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

<?xml version="1.0" encoding="utf-8"?>
<BeckhoffCfg>
	<Controller Name="MASTER" IPAddress="10.4.6.32.1.1" PortAddress="301">

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

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

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

		<Input Name="PUF1.State"  Address="Task 3.Inputs.PUF1.State"  Type="Digital" DataType="bool"/>
		<Input Name="PUF1.ChuckAVac"  Address="MAIN.ChuckAVac" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="PUF1.ChuckBVac"  Address="MAIN.ChuckBVac" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="PUF1.DistanceSensor1"  Address="MAIN.DistanceSensor1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="PUF1.DistanceSensor2"  Address="MAIN.DistanceSensor2" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="PUF2.ChuckAVac"  Address="MAIN.ChuckAVac1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="PUF2.ChuckBVac"  Address="MAIN.ChuckBVac1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="PUF2.DistanceSensor1"  Address="MAIN.DistanceSensor3" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="PUF2.DistanceSensor2"  Address="MAIN.DistanceSensor4" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<!-- MAIN IO INPUTS END -->

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

		<!--////////////////////////////////////////////////// ALL OUTPUTS BEGIN //////////////////////////////////////////////////-->
		<Output Name="PUF1.ChuckARelease" Address="Task 3.Outputs.PUF1.ChuckARelease" Type="Digital" DataType="bool"/>
		<Output Name="PUF1.ChuckBRelease" Address="Task 3.Outputs.PUF1.ChuckBRelease" Type="Digital" DataType="bool"/>
		<Output Name="PUF2.ChuckARelease" Address="MAIN.ChuckARelease1" Type="Digital" DataType="bool"/>
		<Output Name="PUF2.ChuckBRelease" Address="MAIN.ChuckBRelease1" Type="Digital" DataType="bool"/>
		<Output Name="PUF2.Test" Address="Task 3.Outputs.Test" Type="Analog" Scaling="0=0,10=32767" DataType="int"/>
		<!--////////////////////////////////////////////////// ALL OUTPUTS END //////////////////////////////////////////////////-->
		
		<Axis Name="PUF1.Flip" MotorType="Copley" COEAddress="10.4.6.32.4.1" COEPort="1010" DebugLogging="false">
			<Input Address="Task 3.Inputs.PUF1.StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 3.Inputs.PUF1.ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.PositionError" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.ActualTorque" Type="ActualTorque" DataType="int"/>
			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="Task 3.Outputs.PUF1.ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 3.Outputs.PUF1.ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 3.Outputs.PUF1.ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 3.Outputs.PUF1.ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 3.Outputs.PUF1.ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<Output Address="Task 3.Outputs.PUF1.TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>-1</MotorDriveDirection>
			<!-- +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<HomingMethod>34</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>2500</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>2500</HomingSpeedEncoderIndex>
			<HomingAccelDecel>420000</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>15</ProportionalGain>
			<IntegralGain>1</IntegralGain>
			<DerivativeGain>30</DerivativeGain>
			<IntegralLimit>1</IntegralLimit>
			<ErrorLimit>4444</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-19134</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>413645</ForwardSoftwareLimit>
			<Speed>529400</Speed>
			<Acceleration>84000</Acceleration>
			<Deceleration>84000</Deceleration>
			<Jerk>7200000</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
		</Axis>
		<Axis Name="PUF1.Rotation" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
			<Input Address="MAIN.StatusWord1" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.ActualMotorPosition1" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.PositionError1" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.ActualVelocity1" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.ActualTorque1" Type="ActualTorque" DataType="int"/>
			<Output Address="MAIN.ControlWord1" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.ModeOfOperation1" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.ProfileVelocity1" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.ProfileAccel1" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.ProfileDecel1" Type="ProfileDecel" DataType="dint"/>
			<Output Address="MAIN.TargetPosition1" Type="TargetPosition" DataType="dint"/>
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>+1</MotorDriveDirection>
			<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<HomingMethod>3</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<!--HomingOffset>0</HomingOffset-->
			<!-- clear bit 9 so motor does not move to zero after home -->
			<!-- HomeConfig>34</HomeConfig -->
			<HomingSpeedHomeSwitch>0</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>0</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>14</ProportionalGain>
			<IntegralGain>1</IntegralGain>
			<DerivativeGain>40</DerivativeGain>
			<IntegralLimit>1</IntegralLimit>
			<ErrorLimit>11110</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-60556</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>29712</ForwardSoftwareLimit>
			<Speed>444444</Speed>
			<Acceleration>3333333</Acceleration>
			<Deceleration>3333333</Deceleration>
			<Jerk>7200000</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
		</Axis>
		<Axis Name="PUF1.Vertical" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
			<Input Address="MAIN.StatusWord2" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.ActualMotorPosition2" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.PositionError2" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.ActualVelocity2" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.ActualTorque2" Type="ActualTorque" DataType="int"/>
			<Output Address="MAIN.ControlWord2" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.ModeOfOperation2" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.ProfileVelocity2" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.ProfileAccel2" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.ProfileDecel2" Type="ProfileDecel" DataType="dint"/>
			<Output Address="MAIN.TargetPosition2" Type="TargetPosition" DataType="dint"/>
				<MotorType>Servo</MotorType>
			<MotorDriveDirection>+1</MotorDriveDirection>
			<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<HomingMethod>7</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<!--HomingOffset>0</HomingOffset-->
			<HomingSpeedHomeSwitch>5242850</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>1000000</HomingSpeedEncoderIndex>
			<HomingAccelDecel>26214250</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>14</ProportionalGain>
			<IntegralGain>1</IntegralGain>
			<DerivativeGain>40</DerivativeGain>
			<IntegralLimit>1</IntegralLimit>
			<ErrorLimit>52428</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-31142708</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>1048576</ForwardSoftwareLimit>
			<Speed>52428800</Speed>
			<Acceleration>262144000</Acceleration>
			<Deceleration>262144000</Deceleration>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
			<NegativeTorqueLimit>35</NegativeTorqueLimit>
			<PositiveTorqueLimit>75</PositiveTorqueLimit>
		</Axis>
		<Axis Name="PUF2.Flip" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1007" DebugLogging="false">
			<Input Address="MAIN.StatusWord1" Type="StatusWord" DataType="uint"/>
			<Input Address="MAIN.ActualMotorPosition1" Type="MotorPosition" DataType="dint"/>
			<Input Address="MAIN.PositionError1" Type="PositionError" DataType="dint"/>
			<Input Address="MAIN.ActualVelocity1" Type="ActualVelocity" DataType="dint"/>
			<Input Address="MAIN.ActualTorque1" Type="ActualTorque" DataType="int"/>
			<Input Address="MAIN.TargetPosition1" Type="TargetPosition" DataType="dint"/>
			<Output Address="MAIN.ControlWord1" Type="ControlWord" DataType="uint"/>
			<Output Address="MAIN.ModeOfOperation1" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="MAIN.ProfileVelocity1" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="MAIN.ProfileAccel1" Type="ProfileAccel" DataType="dint"/>
			<Output Address="MAIN.ProfileDecel1" Type="ProfileDecel" DataType="dint"/>
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>+1</MotorDriveDirection>
			<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<HomingMethod>3</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<!--HomingOffset>0</HomingOffset-->
			<!-- clear bit 9 so motor does not move to zero after home -->
			<!-- HomeConfig>34</HomeConfig -->
			<HomingSpeedHomeSwitch>0</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>0</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>14</ProportionalGain>
			<IntegralGain>1</IntegralGain>
			<DerivativeGain>40</DerivativeGain>
			<IntegralLimit>1</IntegralLimit>
			<ErrorLimit>11110</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-60556</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>29712</ForwardSoftwareLimit>
			<Speed>444444</Speed>
			<Acceleration>3333333</Acceleration>
			<Deceleration>3333333</Deceleration>
			<Jerk>7200000</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
		</Axis>
		
		<!-- SRD AXES BEGIN -->
		<!-- Maxon EPOS2 -->
		<!-- position is in counts, speed is in rpm:  counts/sec * 60 sec/min / (512 * 4 counts/rev) = 0.0293 rev/min (rpm) -->
		<Axis Name="SRD1.Arm" MotorType="Maxon" SpeedConversion="0.0293" COEAddress="169.254.167.184.3.1" COEPort="4097" DebugLogging="false">
			<Input Address="Task 3.Inputs.r_SRD1_ARM_StatusWord" Type="StatusWord" DataType="uint"/>
			<!--DigitalInputs may be used someday in PDO instead of ModeOfOperationDisplay/-->
			<!--Input Address="Task 3.Inputs.r_SRD1_ARM_DigitalInputs" Type="DigitalInputs" DataType="uint"/-->
			<Input Address="Task 3.Inputs.r_SRD1_ARM_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
			<Input Address="Task 3.Inputs.r_SRD1_ARM_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 3.Outputs.c_SRD1_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Task 3.Outputs.c_SRD1_ARM_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Input Address="0x6081:00" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="0x6083:00" Type="ProfileAccel" DataType="dint"/>
			<Input Address="0x6084:00" Type="ProfileDecel" DataType="dint"/>
			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Input Address="0x6410:02" Type="PeakCurrentLimit" DataType="uint"/>
			<Input Address="0x6410:01" Type="ContinuousCurrentLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x60C5:00" Type="AccelerationLimit" DataType="udint"/>
			<Input Address="0x2082:00" Type="HomeAdjustment" DataType="dint"/>
			<Input Address="0x1001:00" Type="ErrorRegister" DataType="usint"/>
			<Input Address="0x1003:00" Type="ErrorHistoryCount" DataType="usint"/>
			<Input Address="0x1003:01" Type="ErrorHistory1" DataType="udint"/>
			<!--Input Address="0x1003:02" Type="ErrorHistory2" DataType="udint"/>
      <Input Address="0x1003:03" Type="ErrorHistory3" DataType="udint"/>
      <Input Address="0x1003:04" Type="ErrorHistory4" DataType="udint"/>
      <Input Address="0x1003:05" Type="ErrorHistory5" DataType="udint"/-->

			<Output Address="Task 3.Outputs.c_SRD1_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 3.Outputs.c_SRD1_ARM_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
			<Output Address="Task 3.Outputs.c_SRD1_ARM_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="0x6081:00" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="0x6083:00" Type="ProfileAccel" DataType="dint"/>
			<Output Address="0x6084:00" Type="ProfileDecel" DataType="dint"/>
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="0x6410:02" Type="PeakCurrentLimit" DataType="uint"/>
			<Output Address="0x6410:01" Type="ContinuousCurrentLimit" DataType="uint"/>
			<!--MiscConfig may be used someday if want to reverse direction of motion/-->
			<!--Output Address="0x2008:00" Type="MiscConfig" DataType="uint"/-->

			<!-- 2184.533333 counts/degree -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>-1</MotorDriveDirection>
			<!-- +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<!-- Negative to Home Switch -->
			<!--HomingMethod>21</HomingMethod-->
			<!-- Positive to Home Switch -->
			<HomingMethod>23</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>200</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>50</HomingSpeedEncoderIndex>
			<HomingAccelDecel>5000</HomingAccelDecel>
			<HomingTimeOut>25000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>200</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-10000000</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>10000000</ForwardSoftwareLimit>
			<Speed>1000</Speed>
			<Acceleration>5000</Acceleration>
			<Deceleration>5000</Deceleration>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
		</Axis>
		<!-- Copley XE2 2-Axis -->
		<Axis Name="SRD1.Rotation" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1057" DebugLogging="false">
			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ActualFollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 3.Inputs.r_SRD1_ROTATION_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="Task 3.Outputs.c_SRD1_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Task 3.Outputs.c_SRD1_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Input Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<Input Address="0x2253:00" Type="SoftwareLimitDecel" DataType="udint"/>
			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Input Address="0x2353:00" Type="HomeAdjustment" DataType="dint"/>
			<Input Address="0x2110:00" Type="PeakCurrentLimit" DataType="int"/>
			<Input Address="0x2111:00" Type="ContinuousCurrentLimit" DataType="int"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2103:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x6067:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2120:00" Type="FollowingErrorWindow" DataType="udint"/>

			<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
			<Output Address="Task 3.Outputs.c_SRD1_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 3.Outputs.c_SRD1_ROTATION_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<Output Address="0x2253:00" Type="SoftwareLimitDecel" DataType="udint"/>
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>

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

		<!-- Maxon EPOS2 -->
		<!-- position is in counts, speed is in rpm:  counts/sec * 60 sec/min / (512 * 4 counts/rev) = 0.0293 rev/min (rpm) -->
		<Axis Name="SRD2.Arm" MotorType="Maxon" SpeedConversion="0.0293" COEAddress="169.254.167.184.3.1" COEPort="4098" DebugLogging="false">
			<Input Address="Task 3.Inputs.r_SRD2_ARM_StatusWord" Type="StatusWord" DataType="uint"/>
			<!--DigitalInputs may be used someday in PDO instead of ModeOfOperationDisplay/-->
			<!--Input Address="Task 3.Inputs.r_SRD2_ARM_DigitalInputs" Type="DigitalInputs" DataType="uint"/-->
			<Input Address="Task 3.Inputs.r_SRD2_ARM_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
			<Input Address="Task 3.Inputs.r_SRD2_ARM_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 3.Outputs.c_SRD2_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Task 3.Outputs.c_SRD2_ARM_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Input Address="0x6081:00" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="0x6083:00" Type="ProfileAccel" DataType="dint"/>
			<Input Address="0x6084:00" Type="ProfileDecel" DataType="dint"/>
			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Input Address="0x6410:02" Type="PeakCurrentLimit" DataType="uint"/>
			<Input Address="0x6410:01" Type="ContinuousCurrentLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x60C5:00" Type="AccelerationLimit" DataType="udint"/>
			<Input Address="0x2082:00" Type="HomeAdjustment" DataType="dint"/>
			<Input Address="0x1001:00" Type="ErrorRegister" DataType="usint"/>
			<Input Address="0x1003:00" Type="ErrorHistoryCount" DataType="usint"/>
			<Input Address="0x1003:01" Type="ErrorHistory1" DataType="udint"/>
			<!--Input Address="0x1003:02" Type="ErrorHistory2" DataType="udint"/>
      <Input Address="0x1003:03" Type="ErrorHistory3" DataType="udint"/>
      <Input Address="0x1003:04" Type="ErrorHistory4" DataType="udint"/>
      <Input Address="0x1003:05" Type="ErrorHistory5" DataType="udint"/-->

			<Output Address="Task 3.Outputs.c_SRD2_ARM_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 3.Outputs.c_SRD2_ARM_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
			<Output Address="Task 3.Outputs.c_SRD2_ARM_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="0x6081:00" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="0x6083:00" Type="ProfileAccel" DataType="dint"/>
			<Output Address="0x6084:00" Type="ProfileDecel" DataType="dint"/>
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="0x6410:02" Type="PeakCurrentLimit" DataType="uint"/>
			<Output Address="0x6410:01" Type="ContinuousCurrentLimit" DataType="uint"/>
			<!--MiscConfig may be used someday if want to reverse direction of motion/-->
			<!--Output Address="0x2008:00" Type="MiscConfig" DataType="uint"/-->

			<!-- 2184.533333 counts/degree -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>-1</MotorDriveDirection>
			<!-- +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<!-- Negative to Home Switch -->
			<!--HomingMethod>21</HomingMethod-->
			<!-- Positive to Home Switch -->
			<HomingMethod>23</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>200</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>50</HomingSpeedEncoderIndex>
			<HomingAccelDecel>5000</HomingAccelDecel>
			<HomingTimeOut>25000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>200</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-10000000</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>10000000</ForwardSoftwareLimit>
			<Speed>1000</Speed>
			<Acceleration>5000</Acceleration>
			<Deceleration>5000</Deceleration>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
		</Axis>
		<!-- Copley XE2 2-Axis -->
		<Axis Name="SRD2.Rotation" MotorType="Copley" COEAddress="169.254.167.184.2.1" COEPort="1057" DebugLogging="false">
			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="sint"/>
			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ActualFollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 3.Inputs.r_SRD2_ROTATION_ActualTorque" Type="ActualTorque" DataType="short"/>
			<Input Address="Task 3.Outputs.c_SRD2_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
			<Input Address="Task 3.Outputs.c_SRD2_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Input Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Input Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Input Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<Input Address="0x2A53:00" Type="SoftwareLimitDecel" DataType="udint"/>
			<Input Address="0x687D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Input Address="0x687D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Input Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
			<Input Address="0x687C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6899:01" Type="HomingVelocity" DataType="dint"/>
			<Input Address="0x6899:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Input Address="0x689A:00" Type="HomingAccel" DataType="dint"/>
			<Input Address="0x2B53:00" Type="HomeAdjustment" DataType="dint"/>
			<Input Address="0x2910:00" Type="PeakCurrentLimit" DataType="int"/>
			<Input Address="0x2911:00" Type="ContinuousCurrentLimit" DataType="int"/>
			<Input Address="0x6885:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2903:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x6867:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2920:00" Type="FollowingErrorWindow" DataType="udint"/>

			<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="sint"/>
			<Output Address="Task 3.Outputs.c_SRD2_ROTATION_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 3.Outputs.c_SRD2_ROTATION_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<Output Address="0x2A53:00" Type="SoftwareLimitDecel" DataType="udint"/>
			<Output Address="0x687D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x687D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x687C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6899:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6899:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x689A:00" Type="HomingAccel" DataType="dint"/>

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