beremiz

Proper fix for error 'object has no attribute 'getSlave' in EtherCAT extension

2018-08-24, Andrey Skvortsov
96ca6b056c55
Proper fix for error 'object has no attribute 'getSlave' in EtherCAT extension

traceback:
File "/home/developer/WorkData/PLC/beremiz/beremiz/IDEFrame.py", line 1433, in OnPouSelectedChanged
window.RefreshView()
File "/home/developer/WorkData/PLC/beremiz/beremiz/etherlab/ConfigEditor.py", line 837, in RefreshView
self.RefreshProcessVariables()
File "/home/developer/WorkData/PLC/beremiz/beremiz/etherlab/ConfigEditor.py", line 886, in RefreshProcessVariables
slaves = self.Controler.GetSlaves(**self.CurrentNodesFilter)
File "/home/developer/WorkData/PLC/beremiz/beremiz/etherlab/EthercatMaster.py", line 341, in GetSlaves
for slave in self.Config.getConfig().getSlave():
:_'lxml.etree._Element'_object_has_no_attribute_'getSlave'

Steps to reproduce problem:

- Add new EtherCAT master
- Add new EthercatNode to the master
- double click on


Revert commit "Dirty fix for error '_object_has_no_attribute_'getSlave' in EtherCAT extension"
[a3ac46366b86a0b237dac93be6b2281ac70b98a8].

The problem was that XML elements (proxy object) in some cases were created using custom XML
classes constructors and lxml.etree.Element() call and live python
patching. This causes that lxml backend doesn't know that custom python class
should be used for these XML elements.
Proxy object can be move/deleted and recreated by lxml
backend at any point in time or this can be done in python by copy/deepcopy operations.
If this happens, then newly created
proxy elements are using default class lxml.etree._Element. And all
custom functionality is lost.

All created XML elements should be always created through corresponding
parser and class lookup callback done by lxml backend.
It's described in more details in lxml documentation:
https://lxml.de/element_classes.html
<?xml version='1.0' encoding='utf-8'?>
<project xmlns="http://www.plcopen.org/xml/tc6_0201" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xmlns:xhtml="http://www.w3.org/1999/xhtml" xsi:schemaLocation="http://www.plcopen.org/xml/tc6_0201">
<fileHeader companyName="Unknown" productName="Beremiz" productVersion="1" creationDateTime="2012-09-12T23:30:19"/>
<contentHeader name="extended wxHMI example" modificationDateTime="2017-06-06T13:13:18">
<coordinateInfo>
<pageSize x="1050" y="1485"/>
<fbd>
<scaling x="5" y="5"/>
</fbd>
<ld>
<scaling x="0" y="0"/>
</ld>
<sfc>
<scaling x="0" y="0"/>
</sfc>
</coordinateInfo>
</contentHeader>
<types>
<dataTypes/>
<pous>
<pou name="main" pouType="program">
<interface>
<externalVars>
<variable name="Power_ON">
<type>
<BOOL/>
</type>
</variable>
<variable name="Power_OFF">
<type>
<BOOL/>
</type>
</variable>
</externalVars>
<localVars>
<variable name="power">
<type>
<BOOL/>
</type>
</variable>
</localVars>
<externalVars>
<variable name="DrawTest">
<type>
<BOOL/>
</type>
</variable>
<variable name="DrawTestBtn">
<type>
<BOOL/>
</type>
</variable>
<variable name="DrawLogo">
<type>
<BOOL/>
</type>
</variable>
<variable name="XaxisPos">
<type>
<INT/>
</type>
</variable>
<variable name="YaxisPos">
<type>
<INT/>
</type>
</variable>
<variable name="ZaxisPos">
<type>
<INT/>
</type>
</variable>
<variable name="TaxisPos">
<type>
<INT/>
</type>
</variable>
</externalVars>
<localVars>
<variable name="PowerCtrl">
<type>
<derived name="RS"/>
</type>
</variable>
<variable name="Xaxis">
<type>
<derived name="axis"/>
</type>
</variable>
</localVars>
<externalVars>
<variable name="XAxisMinus">
<type>
<BOOL/>
</type>
</variable>
<variable name="XAxisPlus">
<type>
<BOOL/>
</type>
</variable>
<variable name="YAxisPlus">
<type>
<BOOL/>
</type>
</variable>
<variable name="YAxisMinus">
<type>
<BOOL/>
</type>
</variable>
<variable name="ZAxisPlus">
<type>
<BOOL/>
</type>
</variable>
<variable name="ZAxisMinus">
<type>
<BOOL/>
</type>
</variable>
<variable name="TAxisPlus">
<type>
<BOOL/>
</type>
</variable>
<variable name="TAxisMinus">
<type>
<BOOL/>
</type>
</variable>
</externalVars>
<localVars>
<variable name="Yaxis">
<type>
<derived name="axis"/>
</type>
</variable>
<variable name="Taxis">
<type>
<derived name="axis"/>
</type>
</variable>
<variable name="Zaxis">
<type>
<derived name="axis"/>
</type>
</variable>
<variable name="DrawTestDo">
<type>
<derived name="RS"/>
</type>
</variable>
<variable name="DrawLogoDo">
<type>
<derived name="RS"/>
</type>
</variable>
</localVars>
</interface>
<body>
<FBD>
<comment localId="296" height="330" width="655">
<position x="390" y="10"/>
<content>
<xhtml:p><![CDATA[Example shows
- how to use wxGlade extension to create user interface and dynamically extend it using Python,
- how to respond to user actions in PLC program and
- how to use several PLC tasks to handle process of different speeds.
Program has two tasks:
1. Slow task that communicates with user interface created in wxGlade and updates axes state.
2. Main task that drives virtual axes.
When power is on, user can control axes.
"Draw Logo" buttons starts X, Y, Z axes. "Draw Test" buttons starts Z and T axes.
User can adjust position of axes using manual keys.
Happy hacking!]]></xhtml:p>
</content>
</comment>
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<position x="35" y="190"/>
<connectionPointOut>
<relPosition x="85" y="15"/>
</connectionPointOut>
<expression>Power_OFF</expression>
</inVariable>
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<expression>Power_ON</expression>
</inVariable>
<block localId="287" typeName="RS" instanceName="PowerCtrl" executionOrderId="0" height="95" width="55">
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<inputVariables>
<variable formalParameter="S">
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</connection>
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<expression>power</expression>
</outVariable>
<block localId="297" typeName="axis" instanceName="Xaxis" executionOrderId="0" height="160" width="100">
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<position x="265" y="755"/>
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<position x="277" y="835"/>
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</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Down">
<connectionPointIn>
<relPosition x="0" y="135"/>
<connection refLocalId="299">
<position x="300" y="905"/>
<position x="110" y="905"/>
</connection>
</connectionPointIn>
</variable>
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<position x="375" y="815"/>
<position x="375" y="815"/>
<position x="400" y="815"/>
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<expression>XaxisPos</expression>
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<expression>power</expression>
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<expression>XAxisMinus</expression>
</inVariable>
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<connectionPointOut>
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<expression>XAxisPlus</expression>
</inVariable>
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<position x="162" y="835"/>
<position x="162" y="805"/>
<position x="140" y="805"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="55"/>
<connection refLocalId="300">
<position x="185" y="860"/>
<position x="110" y="860"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="70" y="30"/>
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</variable>
</outputVariables>
</block>
<inVariable localId="2" executionOrderId="0" height="35" width="115" negated="false">
<position x="25" y="790"/>
<connectionPointOut>
<relPosition x="115" y="15"/>
</connectionPointOut>
<expression>DrawTestDo.Q1</expression>
</inVariable>
<inVariable localId="3" executionOrderId="0" height="35" width="115" negated="false">
<position x="560" y="785"/>
<connectionPointOut>
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<expression>DrawTestDo.Q1</expression>
</inVariable>
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<connectionPointOut>
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<expression>power</expression>
</inVariable>
<block localId="5" typeName="axis" instanceName="Yaxis" executionOrderId="0" height="160" width="100">
<position x="830" y="765"/>
<inputVariables>
<variable formalParameter="Power">
<connectionPointIn>
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<connection refLocalId="4">
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<position x="815" y="810"/>
<position x="815" y="750"/>
<position x="785" y="750"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Up">
<connectionPointIn>
<relPosition x="0" y="90"/>
<connection refLocalId="9" formalParameter="OUT">
<position x="830" y="855"/>
<position x="807" y="855"/>
<position x="807" y="830"/>
<position x="785" y="830"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Down">
<connectionPointIn>
<relPosition x="0" y="135"/>
<connection refLocalId="7">
<position x="830" y="900"/>
<position x="645" y="900"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
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<variable formalParameter="Out">
<connectionPointOut>
<relPosition x="100" y="45"/>
</connectionPointOut>
</variable>
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</block>
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<connectionPointOut>
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<expression>DrawLogoDo.Q1</expression>
</inVariable>
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<position x="740" y="975"/>
<connectionPointOut>
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<expression>power</expression>
</inVariable>
<block localId="13" typeName="axis" instanceName="Taxis" executionOrderId="0" height="160" width="100">
<position x="835" y="1005"/>
<inputVariables>
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<connectionPointIn>
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<connection refLocalId="12">
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<position x="820" y="1050"/>
<position x="820" y="990"/>
<position x="790" y="990"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Up">
<connectionPointIn>
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<connection refLocalId="22" formalParameter="OUT">
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<position x="812" y="1095"/>
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</variable>
<variable formalParameter="Down">
<connectionPointIn>
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<connection refLocalId="23">
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<position x="645" y="1140"/>
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<position x="935" y="1050"/>
</connection>
</connectionPointIn>
<expression>TaxisPos</expression>
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<position x="200" y="980"/>
<connectionPointOut>
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<expression>power</expression>
</inVariable>
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<position x="560" y="1080"/>
<connectionPointOut>
<relPosition x="85" y="15"/>
</connectionPointOut>
<expression>TAxisPlus</expression>
</inVariable>
<block localId="17" typeName="axis" instanceName="Zaxis" executionOrderId="0" height="160" width="100">
<position x="300" y="1010"/>
<inputVariables>
<variable formalParameter="Power">
<connectionPointIn>
<relPosition x="0" y="45"/>
<connection refLocalId="15">
<position x="300" y="1055"/>
<position x="285" y="1055"/>
<position x="285" y="995"/>
<position x="250" y="995"/>
</connection>
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</variable>
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<connectionPointIn>
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<position x="300" y="1100"/>
<position x="280" y="1100"/>
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<position x="270" y="1055"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="Down">
<connectionPointIn>
<relPosition x="0" y="135"/>
<connection refLocalId="19">
<position x="300" y="1145"/>
<position x="110" y="1145"/>
</connection>
</connectionPointIn>
</variable>
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<connectionPointOut>
<relPosition x="100" y="45"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
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<position x="435" y="1040"/>
<connectionPointIn>
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<position x="435" y="1055"/>
<position x="400" y="1055"/>
</connection>
</connectionPointIn>
<expression>ZaxisPos</expression>
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<position x="25" y="1130"/>
<connectionPointOut>
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<expression>ZAxisMinus</expression>
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<position x="25" y="1090"/>
<connectionPointOut>
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<expression>ZAxisPlus</expression>
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<position x="200" y="1020"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
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<connection refLocalId="24">
<position x="200" y="1055"/>
<position x="170" y="1055"/>
<position x="170" y="1015"/>
<position x="140" y="1015"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="60"/>
<connection refLocalId="10">
<position x="200" y="1080"/>
<position x="150" y="1080"/>
<position x="150" y="1060"/>
<position x="140" y="1060"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN3">
<connectionPointIn>
<relPosition x="0" y="85"/>
<connection refLocalId="20">
<position x="200" y="1105"/>
<position x="110" y="1105"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="70" y="35"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<block localId="22" typeName="OR" executionOrderId="0" height="65" width="70">
<position x="720" y="1040"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="30"/>
<connection refLocalId="11">
<position x="720" y="1070"/>
<position x="657" y="1070"/>
<position x="657" y="1040"/>
<position x="645" y="1040"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="55"/>
<connection refLocalId="16">
<position x="720" y="1095"/>
<position x="645" y="1095"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="70" y="30"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
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<position x="560" y="1125"/>
<connectionPointOut>
<relPosition x="85" y="15"/>
</connectionPointOut>
<expression>TAxisMinus</expression>
</inVariable>
<inVariable localId="24" executionOrderId="0" height="35" width="115" negated="false">
<position x="25" y="1000"/>
<connectionPointOut>
<relPosition x="115" y="15"/>
</connectionPointOut>
<expression>DrawLogoDo.Q1</expression>
</inVariable>
<inVariable localId="25" executionOrderId="0" height="30" width="85" negated="false">
<position x="40" y="450"/>
<connectionPointOut>
<relPosition x="85" y="15"/>
</connectionPointOut>
<expression>DrawTest</expression>
</inVariable>
<block localId="26" typeName="RS" instanceName="DrawTestDo" executionOrderId="0" height="115" width="55">
<position x="280" y="445"/>
<inputVariables>
<variable formalParameter="S">
<connectionPointIn>
<relPosition x="0" y="45"/>
<connection refLocalId="28" formalParameter="OUT">
<position x="280" y="490"/>
<position x="255" y="490"/>
<position x="255" y="465"/>
<position x="230" y="465"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="R1">
<connectionPointIn>
<relPosition x="0" y="90"/>
<connection refLocalId="33" formalParameter="OUT">
<position x="280" y="535"/>
<position x="255" y="535"/>
<position x="255" y="560"/>
<position x="230" y="560"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Q1">
<connectionPointOut>
<relPosition x="55" y="45"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="27" executionOrderId="0" height="30" width="85" negated="false">
<position x="40" y="545"/>
<connectionPointOut>
<relPosition x="85" y="15"/>
</connectionPointOut>
<expression>Power_OFF</expression>
</inVariable>
<block localId="28" typeName="OR" executionOrderId="0" height="85" width="70">
<position x="160" y="430"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="35"/>
<connection refLocalId="25">
<position x="160" y="465"/>
<position x="125" y="465"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="70"/>
<connection refLocalId="29">
<position x="160" y="500"/>
<position x="135" y="500"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="70" y="35"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="29" executionOrderId="0" height="30" width="95" negated="false">
<position x="40" y="485"/>
<connectionPointOut>
<relPosition x="95" y="15"/>
</connectionPointOut>
<expression>DrawTestBtn</expression>
</inVariable>
<block localId="33" typeName="OR" executionOrderId="0" height="85" width="70">
<position x="160" y="525"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="35"/>
<connection refLocalId="27">
<position x="160" y="560"/>
<position x="125" y="560"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="70"/>
<connection refLocalId="35">
<position x="160" y="595"/>
<position x="125" y="595"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="70" y="35"/>
</connectionPointOut>
</variable>
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</block>
<inVariable localId="35" executionOrderId="0" height="30" width="85" negated="false">
<position x="40" y="580"/>
<connectionPointOut>
<relPosition x="85" y="15"/>
</connectionPointOut>
<expression>DrawLogo</expression>
</inVariable>
<comment localId="36" height="45" width="215">
<position x="20" y="670"/>
<content>
<xhtml:p><![CDATA[Control virtual axes.]]></xhtml:p>
</content>
</comment>
<inVariable localId="30" executionOrderId="0" height="30" width="85" negated="false">
<position x="510" y="475"/>
<connectionPointOut>
<relPosition x="85" y="15"/>
</connectionPointOut>
<expression>DrawLogo</expression>
</inVariable>
<block localId="31" typeName="RS" instanceName="DrawLogoDo" executionOrderId="0" height="115" width="55">
<position x="740" y="445"/>
<inputVariables>
<variable formalParameter="S">
<connectionPointIn>
<relPosition x="0" y="45"/>
<connection refLocalId="30">
<position x="740" y="490"/>
<position x="595" y="490"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="R1">
<connectionPointIn>
<relPosition x="0" y="90"/>
<connection refLocalId="39" formalParameter="OUT">
<position x="740" y="535"/>
<position x="715" y="535"/>
<position x="715" y="560"/>
<position x="690" y="560"/>
</connection>
</connectionPointIn>
</variable>
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<inOutVariables/>
<outputVariables>
<variable formalParameter="Q1">
<connectionPointOut>
<relPosition x="55" y="45"/>
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<inVariable localId="32" executionOrderId="0" height="30" width="85" negated="false">
<position x="500" y="545"/>
<connectionPointOut>
<relPosition x="85" y="15"/>
</connectionPointOut>
<expression>Power_OFF</expression>
</inVariable>
<inVariable localId="38" executionOrderId="0" height="30" width="85" negated="false">
<position x="500" y="580"/>
<connectionPointOut>
<relPosition x="85" y="15"/>
</connectionPointOut>
<expression>DrawTest</expression>
</inVariable>
<block localId="39" typeName="OR" executionOrderId="0" height="85" width="70">
<position x="620" y="525"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="35"/>
<connection refLocalId="32">
<position x="620" y="560"/>
<position x="585" y="560"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="70"/>
<connection refLocalId="38">
<position x="620" y="595"/>
<position x="585" y="595"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="70" y="35"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<comment localId="34" height="45" width="365">
<position x="15" y="55"/>
<content>
<xhtml:p><![CDATA[Turn on/off power, Power on enables axes control.]]></xhtml:p>
</content>
</comment>
<comment localId="37" height="45" width="550">
<position x="35" y="360"/>
<content>
<xhtml:p><![CDATA[Only one mode can be selected at any time ("Draw Logo" or "Draw Test").]]></xhtml:p>
</content>
</comment>
</FBD>
</body>
<documentation>
<xhtml:p><![CDATA[]]></xhtml:p>
</documentation>
</pou>
<pou name="ReadGUIdata" pouType="program">
<interface>
<localVars>
<variable name="python_poll0">
<type>
<derived name="python_poll"/>
</type>
</variable>
</localVars>
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<body>
<FBD>
<block localId="220" typeName="python_poll" instanceName="python_poll0" executionOrderId="0" height="85" width="104">
<position x="295" y="130"/>
<inputVariables>
<variable formalParameter="TRIG">
<connectionPointIn>
<relPosition x="0" y="35"/>
<connection refLocalId="221">
<position x="295" y="165"/>
<position x="268" y="165"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="CODE">
<connectionPointIn>
<relPosition x="0" y="70"/>
<connection refLocalId="222">
<position x="295" y="200"/>
<position x="271" y="200"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="ACK">
<connectionPointOut>
<relPosition x="104" y="35"/>
</connectionPointOut>
</variable>
<variable formalParameter="RESULT">
<connectionPointOut>
<relPosition x="104" y="70"/>
</connectionPointOut>
</variable>
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</block>
<inVariable localId="221" executionOrderId="0" height="30" width="93" negated="false">
<position x="175" y="150"/>
<connectionPointOut>
<relPosition x="93" y="15"/>
</connectionPointOut>
<expression>BOOL#TRUE</expression>
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<inVariable localId="222" executionOrderId="0" height="30" width="161" negated="false">
<position x="110" y="185"/>
<connectionPointOut>
<relPosition x="161" y="15"/>
</connectionPointOut>
<expression>'wxglade_hmi.UpdPos()'</expression>
</inVariable>
<comment localId="296" height="55" width="445">
<position x="35" y="25"/>
<content>
<xhtml:p><![CDATA[This is slow PLC task. It just updates state of axes on HMI.]]></xhtml:p>
</content>
</comment>
</FBD>
</body>
<documentation>
<xhtml:p><![CDATA[]]></xhtml:p>
</documentation>
</pou>
<pou name="Declarations" pouType="program">
<interface>
<localVars>
<variable name="InitValue">
<type>
<DINT/>
</type>
<initialValue>
<simpleValue value="17"/>
</initialValue>
</variable>
<variable name="NotInitializedVariable">
<type>
<DINT/>
</type>
</variable>
<variable name="counter">
<type>
<DINT/>
</type>
</variable>
</localVars>
</interface>
<body>
<FBD>
<inVariable localId="127" executionOrderId="0" height="30" width="72" negated="false">
<position x="60" y="180"/>
<connectionPointOut>
<relPosition x="72" y="15"/>
</connectionPointOut>
<expression>InitValue</expression>
</inVariable>
<outVariable localId="128" executionOrderId="0" height="30" width="145" negated="false">
<position x="180" y="180"/>
<connectionPointIn>
<relPosition x="0" y="15"/>
<connection refLocalId="127">
<position x="180" y="195"/>
<position x="132" y="195"/>
</connection>
</connectionPointIn>
<expression>NotInitializedVariable</expression>
</outVariable>
<comment localId="129" height="90" width="360">
<position x="65" y="40"/>
<content>
<xhtml:p><![CDATA[This program called only once at start.
See task configuration in config.resource1.]]></xhtml:p>
</content>
</comment>
<block localId="131" typeName="ADD" executionOrderId="0" height="95" width="70">
<position x="135" y="340"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="40"/>
<connection refLocalId="130">
<position x="135" y="380"/>
<position x="125" y="380"/>
<position x="125" y="325"/>
<position x="350" y="325"/>
<position x="350" y="380"/>
<position x="335" y="380"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="75"/>
<connection refLocalId="1">
<position x="135" y="415"/>
<position x="130" y="415"/>
<position x="130" y="415"/>
<position x="120" y="415"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="70" y="40"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="1" executionOrderId="0" height="35" width="60" negated="false">
<position x="60" y="400"/>
<connectionPointOut>
<relPosition x="60" y="15"/>
</connectionPointOut>
<expression>1</expression>
</inVariable>
<inOutVariable localId="130" executionOrderId="0" height="35" width="60" negatedOut="false" negatedIn="false">
<position x="275" y="365"/>
<connectionPointIn>
<relPosition x="0" y="15"/>
<connection refLocalId="131" formalParameter="OUT">
<position x="275" y="380"/>
<position x="205" y="380"/>
</connection>
</connectionPointIn>
<connectionPointOut>
<relPosition x="60" y="15"/>
</connectionPointOut>
<expression>counter</expression>
</inOutVariable>
<comment localId="2" height="75" width="355">
<position x="70" y="240"/>
<content>
<xhtml:p><![CDATA[Counts how many times the program is called.
Check counter value in debugger.]]></xhtml:p>
</content>
</comment>
</FBD>
</body>
<documentation>
<xhtml:p><![CDATA[]]></xhtml:p>
</documentation>
</pou>
<pou name="clock" pouType="functionBlock">
<interface>
<localVars>
<variable name="TimerOn">
<type>
<derived name="TON"/>
</type>
</variable>
</localVars>
<outputVars>
<variable name="Out">
<type>
<BOOL/>
</type>
</variable>
</outputVars>
<inputVars>
<variable name="Period">
<type>
<TIME/>
</type>
<initialValue>
<simpleValue value="T#3s"/>
</initialValue>
</variable>
</inputVars>
<localVars>
<variable name="TimerOff">
<type>
<derived name="TON"/>
</type>
</variable>
</localVars>
</interface>
<body>
<FBD>
<block localId="14" typeName="TON" instanceName="TimerOn" executionOrderId="0" height="100" width="50">
<position x="260" y="70"/>
<inputVariables>
<variable formalParameter="IN">
<connectionPointIn>
<relPosition x="0" y="40"/>
<connection refLocalId="2" formalParameter="Q">
<position x="260" y="110"/>
<position x="245" y="110"/>
<position x="245" y="10"/>
<position x="520" y="10"/>
<position x="520" y="110"/>
<position x="510" y="110"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="PT">
<connectionPointIn>
<relPosition x="0" y="80"/>
<connection refLocalId="16" formalParameter="OUT">
<position x="260" y="150"/>
<position x="225" y="150"/>
<position x="225" y="250"/>
<position x="190" y="250"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Q">
<connectionPointOut>
<relPosition x="50" y="40"/>
</connectionPointOut>
</variable>
<variable formalParameter="ET">
<connectionPointOut>
<relPosition x="50" y="80"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<block localId="2" typeName="TON" instanceName="TimerOff" executionOrderId="0" height="100" width="50">
<position x="460" y="70"/>
<inputVariables>
<variable formalParameter="IN">
<connectionPointIn>
<relPosition x="0" y="40"/>
<connection refLocalId="14" formalParameter="Q">
<position x="460" y="110"/>
<position x="310" y="110"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="PT">
<connectionPointIn>
<relPosition x="0" y="80"/>
<connection refLocalId="16" formalParameter="OUT">
<position x="460" y="150"/>
<position x="350" y="150"/>
<position x="350" y="250"/>
<position x="190" y="250"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Q" negated="true">
<connectionPointOut>
<relPosition x="50" y="40"/>
</connectionPointOut>
</variable>
<variable formalParameter="ET">
<connectionPointOut>
<relPosition x="50" y="80"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<outVariable localId="15" executionOrderId="0" height="35" width="35" negated="false">
<position x="365" y="25"/>
<connectionPointIn>
<relPosition x="0" y="15"/>
<connection refLocalId="14" formalParameter="Q">
<position x="365" y="40"/>
<position x="340" y="40"/>
<position x="340" y="110"/>
<position x="310" y="110"/>
</connection>
</connectionPointIn>
<expression>Out</expression>
</outVariable>
<block localId="16" typeName="DIV" executionOrderId="0" height="80" width="70">
<position x="120" y="215"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="35"/>
<connection refLocalId="1">
<position x="120" y="250"/>
<position x="75" y="250"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="65"/>
<connection refLocalId="4">
<position x="120" y="280"/>
<position x="75" y="280"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="70" y="35"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="1" executionOrderId="0" height="30" width="55" negated="false">
<position x="20" y="235"/>
<connectionPointOut>
<relPosition x="55" y="15"/>
</connectionPointOut>
<expression>Period</expression>
</inVariable>
<inVariable localId="4" executionOrderId="0" height="30" width="55" negated="false">
<position x="20" y="265"/>
<connectionPointOut>
<relPosition x="55" y="15"/>
</connectionPointOut>
<expression>2</expression>
</inVariable>
</FBD>
</body>
</pou>
<pou name="axis" pouType="functionBlock">
<interface>
<inputVars>
<variable name="Power">
<type>
<BOOL/>
</type>
</variable>
<variable name="Up">
<type>
<BOOL/>
</type>
</variable>
<variable name="Down">
<type>
<BOOL/>
</type>
</variable>
</inputVars>
<outputVars>
<variable name="Out">
<type>
<INT/>
</type>
</variable>
</outputVars>
<localVars>
<variable name="axis_conuter">
<type>
<derived name="CTUD"/>
</type>
</variable>
<variable name="clock0">
<type>
<derived name="clock"/>
</type>
</variable>
</localVars>
</interface>
<body>
<FBD>
<block localId="297" typeName="CTUD" instanceName="axis_conuter" executionOrderId="0" height="310" width="70">
<position x="645" y="30"/>
<inputVariables>
<variable formalParameter="CU" edge="rising">
<connectionPointIn>
<relPosition x="0" y="50"/>
<connection refLocalId="303" formalParameter="OUT">
<position x="645" y="80"/>
<position x="580" y="80"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="CD" edge="rising">
<connectionPointIn>
<relPosition x="0" y="105"/>
<connection refLocalId="2" formalParameter="OUT">
<position x="645" y="135"/>
<position x="612" y="135"/>
<position x="612" y="150"/>
<position x="580" y="150"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="R">
<connectionPointIn>
<relPosition x="0" y="165"/>
</connectionPointIn>
</variable>
<variable formalParameter="LD">
<connectionPointIn>
<relPosition x="0" y="225"/>
</connectionPointIn>
</variable>
<variable formalParameter="PV">
<connectionPointIn>
<relPosition x="0" y="280"/>
<connection refLocalId="3">
<position x="645" y="310"/>
<position x="610" y="310"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="QU">
<connectionPointOut>
<relPosition x="70" y="50"/>
</connectionPointOut>
</variable>
<variable formalParameter="QD">
<connectionPointOut>
<relPosition x="70" y="105"/>
</connectionPointOut>
</variable>
<variable formalParameter="CV">
<connectionPointOut>
<relPosition x="70" y="165"/>
</connectionPointOut>
</variable>
<variable formalParameter="CD_T">
<connectionPointOut>
<relPosition x="70" y="225"/>
</connectionPointOut>
</variable>
<variable formalParameter="CU_T">
<connectionPointOut>
<relPosition x="70" y="280"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<outVariable localId="298" executionOrderId="0" height="35" width="35" negated="false">
<position x="750" y="180"/>
<connectionPointIn>
<relPosition x="0" y="15"/>
<connection refLocalId="297" formalParameter="CV">
<position x="750" y="195"/>
<position x="715" y="195"/>
</connection>
</connectionPointIn>
<expression>Out</expression>
</outVariable>
<block localId="299" typeName="clock" instanceName="clock0" executionOrderId="0" height="70" width="85">
<position x="165" y="270"/>
<inputVariables>
<variable formalParameter="Period">
<connectionPointIn>
<relPosition x="0" y="45"/>
<connection refLocalId="1">
<position x="165" y="315"/>
<position x="110" y="315"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="Out">
<connectionPointOut>
<relPosition x="85" y="45"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<inVariable localId="300" executionOrderId="0" height="35" width="55" negated="false">
<position x="35" y="205"/>
<connectionPointOut>
<relPosition x="55" y="15"/>
</connectionPointOut>
<expression>Power</expression>
</inVariable>
<inVariable localId="1" executionOrderId="0" height="35" width="75" negated="false">
<position x="35" y="300"/>
<connectionPointOut>
<relPosition x="75" y="15"/>
</connectionPointOut>
<expression>T#100ms</expression>
</inVariable>
<inVariable localId="301" executionOrderId="0" height="35" width="55" negated="false">
<position x="340" y="85"/>
<connectionPointOut>
<relPosition x="55" y="15"/>
</connectionPointOut>
<expression>Up</expression>
</inVariable>
<inVariable localId="302" executionOrderId="0" height="35" width="50" negated="false">
<position x="340" y="155"/>
<connectionPointOut>
<relPosition x="50" y="15"/>
</connectionPointOut>
<expression>Down</expression>
</inVariable>
<block localId="303" typeName="AND" executionOrderId="0" height="60" width="110">
<position x="470" y="50"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="30"/>
<connection refLocalId="4" formalParameter="OUT">
<position x="470" y="80"/>
<position x="432" y="80"/>
<position x="432" y="275"/>
<position x="395" y="275"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="50"/>
<connection refLocalId="301">
<position x="470" y="100"/>
<position x="395" y="100"/>
</connection>
</connectionPointIn>
</variable>
</inputVariables>
<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="110" y="30"/>
</connectionPointOut>
</variable>
</outputVariables>
</block>
<block localId="2" typeName="AND" executionOrderId="0" height="60" width="110">
<position x="470" y="120"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="30"/>
<connection refLocalId="4" formalParameter="OUT">
<position x="470" y="150"/>
<position x="432" y="150"/>
<position x="432" y="275"/>
<position x="395" y="275"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="50"/>
<connection refLocalId="302">
<position x="470" y="170"/>
<position x="390" y="170"/>
</connection>
</connectionPointIn>
</variable>
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<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="110" y="30"/>
</connectionPointOut>
</variable>
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<inVariable localId="3" executionOrderId="0" height="35" width="85" negated="false">
<position x="525" y="295"/>
<connectionPointOut>
<relPosition x="85" y="15"/>
</connectionPointOut>
<expression>INT#32767</expression>
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<block localId="4" typeName="AND" executionOrderId="0" height="100" width="110">
<position x="285" y="235"/>
<inputVariables>
<variable formalParameter="IN1">
<connectionPointIn>
<relPosition x="0" y="40"/>
<connection refLocalId="300">
<position x="285" y="275"/>
<position x="265" y="275"/>
<position x="265" y="220"/>
<position x="90" y="220"/>
</connection>
</connectionPointIn>
</variable>
<variable formalParameter="IN2">
<connectionPointIn>
<relPosition x="0" y="80"/>
<connection refLocalId="299" formalParameter="Out">
<position x="285" y="315"/>
<position x="250" y="315"/>
</connection>
</connectionPointIn>
</variable>
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<inOutVariables/>
<outputVariables>
<variable formalParameter="OUT">
<connectionPointOut>
<relPosition x="110" y="40"/>
</connectionPointOut>
</variable>
</outputVariables>
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</FBD>
</body>
</pou>
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<configurations>
<configuration name="config">
<resource name="resource1">
<task name="InitOneShot" priority="0" single="Initialize">
<pouInstance name="Initializer" typeName="Declarations"/>
</task>
<task name="ControlTask" priority="1" interval="T#2ms">
<pouInstance name="MainInstance" typeName="main"/>
</task>
<task name="GUIupdate" priority="0" interval="T#200ms">
<pouInstance name="PosReader" typeName="ReadGUIdata"/>
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<globalVars>
<variable name="Initialize">
<type>
<BOOL/>
</type>
<initialValue>
<simpleValue value="TRUE"/>
</initialValue>
</variable>
</globalVars>
</resource>
</configuration>
</configurations>
</instances>
</project>