From 80bb47123a1445e02a090b70657608f2fbbf237d Mon Sep 17 00:00:00 2001 From: Luke Nisbet Date: Wed, 8 Apr 2020 15:57:54 +0100 Subject: [PATCH] Removed unknown file tash show --- solution/solution.tsproj | 1000 --------- solution/tc_project_app/tc_mca_std_lib | 2 +- tash show | 2566 ------------------------ 3 files changed, 1 insertion(+), 3567 deletions(-) delete mode 100644 tash show diff --git a/solution/solution.tsproj b/solution/solution.tsproj index b3f80d8..6650b38 100644 --- a/solution/solution.tsproj +++ b/solution/solution.tsproj @@ -1,878 +1,5 @@ - - - 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 - - - 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 - - - - 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 - - - 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_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 - DWORD - 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 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - 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 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - @@ -894,121 +21,6 @@ External Setpoint Generation: tc_project_app Instance {08500001-0000-0000-F000-000000000064} - - PlcTask Inputs - - GVL.astAxes[1].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[1].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[1].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[1].Axis.NcToPlc - NCTOPLC_AXIS_REF - - AxisState - - - - HomingState - - - - CoupleState - - - - - GVL.astAxes[2].stInputs.bLimitFwd - BOOL - - - GVL.astAxes[2].stInputs.bLimitBwd - BOOL - - - GVL.astAxes[2].stInputs.bHomeSensor - - BOOL - - - GVL.astAxes[2].Axis.NcToPlc - NCTOPLC_AXIS_REF - - AxisState - - - - HomingState - - - - CoupleState - - - - PlcTask Outputs @@ -1016,14 +28,6 @@ External Setpoint Generation: BOOL - - GVL.astAxes[1].Axis.PlcToNc - PLCTONC_AXIS_REF - - - GVL.astAxes[2].Axis.PlcToNc - PLCTONC_AXIS_REF - @@ -1031,9 +35,5 @@ External Setpoint Generation: - - - - diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib index 7e0b5fe..a5b7c9a 160000 --- a/solution/tc_project_app/tc_mca_std_lib +++ b/solution/tc_project_app/tc_mca_std_lib @@ -1 +1 @@ -Subproject commit 7e0b5fe30852ac30a166162ac9c7cd762535b5b7 +Subproject commit a5b7c9a9f5b8e1d441c31a796d97d0322da9070a diff --git a/tash show b/tash show deleted file mode 100644 index 85a62df..0000000 --- a/tash show +++ /dev/null @@ -1,2566 +0,0 @@ -commit bf64da273b5d33918c3e238409a3e550ec219687 (HEAD -> mbp-100-read-write-axis-parameters, origin/mbp-100-read-write-axis-parameters) -Author: [Luke Nisbet] <[Luke.nisbet@STFC.ac.uk]> -Date: Thu Feb 6 13:38:32 2020 +0000 - - Ticket compleated to original specification - - The code can read and write all possible PLC Open and Beckhoff - axis parameters it uses the MC_ReadParameter and MC_WriteParameter - function block within FB_Axis. Errors are passed out to the error - handling and it is possible to control it all through MainVisu. - -diff --git a/solution.sln b/solution.sln -index 9459e68..4dccbdf 100644 ---- a/solution.sln -+++ b/solution.sln -@@ -1,7 +1,7 @@ -  - Microsoft Visual Studio Solution File, Format Version 12.00 --# Visual Studio 2013 --VisualStudioVersion = 12.0.21005.1 -+# TcXaeShell Solution File, Format Version 11.00 -+VisualStudioVersion = 15.0.28010.2050 - MinimumVisualStudioVersion = 10.0.40219.1 - Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "solution", "solution\solution.tsproj", "{9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}" - EndProject -@@ -33,22 +33,6 @@ Global - {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) - {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) - {9CF97348-B9D3-4938-B1F2-5F0B0B6AA66A}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) -- {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) -@@ -65,8 +49,26 @@ Global - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) - {FB261665-FD20-4BF2-97F8-2854C82B752D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).ActiveCfg = Debug|TwinCAT OS (ARMT2) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT OS (ARMT2).Build.0 = Debug|TwinCAT OS (ARMT2) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).ActiveCfg = Release|TwinCAT OS (ARMT2) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT OS (ARMT2).Build.0 = Release|TwinCAT OS (ARMT2) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) -+ {F935F1DE-0753-4702-B418-1DC0ED040A4D}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) - EndGlobalSection - GlobalSection(SolutionProperties) = preSolution - HideSolutionNode = FALSE - EndGlobalSection -+ GlobalSection(ExtensibilityGlobals) = postSolution -+ SolutionGuid = {3F42AC3D-5210-4834-8C00-062CE02B7502} -+ EndGlobalSection - EndGlobal -diff --git a/solution/solution.tsproj b/solution/solution.tsproj -index f74cba4..e0f327a 100644 ---- a/solution/solution.tsproj -+++ b/solution/solution.tsproj -@@ -2,746 +2,813 @@ -  -  -  -- NCTOPLC_AXIS_REF_STATE -+ UINTARR2 - 32 -+ UINT -+  -+ 0 -+ 2 -+  -+  -+ [%u, %u] -+ [0] -+ [1] -+  -+  -+ 0x%08x [%u, %u] -+ . -+ [0] -+ [1] -+  -+  -+ 0x%08x (%u) -+ . -+ . -+  -+  -+  -+ NCENCODERSTRUCT_IN2B -+ 320 -  -- Operational -- BIT -- 1 -+ nDataIn1 -+ UINTARR2 -+ 32 - 0 -  -  -- Homed -- BIT -- 1 -- 1 --  --  -- NotMoving -- BIT -- 1 -- 2 -+ nDataIn2 -+ UINTARR2 -+ 32 -+ 32 -  -  -- InPositionArea -- BIT -- 1 -- 3 -+ nState1 -+ USINT -+ 8 -+ 64 -  -  -- InTargetPosition -- BIT -- 1 -- 4 -+ nState2 -+ USINT -+ 8 -+ 72 -  -  -- Protected -- BIT -- 1 -- 5 -+ nState3 -+ USINT -+ 8 -+ 80 -  -  -- ErrorPropagationDelayed -- BIT -- 1 -- 6 -+ nState4 -+ USINT -+  -+ 8 -+ 88 -  -  -- HasBeenStopped -- BIT -- 1 -- 7 -+ nDataIn3 -+ UINTARR2 -+ 32 -+ 96 -  -  -- HasJob -- BIT -- 1 -- 8 -+ nDataIn4 -+ UINTARR2 -+ 32 -+ 128 -  -  -- PositiveDirection -- BIT -- 1 -- 9 -+ nDataIn5 -+ UINTARR2 -+ 32 -+ 160 -  -  -- NegativeDirection -- BIT -- 1 -- 10 -+ nDataIn6 -+ UINTARR2 -+ 32 -+ 192 -  -  -- HomingBusy -- BIT -- 1 -- 11 -+ nState5 -+ USINT -+ 8 -+ 224 -  -  -- ConstantVelocity -- BIT -- 1 -- 12 -+ nState6 -+ USINT -+ 8 -+ 232 -  -  -- Compensating -- BIT -- 1 -- 13 -+ nState7 -+ USINT -+ 8 -+ 240 -  -  -- ExtSetPointGenEnabled -- BIT -- 1 -- 14 -+ nState8 -+ USINT -+ 8 -+ 248 -  -  -- PhasingActive -- BIT -- 1 -- 15 -+ nDcInputTime -+ DINT -+ 32 -+ 256 -  -  -- ExternalLatchValid -- BIT -- 1 -- 16 -+ nDataIn7 -+ UINTARR2 -+ 32 -+ 288 -  -+  -+  -+ NCENCODERSTRUCT_IN -+  -+ 96 -+  -+  -+  -+  -+  -+ NCENCODERSTRUCT_OUT2 -+ 320 -  -- NewTargetPos -- BIT -- 1 -- 17 -+ nDataOut1 -+ UINTARR2 -+ 32 -+ 0 -  -  -- ContinuousMotion -- BIT -- 1 -- 19 -+ nDataOut2 -+ UINTARR2 -+ 32 -+ 32 -  -  -- ControlLoopClosed -- BIT -- 1 -- 20 -+ nCtrl1 -+ USINT -+ 8 -+ 64 -  -  -- CamTableQueued -- BIT -- 1 -- 21 -+ nCtrl2 -+ USINT -+ 8 -+ 72 -  -  -- CamDataQueued -- BIT -- 1 -- 22 -+ nCtrl3 -+ USINT -+ 8 -+ 80 -  -  -- CamScalingPending -- BIT -- 1 -- 23 -+ nCtrl4 -+ USINT -+ 8 -+ 88 -  -  -- CmdBuffered -- BIT -- 1 -- 24 -+ nDataOut3 -+ UINTARR2 -+ 32 -+ 96 -  -  -- PTPmode -- BIT -- 1 -- 25 -+ nDataOut4 -+ UINTARR2 -+ 32 -+ 128 -  -  -- SoftLimitMinExceeded -- BIT -- 1 -- 26 -+ nDataOut5 -+ UINTARR2 -+ 32 -+ 160 -  -  -- SoftLimitMaxExceeded -- BIT -- 1 -- 27 -+ nDataOut6 -+ UINTARR2 -+ 32 -+ 192 -  -  -- DriveDeviceError -- BIT -- 1 -- 28 -+ nCtrl5 -+ USINT -+ 8 -+ 224 -  -  -- MotionCommandsLocked -- BIT -- 1 -- 29 -+ nCtrl6 -+ USINT -+ 8 -+ 232 -  -  -- IoDataInvalid -- BIT -- 1 -- 30 -+ nCtrl7 -+ USINT -+ 8 -+ 240 -  -  -- Error -- BIT -- 1 -- 31 -+ nCtrl8 -+ USINT -+ 8 -+ 248 -  --  -- %08x --  --  -- 0x%08x --  --  -- 16#%08X --  -+  -+  -+ NCENCODERSTRUCT_OUT -+  -+ 96 -+  -+  -+  -  -  -- NCTOPLC_AXIS_REF_OPMODE -- 32 -+ NCDRIVESTRUCT_IN2 -+ 320 -  -- OpModePosAreaMonitoring -- BIT -- 1 -+ nDataIn1 -+ UINTARR2 -+ 32 - 0 -  -  -- OpModeTargetPosMonitoring -- BIT -- 1 -- 1 -+ nDataIn2 -+ UINTARR2 -+ 32 -+ 32 -  -  -- OpModeLoop -- BIT -- 1 -- 2 -+ nState1 -+ USINT -+ 8 -+ 64 -  -  -- OpModeMotionMonitoring -- BIT -- 1 -- 3 -+ nState2 -+ USINT -+ 8 -+ 72 -  -  -- OpModePEHTimeMonitoring -- BIT -- 1 -- 4 -+ nState3 -+ USINT -+ 8 -+ 80 -  -  -- OpModeBacklashCompensation -- BIT -- 1 -- 5 -+ nState4 -+ USINT -+  -+ 8 -+ 88 -  -  -- OpModeDelayedErrorReaction -- BIT -- 1 -- 6 -+ nDataIn3 -+ UINTARR2 -+ 32 -+ 96 -  -  -- OpModeModulo -- BIT -- 1 -- 7 -+ nDataIn4 -+ UINTARR2 -+ 32 -+ 128 -  -  -- OpModeSimulationAxis -- BIT -- 1 -- 8 -+ nDataIn5 -+ UINTARR2 -+ 32 -+ 160 -  -  -- OpModePosLagMonitoring -- BIT -- 1 -- 16 -+ nDataIn6 -+ UINTARR2 -+ 32 -+ 192 -  -  -- OpModeVeloLagMonitoring -- BIT -- 1 -- 17 -+ nState5 -+ USINT -+ 8 -+ 224 -  -  -- OpModeSoftLimitMinMonitoring -- BIT -- 1 -- 18 -+ nState6 -+ USINT -+ 8 -+ 232 -  -  -- OpModeSoftLimitMaxMonitoring -- BIT -- 1 -- 19 -+ nState7 -+ USINT -+ 8 -+ 240 -  -  -- OpModePosCorrection -- BIT -- 1 -- 20 -+ nState8 -+ USINT -+ 8 -+ 248 -  -  -- OpModeAllowSlaveCommands -- BIT -- 1 -- 21 -+ nDcOutputTime -+ DINT -+ 32 -+ 256 -  -+  -+  -+ NCDRIVESTRUCT_IN -+  -+ 96 -+  -+  -+  -+  -+  -+ NCDRIVESTRUCT_OUT2 -+ 320 -  -- OpModeAllowExtSetAxisCommands -- BIT -- 1 -- 22 -+ nDataOut1 -+ UINTARR2 -+ 32 -+ 0 -  -  -- ApplicationRequest -- BIT -- 1 -- 23 -+ nDataOut2 -+ UINTARR2 -+ 32 -+ 32 -  --  --  -- NCTOPLC_AXIS_REF_STATE2_FLAGS -- 32 -  -- AvoidingCollision -- BIT -- 1 -- 0 -+ nCtrl1 -+ USINT -+ 8 -+ 64 -  --  -- %08x --  --  -- 0x%08x --  --  -- 16#%08X --  --  --  -- NCTOPLC_AXIS_REF_STATE2 -- 32 -  -- Value -- DWORD -+ nCtrl2 -+ USINT -+ 8 -+ 72 -+  -+  -+ nCtrl3 -+ USINT -+ 8 -+ 80 -+  -+  -+ nCtrl4 -+ USINT -+ 8 -+ 88 -+  -+  -+ nDataOut3 -+ UINTARR2 - 32 -- 0 -+ 96 -  -  -- Flags -- NCTOPLC_AXIS_REF_STATE2_FLAGS -+ nDataOut4 -+ UINTARR2 - 32 -- 0 -+ 128 -  --  -- %08x --  --  -- 0x%08x --  --  -- 16#%08X --  -+  -+ 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 -+  -+  -+  -  -  -- NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE -- 8 -+ PLCTONC_AXIS_REF_CTRL -+ 32 -  -- CamActivationPending -+ Enable - BIT - 1 - 0 -  -  -- CamDeactivationPending -+ FeedEnablePlus - BIT - 1 - 1 -  -  -- CamActive -+ FeedEnableMinus - BIT - 1 - 2 -  -  -- CamDataQueued -+ HomingSensor - BIT - 1 -- 6 -+ 5 -  -  -- CamScalingPending -+ AcceptBlockedDrive - BIT - 1 -- 7 -+ 8 -  -+  -+ PlcDebugFlag -+ BIT -+ 1 -+ 30 -+  -+  -+ NcDebugFlag -+ BIT -+ 1 -+ 31 -+  -+  -+ %08x -+  -+  -+ 0x%08x -+  -+  -+ 16#%08X -+  -  -  -- UINTARR8 -- 128 -- UINT --  -- 0 -- 8 --  --  --  -- NCTOPLC_AXIS_REF -- 2048 -+ PLCTONC_AXIS_REF -+ 1024 -  -- StateDWord -- NCTOPLC_AXIS_REF_STATE -+ ControlDWord -+ PLCTONC_AXIS_REF_CTRL - 32 - 0 -  -  -- ErrorCode -+ Override - UDINT - 32 - 32 -  -  -- AxisState -+ AxisModeRequest - UDINT --  - 32 - 64 -  -  -- AxisModeConfirmation -+ AxisModeDWord - UDINT - 32 - 96 -  -  -- HomingState -- UDINT --  -- 32 -+ AxisModeLReal -+ LREAL -+ 64 - 128 -  -  -- CoupleState -- UDINT --  -- 32 -- 160 --  --  -- SvbEntries -- UDINT -- 32 -+ PositionCorrection -+ LREAL -+ 64 - 192 -  -  -- SafEntries -- UDINT -- 32 -- 224 --  --  -- AxisId -- UDINT -- 32 -+ ExtSetPos -+ LREAL -+ 64 - 256 -  -  -- OpModeDWord -- NCTOPLC_AXIS_REF_OPMODE -- 32 -- 288 --  --  -- ActPos -+ ExtSetVelo - LREAL - 64 - 320 -  -  -- ModuloActPos -+ ExtSetAcc - LREAL - 64 - 384 -  -  -- ActiveControlLoopIndex -- UINT -- 16 -- 448 --  --  -- ControlLoopIndex -- UINT -- 16 -- 464 --  --  -- ModuloActTurns -+ ExtSetDirection - DINT - 32 -- 480 -+ 448 -  -  -- ActVelo -+ ExtControllerOutput - LREAL - 64 - 512 -  -  -- PosDiff -+ GearRatio1 - LREAL - 64 - 576 -  -  -- SetPos -+ GearRatio2 - LREAL - 64 - 640 -  -  -- SetVelo -+ GearRatio3 - LREAL - 64 - 704 -  -  -- SetAcc -+ GearRatio4 - LREAL - 64 - 768 -  -  -- TargetPos -- LREAL -- 64 -+ MapState -+ BOOL -+ 8 - 832 -  -  -- ModuloSetPos -- LREAL -- 64 -- 896 -+ PlcCycleControl -+ BYTE -+ 8 -+ 840 -  -  -- ModuloSetTurns -- DINT -- 32 -- 960 -+ PlcCycleCount -+ BYTE -+ 8 -+ 848 -  -+  -+  -+ NcStructType -+ 1 -+  -+  -+  -+  -+ NCAXLESTRUCT_FROMPLC3 -+  -+  -+  -+  -+ NCTOPLC_AXIS_REF_STATE -+ 32 -  -- CmdNo -- UINT -- 16 -- 992 -+ Operational -+ BIT -+ 1 -+ 0 -  -  -- CmdState -- UINT -- 16 -- 1008 -+ Homed -+ BIT -+ 1 -+ 1 -  -  -- SetJerk -- LREAL -- 64 -- 1024 -+ NotMoving -+ BIT -+ 1 -+ 2 -  -  -- SetTorque -- LREAL -- 64 -- 1088 -+ InPositionArea -+ BIT -+ 1 -+ 3 -  -  -- ActTorque -- LREAL -- 64 -- 1152 -+ InTargetPosition -+ BIT -+ 1 -+ 4 -  -  -- StateDWord2 -- NCTOPLC_AXIS_REF_STATE2 -- 32 -- 1216 -+ Protected -+ BIT -+ 1 -+ 5 -  -  -- StateDWord3 -- DWORD -- 32 -- 1248 -+ ErrorPropagationDelayed -+ BIT -+ 1 -+ 6 -  -  -- TouchProbeState -- DWORD -- 32 -- 1280 -+ HasBeenStopped -+ BIT -+ 1 -+ 7 -  -  -- TouchProbeCounter -- DWORD -- 32 -- 1312 -+ HasJob -+ BIT -+ 1 -+ 8 -  -  -- CamCouplingState -- NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE --  -- 0 -- 8 --  -- 64 -- 1344 -+ PositiveDirection -+ BIT -+ 1 -+ 9 -  -  -- CamCouplingTableID -- UINTARR8 -- 128 -- 1408 -+ NegativeDirection -+ BIT -+ 1 -+ 10 -  -  -- ActTorqueDerivative -- LREAL -- 64 -- 1536 -+ HomingBusy -+ BIT -+ 1 -+ 11 -  -  -- SetTorqueDerivative -- LREAL -- 64 -- 1600 -+ ConstantVelocity -+ BIT -+ 1 -+ 12 -  -  -- ActPosWithoutPosCorrection -- LREAL -- 64 -- 1792 -+ Compensating -+ BIT -+ 1 -+ 13 -  -  -- ActAcc -- LREAL -- 64 -- 1856 -+ ExtSetPointGenEnabled -+ BIT -+ 1 -+ 14 -  -  -- DcTimeStamp -- UDINT -- 32 -- 1920 -+ PhasingActive -+ BIT -+ 1 -+ 15 -  --  --  -- NcStructType -- 2 --  --  --  --  -- NCAXLESTRUCT_TOPLC --  --  -- NCAXLESTRUCT_TOPLC2 --  --  -- NCAXLESTRUCT_TOPLC3 --  --  -- NCAXLESTRUCT_TOPLC4 --  --  --  --  --  --  --  --  --  --  --  --  --  -- PLCTONC_AXIS_REF_CTRL -- 32 -  -- Enable -+ ExternalLatchValid - BIT - 1 -- 0 -+ 16 -  -  -- FeedEnablePlus -+ NewTargetPos - BIT - 1 -- 1 -+ 17 -  -  -- FeedEnableMinus -+ ContinuousMotion - BIT - 1 -- 2 -+ 19 -  -  -- HomingSensor -+ ControlLoopClosed - BIT - 1 -- 5 -+ 20 -  -  -- AcceptBlockedDrive -+ CamTableQueued - BIT - 1 -- 8 -+ 21 -  -  -- PlcDebugFlag -+ CamDataQueued - BIT - 1 -- 30 -+ 22 -  -  -- NcDebugFlag -+ CamScalingPending - BIT - 1 -- 31 -+ 23 -  --  -- %08x --  -+  -+ 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 -  -@@ -750,130 +817,501 @@ External Setpoint Generation: -  -  -  -- PLCTONC_AXIS_REF -- 1024 -+ NCTOPLC_AXIS_REF_OPMODE -+ 32 -  -- ControlDWord -- PLCTONC_AXIS_REF_CTRL -+ 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 -+  -+  -+ 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 -  -  -- Override -+ Flags -+ NCTOPLC_AXIS_REF_STATE2_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 -  -  -- AxisModeRequest -+ AxisState - UDINT -+  - 32 - 64 -  -  -- AxisModeDWord -- UDINT -- 32 -- 96 -+ 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 -  -  -- AxisModeLReal -+ SetPos - LREAL - 64 -- 128 -+ 640 -  -  -- PositionCorrection -+ SetVelo - LREAL - 64 -- 192 -+ 704 -  -  -- ExtSetPos -+ SetAcc - LREAL - 64 -- 256 -+ 768 -  -  -- ExtSetVelo -+ TargetPos - LREAL - 64 -- 320 -+ 832 -  -  -- ExtSetAcc -+ ModuloSetPos - LREAL - 64 -- 384 -+ 896 -  -  -- ExtSetDirection -+ ModuloSetTurns - DINT - 32 -- 448 -+ 960 -  -  -- ExtControllerOutput -+ CmdNo -+ UINT -+ 16 -+ 992 -+  -+  -+ CmdState -+ UINT -+ 16 -+ 1008 -+  -+  -+ SetJerk - LREAL - 64 -- 512 -+ 1024 -  -  -- GearRatio1 -+ SetTorque - LREAL - 64 -- 576 -+ 1088 -  -  -- GearRatio2 -+ ActTorque - LREAL - 64 -- 640 -+ 1152 -  -  -- GearRatio3 -+ StateDWord2 -+ NCTOPLC_AXIS_REF_STATE2 -+ 32 -+ 1216 -+  -+  -+ StateDWord3 -+ DWORD -+ 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 -- 704 -+ 1536 -  -  -- GearRatio4 -+ SetTorqueDerivative - LREAL - 64 -- 768 -+ 1600 -  -  -- MapState -- BOOL -- 8 -- 832 -+ ActPosWithoutPosCorrection -+ LREAL -+ 64 -+ 1792 -  -  -- PlcCycleControl -- BYTE -- 8 -- 840 -+ ActAcc -+ LREAL -+ 64 -+ 1856 -  -  -- PlcCycleCount -- BYTE -- 8 -- 848 -+ DcTimeStamp -+ UDINT -+ 32 -+ 1920 -  -  -  - NcStructType -- 1 -+ 2 -  -  -  -  -- NCAXLESTRUCT_FROMPLC3 -+ NCAXLESTRUCT_TOPLC -+  -+  -+ NCAXLESTRUCT_TOPLC2 -+  -+  -+ NCAXLESTRUCT_TOPLC3 -+  -+  -+ NCAXLESTRUCT_TOPLC4 -+  -+  -+  -+  -+  -+  -+  -+  -+  -  -  -  -  --  -+  -  -  -  -@@ -889,8 +1327,456 @@ External Setpoint Generation: -  -  -  -+  -+  -+  -+ NC-Task 1 SAF -+  -+ Inputs -+  -+  -+ Outputs -+  -+  -+ Image -+  -+  -+  -+ NC-Task 1 SVB -+  -+  -+ Axis 1 -+  -+  -+  -+  -+  -+  -+  -+  -+ Inputs -+  -+ In -+ NCENCODERSTRUCT_IN2B -+ 1024 -+  -+ nDataIn1 -+  -+  -+ nDataIn2 -+  -+  -+ nState4 -+  -+  -+  -+ nDataIn3 -+  -+  -+ nDataIn4 -+  -+  -+ nDataIn5 -+  -+  -+ nDataIn6 -+  -+  -+ nDataIn7 -+  -+  -+  -+  -+ Outputs -+  -+ Out -+ NCENCODERSTRUCT_OUT2 -+ 2048 -+  -+ nDataOut1 -+  -+  -+ nDataOut2 -+  -+  -+ nDataOut3 -+  -+  -+ nDataOut4 -+  -+  -+ nDataOut5 -+  -+  -+ nDataOut6 -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+ Inputs -+  -+ In -+ NCDRIVESTRUCT_IN2 -+ 1344 -+  -+ nDataIn1 -+  -+  -+ nDataIn2 -+  -+  -+ nState4 -+  -+  -+  -+ nDataIn3 -+  -+  -+ nDataIn4 -+  -+  -+ nDataIn5 -+  -+  -+ nDataIn6 -+  -+  -+  -+  -+ Outputs -+  -+ Out -+ NCDRIVESTRUCT_OUT2 -+ 2368 -+  -+ nDataOut1 -+  -+  -+ nDataOut2 -+  -+  -+ nCtrl2 -+  -+  -+  -+ nCtrl3 -+  -+  -+  -+ nDataOut3 -+  -+  -+ nDataOut4 -+  -+  -+ nDataOut5 -+  -+  -+ nDataOut6 -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+ Inputs -+  -+ FromPlc -+ PLCTONC_AXIS_REF -+  -+  -+  -+ Outputs -+  -+ ToPlc -+ NCTOPLC_AXIS_REF -+  -+ AxisState -+  -+  -+  -+ HomingState -+  -+  -+  -+ CoupleState -+  -+  -+  -+  -+  -+  -+ Axis 2 -+  -+  -+  -+  -+  -+ Inputs -+  -+ In -+ NCENCODERSTRUCT_IN2B -+ 2688 -+  -+ nDataIn1 -+  -+  -+ nDataIn2 -+  -+  -+ nState4 -+  -+  -+  -+ nDataIn3 -+  -+  -+ nDataIn4 -+  -+  -+ nDataIn5 -+  -+  -+ nDataIn6 -+  -+  -+ nDataIn7 -+  -+  -+  -+  -+ Outputs -+  -+ Out -+ NCENCODERSTRUCT_OUT2 -+ 4736 -+  -+ nDataOut1 -+  -+  -+ nDataOut2 -+  -+  -+ nDataOut3 -+  -+  -+ nDataOut4 -+  -+  -+ nDataOut5 -+  -+  -+ nDataOut6 -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+ Inputs -+  -+ In -+ NCDRIVESTRUCT_IN2 -+ 3008 -+  -+ nDataIn1 -+  -+  -+ nDataIn2 -+  -+  -+ nState4 -+  -+  -+  -+ nDataIn3 -+  -+  -+ nDataIn4 -+  -+  -+ nDataIn5 -+  -+  -+ nDataIn6 -+  -+  -+  -+  -+ Outputs -+  -+ Out -+ NCDRIVESTRUCT_OUT2 -+ 5056 -+  -+ nDataOut1 -+  -+  -+ nDataOut2 -+  -+  -+ nCtrl2 -+  -+  -+  -+ nCtrl3 -+  -+  -+  -+ nDataOut3 -+  -+  -+ nDataOut4 -+  -+  -+ nDataOut5 -+  -+  -+ nDataOut6 -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+ Inputs -+  -+ FromPlc -+ PLCTONC_AXIS_REF -+ 1664 -+  -+  -+  -+ Outputs -+  -+ ToPlc -+ NCTOPLC_AXIS_REF -+ 2688 -+  -+ AxisState -+  -+  -+  -+ HomingState -+  -+  -+  -+ CoupleState -+  -+  -+  -+  -+  -+  -+  -  --  -+  -  - tc_epicscommodule Instance - {08500001-0000-0000-F000-000000000064} -@@ -1054,5 +1940,19 @@ External Setpoint Generation: -  -  -  -+  -  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -+  -  -diff --git a/solution/tc_project_app/GlobalTextList.TcGTLO b/solution/tc_project_app/GlobalTextList.TcGTLO -index 1818614..3982a2b 100644 ---- a/solution/tc_project_app/GlobalTextList.TcGTLO -+++ b/solution/tc_project_app/GlobalTextList.TcGTLO -@@ -10,16 +10,36 @@ - "%2.2f" -  -  -+  -+ "165" -+ "%2.3f" -+  -+  -+  -+ "543" -+ "%2.4f" -+  -+  -  - "878" - "%d" -  -  -+  -+ "294" -+ "%f" -+  -+  -  - "706" - "%i" -  -  -+  -+ "821" -+ "%s" -+  -+  -  - "940" - "%x" -@@ -105,6 +125,11 @@ - "bResetDone" -  -  -+  -+ "693" -+ "bSet" -+  -+  -  - "944" - "bWarning" -@@ -195,6 +220,16 @@ - "gearOut" -  -  -+  -+ "566" -+ "homeSensorNeg" -+  -+  -+  -+ "677" -+ "homeSensorPos" -+  -+  -  - "711" - "Inactive:" -@@ -240,6 +275,11 @@ - "Overflows:" -  -  -+  -+ "993" -+ "Read" -+  -+  -  - "942" - "reset" -@@ -260,6 +300,11 @@ - "toggle" -  -  -+  -+ "445" -+ "Write" -+  -+  -  -  - {062c6d5a-aca0-4f82-8481-8e26e8c8681e} -diff --git a/solution/tc_project_app/POUs/MAIN.TcPOU b/solution/tc_project_app/POUs/MAIN.TcPOU -index f81cabd..81ced47 100644 ---- a/solution/tc_project_app/POUs/MAIN.TcPOU -+++ b/solution/tc_project_app/POUs/MAIN.TcPOU -@@ -55,7 +55,7 @@ VAR PERSISTENT - bRestoreOnStartup : BOOL; - END_VAR]]> -  -- eSUPS_PowerFailure THEN - (* next cycles of powerfailure *) - (* skip regular code execution for the remaining cycles of the powerfailure/writing of persistent data/quick shutdown ... *) - RETURN; --END_IF -+END_IF*) -  - RESTORE_POSITIONS(); - PROG(); -diff --git a/solution/tc_project_app/tc_mca_std_lib b/solution/tc_project_app/tc_mca_std_lib -index 852ea37..ce4d55e 160000 ---- a/solution/tc_project_app/tc_mca_std_lib -+++ b/solution/tc_project_app/tc_mca_std_lib -@@ -1 +1 @@ --Subproject commit 852ea37aa8d1aadfe0f2b84fd462c1f30aadd492 -+Subproject commit ce4d55ec59eeb6d4114ec605b1d57f6fecaa59a3 -diff --git a/solution/tc_project_app/tc_project_app.plcproj b/solution/tc_project_app/tc_project_app.plcproj -index b5d34ae..00b04b1 100644 ---- a/solution/tc_project_app/tc_project_app.plcproj -+++ b/solution/tc_project_app/tc_project_app.plcproj -@@ -29,6 +29,9 @@ -  - Code -  -+  -+ Code -+  -  - Code -  -@@ -352,8 +355,8 @@ -  -  -  --  --  -+  -+  - "<ProjectRoot>" -  - {192FAD59-8248-4824-A8DE-9177C94C195A} -@@ -404,15 +407,15 @@ -  -  -  --  --  -- System.Boolean -- System.Collections.Hashtable -- System.Int32 -- {54dd0eac-a6d8-46f2-8c27-2f43c7e49861} -- System.String --  -- -+  -+  -+ System.Boolean -+ System.Collections.Hashtable -+ System.Int32 -+ {54dd0eac-a6d8-46f2-8c27-2f43c7e49861} -+ System.String -+  -+  -  -  -  -\ No newline at end of file