beremiz

Adding support for Etherlab specific function blocks for MCL fieldbus interface function blocks

2012-11-15, Laurent Bessard
c9776ae8b5d0
Parents d964dbc2c7b0
Children 3fdf9d56d803
Adding support for Etherlab specific function blocks for MCL fieldbus interface function blocks
3 files changed, 1109 insertions(+), 1 deletions(-)
  • +67 -0
    etherlab/etherlab.py
  • +5 -0
    etherlab/plc_cia402node.c
  • +1037 -1
    etherlab/pous.xml
    • --- a/etherlab/etherlab.py Fri Nov 09 11:27:30 2012 +0100
    +++ b/etherlab/etherlab.py Thu Nov 15 22:43:44 2012 +0100
    @@ -208,6 +208,31 @@
    ])
    ]
    EXTRA_NODE_VARIABLES_DICT = dict([("Enable" + name, value) for name, value in EXTRA_NODE_VARIABLES])
    +
    + BLOCK_INPUT_TEMPLATE = " __SET_VAR(%(blockname)s.,%(input_name)s, %(input_value)s);"
    + BLOCK_OUTPUT_TEMPLATE = " __SET_VAR(data__->,%(output_name)s, __GET_VAR(%(blockname)s.%(output_name)s));"
    +
    + BLOCK_FUNCTION_TEMPLATE = """
    +void __%(blocktype)s_%(location)s(MCL_%(ucase_blocktype)s *data__) {
    + extern ETHERLAB%(ucase_blocktype)s %(blockname)s;
    +%(extract_inputs)s
    + ETHERLAB%(ucase_blocktype)s_body__(&%(blockname)s);
    +%(return_outputs)s
    +}
    +"""
    +
    + BLOCK_FUNTION_DEFINITION_TEMPLATE = " __CIA402Node_%(location)s.axis->__mcl_func_%(blocktype)s = &(__%(blocktype)s_%(location)s);"
    +
    + GLOBAL_INSTANCES = [
    + {"blocktype": "GetTorqueLimit",
    + "inputs": [],
    + "outputs": [{"name": "TorqueLimitPos", "type": "UINT"},
    + {"name": "TorqueLimitNeg", "type": "UINT"}]},
    + {"blocktype": "SetTorqueLimit",
    + "inputs": [{"name": "TorqueLimitPos", "type": "UINT"},
    + {"name": "TorqueLimitNeg", "type": "UINT"}],
    + "outputs": []},
    + ]
    class _EthercatCIA402SlaveCTN(_EthercatSlaveCTN):
    XSD = """<?xml version="1.0" encoding="ISO-8859-1" ?>
    @@ -260,6 +285,11 @@
    "children": children,
    }
    + def CTNGlobalInstances(self):
    + current_location = self.GetCurrentLocation()
    + return [("%s_%s" % (block_infos["blocktype"], "_".join(map(str, current_location))),
    + "EtherLab%s" % block_infos["blocktype"]) for block_infos in GLOBAL_INSTANCES]
    +
    def _getCIA402AxisRef(self):
    data = wx.TextDataObject(str(("%%IW%s.0" % ".".join(map(str, self.GetCurrentLocation())),
    "location", "AXIS_REF", self.CTNName(), "")))
    @@ -294,6 +324,8 @@
    "location": location_str,
    "MCL_headers": Headers,
    "extern_located_variables_declaration": [],
    + "fieldbus_interface_declaration": [],
    + "fieldbus_interface_definition": [],
    "entry_variables": [],
    "init_axis_params": [],
    "init_entry_variables": [],
    @@ -301,6 +333,39 @@
    "extra_variables_publish": []
    }
    + for blocktype_infos in GLOBAL_INSTANCES:
    + texts = {
    + "blocktype": blocktype_infos["blocktype"],
    + "ucase_blocktype": blocktype_infos["blocktype"].upper(),
    + "location": "_".join(map(str, current_location))
    + }
    + texts["blockname"] = "%(ucase_blocktype)s_%(location)s" % texts
    +
    + inputs = [{"input_name": "POS", "input_value": str(self.GetSlavePos())},
    + {"input_name": "EXECUTE", "input_value": "__GET_VAR(data__->EXECUTE)"}] +\
    + [{"input_name": input["name"].upper(),
    + "input_value": "__GET_VAR(data__->%s)" % input["name"].upper()}
    + for input in blocktype_infos["inputs"]]
    + input_texts = []
    + for input_infos in inputs:
    + input_infos.update(texts)
    + input_texts.append(BLOCK_INPUT_TEMPLATE % input_infos)
    + texts["extract_inputs"] = "\n".join(input_texts)
    +
    + outputs = [{"output_name": output} for output in ["DONE", "BUSY", "ERROR"]] + \
    + [{"output_name": output["name"].upper()} for output in blocktype_infos["outputs"]]
    + output_texts = []
    + for output_infos in outputs:
    + output_infos.update(texts)
    + output_texts.append(BLOCK_OUTPUT_TEMPLATE % output_infos)
    + texts["return_outputs"] = "\n".join(output_texts)
    +
    + str_completion["fieldbus_interface_declaration"].append(
    + BLOCK_FUNCTION_TEMPLATE % texts)
    +
    + str_completion["fieldbus_interface_definition"].append(
    + BLOCK_FUNTION_DEFINITION_TEMPLATE % texts)
    +
    variables = NODE_VARIABLES[:]
    params = self.CTNParams[1].getElementInfos(self.CTNParams[0])
    @@ -353,6 +418,8 @@
    var_infos["var_type"], var_infos["dir"], var_infos["var_name"])
    for element in ["extern_located_variables_declaration",
    + "fieldbus_interface_declaration",
    + "fieldbus_interface_definition",
    "entry_variables",
    "init_axis_params",
    "init_entry_variables",
    --- a/etherlab/plc_cia402node.c Fri Nov 09 11:27:30 2012 +0100
    +++ b/etherlab/plc_cia402node.c Thu Nov 15 22:43:44 2012 +0100
    @@ -11,6 +11,8 @@
    #include "iec_std_lib.h"
    #endif
    +#include "POUS.h"
    +
    IEC_INT beremiz__IW%(location)s_0;
    IEC_INT *__IW%(location)s_0 = &beremiz__IW%(location)s_0;
    @@ -48,11 +50,14 @@
    %(extern_located_variables_declaration)s
    +%(fieldbus_interface_declaration)s
    +
    int __init_%(location)s()
    {
    %(init_entry_variables)s
    *__IW%(location)s_0 = __MK_Alloc_AXIS_REF();
    __CIA402Node_%(location)s.axis = __MK_GetPublic_AXIS_REF(*__IW%(location)s_0);
    +%(fieldbus_interface_definition)s
    __MK_Set_AXIS_REF_Pos(*__IW%(location)s_0, %(slave_pos)d);
    *(__CIA402Node_%(location)s.ModesOfOperation) = 0x08;
    return 0;
    --- a/etherlab/pous.xml Fri Nov 09 11:27:30 2012 +0100
    +++ b/etherlab/pous.xml Thu Nov 15 22:43:44 2012 +0100
    @@ -8,7 +8,7 @@
    productVersion="1"
    creationDateTime="2012-10-22T12:12:45"/>
    <contentHeader name="EtherlabMaster SDO Blocks"
    - modificationDateTime="2012-10-25T19:53:33">
    + modificationDateTime="2012-11-13T18:03:39">
    <coordinateInfo>
    <fbd>
    <scaling x="0" y="0"/>
    @@ -267,6 +267,1042 @@
    </ST>
    </body>
    </pou>
    + <pou name="EtherLabSetTorqueLimit" pouType="functionBlock">
    + <interface>
    + <inputVars>
    + <variable name="Pos">
    + <type>
    + <INT/>
    + </type>
    + </variable>
    + <variable name="Execute">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="TorqueLimitPos">
    + <type>
    + <UINT/>
    + </type>
    + </variable>
    + <variable name="TorqueLimitNeg">
    + <type>
    + <UINT/>
    + </type>
    + </variable>
    + </inputVars>
    + <outputVars>
    + <variable name="Done">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="Busy">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="Error">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="ErrorID">
    + <type>
    + <WORD/>
    + </type>
    + </variable>
    + </outputVars>
    + <localVars>
    + <variable name="EtherLabSDOUpload0">
    + <type>
    + <derived name="EtherLabSDODownload"/>
    + </type>
    + </variable>
    + <variable name="EtherLabSDOUpload1">
    + <type>
    + <derived name="EtherLabSDODownload"/>
    + </type>
    + </variable>
    + <variable name="RS0">
    + <type>
    + <derived name="RS"/>
    + </type>
    + </variable>
    + </localVars>
    + </interface>
    + <body>
    + <FBD>
    + <block localId="1" width="168" height="238" typeName="EtherLabSDODownload" instanceName="EtherLabSDOUpload0">
    + <position x="479" y="70"/>
    + <inputVariables>
    + <variable formalParameter="EXECUTE">
    + <connectionPointIn>
    + <relPosition x="0" y="38"/>
    + <connection refLocalId="3">
    + <position x="479" y="108"/>
    + <position x="111" y="108"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="POS">
    + <connectionPointIn>
    + <relPosition x="0" y="74"/>
    + <connection refLocalId="4">
    + <position x="479" y="144"/>
    + <position x="423" y="144"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="INDEX">
    + <connectionPointIn>
    + <relPosition x="0" y="110"/>
    + <connection refLocalId="6">
    + <position x="479" y="180"/>
    + <position x="423" y="180"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="SUBINDEX">
    + <connectionPointIn>
    + <relPosition x="0" y="146"/>
    + <connection refLocalId="8">
    + <position x="479" y="216"/>
    + <position x="423" y="216"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="VARTYPE">
    + <connectionPointIn>
    + <relPosition x="0" y="182"/>
    + <connection refLocalId="10">
    + <position x="479" y="252"/>
    + <position x="423" y="252"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="VALUE">
    + <connectionPointIn>
    + <relPosition x="0" y="218"/>
    + <connection refLocalId="25" formalParameter="OUT">
    + <position x="479" y="288"/>
    + <position x="450" y="288"/>
    + <position x="450" y="306"/>
    + <position x="422" y="306"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="ACK">
    + <connectionPointOut>
    + <relPosition x="168" y="38"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="ERROR">
    + <connectionPointOut>
    + <relPosition x="168" y="74"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <block localId="2" width="168" height="264" typeName="EtherLabSDODownload" instanceName="EtherLabSDOUpload1">
    + <position x="482" y="351"/>
    + <inputVariables>
    + <variable formalParameter="EXECUTE">
    + <connectionPointIn>
    + <relPosition x="0" y="40"/>
    + <connection refLocalId="3">
    + <position x="482" y="391"/>
    + <position x="131" y="391"/>
    + <position x="131" y="108"/>
    + <position x="111" y="108"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="POS">
    + <connectionPointIn>
    + <relPosition x="0" y="80"/>
    + <connection refLocalId="5">
    + <position x="482" y="431"/>
    + <position x="431" y="431"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="INDEX">
    + <connectionPointIn>
    + <relPosition x="0" y="120"/>
    + <connection refLocalId="7">
    + <position x="482" y="471"/>
    + <position x="431" y="471"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="SUBINDEX">
    + <connectionPointIn>
    + <relPosition x="0" y="160"/>
    + <connection refLocalId="9">
    + <position x="482" y="511"/>
    + <position x="430" y="511"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="VARTYPE">
    + <connectionPointIn>
    + <relPosition x="0" y="200"/>
    + <connection refLocalId="11">
    + <position x="482" y="551"/>
    + <position x="431" y="551"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="VALUE">
    + <connectionPointIn>
    + <relPosition x="0" y="240"/>
    + <connection refLocalId="12" formalParameter="OUT">
    + <position x="482" y="591"/>
    + <position x="456" y="591"/>
    + <position x="456" y="610"/>
    + <position x="431" y="610"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="ACK">
    + <connectionPointOut>
    + <relPosition x="168" y="40"/>
    + </connectionPointOut>
    + </variable>
    + <variable formalParameter="ERROR">
    + <connectionPointOut>
    + <relPosition x="168" y="80"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <inVariable localId="3" height="27" width="63">
    + <position x="48" y="95"/>
    + <connectionPointOut>
    + <relPosition x="63" y="13"/>
    + </connectionPointOut>
    + <expression>Execute</expression>
    + </inVariable>
    + <inVariable localId="4" height="27" width="35">
    + <position x="388" y="131"/>
    + <connectionPointOut>
    + <relPosition x="35" y="13"/>
    + </connectionPointOut>
    + <expression>Pos</expression>
    + </inVariable>
    + <inVariable localId="5" height="27" width="35">
    + <position x="396" y="418"/>
    + <connectionPointOut>
    + <relPosition x="35" y="13"/>
    + </connectionPointOut>
    + <expression>Pos</expression>
    + </inVariable>
    + <inVariable localId="6" height="27" width="68">
    + <position x="355" y="167"/>
    + <connectionPointOut>
    + <relPosition x="68" y="13"/>
    + </connectionPointOut>
    + <expression>16#60E0</expression>
    + </inVariable>
    + <inVariable localId="7" height="27" width="68">
    + <position x="363" y="458"/>
    + <connectionPointOut>
    + <relPosition x="68" y="13"/>
    + </connectionPointOut>
    + <expression>16#60E0</expression>
    + </inVariable>
    + <inVariable localId="8" height="27" width="33">
    + <position x="390" y="203"/>
    + <connectionPointOut>
    + <relPosition x="33" y="13"/>
    + </connectionPointOut>
    + <expression>0</expression>
    + </inVariable>
    + <inVariable localId="9" height="27" width="33">
    + <position x="397" y="498"/>
    + <connectionPointOut>
    + <relPosition x="33" y="13"/>
    + </connectionPointOut>
    + <expression>0</expression>
    + </inVariable>
    + <inVariable localId="10" height="27" width="60">
    + <position x="363" y="239"/>
    + <connectionPointOut>
    + <relPosition x="60" y="13"/>
    + </connectionPointOut>
    + <expression>'uint16'</expression>
    + </inVariable>
    + <inVariable localId="11" height="27" width="60">
    + <position x="371" y="538"/>
    + <connectionPointOut>
    + <relPosition x="60" y="13"/>
    + </connectionPointOut>
    + <expression>'uint16'</expression>
    + </inVariable>
    + <block localId="16" width="67" height="98" typeName="AND">
    + <position x="763" y="69"/>
    + <inputVariables>
    + <variable formalParameter="IN1">
    + <connectionPointIn>
    + <relPosition x="0" y="39"/>
    + <connection refLocalId="1" formalParameter="ACK">
    + <position x="763" y="108"/>
    + <position x="647" y="108"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="IN2">
    + <connectionPointIn>
    + <relPosition x="0" y="78"/>
    + <connection refLocalId="2" formalParameter="ACK">
    + <position x="763" y="147"/>
    + <position x="707" y="147"/>
    + <position x="707" y="391"/>
    + <position x="650" y="391"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="67" y="39"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <outVariable localId="17" height="27" width="45">
    + <position x="941" y="95"/>
    + <connectionPointIn>
    + <relPosition x="0" y="13"/>
    + <connection refLocalId="16" formalParameter="OUT">
    + <position x="941" y="108"/>
    + <position x="830" y="108"/>
    + </connection>
    + </connectionPointIn>
    + <expression>Done</expression>
    + </outVariable>
    + <block localId="18" width="67" height="111" typeName="OR">
    + <position x="778" y="344"/>
    + <inputVariables>
    + <variable formalParameter="IN1">
    + <connectionPointIn>
    + <relPosition x="0" y="42"/>
    + <connection refLocalId="1" formalParameter="ERROR">
    + <position x="778" y="386"/>
    + <position x="752" y="386"/>
    + <position x="752" y="254"/>
    + <position x="659" y="254"/>
    + <position x="659" y="144"/>
    + <position x="647" y="144"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="IN2">
    + <connectionPointIn>
    + <relPosition x="0" y="87"/>
    + <connection refLocalId="2" formalParameter="ERROR">
    + <position x="778" y="431"/>
    + <position x="650" y="431"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="67" y="42"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <block localId="19" width="67" height="98" typeName="AND">
    + <position x="933" y="308"/>
    + <inputVariables>
    + <variable formalParameter="IN1">
    + <connectionPointIn>
    + <relPosition x="0" y="39"/>
    + <connection refLocalId="16" formalParameter="OUT">
    + <position x="933" y="347"/>
    + <position x="886" y="347"/>
    + <position x="886" y="108"/>
    + <position x="830" y="108"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="IN2">
    + <connectionPointIn>
    + <relPosition x="0" y="78"/>
    + <connection refLocalId="18" formalParameter="OUT">
    + <position x="933" y="386"/>
    + <position x="845" y="386"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="67" y="39"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <outVariable localId="20" height="27" width="45">
    + <position x="1037" y="334"/>
    + <connectionPointIn>
    + <relPosition x="0" y="13"/>
    + <connection refLocalId="19" formalParameter="OUT">
    + <position x="1037" y="347"/>
    + <position x="1000" y="347"/>
    + </connection>
    + </connectionPointIn>
    + <expression>Error</expression>
    + </outVariable>
    + <block localId="22" width="97" height="93" typeName="RS" instanceName="RS0">
    + <position x="854" y="498"/>
    + <inputVariables>
    + <variable formalParameter="S">
    + <connectionPointIn>
    + <relPosition x="0" y="38"/>
    + <connection refLocalId="23">
    + <position x="854" y="536"/>
    + <position x="795" y="536"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + <variable formalParameter="R1">
    + <connectionPointIn>
    + <relPosition x="0" y="74"/>
    + <connection refLocalId="21">
    + <position x="854" y="572"/>
    + <position x="790" y="572"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="Q1">
    + <connectionPointOut>
    + <relPosition x="97" y="38"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <inVariable localId="21" height="27" width="45">
    + <position x="745" y="559"/>
    + <connectionPointOut>
    + <relPosition x="45" y="13"/>
    + </connectionPointOut>
    + <expression>Done</expression>
    + </inVariable>
    + <inVariable localId="23" height="27" width="63">
    + <position x="732" y="523"/>
    + <connectionPointOut>
    + <relPosition x="63" y="13"/>
    + </connectionPointOut>
    + <expression>Execute</expression>
    + </inVariable>
    + <outVariable localId="24" height="27" width="41">
    + <position x="1006" y="523"/>
    + <connectionPointIn>
    + <relPosition x="0" y="13"/>
    + <connection refLocalId="22" formalParameter="Q1">
    + <position x="1006" y="536"/>
    + <position x="951" y="536"/>
    + </connection>
    + </connectionPointIn>
    + <expression>Busy</expression>
    + </outVariable>
    + <block localId="25" width="126" height="40" typeName="UINT_TO_STRING">
    + <position x="296" y="276"/>
    + <inputVariables>
    + <variable formalParameter="IN">
    + <connectionPointIn>
    + <relPosition x="0" y="30"/>
    + <connection refLocalId="14">
    + <position x="296" y="306"/>
    + <position x="262" y="306"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="126" y="30"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <inVariable localId="14" height="27" width="117">
    + <position x="145" y="293"/>
    + <connectionPointOut>
    + <relPosition x="117" y="13"/>
    + </connectionPointOut>
    + <expression>TorqueLimitPos</expression>
    + </inVariable>
    + <block localId="12" width="126" height="40" typeName="UINT_TO_STRING">
    + <position x="305" y="580"/>
    + <inputVariables>
    + <variable formalParameter="IN">
    + <connectionPointIn>
    + <relPosition x="0" y="30"/>
    + <connection refLocalId="15">
    + <position x="305" y="610"/>
    + <position x="283" y="610"/>
    + <position x="283" y="611"/>
    + <position x="262" y="611"/>
    + </connection>
    + </connectionPointIn>
    + </variable>
    + </inputVariables>
    + <inOutVariables/>
    + <outputVariables>
    + <variable formalParameter="OUT">
    + <connectionPointOut>
    + <relPosition x="126" y="30"/>
    + </connectionPointOut>
    + </variable>
    + </outputVariables>
    + </block>
    + <inVariable localId="15" height="27" width="119">
    + <position x="143" y="598"/>
    + <connectionPointOut>
    + <relPosition x="119" y="13"/>
    + </connectionPointOut>
    + <expression>TorqueLimitNeg</expression>
    + </inVariable>
    + </FBD>
    + </body>
    + </pou>
    + <pou name="EtherLabGetTorqueLimit" pouType="functionBlock">
    + <interface>
    + <inputVars>
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    + <INT/>
    + </type>
    + </variable>
    + <variable name="Execute">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + </inputVars>
    + <outputVars>
    + <variable name="Done">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="Busy">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="Error">
    + <type>
    + <BOOL/>
    + </type>
    + </variable>
    + <variable name="ErrorID">
    + <type>
    + <WORD/>
    + </type>
    + </variable>
    + <variable name="TorqueLimitPos">
    + <type>
    + <UINT/>
    + </type>
    + </variable>
    + <variable name="TorqueLimitNeg">
    + <type>
    + <UINT/>
    + </type>
    + </variable>
    + </outputVars>
    + <localVars>
    + <variable name="EtherLabSDOUpload0">
    + <type>
    + <derived name="EtherLabSDOUpload"/>
    + </type>
    + </variable>
    + <variable name="EtherLabSDOUpload1">
    + <type>
    + <derived name="EtherLabSDOUpload"/>
    + </type>
    + </variable>
    + <variable name="RS0">
    + <type>
    + <derived name="RS"/>
    + </type>
    + </variable>
    + </localVars>
    + </interface>
    + <body>
    + <FBD>
    + <block localId="1" width="149" height="203" typeName="EtherLabSDOUpload" instanceName="EtherLabSDOUpload0">
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    + <variable formalParameter="VALUE">
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    + <variable formalParameter="VALUE">
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