<?xml version="1.0" encoding="utf-8"?>
<BeckhoffCfg>
<Controller Name="MASTER" IPAddress="10.4.6.32.1.1" PortAddress="301">
<!-- Need to have at least one input and one output before Axis stuff -->
<!-- All inputs first, then all outputs -->
<!--////////////////////////////////////////////////// ALL INPUTS START //////////////////////////////////////////////////-->
<Input Name="PUF1.State" Address="Task 3.Inputs.PUF1.State" Type="Digital" DataType="bool"/>
<Input Name="PUF1.ChuckAVac" Address="MAIN.ChuckAVac" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
<Input Name="PUF1.ChuckBVac" Address="MAIN.ChuckBVac" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
<Input Name="PUF1.DistanceSensor1" Address="MAIN.DistanceSensor1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
<Input Name="PUF1.DistanceSensor2" Address="MAIN.DistanceSensor2" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
<Input Name="PUF2.ChuckAVac" Address="MAIN.ChuckAVac1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
<Input Name="PUF2.ChuckBVac" Address="MAIN.ChuckBVac1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
<Input Name="PUF2.DistanceSensor1" Address="MAIN.DistanceSensor3" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
<Input Name="PUF2.DistanceSensor2" Address="MAIN.DistanceSensor4" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
<!-- MAIN IO INPUTS END -->
<!--////////////////////////////////////////////////// ALL INPUTS END //////////////////////////////////////////////////-->
<!--////////////////////////////////////////////////// ALL OUTPUTS BEGIN //////////////////////////////////////////////////-->
<Output Name="PUF1.ChuckARelease" Address="Task 3.Outputs.PUF1.ChuckARelease" Type="Digital" DataType="bool"/>
<Output Name="PUF1.ChuckBRelease" Address="Task 3.Outputs.PUF1.ChuckBRelease" Type="Digital" DataType="bool"/>
<Output Name="PUF2.ChuckARelease" Address="MAIN.ChuckARelease1" Type="Digital" DataType="bool"/>
<Output Name="PUF2.ChuckBRelease" Address="MAIN.ChuckBRelease1" Type="Digital" DataType="bool"/>
<Output Name="PUF2.Test" Address="Task 3.Outputs.Test" Type="Analog" Scaling="0=0,10=32767" DataType="int"/>
<!--////////////////////////////////////////////////// ALL OUTPUTS END //////////////////////////////////////////////////-->
<Axis Name="PUF1.Flip" MotorType="Copley" COEAddress="10.4.6.32.4.1" COEPort="1010" DebugLogging="false">
<Input Address="Task 3.Inputs.PUF1.StatusWord" Type="StatusWord" DataType="uint"/>
<Input Address="Task 3.Inputs.PUF1.ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
<Input Address="MAIN.PositionError" Type="PositionError" DataType="dint"/>
<Input Address="MAIN.ActualVelocity" Type="ActualVelocity" DataType="dint"/>
<Input Address="MAIN.ActualTorque" Type="ActualTorque" DataType="int"/>
<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
<Output Address="Task 3.Outputs.PUF1.ControlWord" Type="ControlWord" DataType="uint"/>
<Output Address="Task 3.Outputs.PUF1.ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
<Output Address="Task 3.Outputs.PUF1.ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
<Output Address="Task 3.Outputs.PUF1.ProfileAccel" Type="ProfileAccel" DataType="dint"/>
<Output Address="Task 3.Outputs.PUF1.ProfileDecel" Type="ProfileDecel" DataType="dint"/>
<Output Address="Task 3.Outputs.PUF1.TargetPosition" Type="TargetPosition" DataType="dint"/>
<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
<MotorType>Servo</MotorType>
<MotorDriveDirection>-1</MotorDriveDirection>
<!-- +1 = Forward and -1 = Backward-->
<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
<HomeSwitchPolarity>-1</HomeSwitchPolarity>
<HomingMethod>34</HomingMethod>
<HomingOffset>0</HomingOffset>
<HomingSpeedHomeSwitch>2500</HomingSpeedHomeSwitch>
<HomingSpeedEncoderIndex>2500</HomingSpeedEncoderIndex>
<HomingAccelDecel>420000</HomingAccelDecel>
<HomingTimeOut>60000</HomingTimeOut>
<ProportionalGain>15</ProportionalGain>
<IntegralGain>1</IntegralGain>
<DerivativeGain>30</DerivativeGain>
<IntegralLimit>1</IntegralLimit>
<ErrorLimit>4444</ErrorLimit>
<VoltageOffset>0</VoltageOffset>
<ReverseSoftwareLimit>-19134</ReverseSoftwareLimit>
<ForwardSoftwareLimit>413645</ForwardSoftwareLimit>
<Speed>529400</Speed>
<Acceleration>84000</Acceleration>
<Deceleration>84000</Deceleration>
<Jerk>7200000</Jerk>
<FeedforwardVelocity>0</FeedforwardVelocity>
<FeedforwardAcceleration>0</FeedforwardAcceleration>
<OffOnError>1</OffOnError>
</Axis>
<Axis Name="PUF1.Rotation" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
<Input Address="MAIN.StatusWord1" Type="StatusWord" DataType="uint"/>
<Input Address="MAIN.ActualMotorPosition1" Type="MotorPosition" DataType="dint"/>
<Input Address="MAIN.PositionError1" Type="PositionError" DataType="dint"/>
<Input Address="MAIN.ActualVelocity1" Type="ActualVelocity" DataType="dint"/>
<Input Address="MAIN.ActualTorque1" Type="ActualTorque" DataType="int"/>
<Output Address="MAIN.ControlWord1" Type="ControlWord" DataType="uint"/>
<Output Address="MAIN.ModeOfOperation1" Type="ModeOfOperation" DataType="byte"/>
<Output Address="MAIN.ProfileVelocity1" Type="ProfileVelocity" DataType="dint"/>
<Output Address="MAIN.ProfileAccel1" Type="ProfileAccel" DataType="dint"/>
<Output Address="MAIN.ProfileDecel1" Type="ProfileDecel" DataType="dint"/>
<Output Address="MAIN.TargetPosition1" Type="TargetPosition" DataType="dint"/>
<MotorType>Servo</MotorType>
<MotorDriveDirection>+1</MotorDriveDirection>
<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
<HomeSwitchPolarity>-1</HomeSwitchPolarity>
<HomingMethod>3</HomingMethod>
<HomingOffset>0</HomingOffset>
<!--HomingOffset>0</HomingOffset-->
<!-- clear bit 9 so motor does not move to zero after home -->
<!-- HomeConfig>34</HomeConfig -->
<HomingSpeedHomeSwitch>0</HomingSpeedHomeSwitch>
<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
<HomingAccelDecel>0</HomingAccelDecel>
<HomingTimeOut>60000</HomingTimeOut>
<ProportionalGain>14</ProportionalGain>
<IntegralGain>1</IntegralGain>
<DerivativeGain>40</DerivativeGain>
<IntegralLimit>1</IntegralLimit>
<ErrorLimit>11110</ErrorLimit>
<VoltageOffset>0</VoltageOffset>
<ReverseSoftwareLimit>-60556</ReverseSoftwareLimit>
<ForwardSoftwareLimit>29712</ForwardSoftwareLimit>
<Speed>444444</Speed>
<Acceleration>3333333</Acceleration>
<Deceleration>3333333</Deceleration>
<Jerk>7200000</Jerk>
<FeedforwardVelocity>0</FeedforwardVelocity>
<FeedforwardAcceleration>0</FeedforwardAcceleration>
<OffOnError>1</OffOnError>
</Axis>
<Axis Name="PUF1.Vertical" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
<Input Address="MAIN.StatusWord2" Type="StatusWord" DataType="uint"/>
<Input Address="MAIN.ActualMotorPosition2" Type="MotorPosition" DataType="dint"/>
<Input Address="MAIN.PositionError2" Type="PositionError" DataType="dint"/>
<Input Address="MAIN.ActualVelocity2" Type="ActualVelocity" DataType="dint"/>
<Input Address="MAIN.ActualTorque2" Type="ActualTorque" DataType="int"/>
<Output Address="MAIN.ControlWord2" Type="ControlWord" DataType="uint"/>
<Output Address="MAIN.ModeOfOperation2" Type="ModeOfOperation" DataType="byte"/>
<Output Address="MAIN.ProfileVelocity2" Type="ProfileVelocity" DataType="dint"/>
<Output Address="MAIN.ProfileAccel2" Type="ProfileAccel" DataType="dint"/>
<Output Address="MAIN.ProfileDecel2" Type="ProfileDecel" DataType="dint"/>
<Output Address="MAIN.TargetPosition2" Type="TargetPosition" DataType="dint"/>
<MotorType>Servo</MotorType>
<MotorDriveDirection>+1</MotorDriveDirection>
<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
<HomeSwitchPolarity>-1</HomeSwitchPolarity>
<HomingMethod>7</HomingMethod>
<HomingOffset>0</HomingOffset>
<!--HomingOffset>0</HomingOffset-->
<HomingSpeedHomeSwitch>5242850</HomingSpeedHomeSwitch>
<HomingSpeedEncoderIndex>1000000</HomingSpeedEncoderIndex>
<HomingAccelDecel>26214250</HomingAccelDecel>
<HomingTimeOut>60000</HomingTimeOut>
<ProportionalGain>14</ProportionalGain>
<IntegralGain>1</IntegralGain>
<DerivativeGain>40</DerivativeGain>
<IntegralLimit>1</IntegralLimit>
<ErrorLimit>52428</ErrorLimit>
<VoltageOffset>0</VoltageOffset>
<ReverseSoftwareLimit>-31142708</ReverseSoftwareLimit>
<ForwardSoftwareLimit>1048576</ForwardSoftwareLimit>
<Speed>52428800</Speed>
<Acceleration>262144000</Acceleration>
<Deceleration>262144000</Deceleration>
<FeedforwardVelocity>0</FeedforwardVelocity>
<FeedforwardAcceleration>0</FeedforwardAcceleration>
<OffOnError>1</OffOnError>
<NegativeTorqueLimit>35</NegativeTorqueLimit>
<PositiveTorqueLimit>75</PositiveTorqueLimit>
</Axis>
<Axis Name="PUF2.Flip" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
<Input Address="MAIN.StatusWord1" Type="StatusWord" DataType="uint"/>
<Input Address="MAIN.ActualMotorPosition1" Type="MotorPosition" DataType="dint"/>
<Input Address="MAIN.PositionError1" Type="PositionError" DataType="dint"/>
<Input Address="MAIN.ActualVelocity1" Type="ActualVelocity" DataType="dint"/>
<Input Address="MAIN.ActualTorque1" Type="ActualTorque" DataType="int"/>
<Input Address="MAIN.TargetPosition1" Type="TargetPosition" DataType="dint"/>
<Output Address="MAIN.ControlWord1" Type="ControlWord" DataType="uint"/>
<Output Address="MAIN.ModeOfOperation1" Type="ModeOfOperation" DataType="byte"/>
<Output Address="MAIN.ProfileVelocity1" Type="ProfileVelocity" DataType="dint"/>
<Output Address="MAIN.ProfileAccel1" Type="ProfileAccel" DataType="dint"/>
<Output Address="MAIN.ProfileDecel1" Type="ProfileDecel" DataType="dint"/>
<MotorType>Servo</MotorType>
<MotorDriveDirection>+1</MotorDriveDirection>
<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
<HomeSwitchPolarity>-1</HomeSwitchPolarity>
<HomingMethod>3</HomingMethod>
<HomingOffset>0</HomingOffset>
<!--HomingOffset>0</HomingOffset-->
<!-- clear bit 9 so motor does not move to zero after home -->
<!-- HomeConfig>34</HomeConfig -->
<HomingSpeedHomeSwitch>0</HomingSpeedHomeSwitch>
<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
<HomingAccelDecel>0</HomingAccelDecel>
<HomingTimeOut>60000</HomingTimeOut>
<ProportionalGain>14</ProportionalGain>
<IntegralGain>1</IntegralGain>
<DerivativeGain>40</DerivativeGain>
<IntegralLimit>1</IntegralLimit>
<ErrorLimit>11110</ErrorLimit>
<VoltageOffset>0</VoltageOffset>
<ReverseSoftwareLimit>-60556</ReverseSoftwareLimit>
<ForwardSoftwareLimit>29712</ForwardSoftwareLimit>
<Speed>444444</Speed>
<Acceleration>3333333</Acceleration>
<Deceleration>3333333</Deceleration>
<Jerk>7200000</Jerk>
<FeedforwardVelocity>0</FeedforwardVelocity>
<FeedforwardAcceleration>0</FeedforwardAcceleration>
<OffOnError>1</OffOnError>
</Axis>
<!-- SRD AXES BEGIN -->
<!-- Maxon EPOS2 -->
<!-- position is in counts, speed is in rpm: counts/sec * 60 sec/min / (512 * 4 counts/rev) = 0.0293 rev/min (rpm) -->
<Axis Name="SRD1.Arm" MotorType="Maxon" SpeedConversion="0.0293" COEAddress="169.254.167.184.3.1" COEPort="4097" DebugLogging="false">
<Input Address="Task 3.Inputs.r_SRD1_ARM_StatusWord" Type="StatusWord" DataType="uint"/>
<!--DigitalInputs may be used someday in PDO instead of ModeOfOperationDisplay/-->
<!--Input Address="Task 3.Inputs.r_SRD1_ARM_DigitalInputs" Type="DigitalInputs" DataType="uint"/-->
<Input Address="Task 3.Inputs.r_SRD1_ARM_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
<Input Address="Task 3.Inputs.r_SRD1_ARM_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
<Input Address="Task 3.Outputs.c_SRD1_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
<Input Address="Task 3.Outputs.c_SRD1_ARM_TargetPosition" Type="TargetPosition" DataType="dint"/>
<Input Address="0x6081:00" Type="ProfileVelocity" DataType="dint"/>
<Input Address="0x6083:00" Type="ProfileAccel" DataType="dint"/>
<Input Address="0x6084:00" Type="ProfileDecel" DataType="dint"/>
<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
<Input Address="0x6410:02" Type="PeakCurrentLimit" DataType="uint"/>
<Input Address="0x6410:01" Type="ContinuousCurrentLimit" DataType="uint"/>
<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
<Input Address="0x60C5:00" Type="AccelerationLimit" DataType="udint"/>
<Input Address="0x2082:00" Type="HomeAdjustment" DataType="dint"/>
<Input Address="0x1001:00" Type="ErrorRegister" DataType="usint"/>
<Input Address="0x1003:00" Type="ErrorHistoryCount" DataType="usint"/>
<Input Address="0x1003:01" Type="ErrorHistory1" DataType="udint"/>
<!--Input Address="0x1003:02" Type="ErrorHistory2" DataType="udint"/>
<Input Address="0x1003:03" Type="ErrorHistory3" DataType="udint"/>
<Input Address="0x1003:04" Type="ErrorHistory4" DataType="udint"/>
<Input Address="0x1003:05" Type="ErrorHistory5" DataType="udint"/-->
<Output Address="Task 3.Outputs.c_SRD1_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
<Output Address="Task 3.Outputs.c_SRD1_ARM_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
<Output Address="Task 3.Outputs.c_SRD1_ARM_TargetPosition" Type="TargetPosition" DataType="dint"/>
<Output Address="0x6081:00" Type="ProfileVelocity" DataType="dint"/>
<Output Address="0x6083:00" Type="ProfileAccel" DataType="dint"/>
<Output Address="0x6084:00" Type="ProfileDecel" DataType="dint"/>
<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
<Output Address="0x6410:02" Type="PeakCurrentLimit" DataType="uint"/>
<Output Address="0x6410:01" Type="ContinuousCurrentLimit" DataType="uint"/>
<!--MiscConfig may be used someday if want to reverse direction of motion/-->
<!--Output Address="0x2008:00" Type="MiscConfig" DataType="uint"/-->
<!-- 2184.533333 counts/degree -->
<MotorType>Servo</MotorType>
<MotorDriveDirection>-1</MotorDriveDirection>
<!-- +1 = Forward and -1 = Backward-->
<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
<HomeSwitchPolarity>-1</HomeSwitchPolarity>
<!-- Negative to Home Switch -->
<!--HomingMethod>21</HomingMethod-->
<!-- Positive to Home Switch -->
<HomingMethod>23</HomingMethod>
<HomingOffset>0</HomingOffset>
<HomingSpeedHomeSwitch>200</HomingSpeedHomeSwitch>
<HomingSpeedEncoderIndex>50</HomingSpeedEncoderIndex>
<HomingAccelDecel>5000</HomingAccelDecel>
<HomingTimeOut>25000</HomingTimeOut>
<ProportionalGain>0</ProportionalGain>
<IntegralGain>0</IntegralGain>
<DerivativeGain>0</DerivativeGain>
<IntegralLimit>0</IntegralLimit>
<ErrorLimit>200</ErrorLimit>
<VoltageOffset>0</VoltageOffset>
<ReverseSoftwareLimit>-10000000</ReverseSoftwareLimit>
<ForwardSoftwareLimit>10000000</ForwardSoftwareLimit>
<Speed>1000</Speed>
<Acceleration>5000</Acceleration>
<Deceleration>5000</Deceleration>
<FeedforwardVelocity>0</FeedforwardVelocity>
<FeedforwardAcceleration>0</FeedforwardAcceleration>
<OffOnError>1</OffOnError>
</Axis>
<!-- Copley XE2 2-Axis -->
<Axis Name="SRD1.Rotation" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1057" DebugLogging="false">
<Input Address="Task 3.Inputs.r_SRD1_ROTATION_StatusWord" Type="StatusWord" DataType="uint"/>
<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ActualFollowingError" Type="PositionError" DataType="dint"/>
<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ActualTorque" Type="ActualTorque" DataType="short"/>
<Input Address="Task 3.Outputs.c_SRD1_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
<Input Address="Task 3.Outputs.c_SRD1_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
<Input Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
<Input Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
<Input Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
<Input Address="0x2253:00" Type="SoftwareLimitDecel" DataType="udint"/>
<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
<Input Address="0x2353:00" Type="HomeAdjustment" DataType="dint"/>
<Input Address="0x2110:00" Type="PeakCurrentLimit" DataType="int"/>
<Input Address="0x2111:00" Type="ContinuousCurrentLimit" DataType="int"/>
<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
<Input Address="0x2103:00" Type="VelocityLimit" DataType="udint"/>
<Input Address="0x6067:00" Type="PositionWindow" DataType="udint"/>
<Input Address="0x2120:00" Type="FollowingErrorWindow" DataType="udint"/>
<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
<Output Address="Task 3.Outputs.c_SRD1_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
<Output Address="0x2253:00" Type="SoftwareLimitDecel" DataType="udint"/>
<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
<!-- 58.822222 counts/deg -->
<MotorType>Servo</MotorType>
<MotorDriveDirection>-1</MotorDriveDirection>
<!-- +1 = Forward and -1 = Backward-->
<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
<HomeSwitchPolarity>-1</HomeSwitchPolarity>
<!-- Positive to Index -->
<HomingMethod>34</HomingMethod>
<HomingOffset>0</HomingOffset>
<HomingSpeedHomeSwitch>2500</HomingSpeedHomeSwitch>
<HomingSpeedEncoderIndex>2500</HomingSpeedEncoderIndex>
<HomingAccelDecel>420000</HomingAccelDecel>
<HomingTimeOut>15000</HomingTimeOut>
<ProportionalGain>0</ProportionalGain>
<IntegralGain>0</IntegralGain>
<DerivativeGain>0</DerivativeGain>
<IntegralLimit>0</IntegralLimit>
<ErrorLimit>2000</ErrorLimit>
<VoltageOffset>0</VoltageOffset>
<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
<Speed>529400</Speed>
<Acceleration>84000</Acceleration>
<Deceleration>84000</Deceleration>
<FeedforwardVelocity>0</FeedforwardVelocity>
<FeedforwardAcceleration>0</FeedforwardAcceleration>
<OffOnError>1</OffOnError>
</Axis>
<!-- Maxon EPOS2 -->
<!-- position is in counts, speed is in rpm: counts/sec * 60 sec/min / (512 * 4 counts/rev) = 0.0293 rev/min (rpm) -->
<Axis Name="SRD2.Arm" MotorType="Maxon" SpeedConversion="0.0293" COEAddress="169.254.167.184.3.1" COEPort="4098" DebugLogging="false">
<Input Address="Task 3.Inputs.r_SRD2_ARM_StatusWord" Type="StatusWord" DataType="uint"/>
<!--DigitalInputs may be used someday in PDO instead of ModeOfOperationDisplay/-->
<!--Input Address="Task 3.Inputs.r_SRD2_ARM_DigitalInputs" Type="DigitalInputs" DataType="uint"/-->
<Input Address="Task 3.Inputs.r_SRD2_ARM_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
<Input Address="Task 3.Inputs.r_SRD2_ARM_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
<Input Address="Task 3.Outputs.c_SRD2_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
<Input Address="Task 3.Outputs.c_SRD2_ARM_TargetPosition" Type="TargetPosition" DataType="dint"/>
<Input Address="0x6081:00" Type="ProfileVelocity" DataType="dint"/>
<Input Address="0x6083:00" Type="ProfileAccel" DataType="dint"/>
<Input Address="0x6084:00" Type="ProfileDecel" DataType="dint"/>
<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
<Input Address="0x6410:02" Type="PeakCurrentLimit" DataType="uint"/>
<Input Address="0x6410:01" Type="ContinuousCurrentLimit" DataType="uint"/>
<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
<Input Address="0x60C5:00" Type="AccelerationLimit" DataType="udint"/>
<Input Address="0x2082:00" Type="HomeAdjustment" DataType="dint"/>
<Input Address="0x1001:00" Type="ErrorRegister" DataType="usint"/>
<Input Address="0x1003:00" Type="ErrorHistoryCount" DataType="usint"/>
<Input Address="0x1003:01" Type="ErrorHistory1" DataType="udint"/>
<!--Input Address="0x1003:02" Type="ErrorHistory2" DataType="udint"/>
<Input Address="0x1003:03" Type="ErrorHistory3" DataType="udint"/>
<Input Address="0x1003:04" Type="ErrorHistory4" DataType="udint"/>
<Input Address="0x1003:05" Type="ErrorHistory5" DataType="udint"/-->
<Output Address="Task 3.Outputs.c_SRD2_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
<Output Address="Task 3.Outputs.c_SRD2_ARM_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
<Output Address="Task 3.Outputs.c_SRD2_ARM_TargetPosition" Type="TargetPosition" DataType="dint"/>
<Output Address="0x6081:00" Type="ProfileVelocity" DataType="dint"/>
<Output Address="0x6083:00" Type="ProfileAccel" DataType="dint"/>
<Output Address="0x6084:00" Type="ProfileDecel" DataType="dint"/>
<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
<Output Address="0x6410:02" Type="PeakCurrentLimit" DataType="uint"/>
<Output Address="0x6410:01" Type="ContinuousCurrentLimit" DataType="uint"/>
<!--MiscConfig may be used someday if want to reverse direction of motion/-->
<!--Output Address="0x2008:00" Type="MiscConfig" DataType="uint"/-->
<!-- 2184.533333 counts/degree -->
<MotorType>Servo</MotorType>
<MotorDriveDirection>-1</MotorDriveDirection>
<!-- +1 = Forward and -1 = Backward-->
<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
<HomeSwitchPolarity>-1</HomeSwitchPolarity>
<!-- Negative to Home Switch -->
<!--HomingMethod>21</HomingMethod-->
<!-- Positive to Home Switch -->
<HomingMethod>23</HomingMethod>
<HomingOffset>0</HomingOffset>
<HomingSpeedHomeSwitch>200</HomingSpeedHomeSwitch>
<HomingSpeedEncoderIndex>50</HomingSpeedEncoderIndex>
<HomingAccelDecel>5000</HomingAccelDecel>
<HomingTimeOut>25000</HomingTimeOut>
<ProportionalGain>0</ProportionalGain>
<IntegralGain>0</IntegralGain>
<DerivativeGain>0</DerivativeGain>
<IntegralLimit>0</IntegralLimit>
<ErrorLimit>200</ErrorLimit>
<VoltageOffset>0</VoltageOffset>
<ReverseSoftwareLimit>-10000000</ReverseSoftwareLimit>
<ForwardSoftwareLimit>10000000</ForwardSoftwareLimit>
<Speed>1000</Speed>
<Acceleration>5000</Acceleration>
<Deceleration>5000</Deceleration>
<FeedforwardVelocity>0</FeedforwardVelocity>
<FeedforwardAcceleration>0</FeedforwardAcceleration>
<OffOnError>1</OffOnError>
</Axis>
<!-- Copley XE2 2-Axis -->
<Axis Name="SRD2.Rotation" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1057" DebugLogging="false">
<Input Address="Task 3.Inputs.r_SRD2_ROTATION_StatusWord" Type="StatusWord" DataType="uint"/>
<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ActualFollowingError" Type="PositionError" DataType="dint"/>
<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ActualTorque" Type="ActualTorque" DataType="short"/>
<Input Address="Task 3.Outputs.c_SRD2_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
<Input Address="Task 3.Outputs.c_SRD2_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
<Input Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
<Input Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
<Input Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
<Input Address="0x2A53:00" Type="SoftwareLimitDecel" DataType="udint"/>
<Input Address="0x687D:01" Type="SoftwareLimitMinus" DataType="dint"/>
<Input Address="0x687D:02" Type="SoftwareLimitPlus" DataType="dint"/>
<Input Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
<Input Address="0x687C:00" Type="HomeOffset" DataType="dint"/>
<Input Address="0x6899:01" Type="HomingVelocity" DataType="dint"/>
<Input Address="0x6899:02" Type="HomingVelocitySlow" DataType="dint"/>
<Input Address="0x689A:00" Type="HomingAccel" DataType="dint"/>
<Input Address="0x2B53:00" Type="HomeAdjustment" DataType="dint"/>
<Input Address="0x2910:00" Type="PeakCurrentLimit" DataType="int"/>
<Input Address="0x2911:00" Type="ContinuousCurrentLimit" DataType="int"/>
<Input Address="0x6885:00" Type="EStopDecel" DataType="udint"/>
<Input Address="0x2903:00" Type="VelocityLimit" DataType="udint"/>
<Input Address="0x6867:00" Type="PositionWindow" DataType="udint"/>
<Input Address="0x2920:00" Type="FollowingErrorWindow" DataType="udint"/>
<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
<Output Address="Task 3.Outputs.c_SRD2_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
<Output Address="0x2A53:00" Type="SoftwareLimitDecel" DataType="udint"/>
<Output Address="0x687D:01" Type="SoftwareLimitMinus" DataType="dint"/>
<Output Address="0x687D:02" Type="SoftwareLimitPlus" DataType="dint"/>
<Output Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
<Output Address="0x687C:00" Type="HomeOffset" DataType="dint"/>
<Output Address="0x6899:01" Type="HomingVelocity" DataType="dint"/>
<Output Address="0x6899:02" Type="HomingVelocitySlow" DataType="dint"/>
<Output Address="0x689A:00" Type="HomingAccel" DataType="dint"/>
<!-- 58.822222 counts/deg -->
<MotorType>Servo</MotorType>
<MotorDriveDirection>-1</MotorDriveDirection>
<!-- +1 = Forward and -1 = Backward-->
<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
<HomeSwitchPolarity>-1</HomeSwitchPolarity>
<!-- Positive to Index -->
<HomingMethod>34</HomingMethod>
<HomingOffset>0</HomingOffset>
<HomingSpeedHomeSwitch>2500</HomingSpeedHomeSwitch>
<HomingSpeedEncoderIndex>2500</HomingSpeedEncoderIndex>
<HomingAccelDecel>420000</HomingAccelDecel>
<HomingTimeOut>15000</HomingTimeOut>
<ProportionalGain>0</ProportionalGain>
<IntegralGain>0</IntegralGain>
<DerivativeGain>0</DerivativeGain>
<IntegralLimit>0</IntegralLimit>
<ErrorLimit>2000</ErrorLimit>
<VoltageOffset>0</VoltageOffset>
<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
<Speed>529400</Speed>
<Acceleration>84000</Acceleration>
<Deceleration>84000</Deceleration>
<FeedforwardVelocity>0</FeedforwardVelocity>
<FeedforwardAcceleration>0</FeedforwardAcceleration>
<OffOnError>1</OffOnError>
</Axis>
<!-- SRD AXES END -->
</Controller>
</BeckhoffCfg>