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Beckhoffcfg-device.xml

Beckhoffcfg-device.xml 34 KB
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  1. <?xml version="1.0" encoding="utf-8"?>
    2. 

  2. <BeckhoffCfg>
    3. 

  3. 	<Controller Name="MASTER" IPAddress="10.4.6.32.1.1" PortAddress="301">
    4. 

  4. 

  5. 		<!-- Need to have at least one input and one output before Axis stuff -->
    6. 

  6. 

  7. 		<!-- All inputs first, then all outputs -->
    8. 

  8. 

  9. 		<!--////////////////////////////////////////////////// ALL INPUTS START //////////////////////////////////////////////////-->
    10. 

  10. 

  11. 		<Input Name="PUF1.State"  Address="Task 3.Inputs.PUF1.State"  Type="Digital" DataType="bool"/>
    12. 

  12. 		<Input Name="PUF1.ChuckAVac"  Address="MAIN.ChuckAVac" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
    13. 

  13. 		<Input Name="PUF1.ChuckBVac"  Address="MAIN.ChuckBVac" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
    14. 

  14. 		<Input Name="PUF1.DistanceSensor1"  Address="MAIN.DistanceSensor1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
    15. 

  15. 		<Input Name="PUF1.DistanceSensor2"  Address="MAIN.DistanceSensor2" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
    16. 

  16. 		<Input Name="PUF2.ChuckAVac"  Address="MAIN.ChuckAVac1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
    17. 

  17. 		<Input Name="PUF2.ChuckBVac"  Address="MAIN.ChuckBVac1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
    18. 

  18. 		<Input Name="PUF2.DistanceSensor1"  Address="MAIN.DistanceSensor3" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
    19. 

  19. 		<Input Name="PUF2.DistanceSensor2"  Address="MAIN.DistanceSensor4" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
    20. 

  20. 		<!-- MAIN IO INPUTS END -->
    21. 

  21. 

  22. 		<!--////////////////////////////////////////////////// ALL INPUTS END //////////////////////////////////////////////////-->
    23. 

  23. 

  24. 		<!--////////////////////////////////////////////////// ALL OUTPUTS BEGIN //////////////////////////////////////////////////-->
    25. 

  25. 		<Output Name="PUF1.ChuckARelease" Address="Task 3.Outputs.PUF1.ChuckARelease" Type="Digital" DataType="bool"/>
    26. 

  26. 		<Output Name="PUF1.ChuckBRelease" Address="Task 3.Outputs.PUF1.ChuckBRelease" Type="Digital" DataType="bool"/>
    27. 

  27. 		<Output Name="PUF2.ChuckARelease" Address="MAIN.ChuckARelease1" Type="Digital" DataType="bool"/>
    28. 

  28. 		<Output Name="PUF2.ChuckBRelease" Address="MAIN.ChuckBRelease1" Type="Digital" DataType="bool"/>
    29. 

  29. 		<Output Name="PUF2.Test" Address="Task 3.Outputs.Test" Type="Analog" Scaling="0=0,10=32767" DataType="int"/>
    30. 

  30. 		<!--////////////////////////////////////////////////// ALL OUTPUTS END //////////////////////////////////////////////////-->
    31. 

  31. 		
    32. 

  32. 		<Axis Name="PUF1.Flip" MotorType="Copley" COEAddress="10.4.6.32.4.1" COEPort="1010" DebugLogging="false">
    33. 

  33. 			<Input Address="Task 3.Inputs.PUF1.StatusWord" Type="StatusWord" DataType="uint"/>
    34. 

  34. 			<Input Address="Task 3.Inputs.PUF1.ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
    35. 

  35. 			<Input Address="MAIN.PositionError" Type="PositionError" DataType="dint"/>
    36. 

  36. 			<Input Address="MAIN.ActualVelocity" Type="ActualVelocity" DataType="dint"/>
    37. 

  37. 			<Input Address="MAIN.ActualTorque" Type="ActualTorque" DataType="int"/>
    38. 

  38. 			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    39. 

  39. 			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    40. 

  40. 			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    41. 

  41. 			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    42. 

  42. 			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    43. 

  43. 			<Output Address="Task 3.Outputs.PUF1.ControlWord" Type="ControlWord" DataType="uint"/>
    44. 

  44. 			<Output Address="Task 3.Outputs.PUF1.ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
    45. 

  45. 			<Output Address="Task 3.Outputs.PUF1.ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
    46. 

  46. 			<Output Address="Task 3.Outputs.PUF1.ProfileAccel" Type="ProfileAccel" DataType="dint"/>
    47. 

  47. 			<Output Address="Task 3.Outputs.PUF1.ProfileDecel" Type="ProfileDecel" DataType="dint"/>
    48. 

  48. 			<Output Address="Task 3.Outputs.PUF1.TargetPosition" Type="TargetPosition" DataType="dint"/>
    49. 

  49. 			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    50. 

  50. 			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    51. 

  51. 			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    52. 

  52. 			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    53. 

  53. 			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    54. 

  54. 			<MotorType>Servo</MotorType>
    55. 

  55. 			<MotorDriveDirection>-1</MotorDriveDirection>
    56. 

  56. 			<!-- +1 = Forward and -1 = Backward-->
    57. 

  57. 			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
    58. 

  58. 			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
    59. 

  59. 			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
    60. 

  60. 			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
    61. 

  61. 			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
    62. 

  62. 			<HomingMethod>34</HomingMethod>
    63. 

  63. 			<HomingOffset>0</HomingOffset>
    64. 

  64. 			<HomingSpeedHomeSwitch>2500</HomingSpeedHomeSwitch>
    65. 

  65. 			<HomingSpeedEncoderIndex>2500</HomingSpeedEncoderIndex>
    66. 

  66. 			<HomingAccelDecel>420000</HomingAccelDecel>
    67. 

  67. 			<HomingTimeOut>60000</HomingTimeOut>
    68. 

  68. 			<ProportionalGain>15</ProportionalGain>
    69. 

  69. 			<IntegralGain>1</IntegralGain>
    70. 

  70. 			<DerivativeGain>30</DerivativeGain>
    71. 

  71. 			<IntegralLimit>1</IntegralLimit>
    72. 

  72. 			<ErrorLimit>4444</ErrorLimit>
    73. 

  73. 			<VoltageOffset>0</VoltageOffset>
    74. 

  74. 			<ReverseSoftwareLimit>-19134</ReverseSoftwareLimit>
    75. 

  75. 			<ForwardSoftwareLimit>413645</ForwardSoftwareLimit>
    76. 

  76. 			<Speed>529400</Speed>
    77. 

  77. 			<Acceleration>84000</Acceleration>
    78. 

  78. 			<Deceleration>84000</Deceleration>
    79. 

  79. 			<Jerk>7200000</Jerk>
    80. 

  80. 			<FeedforwardVelocity>0</FeedforwardVelocity>
    81. 

  81. 			<FeedforwardAcceleration>0</FeedforwardAcceleration>
    82. 

  82. 			<OffOnError>1</OffOnError>
    83. 

  83. 		</Axis>
    84. 

  84. 		<Axis Name="PUF1.Rotation" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
    85. 

  85. 			<Input Address="MAIN.StatusWord1" Type="StatusWord" DataType="uint"/>
    86. 

  86. 			<Input Address="MAIN.ActualMotorPosition1" Type="MotorPosition" DataType="dint"/>
    87. 

  87. 			<Input Address="MAIN.PositionError1" Type="PositionError" DataType="dint"/>
    88. 

  88. 			<Input Address="MAIN.ActualVelocity1" Type="ActualVelocity" DataType="dint"/>
    89. 

  89. 			<Input Address="MAIN.ActualTorque1" Type="ActualTorque" DataType="int"/>
    90. 

  90. 			<Output Address="MAIN.ControlWord1" Type="ControlWord" DataType="uint"/>
    91. 

  91. 			<Output Address="MAIN.ModeOfOperation1" Type="ModeOfOperation" DataType="byte"/>
    92. 

  92. 			<Output Address="MAIN.ProfileVelocity1" Type="ProfileVelocity" DataType="dint"/>
    93. 

  93. 			<Output Address="MAIN.ProfileAccel1" Type="ProfileAccel" DataType="dint"/>
    94. 

  94. 			<Output Address="MAIN.ProfileDecel1" Type="ProfileDecel" DataType="dint"/>
    95. 

  95. 			<Output Address="MAIN.TargetPosition1" Type="TargetPosition" DataType="dint"/>
    96. 

  96. 			<MotorType>Servo</MotorType>
    97. 

  97. 			<MotorDriveDirection>+1</MotorDriveDirection>
    98. 

  98. 			<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
    99. 

  99. 			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
    100. 

  100. 			<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
    101. 

  101. 			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
    102. 

  102. 			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
    103. 

  103. 			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
    104. 

  104. 			<HomingMethod>3</HomingMethod>
    105. 

  105. 			<HomingOffset>0</HomingOffset>
    106. 

  106. 			<!--HomingOffset>0</HomingOffset-->
    107. 

  107. 			<!-- clear bit 9 so motor does not move to zero after home -->
    108. 

  108. 			<!-- HomeConfig>34</HomeConfig -->
    109. 

  109. 			<HomingSpeedHomeSwitch>0</HomingSpeedHomeSwitch>
    110. 

  110. 			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
    111. 

  111. 			<HomingAccelDecel>0</HomingAccelDecel>
    112. 

  112. 			<HomingTimeOut>60000</HomingTimeOut>
    113. 

  113. 			<ProportionalGain>14</ProportionalGain>
    114. 

  114. 			<IntegralGain>1</IntegralGain>
    115. 

  115. 			<DerivativeGain>40</DerivativeGain>
    116. 

  116. 			<IntegralLimit>1</IntegralLimit>
    117. 

  117. 			<ErrorLimit>11110</ErrorLimit>
    118. 

  118. 			<VoltageOffset>0</VoltageOffset>
    119. 

  119. 			<ReverseSoftwareLimit>-60556</ReverseSoftwareLimit>
    120. 

  120. 			<ForwardSoftwareLimit>29712</ForwardSoftwareLimit>
    121. 

  121. 			<Speed>444444</Speed>
    122. 

  122. 			<Acceleration>3333333</Acceleration>
    123. 

  123. 			<Deceleration>3333333</Deceleration>
    124. 

  124. 			<Jerk>7200000</Jerk>
    125. 

  125. 			<FeedforwardVelocity>0</FeedforwardVelocity>
    126. 

  126. 			<FeedforwardAcceleration>0</FeedforwardAcceleration>
    127. 

  127. 			<OffOnError>1</OffOnError>
    128. 

  128. 		</Axis>
    129. 

  129. 		<Axis Name="PUF1.Vertical" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
    130. 

  130. 			<Input Address="MAIN.StatusWord2" Type="StatusWord" DataType="uint"/>
    131. 

  131. 			<Input Address="MAIN.ActualMotorPosition2" Type="MotorPosition" DataType="dint"/>
    132. 

  132. 			<Input Address="MAIN.PositionError2" Type="PositionError" DataType="dint"/>
    133. 

  133. 			<Input Address="MAIN.ActualVelocity2" Type="ActualVelocity" DataType="dint"/>
    134. 

  134. 			<Input Address="MAIN.ActualTorque2" Type="ActualTorque" DataType="int"/>
    135. 

  135. 			<Output Address="MAIN.ControlWord2" Type="ControlWord" DataType="uint"/>
    136. 

  136. 			<Output Address="MAIN.ModeOfOperation2" Type="ModeOfOperation" DataType="byte"/>
    137. 

  137. 			<Output Address="MAIN.ProfileVelocity2" Type="ProfileVelocity" DataType="dint"/>
    138. 

  138. 			<Output Address="MAIN.ProfileAccel2" Type="ProfileAccel" DataType="dint"/>
    139. 

  139. 			<Output Address="MAIN.ProfileDecel2" Type="ProfileDecel" DataType="dint"/>
    140. 

  140. 			<Output Address="MAIN.TargetPosition2" Type="TargetPosition" DataType="dint"/>
    141. 

  141. 				<MotorType>Servo</MotorType>
    142. 

  142. 			<MotorDriveDirection>+1</MotorDriveDirection>
    143. 

  143. 			<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
    144. 

  144. 			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
    145. 

  145. 			<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
    146. 

  146. 			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
    147. 

  147. 			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
    148. 

  148. 			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
    149. 

  149. 			<HomingMethod>7</HomingMethod>
    150. 

  150. 			<HomingOffset>0</HomingOffset>
    151. 

  151. 			<!--HomingOffset>0</HomingOffset-->
    152. 

  152. 			<HomingSpeedHomeSwitch>5242850</HomingSpeedHomeSwitch>
    153. 

  153. 			<HomingSpeedEncoderIndex>1000000</HomingSpeedEncoderIndex>
    154. 

  154. 			<HomingAccelDecel>26214250</HomingAccelDecel>
    155. 

  155. 			<HomingTimeOut>60000</HomingTimeOut>
    156. 

  156. 			<ProportionalGain>14</ProportionalGain>
    157. 

  157. 			<IntegralGain>1</IntegralGain>
    158. 

  158. 			<DerivativeGain>40</DerivativeGain>
    159. 

  159. 			<IntegralLimit>1</IntegralLimit>
    160. 

  160. 			<ErrorLimit>52428</ErrorLimit>
    161. 

  161. 			<VoltageOffset>0</VoltageOffset>
    162. 

  162. 			<ReverseSoftwareLimit>-31142708</ReverseSoftwareLimit>
    163. 

  163. 			<ForwardSoftwareLimit>1048576</ForwardSoftwareLimit>
    164. 

  164. 			<Speed>52428800</Speed>
    165. 

  165. 			<Acceleration>262144000</Acceleration>
    166. 

  166. 			<Deceleration>262144000</Deceleration>
    167. 

  167. 			<FeedforwardVelocity>0</FeedforwardVelocity>
    168. 

  168. 			<FeedforwardAcceleration>0</FeedforwardAcceleration>
    169. 

  169. 			<OffOnError>1</OffOnError>
    170. 

  170. 			<NegativeTorqueLimit>35</NegativeTorqueLimit>
    171. 

  171. 			<PositiveTorqueLimit>75</PositiveTorqueLimit>
    172. 

  172. 		</Axis>
    173. 

  173. 		<Axis Name="PUF2.Flip" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
    174. 

  174. 			<Input Address="MAIN.StatusWord1" Type="StatusWord" DataType="uint"/>
    175. 

  175. 			<Input Address="MAIN.ActualMotorPosition1" Type="MotorPosition" DataType="dint"/>
    176. 

  176. 			<Input Address="MAIN.PositionError1" Type="PositionError" DataType="dint"/>
    177. 

  177. 			<Input Address="MAIN.ActualVelocity1" Type="ActualVelocity" DataType="dint"/>
    178. 

  178. 			<Input Address="MAIN.ActualTorque1" Type="ActualTorque" DataType="int"/>
    179. 

  179. 			<Input Address="MAIN.TargetPosition1" Type="TargetPosition" DataType="dint"/>
    180. 

  180. 			<Output Address="MAIN.ControlWord1" Type="ControlWord" DataType="uint"/>
    181. 

  181. 			<Output Address="MAIN.ModeOfOperation1" Type="ModeOfOperation" DataType="byte"/>
    182. 

  182. 			<Output Address="MAIN.ProfileVelocity1" Type="ProfileVelocity" DataType="dint"/>
    183. 

  183. 			<Output Address="MAIN.ProfileAccel1" Type="ProfileAccel" DataType="dint"/>
    184. 

  184. 			<Output Address="MAIN.ProfileDecel1" Type="ProfileDecel" DataType="dint"/>
    185. 

  185. 			<MotorType>Servo</MotorType>
    186. 

  186. 			<MotorDriveDirection>+1</MotorDriveDirection>
    187. 

  187. 			<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
    188. 

  188. 			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
    189. 

  189. 			<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
    190. 

  190. 			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
    191. 

  191. 			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
    192. 

  192. 			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
    193. 

  193. 			<HomingMethod>3</HomingMethod>
    194. 

  194. 			<HomingOffset>0</HomingOffset>
    195. 

  195. 			<!--HomingOffset>0</HomingOffset-->
    196. 

  196. 			<!-- clear bit 9 so motor does not move to zero after home -->
    197. 

  197. 			<!-- HomeConfig>34</HomeConfig -->
    198. 

  198. 			<HomingSpeedHomeSwitch>0</HomingSpeedHomeSwitch>
    199. 

  199. 			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
    200. 

  200. 			<HomingAccelDecel>0</HomingAccelDecel>
    201. 

  201. 			<HomingTimeOut>60000</HomingTimeOut>
    202. 

  202. 			<ProportionalGain>14</ProportionalGain>
    203. 

  203. 			<IntegralGain>1</IntegralGain>
    204. 

  204. 			<DerivativeGain>40</DerivativeGain>
    205. 

  205. 			<IntegralLimit>1</IntegralLimit>
    206. 

  206. 			<ErrorLimit>11110</ErrorLimit>
    207. 

  207. 			<VoltageOffset>0</VoltageOffset>
    208. 

  208. 			<ReverseSoftwareLimit>-60556</ReverseSoftwareLimit>
    209. 

  209. 			<ForwardSoftwareLimit>29712</ForwardSoftwareLimit>
    210. 

  210. 			<Speed>444444</Speed>
    211. 

  211. 			<Acceleration>3333333</Acceleration>
    212. 

  212. 			<Deceleration>3333333</Deceleration>
    213. 

  213. 			<Jerk>7200000</Jerk>
    214. 

  214. 			<FeedforwardVelocity>0</FeedforwardVelocity>
    215. 

  215. 			<FeedforwardAcceleration>0</FeedforwardAcceleration>
    216. 

  216. 			<OffOnError>1</OffOnError>
    217. 

  217. 		</Axis>
    218. 

  218. 		
    219. 

  219. 		<!-- SRD AXES BEGIN -->
    220. 

  220. 		<!-- Maxon EPOS2 -->
    221. 

  221. 		<!-- position is in counts, speed is in rpm:  counts/sec * 60 sec/min / (512 * 4 counts/rev) = 0.0293 rev/min (rpm) -->
    222. 

  222. 		<Axis Name="SRD1.Arm" MotorType="Maxon" SpeedConversion="0.0293" COEAddress="169.254.167.184.3.1" COEPort="4097" DebugLogging="false">
    223. 

  223. 			<Input Address="Task 3.Inputs.r_SRD1_ARM_StatusWord" Type="StatusWord" DataType="uint"/>
    224. 

  224. 			<!--DigitalInputs may be used someday in PDO instead of ModeOfOperationDisplay/-->
    225. 

  225. 			<!--Input Address="Task 3.Inputs.r_SRD1_ARM_DigitalInputs" Type="DigitalInputs" DataType="uint"/-->
    226. 

  226. 			<Input Address="Task 3.Inputs.r_SRD1_ARM_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
    227. 

  227. 			<Input Address="Task 3.Inputs.r_SRD1_ARM_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
    228. 

  228. 			<Input Address="Task 3.Outputs.c_SRD1_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
    229. 

  229. 			<Input Address="Task 3.Outputs.c_SRD1_ARM_TargetPosition" Type="TargetPosition" DataType="dint"/>
    230. 

  230. 			<Input Address="0x6081:00" Type="ProfileVelocity" DataType="dint"/>
    231. 

  231. 			<Input Address="0x6083:00" Type="ProfileAccel" DataType="dint"/>
    232. 

  232. 			<Input Address="0x6084:00" Type="ProfileDecel" DataType="dint"/>
    233. 

  233. 			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    234. 

  234. 			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    235. 

  235. 			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    236. 

  236. 			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    237. 

  237. 			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    238. 

  238. 			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    239. 

  239. 			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    240. 

  240. 			<Input Address="0x6410:02" Type="PeakCurrentLimit" DataType="uint"/>
    241. 

  241. 			<Input Address="0x6410:01" Type="ContinuousCurrentLimit" DataType="uint"/>
    242. 

  242. 			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
    243. 

  243. 			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
    244. 

  244. 			<Input Address="0x60C5:00" Type="AccelerationLimit" DataType="udint"/>
    245. 

  245. 			<Input Address="0x2082:00" Type="HomeAdjustment" DataType="dint"/>
    246. 

  246. 			<Input Address="0x1001:00" Type="ErrorRegister" DataType="usint"/>
    247. 

  247. 			<Input Address="0x1003:00" Type="ErrorHistoryCount" DataType="usint"/>
    248. 

  248. 			<Input Address="0x1003:01" Type="ErrorHistory1" DataType="udint"/>
    249. 

  249. 			<!--Input Address="0x1003:02" Type="ErrorHistory2" DataType="udint"/>
    250. 

  250.       <Input Address="0x1003:03" Type="ErrorHistory3" DataType="udint"/>
    251. 

  251.       <Input Address="0x1003:04" Type="ErrorHistory4" DataType="udint"/>
    252. 

  252.       <Input Address="0x1003:05" Type="ErrorHistory5" DataType="udint"/-->
    253. 

  253. 

  254. 			<Output Address="Task 3.Outputs.c_SRD1_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
    255. 

  255. 			<Output Address="Task 3.Outputs.c_SRD1_ARM_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
    256. 

  256. 			<Output Address="Task 3.Outputs.c_SRD1_ARM_TargetPosition" Type="TargetPosition" DataType="dint"/>
    257. 

  257. 			<Output Address="0x6081:00" Type="ProfileVelocity" DataType="dint"/>
    258. 

  258. 			<Output Address="0x6083:00" Type="ProfileAccel" DataType="dint"/>
    259. 

  259. 			<Output Address="0x6084:00" Type="ProfileDecel" DataType="dint"/>
    260. 

  260. 			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    261. 

  261. 			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    262. 

  262. 			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    263. 

  263. 			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    264. 

  264. 			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    265. 

  265. 			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    266. 

  266. 			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    267. 

  267. 			<Output Address="0x6410:02" Type="PeakCurrentLimit" DataType="uint"/>
    268. 

  268. 			<Output Address="0x6410:01" Type="ContinuousCurrentLimit" DataType="uint"/>
    269. 

  269. 			<!--MiscConfig may be used someday if want to reverse direction of motion/-->
    270. 

  270. 			<!--Output Address="0x2008:00" Type="MiscConfig" DataType="uint"/-->
    271. 

  271. 

  272. 			<!-- 2184.533333 counts/degree -->
    273. 

  273. 			<MotorType>Servo</MotorType>
    274. 

  274. 			<MotorDriveDirection>-1</MotorDriveDirection>
    275. 

  275. 			<!-- +1 = Forward and -1 = Backward-->
    276. 

  276. 			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
    277. 

  277. 			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
    278. 

  278. 			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
    279. 

  279. 			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
    280. 

  280. 			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
    281. 

  281. 			<!-- Negative to Home Switch -->
    282. 

  282. 			<!--HomingMethod>21</HomingMethod-->
    283. 

  283. 			<!-- Positive to Home Switch -->
    284. 

  284. 			<HomingMethod>23</HomingMethod>
    285. 

  285. 			<HomingOffset>0</HomingOffset>
    286. 

  286. 			<HomingSpeedHomeSwitch>200</HomingSpeedHomeSwitch>
    287. 

  287. 			<HomingSpeedEncoderIndex>50</HomingSpeedEncoderIndex>
    288. 

  288. 			<HomingAccelDecel>5000</HomingAccelDecel>
    289. 

  289. 			<HomingTimeOut>25000</HomingTimeOut>
    290. 

  290. 			<ProportionalGain>0</ProportionalGain>
    291. 

  291. 			<IntegralGain>0</IntegralGain>
    292. 

  292. 			<DerivativeGain>0</DerivativeGain>
    293. 

  293. 			<IntegralLimit>0</IntegralLimit>
    294. 

  294. 			<ErrorLimit>200</ErrorLimit>
    295. 

  295. 			<VoltageOffset>0</VoltageOffset>
    296. 

  296. 			<ReverseSoftwareLimit>-10000000</ReverseSoftwareLimit>
    297. 

  297. 			<ForwardSoftwareLimit>10000000</ForwardSoftwareLimit>
    298. 

  298. 			<Speed>1000</Speed>
    299. 

  299. 			<Acceleration>5000</Acceleration>
    300. 

  300. 			<Deceleration>5000</Deceleration>
    301. 

  301. 			<FeedforwardVelocity>0</FeedforwardVelocity>
    302. 

  302. 			<FeedforwardAcceleration>0</FeedforwardAcceleration>
    303. 

  303. 			<OffOnError>1</OffOnError>
    304. 

  304. 		</Axis>
    305. 

  305. 		<!-- Copley XE2 2-Axis -->
    306. 

  306. 		<Axis Name="SRD1.Rotation" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1057" DebugLogging="false">
    307. 

  307. 			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_StatusWord" Type="StatusWord" DataType="uint"/>
    308. 

  308. 			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
    309. 

  309. 			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
    310. 

  310. 			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
    311. 

  311. 			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
    312. 

  312. 			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ActualFollowingError" Type="PositionError" DataType="dint"/>
    313. 

  313. 			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
    314. 

  314. 			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ActualTorque" Type="ActualTorque" DataType="short"/>
    315. 

  315. 			<Input Address="Task 3.Outputs.c_SRD1_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
    316. 

  316. 			<Input Address="Task 3.Outputs.c_SRD1_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
    317. 

  317. 			<Input Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
    318. 

  318. 			<Input Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
    319. 

  319. 			<Input Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
    320. 

  320. 			<Input Address="0x2253:00" Type="SoftwareLimitDecel" DataType="udint"/>
    321. 

  321. 			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    322. 

  322. 			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    323. 

  323. 			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    324. 

  324. 			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    325. 

  325. 			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    326. 

  326. 			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    327. 

  327. 			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    328. 

  328. 			<Input Address="0x2353:00" Type="HomeAdjustment" DataType="dint"/>
    329. 

  329. 			<Input Address="0x2110:00" Type="PeakCurrentLimit" DataType="int"/>
    330. 

  330. 			<Input Address="0x2111:00" Type="ContinuousCurrentLimit" DataType="int"/>
    331. 

  331. 			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
    332. 

  332. 			<Input Address="0x2103:00" Type="VelocityLimit" DataType="udint"/>
    333. 

  333. 			<Input Address="0x6067:00" Type="PositionWindow" DataType="udint"/>
    334. 

  334. 			<Input Address="0x2120:00" Type="FollowingErrorWindow" DataType="udint"/>
    335. 

  335. 

  336. 			<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
    337. 

  337. 			<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
    338. 

  338. 			<Output Address="Task 3.Outputs.c_SRD1_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
    339. 

  339. 			<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
    340. 

  340. 			<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
    341. 

  341. 			<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
    342. 

  342. 			<Output Address="0x2253:00" Type="SoftwareLimitDecel" DataType="udint"/>
    343. 

  343. 			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    344. 

  344. 			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    345. 

  345. 			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    346. 

  346. 			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    347. 

  347. 			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    348. 

  348. 			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    349. 

  349. 			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    350. 

  350. 

  351. 			<!-- 58.822222 counts/deg -->
    352. 

  352. 			<MotorType>Servo</MotorType>
    353. 

  353. 			<MotorDriveDirection>-1</MotorDriveDirection>
    354. 

  354. 			<!-- +1 = Forward and -1 = Backward-->
    355. 

  355. 			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
    356. 

  356. 			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
    357. 

  357. 			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
    358. 

  358. 			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
    359. 

  359. 			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
    360. 

  360. 			<!-- Positive to Index -->
    361. 

  361. 			<HomingMethod>34</HomingMethod>
    362. 

  362. 			<HomingOffset>0</HomingOffset>
    363. 

  363. 			<HomingSpeedHomeSwitch>2500</HomingSpeedHomeSwitch>
    364. 

  364. 			<HomingSpeedEncoderIndex>2500</HomingSpeedEncoderIndex>
    365. 

  365. 			<HomingAccelDecel>420000</HomingAccelDecel>
    366. 

  366. 			<HomingTimeOut>15000</HomingTimeOut>
    367. 

  367. 			<ProportionalGain>0</ProportionalGain>
    368. 

  368. 			<IntegralGain>0</IntegralGain>
    369. 

  369. 			<DerivativeGain>0</DerivativeGain>
    370. 

  370. 			<IntegralLimit>0</IntegralLimit>
    371. 

  371. 			<ErrorLimit>2000</ErrorLimit>
    372. 

  372. 			<VoltageOffset>0</VoltageOffset>
    373. 

  373. 			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
    374. 

  374. 			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
    375. 

  375. 			<Speed>529400</Speed>
    376. 

  376. 			<Acceleration>84000</Acceleration>
    377. 

  377. 			<Deceleration>84000</Deceleration>
    378. 

  378. 			<FeedforwardVelocity>0</FeedforwardVelocity>
    379. 

  379. 			<FeedforwardAcceleration>0</FeedforwardAcceleration>
    380. 

  380. 			<OffOnError>1</OffOnError>
    381. 

  381. 		</Axis>
    382. 

  382. 

  383. 		<!-- Maxon EPOS2 -->
    384. 

  384. 		<!-- position is in counts, speed is in rpm:  counts/sec * 60 sec/min / (512 * 4 counts/rev) = 0.0293 rev/min (rpm) -->
    385. 

  385. 		<Axis Name="SRD2.Arm" MotorType="Maxon" SpeedConversion="0.0293" COEAddress="169.254.167.184.3.1" COEPort="4098" DebugLogging="false">
    386. 

  386. 			<Input Address="Task 3.Inputs.r_SRD2_ARM_StatusWord" Type="StatusWord" DataType="uint"/>
    387. 

  387. 			<!--DigitalInputs may be used someday in PDO instead of ModeOfOperationDisplay/-->
    388. 

  388. 			<!--Input Address="Task 3.Inputs.r_SRD2_ARM_DigitalInputs" Type="DigitalInputs" DataType="uint"/-->
    389. 

  389. 			<Input Address="Task 3.Inputs.r_SRD2_ARM_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
    390. 

  390. 			<Input Address="Task 3.Inputs.r_SRD2_ARM_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
    391. 

  391. 			<Input Address="Task 3.Outputs.c_SRD2_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
    392. 

  392. 			<Input Address="Task 3.Outputs.c_SRD2_ARM_TargetPosition" Type="TargetPosition" DataType="dint"/>
    393. 

  393. 			<Input Address="0x6081:00" Type="ProfileVelocity" DataType="dint"/>
    394. 

  394. 			<Input Address="0x6083:00" Type="ProfileAccel" DataType="dint"/>
    395. 

  395. 			<Input Address="0x6084:00" Type="ProfileDecel" DataType="dint"/>
    396. 

  396. 			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    397. 

  397. 			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    398. 

  398. 			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    399. 

  399. 			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    400. 

  400. 			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    401. 

  401. 			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    402. 

  402. 			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    403. 

  403. 			<Input Address="0x6410:02" Type="PeakCurrentLimit" DataType="uint"/>
    404. 

  404. 			<Input Address="0x6410:01" Type="ContinuousCurrentLimit" DataType="uint"/>
    405. 

  405. 			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
    406. 

  406. 			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
    407. 

  407. 			<Input Address="0x60C5:00" Type="AccelerationLimit" DataType="udint"/>
    408. 

  408. 			<Input Address="0x2082:00" Type="HomeAdjustment" DataType="dint"/>
    409. 

  409. 			<Input Address="0x1001:00" Type="ErrorRegister" DataType="usint"/>
    410. 

  410. 			<Input Address="0x1003:00" Type="ErrorHistoryCount" DataType="usint"/>
    411. 

  411. 			<Input Address="0x1003:01" Type="ErrorHistory1" DataType="udint"/>
    412. 

  412. 			<!--Input Address="0x1003:02" Type="ErrorHistory2" DataType="udint"/>
    413. 

  413.       <Input Address="0x1003:03" Type="ErrorHistory3" DataType="udint"/>
    414. 

  414.       <Input Address="0x1003:04" Type="ErrorHistory4" DataType="udint"/>
    415. 

  415.       <Input Address="0x1003:05" Type="ErrorHistory5" DataType="udint"/-->
    416. 

  416. 

  417. 			<Output Address="Task 3.Outputs.c_SRD2_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
    418. 

  418. 			<Output Address="Task 3.Outputs.c_SRD2_ARM_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
    419. 

  419. 			<Output Address="Task 3.Outputs.c_SRD2_ARM_TargetPosition" Type="TargetPosition" DataType="dint"/>
    420. 

  420. 			<Output Address="0x6081:00" Type="ProfileVelocity" DataType="dint"/>
    421. 

  421. 			<Output Address="0x6083:00" Type="ProfileAccel" DataType="dint"/>
    422. 

  422. 			<Output Address="0x6084:00" Type="ProfileDecel" DataType="dint"/>
    423. 

  423. 			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    424. 

  424. 			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    425. 

  425. 			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    426. 

  426. 			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    427. 

  427. 			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    428. 

  428. 			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    429. 

  429. 			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    430. 

  430. 			<Output Address="0x6410:02" Type="PeakCurrentLimit" DataType="uint"/>
    431. 

  431. 			<Output Address="0x6410:01" Type="ContinuousCurrentLimit" DataType="uint"/>
    432. 

  432. 			<!--MiscConfig may be used someday if want to reverse direction of motion/-->
    433. 

  433. 			<!--Output Address="0x2008:00" Type="MiscConfig" DataType="uint"/-->
    434. 

  434. 

  435. 			<!-- 2184.533333 counts/degree -->
    436. 

  436. 			<MotorType>Servo</MotorType>
    437. 

  437. 			<MotorDriveDirection>-1</MotorDriveDirection>
    438. 

  438. 			<!-- +1 = Forward and -1 = Backward-->
    439. 

  439. 			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
    440. 

  440. 			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
    441. 

  441. 			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
    442. 

  442. 			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
    443. 

  443. 			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
    444. 

  444. 			<!-- Negative to Home Switch -->
    445. 

  445. 			<!--HomingMethod>21</HomingMethod-->
    446. 

  446. 			<!-- Positive to Home Switch -->
    447. 

  447. 			<HomingMethod>23</HomingMethod>
    448. 

  448. 			<HomingOffset>0</HomingOffset>
    449. 

  449. 			<HomingSpeedHomeSwitch>200</HomingSpeedHomeSwitch>
    450. 

  450. 			<HomingSpeedEncoderIndex>50</HomingSpeedEncoderIndex>
    451. 

  451. 			<HomingAccelDecel>5000</HomingAccelDecel>
    452. 

  452. 			<HomingTimeOut>25000</HomingTimeOut>
    453. 

  453. 			<ProportionalGain>0</ProportionalGain>
    454. 

  454. 			<IntegralGain>0</IntegralGain>
    455. 

  455. 			<DerivativeGain>0</DerivativeGain>
    456. 

  456. 			<IntegralLimit>0</IntegralLimit>
    457. 

  457. 			<ErrorLimit>200</ErrorLimit>
    458. 

  458. 			<VoltageOffset>0</VoltageOffset>
    459. 

  459. 			<ReverseSoftwareLimit>-10000000</ReverseSoftwareLimit>
    460. 

  460. 			<ForwardSoftwareLimit>10000000</ForwardSoftwareLimit>
    461. 

  461. 			<Speed>1000</Speed>
    462. 

  462. 			<Acceleration>5000</Acceleration>
    463. 

  463. 			<Deceleration>5000</Deceleration>
    464. 

  464. 			<FeedforwardVelocity>0</FeedforwardVelocity>
    465. 

  465. 			<FeedforwardAcceleration>0</FeedforwardAcceleration>
    466. 

  466. 			<OffOnError>1</OffOnError>
    467. 

  467. 		</Axis>
    468. 

  468. 		<!-- Copley XE2 2-Axis -->
    469. 

  469. 		<Axis Name="SRD2.Rotation" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1057" DebugLogging="false">
    470. 

  470. 			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_StatusWord" Type="StatusWord" DataType="uint"/>
    471. 

  471. 			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
    472. 

  472. 			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
    473. 

  473. 			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
    474. 

  474. 			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
    475. 

  475. 			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ActualFollowingError" Type="PositionError" DataType="dint"/>
    476. 

  476. 			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
    477. 

  477. 			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ActualTorque" Type="ActualTorque" DataType="short"/>
    478. 

  478. 			<Input Address="Task 3.Outputs.c_SRD2_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
    479. 

  479. 			<Input Address="Task 3.Outputs.c_SRD2_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
    480. 

  480. 			<Input Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
    481. 

  481. 			<Input Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
    482. 

  482. 			<Input Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
    483. 

  483. 			<Input Address="0x2A53:00" Type="SoftwareLimitDecel" DataType="udint"/>
    484. 

  484. 			<Input Address="0x687D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    485. 

  485. 			<Input Address="0x687D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    486. 

  486. 			<Input Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
    487. 

  487. 			<Input Address="0x687C:00" Type="HomeOffset" DataType="dint"/>
    488. 

  488. 			<Input Address="0x6899:01" Type="HomingVelocity" DataType="dint"/>
    489. 

  489. 			<Input Address="0x6899:02" Type="HomingVelocitySlow" DataType="dint"/>
    490. 

  490. 			<Input Address="0x689A:00" Type="HomingAccel" DataType="dint"/>
    491. 

  491. 			<Input Address="0x2B53:00" Type="HomeAdjustment" DataType="dint"/>
    492. 

  492. 			<Input Address="0x2910:00" Type="PeakCurrentLimit" DataType="int"/>
    493. 

  493. 			<Input Address="0x2911:00" Type="ContinuousCurrentLimit" DataType="int"/>
    494. 

  494. 			<Input Address="0x6885:00" Type="EStopDecel" DataType="udint"/>
    495. 

  495. 			<Input Address="0x2903:00" Type="VelocityLimit" DataType="udint"/>
    496. 

  496. 			<Input Address="0x6867:00" Type="PositionWindow" DataType="udint"/>
    497. 

  497. 			<Input Address="0x2920:00" Type="FollowingErrorWindow" DataType="udint"/>
    498. 

  498. 

  499. 			<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
    500. 

  500. 			<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
    501. 

  501. 			<Output Address="Task 3.Outputs.c_SRD2_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
    502. 

  502. 			<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
    503. 

  503. 			<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
    504. 

  504. 			<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
    505. 

  505. 			<Output Address="0x2A53:00" Type="SoftwareLimitDecel" DataType="udint"/>
    506. 

  506. 			<Output Address="0x687D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    507. 

  507. 			<Output Address="0x687D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    508. 

  508. 			<Output Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
    509. 

  509. 			<Output Address="0x687C:00" Type="HomeOffset" DataType="dint"/>
    510. 

  510. 			<Output Address="0x6899:01" Type="HomingVelocity" DataType="dint"/>
    511. 

  511. 			<Output Address="0x6899:02" Type="HomingVelocitySlow" DataType="dint"/>
    512. 

  512. 			<Output Address="0x689A:00" Type="HomingAccel" DataType="dint"/>
    513. 

  513. 

  514. 			<!-- 58.822222 counts/deg -->
    515. 

  515. 			<MotorType>Servo</MotorType>
    516. 

  516. 			<MotorDriveDirection>-1</MotorDriveDirection>
    517. 

  517. 			<!-- +1 = Forward and -1 = Backward-->
    518. 

  518. 			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
    519. 

  519. 			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
    520. 

  520. 			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
    521. 

  521. 			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
    522. 

  522. 			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
    523. 

  523. 			<!-- Positive to Index -->
    524. 

  524. 			<HomingMethod>34</HomingMethod>
    525. 

  525. 			<HomingOffset>0</HomingOffset>
    526. 

  526. 			<HomingSpeedHomeSwitch>2500</HomingSpeedHomeSwitch>
    527. 

  527. 			<HomingSpeedEncoderIndex>2500</HomingSpeedEncoderIndex>
    528. 

  528. 			<HomingAccelDecel>420000</HomingAccelDecel>
    529. 

  529. 			<HomingTimeOut>15000</HomingTimeOut>
    530. 

  530. 			<ProportionalGain>0</ProportionalGain>
    531. 

  531. 			<IntegralGain>0</IntegralGain>
    532. 

  532. 			<DerivativeGain>0</DerivativeGain>
    533. 

  533. 			<IntegralLimit>0</IntegralLimit>
    534. 

  534. 			<ErrorLimit>2000</ErrorLimit>
    535. 

  535. 			<VoltageOffset>0</VoltageOffset>
    536. 

  536. 			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
    537. 

  537. 			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
    538. 

  538. 			<Speed>529400</Speed>
    539. 

  539. 			<Acceleration>84000</Acceleration>
    540. 

  540. 			<Deceleration>84000</Deceleration>
    541. 

  541. 			<FeedforwardVelocity>0</FeedforwardVelocity>
    542. 

  542. 			<FeedforwardAcceleration>0</FeedforwardAcceleration>
    543. 

  543. 			<OffOnError>1</OffOnError>
    544. 

  544. 		</Axis>
    545. 

  545. 		
    546. 

  546. 		<!-- SRD AXES END -->
    547. 

  547. 	</Controller>
    548. 

  548. </BeckhoffCfg>
    549. 

  549.