beremiz

Replaced location for axis ref from %IW(location).0 to %IW(location).402. Added location for network position at %IW(location).

2013-06-24, Laurent Bessard
6bbe93799956
Parents 91c10856adaa
Children d63541200d8e
Replaced location for axis ref from %IW(location).0 to %IW(location).402. Added location for network position at %IW(location).
8 files changed, 1688 insertions(+), 1196 deletions(-)
  • +127 -127
    ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml
  • +2 -2
    ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml
  • +2 -2
    ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml
  • +1049 -1049
    ethercat_tests/wago_higen/plc.xml
  • +28 -7
    etherlab/EthercatCIA402Slave.py
  • +0 -0
    etherlab/images/CIA402NetPos.png
  • +473 -4
    etherlab/images/icons.svg
  • +7 -5
    etherlab/plc_cia402node.c
    • --- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Mon Jun 24 09:23:28 2013 +0200
    +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/config.xml Mon Jun 24 21:03:22 2013 +0200
    @@ -1,127 +1,127 @@
    -<?xml version="1.0" encoding="UTF-8" standalone="no"?>
    -<EtherCATConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd">
    - <Config>
    - <Master>
    - <Info>
    - <Name></Name>
    - <Destination>00</Destination>
    - <Source>00</Source>
    - </Info>
    - </Master>
    - <Slave>
    - <Info>
    - <Name>EK1100</Name>
    - <PhysAddr>0</PhysAddr>
    - <AutoIncAddr>0</AutoIncAddr>
    - <Physics></Physics>
    - <VendorId>2</VendorId>
    - <ProductCode>72100946</ProductCode>
    - <RevisionNo>65536</RevisionNo>
    - <SerialNo>0</SerialNo>
    - </Info>
    - <Mailbox>
    - <Send>
    - <Start>0</Start>
    - <Length>0</Length>
    - </Send>
    - <Recv>
    - <Start>0</Start>
    - <Length>0</Length>
    - </Recv>
    - <CoE>
    - <InitCmds/>
    - </CoE>
    - </Mailbox>
    - </Slave>
    - <Slave>
    - <Info>
    - <Name>EL1088</Name>
    - <PhysAddr>1</PhysAddr>
    - <AutoIncAddr>0</AutoIncAddr>
    - <Physics></Physics>
    - <VendorId>2</VendorId>
    - <ProductCode>71315538</ProductCode>
    - <RevisionNo>1048576</RevisionNo>
    - <SerialNo>0</SerialNo>
    - </Info>
    - <Mailbox>
    - <Send>
    - <Start>0</Start>
    - <Length>0</Length>
    - </Send>
    - <Recv>
    - <Start>0</Start>
    - <Length>0</Length>
    - </Recv>
    - <CoE>
    - <InitCmds/>
    - </CoE>
    - </Mailbox>
    - </Slave>
    - <Slave>
    - <Info>
    - <Name>EL2088</Name>
    - <PhysAddr>2</PhysAddr>
    - <AutoIncAddr>0</AutoIncAddr>
    - <Physics></Physics>
    - <VendorId>2</VendorId>
    - <ProductCode>136851538</ProductCode>
    - <RevisionNo>1048576</RevisionNo>
    - <SerialNo>0</SerialNo>
    - </Info>
    - </Slave>
    - <Slave>
    - <Info>
    - <Name>EDA7000 CoE Drive</Name>
    - <PhysAddr>3</PhysAddr>
    - <AutoIncAddr>0</AutoIncAddr>
    - <Physics></Physics>
    - <VendorId>1573</VendorId>
    - <ProductCode>1768449365</ProductCode>
    - <RevisionNo>3</RevisionNo>
    - <SerialNo>0</SerialNo>
    - </Info>
    - <Mailbox>
    - <Send>
    - <Start>0</Start>
    - <Length>0</Length>
    - </Send>
    - <Recv>
    - <Start>0</Start>
    - <Length>0</Length>
    - </Recv>
    - <CoE>
    - <InitCmds>
    - <InitCmd>
    - <Transition>II</Transition>
    - <Comment>Configure limit switches signal</Comment>
    - <Timeout>0</Timeout>
    - <Ccs>0</Ccs>
    - <Index>8229</Index>
    - <SubIndex>0</SubIndex>
    - <Data>07</Data>
    - </InitCmd>
    - <InitCmd>
    - <Transition>II</Transition>
    - <Comment></Comment>
    - <Timeout>0</Timeout>
    - <Ccs>0</Ccs>
    - <Index>24800</Index>
    - <SubIndex>0</SubIndex>
    - <Data>05DC</Data>
    - </InitCmd>
    - <InitCmd>
    - <Transition>II</Transition>
    - <Comment></Comment>
    - <Timeout>0</Timeout>
    - <Ccs>0</Ccs>
    - <Index>24801</Index>
    - <SubIndex>0</SubIndex>
    - <Data>05DC</Data>
    - </InitCmd>
    - </InitCmds>
    - </CoE>
    - </Mailbox>
    - </Slave>
    - </Config>
    -</EtherCATConfig>
    +<?xml version="1.0" encoding="UTF-8" standalone="no"?>
    +<EtherCATConfig xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="EtherCATInfo.xsd">
    + <Config>
    + <Master>
    + <Info>
    + <Name></Name>
    + <Destination>00</Destination>
    + <Source>00</Source>
    + </Info>
    + </Master>
    + <Slave>
    + <Info>
    + <Name>EK1100</Name>
    + <PhysAddr>0</PhysAddr>
    + <AutoIncAddr>0</AutoIncAddr>
    + <Physics></Physics>
    + <VendorId>2</VendorId>
    + <ProductCode>72100946</ProductCode>
    + <RevisionNo>65536</RevisionNo>
    + <SerialNo>0</SerialNo>
    + </Info>
    + <Mailbox>
    + <Send>
    + <Start>0</Start>
    + <Length>0</Length>
    + </Send>
    + <Recv>
    + <Start>0</Start>
    + <Length>0</Length>
    + </Recv>
    + <CoE>
    + <InitCmds/>
    + </CoE>
    + </Mailbox>
    + </Slave>
    + <Slave>
    + <Info>
    + <Name>EL1088</Name>
    + <PhysAddr>1</PhysAddr>
    + <AutoIncAddr>0</AutoIncAddr>
    + <Physics></Physics>
    + <VendorId>2</VendorId>
    + <ProductCode>71315538</ProductCode>
    + <RevisionNo>1048576</RevisionNo>
    + <SerialNo>0</SerialNo>
    + </Info>
    + <Mailbox>
    + <Send>
    + <Start>0</Start>
    + <Length>0</Length>
    + </Send>
    + <Recv>
    + <Start>0</Start>
    + <Length>0</Length>
    + </Recv>
    + <CoE>
    + <InitCmds/>
    + </CoE>
    + </Mailbox>
    + </Slave>
    + <Slave>
    + <Info>
    + <Name>EL2088</Name>
    + <PhysAddr>2</PhysAddr>
    + <AutoIncAddr>0</AutoIncAddr>
    + <Physics></Physics>
    + <VendorId>2</VendorId>
    + <ProductCode>136851538</ProductCode>
    + <RevisionNo>1048576</RevisionNo>
    + <SerialNo>0</SerialNo>
    + </Info>
    + </Slave>
    + <Slave>
    + <Info>
    + <Name>EDA7000 CoE Drive</Name>
    + <PhysAddr>3</PhysAddr>
    + <AutoIncAddr>0</AutoIncAddr>
    + <Physics></Physics>
    + <VendorId>1573</VendorId>
    + <ProductCode>1768449365</ProductCode>
    + <RevisionNo>3</RevisionNo>
    + <SerialNo>0</SerialNo>
    + </Info>
    + <Mailbox>
    + <Send>
    + <Start>0</Start>
    + <Length>0</Length>
    + </Send>
    + <Recv>
    + <Start>0</Start>
    + <Length>0</Length>
    + </Recv>
    + <CoE>
    + <InitCmds>
    + <InitCmd>
    + <Transition>II</Transition>
    + <Comment>Configure limit switches signal</Comment>
    + <Timeout>0</Timeout>
    + <Ccs>0</Ccs>
    + <Index>8229</Index>
    + <SubIndex>0</SubIndex>
    + <Data>07</Data>
    + </InitCmd>
    + <InitCmd>
    + <Transition>II</Transition>
    + <Comment></Comment>
    + <Timeout>0</Timeout>
    + <Ccs>0</Ccs>
    + <Index>24800</Index>
    + <SubIndex>0</SubIndex>
    + <Data>05DC</Data>
    + </InitCmd>
    + <InitCmd>
    + <Transition>II</Transition>
    + <Comment></Comment>
    + <Timeout>0</Timeout>
    + <Ccs>0</Ccs>
    + <Index>24801</Index>
    + <SubIndex>0</SubIndex>
    + <Data>05DC</Data>
    + </InitCmd>
    + </InitCmds>
    + </CoE>
    + </Mailbox>
    + </Slave>
    + </Config>
    +</EtherCATConfig>
    --- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml Mon Jun 24 09:23:28 2013 +0200
    +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/higen@EthercatCIA402Slave/confnode.xml Mon Jun 24 21:03:22 2013 +0200
    @@ -1,2 +1,2 @@
    -<?xml version="1.0" encoding="UTF-8"?>
    -<CIA402SlaveParams HomingMaxTorque="100" DynamicPDOs="false" EnableDigitalInputs="true" RatioNumerator="65536" RatioDenominator="360" PositionOffset="0" HomingTorqueLimit="500" HomingVelocity="360" TorqueRatioNumerator="10" TorqueRatioDenominator="1"/>
    +<?xml version="1.0" encoding="UTF-8"?>
    +<CIA402SlaveParams HomingMaxTorque="100" DynamicPDOs="false" HomingTorqueLimit="500" EnableDigitalInputs="true" RatioNumerator="65536" RatioDenominator="360" PositionOffset="0" LimitSwitchNC="false" HomingLimitWindow="10" HomingVelocity="360" TorqueRatioNumerator="10" TorqueRatioDenominator="1"/>
    --- a/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml Mon Jun 24 09:23:28 2013 +0200
    +++ b/ethercat_tests/wago_higen/ethercat@etherlab/master@EthercatNode/process_variables.xml Mon Jun 24 21:03:22 2013 +0200
    @@ -1,2 +1,2 @@
    -<?xml version="1.0" encoding="UTF-8" standalone="no"?>
    -<ProcessVariables xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"/>
    +<?xml version="1.0" encoding="UTF-8" standalone="no"?>
    +<ProcessVariables xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"/>
    --- a/ethercat_tests/wago_higen/plc.xml Mon Jun 24 09:23:28 2013 +0200
    +++ b/ethercat_tests/wago_higen/plc.xml Mon Jun 24 21:03:22 2013 +0200
    @@ -1,1049 +1,1049 @@
    -<?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="2013-04-30T00:35:53">
    - <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="%IW0.0.3.0">
    - <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"/>
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    - <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>
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    - </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"/>
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    - </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>
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    - </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">
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    - <connection refLocalId="10" formalParameter="Axis">
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    - <position x="1244" y="211"/>
    - </connection>
    - </connectionPointIn>
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    - <variable formalParameter="Execute">
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    - <connection refLocalId="10" formalParameter="Done">
    - <position x="1418" y="247"/>
    - <position x="1244" y="247"/>
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    - </connectionPointIn>
    - </variable>
    - <variable formalParameter="ContinuousUpdate">
    - <connectionPointIn>
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    - </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"/>
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    - </variable>
    - <variable formalParameter="Error">
    - <connectionPointOut>
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    - </connectionPointOut>
    - </variable>
    - <variable formalParameter="ErrorID">
    - <connectionPointOut>
    - <relPosition x="235" y="234"/>
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    - </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>
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    - <variable formalParameter="Busy">
    - <connectionPointOut>
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    - </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>
    +<?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>
    --- a/etherlab/EthercatCIA402Slave.py Mon Jun 24 09:23:28 2013 +0200
    +++ b/etherlab/EthercatCIA402Slave.py Mon Jun 24 21:03:22 2013 +0200
    @@ -105,6 +105,11 @@
    "tooltip" : _("Initiate Drag'n drop of Axis ref located variable"),
    "method" : "_getCIA402AxisRef",
    "push": True},
    + {"bitmap" : "CIA402NetPos",
    + "name" : _("Axis Pos"),
    + "tooltip" : _("Initiate Drag'n drop of Network position located variable"),
    + "method" : "_getCIA402NetworkPosition",
    + "push": True},
    ]
    #--------------------------------------------------
    @@ -128,12 +133,20 @@
    def GetVariableLocationTree(self):
    axis_name = self.CTNName()
    current_location = self.GetCurrentLocation()
    - children = [{"name": "%s Axis Ref" % (axis_name),
    + children = [{"name": "%s Network Position" % (axis_name),
    + "type": LOCATION_VAR_INPUT,
    + "size": "W",
    + "IEC_type": "UINT",
    + "var_name": axis_name,
    + "location": "%%IW%s" % (".".join(map(str, current_location))),
    + "description": "",
    + "children": []},
    + {"name": "%s Axis Ref" % (axis_name),
    "type": LOCATION_VAR_INPUT,
    "size": "W",
    "IEC_type": "AXIS_REF",
    "var_name": axis_name,
    - "location": "%%IW%s.0" % (".".join(map(str, current_location))),
    + "location": "%%IW%s.402" % (".".join(map(str, current_location))),
    "description": "",
    "children": []}]
    children.extend(self.CTNParent.GetDeviceLocationTree(self.GetSlavePos(), current_location, axis_name))
    @@ -150,14 +163,22 @@
    "EtherLab%s" % block_infos["blocktype"], "")
    for block_infos in FIELDBUS_INTERFACE_GLOBAL_INSTANCES]
    - def _getCIA402AxisRef(self):
    - data = wx.TextDataObject(str(
    - ("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())),
    - "location", "AXIS_REF", self.CTNName(), "")))
    + def StartDragNDrop(self, data):
    + data_obj = wx.TextDataObject(str(data))
    dragSource = wx.DropSource(self.GetCTRoot().AppFrame)
    - dragSource.SetData(data)
    + dragSource.SetData(data_obj)
    dragSource.DoDragDrop()
    + def _getCIA402NetworkPosition(self):
    + self.StartDragNDrop(
    + ("%%IW%s" % ".".join(map(str, self.GetCurrentLocation())),
    + "location", "UINT", self.CTNName() + "_Pos", ""))
    +
    + def _getCIA402AxisRef(self):
    + self.StartDragNDrop(
    + ("%%IW%s.402" % ".".join(map(str, self.GetCurrentLocation())),
    + "location", "AXIS_REF", self.CTNName(), ""))
    +
    def CTNGenerate_C(self, buildpath, locations):
    current_location = self.GetCurrentLocation()
    Binary file etherlab/images/CIA402NetPos.png has changed
    --- a/etherlab/images/icons.svg Mon Jun 24 09:23:28 2013 +0200
    +++ b/etherlab/images/icons.svg Mon Jun 24 21:03:22 2013 +0200
    @@ -43,9 +43,9 @@
    pagecolor="#ffffff"
    id="base"
    showgrid="false"
    - inkscape:zoom="8.0000002"
    - inkscape:cx="294.02018"
    - inkscape:cy="814.50324"
    + inkscape:zoom="2.8284272"
    + inkscape:cx="713.91791"
    + inkscape:cy="892.4378"
    inkscape:window-x="0"
    inkscape:window-y="24"
    inkscape:current-layer="svg2"
    @@ -61601,6 +61601,344 @@
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    inkscape:collect="always" />
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    --- a/etherlab/plc_cia402node.c Mon Jun 24 09:23:28 2013 +0200
    +++ b/etherlab/plc_cia402node.c Mon Jun 24 21:03:22 2013 +0200
    @@ -56,8 +56,10 @@
    #define Halt 0x0100
    -IEC_INT beremiz__IW%(location_str)s_0;
    -IEC_INT *__IW%(location_str)s_0 = &beremiz__IW%(location_str)s_0;
    +IEC_INT beremiz__IW%(location_str)s = %(slave_pos)s;
    +IEC_INT *__IW%(location_str)s = &beremiz__IW%(location_str)s;
    +IEC_INT beremiz__IW%(location_str)s_402;
    +IEC_INT *__IW%(location_str)s_402 = &beremiz__IW%(location_str)s_402;
    %(MCL_headers)s
    @@ -91,10 +93,10 @@
    void __retrieve_%(location_str)s()
    {
    if (__FirstTick) {
    - *__IW%(location_str)s_0 = __MK_Alloc_AXIS_REF();
    + *__IW%(location_str)s_402 = __MK_Alloc_AXIS_REF();
    AxsPub.axis =
    - __MK_GetPublic_AXIS_REF(*__IW%(location_str)s_0);
    - AxsPub.axis->NetworkPosition = %(slave_pos)d;
    + __MK_GetPublic_AXIS_REF(*__IW%(location_str)s_402);
    + AxsPub.axis->NetworkPosition = beremiz__IW%(location_str)s;
    %(init_axis_params)s
    %(fieldbus_interface_definition)s
    __FirstTick = 0;