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

<?xml version="1.0" encoding="utf-8"?>
<BeckhoffCfg>
	<Controller Name="MASTER" IPAddress="10.4.6.77.1.1" PortAddress="851">

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

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

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

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

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

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

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

		<Input Name="r_Loader_Zone_Safe_Disable" Address="MAIN.Safety_rLoaderZoneSafeSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Rotate_AMP_SLS" Address="MAIN.Safety_rLoaderRotateAmpSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Door_A_AMP_SLS" Address="MAIN.Safety_rLoaderDoorAAmpSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Door_B_AMP_SLS" Address="MAIN.Safety_rLoaderDoorBAmpSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SUP_A_AMP_SLS" Address="MAIN.Safety_rLoaderSupAAmpSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SUP_B_AMP_SLS" Address="MAIN.Safety_rLoaderSupBAmpSLS" Invert="false" Type="Digital" DataType="bool"/>

		<Input Name="r_DPUF_VERT_SAFE_Disable" Address="MAIN.Safety_rDpufVertSafeSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_A_VERT_SAFE_SLS" Address="MAIN.Safety_rDpufAVertSafeSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_B_VERT_SAFE_SLS" Address="MAIN.Safety_rDpufBVertSafeSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_A_PIVSUP_Disable" Address="MAIN.Safety_rDpufAPivSupSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_B_PIVSUP_Disable" Address="MAIN.Safety_rDpufBPivSupSTO" Invert="false" Type="Digital" DataType="bool"/>

		<Input Name="r_SRD_WASH_ARMS_Disable" Address="MAIN.Safety_rSrdWashArmsSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_ROTATE_Disable" Address="MAIN.Safety_rSrdRotateSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_EBR_WANDS_STO" Address="MAIN.Safety_rSrdEbrWandsSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_EBR_PUMPS_STO" Address="MAIN.Safety_rSrdEbrPumpsSTO" Invert="false" Type="Digital" DataType="bool"/>

		<Input Name="r_Gantry_Zone_Safe_Disable" Address="MAIN.Safety_rGantryZoneSafeSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_SLS_1" Address="MAIN.Safety_rGantryZoneSafeSLS1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_SLS_2" Address="MAIN.Safety_rGantryZoneSafeSLS2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_SLS_3" Address="MAIN.Safety_rGantryZoneSafeSLS3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_SLS_4" Address="MAIN.Safety_rGantryZoneSafeSLS4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_MODE_SELECTOR_SWITCH" Address="MAIN.Safety_rModeSelectorSwitch" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_PUMP_EDM" Address="MAIN.Safety_rPumpEDM" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_SAFETY_HIGH_LEVEL" Address="MAIN.Safety_rResHighLevel" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_EXT_FLUID_ENABLE_EDM" Address="MAIN.Safety_rExtFluidEnableEDM" Invert="true" Type="Digital" DataType="bool"/>

		<Input Name="r_VPW_LID_INTLK" Address="MAIN.Safety_rProcDoor1SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOOR_1_SAFE_LOCK" Address="MAIN.Safety_rProcDoor1SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOOR_2_SAFE_LOCK" Address="MAIN.Safety_rProcDoor2SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOOR_3_SAFE_LOCK" Address="MAIN.Safety_rProcDoor3SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOOR_4_SAFE_LOCK" Address="MAIN.Safety_rProcDoor4SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PLUMBING_DOORS_CLOSED" Address="MAIN.Safety_rPlumbingDoorsClosed" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOORS_UPPR_PNLS_ON" Address="MAIN.Safety_rProcDoorsUpperPanelsOn" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROCESS_HALT_BUTTON_1" Address="MAIN.Safety_rProcessHaltButton1" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_PROCESS_HALT_BUTTON_2" Address="MAIN.Safety_rProcessHaltButton2" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_SLS" Address="MAIN.Safety_rAllNoSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Loader_Zone_Safe_SLS" Address="MAIN.Safety_rAllNoSLS" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_VERT_SAFE_SLS" Address="MAIN.Safety_rAllNoSLS" Type="Digital" DataType="bool"/>
		<Input Name="r_Loader_Zone_Safe_STO" Address="MAIN.Safety_rLoaderPufZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_VERT_SAFE_STO" Address="MAIN.Safety_rLoaderPufZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_A_PIVSUP_STO" Address="MAIN.Safety_rLoaderPufZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_B_PIVSUP_STO" Address="MAIN.Safety_rLoaderPufZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_WASH_STO" Address="MAIN.Safety_rSdrZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_ROTATE_STO" Address="MAIN.Safety_rSdrZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_STO" Address="MAIN.Safety_cTxGantryZoneSafeSTO" Type="Digital" DataType="bool"/>

		<!-- Safety inputs end -->


		<!--PUF1-->
		<Input Name="r_DPUF_A_CHUCK_A_VAC"  Address="MAIN.PUF_AI_8CHANNEL_EL3068_N251_4" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_DPUF_A_CHUCK_B_VAC"  Address="MAIN.PUF_AI_8CHANNEL_EL3068_N251_5" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_DPUF_A_CHUCK_A_WFER_SNS_1"  Address="MAIN.PUF_AI_8CHANNEL_EL3068_N252_5" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_DPUF_A_CHUCK_A_WFER_SNS_2"  Address="MAIN.PUF_AI_8CHANNEL_EL3068_N252_6" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<!--PUF2-->
		<Input Name="r_DPUF_B_CHUCK_A_VAC"  Address="MAIN.PUF_AI_8CHANNEL_EL3068_N251_8" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_DPUF_B_CHUCK_B_VAC"  Address="MAIN.PUF_AI_8CHANNEL_EL3068_N252_1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_DPUF_B_CHUCK_A_WFER_SNS_1"  Address="MAIN.PUF_AI_8CHANNEL_EL3068_N252_7" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_DPUF_B_CHUCK_A_WFER_SNS_2"  Address="MAIN.PUF_AI_8CHANNEL_EL3068_N252_8" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<!--Loader1-->
		<Input Name="r_LoaderA_Wafer_Present" Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N54_1" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_DOOR_UPPER_LOCKED"  Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N54_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_DOOR_UPPER_UNLOCKED"  Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N54_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_DOOR_LOWER_LOCKED"  Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N54_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_DOOR_LOWER_UNLOCKED"  Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N54_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_TRANSLATION_RETRACTED" Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N55_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_BERNOULLI_EXTENDED" Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N55_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_WS_LOCKED" Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N55_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_BERNOULLI_PRESSURE" Address="MAIN.LOADER_AI_8CHANNEL_0_10V_EL3068_N52_1" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_LOADERA_CHUCK_BLADDER" Address="MAIN.LOADER_AI_8CHANNEL_0_10V_EL3068_N53_5" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_LoaderA_LS_Vacuum_anlg" Address="MAIN.LOADER_AI_8CHANNEL_0_10V_EL3068_N52_3" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_LOADERA_WS_BLADDER_PRESSURE" Address="MAIN.LOADER_AI_8CHANNEL_0_10V_EL3068_N53_1" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_LOADERA_TRANSLATION_PRESSURE" Address="MAIN.LOADER_AI_8CHANNEL_0_10V_EL3068_N53_3" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>

		<Input Name="r_LoaderB_Wafer_Present" Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N54_2" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_DOOR_UPPER_LOCKED"  Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N54_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_DOOR_UPPER_UNLOCKED"  Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N54_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_DOOR_LOWER_LOCKED"  Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N54_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_DOOR_LOWER_UNLOCKED"  Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N54_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_TRANSLATION_RETRACTED" Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N55_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_BERNOULLI_EXTENDED" Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N55_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_WS_LOCKED" Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N55_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_CHUCK_BLADDER" Address="MAIN.LOADER_AI_8CHANNEL_0_10V_EL3068_N53_6" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_LoaderB_LS_Vacuum_anlg" Address="MAIN.LOADER_AI_8CHANNEL_0_10V_EL3068_N52_4" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_LOADERB_WS_BLADDER_PRESSURE" Address="MAIN.LOADER_AI_8CHANNEL_0_10V_EL3068_N53_2" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_LOADERB_TRANSLATION_PRESSURE" Address="MAIN.LOADER_AI_8CHANNEL_0_10V_EL3068_N53_4" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_LOADERB_BERNOULLI_PRESSURE" Address="MAIN.LOADER_AI_8CHANNEL_0_10V_EL3068_N52_2" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>

		<Input Name="r_Cathode_Present"  Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N54_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DRIP_TRAY_FLUID_DETECTION" Address="MAIN.LOADER_DI_16CHANNEL_EL1819_N54_13" Invert="true" Type="Digital" DataType="bool"/>

		<Input Name="r_LOADER_GasFlowSensor_FLOW" Address="MAIN.LOADER_AI_8CHANNEL_0_10V_EL3068_N52_5" Scaling="0=3370, 500=17000" Type="Analog" DataType="int"/>
		<Input Name="r_LOADER_GasFlowSensor_VACUUM"  Address="MAIN.LOADER_AI_8CHANNEL_0_10V_EL3068_N52_6" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>


		<!-- N15, EL3068 -->
		<Input Name="r_CDA_EXTERNAL_PRESSURE" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N15_1" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_CDA_HIGH_PRESSURE" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N15_2" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_CDA_LOW_PRESSURE" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N15_3" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="N15_AI_4" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N15_4" Scaling="0=0, 20=32767" Type="Analog" DataType="int"/>
		<Input Name="N15_AI_5" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N15_5" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_N2_1B_PRESSURE" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N15_6" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_N2_1A_PRESSURE" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N15_7" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_N2_2B_PRESSURE" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N15_8" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>

		<!-- N16, EL3068 -->
		<Input Name="r_N2_2A_PRESSURE" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N16_1" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_N2_BLANKET_PRESSURE" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N16_2" Scaling="-14.5=3276.7, 14.5=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_SYSTEM_VACUUM" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N16_3" Scaling="-750=3276.7, 750=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_SPW_DI_PRESS" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N16_4" Scaling="0=0, 20=32767" Type="Analog" DataType="int"/>
		<Input Name="r_VACPREW1_VAC_PUMP_PRESS" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N16_5" Scaling="760=3276.7, 0.526316=16055.83" Type="Analog" DataType="int" Clip="true"/>
		<Input Name="r_VACPREW1_CELL_PRESS" Address="MAIN.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N16_6" Scaling="760=3276.7, 0.526316=16055.83" Type="Analog" DataType="int" Clip="true"/>
		<!-- N12, EL3058 -->
		<Input Name="r_CHEM_EXH_PRESS" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N12_1" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_SYSTEM_EXHAUST" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N12_2" Scaling="0=0, 2=32767" Type="Analog" DataType="int"/>
		<Input Name="r_SPW1_LEV_PUMP_FLOW" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N12_3" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_DI_WATER_PRESSURE" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N12_4" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_PUMP9_FLOW" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N12_5" Scaling="0=0, 40=32767" Type="Analog" DataType="int"/>
		<Input Name="r_PUMP10_FLOW" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N12_6" Scaling="0=0, 40=32767" Type="Analog" DataType="int"/>
		<!-- N13, EL3058 -->
		<Input Name="r_HCW_FLOW" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N13_5" Scaling="0=0, 40=32767" Type="Analog" DataType="int"/>
		<!-- FFU Inputs Start -->
		<Input Name="r_FFUFaultLoader"   ModuleName="FFU" Address="MAIN.FFU_IO_DI_2CHANNEL_EL1002_N1_1" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_FFUFaultProcess"  ModuleName="FFU" Address="MAIN.FFU_IO_DI_2CHANNEL_EL1002_N1_2" Invert="true" Type="Digital" DataType="bool"/>

		<Input Name="r_FFUPressureLoader"  ModuleName="FFU" Address="MAIN.FFU_IO_AI_2CHANNEL_EL3052_N3_1" Scaling="0=0, 1=32767" Type="Analog" DataType="int"/>
		<Input Name="r_FFUPressureProcess"  ModuleName="FFU" Address="MAIN.FFU_IO_AI_2CHANNEL_EL3052_N3_2" Scaling="0=0, 1=32767" Type="Analog" DataType="int"/>
		<!-- FFU Inputs End-->
		<!-- N21, EL1819 -->
		<Input Name="r_M3_REPLEN1_LEVEL" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N21_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_M3_REPLEN2_LEVEL" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N21_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ACT_UPPER_LVL" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N21_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ACT_LOWER_LVL" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N21_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_CONTAINMENT_FLUID" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N21_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DOOR_INLK_OK" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N21_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LEV_PUMP_ERROR" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N21_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SPW1_LEV_PUMP_STATUS" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N21_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LEV_PUMP_WARNING" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N21_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_REAR_DOOR_INTLK" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N21_12" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SAMPLE_SYS_FLUID_PRESENT_2" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N21_13" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SAMPLE_SYS_FLUID_PRESENT" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N21_14" Invert="false" Type="Digital" DataType="bool"/>

		<!-- N22, EL1819 -->
		<Input Name="r_SLIPSTREAM_FLUID_PRESENT" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N22_8" Invert="false" Type="Digital" DataType="bool"/>
		<!-- TRANSPORTER INPUTS BEGIN -->
		<!-- PROCESS TRANSPORTER BEGIN-->
		<!-- N203, EL1872 -->
		<Input Name="r_ENCLOSED_TRANSPORT_WS_UNLOCKED_1" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_1" Invert="false" Type="Digital" DataType="bool"/>
		<!-- -->
		<Input Name="r_ENCLOSED_TRANSPORT_WS_LOCKED_2" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WS_LOCKED_1" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WS_UNLOCKED_2" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WS_IMMOBILIZER1_RETRACTED" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WS_IMMOBILIZER1_EXTENDED" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WS_IMMOBILIZER2_EXTENDED" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WS_IMMOBILIZER2_RETRACTED" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_DRIP_TRAY_OPEN" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_DRIP_TRAY_CLOSED" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WS_READY_TO_LOCK_1" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WS_READY_TO_LOCK_2" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_12" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WS_PRESENT_1" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_13" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WS_PRESENT_2" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N203_15" Invert="false" Type="Digital" DataType="bool"/>

		<!-- N208, EL1872 -->
		<Input Name="r_ENCLOSED_TRANSPORT_DRIP_TRAY_TILTED" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N204_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_DRIP_TRAY_HORIZ" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N204_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_N2_PRESSURE_OK" Address="MAIN.PrcTxIO_DI_16CHANNEL_EL1872_N204_3" Invert="false" Type="Digital" DataType="bool"/>
		<!-- PROCESS TRANSPORTER END -->

		<!-- LOADER TRANSPORTER BEGIN -->
		<!-- N153, EL1872 -->
		<Input Name="r_ENCLOSED_TRANSPORT2_WS_UNLOCKED_1" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WS_LOCKED_2" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WS_LOCKED_1" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WS_UNLOCKED_2" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WS_IMMOBILIZER1_RETRACTED" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WS_IMMOBILIZER1_EXTENDED" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WS_IMMOBILIZER2_EXTENDED" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WS_IMMOBILIZER2_RETRACTED" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_DRIP_TRAY_OPEN" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_DRIP_TRAY_CLOSED" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WS_READY_TO_LOCK_1" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WS_READY_TO_LOCK_2" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_12" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WS_PRESENT_1" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_13" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WS_PRESENT_2" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N153_15" Invert="false" Type="Digital" DataType="bool"/>

		<!-- N154, EL1872 -->
		<Input Name="r_ENCLOSED_TRANSPORT2_DRIP_TRAY_TILTED" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N154_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_DRIP_TRAY_HORIZ" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N154_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_N2_PRESSURE_OK" Address="MAIN.LdrTxIO_DI_16CHANNEL_EL1872_N154_3" Invert="false" Type="Digital" DataType="bool"/>
		<!-- LOADER TRANSPORTER END -->
		<!-- TRANSPORTER INPUTS END -->

		<Input Name="r_SPW1_LEV_PUMP_CURRENT" Address="MAIN.MAIN_IO_AO_2CHANNEL_4_20mA_EL4022_N19_1" Scaling="4=0,20=32767" Type="Analog" DataType="int"/>

		<Input Name="r_SRD_FLUID_CONTAINMENT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N303_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_SUPPLY_WATER_PRESS" Address="MAIN.SRD_AI_4CHANNEL_4_20mA_EL3054_N302_2" Scaling="0=0,50=32767" Type="Analog" DataType="int"/>
		<Input Name="r_SRD1_CHUCK_VACUUM_anlg"   Address="MAIN.SRD_AI_4CHANNEL_0_10V_EL3064_N301_1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_SRD2_CHUCK_VACUUM_anlg"   Address="MAIN.SRD_AI_4CHANNEL_0_10V_EL3064_N301_2" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_SRD1_WAFER_PRESENT_anlg"   Address="MAIN.SRD_AI_4CHANNEL_0_10V_EL3064_N301_3" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_SRD2_WAFER_PRESENT_anlg"   Address="MAIN.SRD_AI_4CHANNEL_0_10V_EL3064_N301_4" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_SRD1_SHUTTER_OPEN" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N303_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_SHUTTER_CLOSED" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N303_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_SHUTTER_OPEN" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N304_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_SHUTTER_CLOSED" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N304_6" Invert="false" Type="Digital" DataType="bool"/>

		<Input Name="r_HVD_2_ANALOG" Address="MAIN.PUF_AI_8CHANNEL_EL3068_N251_2" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_HVD_1_ANALOG" Address="MAIN.PUF_AI_8CHANNEL_EL3068_N251_3" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>

		<Input Name="r_SPW1_LEV_PUMP_STATUS" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N21_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SPW1_LEV_PUMP_FLOW" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N12_3" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_SPW1_LEV_PUMP_PRES" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N11_7" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>

		<Input Name="r_QDRD1_WATER_LEVEL" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N13_1" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_QDRD2_WATER_LEVEL" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N13_2" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_QDRD3_WATER_LEVEL" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N13_3" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_QDRD4_WATER_LEVEL" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N13_4" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_QDRD5_WATER_LEVEL" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N14_1" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_QDRD6_WATER_LEVEL" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N14_2" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>

		<!--Reservoirs-->
		
		<!--Reservoir1-->
		<Input Name="r_DI_EVAPORATOR_LEVEL" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N22_7" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_RES1_AN_LEVEL_raw" Address="MAIN.RESERVOIR1_2_AI_8CHANNEL_4_20MA_EL3058_N755_1" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="c_RES1_AN_TRANSFER_PUMP.STMStatus" Address="MAIN.RESERVOIR1_STP_EL7031_N501_STM_STATUS" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="c_RES1_AN_TRANSFER_PUMP.POSStatus" Address="MAIN.RESERVOIR1_STP_EL7031_N501_POS_STATUS" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="c_RES1_AN_TRANSFER_PUMP.ActualPosition" Address="MAIN.RESERVOIR1_STP_EL7031_N501_ACTUAL_POSITION" Type="Analog" Scaling="0=0,1=23809.96272" DataType="dint"/>
		<Input Name="r_RES1_AN_BYPASS_FLOW" Address="MAIN.RESERVOIR1_2_AI_8CHANNEL_4_20MA_EL3058_N754_7" Scaling="0=0, 20=32767" Type="Analog" DataType="int"/>
		<Input Name="r_RES1_CA_LEVEL_raw" Address="MAIN.RESERVOIR1_2_AI_8CHANNEL_4_20MA_EL3058_N754_5" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_RES1_CA_PUMP_RUNNING" Address="MAIN.RESERVOIR1_2_DI_8CHANNEL_EL1008_N759_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES1_CA_HED_FLOW" Address="MAIN.RESERVOIR1_2_AI_8CHANNEL_4_20MA_EL3058_N753_1" Scaling="0=0, 20=32767" Type="Analog" DataType="int"/>
		<!--Reservoir2-->
		<Input Name="r_RES2_CMM_FLOW" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N14_7" Scaling="0=0, 20=32767" Type="Analog" DataType="int"/>
		<Input Name="r_pH2" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N11_1" Scaling="0=0, 14=32767" Type="Analog" DataType="int"/>
		<Input Name="r_RES2_LEVEL_raw" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N14_5" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_RES2_LOW_LEVEL" Address="MAIN.MAIN_IO_DI_16CHANNEL_EL1819_N22_2" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_RES2_HED_FLOW" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N13_6" Scaling="0=0, 20=32767" Type="Analog" DataType="int"/>	
		<!--Reservoir3-->
		<Input Name="r_RES3_AN_LEVEL_raw" Address="MAIN.RESERVOIR1_2_AI_8CHANNEL_4_20MA_EL3058_N755_2" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="c_RES3_AN_TRANSFER_PUMP.STMStatus" Address="MAIN.RESERVOIR3_STP_EL7031_N551_STM_STATUS" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="c_RES3_AN_TRANSFER_PUMP.POSStatus" Address="MAIN.RESERVOIR3_STP_EL7031_N551_POS_STATUS" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="c_RES3_AN_TRANSFER_PUMP.ActualPosition" Address="MAIN.RESERVOIR3_STP_EL7031_N551_ACTUAL_POSITION" Type="Analog" Scaling="0=0,1=23809.96272" DataType="dint"/>
		<Input Name="r_RES3_CA_LEVEL_raw" Address="MAIN.RESERVOIR1_2_AI_8CHANNEL_4_20MA_EL3058_N754_6" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_RES3_CA_PUMP_RUNNING" Address="MAIN.RESERVOIR1_2_DI_8CHANNEL_EL1008_N759_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES3_CA_HED_FLOW" Address="MAIN.RESERVOIR1_2_AI_8CHANNEL_4_20MA_EL3058_N753_2" Scaling="0=0, 20=32767" Type="Analog" DataType="int"/>
		<!--Metal1-->
		<Input Name="r_CELL1_FLOW" Address="MAIN.RESERVOIR1_2_AI_8CHANNEL_4_20MA_EL3058_N753_3" Scaling="0=0, 20=32767" Type="Analog" DataType="int"/>
		<!--Metal2-->
		<Input Name="r_CELL2_FLOW" Address="MAIN.RESERVOIR1_2_AI_8CHANNEL_4_20MA_EL3058_N753_4" Scaling="0=0, 20=32767" Type="Analog" DataType="int"/>
		<!--Metal3-->
		<Input Name="r_CELL3_FLOW" Address="MAIN.RESERVOIR1_2_AI_8CHANNEL_4_20MA_EL3058_N753_5" Scaling="0=0, 20=32767" Type="Analog" DataType="int"/>
		<!--Metal4-->
		<Input Name="r_PUMP4_FLOW" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N12_5" Scaling="0=0, 40=32767" Type="Analog" DataType="int"/>
		<!--Metal5-->
		<Input Name="r_PUMP5_FLOW" Address="MAIN.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N12_6" Scaling="0=0, 40=32767" Type="Analog" DataType="int"/>
		<!--Metal6-->
		<Input Name="r_CELL6_FLOW" Address="MAIN.RESERVOIR1_2_AI_8CHANNEL_4_20MA_EL3058_N754_1" Scaling="0=0, 20=32767" Type="Analog" DataType="int"/>
		<!--Metal7-->
		<Input Name="r_CELL7_FLOW" Address="MAIN.RESERVOIR1_2_AI_8CHANNEL_4_20MA_EL3058_N754_2" Scaling="0=0, 20=32767" Type="Analog" DataType="int"/>
		<!-- MAIN IO INPUTS END -->


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

		<!--////////////////////////////////////////////////// ALL Counter BEGIN //////////////////////////////////////////////////-->
		<Counter Name="r_DIREPLEN_FLOW" Address="MAIN.MAIN_IO_COUNTER_2CHANNEL_EL1512_N20_1_Counter_value" DataType="udint" Mode="2" Period="2000" Scaling="0=0,1=22">
			<Output Address="MAIN.MAIN_IO_COUNTER_2CHANNEL_EL1512_N20_1_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.MAIN_IO_COUNTER_2CHANNEL_EL1512_N20_1_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.MAIN_IO_COUNTER_2CHANNEL_EL1512_N20_1_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_RES1_AN_TRANSFER_FLOW" Address="MAIN.RESERVOIR1_CT_2CHANNEL_EL1512_N510_1_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR1_CT_2CHANNEL_EL1512_N510_1_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_CT_2CHANNEL_EL1512_N510_1_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_CT_2CHANNEL_EL1512_N510_1_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_RES2_AN_TRANSFER_FLOW" Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N771_2_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N771_2_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N771_2_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N771_2_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_RES3_AN_TRANSFER_FLOW" Address="MAIN.RESERVOIR_3_CT_2CHANNEL_EL1512_N559_2_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=300">
			<Output Address="MAIN.RESERVOIR_3_CT_2CHANNEL_EL1512_N559_2_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR_3_CT_2CHANNEL_EL1512_N559_2_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR_3_CT_2CHANNEL_EL1512_N559_2_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_RES4_AN_TRANSFER_FLOW" Address="MAIN.RESERVOIR4_CT_2CHANNEL_EL1512_N510_1_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR4_CT_2CHANNEL_EL1512_N510_1_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR4_CT_2CHANNEL_EL1512_N510_1_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR4_CT_2CHANNEL_EL1512_N510_1_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_CELL1_AN_A_FLOW" Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N761_1_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N761_1_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N761_1_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N761_1_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_CELL1_AN_B_FLOW" Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N763_2_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N763_2_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N763_2_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N763_2_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_CELL2_AN_A_FLOW" Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N761_2_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N761_2_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N761_2_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N761_2_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_CELL2_AN_B_FLOW" Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N764_1_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N764_1_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N764_1_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N764_1_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_CELL3_AN_A_FLOW" Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N762_1_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N762_1_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N762_1_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N762_1_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_CELL3_AN_B_FLOW" Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N764_2_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N764_2_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N764_2_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N764_2_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_CELL6_AN_A_FLOW" Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N766_2_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N766_2_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N766_2_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N766_2_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_CELL6_AN_B_FLOW" Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N769_1_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N769_1_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N769_1_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N769_1_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_CELL7_AN_A_FLOW" Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N767_1_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N767_1_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N767_1_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N767_1_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_CELL7_AN_B_FLOW" Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N769_2_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N769_2_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N769_2_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N769_2_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_RES3_AN_BYPASS_FLOW" Address="MAIN.RESERVOIR1_2_AI_8CHANNEL_4_20MA_EL3058_N754_8" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
          <Output Address="MAIN.RESERVOIR_3_CT_2CHANNEL_EL1512_N557_1_SET" Type="Start" DataType="bool"/>
          <Output Address="MAIN.RESERVOIR_3_CT_2CHANNEL_EL1512_N557_1_INHIBIT" Type="Stop" DataType="bool"/>
          <Output Address="MAIN.RESERVOIR_3_CT_2CHANNEL_EL1512_N557_1_SET_COUNT" Type="Reset" DataType="udint"/>
	    </Counter>
		<!--////////////////////////////////////////////////// ALL Counter END ////////////////////////////////////////////////////-->

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

		<!-- Safety outputs start -->

		<Output Name="c_Safety_RunStop" Address="MAIN.Safety_RunStop" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_ErrAck" Address="MAIN.Safety_ErrAck" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_SLS_Restart" Address="MAIN.Safety_SLS_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_TX_STO_MON_Restart" Address="MAIN.Safety_TX_STO_MON_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_TX_STO1_ESTOP_Restart" Address="MAIN.Safety_TX_STO1_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_TX_STO2_ESTOP_Restart" Address="MAIN.Safety_TX_STO2_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_LDRPUF_STO_MON_Restart" Address="MAIN.Safety_LDRPUF_STO_MON_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_LDRPUF_STO1_ESTOP_Restart" Address="MAIN.Safety_LDRPUF_STO1_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_LDRPUF_STO2_ESTOP_Restart" Address="MAIN.Safety_LDRPUF_STO2_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_SRD_STO_ESTOP_Restart" Address="MAIN.Safety_SRD_STO_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_PUMP_STO_ESTOP_Restart" Address="MAIN.Safety_PUMP_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_FLUID_ESTOP_Restart" Address="MAIN.Safety_Fluid_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_SRD_Arm_Reset" Address="MAIN.Safety_SRD_Arm_Reset" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Output Name="c_EFEM_HALT_CTRL" Address="MAIN.Safety_cEfemHalt" Type="Digital" DataType="bool"/>

		<Output Name="c_VPW_LID_INTLK" Address="MAIN.Safety_cVacPrewetLidInterlock" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_BFFR_DOOR_OPEN" Address="MAIN.Safety_ReqBufferDoorOpen" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_LDR_DOOR_OPEN" Address="MAIN.Safety_ReqLoaderDoorOpen" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_PLMBNG_DOORS_OPEN" Address="MAIN.Safety_ReqPlumbingDoorsOpen" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_PROC_DOORS_OPEN" Address="MAIN.Safety_ReqProcDoorsOpen" Type="Digital" DataType="bool"/>
		<Output Name="c_MODE_INDICATOR" Address="MAIN.Safety_cModeIndicator" Type="Digital" DataType="bool"/>
		<Output Name="c_MODE_SIREN" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N25_10" Type="Digital" DataType="bool"/>
		<Output Name="c_PUMP_DOORS_SUSPENDED" Address="MAIN.Safety_cPumpDoorsSuspended" Type="Digital" DataType="bool"/>
		<Output Name="c_PUMP_ENABLE" Address="MAIN.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="MAIN.Safety_cLockBufferDoor" Type="Digital" DataType="bool"/>
		<Output Name="c_LOCK_LOADER_DOOR" Address="MAIN.Safety_cLockLoaderDoor" Type="Digital" DataType="bool"/>

		<!-- Safety outputs end -->


		<!--PUF1-->
		<Output Name="c_DPUF_A_CHUCK_A_RELEASE" Address="MAIN.PUF_DO_16Bit_EL2809_N254_11" Type="Digital" DataType="bool"/>
		<Output Name="c_DPUF_A_CHUCK_B_RELEASE" Address="MAIN.PUF_DO_16Bit_EL2809_N254_12" Type="Digital" DataType="bool"/>
		<!--PUF2-->
		<Output Name="c_DPUF_B_CHUCK_A_RELEASE" Address="MAIN.PUF_DO_16Bit_EL2809_N254_13" Type="Digital" DataType="bool"/>
		<Output Name="c_DPUF_B_CHUCK_B_RELEASE" Address="MAIN.PUF_DO_16Bit_EL2809_N254_14" Type="Digital" DataType="bool"/>
		<!--Loader1-->
		<Output Name="c_WAFER_HOLDER_CLAMPED" Address="MAIN.LOADER_PneumaticByte1" Invert="true" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_Flow_Test_Clamp" Address="MAIN.LOADER_PneumaticByte1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_Cathode_Clamp" Address="MAIN.LOADER_PneumaticByte1" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_LOADERA_DOOR_UNLOCK" Address="MAIN.LOADER_PneumaticByte1" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_LOADERB_DOOR_UNLOCK" Address="MAIN.LOADER_PneumaticByte1" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_LoaderA_LS_Vacuum" Address="MAIN.LOADER_PneumaticByte1" Invert="true" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_LoaderB_LS_Vacuum" Address="MAIN.LOADER_PneumaticByte1" Invert="true" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>

		<Output Name="c_LOADERA_WS_BLADDER" Address="MAIN.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_LOADERB_WS_BLADDER" Address="MAIN.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_LOADERA_BERNOULLI_BLADDER" Address="MAIN.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_LOADERB_BERNOULLI_BLADDER" Address="MAIN.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_LOADERA_TRANS_BLADDER" Address="MAIN.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_LOADERA_TRANS_HIGH" Address="MAIN.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_LOADERB_TRANS_BLADDER" Address="MAIN.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_LOADERB_TRANS_HIGH" Address="MAIN.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>

		<Output Name="c_LOADERA_BERNOULLI_N2" Address="MAIN.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_LOADERB_BERNOULLI_N2" Address="MAIN.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_LOADERA_BERNOULLI_N2_SECOND" Address="MAIN.LOADER_PneumaticByte4" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_LOADERB_BERNOULLI_N2_SECOND" Address="MAIN.LOADER_PneumaticByte4" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_VACUUM_TEST" Address="MAIN.LOADER_DO_8CHANNEL_EL2008_N56_1" Type="Digital" DataType="bool"/>

		<!--Facilities-->
		<Output Name="c_N2_ENABLE" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_10" Type="Digital" DataType="bool"/>
		<Output Name="c_CDA_ENABLE" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_1" Type="Digital" DataType="bool"/>
		<Output Name="c_EXTERNAL_CDA_ENABLE" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_5" Type="Digital" DataType="bool"/>
		<Output Name="c_DI_MAIN_ENABLE" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_2" Type="Digital" DataType="bool"/>
		<Output Name="c_HCW_ENABLE" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_6" Type="Digital" DataType="bool"/>
		<Output Name="c_DI_REPLEN_ENABLE" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_3" Type="Digital" DataType="bool"/>
		<Output Name="c_DI_FILL_ENABLE" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_4" Type="Digital" DataType="bool"/>

		<!-- V61 - V64 -->
		<Output Name="c_PROCESS2_FESTO_BYTE16_1" Address="MAIN.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE16_2" Address="MAIN.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE16_3" Address="MAIN.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE16_4" Address="MAIN.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE16_5" Address="MAIN.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS2_FESTO_BYTE16_6" Address="MAIN.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_SPW1_LEV_PUMP_VALVE" Address="MAIN.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_DI_LOADER_ENABLE" Address="MAIN.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<!-- V33 - V36 -->
		<Output Name="c_SAMPLE_STATION_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_SAMPLE_STATION_FLOW_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE9" Type="Digital"  BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_FILTER_PURGE_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>


		<!-- V29 - V32 -->
		<Output Name="c_CELL5_FLOW" Address="MAIN.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_CELL6_FLOW" Address="MAIN.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_CELL7_FLOW" Address="MAIN.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL8_FLOW" Address="MAIN.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_RES2_AN_BYPASS" Address="MAIN.PROCESS1_FESTO_BYTE8" Type="Digital" Invert="true" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_SAMPLE_STATION_FLOW_3_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>


		<!-- V37 - V40 -->
		<Output Name="c_PROCESS1_FESTO_BYTE10_4" Address="MAIN.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE10_5" Address="MAIN.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE10_6" Address="MAIN.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_SAMPLE_STATION_FLOW_1_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_SAMPLE_STATION_FLOW_2_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>

		<!-- V41 - V44 -->
		<Output Name="c_SAMPLE_STATION_FLOW_4_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_2" Address="MAIN.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_3" Address="MAIN.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_4" Address="MAIN.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_5" Address="MAIN.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_6" Address="MAIN.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_7" Address="MAIN.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_PROCESS1_FESTO_BYTE11_8" Address="MAIN.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>

		<!-- Transporters start -->

		<Output Name="c_ENCLOSED_TRANSPORT_UNLOCK_SOLENOID" Address="MAIN.PrcTxIO_DO_16Bit_EL2871_N202_1" Type="Digital" DataType="bool"/>

		<Output Name="c_ENCLOSED_TRANSPORT_UPPER_IMMOBILIZER_ACTIVE2" Address="MAIN.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT_UPPER_IMMOBILIZER_ACTIVE" Address="MAIN.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT_DRIP_TRAY_CLOSE" Address="MAIN.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>

		<Output Name="c_ENCLOSED_TRANSPORT_DRIP_TRAY_TILT" Address="MAIN.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT_DRIP_TRAY_NOT_TILT" Address="MAIN.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT_N2_PURGE" Address="MAIN.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>

		<Output Name="c_ENCLOSED_TRANSPORT2_UNLOCK_SOLENOID" Address="MAIN.LdrTxIO_DO_16Bit_EL2871_N152_1" Type="Digital" DataType="bool"/>

		<Output Name="c_ENCLOSED_TRANSPORT2_UPPER_IMMOBILIZER_ACTIVE2" Address="MAIN.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT2_UPPER_IMMOBILIZER_ACTIVE" Address="MAIN.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT2_DRIP_TRAY_CLOSE" Address="MAIN.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>

		<Output Name="c_ENCLOSED_TRANSPORT2_DRIP_TRAY_TILT" Address="MAIN.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT2_DRIP_TRAY_NOT_TILT" Address="MAIN.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT2_N2_PURGE" Address="MAIN.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>

		<!-- Transporters end -->

		<Output Name="c_SRD1_Water_Above_Wafer" Address="MAIN.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_SRD1_Water_Below_Wafer" Address="MAIN.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_SRD1_Shutter_Close" Address="MAIN.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_SRD2_Water_Above_Wafer" Address="MAIN.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_SRD2_Water_Below_Wafer" Address="MAIN.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_SRD2_Shutter_Close" Address="MAIN.SRD_OBC_PneumaticByte0" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_SRD1_CHUCK_VACUUM" Address="MAIN.SRD_OBC_PneumaticByte1" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_SRD2_CHUCK_VACUUM" Address="MAIN.SRD_OBC_PneumaticByte1" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_SRD1_Exhaust_Fan_On" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N305_6" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD2_Exhaust_Fan_On" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N305_14" Type="Digital" DataType="bool"/>

		<Output Name="c_HVD_1_ENABLE" Address="MAIN.PUF_DO_16Bit_EL2809_N254_1" Type="Digital" DataType="bool"/>
		<Output Name="c_HVD_1_HIGH" Address="MAIN.PUF_DO_16Bit_EL2809_N254_2" Type="Digital" DataType="bool"/>
		<Output Name="c_HVD_2_HIGH" Address="MAIN.PUF_DO_16Bit_EL2809_N254_3" Type="Digital" DataType="bool"/>
		<Output Name="c_HVD_2_ENABLE" Address="MAIN.PUF_DO_16Bit_EL2809_N254_15" Type="Digital" DataType="bool"/>
		<Output Name="c_SPW1_LEV_PUMP_SPEED" Address="MAIN.MAIN_IO_AO_2CHANNEL_4_20mA_EL4022_N19_1" Scaling="300=0,7300=32767" Type="Analog" DataType="int"/>
		<Output Name="c_SPW1_LEV_PUMP_VALVE" Address="MAIN.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_SPW1_LEV_PUMP_ENB" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_7" Type="Digital" DataType="bool"/>

		<Output Name="c_QDRD1_WS_CLAMP" Address="MAIN.PROCESS1_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_QDRD2_WS_CLAMP" Address="MAIN.PROCESS1_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_QDRD3_WS_CLAMP" Address="MAIN.PROCESS1_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_QDRD4_WS_CLAMP" Address="MAIN.PROCESS1_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_QDRD5_WS_CLAMP" Address="MAIN.PROCESS2_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_QDRD6_WS_CLAMP" Address="MAIN.PROCESS2_FESTO_BYTE1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>

		<Output Name="c_QDRD1_LO_PRESSURE" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_11" Type="Digital" DataType="bool"/>
		<Output Name="c_QDRD2_LO_PRESSURE" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_12" Type="Digital" DataType="bool"/>
		<Output Name="c_QDRD3_LO_PRESSURE" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_13" Type="Digital" DataType="bool"/>
		<Output Name="c_QDRD4_LO_PRESSURE" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_14" Type="Digital" DataType="bool"/>
		<Output Name="c_QDRD5_LO_PRESSURE" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_15" Type="Digital" DataType="bool"/>
		<Output Name="c_QDRD6_LO_PRESSURE" Address="MAIN.MAIN_IO_DO_16CHANNEL_EL2809_N24_16" Type="Digital" DataType="bool"/>

		<Output Name="c_QDRD1_DI_FILL" Address="MAIN.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_QDRD2_DI_FILL" Address="MAIN.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_QDRD3_DI_FILL" Address="MAIN.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_QDRD4_DI_FILL" Address="MAIN.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_QDRD5_DI_FILL" Address="MAIN.PROCESS2_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_QDRD6_DI_FILL" Address="MAIN.PROCESS2_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>

		<Output Name="c_QDRD1_DUMP" Address="MAIN.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_QDRD2_DUMP" Address="MAIN.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<Output Name="c_QDRD3_DUMP" Address="MAIN.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_QDRD4_DUMP" Address="MAIN.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_QDRD5_DUMP" Address="MAIN.PROCESS2_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_QDRD6_DUMP" Address="MAIN.PROCESS2_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>

		<Output Name="c_QDRD1_MDRAIN" Address="MAIN.PROCESS1_FESTO_BYTE14" Type="Digital" Invert="true" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_QDRD2_MDRAIN" Address="MAIN.PROCESS1_FESTO_BYTE14" Type="Digital" Invert="true" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_QDRD3_MDRAIN" Address="MAIN.PROCESS1_FESTO_BYTE14" Type="Digital" Invert="true" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_QDRD4_MDRAIN" Address="MAIN.PROCESS1_FESTO_BYTE14" Type="Digital" Invert="true" BitOperated="true" Bit="7" DataType="byte"/>
		<Output Name="c_QDRD5_MDRAIN" Address="MAIN.PROCESS1_FESTO_BYTE15" Type="Digital" Invert="true" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_QDRD6_MDRAIN" Address="MAIN.PROCESS1_FESTO_BYTE15" Type="Digital" Invert="true" BitOperated="true" Bit="1" DataType="byte"/>

		
		<!--Reservoir1-->
		<Output Name="c_RES1_CA_DI_REPLEN" Address="MAIN.PROCESS1_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_RES1_AN_DI_REPLEN" Address="MAIN.PROCESS1_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_RES1_AN_PUMP" Address="MAIN.RESERVOIR1_2_AO_8CHANNEL_0_10V_EL4008_N757_5" Scaling="0=0,10=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES1_CROSSDOSE_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.Enable" Address="MAIN.RESERVOIR1_STP_EL7031_N501_ENABLE" Type="Digital" DataType="bool"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.Reset" Address="MAIN.RESERVOIR1_STP_EL7031_N501_RESET" Type="Digital" DataType="bool"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.Execute" Address="MAIN.RESERVOIR1_STP_EL7031_N501_EXECUTE" Type="Digital" DataType="bool"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.TargetPosition" Address="MAIN.RESERVOIR1_STP_EL7031_N501_TARGET_POSITION" Type="Analog" Scaling="0=0,1=23809.96272" DataType="dint"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.Speed" Address="MAIN.RESERVOIR1_STP_EL7031_N501_VELOCITY" Type="Analog" Scaling="0=0,32767=32767" DataType="int"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.StartType" Address="MAIN.RESERVOIR1_STP_EL7031_N501_START_TYPE" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.Acceleration" Address="MAIN.RESERVOIR1_STP_EL7031_N501_ACCELERATION" Type="Analog" Scaling="0=0,32767=32767" DataType="uint"/>
		<Output Name="c_RES1_AN_TRANSFER_PUMP.Deceleration" Address="MAIN.RESERVOIR1_STP_EL7031_N501_DECELERATION" Type="Analog" Scaling="0=0,32767=32767" DataType="uint"/>
		<Output Name="c_RES1_AN_A_DRAIN_PUMP" Address="MAIN.RESERVOIR1_2_AO_8CHANNEL_0_10V_EL4008_N757_7" Scaling="0=0,10=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES1_AN_B_DRAIN_PUMP" Address="MAIN.RESERVOIR1_2_AO_8CHANNEL_0_10V_EL4008_N757_8" Scaling="0=0,10=32767" Type="Analog" DataType="int"/>		
		<Output Name="c_RES1_CA_PUMP_SPEED" Address="MAIN.RESERVOIR1_2_AO_2CHANNEL_4_20mA_EL4022_N756_1" Scaling="0=0,10000=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES1_DI_EVAP_FLOW_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_RES1_AN_BYPASS" Address="MAIN.PROCESS1_FESTO_BYTE8" Type="Digital" Invert="true" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_RES1_CA_BYPASS" Address="MAIN.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_RES1_CA_PUMP_ENABLE" Address="MAIN.RESERVOIR1_2_DO_8CHANNEL_EL2008_N760_1" Type="Digital" DataType="bool"/>
		<Output Name="c_RES1_AN_SAMPLE_FLOW_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_RES1_CA_SAMPLE_FLOW_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		
		<!--Reservoir2-->
		<Output Name="c_RES2_DI_REPLEN" Address="MAIN.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_PH2_FLOW_VALVE" Address="MAIN.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_M3_REPLEN1_SPEED" Address="MAIN.MAIN_IO_AO_4CHANNEL_0_10V_EL4004_N18_1" Scaling="0=0,10=32767" Type="Analog" DataType="int"/>
		<Output Name="c_M3_REPLEN2_SPEED" Address="MAIN.MAIN_IO_AO_4CHANNEL_0_10V_EL4004_N18_2" Scaling="0=0,10=32767" Type="Analog" DataType="int"/>
		<!--Reservoir3-->
		<Output Name="c_RES3_CA_DI_REPLEN" Address="MAIN.PROCESS1_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_RES3_AN_DI_REPLEN" Address="MAIN.PROCESS1_FESTO_BYTE14" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_RES3_AN_PUMP" Address="MAIN.RESERVOIR1_2_AO_8CHANNEL_0_10V_EL4008_N757_6" Scaling="0=0,10=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES3_CROSSDOSE_ENABLE" Address="MAIN.PROCESS2_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_RES3_AN_TRANSFER_PUMP.Enable" Address="MAIN.RESERVOIR3_STP_EL7031_N551_ENABLE" Type="Digital" DataType="bool"/>
		<Output Name="c_RES3_AN_TRANSFER_PUMP.Reset" Address="MAIN.RESERVOIR3_STP_EL7031_N551_RESET" Type="Digital" DataType="bool"/>
		<Output Name="c_RES3_AN_TRANSFER_PUMP.Execute" Address="MAIN.RESERVOIR3_STP_EL7031_N551_EXECUTE" Type="Digital" DataType="bool"/>
		<Output Name="c_RES3_AN_TRANSFER_PUMP.TargetPosition" Address="MAIN.RESERVOIR3_STP_EL7031_N551_TARGET_POSITION" Type="Analog" Scaling="0=0,1=23809.96272" DataType="dint"/>
		<Output Name="c_RES3_AN_TRANSFER_PUMP.Speed" Address="MAIN.RESERVOIR3_STP_EL7031_N551_VELOCITY" Type="Analog" Scaling="0=0,32767=32767" DataType="int"/>
		<Output Name="c_RES3_AN_TRANSFER_PUMP.StartType" Address="MAIN.RESERVOIR3_STP_EL7031_N551_START_TYPE" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Output Name="c_RES3_AN_TRANSFER_PUMP.Acceleration" Address="MAIN.RESERVOIR3_STP_EL7031_N551_ACCELERATION" Type="Analog" Scaling="0=0,32767=32767" DataType="uint"/>
		<Output Name="c_RES3_AN_TRANSFER_PUMP.Deceleration" Address="MAIN.RESERVOIR3_STP_EL7031_N551_DECELERATION" Type="Analog" Scaling="0=0,32767=32767" DataType="uint"/>
		<Output Name="c_RES3_AN_A_DRAIN_PUMP" Address="MAIN.RESERVOIR1_2_AO_8CHANNEL_0_10V_EL4008_N758_1" Scaling="0=0,10=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES3_AN_B_DRAIN_PUMP" Address="MAIN.RESERVOIR1_2_AO_8CHANNEL_0_10V_EL4008_N758_2" Scaling="0=0,10=32767" Type="Analog" DataType="int"/>		
		<Output Name="c_RES3_CA_PUMP_SPEED" Address="MAIN.RESERVOIR1_2_AO_2CHANNEL_4_20mA_EL4022_N756_2" Scaling="0=0,10000=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES3_DI_EVAP_FLOW_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>		
		<Output Name="c_RES3_CA_BYPASS" Address="MAIN.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_RES3_AN_BYPASS" Address="MAIN.PROCESS1_FESTO_BYTE8" Type="Digital" Invert="true" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_RES3_CA_PUMP_ENABLE" Address="MAIN.RESERVOIR1_2_DO_8CHANNEL_EL2008_N760_2" Type="Digital" DataType="bool"/>
		<Output Name="c_RES3_AN_SAMPLE_FLOW_ENABLE" Address="MAIN.PROCESS2_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_RES3_CA_SAMPLE_FLOW_ENABLE" Address="MAIN.PROCESS2_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<!--Metal1-->		
		<Output Name="c_CELL1_AN_B_PIN_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_CELL1_AN_A_PIN_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL1_AN_B_POUT_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_CELL1_AN_A_POUT_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_METAL1_WS_CLAMP_ON" Address="MAIN.PROCESS1_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_METAL1_WS_CLAMP_OFF" Address="MAIN.PROCESS1_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_CELL1_FLOW" Address="MAIN.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<!--Metal2-->
		<Output Name="c_CELL2_AN_B_PIN_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_CELL2_AN_A_PIN_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_CELL2_AN_B_POUT_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL2_AN_A_POUT_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>		
		<Output Name="c_METAL2_WS_CLAMP_ON" Address="MAIN.PROCESS1_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_METAL2_WS_CLAMP_OFF" Address="MAIN.PROCESS1_FESTO_BYTE4" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<Output Name="c_CELL2_FLOW" Address="MAIN.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<!--Metal3-->		
		<Output Name="c_CELL3_AN_B_PIN_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<Output Name="c_CELL3_AN_A_PIN_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_CELL3_AN_B_POUT_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL3_AN_A_POUT_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE12" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>		
		<Output Name="c_METAL3_WS_CLAMP_ON" Address="MAIN.PROCESS1_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_METAL3_WS_CLAMP_OFF" Address="MAIN.PROCESS1_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_CELL3_FLOW" Address="MAIN.PROCESS1_FESTO_BYTE7" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<!--METAL4-->
		<Output Name="c_METAL4_PUMP_ON" Address="MAIN.MAIN_IO_RELAY_4CHANNEL_EL2624_N26_1" Type="Digital" DataType="bool"/>
		<Output Name="c_METAL4_CIRCULATION" Address="MAIN.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_METAL4_WS_CLAMP" Address="MAIN.PROCESS2_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		
		<!--METAL5-->
		<Output Name="c_METAL5_PUMP_ON" Address="MAIN.MAIN_IO_RELAY_4CHANNEL_EL2624_N26_2" Type="Digital" DataType="bool"/>
		<Output Name="c_METAL5_CIRCULATION" Address="MAIN.PROCESS1_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_METAL5_WS_CLAMP" Address="MAIN.PROCESS2_FESTO_BYTE2" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		
		<!--Metal6-->
		<Output Name="c_CELL6_AN_B_PIN_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL6_AN_A_PIN_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>		
		<Output Name="c_CELL6_AN_B_POUT_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL6_AN_A_POUT_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_METAL6_WS_CLAMP_ON" Address="MAIN.PROCESS1_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_METAL6_WS_CLAMP_OFF" Address="MAIN.PROCESS1_FESTO_BYTE5" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<Output Name="c_CELL6_FLOW" Address="MAIN.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		
		<!--Metal7-->
		<Output Name="c_CELL7_AN_B_PIN_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_CELL7_AN_A_PIN_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE15" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>		
		<Output Name="c_CELL7_AN_B_POUT_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL7_AN_A_POUT_ENABLE" Address="MAIN.PROCESS1_FESTO_BYTE13" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>		
		<Output Name="c_METAL7_WS_CLAMP_ON" Address="MAIN.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_METAL7_WS_CLAMP_OFF" Address="MAIN.PROCESS1_FESTO_BYTE6" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_CELL7_FLOW" Address="MAIN.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<!--////////////////////////////////////////////////// ALL OUTPUTS END //////////////////////////////////////////////////-->

		<Axis Name="PUF1.Flip" MotorType="Copley" COEAddress="10.4.6.32.4.1" COEPort="1010" DebugLogging="false">
			<Input Address="MAIN.StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="MAIN.ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.PositionError" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.ActualTorque" Type="ActualTorque" DataType="int"/>
			<Input Address="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="MAIN.ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<Output Address="MAIN.TargetPosition" Type="TargetPosition" 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="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"/>
			<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="PUF1.Rotation" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
			<Input Address="MAIN.StatusWord1" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.ManufStatus1" Type="ManufStatus" DataType="udint"/>
			<Input Address="MAIN.ActualMotorPosition1" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.PositionError1" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.ActualVelocity1" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.ActualTorque1" Type="ActualTorque" DataType="int"/>
			<Output Address="MAIN.ControlWord1" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.ModeOfOperation1" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.ProfileVelocity1" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.ProfileAccel1" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.ProfileDecel1" Type="ProfileDecel" DataType="dint"/>
			<Output Address="MAIN.TargetPosition1" Type="TargetPosition" DataType="dint"/>
			<!-- 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>44444</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>44444</HomingSpeedEncoderIndex>
			<HomingAccelDecel>44444</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>44444</Speed>
			<Acceleration>333333</Acceleration>
			<Deceleration>333333</Deceleration>
			<Jerk>7200000</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
		</Axis>
		<Axis Name="PUF1.Vertical" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
			<Input Address="MAIN.StatusWord2" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.ManufStatus2" Type="ManufStatus" DataType="udint"/>
			<Input Address="MAIN.DigitalInputs2" Type="DigitalInputs" DataType="udint"/>
			<Input Address="MAIN.ActualMotorPosition2" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.PositionError2" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.ActualVelocity2" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.ActualTorque2" Type="ActualTorque" DataType="int"/>
			<Output Address="MAIN.ControlWord2" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.ModeOfOperation2" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.ProfileVelocity2" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.ProfileAccel2" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.ProfileDecel2" Type="ProfileDecel" DataType="dint"/>
			<Output Address="MAIN.TargetPosition2" Type="TargetPosition" DataType="dint"/>
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>+1</MotorDriveDirection>
			<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<HomingMethod>7</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<!--HomingOffset>0</HomingOffset-->
			<HomingSpeedHomeSwitch>5242850</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>1000000</HomingSpeedEncoderIndex>
			<HomingAccelDecel>26214250</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>14</ProportionalGain>
			<IntegralGain>1</IntegralGain>
			<DerivativeGain>40</DerivativeGain>
			<IntegralLimit>1</IntegralLimit>
			<ErrorLimit>52428</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-31142708</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>1048576</ForwardSoftwareLimit>
			<Speed>52428800</Speed>
			<Acceleration>262144000</Acceleration>
			<Deceleration>262144000</Deceleration>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
			<NegativeTorqueLimit>35</NegativeTorqueLimit>
			<PositiveTorqueLimit>75</PositiveTorqueLimit>
		</Axis>
		<Axis Name="PUF2.Flip" MotorType="Copley" COEAddress="10.4.6.32.4.1" COEPort="1010" DebugLogging="false">
			<Input Address="MAIN.StatusWord3" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.ManufStatus3" Type="ManufStatus" DataType="udint"/>
			<Input Address="MAIN.ActualMotorPosition3" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.PositionError3" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.ActualVelocity3" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.ActualTorque3" Type="ActualTorque" 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="MAIN.ControlWord3" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.ModeOfOperation3" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.ProfileVelocity3" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.ProfileAccel3" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.ProfileDecel3" Type="ProfileDecel" DataType="dint"/>
			<Output Address="MAIN.TargetPosition3" Type="TargetPosition" 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="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"/>
			<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="1007" DebugLogging="false">
			<Input Address="MAIN.StatusWord4" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.ManufStatus4" Type="ManufStatus" DataType="udint"/>
			<Input Address="MAIN.ActualMotorPosition4" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.PositionError4" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.ActualVelocity4" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.ActualTorque4" Type="ActualTorque" DataType="int"/>
			<Output Address="MAIN.ControlWord4" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.ModeOfOperation4" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.ProfileVelocity4" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.ProfileAccel4" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.ProfileDecel4" Type="ProfileDecel" DataType="dint"/>
			<Output Address="MAIN.TargetPosition4" Type="TargetPosition" 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>44444</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>44444</HomingSpeedEncoderIndex>
			<HomingAccelDecel>44444</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>44444</Speed>
			<Acceleration>333333</Acceleration>
			<Deceleration>333333</Deceleration>
			<Jerk>7200000</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
		</Axis>
		<Axis Name="PUF2.Vertical" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
			<Input Address="MAIN.StatusWord5" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.ManufStatus5" Type="ManufStatus" DataType="udint"/>
			<Input Address="MAIN.DigitalInputs5" Type="DigitalInputs" DataType="udint"/>
			<Input Address="MAIN.ActualMotorPosition5" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.PositionError5" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.ActualVelocity5" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.ActualTorque5" Type="ActualTorque" DataType="int"/>
			<Output Address="MAIN.ControlWord5" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.ModeOfOperation5" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.ProfileVelocity5" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.ProfileAccel5" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.ProfileDecel5" Type="ProfileDecel" DataType="dint"/>
			<Output Address="MAIN.TargetPosition5" Type="TargetPosition" DataType="dint"/>
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>+1</MotorDriveDirection>
			<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<HomingMethod>7</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<!--HomingOffset>0</HomingOffset-->
			<HomingSpeedHomeSwitch>5242850</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>1000000</HomingSpeedEncoderIndex>
			<HomingAccelDecel>26214250</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>14</ProportionalGain>
			<IntegralGain>1</IntegralGain>
			<DerivativeGain>40</DerivativeGain>
			<IntegralLimit>1</IntegralLimit>
			<ErrorLimit>52428</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-31142708</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>1048576</ForwardSoftwareLimit>
			<Speed>52428800</Speed>
			<Acceleration>262144000</Acceleration>
			<Deceleration>262144000</Deceleration>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
			<NegativeTorqueLimit>35</NegativeTorqueLimit>
			<PositiveTorqueLimit>75</PositiveTorqueLimit>
		</Axis>
		<Axis Name="Loader1.TiltA" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1022" DebugLogging="false">
			<Input Address="MAIN.LoaderTiltAStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.LoaderTiltADigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="MAIN.LoaderTiltAMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.LoaderTiltAPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.LoaderTiltAActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.LoaderTiltAActualTorque" Type="ActualTorque" DataType="short"/>

			<Output Address="MAIN.LoaderTiltAControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.LoaderTiltAModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.LoaderTiltATargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.LoaderTiltAProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.LoaderTiltAProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.LoaderTiltAProfileDecel" Type="ProfileDecel" DataType="dint"/>

			<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="MAIN.LoaderTiltBStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.LoaderTiltBDigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="MAIN.LoaderTiltBMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.LoaderTiltBPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.LoaderTiltBActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.LoaderTiltBActualTorque" Type="ActualTorque" DataType="short"/>
			<Output Address="MAIN.LoaderTiltBControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.LoaderTiltBModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.LoaderTiltBTargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.LoaderTiltBProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.LoaderTiltBProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.LoaderTiltBProfileDecel" Type="ProfileDecel" DataType="dint"/>

			<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="MAIN.LoaderSwingAStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.LoaderSwingADigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="MAIN.LoaderSwingAMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.LoaderSwingAPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.LoaderSwingAActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.LoaderSwingAActualTorque" Type="ActualTorque" DataType="short"/>

			<Output Address="MAIN.LoaderSwingAControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.LoaderSwingAModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.LoaderSwingATargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.LoaderSwingAProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.LoaderSwingAProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.LoaderSwingAProfileDecel" Type="ProfileDecel" DataType="dint"/>

			<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="MAIN.LoaderSwingBStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.LoaderSwingBDigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="MAIN.LoaderSwingBMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.LoaderSwingBPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.LoaderSwingBActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.LoaderSwingBActualTorque" Type="ActualTorque" DataType="short"/>

			<Output Address="MAIN.LoaderSwingBControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.LoaderSwingBModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.LoaderSwingBTargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.LoaderSwingBProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.LoaderSwingBProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.LoaderSwingBProfileDecel" Type="ProfileDecel" DataType="dint"/>

			<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.LSA" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1018" DebugLogging="false">
			<Input Address="MAIN.LoaderCRSAStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.LoaderCRSADigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="MAIN.LoaderCRSAMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.LoaderCRSAPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.LoaderCRSAActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.LoaderCRSAActualTorque" Type="ActualTorque" DataType="short"/>

			<Output Address="MAIN.LoaderCRSAControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.LoaderCRSAModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.LoaderCRSATargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.LoaderCRSAProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.LoaderCRSAProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.LoaderCRSAProfileDecel" Type="ProfileDecel" DataType="dint"/>

			<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.LSB" MotorType="Yaskawa" COEAddress="169.254.167.184.2.1" COEPort="1019" DebugLogging="false">
			<Input Address="MAIN.LoaderCRSBStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.LoaderCRSBDigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="MAIN.LoaderCRSBMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.LoaderCRSBPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.LoaderCRSBActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.LoaderCRSBActualTorque" Type="ActualTorque" DataType="short"/>

			<Output Address="MAIN.LoaderCRSBControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.LoaderCRSBModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.LoaderCRSBTargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.LoaderCRSBProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.LoaderCRSBProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.LoaderCRSBProfileDecel" Type="ProfileDecel" DataType="dint"/>

			<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="MAIN.LoaderRotationStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.LoaderRotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="MAIN.LoaderRotationMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.LoaderRotationPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.LoaderRotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.LoaderRotationActualTorque" Type="ActualTorque" DataType="short"/>

			<Output Address="MAIN.LoaderRotationControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.LoaderRotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.LoaderRotationTargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.LoaderRotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.LoaderRotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.LoaderRotationProfileDecel" Type="ProfileDecel" DataType="dint"/>

			<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>
		<!-- 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="MAIN.ProcessTransporterHorizontal_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.ProcessTransporterHorizontal_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="MAIN.ProcessTransporterHorizontal_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="MAIN.ProcessTransporterHorizontal_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.ProcessTransporterHorizontal_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.ProcessTransporterHorizontal_InternalPositionActual" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="MAIN.ProcessTransporterHorizontal_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.ProcessTransporterHorizontal_TorqueActualValue" Type="ActualTorque" DataType="short"/>
			<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="MAIN.ProcessTransporterHorizontal_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.ProcessTransporterHorizontal_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.ProcessTransporterHorizontal_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.ProcessTransporterHorizontal_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.ProcessTransporterHorizontal_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.ProcessTransporterHorizontal_ProfileDecel" 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="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="MAIN.ProcessTransporterVertical_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.ProcessTransporterVertical_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="MAIN.ProcessTransporterVertical_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="MAIN.ProcessTransporterVertical_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.ProcessTransporterVertical_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.ProcessTransporterVertical_InternalPositionActual" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="MAIN.ProcessTransporterVertical_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.ProcessTransporterVertical_TorqueActualValue" Type="ActualTorque" DataType="short"/>
			<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="MAIN.ProcessTransporterVertical_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.ProcessTransporterVertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.ProcessTransporterVertical_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.ProcessTransporterVertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.ProcessTransporterVertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.ProcessTransporterVertical_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="MAIN.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="MAIN.LoaderTransporterHorizontal_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.LoaderTransporterHorizontal_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="MAIN.LoaderTransporterHorizontal_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.LoaderTransporterHorizontal_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.LoaderTransporterHorizontal_InternalPositionActual" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="MAIN.LoaderTransporterHorizontal_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.LoaderTransporterHorizontal_TorqueActualValue" Type="ActualTorque" DataType="short"/>
			<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="MAIN.LoaderTransporterHorizontal_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.LoaderTransporterHorizontal_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.LoaderTransporterHorizontal_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.LoaderTransporterHorizontal_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.LoaderTransporterHorizontal_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.LoaderTransporterHorizontal_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="MAIN.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>
			<Acceleration>92000000</Acceleration>
			<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="MAIN.LoaderTransporterVertical_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.LoaderTransporterVertical_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="MAIN.LoaderTransporterVertical_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.LoaderTransporterVertical_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.LoaderTransporterVertical_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.LoaderTransporterVertical_TorqueActualValue" Type="ActualTorque" DataType="short"/>
			<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="MAIN.LoaderTransporterVertical_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.LoaderTransporterVertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.LoaderTransporterVertical_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.LoaderTransporterVertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.LoaderTransporterVertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.LoaderTransporterVertical_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="MAIN.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 -->

		<!-- 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="MAIN.r_SRD1_ARM_StatusWord" Type="StatusWord" DataType="uint"/>
			<!--DigitalInputs may be used someday in PDO instead of ModeOfOperationDisplay/-->
			<!--Input Address="MAIN.r_SRD1_ARM_DigitalInputs" Type="DigitalInputs" DataType="uint"/-->
			<Input Address="MAIN.r_SRD1_ARM_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
			<Input Address="MAIN.r_SRD1_ARM_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.c_SRD1_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="MAIN.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="MAIN.c_SRD1_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.c_SRD1_ARM_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.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>26</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="MAIN.r_SRD1_ROTATION_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.r_SRD1_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="MAIN.r_SRD1_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="MAIN.r_SRD1_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="MAIN.r_SRD1_ROTATION_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.r_SRD1_ROTATION_ActualFollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.r_SRD1_ROTATION_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.r_SRD1_ROTATION_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="MAIN.c_SRD1_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="MAIN.c_SRD1_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Input Address="MAIN.c_SRD1_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="MAIN.c_SRD1_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="MAIN.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="MAIN.c_SRD1_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.c_SRD1_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.c_SRD1_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.c_SRD1_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.c_SRD1_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.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="MAIN.r_SRD2_ARM_StatusWord" Type="StatusWord" DataType="uint"/>
			<!--DigitalInputs may be used someday in PDO instead of ModeOfOperationDisplay/-->
			<!--Input Address="MAIN.r_SRD2_ARM_DigitalInputs" Type="DigitalInputs" DataType="uint"/-->
			<Input Address="MAIN.r_SRD2_ARM_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="MAIN.r_SRD2_ARM_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.c_SRD2_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="MAIN.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="MAIN.c_SRD2_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.c_SRD2_ARM_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.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>26</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="MAIN.r_SRD2_ROTATION_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.r_SRD2_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="MAIN.r_SRD2_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="MAIN.r_SRD2_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="MAIN.r_SRD2_ROTATION_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.r_SRD2_ROTATION_ActualFollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.r_SRD2_ROTATION_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.r_SRD2_ROTATION_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="MAIN.c_SRD2_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="MAIN.c_SRD2_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Input Address="MAIN.c_SRD2_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="MAIN.c_SRD2_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="MAIN.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="MAIN.c_SRD2_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.c_SRD2_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.c_SRD2_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.c_SRD2_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.c_SRD2_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.c_SRD2_ROTATION_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<Output Address="0x2A53:00" Type="SoftwareLimitDecel" DataType="udint"/>
			<Output Address="0x687D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x687D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x687C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6899:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6899:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x689A:00" Type="HomingAccel" DataType="dint"/>

			<!-- 58.822222 counts/deg -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>-1</MotorDriveDirection>
			<!-- +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<!-- Positive to Index -->
			<HomingMethod>34</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>2500</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>2500</HomingSpeedEncoderIndex>
			<HomingAccelDecel>420000</HomingAccelDecel>
			<HomingTimeOut>15000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>2000</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<Speed>529400</Speed>
			<Acceleration>84000</Acceleration>
			<Deceleration>84000</Deceleration>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
		</Axis>

		<!-- SRD AXES END -->

	</Controller>
</BeckhoffCfg>