CyberX8/CyberX8_RT/Config/Devices/Beckhoffcfg - original.xml

<?xml version="1.0" encoding="utf-8"?>
<BeckhoffCfg>
	<!--Controller Name="MASTER" IPAddress="169.254.156.244.3.1" PortAddress="301"-->
	<Controller Name="MASTER" IPAddress="" PortAddress="301">

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

		<!-- All inputs first, then all outputs -->

		<!--////////////////////////////////////////////////// ALL INPUTS START //////////////////////////////////////////////////-->

		<!-- Safety inputs start -->

		<Input Name="r_EtherCat_State" Address="Cyclic 2ms.Inputs.EtherCAT_State" Invert="false" Type="Integer" Scaling="0=0,1=1" DataType="short"/>
		<Input Name="r_EtherCat_State_Loader" Address="Cyclic 2ms.Inputs.EtherCAT_State_Loader" Invert="false" Type="Integer" Scaling="0=0,1=1" DataType="short"/>
		<Input Name="r_EtherCat_State_LdrTxIO" Address="Cyclic 2ms.Inputs.EtherCAT_State_LdrTxIO" Invert="false" Type="Integer" Scaling="0=0,1=1" DataType="short"/>
		<Input Name="r_EtherCat_State_PrcTxIO" Address="Cyclic 2ms.Inputs.EtherCAT_State_PrcTxIO" Invert="false" Type="Integer" Scaling="0=0,1=1" DataType="short"/>
		<Input Name="r_EtherCat_State_Transporter" Address="Cyclic 2ms.Inputs.EtherCAT_State_Transporter" Invert="false" Type="Integer" Scaling="0=0,1=1" DataType="short"/>
		<Input Name="r_EtherCat_State_Puf" Address="Cyclic 2ms.Inputs.EtherCAT_State_Puf" Invert="false" Type="Integer" Scaling="0=0,1=1" DataType="short"/>
		<Input Name="r_EtherCat_State_Srd" Address="Cyclic 2ms.Inputs.EtherCAT_State_Srd" Invert="false" Type="Integer" Scaling="0=0,1=1" DataType="short"/>
		<Input Name="r_EtherCat_State_Reservoir1" Address="Cyclic 2ms.Inputs.EtherCAT_State_Reservoir1and2" Invert="false" Type="Integer" Scaling="0=0,1=1" DataType="short"/>
		<Input Name="r_EtherCat_State_Reservoir2" Address="Cyclic 2ms.Inputs.EtherCAT_State_Reservoir4" Invert="false" Type="Integer" Scaling="0=0,1=1" DataType="short"/>
		<Input Name="r_EtherCat_State_FFU" Address="Cyclic 2ms.Inputs.EtherCAT_State_FFU" Invert="false" Type="Integer" Scaling="0=0,1=1" DataType="short"/>

		<Input Name="r_Safety_ComErr" Address="Cyclic 2ms.Inputs.Safety_ComErr" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_ComErr_LdrPuf" Address="Cyclic 2ms.Inputs.Safety_ComErr_LdrPuf" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_ComErr_Srd" Address="Cyclic 2ms.Inputs.Safety_ComErr_Srd" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_ComErr_Transp" Address="Cyclic 2ms.Inputs.Safety_ComErr_Transp" Invert="false" Type="Digital" DataType="bool"/>

		<Input Name="r_Safety_FbErr" Address="Cyclic 2ms.Inputs.Safety_FbErr" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_FbErr_LdrPuf" Address="Cyclic 2ms.Inputs.Safety_FbErr_LdrPuf" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_FbErr_Srd" Address="Cyclic 2ms.Inputs.Safety_FbErr_Srd" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_FbErr_Transp" Address="Cyclic 2ms.Inputs.Safety_FbErr_Transp" Invert="false" Type="Digital" DataType="bool"/>

		<Input Name="r_LDR_Door_Locked" Address="Cyclic 2ms.Inputs.Safety_rLoaderDoorLocked" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_BFFR_Door_Locked" Address="Cyclic 2ms.Inputs.Safety_rBufferDoorLocked" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LWR_LDR_PNL_REMOVED" Address="Cyclic 2ms.Inputs.Safety_rLowerLoaderPanelRemoved" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_XPRTR_LDR_PNL_REMOVED" Address="Cyclic 2ms.Inputs.Safety_rTxLoaderPanelRemoved" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_TOP_PNL_REMOVED" Address="Cyclic 2ms.Inputs.Safety_rSrdTopPanelRemoved" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_XPRTR_BFFR_PNL_REMOVED" Address="Cyclic 2ms.Inputs.Safety_rTxBufferPanelRemoved" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_LWR_PNL_REMOVED" Address="Cyclic 2ms.Inputs.Safety_rSrdLowerPanelRemoved" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_LWR_PNL_REMOVED" Address="Cyclic 2ms.Inputs.Safety_rSrdLowerPanelRemoved" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_HALT_LDR_SECTION" Address="Cyclic 2ms.Inputs.Safety_rHaltButtonLoaderSection" Invert="true" Type="Digital" DataType="bool"/>

		<Input Name="r_Loader_Zone_Safe_STO" Address="Cyclic 2ms.Inputs.Safety_rLoaderZoneSafeSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Rotate_AMP_SLS" Address="Cyclic 2ms.Inputs.Safety_rLoaderRotateAmpSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Door_A_AMP_SLS" Address="Cyclic 2ms.Inputs.Safety_rLoaderDoorAAmpSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Door_B_AMP_SLS" Address="Cyclic 2ms.Inputs.Safety_rLoaderDoorBAmpSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SUP_A_AMP_SLS" Address="Cyclic 2ms.Inputs.Safety_rLoaderSupAAmpSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SUP_B_AMP_SLS" Address="Cyclic 2ms.Inputs.Safety_rLoaderSupBAmpSLS" Invert="false" Type="Digital" DataType="bool"/>

		<Input Name="r_DPUF_VERT_SAFE_STO" Address="Cyclic 2ms.Inputs.Safety_rDpufVertSafeSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_A_VERT_SAFE_SLS" Address="Cyclic 2ms.Inputs.Safety_rDpufAVertSafeSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_B_VERT_SAFE_SLS" Address="Cyclic 2ms.Inputs.Safety_rDpufBVertSafeSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_A_PIVSUP_STO" Address="Cyclic 2ms.Inputs.Safety_rDpufAPivSupSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_B_PIVSUP_STO" Address="Cyclic 2ms.Inputs.Safety_rDpufBPivSupSTO" Invert="false" Type="Digital" DataType="bool"/>

		<Input Name="r_SRD_WASH_ARMS_STO" Address="Cyclic 2ms.Inputs.Safety_rSrdWashArmsSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_ROTATE_STO" Address="Cyclic 2ms.Inputs.Safety_rSrdRotateSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_EBR_WANDS_STO" Address="Cyclic 2ms.Inputs.Safety_rSrdEbrWandsSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_EBR_PUMPS_STO" Address="Cyclic 2ms.Inputs.Safety_rSrdEbrPumpsSTO" Invert="false" Type="Digital" DataType="bool"/>

		<Input Name="r_Gantry_Zone_Safe_STO" Address="Cyclic 2ms.Inputs.Safety_rGantryZoneSafeSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_SLS_1" Address="Cyclic 2ms.Inputs.Safety_rGantryZoneSafeSLS1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_SLS_2" Address="Cyclic 2ms.Inputs.Safety_rGantryZoneSafeSLS2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_SLS_3" Address="Cyclic 2ms.Inputs.Safety_rGantryZoneSafeSLS3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_SLS_4" Address="Cyclic 2ms.Inputs.Safety_rGantryZoneSafeSLS4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="c_Gantry_Zone_Safe_STO" Address="Cyclic 2ms.Inputs.Safety_rGantryZoneSafeNoSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="c_Gantry_Zone_Safe_SLS" Address="Cyclic 2ms.Inputs.Safety_rAllNoSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_MODE_SELECTOR_SWITCH" Address="Cyclic 2ms.Inputs.Safety_rModeSelectorSwitch" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_PUMP_EDM" Address="Cyclic 2ms.Inputs.Safety_rPumpEDM" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_RES_HIGH_LEVEL" Address="Cyclic 2ms.Inputs.Safety_rResHighLevel" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PUMP_DOORS_SUSPEND" Address="Cyclic 2ms.Inputs.Safety_rPumpDoorsSuspend" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_EXT_FLUID_ENABLE_EDM" Address="Cyclic 2ms.Inputs.Safety_rExtFluidEnableEDM" Invert="true" Type="Digital" DataType="bool"/>

		<Input Name="r_VPW_LID_INTLK" Address="Cyclic 2ms.Inputs.Safety_rProcDoor1SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOOR_1_SAFE_LOCK" Address="Cyclic 2ms.Inputs.Safety_rProcDoor1SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOOR_2_SAFE_LOCK" Address="Cyclic 2ms.Inputs.Safety_rProcDoor2SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOOR_3_SAFE_LOCK" Address="Cyclic 2ms.Inputs.Safety_rProcDoor3SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOOR_4_SAFE_LOCK" Address="Cyclic 2ms.Inputs.Safety_rProcDoor4SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PLUMBING_DOORS_CLOSED" Address="Cyclic 2ms.Inputs.Safety_rPlumbingDoorsClosed" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOORS_UPPR_PNLS_ON" Address="Cyclic 2ms.Inputs.Safety_rProcDoorsUpperPanelsOn" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROCESS_HALT_BUTTON_1" Address="Cyclic 2ms.Inputs.Safety_rProcessHaltButton1" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_PROCESS_HALT_BUTTON_2" Address="Cyclic 2ms.Inputs.Safety_rProcessHaltButton2" Invert="true" Type="Digital" DataType="bool"/>

		<Input Name="c_Loader_Zone_Safe_STO" Address="Cyclic 2ms.Inputs.Safety_rLoaderPufZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="c_Loader_Zone_Safe_SLS" Address="Cyclic 2ms.Inputs.Safety_rAllNoSLS" Type="Digital" DataType="bool"/>

		<Input Name="c_DPUF_VERT_SAFE_STO" Address="Cyclic 2ms.Inputs.Safety_rLoaderPufZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="c_DPUF_VERT_SAFE_SLS" Address="Cyclic 2ms.Inputs.Safety_rAllNoSLS" Type="Digital" DataType="bool"/>
		<Input Name="c_DPUF_A_PIVSUP_STO" Address="Cyclic 2ms.Inputs.Safety_rLoaderPufZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="c_DPUF_B_PIVSUP_STO" Address="Cyclic 2ms.Inputs.Safety_rLoaderPufZoneSafeNoSTO" Type="Digital" DataType="bool"/>

		<Input Name="c_SRD_WASH_STO" Address="Cyclic 2ms.Inputs.Safety_rSdrZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="c_SRD_ROTATE_STO" Address="Cyclic 2ms.Inputs.Safety_rSdrZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="c_SRD_EBR_STO" Address="Cyclic 2ms.Inputs.Safety_rSdrZoneSafeNoSTO" Type="Digital" DataType="bool"/>

		<!-- Safety inputs end -->

		<!-- TRANSPORTER INPUTS BEGIN -->
		<!-- PROCESS TRANSPORTER BEGIN-->
		<!-- N203, EL1872 -->
		<Input Name="r_ENCLOSED_TRANSPORT_WH_UNLOCKED_1" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_1" Invert="false" Type="Digital" DataType="bool"/> <!-- -->
		<Input Name="r_ENCLOSED_TRANSPORT_WH_LOCKED_2" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_LOCKED_1" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_UNLOCKED_2" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_IMMOBILIZER1_RETRACTED" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_IMMOBILIZER1_EXTENDED" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_IMMOBILIZER2_EXTENDED" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_IMMOBILIZER2_RETRACTED" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_DRIP_TRAY_OPEN" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_DRIP_TRAY_CLOSED" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_READY_TO_LOCK_1" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_READY_TO_LOCK_2" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_12" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_PRESENT_1" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_13" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN1_14" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_14" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_PRESENT_2" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_15" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_N203_16" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_16" Invert="false" Type="Digital" DataType="bool"/>

		<!-- N208, EL1872 -->
		<Input Name="r_ENCLOSED_TRANSPORT_DRIP_TRAY_TILTED" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_DRIP_TRAY_HORIZ" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_N2_PRESSURE_OK" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_4" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_5" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_6" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_7" ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_8"  ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_9"  ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_10"  ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_11"  ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_12"  ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_12" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_13"  ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_13" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_14"  ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_14" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_15"  ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_15" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_16"  ModuleName="ProcessTransporter" Address="Cyclic 2ms.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N204_16" Invert="false" Type="Digital" DataType="bool"/>
		<!-- PROCESS TRANSPORTER END -->

		<!-- LOADER TRANSPORTER BEGIN -->
		<!-- N153, EL1872 -->
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_UNLOCKED_1"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_LOCKED_2"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_LOCKED_1"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_UNLOCKED_2"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_IMMOBILIZER1_RETRACTED"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_IMMOBILIZER1_EXTENDED"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_IMMOBILIZER2_EXTENDED"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_IMMOBILIZER2_RETRACTED"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_DRIP_TRAY_OPEN"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_DRIP_TRAY_CLOSED"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_READY_TO_LOCK_1"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_READY_TO_LOCK_2"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_12" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_PRESENT_1"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_13" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN1_14"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_14" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_PRESENT_2"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_15" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN1_16"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_16" Invert="false" Type="Digital" DataType="bool"/>

		<!-- N154, EL1872 -->
		<Input Name="r_ENCLOSED_TRANSPORT2_DRIP_TRAY_TILTED"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_DRIP_TRAY_HORIZ"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_N2_PRESSURE_OK"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_4"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_5"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_6"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_7"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_8"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_9"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_10"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_11"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_12"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_12" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_13"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_13" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_14"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_14" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_15"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_15" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ProcessTransporter_DIN2_16"  ModuleName="LoaderTransporter" Address="Cyclic 2ms.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N154_16" Invert="false" Type="Digital" DataType="bool"/>
		<!-- LOADER TRANSPORTER END -->
		<!-- TRANSPORTER INPUTS END -->

		<!-- FFU Inputs Start -->
		<Input Name="r_FFUFaultLoader"   ModuleName="FFU" Address="Cyclic 2ms.Inputs.FFU_IO_DI_2CHANNEL_EL1002_N1_1" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_FFUFaultProcess"  ModuleName="FFU" Address="Cyclic 2ms.Inputs.FFU_IO_DI_2CHANNEL_EL1002_N1_2" Invert="true" Type="Digital" DataType="bool"/>

		<Input Name="r_FFUPressureLoader"  ModuleName="FFU" Address="Cyclic 2ms.Inputs.FFU_IO_AI_2CHANNEL_EL3052_N3_1" Scaling="0=0, 1=32767" Type="Analog" DataType="double"/>
		<Input Name="r_FFUPressureProcess"  ModuleName="FFU" Address="Cyclic 2ms.Inputs.FFU_IO_AI_2CHANNEL_EL3052_N3_2" Scaling="0=0, 1=32767" Type="Analog" DataType="double"/>
		<!-- FFU Inputs End-->

		<!-- N251, EL3068 -->
		<!-- Vacuum sensors are 1 to 5V = 0 to -101mPA = 0 to -757mmHg, module is 0-10V-->
		<Input Name="r_OBC1_EXHAUST_PRESSURE" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N251_1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_HVD_2_ANALOG" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N251_2" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_HVD_1_ANALOG" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N251_3" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_DPUF_A_CHUCK_A_VAC"  ModuleName="PUF1" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N251_4" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_DPUF_A_CHUCK_B_VAC"  ModuleName="PUF1" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N251_5" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_DPUF_A_CHUCK_A_WAFER_DIST"  ModuleName="PUF1" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N251_6" Scaling="0=0,100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_DPUF_A_CHUCK_B_WAFER_DIST"  ModuleName="PUF1" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N251_7" Scaling="0=0,100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_DPUF_B_CHUCK_A_VAC"  ModuleName="PUF2" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N251_8" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>
		
		<!-- N252, EL3068 -->
		<Input Name="r_DPUF_B_CHUCK_B_VAC"  ModuleName="PUF2" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N252_1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_DPUF_B_CHUCK_A_WAFER_DIST"  ModuleName="PUF2" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N252_2" Scaling="0=0,100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_DPUF_B_CHUCK_B_WAFER_DIST"  ModuleName="PUF2" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N252_3" Scaling="0=0,100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_N252_AI_4" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N252_4" Scaling="0=0,100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_DPUF_A_CHUCK_A_WFER_SNS_1"  ModuleName="PUF1" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N252_5" Scaling="0=0,100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_DPUF_A_CHUCK_A_WFER_SNS_2"  ModuleName="PUF1" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N252_6" Scaling="0=0,100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_DPUF_B_CHUCK_A_WFER_SNS_1"  ModuleName="PUF2" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N252_7" Scaling="0=0,100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_DPUF_B_CHUCK_A_WFER_SNS_2"  ModuleName="PUF2" Address="Cyclic 2ms.Inputs.PUF_AI_8CHANNEL_EL3068_N252_8" Scaling="0=0,100=32767" Type="Analog" DataType="double"/>


		<!-- PARALLEL LOADER INPUTS BEGIN -->
		<!-- N52, EL3068 -->
		<!-- Vacuum sensors are 1 to 5V = 0 to -101mPA = 0 to -757mmHg, module is 0-10V-->
		<Input Name="r_LOADERA_BERNOULLI_PRESSURE"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N52_1" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_LOADERB_BERNOULLI_PRESSURE"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N52_2" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_LoaderA_CRS_Vacuum_anlg"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N52_3" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_LoaderB_CRS_Vacuum_anlg"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N52_4" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_LOADER_GasFlowSensor_FLOW"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N52_5" Scaling="0=3370, 500=17000" Type="Analog" DataType="double"/>
		<Input Name="r_LOADER_GasFlowSensor_VACUUM"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N52_6" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_LOADER_TRANSLATION_PRESSURE_LOW"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N52_7" Scaling="0=0, 10=14909" Type="Analog" DataType="double"/>
		<Input Name="r_AI_EL3068_8"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N52_8" Scaling="0=0, 10=14909" Type="Analog" DataType="double"/>

		<!-- N53, EL3068 -->
		<!-- Vacuum sensors are 1 to 5V = 0 to -101mPA = 0 to -757mmHg, module is 0-10V-->
		<Input Name="r_LOADERA_WH_BLADDER_PRESSURE"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N53_1" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_LOADERB_WH_BLADDER_PRESSURE"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N53_2" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_LOADERA_TRANSLATION_PRESSURE"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N53_3" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_LOADERB_TRANSLATION_PRESSURE"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N53_4" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_LOADERA_CHUCK_BLADDER"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N53_5" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_LOADERB_CHUCK_BLADDER"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N53_6" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_CRS_A_WASH_VACUUM"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N53_7" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_CRS_B_WASH_VACUUM"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_8CHANNEL_0-10V_EL3068_N53_8" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>

		<!-- N54, EL1819 -->
		<Input Name="r_LoaderA_Wafer_Present"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LoaderB_Wafer_Present"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Cathode_Present"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_DOOR_UPPER_LOCKED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_DOOR_UPPER_LOCKED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_DOOR_UPPER_UNLOCKED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_DOOR_LOWER_LOCKED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_DOOR_UPPER_UNLOCKED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_DOOR_LOWER_LOCKED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_DOOR_LOWER_UNLOCKED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_DOOR_LOWER_UNLOCKED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_WASH_A_FLUID_DETECT"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_12" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_DRIP_TRAY_FLUID_DETECTION"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_13" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_WASH_B_FLUID_DETECT"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_14" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_CRSWASHBOX_FLUID_PRESENT"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_15" Invert="false" Type="Digital" DataType="Bool"/>
		<Input Name="r_N54_DI_16"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_16" Invert="false" Type="Digital" DataType="Bool"/>

		<!-- N55, EL1819 -->
		<Input Name="r_LOADERA_TRANSLATION_RETRACTED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_TRANSLATION_RETRACTED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_BERNOULLI_EXTENDED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_BERNOULLI_EXTENDED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_WH_LOCKED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_WH_LOCKED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_N55_DI_7"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_7" Invert="false" Type="Digital" DataType="Bool"/>
		<Input Name="r_N55_DI_8"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_8" Invert="false" Type="Digital" DataType="Bool"/>
		<Input Name="r_CRS_WASH_RETRACTED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_9" Type="Digital" DataType="bool"/>
		<Input Name="r_CRS_WASH_EXTENDED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_10" Type="Digital" DataType="bool"/>
		<Input Name="r_N55_DI_11"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_11" Invert="false" Type="Digital" DataType="Bool"/>
		<Input Name="r_N55_DI_12"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_12" Invert="false" Type="Digital" DataType="Bool"/>
		<Input Name="r_N55_DI_13"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_13" Invert="false" Type="Digital" DataType="Bool"/>
		<Input Name="r_N55_DI_14"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_14" Invert="false" Type="Digital" DataType="Bool"/>
		<Input Name="r_N55_DI_15"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_15" Invert="false" Type="Digital" DataType="Bool"/>
		<Input Name="r_N55_DI_16"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_16" Invert="false" Type="Digital" DataType="Bool"/>
		
		<!-- N57, EL3064 -->
		<!-- <Input Name="r_N57_AI_1" Address="Cyclic 2ms.Inputs.LOADER_AI_4CHANNEL_0-10V_EL3064_N57_1" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/> -->
		<!-- <Input Name="r_N57_AI_2" Address="Cyclic 2ms.Inputs.LOADER_AI_4CHANNEL_0-10V_EL3064_N57_2" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/> -->
		<!-- <Input Name="r_LOADER_TRANSLATION_PRESSURE_LOW" Address="Cyclic 2ms.Inputs.LOADER_AI_4CHANNEL_0-10V_EL3064_N57_3" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/> -->
		<!-- <Input Name="r_N57_AI_4" Address="Cyclic 2ms.Inputs.LOADER_AI_4CHANNEL_0-10V_EL3064_N57_4" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/> -->

		<!-- N58, EL3054 -->
		<Input Name="r_N58_AI_1"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_4CHANNEL_4-20mA_EL3054_N58_1" Scaling="0=0,100=32768" Type="Analog" DataType="double"/>
		<Input Name="r_N58_AI_2"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_4CHANNEL_4-20mA_EL3054_N58_2" Scaling="0=0,4=32767" Type="Analog" DataType="double"/>
		<Input Name="r_N58_AI_3"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_4CHANNEL_4-20mA_EL3054_N58_3" Scaling="0=0,4=32767" Type="Analog" DataType="double"/>
		<Input Name="r_N58_AI_4"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_AI_4CHANNEL_4-20mA_EL3054_N58_4" Scaling="0=0,4=32767" Type="Analog" DataType="double"/>
		
		<!-- N62, EL1512 -->
		<!-- Loader CRS Clean counter -->
		<Input Name="r_CRS_WASH_WATER_CNT_INHIBITED"  ModuleName="Loader" Address="Cyclic 2ms.Inputs.LOADER_CT_2CHANNEL_EL1512_N62_Counter_Inhibited" Invert="false" Type="Digital" DataType="bool"/>
		<!-- PARALLEL LOADER INPUTS END -->

		<!-- SRD INPUTS BEGIN -->
		<!-- N301, EL3064 -->
		<Input Name="r_SRD1_CHUCK_VACUUM_anlg"  ModuleName="SRD1" Address="Cyclic 2ms.Inputs.SRD_AI_4CHANNEL_0-10V_EL3064_N301_1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_SRD2_CHUCK_VACUUM_anlg"  ModuleName="SRD2" Address="Cyclic 2ms.Inputs.SRD_AI_4CHANNEL_0-10V_EL3064_N301_2" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_SRD1_WAFER_PRESENT_anlg"  ModuleName="SRD1" Address="Cyclic 2ms.Inputs.SRD_AI_4CHANNEL_0-10V_EL3064_N301_3" Scaling="0=0,100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_SRD2_WAFER_PRESENT_anlg"  ModuleName="SRD2" Address="Cyclic 2ms.Inputs.SRD_AI_4CHANNEL_0-10V_EL3064_N301_4" Scaling="0=0,100=32767" Type="Analog" DataType="double"/>
		
		<!-- N302, EL3054 -->
		<Input Name="r_SRD_WATER_FLOW" Address="Cyclic 2ms.Inputs.SRD_AI_4CHANNEL_4-20mA_EL3054_N302_1" Scaling="0=0,4=32767" Type="Analog" DataType="double"/>
		<Input Name="r_SRD_SUPPLY_WATER_PRESS" Address="Cyclic 2ms.Inputs.SRD_AI_4CHANNEL_4-20mA_EL3054_N302_2" Scaling="0=0,50=32767" Type="Analog" DataType="double"/>
		<Input Name="r_OBC1_PAD_PWET_PRESSURE" Address="Cyclic 2ms.Inputs.SRD_AI_4CHANNEL_4-20mA_EL3054_N302_3" Scaling="0=0,50=32767" Type="Analog" DataType="double"/>
		<Input Name="r_CRS_WASH_WATER_PRESSURE" Address="Cyclic 2ms.Inputs.SRD_AI_4CHANNEL_4-20mA_EL3054_N302_4" Scaling="0=0,50=32767" Type="Analog" DataType="double"/>
		
		<!-- N303, EL1819 -->
		<Input Name="r_SRD_FLUID_CONTAINMENT" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_1" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N303_2" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_2" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N303_3" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_3" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N303_4" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_4" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N303_5" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_5" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_SHUTTER_OPEN" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_SHUTTER_CLOSED" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N303_8" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_8" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N303_9" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_9" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N303_10" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_10" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N303_11" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_11" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N303_12" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_12" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N303_13" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_13" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N303_14" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_14" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N303_15" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_15" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N303_16" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N303_16" Type="Digital" DataType="bool"/>
		
		<!-- N304, EL1819 -->
		<Input Name="r_SRD_N304_1" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_1" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N304_2" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_2" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N304_3" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_3" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N304_4" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_4" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_SHUTTER_OPEN" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_SHUTTER_CLOSED" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N304_7" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_7" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N304_8" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_8" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N304_9" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_9" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N304_10" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_10" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_N304_11" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_11" Type="Digital" DataType="bool"/>
		<Input Name="r_PLATEOUT_HANDSHAKE_SYSTEM_ONLINE" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_12" Invert="false" Type="Digital" DataType="bool"/><!-- TEL Plate Out Detection -->
		<Input Name="r_PLATEOUT_HANDSHAKE_NOT_PLATED_OUT" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_13" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PLATEOUT_HANDSHAKE_PLATED_OUT" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_14" Invert="false" Type="Digital" DataType="bool"/>	
		<Input Name="r_CAMERA1_OUTPUT" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_15" Invert="false" Type="Digital" DataType="bool"/><!-- Customer Supplied Plate Out Detection -->
		<Input Name="r_SRD_N304_16" Address="Cyclic 2ms.Inputs.SRD_DI_16CHANNEL_EL1819_N304_16" Type="Digital" DataType="bool"/>
			
		<!-- SRD INPUTS END -->

		<!-- RESERVOIR 1 AND 2 INPUTS BEGIN -->
		<!-- N751, EL7031 -->
		<Input Name="c_RES1_AN_TRANSFER_PUMP.STMStatus" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_STP_EL7031_N751_STM_STATUS" Type="Integer" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="c_RES1_AN_TRANSFER_PUMP.POSStatus" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_STP_EL7031_N751_POS_STATUS" Type="Integer" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="c_RES1_AN_TRANSFER_PUMP.ActualPosition" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_STP_EL7031_N751_ACTUAL_POSITION" Type="Integer" Scaling="0=0,1=23809.96272" DataType="double"/>

		<!-- N752, EL7031 -->
		<Input Name="c_RES2_AN_TRANSFER_PUMP.STMStatus" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_STP_EL7031_N752_STM_STATUS" Type="Integer" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="c_RES2_AN_TRANSFER_PUMP.POSStatus" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_STP_EL7031_N752_POS_STATUS" Type="Integer" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="c_RES2_AN_TRANSFER_PUMP.ActualPosition" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_STP_EL7031_N752_ACTUAL_POSITION" Type="Integer" Scaling="0=0,1=23809.96272" DataType="double"/>

		<!-- N753, EL3058 -->
		<Input Name="r_RES1_CA_HED_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N753_1" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES2_CA_HED_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N753_2" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_CELL1_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N753_3" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_CELL2_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N753_4" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_CELL3_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N753_5" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_CELL4_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N753_6" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES1-2_N753_7" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N753_7" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_CELL5_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N753_8" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>

		<!-- N754, EL3058 -->
		<Input Name="r_CELL6_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N754_1" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_CELL7_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N754_2" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_CELL8_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N754_3" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES1-2_N754_4" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N754_4" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES1_CA_LEVEL_raw" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N754_5" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES2_CA_LEVEL_raw" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N754_6" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES1_AN_BYPASS_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N754_7" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES2_AN_BYPASS_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N754_8" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>

		<!-- N755, EL3058 -->
		<Input Name="r_RES1_AN_LEVEL_raw" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N755_1" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES2_AN_LEVEL_raw" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N755_2" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES1-2_N755_3" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N755_3" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES1-2_N755_4" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N755_4" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES1-2_N755_5" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N755_5" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES1-2_N755_6" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N755_6" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES1-2_N755_7" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N755_7" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES1-2_N755_8" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_AI_8CHANNEL_4-20MA_EL3058_N755_8" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>

		<!-- N759, EL1008 -->
		<Input Name="r_RES1_CA_PUMP_RUNNING" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_DI_8CHANNEL_EL1008_N759_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES2_CA_PUMP_RUNNING" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_DI_8CHANNEL_EL1008_N759_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES2_N759_3" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_DI_8CHANNEL_EL1008_N759_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES2_N759_4" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_DI_8CHANNEL_EL1008_N759_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES2_N759_5" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_DI_8CHANNEL_EL1008_N759_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES2_N759_6" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_DI_8CHANNEL_EL1008_N759_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES2_N759_7" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_DI_8CHANNEL_EL1008_N759_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES2_N759_8" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_DI_8CHANNEL_EL1008_N759_8" Invert="false" Type="Digital" DataType="bool"/>
		<!-- RESERVOIR 1 AND 2 INPUTS END -->

		<!-- RESERVOIR 4 INPUTS BEGIN -->
		<!-- N501, EL7031 -->
		<Input Name="c_RES4_AN_TRANSFER_PUMP.STMStatus" Address="Cyclic 2ms.Inputs.RESERVOIR4_STP_EL7031_N501_STM_STATUS" Type="Integer" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="c_RES4_AN_TRANSFER_PUMP.POSStatus" Address="Cyclic 2ms.Inputs.RESERVOIR4_STP_EL7031_N501_POS_STATUS" Type="Integer" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="c_RES4_AN_TRANSFER_PUMP.ActualPosition" Address="Cyclic 2ms.Inputs.RESERVOIR4_STP_EL7031_N501_ACTUAL_POSITION" Type="Integer" Scaling="0=0,1=23809.96272" DataType="dint"/>

		<!-- N502, EL3058 -->
		<Input Name="r_RES4_CA_LEVEL_raw" Address="Cyclic 2ms.Inputs.RESERVOIR4_AI_8CHANNEL_4-20mA_EL3058_N502_1" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES4_CA_HED_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_AI_8CHANNEL_4-20mA_EL3058_N502_2" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_CELL10_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_AI_8CHANNEL_4-20mA_EL3058_N502_3" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_CELL11_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_AI_8CHANNEL_4-20mA_EL3058_N502_4" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_CELL12_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_AI_8CHANNEL_4-20mA_EL3058_N502_5" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_CELL13_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_AI_8CHANNEL_4-20mA_EL3058_N502_6" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES4_N502_7" Address="Cyclic 2ms.Inputs.RESERVOIR4_AI_8CHANNEL_4-20mA_EL3058_N502_7" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES4_AN_LEVEL_raw" Address="Cyclic 2ms.Inputs.RESERVOIR4_AI_8CHANNEL_4-20mA_EL3058_N502_8" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>

		<!-- N503, EL3054 -->
		<Input Name="r_RES4_AN_BYPASS_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_AI_4CHANNEL_4-20mA_EL3054_N503_1" Scaling="0=0, 4=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES4_N503_2" Address="Cyclic 2ms.Inputs.RESERVOIR4_AI_4CHANNEL_4-20mA_EL3054_N503_2" Scaling="0=0, 4=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES4_N503_3" Address="Cyclic 2ms.Inputs.RESERVOIR4_AI_4CHANNEL_4-20mA_EL3054_N503_3" Scaling="0=0, 4=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES4_N503_4" Address="Cyclic 2ms.Inputs.RESERVOIR4_AI_4CHANNEL_4-20mA_EL3054_N503_4" Scaling="0=0, 4=32767" Type="Analog" DataType="double"/>

		<!-- N506, EL1008 -->
		<Input Name="r_RES4_N506_1" Address="Cyclic 2ms.Inputs.RESERVOIR4_DI_8CHANNEL_EL1008_N506_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES4_CA_PUMP_RUNNING" Address="Cyclic 2ms.Inputs.RESERVOIR4_DI_8CHANNEL_EL1008_N506_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES4_N506_3" Address="Cyclic 2ms.Inputs.RESERVOIR4_DI_8CHANNEL_EL1008_N506_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES4_N506_4" Address="Cyclic 2ms.Inputs.RESERVOIR4_DI_8CHANNEL_EL1008_N506_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES4_N506_5" Address="Cyclic 2ms.Inputs.RESERVOIR4_DI_8CHANNEL_EL1008_N506_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES4_N506_6" Address="Cyclic 2ms.Inputs.RESERVOIR4_DI_8CHANNEL_EL1008_N506_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES4_N506_7" Address="Cyclic 2ms.Inputs.RESERVOIR4_DI_8CHANNEL_EL1008_N506_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES4_N506_8" Address="Cyclic 2ms.Inputs.RESERVOIR4_DI_8CHANNEL_EL1008_N506_8" Invert="false" Type="Digital" DataType="bool"/>
		<!-- RESERVOIR 4 INPUTS END -->

		<!-- MAIN IO INPUTS BEGIN -->
		<!-- N11, EL3058 -->
		<Input Name="r_pH3" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N11_1" Scaling="0=0, 14=32767" Type="Analog" DataType="double"/>
		<Input Name="r_MAIN_IO_N11_AI_2" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N11_2" Scaling="0=0, 14=32767" Type="Analog" DataType="double"/>
		<Input Name="r_MAIN_IO_N11_AI_3" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N11_3" Scaling="0=0, 14=32767" Type="Analog" DataType="double"/>
		<Input Name="r_MAIN_IO_N11_AI_4" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N11_4" Scaling="0=0, 14=32767" Type="Analog" DataType="double"/>
		<Input Name="r_MAIN_IO_N11_AI_5" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N11_5" Scaling="0=0, 14=32767" Type="Analog" DataType="double"/>
		<Input Name="r_MAIN_IO_N11_AI_6" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N11_6" Scaling="0=0, 14=32767" Type="Analog" DataType="double"/>
		<Input Name="r_SPW1_LEV_PUMP_PRES" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N11_7" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_MAIN_IO_N11_AI_8" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N11_8" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>

		<!-- <Input Name="r_LEV_PUMP_PRESSURE" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N15_4" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/> -->
		<!-- <Input Name="r_LEV_PUMP_SPEED" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N15_5" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/> -->
		
		
		<!-- N12, EL3058 -->
		<Input Name="r_CHEM_EXH_PRESS" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N12_1" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_SYSTEM_EXHAUST" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N12_2" Scaling="0=0, 2=32767" Type="Analog" DataType="double"/>
		<Input Name="r_SPW1_LEV_PUMP_FLOW" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N12_3" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_DI_WATER_PRESSURE" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N12_4" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_PUMP9_FLOW" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N12_5" Scaling="0=0, 40=32767" Type="Analog" DataType="double"/>
		<Input Name="r_PUMP10_FLOW" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N12_6" Scaling="0=0, 40=32767" Type="Analog" DataType="double"/>
		<Input Name="r_N12_AI_7" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N12_7" Scaling="0=0, 40=32767" Type="Analog" DataType="double"/>
		<Input Name="r_N12_AI_8" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N12_8" Scaling="0=0, 40=32767" Type="Analog" DataType="double"/>

		
		
		
		<!-- N13, EL3058 -->
		<Input Name="r_QDRD1_WATER_LEVEL" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N13_1" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_QDRD2_WATER_LEVEL" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N13_2" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_QDRD3_WATER_LEVEL" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N13_3" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_QDRD4_WATER_LEVEL" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N13_4" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_HCW_FLOW" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N13_5" Scaling="0=0, 40=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES3_HED_FLOW" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N13_6" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_N13_AI_7" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N13_7" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_N13_AI_8" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N13_8" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>

		<!-- N14, EL3058 -->
		<Input Name="r_QDRD5_WATER_LEVEL" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N14_1" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_QDRD6_WATER_LEVEL" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N14_2" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_N14_AI_3" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N14_3" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_N14_AI_4" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N14_4" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES3_LEVEL_raw" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N14_5" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_N14_AI_6" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N14_6" Scaling="0=0, 100=32767" Type="Analog" DataType="double"/>
		<Input Name="r_RES3_CMM_FLOW" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N14_7" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_N14_AI_8" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_4-20mA_EL3058_N14_8" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		
		
		<!-- N15, EL3068 -->
		<Input Name="r_CDA_EXTERNAL_PRESSURE" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N15_1" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_CDA_HIGH_PRESSURE" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N15_2" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_CDA_LOW_PRESSURE" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N15_3" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="N15_AI_4" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N15_4" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="N15_AI_5" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N15_5" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_N2_1B_PRESSURE" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N15_6" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_N2_1A_PRESSURE" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N15_7" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_N2_2B_PRESSURE" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N15_8" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		
		<!-- N16, EL3068 -->
		<Input Name="r_N2_2A_PRESSURE" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N16_1" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_N2_BLANKET_PRESSURE" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N16_2" Scaling="-14.5=3276.7, 14.5=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_SYSTEM_VACUUM" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N16_3" Scaling="-750=3276.7, 750=16383.5" Type="Analog" DataType="double"/>
		<Input Name="r_SPW_DI_PRESS" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N16_4" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_VACPREW1_VAC_PUMP_PRESS" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N16_5" Scaling="760=3276.7, 0.526316=16055.83" Type="Analog" DataType="double" Clip="true"/>
		<Input Name="r_VACPREW1_CELL_PRESS" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N16_6" Scaling="760=3276.7, 0.526316=16055.83" Type="Analog" DataType="double" Clip="true"/>
		<Input Name="r_N16_AI_7" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N16_7" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>
		<Input Name="r_N16_AI_8" Address="Cyclic 2ms.Inputs.MAIN_IO_AI_8CHANNEL_0-10V_EL3068_N16_8" Scaling="0=0, 20=32767" Type="Analog" DataType="double"/>

		<!-- N21, EL1819 -->
		<Input Name="r_M3_REPLEN1_LEVEL" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_M3_REPLEN2_LEVEL" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_N21_DI_3" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_N21_DI_4" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ACT_UPPER_LVL" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ACT_LOWER_LVL" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_CONTAINMENT_FLUID" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DOOR_INLK_OK" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LEV_PUMP_ERROR" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SPW1_LEV_PUMP_STATUS" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LEV_PUMP_WARNING" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_REAR_DOOR_INTLK" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_12" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SAMPLE_SYS_FLUID_PRESENT_2" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_13" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SAMPLE_SYS_FLUID_PRESENT" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_14" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_N21_DI_15" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_15" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_N21_DI_16" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_16" Invert="false" Type="Digital" DataType="bool"/>

		<!-- N22, EL1819 -->
		<Input Name="r_N22_DI_1" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES3_LOW_LEVEL" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_2" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_N22_DI_3" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_N22_DI_4" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_4" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_N22_DI_5" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_N22_DI_6" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DI_EVAPORATOR_LEVEL" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SLIPSTREAM_FLUID_PRESENT" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_VACPREW1_WH_UP" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_VACPREW1_WH_DOWN" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_VACPREW1_LID_RETRACT" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_VACPREW1_LID_EXTEND" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_12" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_VACPREW1_LID_ROTATE_OPEN" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_13" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_VACPREW1_LID_ROTATE_CLOSE" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_14" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_VACPREW1_FULL" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_15" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_VACPREW1_FULL_HIGH" Address="Cyclic 2ms.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_16" Invert="true" Type="Digital" DataType="bool"/>
		<!-- MAIN IO INPUTS END -->

		<!--////////////////////////////////////////////////// ALL INPUTS END //////////////////////////////////////////////////-->

		<!--////////////////////////////////////////////////// ALL OUTPUTS BEGIN //////////////////////////////////////////////////-->

		<!-- Safety outputs start -->

		<Output Name="c_Safety_RunStop" Address="Cyclic 2ms.Outputs.Safety_RunStop" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_ErrAck" Address="Cyclic 2ms.Outputs.Safety_ErrAck" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_SLS_Restart" Address="Cyclic 2ms.Outputs.Safety_SLS_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_TX_STO_MON_Restart" Address="Cyclic 2ms.Outputs.Safety_TX_STO_MON_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_TX_STO1_ESTOP_Restart" Address="Cyclic 2ms.Outputs.Safety_TX_STO1_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_TX_STO2_ESTOP_Restart" Address="Cyclic 2ms.Outputs.Safety_TX_STO2_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_LDRPUF_STO_MON_Restart" Address="Cyclic 2ms.Outputs.Safety_LDRPUF_STO_MON_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_LDRPUF_STO1_ESTOP_Restart" Address="Cyclic 2ms.Outputs.Safety_LDRPUF_STO1_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_LDRPUF_STO2_ESTOP_Restart" Address="Cyclic 2ms.Outputs.Safety_LDRPUF_STO2_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_SRD_STO_ESTOP_Restart" Address="Cyclic 2ms.Outputs.Safety_SRD_STO_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_PUMP_STO_ESTOP_Restart" Address="Cyclic 2ms.Outputs.Safety_PUMP_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_FLUID_ESTOP_Restart" Address="Cyclic 2ms.Outputs.Safety_Fluid_ESTOP_Restart" Type="Digital" DataType="bool"/>

		<Output Name="c_Lock_LDR_Door" Address="Cyclic 2ms.Outputs.Safety_ReqLoaderDoorOpen" Type="Digital" DataType="bool"/>
		<Output Name="c_Lock_BFFR_Door" Address="Cyclic 2ms.Outputs.Safety_ReqBufferDoorOpen" Type="Digital" DataType="bool"/>
		<Output Name="c_EFEM_HALT_CTRL" Address="Cyclic 2ms.Outputs.Safety_cEfemHalt" Type="Digital" DataType="bool"/>

		<Output Name="c_Loader_Zone_Safe_STO" Address="Cyclic 2ms.Outputs.Safety_cLoaderZoneSafeSTO" Type="Digital" DataType="bool"/>
		<Output Name="c_Loader_Zone_Safe_SLS" Address="Cyclic 2ms.Outputs.Safety_cLoaderZoneSafeSLS" Type="Digital" DataType="bool"/>

		<Output Name="c_DPUF_VERT_SAFE_STO" Address="Cyclic 2ms.Outputs.Safety_cDpufVertSafeSTO" Type="Digital" DataType="bool"/>
		<Output Name="c_DPUF_VERT_SAFE_SLS" Address="Cyclic 2ms.Outputs.Safety_cDpufVertSafeSLS" Type="Digital" DataType="bool"/>
		<Output Name="c_DPUF_A_PIVSUP_STO" Address="Cyclic 2ms.Outputs.Safety_cDpufAPivSupSTO" Type="Digital" DataType="bool"/>
		<Output Name="c_DPUF_B_PIVSUP_STO" Address="Cyclic 2ms.Outputs.Safety_cDpufBPivSupSTO" Type="Digital" DataType="bool"/>

		<Output Name="c_SRD_WASH_STO" Address="Cyclic 2ms.Outputs.Safety_cSrdWashSTO" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD_ROTATE_STO" Address="Cyclic 2ms.Outputs.Safety_cSrdRotateSTO" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD_EBR_STO" Address="Cyclic 2ms.Outputs.Safety_cSrdEbrSTO" Type="Digital" DataType="bool"/>

		<Output Name="c_Gantry_Zone_Safe_STO" Address="Cyclic 2ms.Outputs.Safety_cTxGantryZoneSafeSTO" Type="Digital" DataType="bool"/>
		<Output Name="c_Gantry_Zone_Safe_SLS" Address="Cyclic 2ms.Outputs.Safety_cTxGantryZoneSafeSLS" Type="Digital" DataType="bool"/>

		<Output Name="c_VPW_LID_INTLK" Address="Cyclic 2ms.Outputs.Safety_cVacPrewetLidInterlock" Type="Digital" DataType="bool"/>
		<Output Name="c_PROC_DOOR_1_SAFE_LOCK" Address="Cyclic 2ms.Outputs.Safety_cProcDoor1SafeLock" Type="Digital" DataType="bool"/>
		<Output Name="c_PROC_DOOR_2_SAFE_LOCK" Address="Cyclic 2ms.Outputs.Safety_cProcDoor2SafeLock" Type="Digital" DataType="bool"/>
		<Output Name="c_PROC_DOOR_3_SAFE_LOCK" Address="Cyclic 2ms.Outputs.Safety_cProcDoor3SafeLock" Type="Digital" DataType="bool"/>
		<Output Name="c_PROC_DOOR_4_SAFE_LOCK" Address="Cyclic 2ms.Outputs.Safety_cProcDoor4SafeLock" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_BFFR_DOOR_OPEN" Address="Cyclic 2ms.Outputs.Safety_ReqBufferDoorOpen" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_LDR_DOOR_OPEN" Address="Cyclic 2ms.Outputs.Safety_ReqLoaderDoorOpen" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_PLMBNG_DOORS_OPEN" Address="Cyclic 2ms.Outputs.Safety_ReqPlumbingDoorsOpen" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_PROC_DOORS_OPEN" Address="Cyclic 2ms.Outputs.Safety_ReqProcDoorsOpen" Type="Digital" DataType="bool"/>
		<Output Name="c_MODE_INDICATOR" Address="Cyclic 2ms.Outputs.Safety_cModeIndicator" Type="Digital" DataType="bool"/>
		<Output Name="c_MODE_SIREN" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_10" Type="Digital" DataType="bool"/>
		<Output Name="c_PUMP_DOORS_SUSPENDED" Address="Cyclic 2ms.Outputs.Safety_cPumpDoorsSuspended" Type="Digital" DataType="bool"/>
		<Output Name="c_PUMP_ENABLE" Address="Cyclic 2ms.Outputs.Safety_cPumpEnable" Type="Digital" DataType="bool"/>
		<!-- These 2 exist in TwinCAT, not sure if will use in future -->	
		<Output Name="c_LOCK_BUFFER_DOOR" Address="Cyclic 2ms.Outputs.Safety_cLockBufferDoor" Type="Digital" DataType="bool"/>
		<Output Name="c_LOCK_LOADER_DOOR" Address="Cyclic 2ms.Outputs.Safety_cLockLoaderDoor" Type="Digital" DataType="bool"/>

		<!-- Safety outputs end -->	


		<!-- Transporters start -->

		<Output Name="c_ENCLOSED_TRANSPORT_UNLOCK_SOLENOID" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_1" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_2" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_2" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_3" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_3" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_4" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_4" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_5" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_5" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_6" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_6" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_7" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_7" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_8" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_8" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_9" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_9" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_10" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_10" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_11" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_11" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_12" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_12" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_13" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_13" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_14" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_14" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_15" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_15" Type="Digital" DataType="bool"/>
		<Output Name="c_PrcTx_N202_16" Address="Cyclic 2ms.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_16" Type="Digital" DataType="bool"/>

		<Output Name="c_ENCLOSED_TRANSPORT_UPPER_IMMOBILIZER_ACTIVE2" Address="Cyclic 2ms.Outputs.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT_UPPER_IMMOBILIZER_ACTIVE" Address="Cyclic 2ms.Outputs.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT_DRIP_TRAY_CLOSE" Address="Cyclic 2ms.Outputs.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		
		<Output Name="c_ENCLOSED_TRANSPORT_DRIP_TRAY_TILT" Address="Cyclic 2ms.Outputs.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT_DRIP_TRAY_NOT_TILT" Address="Cyclic 2ms.Outputs.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT_N2_PURGE" Address="Cyclic 2ms.Outputs.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>

		<Output Name="c_ENCLOSED_TRANSPORT2_UNLOCK_SOLENOID" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_1" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_2" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_2" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_3" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_3" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_4" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_4" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_5" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_5" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_6" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_6" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_7" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_7" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_8" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_8" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_9" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_9" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_10" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_10" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_11" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_11" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_12" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_12" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_13" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_13" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_14" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_14" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_15" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_15" Type="Digital" DataType="bool"/>
		<Output Name="c_LdrTx_N152_16" Address="Cyclic 2ms.Outputs.LdrTxIO_DO 16Bit_EL2871_N152_16" Type="Digital" DataType="bool"/>

		<Output Name="c_ENCLOSED_TRANSPORT2_UPPER_IMMOBILIZER_ACTIVE2" Address="Cyclic 2ms.Outputs.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT2_UPPER_IMMOBILIZER_ACTIVE" Address="Cyclic 2ms.Outputs.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT2_DRIP_TRAY_CLOSE" Address="Cyclic 2ms.Outputs.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		
		<Output Name="c_ENCLOSED_TRANSPORT2_DRIP_TRAY_TILT" Address="Cyclic 2ms.Outputs.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT2_DRIP_TRAY_NOT_TILT" Address="Cyclic 2ms.Outputs.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT2_N2_PURGE" Address="Cyclic 2ms.Outputs.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>

		<!-- Transporters end -->


		<!-- FFU Outputs Start -->	
		<Output Name="c_FFUEnableLoader"  Address="Cyclic 2ms.Outputs.FFU_IO_DO_2CHANNEL_EL2002_N2_1" Type="Digital" DataType="bool"/>
		<Output Name="c_FFUEnableProcess" Address="Cyclic 2ms.Outputs.FFU_IO_DO_2CHANNEL_EL2002_N2_2" Type="Digital" DataType="bool"/>
		<!-- FFU Outputs End-->

		<!-- Dual PUF Outputs Start -->
		<Output Name="c_HVD_1_ENABLE" Address="Cyclic 2ms.Outputs.PUF_DO_16Bit_EL2809_N254_1" Type="Digital" DataType="bool"/>
		<Output Name="c_HVD_1_HIGH" Address="Cyclic 2ms.Outputs.PUF_DO_16Bit_EL2809_N254_2" Type="Digital" DataType="bool"/>
		<Output Name="c_HVD_2_HIGH" Address="Cyclic 2ms.Outputs.PUF_DO_16Bit_EL2809_N254_3" Type="Digital" DataType="bool"/>
		<Output Name="c_OBC1_BLOWER_HIGH" Address="Cyclic 2ms.Outputs.PUF_DO_16Bit_EL2809_N254_4" Type="Digital" DataType="bool"/>
		
		<Output Name="c_DPUF_A_CHUCK_A_RELEASE"  ModuleName="PUF1" Address="Cyclic 2ms.Outputs.PUF_DO_16Bit_EL2809_N254_11" Type="Digital" DataType="bool"/>
		<Output Name="c_DPUF_A_CHUCK_B_RELEASE"  ModuleName="PUF1" Address="Cyclic 2ms.Outputs.PUF_DO_16Bit_EL2809_N254_12" Type="Digital" DataType="bool"/>
		<Output Name="c_DPUF_B_CHUCK_A_RELEASE"  ModuleName="PUF2" Address="Cyclic 2ms.Outputs.PUF_DO_16Bit_EL2809_N254_13" Type="Digital" DataType="bool"/>
		<Output Name="c_DPUF_B_CHUCK_B_RELEASE"  ModuleName="PUF2" Address="Cyclic 2ms.Outputs.PUF_DO_16Bit_EL2809_N254_14" Type="Digital" DataType="bool"/>
		<Output Name="c_HVD_2_ENABLE" Address="Cyclic 2ms.Outputs.PUF_DO_16Bit_EL2809_N254_15" Type="Digital" DataType="bool"/>
		<Output Name="c_OBC1_BLOWER_ENABLE" Address="Cyclic 2ms.Outputs.PUF_DO_16Bit_EL2809_N254_16" Type="Digital" DataType="bool"/>


		<!-- Dual PUF Outputs End -->
		<!-- Parallel Loader Outputs Start -->
		<!-- 8DO24VDC EL2008 -->
		<Output Name="c_VACUUM_TEST" Address="Cyclic 2ms.Outputs.LOADER_DO_8CHANNEL_EL2008_N56_1" Type="Digital" DataType="bool"/>
		<!-- Output Name="c_BACKSIDE_PRESSURE_TEST" Address="Cyclic 2ms.Outputs.c_BACKSIDE_PRESSURE_TEST" Type="Digital" DataType="bool"/ -->
		<Output Name="c_BRUSH_HEAD_A_ENABLE" Address="Cyclic 2ms.Outputs.LOADER_DO_8CHANNEL_EL2008_N56_7" Type="Digital" DataType="bool"/>
		<Output Name="c_BRUSH_HEAD_B_ENABLE" Address="Cyclic 2ms.Outputs.LOADER_DO_8CHANNEL_EL2008_N56_8" Type="Digital" DataType="bool"/>

		<!-- SMC EX260 32PNP -->
		<Output Name="c_CRS_WASH_EXTEND" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte1" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_WAFER_HOLDER_CLAMPED" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte1" Invert="true" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_Flow_Test_Clamp" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_Cathode_Clamp" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte1" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_LOADERA_DOOR_UNLOCK" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte1" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_LOADERB_DOOR_UNLOCK" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte1" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_LoaderA_CRS_Vacuum" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte1" Invert="true" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_LoaderB_CRS_Vacuum" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte1" Invert="true" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>

		<Output Name="c_LOADERA_WH_BLADDER" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_LOADERB_WH_BLADDER" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_LOADERA_BERNOULLI_BLADDER" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_LOADERB_BERNOULLI_BLADDER" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_LOADERA_TRANS_BLADDER" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_LOADERA_TRANS_HIGH" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_LOADERB_TRANS_BLADDER" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_LOADERB_TRANS_HIGH" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>

		<Output Name="c_LOADERA_BERNOULLI_N2" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_LOADERB_BERNOULLI_N2" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<!-- Output Name="c_LoaderA_CRS_Puff" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/ -->
		<!-- Output Name="c_LoaderB_CRS_Puff" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/ -->
		<Output Name="c_LOADERA_BERNOULLI_N2_SECOND" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_LOADERB_BERNOULLI_N2_SECOND" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>

		<!-- CRS Clean -->
		<Output Name="c_LDR_A_CRS_WASH_VAC_PUMP" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_LDR_B_CRS_WASH_VAC_PUMP" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_LDR_A_CRS_WASH_WATER" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_LDR_B_CRS_WASH_WATER" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<Output Name="c_LDR_CRS_WASH_WATER_SUPPLY" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte4" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<!-- Loader CRS Clean counter -->
		
<!-- needed ?
		<Output Name="c_CRS_WASH_WATER_CNT_VALUE_TO_SET" Address="Cyclic 2ms.Outputs.LOADER_CT_2CHANNEL_EL1512_N62_Set_counter_value" Scaling="" Type="Analog" DataType="udint"/>
		<Output Name="c_CRS_WASH_WATER_SET_CNT" Address="Cyclic 2ms.Outputs.LOADER_CT_2CHANNEL_EL1512_N62_Set_count" Type="Digital" DataType="bool"/>
		<Output Name="c_CRS_WASH_WATER_INHIBIT_CNT" Address="Cyclic 2ms.Outputs.LOADER_CT_2CHANNEL_EL1512_N62_Inhibit_counter" Type="Digital" DataType="bool"/>
-->

		<Output Name="Byte4Bit1" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte4" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="Byte4Bit2" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte4" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="Byte4Bit3" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte4" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="Byte4Bit4" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte4" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="Byte4Bit5" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte4" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="Byte4Bit6" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte4" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="Byte4Bit7" Address="Cyclic 2ms.Outputs.LOADER_PneumaticByte4" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>

		<!-- N57, EL4024 -->
		<Output Name="c_LOADERA_TRANSLATION_PRESSURE" Address="Cyclic 2ms.Outputs.LOADER_AO_4CHANNEL_4-20mA_EL4024_N57_1" Scaling="0=0,20=32767" Type="Analog" DataType="double" />
		<Output Name="c_LOADERB_TRANSLATION_PRESSURE" Address="Cyclic 2ms.Outputs.LOADER_AO_4CHANNEL_4-20mA_EL4024_N57_2" Scaling="0=0,20=32767" Type="Analog" DataType="double" />
		<Output Name="c_N57_AO_3" Address="Cyclic 2ms.Outputs.LOADER_AO_4CHANNEL_4-20mA_EL4024_N57_3" Scaling="0=0,20=32767" Type="Analog" DataType="double" />
		<Output Name="c_N57_AO_4" Address="Cyclic 2ms.Outputs.LOADER_AO_4CHANNEL_4-20mA_EL4024_N57_4" Scaling="0=0,20=32767" Type="Analog" DataType="double" />
		<!-- Parallel Loader Outputs End -->

		<!-- SRD Outputs Start -->
		<Output Name="c_N305_DO_1" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_1" Type="Digital" DataType="bool"/>
		<Output Name="c_N305_DO_2" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_2" Type="Digital" DataType="bool"/>
		<Output Name="c_N305_DO_3" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_3" Type="Digital" DataType="bool"/>
		<Output Name="c_N305_DO_4" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_4" Type="Digital" DataType="bool"/>
		<Output Name="c_N305_DO_5" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_5" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD1_Exhaust_Fan_On" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_6" Type="Digital" DataType="bool"/>
		<Output Name="c_N305_DO_7" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_7" Type="Digital" DataType="bool"/>
		<Output Name="c_N305_DO_8" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_8" Type="Digital" DataType="bool"/>
		<Output Name="c_N305_DO_9" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_9" Type="Digital" DataType="bool"/>
		<Output Name="c_N305_DO_10" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_10" Type="Digital" DataType="bool"/>
		<Output Name="c_N305_DO_11" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_11" Type="Digital" DataType="bool"/>
		<Output Name="c_N305_DO_12" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_12" Type="Digital" DataType="bool"/>
		<Output Name="c_N305_DO_13" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_13" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD2_Exhaust_Fan_On" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_14" Type="Digital" DataType="bool"/>
		<Output Name="c_N305_DO_15" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_15" Type="Digital" DataType="bool"/>
		<Output Name="c_N305_DO_16" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N305_16" Type="Digital" DataType="bool"/>

		<Output Name="c_N306_DO_1" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_1" Type="Digital" DataType="bool"/>
		<Output Name="c_N306_DO_2" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_2" Type="Digital" DataType="bool"/>
		<Output Name="c_N306_DO_3" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_3" Type="Digital" DataType="bool"/>
		<Output Name="c_N306_DO_4" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_4" Type="Digital" DataType="bool"/>
		<Output Name="c_N306_DO_5" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_5" Type="Digital" DataType="bool"/>
		<Output Name="c_N306_DO_6" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_6" Type="Digital" DataType="bool"/>
		<Output Name="c_N306_DO_7" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_7" Type="Digital" DataType="bool"/>
		<Output Name="c_N306_DO_8" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_8" Type="Digital" DataType="bool"/>
		<Output Name="c_N306_DO_9" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_9" Type="Digital" DataType="bool"/>
		<Output Name="c_N306_DO_10" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_10" Type="Digital" DataType="bool"/>
		<Output Name="c_N306_DO_11" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_11" Type="Digital" DataType="bool"/>
		<Output Name="c_N306_DO_12" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_12" Type="Digital" DataType="bool"/>
		<Output Name="c_N306_DO_13" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_13" Type="Digital" DataType="bool"/>	
		<!-- TEL Supplied Plate Out Detection -->
		<Output Name="c_PLATEOUT_HANDSHAKE_CAMERA_TRIGGER" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_14" Type="Digital" DataType="bool"/>
		<!-- Customer Supplied Plate Out Detection -->	
		<Output Name="c_CAMERA1_TRIGGER" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_15" Type="Digital" DataType="bool"/>
		<Output Name="c_N306_DO_16" Address="Cyclic 2ms.Outputs.SRD_DO_16CHANNEL_EL2809_N306_16" Type="Digital" DataType="bool"/>

		<!-- SRD Outputs End -->
		
	<!-- SMC EX260 32PNP - SRD_OBC_Peumatic Outputs Begin -->
	<Output Name="c_SRD1_Water_Above_Wafer" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
	<Output Name="c_SRD1_Water_Below_Wafer" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
	<Output Name="c_SRD1_Shutter_Close" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE0_BIT3" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
	<Output Name="c_SRD2_Water_Above_Wafer" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
	<Output Name="c_SRD2_Water_Below_Wafer" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
	<Output Name="c_SRD2_Shutter_Close" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE0_BIT7" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
	
	<Output Name="c_SRD1_CHUCK_VACUUM" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte1" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
	<Output Name="c_SRD2_CHUCK_VACUUM" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte1" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
	<Output Name="c_SRD1_N2_Below_Wafer" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
	<Output Name="c_SRD2_N2_Below_Wafer" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte1" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
	<Output Name="c_OBC1_PLATE_CLOSE" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte1" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>	
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE1_BIT5" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte1" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>	
	<Output Name="c_OBC1_ACCEPT_OPEN" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte1" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE1_BIT7" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte1" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	
	
	<Output Name="c_OBC1_PAD_RELEASE" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte2" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE2_BIT1" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte2" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>	
	<Output Name="c_OBC1_STOCK_STOPPER" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte2" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE2_BIT3" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte2" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>	
	<Output Name="c_OBC1_EJECT_OPEN" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte2" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE2_BIT5" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte2" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>	
	<Output Name="c_OBC1_PADWET_ENABLE" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte2" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE2_BIT7" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte2" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	
	
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE3_BIT0" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte3" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>	
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE3_BIT1" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte3" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>	
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE3_BIT2" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte3" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>	
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE3_BIT3" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte3" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>	
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE3_BIT4" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte3" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>	
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE3_BIT5" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte3" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>	
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE3_BIT6" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte3" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>	
	<Output Name="c_SRD_OBC_PNEUMATIC_BYTE3_BIT7" Address="Cyclic 2ms.Outputs.SRD_OBC_PneumaticByte3" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	
	<!-- SRD_OBC_Peumatic Outputs End -->


		<!-- QDR Outputs Begin -->
		<!-- <Output Name="c_Festo_N2M5" Address="Cyclic 2ms.Outputs.Festo_N2K" Invert="false" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/> -->
		<!-- <Output Name="c_Festo_N2M6" Address="Cyclic 2ms.Outputs.Festo_N2K" Invert="false" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/> -->
		<!-- <Output Name="c_Festo_N2M7" Address="Cyclic 2ms.Outputs.Festo_N2K" Invert="false" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>	 -->
		<!-- <Output Name="c_Festo_N2M8" Address="Cyclic 2ms.Outputs.Festo_N2K" Invert="false" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/> -->
		<!-- <Output Name="c_Festo_N4M3" Address="Cyclic 2ms.Outputs.Festo_N4M" Invert="false" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>	 -->
		<!-- QDR Outputs End -->

		<!-- RESERVOIR 2 OUTPUTS END -->

		<!-- RESERVOIR 1 AND 2 OUTPUTS BEGIN -->
		<!-- N751, EL7031 -->
		<Output Name="c_RES1_AN_TRANSFER_PUMP.Enable" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N751_ENABLE" Type="Digital" DataType="bool"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.Reset" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N751_RESET" Type="Digital" DataType="bool"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.Execute" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N751_EXECUTE" Type="Digital" DataType="bool"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.TargetPosition" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N751_TARGET_POSITION" Type="Analog" Scaling="0=0,32767=32767" DataType="double"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.Speed" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N751_VELOCITY" Type="Analog" Scaling="0=0,32767=32767" DataType="double" Clip="true"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.StartType" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N751_START_TYPE" Type="Digital" DataType="uint"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.Acceleration" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N751_ACCELERATION" Type="Analog" Scaling="0=0,32767=32767" DataType="double"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.Deceleration" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N751_DECELERATION" Type="Analog" Scaling="0=0,32767=32767" DataType="double"/>

		<!-- N752, EL7031 -->
		<Output Name="c_RES2_AN_TRANSFER_PUMP.Enable" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N752_ENABLE" Type="Digital" DataType="bool"/>
		<Output Name="c_RES2_AN_TRANSFER_PUMP.Reset" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N752_RESET" Type="Digital" DataType="bool"/>
		<Output Name="c_RES2_AN_TRANSFER_PUMP.Execute" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N752_EXECUTE" Type="Digital" DataType="bool"/>
		<Output Name="c_RES2_AN_TRANSFER_PUMP.TargetPosition" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N752_TARGET_POSITION" Type="Analog" Scaling="0=0,32767=32767" DataType="double"/>
		<Output Name="c_RES2_AN_TRANSFER_PUMP.Speed" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N752_VELOCITY" Type="Analog" Scaling="0=0,32767=32767" DataType="double" Clip="true"/>
		<Output Name="c_RES2_AN_TRANSFER_PUMP.StartType" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N752_START_TYPE" Type="Digital" DataType="uint"/>
		<Output Name="c_RES2_AN_TRANSFER_PUMP.Acceleration" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N752_ACCELERATION" Type="Analog" Scaling="0=0,32767=32767" DataType="double"/>
		<Output Name="c_RES2_AN_TRANSFER_PUMP.Deceleration" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_STP_EL7031_N752_DECELERATION" Type="Analog" Scaling="0=0,32767=32767" DataType="double"/>

		<!-- N756, EL4022 -->
		<Output Name="c_RES1_CA_PUMP_SPEED" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_2CHANNEL_4-20mA_EL4022_N756_1" Scaling="0=0,10000=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES2_CA_PUMP_SPEED" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_2CHANNEL_4-20mA_EL4022_N756_2" Scaling="0=0,10000=32767" Type="Analog" DataType="double"/>

		<!-- N757, EL4008 -->
		<Output Name="c_RES1_2_N757_1" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N757_1" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES1_2_N757_2" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N757_2" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES1_CA_SLIPSTREAM_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N757_3" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES2_CA_SLIPSTREAM_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N757_4" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES1_AN_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N757_5" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES2_AN_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N757_6" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES1_AN_A_DRAIN_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N757_7" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES1_AN_B_DRAIN_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N757_8" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>

		<!-- N758, EL4008 -->
		<Output Name="c_RES2_AN_A_DRAIN_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N758_1" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES2_AN_B_DRAIN_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N758_2" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES1_AN_SLIPSTREAM_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N758_3" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES2_AN_SLIPSTREAM_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N758_4" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES1_2_N758_5" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N758_5" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES1_2_N758_6" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N758_6" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES1_2_N758_7" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N758_7" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES1_2_N758_8" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_AO_8CHANNEL_0-10V_EL4008_N758_8" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>

		<!-- N760, EL2008 -->
		<Output Name="c_RES1_CA_PUMP_ENABLE" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_DO_8CHANNEL_EL2008_N760_1" Type="Digital" DataType="bool"/>
		<Output Name="c_RES2_CA_PUMP_ENABLE" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_DO_8CHANNEL_EL2008_N760_2" Type="Digital" DataType="bool"/>
		<Output Name="c_RES1_2_N760_3" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_DO_8CHANNEL_EL2008_N760_3" Type="Digital" DataType="bool"/>
		<Output Name="c_RES1_2_N760_4" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_DO_8CHANNEL_EL2008_N760_4" Type="Digital" DataType="bool"/>
		<Output Name="c_RES1_2_N760_5" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_DO_8CHANNEL_EL2008_N760_5" Type="Digital" DataType="bool"/>
		<Output Name="c_RES1_2_N760_6" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_DO_8CHANNEL_EL2008_N760_6" Type="Digital" DataType="bool"/>
		<Output Name="c_RES1_2_N760_7" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_DO_8CHANNEL_EL2008_N760_7" Type="Digital" DataType="bool"/>
		<Output Name="c_RES1_2_N760_8" Address="Cyclic 2ms.Outputs.RESERVOIR1-2_DO_8CHANNEL_EL2008_N760_8" Type="Digital" DataType="bool"/>
		<!-- RESERVOIR 1 AND 2 OUTPUTS END -->

		<!-- RESERVOIR 4 OUTPUTS BEGIN -->
		<!-- N501, EL7031 -->
		<Output Name="c_RES4_AN_TRANSFER_PUMP.Enable" Address="Cyclic 2ms.Outputs.RESERVOIR4_STP_EL7031_N501_ENABLE" Type="Digital" DataType="bool"/>
		<Output Name="c_RES4_AN_TRANSFER_PUMP.Reset" Address="Cyclic 2ms.Outputs.RESERVOIR4_STP_EL7031_N501_RESET" Type="Digital" DataType="bool"/>
		<Output Name="c_RES4_AN_TRANSFER_PUMP.Execute" Address="Cyclic 2ms.Outputs.RESERVOIR4_STP_EL7031_N501_EXECUTE" Type="Digital" DataType="bool"/>
		<Output Name="c_RES4_AN_TRANSFER_PUMP.TargetPosition" Address="Cyclic 2ms.Outputs.RESERVOIR4_STP_EL7031_N501_TARGET_POSITION" Type="Analog" Scaling="0=0,32767=32767" DataType="double"/>
		<Output Name="c_RES4_AN_TRANSFER_PUMP.Speed" Address="Cyclic 2ms.Outputs.RESERVOIR4_STP_EL7031_N501_VELOCITY" Type="Analog" Scaling="0=0,32767=32767" DataType="double" Clip="true"/>
		<Output Name="c_RES4_AN_TRANSFER_PUMP.StartType" Address="Cyclic 2ms.Outputs.RESERVOIR4_STP_EL7031_N501_START_TYPE" Type="Digital" DataType="uint"/>
		<Output Name="c_RES4_AN_TRANSFER_PUMP.Acceleration" Address="Cyclic 2ms.Outputs.RESERVOIR4_STP_EL7031_N501_ACCELERATION" Type="Analog" Scaling="0=0,32767=32767" DataType="double"/>
		<Output Name="c_RES4_AN_TRANSFER_PUMP.Deceleration" Address="Cyclic 2ms.Outputs.RESERVOIR4_STP_EL7031_N501_DECELERATION" Type="Analog" Scaling="0=0,32767=32767" DataType="double"/>

		<!-- N504, EL4008 -->
		<Output Name="c_RES4_CA_SLIPSTREAM_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR4_AO_8CHANNEL_0-10V_EL4008_N504_1" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES4_AN_SLIPSTREAM_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR4_AO_8CHANNEL_0-10V_EL4008_N504_2" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES4_AN_A_DRAIN_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR4_AO_8CHANNEL_0-10V_EL4008_N504_3" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES4_AN_B_DRAIN_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR4_AO_8CHANNEL_0-10V_EL4008_N504_4" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES4_N504_5" Address="Cyclic 2ms.Outputs.RESERVOIR4_AO_8CHANNEL_0-10V_EL4008_N504_5" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES4_AN_PUMP" Address="Cyclic 2ms.Outputs.RESERVOIR4_AO_8CHANNEL_0-10V_EL4008_N504_6" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES4_N504_7" Address="Cyclic 2ms.Outputs.RESERVOIR4_AO_8CHANNEL_0-10V_EL4008_N504_7" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_RES4_N504_8" Address="Cyclic 2ms.Outputs.RESERVOIR4_AO_8CHANNEL_0-10V_EL4008_N504_8" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>

		<!-- N505, EL4021 -->
		<Output Name="c_RES4_CA_PUMP_SPEED" Address="Cyclic 2ms.Outputs.RESERVOIR4_AO_1CHANNEL_4-20mA_EL4021_N505_1" Scaling="0=0,10000=32767" Type="Analog" DataType="double"/>

		<!-- N507, EL2008 -->
		<Output Name="c_RES4_CA_PUMP_ENABLE" Address="Cyclic 2ms.Outputs.RESERVOIR4_DO_8CHANNEL_EL2008_N507_1" Type="Digital" DataType="bool"/>
		<Output Name="c_RES4_N507_2" Address="Cyclic 2ms.Outputs.RESERVOIR4_DO_8CHANNEL_EL2008_N507_2" Type="Digital" DataType="bool"/>
		<Output Name="c_RES4_N507_3" Address="Cyclic 2ms.Outputs.RESERVOIR4_DO_8CHANNEL_EL2008_N507_3" Type="Digital" DataType="bool"/>
		<Output Name="c_RES4_N507_4" Address="Cyclic 2ms.Outputs.RESERVOIR4_DO_8CHANNEL_EL2008_N507_4" Type="Digital" DataType="bool"/>
		<Output Name="c_RES4_N507_5" Address="Cyclic 2ms.Outputs.RESERVOIR4_DO_8CHANNEL_EL2008_N507_5" Type="Digital" DataType="bool"/>
		<Output Name="c_RES4_N507_6" Address="Cyclic 2ms.Outputs.RESERVOIR4_DO_8CHANNEL_EL2008_N507_6" Type="Digital" DataType="bool"/>
		<Output Name="c_RES4_N507_7" Address="Cyclic 2ms.Outputs.RESERVOIR4_DO_8CHANNEL_EL2008_N507_7" Type="Digital" DataType="bool"/>
		<Output Name="c_RES4_N507_8" Address="Cyclic 2ms.Outputs.RESERVOIR4_DO_8CHANNEL_EL2008_N507_8" Type="Digital" DataType="bool"/>
		<!-- RESERVOIR 4 OUTPUTS END -->

		<!--////////////////////////////////////////////////// ALL FESTOS BEGIN //////////////////////////////////////////////////-->

		<!-- FESTO 1 BEGIN -->
		<!-- V1 - V4 -->
		<Output Name="c_QDRD1_WH_CLAMP" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE1_2" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_QDRD2_WH_CLAMP" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE1_4" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_QDRD3_WH_CLAMP" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE1_6" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_QDRD4_WH_CLAMP" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE1_8" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V5 - V8 -->
		<Output Name="c_PROCESS1_FESTO_BYTE2_1" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/> 
		<Output Name="c_PROCESS1_FESTO_BYTE2_2" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE2_3" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE2_4" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE2_5" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE2_6" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE2_7" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE2_8" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V9 - V12 -->
		<Output Name="c_PROCESS1_FESTO_BYTE3_1" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE3_2" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE3_3" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE3_4" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE3_5" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE3_6" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE3_7" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE3_8" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V13 - V16 -->
		<Output Name="c_PROCESS1_FESTO_BYTE4_1" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE4_2" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE4_3" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE4_4" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_METAL1_WH_CLAMP_ON" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_METAL1_WH_CLAMP_OFF" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_METAL2_WH_CLAMP_ON" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_METAL2_WH_CLAMP_OFF" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V17 - V20 -->
		<Output Name="c_METAL3_WH_CLAMP_ON" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_METAL3_WH_CLAMP_OFF" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_METAL4_WH_CLAMP_ON" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_METAL4_WH_CLAMP_OFF" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_METAL5_WH_CLAMP_ON" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_METAL5_WH_CLAMP_OFF" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_METAL6_WH_CLAMP_ON" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_METAL6_WH_CLAMP_OFF" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V21 - V24 -->
		<Output Name="c_METAL7_WH_CLAMP_ON" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/> 
		<Output Name="c_METAL7_WH_CLAMP_OFF" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_METAL8_WH_CLAMP_ON"  Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_METAL8_WH_CLAMP_OFF" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_QDRD1_DI_FILL" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_QDRD1_DUMP" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_QDRD2_DI_FILL" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_QDRD2_DUMP" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V25 - V28 -->
		<Output Name="c_QDRD3_DI_FILL" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_QDRD3_DUMP" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_QDRD4_DI_FILL" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_QDRD4_DUMP" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_CELL1_FLOW" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL2_FLOW" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_CELL3_FLOW" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_CELL4_FLOW" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V29 - V32 -->
		<Output Name="c_CELL5_FLOW" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_CELL6_FLOW" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_CELL7_FLOW" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL8_FLOW" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_RES1_AN_BYPASS" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE8" Type="Digital" Invert="true" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_RES2_AN_BYPASS" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE8" Type="Digital" Invert="true" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_RES1_CA_BYPASS" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_RES2_CA_BYPASS" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V33 - V36 -->
		<Output Name="c_SAMPLE_STATION_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_SAMPLE_STATION_FLOW_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE9" Type="Digital"  BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_FILTER_PURGE_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL1_AN_B_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_CELL1_AN_A_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL2_AN_B_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_CELL2_AN_A_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_CELL3_AN_B_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		
		<!-- V37 - V40 -->
		<Output Name="c_CELL3_AN_A_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_CELL4_AN_B_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_CELL4_AN_A_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE10_4" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE10_5" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE10_6" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE10_7" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE10_8" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V41 - V44 -->
		<Output Name="c_PROCESS1_FESTO_BYTE11_1" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_2" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_3" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_4" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_5" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_6" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_7" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_8" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V45 - V48 -->
		<Output Name="c_CELL1_AN_B_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_CELL1_AN_A_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_CELL2_AN_B_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL2_AN_A_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_CELL3_AN_B_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL3_AN_A_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_CELL4_AN_B_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_CELL4_AN_A_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V49 - V52 -->
		<Output Name="c_CELL5_AN_B_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_CELL5_AN_A_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_CELL6_AN_B_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL6_AN_A_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_CELL7_AN_B_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL7_AN_A_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_CELL8_AN_B_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_CELL8_AN_A_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V53 - V56 -->
		<Output Name="c_RES1_CA_DI_REPLEN" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_RES1_AN_DI_REPLEN" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_RES2_CA_DI_REPLEN" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_RES2_AN_DI_REPLEN" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_QDRD1_MDRAIN" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE14" Type="Digital" Invert="true" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_QDRD2_MDRAIN" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE14" Type="Digital" Invert="true" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_QDRD3_MDRAIN" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE14" Type="Digital" Invert="true" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_QDRD4_MDRAIN" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE14" Type="Digital" Invert="true" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V57 - V60 -->
		<Output Name="c_QDRD5_MDRAIN" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE15" Type="Digital" Invert="true" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_QDRD6_MDRAIN" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE15" Type="Digital" Invert="true" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_CELL5_AN_B_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL5_AN_A_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_CELL6_AN_B_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL6_AN_A_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_CELL7_AN_B_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_CELL7_AN_A_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V61 - V64 -->
		<Output Name="c_CELL8_AN_B_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_CELL8_AN_A_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PH3_FLOW_VALVE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE16_4" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE16_5" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE16_6" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_RES1_DI_EVAP_FLOW_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_RES2_DI_EVAP_FLOW_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	
		<!-- FESTO 1 END -->

		<!-- FESTO 2 BEGIN -->
		<!-- V1 - V4 -->
		<Output Name="c_QDRD5_WH_CLAMP" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE1_2" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_QDRD6_WH_CLAMP" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE1_4" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE1_5" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE1_6" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE1_7" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE1_8" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V5 - V8 -->
		<Output Name="c_PROCESS2_FESTO_BYTE2_1" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE2_2" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_METAL9_WH_CLAMP" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE2_4" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_METAL10_WH_CLAMP" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE2_6" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE2_7" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE2_8" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V9 - V12 -->
		<Output Name="c_PROCESS2_FESTO_BYTE3_1" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE3_2" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE3_3" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE3_4" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE3_5" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE3_6" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE3_7" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE3_8" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE3" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V13 - V16 -->
		<Output Name="c_PROCESS2_FESTO_BYTE4_1" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE4_2" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE4_3" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE4_4" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_METAL9_CIRCULATION" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_METAL10_CIRCULATION" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE4_7" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE4_8" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V17 - V20 -->
		<Output Name="c_METAL11_WH_CLAMP_ON" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_METAL11_WH_CLAMP_OFF" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_METAL12_WH_CLAMP_ON" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_METAL12_WH_CLAMP_OFF" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_METAL13_WH_CLAMP_ON" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_METAL13_WH_CLAMP_OFF" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE5_7" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE5_8" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V21 - V24 -->
		<Output Name="c_PROCESS2_FESTO_BYTE6_1" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE6_2" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE6_3" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE6_4" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_QDRD5_DI_FILL" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_QDRD5_DUMP" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_QDRD6_DI_FILL" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_QDRD6_DUMP" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V25 - V28 -->
		<Output Name="c_PROCESS2_FESTO_BYTE7_1" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE7_2" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE7_3" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE7_4" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE7_5" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL10_FLOW" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_CELL11_FLOW" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_CELL12_FLOW" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V29 - V32 -->
		<Output Name="c_CELL13_FLOW" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE8_2" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE8_3" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE8_4" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_RES4_CA_BYPASS" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE8_6" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE8" Invert="true" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE8_7" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE8_8" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V33 - V36 -->
		<Output Name="c_PROCESS2_FESTO_BYTE9_1" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_RES4_AN_BYPASS" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE9" Type="Digital" Invert="true" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE9_3" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE9_4" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_CELL10_AN_B_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL10_AN_A_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_CELL11_AN_B_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_CELL11_AN_A_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V37 - V40 -->
		<Output Name="c_CELL12_AN_B_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_CELL12_AN_A_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_CELL13_AN_B_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL13_AN_A_PIN_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE10_5" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE10_6" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE10_7" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE10_8" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V41 - V44 -->
		<Output Name="c_PROCESS2_FESTO_BYTE11_1" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE11_2" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE11_3" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE11_4" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE11_5" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE11_6" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE11_7" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE11_8" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V45 - V48 -->
		<Output Name="c_PROCESS2_FESTO_BYTE12_1" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE12_2" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_CELL10_AN_B_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL10_AN_A_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_CELL11_AN_B_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL11_AN_A_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_CELL12_AN_B_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_CELL12_AN_A_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V49 - V52 -->
		<Output Name="c_CELL13_AN_B_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_CELL13_AN_A_POUT_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_RES4_CA_DI_REPLEN" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_RES4_AN_DI_REPLEN" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_RES4_CROSSDOSE_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE13_6" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE13_7" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE13_8" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V53 - V56 -->
		<Output Name="c_PROCESS2_FESTO_BYTE14_1" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE14_2" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE14_3" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE14_4" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE14_5" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE14_6" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE14_7" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE14_8" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V57 - V60 -->
		<Output Name="c_PROCESS2_FESTO_BYTE15_1" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE15_2" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE15_3" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE15_4" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE15_5" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE15_6" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE15_7" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE15_8" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	

		<!-- V61 - V64 -->
		<Output Name="c_PROCESS2_FESTO_BYTE16_1" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE16_2" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE16_3" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE16_4" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE16_5" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE16_6" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_SPW1_LEV_PUMP_VALVE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_DI_LOADER_ENABLE" Address="Cyclic 2ms.Outputs.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	
		<!-- Festo 2 End -->

		<!--////////////////////////////////////////////////// ALL FESTOS END //////////////////////////////////////////////////-->

		<!-- MAIN IO OUTPUTS BEGIN -->
		<!-- N18, EL4004 -->
		<Output Name="c_M3_REPLEN1_SPEED" Address="Cyclic 2ms.Outputs.MAIN_IO_AO_4CHANNEL_0-10V_EL4004_N18_1" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="c_M3_REPLEN2_SPEED" Address="Cyclic 2ms.Outputs.MAIN_IO_AO_4CHANNEL_0-10V_EL4004_N18_2" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="r_N1_AO_3" Address="Cyclic 2ms.Outputs.MAIN_IO_AO_4CHANNEL_0-10V_EL4004_N18_3" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>
		<Output Name="r_N1_AO_4" Address="Cyclic 2ms.Outputs.MAIN_IO_AO_4CHANNEL_0-10V_EL4004_N18_4" Scaling="0=0,10=32767" Type="Analog" DataType="double"/>

		<!-- N19, EL4022 -->
		<Output Name="c_SPW1_LEV_PUMP_SPEED" Address="Cyclic 2ms.Outputs.MAIN_IO_AO_2CHANNEL_4-20mA_EL4022_N19_1" Scaling="4=0,20=32767" Type="Analog" DataType="double"/>
		<Output Name="c_N19_AO_2" Address="Cyclic 2ms.Outputs.MAIN_IO_AO_2CHANNEL_4-20mA_EL4022_N19_2" Scaling="4=0,20=32767" Type="Analog" DataType="double"/>
			
		
		<!-- N24, EL2809 -->
		<Output Name="c_CDA_ENABLE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_1" Type="Digital" DataType="bool"/>
		<Output Name="c_DI_MAIN_ENABLE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_2" Type="Digital" DataType="bool"/>
		<Output Name="c_DI_REPLEN_ENABLE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_3" Type="Digital" DataType="bool"/>
		<Output Name="c_DI_FILL_ENABLE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_4" Type="Digital" DataType="bool"/>
		<Output Name="c_EXTERNAL_CDA_ENABLE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_5" Type="Digital" DataType="bool"/>
		<Output Name="c_HCW_ENABLE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_6" Type="Digital" DataType="bool"/>
		<Output Name="c_SPW1_LEV_PUMP_ENB" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_7" Type="Digital" DataType="bool"/>
		<Output Name="c_LEV_PUMP_MODE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_8" Type="Digital" DataType="bool"/>
		<Output Name="c_LEV_PUMP_RESET" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_9" Type="Digital" DataType="bool"/>
		<Output Name="c_N2_ENABLE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_10" Type="Digital" DataType="bool"/>
		<Output Name="c_QDRD1_LO_PRESSURE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_11" Type="Digital" DataType="bool"/>
		<Output Name="c_QDRD2_LO_PRESSURE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_12" Type="Digital" DataType="bool"/>
		<Output Name="c_QDRD3_LO_PRESSURE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_13" Type="Digital" DataType="bool"/>
		<Output Name="c_QDRD4_LO_PRESSURE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_14" Type="Digital" DataType="bool"/>
		<Output Name="c_QDRD5_LO_PRESSURE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_15" Type="Digital" DataType="bool"/>
		<Output Name="c_QDRD6_LO_PRESSURE" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_16" Type="Digital" DataType="bool"/>

		<!-- N25, EL2809 -->
		<Output Name="c_N25_DO_1" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_1" Type="Digital" DataType="bool"/>
		<Output Name="c_N25_DO_2" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_2" Type="Digital" DataType="bool"/>
		<Output Name="c_N25_DO_3" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_3" Type="Digital" DataType="bool"/>
		<Output Name="c_N25_DO_4" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_4" Type="Digital" DataType="bool"/>
		<Output Name="c_N25_DO_5" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_5" Type="Digital" DataType="bool"/>
		<Output Name="c_N25_DO_6" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_6" Type="Digital" DataType="bool"/>
		<Output Name="c_N25_DO_7" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_7" Type="Digital" DataType="bool"/>
		<Output Name="c_N25_DO_8" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_8" Type="Digital" DataType="bool"/>
		<Output Name="c_DRAIN_PUMP" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_9" Type="Digital" DataType="bool"/>
		<Output Name="c_N25_DO_10" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_10" Type="Digital" DataType="bool"/>
		<Output Name="c_N25_DO_11" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_11" Type="Digital" DataType="bool"/>
		<Output Name="c_N25_DO_12" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_12" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_PROC_DOORS_OPEN" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_13" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_BFFR_DOOR_OPEN" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_14" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_LDR_DOOR_OPEN" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_15" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_PLMBBNG_DOORS_OPEN" Address="Cyclic 2ms.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_16" Type="Digital" DataType="bool"/>

		<!-- N26, EL2624 -->
		<Output Name="c_METAL9_PUMP_ON" Address="Cyclic 2ms.Outputs.MAIN_IO_RELAY_4CHANNEL_EL2624_N26_1" Type="Digital" DataType="bool"/>
		<Output Name="c_METAL10_PUMP_ON" Address="Cyclic 2ms.Outputs.MAIN_IO_RELAY_4CHANNEL_EL2624_N26_2" Type="Digital" DataType="bool"/>
		<Output Name="c_N26_DO_3" Address="Cyclic 2ms.Outputs.MAIN_IO_RELAY_4CHANNEL_EL2624_N26_3" Type="Digital" DataType="bool"/>
		<Output Name="c_N26_DO_4" Address="Cyclic 2ms.Outputs.MAIN_IO_RELAY_4CHANNEL_EL2624_N26_4" Type="Digital" DataType="bool"/>

		<!-- N27, EL2624 -->
		<Output Name="c_VACPREW1_VAC_PUMP_ENABLE" Address="Cyclic 2ms.Outputs.MAIN_IO_RELAY_4CHANNEL_EL2624_N27_1" Type="Digital" DataType="bool"/>
		<Output Name="c_HED1_REMOTE_ON" Address="Cyclic 2ms.Outputs.MAIN_IO_RELAY_4CHANNEL_EL2624_N27_2" Type="Digital" DataType="bool"/>
		<Output Name="c_HED2_REMOTE_ON" Address="Cyclic 2ms.Outputs.MAIN_IO_RELAY_4CHANNEL_EL2624_N27_3" Type="Digital" DataType="bool"/>
		<Output Name="c_HED3_REMOTE_ON" Address="Cyclic 2ms.Outputs.MAIN_IO_RELAY_4CHANNEL_EL2624_N27_4" Type="Digital" DataType="bool"/>
		<!-- MAIN IO OUTPUTS END -->

		<!--////////////////////////////////////////////////// ALL OUTPUTS END //////////////////////////////////////////////////-->

		<!--////////////////////////////////////////////////// ALL COUNTERS BEGIN //////////////////////////////////////////////////-->

		<!-- MAIN IO COUNTERS BEGIN -->
		<!-- N20, EL1512 -->
		<Counter Name="r_DIREPLEN_FLOW" Address="Cyclic 2ms.Inputs.MAIN_IO_COUNTER_2CHANNEL_EL1512_N20_1_Counter_value" DataType="double" Mode="2" Period="2000" Scaling="0=0,1=22">
			<Output Address="Cyclic 2ms.Outputs.MAIN_IO_COUNTER_2CHANNEL_EL1512_N20_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.MAIN_IO_COUNTER_2CHANNEL_EL1512_N20_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.MAIN_IO_COUNTER_2CHANNEL_EL1512_N20_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_N20_COUNTER_2" Address="Cyclic 2ms.Inputs.MAIN_IO_COUNTER_2CHANNEL_EL1512_N20_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=300">
			<Output Address="Cyclic 2ms.Outputs.MAIN_IO_COUNTER_2CHANNEL_EL1512_N20_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.MAIN_IO_COUNTER_2CHANNEL_EL1512_N20_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.MAIN_IO_COUNTER_2CHANNEL_EL1512_N20_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>

		<!-- 114.82 cnts/ml => 114.82/60sec => 1.9137 for ml/min -->
		<Counter Name="r_CRS_WASH_WATER_CNT_VALUE" Address="Cyclic 2ms.Inputs.LOADER_CT_2CHANNEL_EL1512_N62_Counter_Value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=1.8333">
			<Output Address="Cyclic 2ms.Outputs.LOADER_CT_2CHANNEL_EL1512_N62_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.LOADER_CT_2CHANNEL_EL1512_N62_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.LOADER_CT_2CHANNEL_EL1512_N62_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<!-- MAIN IO COUNTERS END -->


		<!-- RESERVOIR 4 COUNTERS BEGIN -->
		<!-- N508, EL1512 -->
		<!-- <Counter Name="r_CELL13_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_CT_2CHANNEL_EL1512_N508_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83"> -->
			<!-- <Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N508_1_Set_counter" Type="Start" DataType="byte"/> -->
			<!-- <Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N508_1_Inhibit_counter" Type="Stop" DataType="byte"/> -->
			<!-- <Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N508_1_Set_counter_value" Type="Reset" DataType="double"/> -->
		<!-- </Counter> -->
		<!-- <Counter Name="r_CELL13_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_CT_2CHANNEL_EL1512_N508_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83"> -->
			<!-- <Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N508_2_Set_counter" Type="Start" DataType="byte"/> -->
			<!-- <Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N508_2_Inhibit_counter" Type="Stop" DataType="byte"/> -->
			<!-- <Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N508_2_Set_counter_value" Type="Reset" DataType="double"/> -->
		<!-- </Counter> -->

		<!-- N509, EL1512 -->
		<Counter Name="r_RES4_N509_1" Address="Cyclic 2ms.Inputs.RESERVOIR4_CT_2CHANNEL_EL1512_N509_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N509_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N509_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N509_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_RES4_N509_2" Address="Cyclic 2ms.Inputs.RESERVOIR4_CT_2CHANNEL_EL1512_N509_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N509_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N509_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N509_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>

		<!-- N510, EL1512 -->
		<Counter Name="r_RES4_AN_TRANSFER_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_CT_2CHANNEL_EL1512_N510_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N510_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N510_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N510_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_RES4_N510_2" Address="Cyclic 2ms.Inputs.RESERVOIR4_CT_2CHANNEL_EL1512_N510_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N510_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N510_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N510_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>

		<!-- N511, EL1512 -->
		<Counter Name="r_CELL11_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_CT_2CHANNEL_EL1512_N511_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N511_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N511_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N511_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_CELL11_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_CT_2CHANNEL_EL1512_N511_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N511_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N511_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N511_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>

		<!-- N512, EL1512 -->
		<Counter Name="r_CELL12_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_CT_2CHANNEL_EL1512_N512_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N512_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N512_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N512_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_CELL12_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_CT_2CHANNEL_EL1512_N512_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N512_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N512_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N512_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>

		<!-- N513, EL1512 -->
		<Counter Name="r_CELL13_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_CT_2CHANNEL_EL1512_N513_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N513_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N513_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N513_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_CELL13_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR4_CT_2CHANNEL_EL1512_N513_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N513_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N513_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR4_CT_2CHANNEL_EL1512_N513_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<!-- RESERVOIR 4 COUNTERS END -->

		
		<!-- RESERVOIR 1 AND 2 COUNTERS BEGIN -->
		<!-- N761, EL1512 -->
		<Counter Name="r_CELL1_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N761_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N761_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N761_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N761_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_CELL2_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N761_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N761_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N761_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N761_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>

		
		<Counter Name="r_CELL3_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N762_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N762_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N762_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N762_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_CELL4_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N762_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N762_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N762_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N762_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>

	
		<Counter Name="r_N763_CT_1" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N763_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N763_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N763_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N763_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>

		<Counter Name="r_CELL1_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N763_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N763_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N763_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N763_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>		
		
		
		
		

		<Counter Name="r_CELL2_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N764_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N764_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N764_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N764_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_CELL3_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N764_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N764_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N764_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N764_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>

		
		
		<Counter Name="r_CELL4_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N765_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N765_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N765_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N765_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_N765_CT_1" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N765_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N765_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N765_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N765_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>

		<Counter Name="r_CELL5_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N766_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N766_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N766_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N766_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_CELL6_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N766_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N766_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N766_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N766_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>


		<Counter Name="r_CELL7_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N767_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N767_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N767_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N767_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_CELL8_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N767_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N767_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N767_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N767_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>

		<Counter Name="r_N768_CT_1" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N768_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N768_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N768_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N768_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_CELL5_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N768_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N768_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N768_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N768_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>

		<Counter Name="r_CELL6_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N769_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N769_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N769_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N769_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_CELL7_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N769_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N769_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N769_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N769_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
	
		<Counter Name="r_CELL8_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N770_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N770_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N770_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N770_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_N770_CT_2" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N770_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N770_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N770_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N770_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>


		<Counter Name="r_RES1_AN_TRANSFER_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N771_1_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N771_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N771_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N771_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_RES2_AN_TRANSFER_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N771_2_Counter_value" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N771_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N771_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.RESERVOIR1-2_CT_2CHANNEL_EL1512_N771_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>

		<!-- RESERVOIR 1 AND 2 COUNTERS END -->
		
		<!-- CRS WASH COUNTERS BEGIN -->
		<Counter Name="r_CRS_Head_A_Speed" Address="Cyclic 2ms.Inputs.LOADER_CT_2CHANNEL_EL1512_N63_1_Counter_value" DataType="double" Mode="1" Period="1000" Scaling="0=0,1=1.0">
			<Output Address="Cyclic 2ms.Outputs.LOADER_CT_2CHANNEL_EL1512+N63_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.LOADER_CT_2CHANNEL_EL1512_N63_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.LOADER_CT_2CHANNEL_EL1512_N63_1_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<Counter Name="r_CRS_Head_B_Speed" Address="Cyclic 2ms.Inputs.LOADER_CT_2CHANNEL_EL1512_N63_2_Counter_value" DataType="double" Mode="1" Period="1000" Scaling="0=0,1=1.0">
			<Output Address="Cyclic 2ms.Outputs.LOADER_CT_2CHANNEL_N63_2_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.LOADER_CT_2CHANNEL_N63_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.LOADER_CT_2CHANNEL_N63_2_Set_counter_value" Type="Reset" DataType="double"/>
		</Counter>
		<!-- CRS WASH COUNTERS END -->


		<!--////////////////////////////////////////////////// ALL COUNTERS END //////////////////////////////////////////////////-->

		<!--////////////////////////////////////////////////// ALL CANOPEN MODULES BEGIN //////////////////////////////////////////////////-->

		<!-- Reset CANopen module -->
		<Module Name="EL6751" COEAddress="169.254.167.184.2.1" COEPort="1089" ResetAtStart="true" WaitAtStateChangeInSec="3"/>

		<!--////////////////////////////////////////////////// ALL CANOPEN MODULES END //////////////////////////////////////////////////-->

		<!--////////////////////////////////////////////////// ALL MOTION AXES BEGIN //////////////////////////////////////////////////-->
		
		<!-- TRANSPORTER AXES BEGIN -->
		<!-- Transporter1 = Process; Transporter2 = Loader -->
		<Axis Name="Transporter1.Gantry" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1082" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterHorizontal_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterHorizontal_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterHorizontal_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterHorizontal_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterHorizontal_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterHorizontal_InternalPositionActual" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterHorizontal_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterHorizontal_TorqueActualValue" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.ProcessTransporterHorizontal_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.ProcessTransporterHorizontal_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.ProcessTransporterHorizontal_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.ProcessTransporterHorizontal_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.ProcessTransporterHorizontal_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Input Address="Cyclic 2ms.Outputs.ProcessTransporterHorizontal_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Cyclic 2ms.Outputs.ProcessTransporterHorizontal_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.ProcessTransporterHorizontal_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.ProcessTransporterHorizontal_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.ProcessTransporterHorizontal_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.ProcessTransporterHorizontal_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.ProcessTransporterHorizontal_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Cyclic 2ms.Outputs.ProcessTransporterHorizontal_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<!-- X axis: 46258 counts/mm -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<!-- HomingMethod 24 = Home Switch Positive Direction -->
			<HomingMethod>24</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<!--HomingOffset>-105488760</HomingOffset-->
			<!--HomingOffset>-224416000</HomingOffset-->
			<!-- 191649794 = 4143mm -->
			<!--HomingOffset>-191649794</HomingOffset-->
			<!-- 191696052 = 4144mm -->
			<!--HomingOffset>-191696052</HomingOffset-->
			<!-- 191726121 = 4144.65mm -->
			<!--  -188846516.88 = -4082.4mm -->
			<HomingOffset>-188846517</HomingOffset>
			<!-- HomingVelocity same as HomeSpeedHomeSwitch -->
			<!-- HomingSpeedHomeSwitch 57 rev/min = 0.9 rev/sec = 1000000 counts/sec -->
			<HomingSpeedHomeSwitch>3000000</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<!-- HomingAccelDecel 0.05 rev/min/min = 0.0009 rev/sec/sec = 1000 counts/sec/sec -->
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>300000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<!--ErrorLimit>0</ErrorLimit-->
			<ErrorLimit>2000</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<!-- -155945767 - -191726121 (HomingOffset) = 773.484 mm (~ Dryer3 / Cell23)-->
			<!--ReverseSoftwareLimit>-155945767</ReverseSoftwareLimit-->
			<!-- -178819944 - -191726121 (HomingOffset) = 279 mm (~ Buffer1 / Cell37)-->
			<ReverseSoftwareLimit>-178819944</ReverseSoftwareLimit>
			<!-- 1500000 - -191726121 (HomingOffset) = 4177 mm (~ Rinse1 / Cell1) -->
			<ForwardSoftwareLimit>1920000</ForwardSoftwareLimit>
			<!-- Speed 2975 rev/min = 49 rev/sec = 52000000 counts/sec -->
			<Speed>63000000</Speed>
			<!--Speed>30000000</Speed-->
			<!--Speed>52000000</Speed-->
			<!--Speed>26000000</Speed-->
			<!--Speed>6000000</Speed-->
			<!-- Acceleration/Deceleration 0.78 rev/min/min = 0.01 rev/sec/sec = 13800 counts/sec/sec -->
			<!--Acceleration>138000000</Acceleration-->
			<Acceleration>92000000</Acceleration>
			<!--Deceleration>138000000</Deceleration-->
			<Deceleration>92000000</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>130</PositiveTorqueLimit>
		</Axis>

		<Axis Name="Transporter1.Elevator" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1081" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterVertical_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterVertical_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterVertical_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterVertical_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterVertical_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterVertical_InternalPositionActual" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterVertical_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.ProcessTransporterVertical_TorqueActualValue" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.ProcessTransporterVertical_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.ProcessTransporterVertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.ProcessTransporterVertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.ProcessTransporterVertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.ProcessTransporterVertical_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Input Address="Cyclic 2ms.Outputs.ProcessTransporterVertical_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Cyclic 2ms.Outputs.ProcessTransporterVertical_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.ProcessTransporterVertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.ProcessTransporterVertical_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.ProcessTransporterVertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.ProcessTransporterVertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.ProcessTransporterVertical_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Cyclic 2ms.Outputs.ProcessTransporterVertical_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<!-- Z axis: 47784 counts/mm -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<!-- HomingMethod 28 = Home Switch Negative Direction -->
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<!--<HomingOffset>-637000</HomingOffset>-->
			<!--HomingOffset>-518000</HomingOffset-->
			<HomingOffset>-398200</HomingOffset>
			<!-- HomingVelocity same as HomeSpeedHomeSwitch -->
			<!-- HomingSpeedHomeSwitch 57 rev/min = 0.9 rev/sec = 1000000 counts/sec -->
			<HomingSpeedHomeSwitch>1000000</HomingSpeedHomeSwitch>
			<!--HomingSpeedHomeSwitch>100000</HomingSpeedHomeSwitch-->
			<HomingSpeedEncoderIndex>100000</HomingSpeedEncoderIndex>
			<!-- HomingAccelDecel 0.05 rev/min/min = 0.0009 rev/sec/sec = 1000 counts/sec/sec -->
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>120000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<!--ErrorLimit>0</ErrorLimit-->
			<ErrorLimit>2000</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-1190000</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>28000000</ForwardSoftwareLimit>
			<!-- Speed 1430 rev/min = 23 rev/sec = 25000000 counts/sec -->
			<!--Speed>31000000</Speed-->
			<!--Speed>25000000</Speed-->
			<Speed>18000000</Speed>
			<!--Speed>12000000</Speed-->
			<!-- Acceleration/Deceleration 0.78 rev/min/min = 0.01 rev/sec/sec = 13800 counts/sec/sec -->
			<Acceleration>138000000</Acceleration>
			<Deceleration>138000000</Deceleration>
			<!--Acceleration>13800000</Acceleration>
      <Deceleration>13800000</Deceleration-->
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</Axis>

		<Axis Name="Transporter2.Gantry" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1080" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterHorizontal_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterHorizontal_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterHorizontal_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterHorizontal_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterHorizontal_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterHorizontal_InternalPositionActual" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterHorizontal_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterHorizontal_TorqueActualValue" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Input Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<!-- X axis: 46258 counts/mm -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<!-- HomingMethod 28 = Home Switch Negative Direction -->
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<!-- HomingVelocity same as HomeSpeedHomeSwitch -->
			<!-- HomingSpeedHomeSwitch 57 rev/min = 0.9 rev/sec = 1000000 counts/sec -->
			<HomingSpeedHomeSwitch>3000000</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<!-- HomingAccelDecel 0.05 rev/min/min = 0.0009 rev/sec/sec = 1000 counts/sec/sec -->
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<!--ErrorLimit>0</ErrorLimit-->
			<ErrorLimit>2000</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<!-- -44262000 = -956 mm (~~ Loader)-->
			<!--ReverseSoftwareLimit>-44262000</ReverseSoftwareLimit-->
			<!-- -14432714 = -312 mm (~ Loader)-->
			<ReverseSoftwareLimit>-15172624</ReverseSoftwareLimit>
			<!-- 73500000 = 1588.89 mm (~ Metal13 / Cell17) -->
			<!--ForwardSoftwareLimit>73500000</ForwardSoftwareLimit-->
			<!-- 119856292 = 2591 mm (~ Metal7 / Cell10) -->
			<ForwardSoftwareLimit>119856292</ForwardSoftwareLimit>
			<!-- Speed 2975 rev/min = 49 rev/sec = 52000000 counts/sec -->
			<Speed>63000000</Speed>
			<!--Speed>30000000</Speed-->
			<!--Speed>52000000</Speed-->
			<!--Speed>26000000</Speed-->
			<!-- Acceleration/Deceleration 0.78 rev/min/min = 0.01 rev/sec/sec = 13800 counts/sec/sec -->
			<!--Acceleration>138000000</Acceleration-->
			<Acceleration>92000000</Acceleration>
			<!--Deceleration>138000000</Deceleration-->
			<Deceleration>92000000</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>130</PositiveTorqueLimit>
		</Axis>

		<Axis Name="Transporter2.Elevator" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1079" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterVertical_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterVertical_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterVertical_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterVertical_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterVertical_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterVertical_InternalPositionActual" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterVertical_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.LoaderTransporterVertical_TorqueActualValue" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.LoaderTransporterVertical_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.LoaderTransporterVertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.LoaderTransporterVertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.LoaderTransporterVertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.LoaderTransporterVertical_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Input Address="Cyclic 2ms.Outputs.LoaderTransporterVertical_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Cyclic 2ms.Outputs.LoaderTransporterVertical_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.LoaderTransporterVertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.LoaderTransporterVertical_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.LoaderTransporterVertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.LoaderTransporterVertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.LoaderTransporterVertical_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Cyclic 2ms.Outputs.LoaderTransporterHorizontal_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<!-- Z axis: 47784 counts/mm -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<!-- HomingMethod 28 = Home Switch Negative Direction -->
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<!--HomingOffset>-662500</HomingOffset-->
			<HomingOffset>-398200</HomingOffset>
			<!-- HomingVelocity same as HomeSpeedHomeSwitch -->
			<!-- HomingSpeedHomeSwitch 57 rev/min = 0.9 rev/sec = 1000000 counts/sec -->
			<HomingSpeedHomeSwitch>1000000</HomingSpeedHomeSwitch>
			<!--HomingSpeedHomeSwitch>100000</HomingSpeedHomeSwitch-->
			<HomingSpeedEncoderIndex>100000</HomingSpeedEncoderIndex>
			<!-- HomingAccelDecel 0.05 rev/min/min = 0.0009 rev/sec/sec = 1000 counts/sec/sec -->
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>120000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<!--ErrorLimit>0</ErrorLimit-->
			<ErrorLimit>2000</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-1190000</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>28000000</ForwardSoftwareLimit>
			<!-- Speed 1430 rev/min = 23 rev/sec = 25000000 counts/sec -->
			<!--Speed>25000000</Speed-->
			<Speed>18000000</Speed>
			<!--Speed>12000000</Speed-->
			<!-- Acceleration/Deceleration 0.78 rev/min/min = 0.01 rev/sec/sec = 13800 counts/sec/sec -->
			<Acceleration>138000000</Acceleration>
			<Deceleration>138000000</Deceleration>
			<!--Acceleration>13800000</Acceleration>
      <Deceleration>13800000</Deceleration-->
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</Axis>	

		<!-- TRANSPORTER AXES END -->

		<!-- DUAL PUF AXES BEGIN -->
		<Axis Name="PUF1.Flip" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_FLIP_STATUS_WORD" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_FLIP_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_FLIP_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_FLIP_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_FLIP_ACTUAL_MOTOR_POS" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_FLIP_POSITION_LOOP_ERROR" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_FLIP_ACTUAL_MOTOR_VELOCITY" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_FLIP_TORQUE_ACTUAL" Type="ActualTorque" DataType="int"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_PROFILE_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_PROFILE_JERK" Type="ProfileJerk" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_PROFILE_TYPE" Type="ProfileType" DataType="int"/>
			<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="0x687C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
			<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="0x6885:00" Type="EStopDecel" DataType="dint"/>
			<Input Address="0x2903:00" Type="VelocityLimit" DataType="dint"/>
			<Input Address="0x2910:00" Type="PeakCurrentLimit" DataType="int"/>
			<Input Address="0x2911:00" Type="ContinuousCurrentLimit" DataType="int"/>
			<Input Address="0x6867:00" Type="PositionWindow" DataType="dint"/>
			<Input Address="0x2920:00" Type="FollowingErrorWindow" DataType="dint"/>

			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_PROFILE_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_PROFILE_JERK" Type="ProfileJerk" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_FLIP_PROFILE_TYPE" Type="ProfileType" DataType="int"/>
			<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="0x687C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6899:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6899:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x689A:00" Type="HomingAccel" DataType="dint"/>

			<!-- 2222.2222 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>
			<HomingMethod>5</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>0</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>0</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>15</ProportionalGain>
			<IntegralGain>1</IntegralGain>
			<DerivativeGain>30</DerivativeGain>
			<IntegralLimit>1</IntegralLimit>
			<ErrorLimit>4444</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-19334</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>413867</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.Rotation" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_ROTATION_STATUS_WORD" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_ROTATION_ACTUAL_MOTOR_POS" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_ROTATION_POSITION_LOOP_ERROR" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_ROTATION_ACTUAL_MOTOR_VELOCITY" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_ROTATION_TORQUE_ACTUAL" Type="ActualTorque" DataType="int"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_PROFILE_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_PROFILE_JERK" Type="ProfileJerk" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_PROFILE_TYPE" Type="ProfileType" DataType="int"/>
			<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="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<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="0x6085:00" Type="EStopDecel" DataType="dint"/>
			<Input Address="0x2103:00" Type="VelocityLimit" DataType="dint"/>
			<Input Address="0x2110:00" Type="PeakCurrentLimit" DataType="int"/>
			<Input Address="0x2111:00" Type="ContinuousCurrentLimit" DataType="int"/>
			<Input Address="0x6067:00" Type="PositionWindow" DataType="dint"/>
			<Input Address="0x2120:00" Type="FollowingErrorWindow" DataType="dint"/>

			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_PROFILE_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_PROFILE_JERK" Type="ProfileJerk" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_ROTATION_PROFILE_TYPE" Type="ProfileType" DataType="int"/>
			<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="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>

			<!-- 2222.2222 counts/degree -->
			<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>5</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<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>-30112</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>166067</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="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1009" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_VERT_STATUS_WORD" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_VERT_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_VERT_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_VERT_POS_ACTUAL" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_VERT_INTERNAL_POS" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_VERT_FOLLOWING_ERROR" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_VERT_ACTUAL_VELOCITY" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_A_VERT_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_VERT_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_VERT_TARGET_POS" Type="TargetPosition" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_VERT_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_VERT_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_A_VERT_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<!-- Input Address="Cyclic 2ms.Outputs.c_DPUF_A_VERT_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_VERT_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_VERT_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_VERT_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_VERT_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_VERT_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_A_VERT_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Cyclic 2ms.Outputs.c_DPUF_A_VERT_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<!-- 104,857.6 counts/mm -->
			<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>
			<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>-30513562</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="1006" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_FLIP_STATUS_WORD" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_FLIP_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_FLIP_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_FLIP_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_FLIP_ACTUAL_MOTOR_POS" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_FLIP_POSITION_LOOP_ERROR" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_FLIP_ACTUAL_MOTOR_VELOCITY" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_FLIP_TORQUE_ACTUAL" Type="ActualTorque" DataType="int"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_PROFILE_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_PROFILE_JERK" Type="ProfileJerk" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_PROFILE_TYPE" Type="ProfileType" DataType="int"/>
			<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="0x687C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
			<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="0x6885:00" Type="EStopDecel" DataType="dint"/>
			<Input Address="0x2903:00" Type="VelocityLimit" DataType="dint"/>
			<Input Address="0x2910:00" Type="PeakCurrentLimit" DataType="int"/>
			<Input Address="0x2911:00" Type="ContinuousCurrentLimit" DataType="int"/>
			<Input Address="0x6867:00" Type="PositionWindow" DataType="dint"/>
			<Input Address="0x2920:00" Type="FollowingErrorWindow" DataType="dint"/>

			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_PROFILE_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_PROFILE_JERK" Type="ProfileJerk" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_FLIP_PROFILE_TYPE" Type="ProfileType" DataType="int"/>
			<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="0x687C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6899:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6899:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x689A:00" Type="HomingAccel" DataType="dint"/>

			<!-- 2222.2222 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>
			<HomingMethod>5</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>0</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>0</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>444444</Speed>
			<Acceleration>3333333</Acceleration>
			<Deceleration>3333333</Deceleration>
			<Jerk>7200000</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
		</Axis>
		<Axis Name="PUF2.Rotation" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1006" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_ROTATION_STATUS_WORD" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_ROTATION_ACTUAL_MOTOR_POS" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_ROTATION_POSITION_LOOP_ERROR" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_ROTATION_ACTUAL_MOTOR_VELOCITY" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_ROTATION_TORQUE_ACTUAL" Type="ActualTorque" DataType="int"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_PROFILE_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_PROFILE_JERK" Type="ProfileJerk" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_PROFILE_TYPE" Type="ProfileType" DataType="int"/>
			<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="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<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="0x6085:00" Type="EStopDecel" DataType="dint"/>
			<Input Address="0x2103:00" Type="VelocityLimit" DataType="dint"/>
			<Input Address="0x2110:00" Type="PeakCurrentLimit" DataType="int"/>
			<Input Address="0x2111:00" Type="ContinuousCurrentLimit" DataType="int"/>
			<Input Address="0x6067:00" Type="PositionWindow" DataType="dint"/>
			<Input Address="0x2120:00" Type="FollowingErrorWindow" DataType="dint"/>

			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_PROFILE_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_PROFILE_JERK" Type="ProfileJerk" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_ROTATION_PROFILE_TYPE" Type="ProfileType" DataType="int"/>
			<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="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>

			<!-- 2222.2222 counts/degree -->
			<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="PUF2.Vertical" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1008" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_VERT_STATUS_WORD" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_VERT_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_VERT_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_VERT_POS_ACTUAL" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_VERT_INTERNAL_POS" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_VERT_FOLLOWING_ERROR" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_VERT_ACTUAL_VELOCITY" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_DPUF_B_VERT_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_VERT_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_VERT_TARGET_POS" Type="TargetPosition" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_VERT_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_VERT_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_DPUF_B_VERT_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<!-- Input Address="Cyclic 2ms.Outputs.c_DPUF_B_VERT_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_VERT_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_VERT_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_VERT_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_VERT_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_VERT_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_DPUF_B_VERT_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Cyclic 2ms.Outputs.c_DPUF_B_VERT_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<!-- 104,857.6 counts/mm -->
			<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>

		<!-- DUAL PUF AXES END -->

		<!-- LOADER AXES BEGIN -->
		<Axis Name="Loader1.TiltA" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1022" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.r_Loader1TiltA_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1TiltA_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1TiltA_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.r_Loader1TiltA_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1TiltA_InternalPosition" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1TiltA_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1TiltA_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1TiltA_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1TiltA_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1TiltA_TargetPosition" Type="TargetPosition" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1TiltA_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1TiltA_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1TiltA_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Input Address="Cyclic 2ms.Outputs.Loader1TiltA_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Cyclic 2ms.Outputs.Loader1TiltA_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1TiltA_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1TiltA_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1TiltA_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1TiltA_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1TiltA_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!--<Output Address="Cyclic 2ms.Outputs.Loader1TiltA_ProfileDecel" Type="ProfileDecel" DataType="dint"/>-->
			<!-- Output Address="Cyclic 2ms.Outputs.Loader1TiltA_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>11650</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-28864967</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>30801919</ForwardSoftwareLimit>
			<Speed>52428800</Speed>
			<Acceleration>52428800</Acceleration>
			<Deceleration>104857600</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
			<NegativeTorqueLimit>50</NegativeTorqueLimit>
			<PositiveTorqueLimit>50</PositiveTorqueLimit>
		</Axis>	
		<Axis Name="Loader1.TiltB" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1021" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.r_Loader1TiltB_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1TiltB_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1TiltB_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.r_Loader1TiltB_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1TiltB_InternalPosition" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1TiltB_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1TiltB_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1TiltB_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1TiltB_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1TiltB_TargetPosition" Type="TargetPosition" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1TiltB_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1TiltB_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1TiltB_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Input Address="Cyclic 2ms.Outputs.Loader1TiltB_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Cyclic 2ms.Outputs.Loader1TiltB_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1TiltB_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1TiltB_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1TiltB_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1TiltB_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1TiltB_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Cyclic 2ms.Outputs.Loader1TiltB_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>11650</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-29590232</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>31460192</ForwardSoftwareLimit>
			<Speed>52428800</Speed>
			<Acceleration>52428800</Acceleration>
			<Deceleration>104857600</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
			<NegativeTorqueLimit>50</NegativeTorqueLimit>
			<PositiveTorqueLimit>50</PositiveTorqueLimit>
		</Axis>
		<Axis Name="Loader1.SwingA" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1020" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.r_Loader1SwingA_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1SwingA_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1SwingA_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.r_Loader1SwingA_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1SwingA_InternalPosition" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1SwingA_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1SwingA_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1SwingA_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1SwingA_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1SwingA_TargetPosition" Type="TargetPosition" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1SwingA_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1SwingA_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1SwingA_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Input Address="Cyclic 2ms.Outputs.Loader1SwingA_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Cyclic 2ms.Outputs.Loader1SwingA_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1SwingA_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1SwingA_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1SwingA_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1SwingA_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1SwingA_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Cyclic 2ms.Outputs.Loader1SwingA_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>11650</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-4864228</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>12242125</ForwardSoftwareLimit>
			<Speed>29127110</Speed>
			<Acceleration>29127110</Acceleration>
			<Deceleration>29127110</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
		<Axis Name="Loader1.SwingB" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1017" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.r_Loader1SwingB_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1SwingB_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1SwingB_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.r_Loader1SwingB_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1SwingB_InternalPosition" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1SwingB_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1SwingB_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1SwingB_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1SwingB_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1SwingB_TargetPosition" Type="TargetPosition" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1SwingB_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1SwingB_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1SwingB_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Input Address="Cyclic 2ms.Outputs.Loader1SwingB_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Cyclic 2ms.Outputs.Loader1SwingB_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1SwingB_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1SwingB_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1SwingB_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1SwingB_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1SwingB_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Cyclic 2ms.Outputs.Loader1SwingB_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<!-- ErrorLimit>2000</ErrorLimit -->
			<ErrorLimit>11650</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-4349377</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>12923699</ForwardSoftwareLimit>
			<Speed>29127110</Speed>
			<Acceleration>29127110</Acceleration>
			<Deceleration>29127110</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
		<Axis Name="Loader1.CRSA" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1018" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.r_Loader1CRSA_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1CRSA_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1CRSA_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.r_Loader1CRSA_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1CRSA_InternalPosition" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_Loader1CRSA_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1CRSA_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_Loader1CRSA_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1CRSA_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1CRSA_TargetPosition" Type="TargetPosition" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1CRSA_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1CRSA_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1CRSA_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1CRSA_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Cyclic 2ms.Outputs.Loader1CRSA_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1CRSA_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1CRSA_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1CRSA_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1CRSA_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1CRSA_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1CRSA_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/>
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>2300936</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>120000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>11504</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<Speed>4314255</Speed>
			<Acceleration>14380850</Acceleration>
			<Deceleration>14380850</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
		<Axis Name="Loader1.CRSB" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1019" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.r_Loader1CRSB_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1CRSB_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1CRSB_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.r_Loader1CRSB_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1CRSB_InternalPosition" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_Loader1CRSB_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1CRSB_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_Loader1CRSB_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1CRSB_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1CRSB_TargetPosition" Type="TargetPosition" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1CRSB_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1CRSB_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1CRSB_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1CRSB_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Cyclic 2ms.Outputs.Loader1CRSB_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1CRSB_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1CRSB_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1CRSB_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1CRSB_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1CRSB_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1CRSB_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/>
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>2300936</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>120000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>11504</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<Speed>4314255</Speed>
			<Acceleration>14380850</Acceleration>
			<Deceleration>14380850</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
		<Axis Name="Loader1.Rotation" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1016" DebugLogging="false">
			<Input Address="Cyclic 2ms.Inputs.r_Loader1Rotation_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1Rotation_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1Rotation_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Cyclic 2ms.Inputs.r_Loader1Rotation_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1Rotation_InternalPosition" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1Rotation_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1Rotation_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.Loader1Rotation_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1Rotation_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1Rotation_TargetPosition" Type="TargetPosition" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1Rotation_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1Rotation_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.Loader1Rotation_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Input Address="Cyclic 2ms.Outputs.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" 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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Cyclic 2ms.Outputs.Loader1Rotation_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1Rotation_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1Rotation_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1Rotation_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1Rotation_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.Loader1Rotation_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Cyclic 2ms.Outputs.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<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="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<HomingMethod>24</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>6766</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<!-- -193 degrees * 169161 = -32648073 -->
			<ReverseSoftwareLimit>-33155556</ReverseSoftwareLimit>
			<!-- 13 degrees * 169161 = 2199093 -->
			<ForwardSoftwareLimit>2706576</ForwardSoftwareLimit>
			<Speed>15000000</Speed>
			<Acceleration>10000000</Acceleration>
			<Deceleration>10000000</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>

		<!-- LOADER AXES END -->
		
		<!-- 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="Cyclic 2ms.Inputs.r_SRD1_ARM_StatusWord" Type="StatusWord" DataType="uint"/>
			<!--DigitalInputs may be used someday in PDO instead of ModeOfOperationDisplay/-->
			<!--Input Address="Cyclic 2ms.Inputs.r_SRD1_ARM_DigitalInputs" Type="DigitalInputs" DataType="uint"/-->
			<Input Address="Cyclic 2ms.Inputs.r_SRD1_ARM_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD1_ARM_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_SRD1_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.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="Cyclic 2ms.Outputs.c_SRD1_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.c_SRD1_ARM_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
			<Output Address="Cyclic 2ms.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="Cyclic 2ms.Inputs.r_SRD1_ROTATION_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD1_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD1_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD1_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD1_ROTATION_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD1_ROTATION_ActualFollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD1_ROTATION_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD1_ROTATION_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.c_SRD1_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.c_SRD1_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_SRD1_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_SRD1_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.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="Cyclic 2ms.Outputs.c_SRD1_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.c_SRD1_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
			<Output Address="Cyclic 2ms.Outputs.c_SRD1_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_SRD1_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_SRD1_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.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="Cyclic 2ms.Inputs.r_SRD2_ARM_StatusWord" Type="StatusWord" DataType="uint"/>
			<!--DigitalInputs may be used someday in PDO instead of ModeOfOperationDisplay/-->
			<!--Input Address="Cyclic 2ms.Inputs.r_SRD2_ARM_DigitalInputs" Type="DigitalInputs" DataType="uint"/-->
			<Input Address="Cyclic 2ms.Inputs.r_SRD2_ARM_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD2_ARM_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_SRD2_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.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="Cyclic 2ms.Outputs.c_SRD2_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.c_SRD2_ARM_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
			<Output Address="Cyclic 2ms.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="Cyclic 2ms.Inputs.r_SRD2_ROTATION_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD2_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD2_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD2_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD2_ROTATION_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD2_ROTATION_ActualFollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD2_ROTATION_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Inputs.r_SRD2_ROTATION_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="Cyclic 2ms.Outputs.c_SRD2_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Cyclic 2ms.Outputs.c_SRD2_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_SRD2_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Cyclic 2ms.Outputs.c_SRD2_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Cyclic 2ms.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="Cyclic 2ms.Outputs.c_SRD2_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Cyclic 2ms.Outputs.c_SRD2_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
			<Output Address="Cyclic 2ms.Outputs.c_SRD2_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_SRD2_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Cyclic 2ms.Outputs.c_SRD2_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Cyclic 2ms.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 -->
		
		<!--////////////////////////////////////////////////// ALL MOTION AXES END //////////////////////////////////////////////////-->

	</Controller>
</BeckhoffCfg>