beremiz

Improve fix wrong code generation if EN/ENO are used in FBD/LD/SFC

2018-08-09, Andrey Skvortsov
1bb8afa02409
Improve fix wrong code generation if EN/ENO are used in FBD/LD/SFC

Commit c9915bc6 "Fix wrong code generation if EN/ENO are used in
FBD/LD/SFC" caused following backtrace in some cases:

File "/home/developer/WorkData/PLC/beremiz/beremiz/PLCGenerator.py", line 476, in GenerateProgram
self.GeneratePouProgram(pou_name)
File "/home/developer/WorkData/PLC/beremiz/beremiz/PLCGenerator.py", line 258, in GeneratePouProgram
program = pou_program.GenerateProgram(pou)
File "/home/developer/WorkData/PLC/beremiz/beremiz/PLCGenerator.py", line 1713, in GenerateProgram
self.ComputeProgram(pou)
File "/home/developer/WorkData/PLC/beremiz/beremiz/PLCGenerator.py", line 997, in ComputeProgram
eno_var = self.GetUsedEno(body, connections)
File "/home/developer/WorkData/PLC/beremiz/beremiz/PLCGenerator.py", line 929, in GetUsedEno
for invar in blk.inputVariables.getvariable():
File "/home/developer/WorkData/PLC/beremiz/beremiz/xmlclass/xmlclass.py", line 1363, in getattrMethod
return DefaultElementClass.__getattribute__(self, name)
: 'inOutVariable' object has no attribute 'inputVariables'
<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://www.plcopen.org/xml/tc6.xsd"
xsi:schemaLocation="http://www.plcopen.org/xml/tc6.xsd"
xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
xmlns:xhtml="http://www.w3.org/1999/xhtml">
<fileHeader companyName="Laurent BESSARD"
productName="test_ethercat"
productVersion="1.0"
creationDateTime="2011-10-20T19:01:52"/>
<contentHeader name="test_ethercat"
modificationDateTime="2013-06-24T20:55:15">
<coordinateInfo>
<fbd>
<scaling x="0" y="0"/>
</fbd>
<ld>
<scaling x="0" y="0"/>
</ld>
<sfc>
<scaling x="0" y="0"/>
</sfc>
</coordinateInfo>
</contentHeader>
<types>
<dataTypes/>
<pous>
<pou name="Prog" pouType="program">
<interface>
<localVars>
<variable name="CLOCK" address="%QX0.0.2.28672.1">
<type>
<BOOL/>
</type>
</variable>
<variable name="GREENLED" address="%QX0.0.2.28688.1">
<type>
<BOOL/>
</type>
<initialValue>
<simpleValue value="TRUE"/>
</initialValue>
</variable>
<variable name="ControlWord" address="%QW0.0.3.24640.0">
<type>
<UINT/>
</type>
</variable>
<variable name="StatusWord" address="%IW0.0.3.24641.0">
<type>
<UINT/>
</type>
</variable>
<variable name="Mode" address="%QB0.0.3.24672.0">
<type>
<SINT/>
</type>
</variable>
<variable name="ModeDisplay" address="%IB0.0.3.24673.0">
<type>
<SINT/>
</type>
</variable>
<variable name="ActualPosition" address="%ID0.0.3.24676.0">
<type>
<DINT/>
</type>
</variable>
<variable name="ActualVelocity" address="%ID0.0.3.24684.0">
<type>
<DINT/>
</type>
</variable>
<variable name="TargetPosition" address="%QD0.0.3.24698.0">
<type>
<DINT/>
</type>
</variable>
<variable name="TargetVelocity" address="%QD0.0.3.24831.0">
<type>
<DINT/>
</type>
</variable>
<variable name="DigitalInputs" address="%ID0.0.3.24829.0">
<type>
<UDINT/>
</type>
</variable>
</localVars>
</interface>
<body>
<ST>
<![CDATA[CLOCK := NOT CLOCK;]]>
</ST>
</body>
</pou>
<pou name="test_MCL" pouType="program">
<interface>
<localVars>
<variable name="CLOCK">
<type>
<UDINT/>
</type>
</variable>
</localVars>
<localVars>
<variable name="Axis" address="%IW0.0.3.402">
<type>
<derived name="AXIS_REF"/>
</type>
</variable>
</localVars>
<localVars>
<variable name="switch">
<type>
<derived name="MC_Power"/>
</type>
</variable>
<variable name="move1">
<type>
<derived name="MC_MoveAbsolute"/>
</type>
</variable>
<variable name="ActualPosition">
<type>
<DINT/>
</type>
</variable>
<variable name="Valid">
<type>
<BOOL/>
</type>
</variable>
<variable name="Pn">
<type>
<LREAL/>
</type>
</variable>
<variable name="Vn">
<type>
<LREAL/>
</type>
</variable>
<variable name="MC_MoveVelocity0">
<type>
<derived name="MC_MoveVelocity"/>
</type>
</variable>
<variable name="MC_MoveAbsolute0">
<type>
<derived name="MC_MoveAbsolute"/>
</type>
</variable>
<variable name="readpos">
<type>
<derived name="MC_ReadActualPosition"/>
</type>
</variable>
<variable name="readspeed">
<type>
<derived name="MC_ReadParameter"/>
</type>
</variable>
<variable name="MC_SetPosition0">
<type>
<derived name="MC_SetPosition"/>
</type>
</variable>
</localVars>
</interface>
<body>
<FBD>
<inVariable localId="1" height="27" width="53">
<position x="45" y="36"/>
<connectionPointOut>
<relPosition x="53" y="13"/>
</connectionPointOut>
<expression>CLOCK</expression>
</inVariable>
<block localId="2" width="111" height="116" typeName="ADD">
<position x="149" y="5"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="44"/>
<connection refLocalId="1">
<position x="149" y="49"/>
<position x="98" y="49"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="92"/>
<connection refLocalId="3">
<position x="149" y="97"/>
<position x="98" y="97"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="111" y="44"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="3" height="27" width="18">
<position x="80" y="84"/>
<connectionPointOut>
<relPosition x="18" y="13"/>
</connectionPointOut>
<expression>1</expression>
</inVariable>
<outVariable localId="4" height="27" width="53">
<position x="302" y="36"/>
<connectionPointIn>
<relPosition x="0" y="13"/>
<connection refLocalId="2" formalParameter="OUT">
<position x="302" y="49"/>
<position x="260" y="49"/>
</connection>
</connectionPointIn>
<expression>CLOCK</expression>
</outVariable>
<inVariable localId="5" height="27" width="53">
<position x="46" y="234"/>
<connectionPointOut>
<relPosition x="53" y="13"/>
</connectionPointOut>
<expression>CLOCK</expression>
</inVariable>
<inVariable localId="6" height="27" width="50">
<position x="49" y="268"/>
<connectionPointOut>
<relPosition x="50" y="13"/>
</connectionPointOut>
<expression>4000</expression>
</inVariable>
<block localId="7" width="99" height="89" typeName="GT">
<position x="155" y="210"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="37"/>
<connection refLocalId="5">
<position x="155" y="247"/>
<position x="99" y="247"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="71"/>
<connection refLocalId="6">
<position x="155" y="281"/>
<position x="99" y="281"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="99" y="37"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<block localId="8" width="159" height="204" typeName="MC_Power" instanceName="switch">
<position x="356" y="173"/>
<inputVariables>
<variable formalParameter="Axis">
<connectionPointIn>
<relPosition x="0" y="38"/>
<connection refLocalId="9">
<position x="356" y="211"/>
<position x="324" y="211"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Enable">
<connectionPointIn>
<relPosition x="0" y="74"/>
<connection refLocalId="7" formalParameter="OUT">
<position x="356" y="247"/>
<position x="254" y="247"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="EnablePositive">
<connectionPointIn>
<relPosition x="0" y="110"/>
</connectionPointIn>
</variable>
<variable formalParameter="EnableNegative">
<connectionPointIn>
<relPosition x="0" y="146"/>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Axis">
<connectionPointOut>
<relPosition x="159" y="38"/>
</connectionPointOut>
</variable>
<variable formalParameter="Status">
<connectionPointOut>
<relPosition x="159" y="74"/>
</connectionPointOut>
</variable>
<variable formalParameter="Valid">
<connectionPointOut>
<relPosition x="159" y="110"/>
</connectionPointOut>
</variable>
<variable formalParameter="Error">
<connectionPointOut>
<relPosition x="159" y="146"/>
</connectionPointOut>
</variable>
<variable formalParameter="ErrorID">
<connectionPointOut>
<relPosition x="159" y="182"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="9" height="27" width="36">
<position x="288" y="198"/>
<connectionPointOut>
<relPosition x="36" y="13"/>
</connectionPointOut>
<expression>Axis</expression>
</inVariable>
<block localId="10" width="252" height="389" typeName="MC_MoveAbsolute" instanceName="move1">
<position x="992" y="173"/>
<inputVariables>
<variable formalParameter="Axis">
<connectionPointIn>
<relPosition x="0" y="38"/>
<connection refLocalId="42" formalParameter="Axis">
<position x="992" y="211"/>
<position x="853" y="211"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Execute">
<connectionPointIn>
<relPosition x="0" y="74"/>
<connection refLocalId="42" formalParameter="Done">
<position x="992" y="247"/>
<position x="853" y="247"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="ContinuousUpdate">
<connectionPointIn>
<relPosition x="0" y="110"/>
</connectionPointIn>
</variable>
<variable formalParameter="Position">
<connectionPointIn>
<relPosition x="0" y="146"/>
<connection refLocalId="11">
<position x="992" y="319"/>
<position x="920" y="319"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Velocity">
<connectionPointIn>
<relPosition x="0" y="182"/>
<connection refLocalId="12">
<position x="992" y="355"/>
<position x="919" y="355"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Acceleration">
<connectionPointIn>
<relPosition x="0" y="218"/>
<connection refLocalId="12">
<position x="992" y="391"/>
<position x="955" y="391"/>
<position x="955" y="355"/>
<position x="919" y="355"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Deceleration">
<connectionPointIn>
<relPosition x="0" y="254"/>
<connection refLocalId="12">
<position x="992" y="427"/>
<position x="955" y="427"/>
<position x="955" y="355"/>
<position x="919" y="355"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Jerk">
<connectionPointIn>
<relPosition x="0" y="290"/>
</connectionPointIn>
</variable>
<variable formalParameter="Direction">
<connectionPointIn>
<relPosition x="0" y="326"/>
</connectionPointIn>
</variable>
<variable formalParameter="BufferMode">
<connectionPointIn>
<relPosition x="0" y="362"/>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Axis">
<connectionPointOut>
<relPosition x="252" y="38"/>
</connectionPointOut>
</variable>
<variable formalParameter="Done">
<connectionPointOut>
<relPosition x="252" y="74"/>
</connectionPointOut>
</variable>
<variable formalParameter="Busy">
<connectionPointOut>
<relPosition x="252" y="110"/>
</connectionPointOut>
</variable>
<variable formalParameter="Active">
<connectionPointOut>
<relPosition x="252" y="146"/>
</connectionPointOut>
</variable>
<variable formalParameter="CommandAborted">
<connectionPointOut>
<relPosition x="252" y="182"/>
</connectionPointOut>
</variable>
<variable formalParameter="Error">
<connectionPointOut>
<relPosition x="252" y="218"/>
</connectionPointOut>
</variable>
<variable formalParameter="ErrorID">
<connectionPointOut>
<relPosition x="252" y="254"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="11" height="27" width="54">
<position x="878" y="306"/>
<connectionPointOut>
<relPosition x="54" y="13"/>
</connectionPointOut>
<expression>1800.0</expression>
</inVariable>
<inVariable localId="12" height="27" width="46">
<position x="885" y="342"/>
<connectionPointOut>
<relPosition x="46" y="13"/>
</connectionPointOut>
<expression>360.0</expression>
</inVariable>
<block localId="23" width="255" height="352" typeName="MC_MoveVelocity" instanceName="MC_MoveVelocity0">
<position x="1418" y="173"/>
<inputVariables>
<variable formalParameter="Axis">
<connectionPointIn>
<relPosition x="0" y="38"/>
<connection refLocalId="10" formalParameter="Axis">
<position x="1418" y="211"/>
<position x="1244" y="211"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Execute">
<connectionPointIn>
<relPosition x="0" y="74"/>
<connection refLocalId="10" formalParameter="Done">
<position x="1418" y="247"/>
<position x="1244" y="247"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="ContinuousUpdate">
<connectionPointIn>
<relPosition x="0" y="110"/>
</connectionPointIn>
</variable>
<variable formalParameter="Velocity">
<connectionPointIn>
<relPosition x="0" y="146"/>
<connection refLocalId="24">
<position x="1418" y="319"/>
<position x="1349" y="319"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Acceleration">
<connectionPointIn>
<relPosition x="0" y="182"/>
<connection refLocalId="13">
<position x="1418" y="355"/>
<position x="1349" y="355"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Deceleration">
<connectionPointIn>
<relPosition x="0" y="218"/>
<connection refLocalId="13">
<position x="1418" y="391"/>
<position x="1383" y="391"/>
<position x="1383" y="355"/>
<position x="1349" y="355"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Jerk">
<connectionPointIn>
<relPosition x="0" y="254"/>
</connectionPointIn>
</variable>
<variable formalParameter="Direction">
<connectionPointIn>
<relPosition x="0" y="290"/>
</connectionPointIn>
</variable>
<variable formalParameter="BufferMode">
<connectionPointIn>
<relPosition x="0" y="326"/>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Axis">
<connectionPointOut>
<relPosition x="255" y="38"/>
</connectionPointOut>
</variable>
<variable formalParameter="InVelocity">
<connectionPointOut>
<relPosition x="255" y="74"/>
</connectionPointOut>
</variable>
<variable formalParameter="Busy">
<connectionPointOut>
<relPosition x="255" y="110"/>
</connectionPointOut>
</variable>
<variable formalParameter="Active">
<connectionPointOut>
<relPosition x="255" y="146"/>
</connectionPointOut>
</variable>
<variable formalParameter="CommandAborted">
<connectionPointOut>
<relPosition x="255" y="182"/>
</connectionPointOut>
</variable>
<variable formalParameter="Error">
<connectionPointOut>
<relPosition x="255" y="218"/>
</connectionPointOut>
</variable>
<variable formalParameter="ErrorID">
<connectionPointOut>
<relPosition x="255" y="254"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="13" height="27" width="46">
<position x="1303" y="342"/>
<connectionPointOut>
<relPosition x="46" y="13"/>
</connectionPointOut>
<expression>360.0</expression>
</inVariable>
<inVariable localId="24" height="27" width="46">
<position x="1303" y="306"/>
<connectionPointOut>
<relPosition x="46" y="13"/>
</connectionPointOut>
<expression>-360.0</expression>
</inVariable>
<block localId="25" width="235" height="350" typeName="MC_MoveAbsolute" instanceName="MC_MoveAbsolute0">
<position x="1862" y="175"/>
<inputVariables>
<variable formalParameter="Axis">
<connectionPointIn>
<relPosition x="0" y="36"/>
<connection refLocalId="23" formalParameter="Axis">
<position x="1862" y="211"/>
<position x="1673" y="211"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Execute">
<connectionPointIn>
<relPosition x="0" y="69"/>
<connection refLocalId="26" formalParameter="OUT">
<position x="1862" y="244"/>
<position x="1825" y="244"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="ContinuousUpdate">
<connectionPointIn>
<relPosition x="0" y="102"/>
</connectionPointIn>
</variable>
<variable formalParameter="Position">
<connectionPointIn>
<relPosition x="0" y="135"/>
<connection refLocalId="40">
<position x="1862" y="310"/>
<position x="1809" y="310"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Velocity">
<connectionPointIn>
<relPosition x="0" y="168"/>
<connection refLocalId="37">
<position x="1862" y="343"/>
<position x="1808" y="343"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Acceleration">
<connectionPointIn>
<relPosition x="0" y="201"/>
<connection refLocalId="37">
<position x="1862" y="376"/>
<position x="1818" y="376"/>
<position x="1818" y="343"/>
<position x="1808" y="343"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Deceleration">
<connectionPointIn>
<relPosition x="0" y="234"/>
<connection refLocalId="37">
<position x="1862" y="409"/>
<position x="1818" y="409"/>
<position x="1818" y="343"/>
<position x="1808" y="343"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Jerk">
<connectionPointIn>
<relPosition x="0" y="267"/>
</connectionPointIn>
</variable>
<variable formalParameter="Direction">
<connectionPointIn>
<relPosition x="0" y="300"/>
</connectionPointIn>
</variable>
<variable formalParameter="BufferMode">
<connectionPointIn>
<relPosition x="0" y="333"/>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Axis">
<connectionPointOut>
<relPosition x="235" y="36"/>
</connectionPointOut>
</variable>
<variable formalParameter="Done">
<connectionPointOut>
<relPosition x="235" y="69"/>
</connectionPointOut>
</variable>
<variable formalParameter="Busy">
<connectionPointOut>
<relPosition x="235" y="102"/>
</connectionPointOut>
</variable>
<variable formalParameter="Active">
<connectionPointOut>
<relPosition x="235" y="135"/>
</connectionPointOut>
</variable>
<variable formalParameter="CommandAborted">
<connectionPointOut>
<relPosition x="235" y="168"/>
</connectionPointOut>
</variable>
<variable formalParameter="Error">
<connectionPointOut>
<relPosition x="235" y="201"/>
</connectionPointOut>
</variable>
<variable formalParameter="ErrorID">
<connectionPointOut>
<relPosition x="235" y="234"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<block localId="26" width="53" height="63" typeName="LT">
<position x="1772" y="214"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="30"/>
<connection refLocalId="36">
<position x="1772" y="244"/>
<position x="1752" y="244"/>
<position x="1752" y="237"/>
<position x="1741" y="237"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="51"/>
<connection refLocalId="35">
<position x="1772" y="265"/>
<position x="1741" y="265"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="53" y="30"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<block localId="28" width="176" height="248" typeName="MC_ReadActualPosition" instanceName="readpos">
<position x="237" y="606"/>
<inputVariables>
<variable formalParameter="Axis">
<connectionPointIn>
<relPosition x="0" y="40"/>
<connection refLocalId="31">
<position x="237" y="646"/>
<position x="109" y="646"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Enable">
<connectionPointIn>
<relPosition x="0" y="80"/>
<connection refLocalId="29">
<position x="237" y="686"/>
<position x="165" y="686"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Axis">
<connectionPointOut>
<relPosition x="176" y="40"/>
</connectionPointOut>
</variable>
<variable formalParameter="Valid">
<connectionPointOut>
<relPosition x="176" y="80"/>
</connectionPointOut>
</variable>
<variable formalParameter="Busy">
<connectionPointOut>
<relPosition x="176" y="112"/>
</connectionPointOut>
</variable>
<variable formalParameter="Error">
<connectionPointOut>
<relPosition x="176" y="152"/>
</connectionPointOut>
</variable>
<variable formalParameter="ErrorID">
<connectionPointOut>
<relPosition x="176" y="192"/>
</connectionPointOut>
</variable>
<variable formalParameter="Position">
<connectionPointOut>
<relPosition x="176" y="232"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="29" height="32" width="96">
<position x="69" y="670"/>
<connectionPointOut>
<relPosition x="96" y="16"/>
</connectionPointOut>
<expression>BOOL#TRUE</expression>
</inVariable>
<outVariable localId="30" height="32" width="32">
<position x="437" y="822"/>
<connectionPointIn>
<relPosition x="0" y="16"/>
<connection refLocalId="28" formalParameter="Position">
<position x="437" y="838"/>
<position x="413" y="838"/>
</connection>
</connectionPointIn>
<expression>Pn</expression>
</outVariable>
<inVariable localId="31" height="32" width="40">
<position x="69" y="630"/>
<connectionPointOut>
<relPosition x="40" y="16"/>
</connectionPointOut>
<expression>Axis</expression>
</inVariable>
<block localId="32" width="192" height="248" typeName="MC_ReadParameter" instanceName="readspeed">
<position x="613" y="606"/>
<inputVariables>
<variable formalParameter="Axis">
<connectionPointIn>
<relPosition x="0" y="40"/>
<connection refLocalId="28" formalParameter="Axis">
<position x="613" y="646"/>
<position x="413" y="646"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Enable">
<connectionPointIn>
<relPosition x="0" y="80"/>
<connection refLocalId="34">
<position x="613" y="686"/>
<position x="597" y="686"/>
<position x="597" y="679"/>
<position x="581" y="679"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="ParameterNumber">
<connectionPointIn>
<relPosition x="0" y="112"/>
<connection refLocalId="33">
<position x="613" y="718"/>
<position x="581" y="718"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Axis">
<connectionPointOut>
<relPosition x="192" y="40"/>
</connectionPointOut>
</variable>
<variable formalParameter="Valid">
<connectionPointOut>
<relPosition x="192" y="80"/>
</connectionPointOut>
</variable>
<variable formalParameter="Busy">
<connectionPointOut>
<relPosition x="192" y="112"/>
</connectionPointOut>
</variable>
<variable formalParameter="Error">
<connectionPointOut>
<relPosition x="192" y="152"/>
</connectionPointOut>
</variable>
<variable formalParameter="ErrorID">
<connectionPointOut>
<relPosition x="192" y="192"/>
</connectionPointOut>
</variable>
<variable formalParameter="Value">
<connectionPointOut>
<relPosition x="192" y="232"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="33" height="32" width="32">
<position x="549" y="702"/>
<connectionPointOut>
<relPosition x="32" y="16"/>
</connectionPointOut>
<expression>10</expression>
</inVariable>
<inVariable localId="34" height="32" width="96">
<position x="485" y="663"/>
<connectionPointOut>
<relPosition x="96" y="16"/>
</connectionPointOut>
<expression>BOOL#TRUE</expression>
</inVariable>
<outVariable localId="27" height="32" width="32">
<position x="837" y="822"/>
<connectionPointIn>
<relPosition x="0" y="16"/>
<connection refLocalId="32" formalParameter="Value">
<position x="837" y="838"/>
<position x="805" y="838"/>
</connection>
</connectionPointIn>
<expression>Vn</expression>
</outVariable>
<inVariable localId="35" height="27" width="48">
<position x="1693" y="252"/>
<connectionPointOut>
<relPosition x="48" y="13"/>
</connectionPointOut>
<expression>-1800.0</expression>
</inVariable>
<inVariable localId="36" height="23" width="22">
<position x="1719" y="226"/>
<connectionPointOut>
<relPosition x="22" y="11"/>
</connectionPointOut>
<expression>Pn</expression>
</inVariable>
<inVariable localId="37" height="27" width="46">
<position x="1762" y="330"/>
<connectionPointOut>
<relPosition x="46" y="13"/>
</connectionPointOut>
<expression>360.0</expression>
</inVariable>
<inVariable localId="40" height="27" width="46">
<position x="1763" y="297"/>
<connectionPointOut>
<relPosition x="46" y="13"/>
</connectionPointOut>
<expression>0.0</expression>
</inVariable>
<block localId="42" width="189" height="204" typeName="MC_SetPosition" instanceName="MC_SetPosition0">
<position x="664" y="173"/>
<inputVariables>
<variable formalParameter="Axis">
<connectionPointIn>
<relPosition x="0" y="38"/>
<connection refLocalId="8" formalParameter="Axis">
<position x="664" y="211"/>
<position x="515" y="211"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Execute">
<connectionPointIn>
<relPosition x="0" y="74"/>
<connection refLocalId="8" formalParameter="Status">
<position x="664" y="247"/>
<position x="515" y="247"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Position">
<connectionPointIn>
<relPosition x="0" y="110"/>
<connection refLocalId="43">
<position x="664" y="283"/>
<position x="629" y="283"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Relative">
<connectionPointIn>
<relPosition x="0" y="146"/>
</connectionPointIn>
</variable>
<variable formalParameter="ExecutionMode">
<connectionPointIn>
<relPosition x="0" y="182"/>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Axis">
<connectionPointOut>
<relPosition x="189" y="38"/>
</connectionPointOut>
</variable>
<variable formalParameter="Done">
<connectionPointOut>
<relPosition x="189" y="74"/>
</connectionPointOut>
</variable>
<variable formalParameter="Busy">
<connectionPointOut>
<relPosition x="189" y="110"/>
</connectionPointOut>
</variable>
<variable formalParameter="Error">
<connectionPointOut>
<relPosition x="189" y="146"/>
</connectionPointOut>
</variable>
<variable formalParameter="ErrorID">
<connectionPointOut>
<relPosition x="189" y="182"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="43" height="27" width="54">
<position x="575" y="270"/>
<connectionPointOut>
<relPosition x="54" y="13"/>
</connectionPointOut>
<expression>0.0</expression>
</inVariable>
</FBD>
</body>
</pou>
</pous>
</types>
<instances>
<configurations>
<configuration name="conf">
<resource name="res">
<task name="main_task" interval="T#0.5ms" priority="0">
<pouInstance name="main_instance" typeName="Prog"/>
<pouInstance name="test_MCL_instance" typeName="test_MCL"/>
</task>
</resource>
</configuration>
</configurations>
</instances>
</project>