
+
+ Protected
+ BIT
+ 1
+ 5
+
+
+ ErrorPropagationDelayed
+ BIT
+ 1
+ 6
+
+
+ HasBeenStopped
+ BIT
+ 1
+ 7
+
+
+ HasJob
+ BIT
+ 1
+ 8
+
+
+ PositiveDirection
+ BIT
+ 1
+ 9
+
+
+ NegativeDirection
+ BIT
+ 1
+ 10
+
+
+ HomingBusy
+ BIT
+ 1
+ 11
+
+
+ ConstantVelocity
+ BIT
+ 1
+ 12
+
+
+ Compensating
+ BIT
+ 1
+ 13
+
+
+ ExtSetPointGenEnabled
+ BIT
+ 1
+ 14
+
+
+ PhasingActive
+ BIT
+ 1
+ 15
+
+
+ ExternalLatchValid
+ BIT
+ 1
+ 16
+
+
+ NewTargetPos
+ BIT
+ 1
+ 17
+
+
+ IsDriveLimitActive
+ BIT
+ 1
+ 18
+
+
+ ContinuousMotion
+ BIT
+ 1
+ 19
+
+
+ ControlLoopClosed
+ BIT
+ 1
+ 20
+
+
+ CamTableQueued
+ BIT
+ 1
+ 21
+
+
+ CamDataQueued
+ BIT
+ 1
+ 22
+
+
+ CamScalingPending
+ BIT
+ 1
+ 23
+
+
+ CmdBuffered
+ BIT
+ 1
+ 24
+
+
+ PTPmode
+ BIT
+ 1
+ 25
+
+
+ SoftLimitMinExceeded
+ BIT
+ 1
+ 26
+
+
+ SoftLimitMaxExceeded
+ BIT
+ 1
+ 27
+
+
+ DriveDeviceError
+ BIT
+ 1
+ 28
+
+
+ MotionCommandsLocked
+ BIT
+ 1
+ 29
+
+
+ IoDataInvalid
+ BIT
+ 1
+ 30
+
+
+ Error
+ BIT
+ 1
+ 31
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ {4C3FC5AC-D5AA-44C6-AC5A-159774BA0F6D}
+
+
+
+
+ NCTOPLC_AXIS_REF_OPMODE
+ 32
+
+ OpModePosAreaMonitoring
+ BIT
+ 1
+ 0
+
+
+ OpModeTargetPosMonitoring
+ BIT
+ 1
+ 1
+
+
+ OpModeLoop
+ BIT
+ 1
+ 2
+
+
+ OpModeMotionMonitoring
+ BIT
+ 1
+ 3
+
+
+ OpModePEHTimeMonitoring
+ BIT
+ 1
+ 4
+
+
+ OpModeBacklashCompensation
+ BIT
+ 1
+ 5
+
+
+ OpModeDelayedErrorReaction
+ BIT
+ 1
+ 6
+
+
+ OpModeModulo
+ BIT
+ 1
+ 7
+
+
+ OpModeSimulationAxis
+ BIT
+ 1
+ 8
+
+
+ OpModeStopMonitoring
+ BIT
+ 1
+ 12
+
+
+ OpModeOutputSmoothingFilter
+ BIT
+ 1
+ 13
+
+
+ OpModePosLagMonitoring
+ BIT
+ 1
+ 16
+
+
+ OpModeVeloLagMonitoring
+ BIT
+ 1
+ 17
+
+
+ OpModeSoftLimitMinMonitoring
+ BIT
+ 1
+ 18
+
+
+ OpModeSoftLimitMaxMonitoring
+ BIT
+ 1
+ 19
+
+
+ OpModePosCorrection
+ BIT
+ 1
+ 20
+
+
+ OpModeAllowSlaveCommands
+ BIT
+ 1
+ 21
+
+
+ OpModeAllowExtSetAxisCommands
+ BIT
+ 1
+ 22
+
+
+ ApplicationRequest
+ BIT
+ 1
+ 23
+
+
+
+ NCTOPLC_AXIS_REF_STATE2_FLAGS
+ 32
+
+ AvoidingCollision
+ BIT
+ 1
+ 0
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_STATE2
+ 32
+
+ Value
+ DWORD
+ 32
+ 0
+
+
+ Flags
+ NCTOPLC_AXIS_REF_STATE2_FLAGS
+ 32
+ 0
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_STATE3_FLAGS
+ 32
+
+ TouchProbe1InputState
+ BIT
+ 1
+ 0
+
+
+ TouchProbe2InputState
+ BIT
+ 1
+ 1
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_STATE3
+ 32
+
+ Value
+ DWORD
+ 32
+ 0
+
+
+ Flags
+ NCTOPLC_AXIS_REF_STATE3_FLAGS
+ 32
+ 0
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE
+ 8
+
+ CamActivationPending
+ BIT
+ 1
+ 0
+
+
+ CamDeactivationPending
+ BIT
+ 1
+ 1
+
+
+ CamActive
+ BIT
+ 1
+ 2
+
+
+ CamDataQueued
+ BIT
+ 1
+ 6
+
+
+ CamScalingPending
+ BIT
+ 1
+ 7
+
+
+
+ UINTARR8
+ 128
+ UINT
+
+ 0
+ 8
+
+
+
+ NCTOPLC_AXIS_REF
+ 2048
+
+ StateDWord
+ NCTOPLC_AXIS_REF_STATE
+ 32
+ 0
+
+
+ ErrorCode
+ UDINT
+ 32
+ 32
+
+
+ AxisState
+ UDINT
+
+ 32
+ 64
+
+
+ AxisModeConfirmation
+ UDINT
+ 32
+ 96
+
+
+ HomingState
+ UDINT
+
+ 32
+ 128
+
+
+ CoupleState
+ UDINT
+
+ 32
+ 160
+
+
+ SvbEntries
+ UDINT
+ 32
+ 192
+
+
+ SafEntries
+ UDINT
+ 32
+ 224
+
+
+ AxisId
+ UDINT
+ 32
+ 256
+
+
+ OpModeDWord
+ NCTOPLC_AXIS_REF_OPMODE
+ 32
+ 288
+
+
+ ActPos
+ LREAL
+ 64
+ 320
+
+
+ ModuloActPos
+ LREAL
+ 64
+ 384
+
+
+ ActiveControlLoopIndex
+ UINT
+ 16
+ 448
+
+
+ ControlLoopIndex
+ UINT
+ 16
+ 464
+
+
+ ModuloActTurns
+ DINT
+ 32
+ 480
+
+
+ ActVelo
+ LREAL
+ 64
+ 512
+
+
+ PosDiff
+ LREAL
+ 64
+ 576
+
+
+ SetPos
+ LREAL
+ 64
+ 640
+
+
+ SetVelo
+ LREAL
+ 64
+ 704
+
+
+ SetAcc
+ LREAL
+ 64
+ 768
+
+
+ TargetPos
+ LREAL
+ 64
+ 832
+
+
+ ModuloSetPos
+ LREAL
+ 64
+ 896
+
+
+ ModuloSetTurns
+ DINT
+ 32
+ 960
+
+
+ CmdNo
+ UINT
+ 16
+ 992
+
+
+ CmdState
+ UINT
+ 16
+ 1008
+
+
+ SetJerk
+ LREAL
+ 64
+ 1024
+
+
+ SetTorque
+ LREAL
+ 64
+ 1088
+
+
+ ActTorque
+ LREAL
+ 64
+ 1152
+
+
+ StateDWord2
+ NCTOPLC_AXIS_REF_STATE2
+ 32
+ 1216
+
+
+ StateDWord3
+ NCTOPLC_AXIS_REF_STATE3
+ 32
+ 1248
+
+
+ TouchProbeState
+ DWORD
+ 32
+ 1280
+
+
+ TouchProbeCounter
+ DWORD
+ 32
+ 1312
+
+
+ CamCouplingState
+ NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE
+
+ 0
+ 8
+
+ 64
+ 1344
+
+
+ CamCouplingTableID
+ UINTARR8
+ 128
+ 1408
+
+
+ ActTorqueDerivative
+ LREAL
+ 64
+ 1536
+
+
+ SetTorqueDerivative
+ LREAL
+ 64
+ 1600
+
+
+ AbsPhasingPos
+ LREAL
+ 64
+ 1664
+
+
+ TorqueOffset
+ LREAL
+ 64
+ 1728
+
+
+ ActPosWithoutPosCorrection
+ LREAL
+ 64
+ 1792
+
+
+ ActAcc
+ LREAL
+ 64
+ 1856
+
+
+ DcTimeStamp
+ UDINT
+ 32
+ 1920
+
+
+ UserData
+ LREAL
+ 64
+ 1984
+
+
+
+ NcStructType
+ 2
+
+
+
+
+ NCAXLESTRUCT_TOPLC
+
+
+ NCAXLESTRUCT_TOPLC2
+
+
+ NCAXLESTRUCT_TOPLC3
+
+
+ NCAXLESTRUCT_TOPLC4
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+ PLCTONC_AXIS_REF_CTRL
+ 32
+
+ Enable
+ BIT
+ 1
+ 0
+
+
+ FeedEnablePlus
+ BIT
+ 1
+ 1
+
+
+ FeedEnableMinus
+ BIT
+ 1
+ 2
+
+
+ HomingSensor
+ BIT
+ 1
+ 5
+
+
+ AcceptBlockedDrive
+ BIT
+ 1
+ 8
+
+
+ PlcDebugFlag
+ BIT
+ 1
+ 30
+
+
+ NcDebugFlag
+ BIT
+ 1
+ 31
+
+
+ %08x
+
+
+ 0x%08x
+
+
+ 16#%08X
+
+
+
+ PLCTONC_AXIS_REF
+ 1024
+
+ ControlDWord
+ PLCTONC_AXIS_REF_CTRL
+ 32
+ 0
+
+
+ Override
+ UDINT
+ 32
+ 32
+
+
+ AxisModeRequest
+ UDINT
+ 32
+ 64
+
+
+ AxisModeDWord
+ UDINT
+ 32
+ 96
+
+
+ AxisModeLReal
+ LREAL
+ 64
+ 128
+
+
+ PositionCorrection
+ LREAL
+ 64
+ 192
+
+
+ ExtSetPos
+ LREAL
+ 64
+ 256
+
+
+ ExtSetVelo
+ LREAL
+ 64
+ 320
+
+
+ ExtSetAcc
+ LREAL
+ 64
+ 384
+
+
+ ExtSetDirection
+ DINT
+ 32
+ 448
+
+
+ ExtControllerOutput
+ LREAL
+ 64
+ 512
+
+
+ GearRatio1
+ LREAL
+ 64
+ 576
+
+
+ GearRatio2
+ LREAL
+ 64
+ 640
+
+
+ GearRatio3
+ LREAL
+ 64
+ 704
+
+
+ GearRatio4
+ LREAL
+ 64
+ 768
+
+
+ MapState
+ BOOL
+ 8
+ 832
+
+
+ PlcCycleControl
+ BYTE
+ 8
+ 840
+
+
+ PlcCycleCount
+ BYTE
+ 8
+ 848
+
+
+ ExtTorque
+ LREAL
+ 64
+ 896
+
+
+
+ NcStructType
+ 1
+
+
+
+
+
+
+
+
+
+
+
+
-
+
tc_project_app Instance
{08500001-0000-0000-F000-000000000064}
@@ -14,6 +996,40 @@
Safety_Shutter.bPSSPermit2
BOOL
+
+ GVL.astAxes[1].stStatus.nEncoderRawCounter
+
+ UDINT
+
+
+ GVL.astAxes[1].stStatus.nStepperDriveCounter
+
+ UDINT
+
+
+ GVL.astAxes[1].stInputs.bLimitFwd
+
+ BOOL
+
+
+ GVL.astAxes[1].stInputs.bLimitBwd
+
+ BOOL
+
+
+ GVL.astAxes[1].stInputs.bHomeSensor
+
+ BOOL
+
+
+ GVL.astAxes[1].stInputs.nTempPT100
+
+ INT
+
+
+ GVL.astAxes[1].Axis.NcToPlc
+ NCTOPLC_AXIS_REF
+
GVL.nAirPressureSensorGroup1
@@ -42,6 +1058,10 @@
BOOL
+
+ GVL.astAxes[1].Axis.PlcToNc
+ PLCTONC_AXIS_REF
+
@@ -59,4 +1079,12 @@
+
+
+
+
+
+
+
+
diff --git a/solution/tc_project_app/GVLs/GVL_APP.TcGVL b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
index ac3e9a0..5ce6b7b 100644
--- a/solution/tc_project_app/GVLs/GVL_APP.TcGVL
+++ b/solution/tc_project_app/GVLs/GVL_APP.TcGVL
@@ -8,7 +8,7 @@ VAR_GLOBAL
END_VAR
VAR_GLOBAL CONSTANT
- nAXIS_NUM: UINT := 0; //Specifies the total of axes in the system
+ nAXIS_NUM: UINT := 1; //Specifies the total of axes in the system
nPNEUMATIC_AXIS_NUM: UINT := 0; //Specifies the total number of pneumatic axes in the system
//Pneumatic air pressure groups high and low limits