CyberX8/CyberX8_RT/Config/Devices/Beckhoffcfg.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 //////////////////////////////////////////////////-->

		<!--PUF1-->
		<Input Name="r_DPUF_A_CHUCK_A_VAC"  Address="Task 2.Inputs.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="Task 2.Inputs.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="Task 2.Inputs.PUF_AI_8CHANNEL_EL3068_N252_5" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_DPUF_A_CHUCK_A_WFER_SNS_2"  Address="Task 2.Inputs.PUF_AI_8CHANNEL_EL3068_N252_6" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<!--PUF2-->
		<Input Name="r_DPUF_B_CHUCK_A_VAC"  Address="Task 2.Inputs.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="Task 2.Inputs.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="Task 2.Inputs.PUF_AI_8CHANNEL_EL3068_N252_7" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_DPUF_B_CHUCK_A_WFER_SNS_2"  Address="Task 2.Inputs.PUF_AI_8CHANNEL_EL3068_N252_8" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		
		<!--Loader1-->		
		<Input Name="r_LoaderA_Wafer_Present" Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_1" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_DOOR_UPPER_LOCKED"  Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_DOOR_UPPER_UNLOCKED"  Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_DOOR_LOWER_LOCKED"  Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_DOOR_LOWER_UNLOCKED"  Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_11" Invert="false" Type="Digital" DataType="bool"/>	
		<Input Name="r_LOADERA_TRANSLATION_RETRACTED" Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_BERNOULLI_EXTENDED" Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_WH_LOCKED" Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERA_BERNOULLI_PRESSURE" Address="Task 2.Inputs.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="Task 2.Inputs.LOADER_AI_8CHANNEL_0_10V_EL3068_N53_5" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_LoaderA_CRS_Vacuum_anlg" Address="Task 2.Inputs.LOADER_AI_8CHANNEL_0_10V_EL3068_N52_3" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_LOADERA_WH_BLADDER_PRESSURE" Address="Task 2.Inputs.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="Task 2.Inputs.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="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_2" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_DOOR_UPPER_LOCKED"  Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_4" Invert="false" Type="Digital" DataType="bool"/>		
		<Input Name="r_LOADERB_DOOR_UPPER_UNLOCKED"  Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_DOOR_LOWER_LOCKED"  Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_7" Invert="false" Type="Digital" DataType="bool"/>		
		<Input Name="r_LOADERB_DOOR_LOWER_UNLOCKED"  Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_10" Invert="false" Type="Digital" DataType="bool"/>
		
		<Input Name="r_LOADERB_TRANSLATION_RETRACTED" Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_BERNOULLI_EXTENDED" Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_WH_LOCKED" Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N55_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LOADERB_CHUCK_BLADDER" Address="Task 2.Inputs.LOADER_AI_8CHANNEL_0_10V_EL3068_N53_6" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_LoaderB_CRS_Vacuum_anlg" Address="Task 2.Inputs.LOADER_AI_8CHANNEL_0_10V_EL3068_N52_4" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_LOADERB_WH_BLADDER_PRESSURE" Address="Task 2.Inputs.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="Task 2.Inputs.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="Task 2.Inputs.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="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DRIP_TRAY_FLUID_DETECTION" Address="Task 2.Inputs.LOADER_DI_16CHANNEL_EL1819_N54_13" Invert="true" Type="Digital" DataType="bool"/>
		
		<Input Name="r_LOADER_GasFlowSensor_FLOW" Address="Task 2.Inputs.LOADER_AI_8CHANNEL_0_10V_EL3068_N52_5" Scaling="0=3370, 500=17000" Type="Analog" DataType="int"/>
		<Input Name="r_LOADER_GasFlowSensor_VACUUM"  Address="Task 2.Inputs.LOADER_AI_8CHANNEL_0_10V_EL3068_N52_6" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>

		<!--facility-->
		<Input Name="r_N2_1B_PRESSURE" Address="Task 2.Inputs.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="Task 2.Inputs.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="Task 2.Inputs.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N15_8" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_N2_2A_PRESSURE" Address="Task 2.Inputs.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N16_1" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_CDA_EXTERNAL_PRESSURE" Address="Task 2.Inputs.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="Task 2.Inputs.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="Task 2.Inputs.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N15_3" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_DI_WATER_PRESSURE" Address="Task 2.Inputs.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N12_4" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_HCW_FLOW" Address="Task 2.Inputs.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N13_5" Scaling="0=0, 40=32767" Type="Analog" DataType="int"/>
		<Input Name="r_SYSTEM_EXHAUST" Address="Task 2.Inputs.MAIN_IO_AI_8CHANNEL_4_20mA_EL3058_N12_2" Scaling="0=0, 2=32767" Type="Analog" DataType="int"/>
		<Input Name="r_SYSTEM_VACUUM" Address="Task 2.Inputs.MAIN_IO_AI_8CHANNEL_0_10V_EL3068_N16_3" Scaling="-750=3276.7, 750=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_N2_BLANKET_PRESSURE" Address="Task 2.Inputs.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_FFUFaultLoader"   ModuleName="FFU" Address="Task 2.Inputs.FFU_IO_DI_2CHANNEL_EL1002_N1_1" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_FFUFaultProcess"  ModuleName="FFU" Address="Task 2.Inputs.FFU_IO_DI_2CHANNEL_EL1002_N1_2" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_FFUPressureLoader"  ModuleName="FFU" Address="Task 2.Inputs.FFU_IO_AI_2CHANNEL_EL3052_N3_1" Scaling="0=0, 1=32767" Type="Analog" DataType="int"/>
		<Input Name="r_FFUPressureProcess"  ModuleName="FFU" Address="Task 2.Inputs.FFU_IO_AI_2CHANNEL_EL3052_N3_2" Scaling="0=0, 1=32767" Type="Analog" DataType="int"/>
		<Input Name="r_SLIPSTREAM_FLUID_PRESENT" Address="Task 2.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N22_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_CONTAINMENT_FLUID" Address="Task 2.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_7" Invert="false" Type="Digital" DataType="bool"/>		
		<Input Name="r_SAMPLE_SYS_FLUID_PRESENT_2" Address="Task 2.Inputs.MAIN_IO_DI_16CHANNEL_EL1819_N21_13" Invert="false" Type="Digital" DataType="bool"/>
		
		<!--Transporter-->
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_UNLOCKED_1" Address="Task 2.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_LOCKED_2" Address="Task 2.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_LOCKED_1" Address="Task 2.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_UNLOCKED_2" Address="Task 2.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_IMMOBILIZER1_RETRACTED" Address="Task 2.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_IMMOBILIZER1_EXTENDED" Address="Task 2.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_IMMOBILIZER2_EXTENDED" Address="Task 2.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_IMMOBILIZER2_RETRACTED" Address="Task 2.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_8" Invert="false" Type="Digital" DataType="bool"/>		
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_READY_TO_LOCK_1" Address="Task 2.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_13" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_READY_TO_LOCK_2" Address="Task 2.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_15" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_PRESENT_1" Address="Task 2.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT2_WH_PRESENT_2" Address="Task 2.Inputs.LdrTxIO_DI_16CHANNEL_EL1872_N153_12" Invert="false" Type="Digital" DataType="bool"/>
		
		<Input Name="r_ENCLOSED_TRANSPORT_WH_UNLOCKED_1" Address="Task 2.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_1" Invert="false" Type="Digital" DataType="bool"/> <!-- -->
		<Input Name="r_ENCLOSED_TRANSPORT_WH_LOCKED_2" Address="Task 2.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_LOCKED_1" Address="Task 2.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_UNLOCKED_2" Address="Task 2.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_IMMOBILIZER1_RETRACTED" Address="Task 2.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_IMMOBILIZER1_EXTENDED" Address="Task 2.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_IMMOBILIZER2_EXTENDED" Address="Task 2.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_IMMOBILIZER2_RETRACTED" Address="Task 2.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_8" Invert="false" Type="Digital" DataType="bool"/>		
		<Input Name="r_ENCLOSED_TRANSPORT_WH_READY_TO_LOCK_1" Address="Task 2.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_13" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_READY_TO_LOCK_2" Address="Task 2.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_15" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_PRESENT_1" Address="Task 2.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_ENCLOSED_TRANSPORT_WH_PRESENT_2" Address="Task 2.Inputs.PrcTxIO_DI_16CHANNEL_EL1872_N203_12" Invert="false" Type="Digital" DataType="bool"/>
		<!--dryer-->
		<Input Name="r_HVD_2_ANALOG" Address="Task 2.Inputs.PUF_AI_8CHANNEL_EL3068_N251_2" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_HVD_1_ANALOG" Address="Task 2.Inputs.PUF_AI_8CHANNEL_EL3068_N251_3" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>
		<!--SAFETY-->
		<Input Name="r_Safety_ComErr" Address="Task 2.Inputs.Safety_ComErr" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_ComErr_LdrPuf" Address="Task 2.Inputs.Safety_ComErr_LdrPuf" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_ComErr_Srd" Address="Task 2.Inputs.Safety_ComErr_Srd" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_ComErr_Transp" Address="Task 2.Inputs.Safety_ComErr_Transp" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_EtherCat_State" Address="Task 2.Inputs.EtherCAT_State" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_EtherCat_State_Loader" Address="Task 2.Inputs.EtherCAT_State_Loader" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_EtherCat_State_LdrTxIO" Address="Task 2.Inputs.EtherCAT_State_LdrTxIO" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_EtherCat_State_PrcTxIO" Address="Task 2.Inputs.EtherCAT_State_PrcTxIO" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_EtherCat_State_Transporter" Address="Task 2.Inputs.EtherCAT_State_Transporter" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_EtherCat_State_Puf" Address="Task 2.Inputs.EtherCAT_State_Puf" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_EtherCat_State_Srd" Address="Task 2.Inputs.EtherCAT_State_Srd" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_EtherCat_State_Reservoir1" Address="Task 2.Inputs.EtherCAT_State_Reservoir1and2" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_EtherCat_State_Reservoir2" Address="Task 2.Inputs.EtherCAT_State_Reservoir4" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_EtherCat_State_FFU" Address="Task 2.Inputs.EtherCAT_State_FFU" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>	
		<Input Name="r_LDR_Door_Locked" Address="Task 2.Inputs.Safety_rLoaderDoorLocked" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_BFFR_Door_Locked" Address="Task 2.Inputs.Safety_rBufferDoorLocked" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_LWR_LDR_PNL_REMOVED" Address="Task 2.Inputs.Safety_rLowerLoaderPanelRemoved" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_XPRTR_LDR_PNL_REMOVED" Address="Task 2.Inputs.Safety_rTxLoaderPanelRemoved" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_XPRTR_BFFR_PNL_REMOVED" Address="Task 2.Inputs.Safety_rTxBufferPanelRemoved" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOOR_1_SAFE_LOCK" Address="Task 2.Inputs.Safety_rProcDoor1SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOOR_2_SAFE_LOCK" Address="Task 2.Inputs.Safety_rProcDoor2SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOOR_3_SAFE_LOCK" Address="Task 2.Inputs.Safety_rProcDoor3SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOOR_4_SAFE_LOCK" Address="Task 2.Inputs.Safety_rProcDoor4SafeLock" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROC_DOORS_UPPR_PNLS_ON" Address="Task 2.Inputs.Safety_rProcDoorsUpperPanelsOn" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_TOP_PNL_REMOVED" Address="Task 2.Inputs.Safety_rSrdTopPanelRemoved" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_LWR_PNL_REMOVED" Address="Task 2.Inputs.Safety_rSrdLowerPanelRemoved" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_PLUMBING_DOORS_CLOSED" Address="Task 2.Inputs.Safety_rPlumbingDoorsClosed" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PROCESS_HALT_BUTTON_1" Address="Task 2.Inputs.Safety_rProcessHaltButton1" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_PROCESS_HALT_BUTTON_2" Address="Task 2.Inputs.Safety_rProcessHaltButton2" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_HALT_LDR_SECTION" Address="Task 2.Inputs.Safety_rHaltButtonLoaderSection" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_MODE_SELECTOR_SWITCH" Address="Task 2.Inputs.Safety_rModeSelectorSwitch" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_Rotate_AMP_SLS" Address="Task 2.Inputs.Safety_rLoaderRotateAmpSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Door_A_AMP_SLS" Address="Task 2.Inputs.Safety_rLoaderDoorAAmpSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Door_B_AMP_SLS" Address="Task 2.Inputs.Safety_rLoaderDoorBAmpSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SUP_A_AMP_SLS" Address="Task 2.Inputs.Safety_rLoaderSupAAmpSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SUP_B_AMP_SLS" Address="Task 2.Inputs.Safety_rLoaderSupBAmpSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_A_VERT_SAFE_SLS" Address="Task 2.Inputs.Safety_rDpufAVertSafeSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_B_VERT_SAFE_SLS" Address="Task 2.Inputs.Safety_rDpufBVertSafeSLS" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_SLS_1" Address="Task 2.Inputs.Safety_rGantryZoneSafeSLS1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_SLS_2" Address="Task 2.Inputs.Safety_rGantryZoneSafeSLS2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_SLS_3" Address="Task 2.Inputs.Safety_rGantryZoneSafeSLS3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_SLS_4" Address="Task 2.Inputs.Safety_rGantryZoneSafeSLS4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_VERT_SAFE_Disable" Address="Task 2.Inputs.Safety_rDpufVertSafeSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Loader_Zone_Safe_Disable" Address="Task 2.Inputs.Safety_rLoaderZoneSafeSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_Disable" Address="Task 2.Inputs.Safety_rGantryZoneSafeSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_WASH_ARMS_Disable" Address="Task 2.Inputs.Safety_rSrdWashArmsSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_ROTATE_Disable" Address="Task 2.Inputs.Safety_rSrdRotateSTO" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Loader_Zone_Safe_SLS" Address="Task 2.Inputs.Safety_rAllNoSLS" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_VERT_SAFE_SLS" Address="Task 2.Inputs.Safety_rAllNoSLS" Type="Digital" DataType="bool"/>
		<Input Name="r_Loader_Zone_Safe_STO" Address="Task 2.Inputs.Safety_rLoaderPufZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_VERT_SAFE_STO" Address="Task 2.Inputs.Safety_rLoaderPufZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_A_PIVSUP_STO" Address="Task 2.Inputs.Safety_rLoaderPufZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="r_DPUF_B_PIVSUP_STO" Address="Task 2.Inputs.Safety_rLoaderPufZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="r_Gantry_Zone_Safe_STO" Address="Task 2.Inputs.Safety_rGantryZoneSafeSTO" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_WASH_STO" Address="Task 2.Inputs.Safety_rSdrZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_ROTATE_STO" Address="Task 2.Inputs.Safety_rSdrZoneSafeNoSTO" Type="Digital" DataType="bool"/>
		<Input Name="r_PUMP_EDM" Address="Task 2.Inputs.Safety_rPumpEDM" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_RES_HIGH_LEVEL" Address="Task 2.Inputs.Safety_rResHighLevel" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_EXT_FLUID_ENABLE_EDM" Address="Task 2.Inputs.Safety_rExtFluidEnableEDM" Invert="true" Type="Digital" DataType="bool"/>
		<!--SRD1-->
		<Input Name="r_SRD1_CHUCK_VACUUM_anlg" Address="Cyclic 2ms.Inputs.SRD_AI_4CHANNEL_0_10V_EL3064_N301_1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>		
		<Input Name="r_SRD1_WAFER_PRESENT_anlg" Address="Cyclic 2ms.Inputs.SRD_AI_4CHANNEL_0_10V_EL3064_N301_3" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<!--SRD2-->
		<Input Name="r_SRD1_CHUCK_VACUUM_anlg" Address="Cyclic 2ms.Inputs.SRD_AI_4CHANNEL_0_10V_EL3064_N301_1" Scaling="0=3276.7,-757=16383.5" Type="Analog" DataType="int"/>		
		<Input Name="r_SRD1_WAFER_PRESENT_anlg" Address="Cyclic 2ms.Inputs.SRD_AI_4CHANNEL_0_10V_EL3064_N301_3" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<!-- Task 2.Inputs 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_2_CT_2CHANNEL_EL1512_N771_1_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N771_1_Set_counter" Type="Start" DataType="byte"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N771_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N771_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="byte"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N771_2_Inhibit_counter" Type="Stop" DataType="byte"/>
			<Output Address="MAIN.RESERVOIR1_2_CT_2CHANNEL_EL1512_N771_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="byte"/>
			<Output Address="MAIN.RESERVOIR4_CT_2CHANNEL_EL1512_N510_1_Inhibit_counter" Type="Stop" DataType="byte"/>
			<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="Task 2.Inputs.RESERVOIR1_CT_2CHANNEL_EL1512_N511_1_Counter_value" DataType="int" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N511_1_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N511_1_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N511_1_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>	
		<Counter Name="r_CELL1_AN_B_FLOW" Address="Task 2.Inputs.RESERVOIR1_CT_2CHANNEL_EL1512_N511_2_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N511_2_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N511_2_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N511_2_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_CELL2_AN_A_FLOW" Address="Task 2.Inputs.RESERVOIR1_CT_2CHANNEL_EL1512_N512_1_Counter_value" DataType="udit" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N512_1_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N512_1_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N512_1_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>		
		<Counter Name="r_CELL2_AN_B_FLOW" Address="Task 2.Inputs.RESERVOIR1_CT_2CHANNEL_EL1512_N512_1_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N512_1_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N512_1_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N512_1_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		<Counter Name="r_CELL3_AN_A_FLOW" Address="Task 2.Inputs.RESERVOIR1_CT_2CHANNEL_EL1512_N513_1_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N513_1_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N513_1_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N513_1_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>	
		<Counter Name="r_CELL3_AN_B_FLOW" Address="Task 2.Inputs.RESERVOIR1_CT_2CHANNEL_EL1512_N513_2_Counter_value" DataType="udint" Mode="1" Period="2000" Scaling="0=0,1=83">
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N513_2_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N513_2_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="Task 2.Outputs.RESERVOIR1_CT_2CHANNEL_EL1512_N513_2_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>
		
		<Counter Name="r_CELL6_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N557_2" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
          <Output Address="Cyclic 2ms.Outputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N557_2_SET" Type="Start" DataType="byte"/>
          <Output Address="Cyclic 2ms.Outputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N557_2_INHIBIT" Type="Stop" DataType="byte"/>
          <Output Address="Cyclic 2ms.Outputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N557_2_SET_COUNT" Type="Reset" DataType="double"/>
	    </Counter>
	
	    <Counter Name="r_CELL6_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N558_1" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
          <Output Address="Cyclic 2ms.Outputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N558_1_SET" Type="Start" DataType="byte"/>
          <Output Address="Cyclic 2ms.Outputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N558_1_INHIBIT" Type="Stop" DataType="byte"/>
          <Output Address="Cyclic 2ms.Outputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N558_1_SET_COUNT" Type="Reset" DataType="double"/>
	    </Counter>	
	    
		<Counter Name="r_CELL7_AN_A_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N558_2" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
          <Output Address="Cyclic 2ms.Outputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N558_2_SET" Type="Start" DataType="byte"/>
          <Output Address="Cyclic 2ms.Outputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N558_2_INHIBIT" Type="Stop" DataType="byte"/>
          <Output Address="Cyclic 2ms.Outputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N558_2_SET_COUNT" Type="Reset" DataType="double"/>
	    </Counter>
	
	    <Counter Name="r_CELL7_AN_B_FLOW" Address="Cyclic 2ms.Inputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N559_1" DataType="double" Mode="1" Period="2000" Scaling="0=0,1=83">
          <Output Address="Cyclic 2ms.Outputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N559_1_SET" Type="Start" DataType="byte"/>
          <Output Address="Cyclic 2ms.Outputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N559_1_INHIBIT" Type="Stop" DataType="byte"/>
          <Output Address="Cyclic 2ms.Outputs.RESERVOIR_3_CT_2CHANNEL_EL1512_N559_1_SET_COUNT" Type="Reset" DataType="double"/>
	    </Counter>
		<!--////////////////////////////////////////////////// ALL Counter END ////////////////////////////////////////////////////-->
		
		<!--////////////////////////////////////////////////// ALL OUTPUTS BEGIN //////////////////////////////////////////////////-->
		<!--PUF1-->
		<Output Name="c_DPUF_A_CHUCK_A_RELEASE" Address="Task 2.Outputs.PUF_DO_16Bit_EL2809_N254_11" Type="Digital" DataType="bool"/>
		<Output Name="c_DPUF_A_CHUCK_B_RELEASE" Address="Task 2.Outputs.PUF_DO_16Bit_EL2809_N254_12" Type="Digital" DataType="bool"/>
		<!--PUF2-->
		<Output Name="c_DPUF_B_CHUCK_A_RELEASE" Address="Task 2.Outputs.PUF_DO_16Bit_EL2809_N254_13" Type="Digital" DataType="bool"/>
		<Output Name="c_DPUF_B_CHUCK_B_RELEASE" Address="Task 2.Outputs.PUF_DO_16Bit_EL2809_N254_14" Type="Digital" DataType="bool"/>
		
		<!--Loader1-->				
		<Output Name="c_WAFER_HOLDER_CLAMPED" Address="Task 2.Outputs.LOADER_PneumaticByte1" Invert="true" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_Flow_Test_Clamp" Address="Task 2.Outputs.LOADER_PneumaticByte1" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_Cathode_Clamp" Address="Task 2.Outputs.LOADER_PneumaticByte1" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_LOADERA_DOOR_UNLOCK" Address="Task 2.Outputs.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_LOADERB_DOOR_UNLOCK" Address="Task 2.Outputs.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_LoaderA_CRS_Vacuum" Address="Task 2.Outputs.LOADER_PneumaticByte2" Invert="true" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_LoaderB_CRS_Vacuum" Address="Task 2.Outputs.LOADER_PneumaticByte2" Invert="true" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>

		<Output Name="c_LOADERA_WH_BLADDER" Address="Task 2.Outputs.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_LOADERB_WH_BLADDER" Address="Task 2.Outputs.LOADER_PneumaticByte2" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<Output Name="c_LOADERA_BERNOULLI_BLADDER" Address="Task 2.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_LOADERB_BERNOULLI_BLADDER" Address="Task 2.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_LOADERA_TRANS_BLADDER" Address="Task 2.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_LOADERA_TRANS_HIGH" Address="Task 2.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_LOADERB_TRANS_BLADDER" Address="Task 2.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_LOADERB_TRANS_HIGH" Address="Task 2.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>

		<Output Name="c_LOADERA_BERNOULLI_N2" Address="Task 2.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_LOADERB_BERNOULLI_N2" Address="Task 2.Outputs.LOADER_PneumaticByte3" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<Output Name="c_LOADERA_BERNOULLI_N2_SECOND" Address="Task 2.Outputs.LOADER_PneumaticByte4" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_LOADERB_BERNOULLI_N2_SECOND" Address="Task 2.Outputs.LOADER_PneumaticByte4" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_VACUUM_TEST" Address="Task 2.Outputs.LOADER_DO_8CHANNEL_EL2008_N56_1" Type="Digital" DataType="bool"/>

		<!--Facilities-->		
		<Output Name="c_N2_ENABLE" Address="Task 2.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_10" Type="Digital" DataType="bool"/>
		<Output Name="c_CDA_ENABLE" Address="Task 2.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_1" Type="Digital" DataType="bool"/>
		<Output Name="c_EXTERNAL_CDA_ENABLE" Address="Task 2.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_5" Type="Digital" DataType="bool"/>
		<Output Name="c_DI_MAIN_ENABLE" Address="Task 2.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_2" Type="Digital" DataType="bool"/>
		<Output Name="c_HCW_ENABLE" Address="Task 2.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_6" Type="Digital" DataType="bool"/>
		<Output Name="c_DI_REPLEN_ENABLE" Address="Task 2.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_3" Type="Digital" DataType="bool"/>
		<Output Name="c_DI_FILL_ENABLE" Address="Task 2.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N24_4" Type="Digital" DataType="bool"/>		
		<Output Name="c_DI_LOADER_ENABLE" Address="Task 2.Outputs.PROCESS2_FESTO_BYTE16" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	
		<Output Name="c_FILTER_PURGE_ENABLE" Address="Task 2.Outputs.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_SAMPLE_STATION_ENABLE" Address="Task 2.Outputs.PROCESS1_FESTO_BYTE9" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>		
		<Output Name="c_SAMPLE_STATION_FLOW_1_ENABLE" Address="Task 2.Outputs.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_SAMPLE_STATION_FLOW_2_ENABLE" Address="Task 2.Outputs.PROCESS1_FESTO_BYTE10" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<Output Name="c_SAMPLE_STATION_FLOW_3_ENABLE" Address="Task 2.Outputs.PROCESS1_FESTO_BYTE8" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>	
		<Output Name="c_SAMPLE_STATION_FLOW_4_ENABLE" Address="Task 2.Outputs.PROCESS1_FESTO_BYTE11" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		
		<!--Transporter-->		
		<Output Name="c_ENCLOSED_TRANSPORT2_UNLOCK_SOLENOID" Address="Task 2.Outputs.LdrTxIO_DO_16Bit_EL2871_N152_1" Type="Digital" DataType="bool"/>
		<Output Name="c_ENCLOSED_TRANSPORT2_UPPER_IMMOBILIZER_ACTIVE2" Address="Task 2.Outputs.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT2_UPPER_IMMOBILIZER_ACTIVE" Address="Task 2.Outputs.LdrTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT_UNLOCK_SOLENOID" Address="Task 2.Outputs.PrcTxIO_DO_16Bit_EL2871_N202_1" Type="Digital" DataType="bool"/>
		<Output Name="c_ENCLOSED_TRANSPORT_UPPER_IMMOBILIZER_ACTIVE2" Address="Task 2.Outputs.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_ENCLOSED_TRANSPORT_UPPER_IMMOBILIZER_ACTIVE" Address="Task 2.Outputs.PrcTx_Pneumatic_Byte1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<!--Dryer-->
		<Output Name="c_HVD_1_ENABLE" Address="Task 2.Outputs.PUF_DO_16Bit_EL2809_N254_1" Type="Digital" DataType="bool"/>
		<Output Name="c_HVD_1_HIGH" Address="Task 2.Outputs.PUF_DO_16Bit_EL2809_N254_2" Type="Digital" DataType="bool"/>
		<Output Name="c_HVD_2_HIGH" Address="Task 2.Outputs.PUF_DO_16Bit_EL2809_N254_3" Type="Digital" DataType="bool"/>
		<Output Name="c_HVD_2_ENABLE" Address="Task 2.Outputs.PUF_DO_16Bit_EL2809_N254_15" Type="Digital" DataType="bool"/>
		<!--SAFETY-->
		<Output Name="c_Safety_RunStop" Address="Task 2.Outputs.Safety_RunStop" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_ErrAck" Address="Task 2.Outputs.Safety_ErrAck" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_SLS_Restart" Address="Task 2.Outputs.Safety_SLS_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_TX_STO_MON_Restart" Address="Task 2.Outputs.Safety_TX_STO_MON_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_TX_STO1_ESTOP_Restart" Address="Task 2.Outputs.Safety_TX_STO1_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_TX_STO2_ESTOP_Restart" Address="Task 2.Outputs.Safety_TX_STO2_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_LDRPUF_STO_MON_Restart" Address="Task 2.Outputs.Safety_LDRPUF_STO_MON_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_LDRPUF_STO1_ESTOP_Restart" Address="Task 2.Outputs.Safety_LDRPUF_STO1_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_LDRPUF_STO2_ESTOP_Restart" Address="Task 2.Outputs.Safety_LDRPUF_STO2_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_SRD_STO_ESTOP_Restart" Address="Task 2.Outputs.Safety_SRD_STO_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_PUMP_STO_ESTOP_Restart" Address="Task 2.Outputs.Safety_PUMP_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_FLUID_ESTOP_Restart" Address="Task 2.Outputs.Safety_Fluid_ESTOP_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_LDR_DOOR_OPEN" Address="Task 2.Outputs.Safety_ReqLoaderDoorOpen" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_BFFR_DOOR_OPEN" Address="Task 2.Outputs.Safety_ReqBufferDoorOpen" Type="Digital" DataType="bool"/>
		<Output Name="c_REQUEST_PROC_DOORS_OPEN" Address="Task 2.Outputs.Safety_ReqProcDoorsOpen" Type="Digital" DataType="bool"/>
		<Output Name="c_MODE_SIREN" Address="Task 2.Outputs.MAIN_IO_DO_16CHANNEL_EL2809_N25_10" Type="Digital" DataType="bool"/>


		<!--////////////////////////////////////////////////// ALL OUTPUTS END //////////////////////////////////////////////////-->
		<Axis Name="Transporter1.Gantry" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1082" DebugLogging="false">
			<Input Address="Task 2.Inputs.ProcessTransporterHorizontal_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.ProcessTransporterHorizontal_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.ProcessTransporterHorizontal_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.ProcessTransporterHorizontal_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.ProcessTransporterHorizontal_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.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="Task 2.Outputs.ProcessTransporterHorizontal_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.ProcessTransporterHorizontal_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.ProcessTransporterHorizontal_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.ProcessTransporterHorizontal_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.ProcessTransporterHorizontal_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.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>45000000</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="192.168.0.14.4.1" COEPort="1081" DebugLogging="false">
			<Input Address="Task 2.Inputs.ProcessTransporterVertical_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.ProcessTransporterVertical_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.ProcessTransporterVertical_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.ProcessTransporterVertical_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.ProcessTransporterVertical_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.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="Task 2.Outputs.ProcessTransporterVertical_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.ProcessTransporterVertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.ProcessTransporterVertical_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.ProcessTransporterVertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.ProcessTransporterVertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.ProcessTransporterVertical_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"/>
			<!-- 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="192.168.0.14.4.1" COEPort="1080" DebugLogging="false">
			<Input Address="Task 2.Inputs.LoaderTransporterHorizontal_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.LoaderTransporterHorizontal_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.LoaderTransporterHorizontal_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Task 2.Inputs.LoaderTransporterHorizontal_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.LoaderTransporterHorizontal_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.LoaderTransporterHorizontal_InternalPositionActual" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Task 2.Inputs.LoaderTransporterHorizontal_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.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="Task 2.Outputs.LoaderTransporterHorizontal_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.LoaderTransporterHorizontal_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.LoaderTransporterHorizontal_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.LoaderTransporterHorizontal_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.LoaderTransporterHorizontal_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.LoaderTransporterHorizontal_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 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>-16190544</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>45000000</Speed>
			<!--Speed>30000000</Speed-->
			<!--Speed>52000000</Speed-->
			<!--Speed>26000000</Speed-->
			<!-- Acceleration/Deceleration 0.78 rev/min/min = 0.01 rev/sec/sec = 13800 counts/sec/sec -->
			<!--Acceleration>138000000</Acceleration-->
			<Acceleration>92000000</Acceleration>
			<!--Deceleration>138000000</Deceleration-->
			<Deceleration>92000000</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>130</PositiveTorqueLimit>
		</Axis>
		<Axis Name="Transporter2.Elevator" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1079" DebugLogging="false">
			<Input Address="Task 2.Inputs.LoaderTransporterVertical_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.LoaderTransporterVertical_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.LoaderTransporterVertical_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Task 2.Inputs.LoaderTransporterVertical_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.LoaderTransporterVertical_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.LoaderTransporterVertical_InternalPositionActual" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Task 2.Inputs.LoaderTransporterVertical_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.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="Task 2.Outputs.LoaderTransporterVertical_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.LoaderTransporterVertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.LoaderTransporterVertical_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.LoaderTransporterVertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.LoaderTransporterVertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.LoaderTransporterVertical_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"/>
			<!-- 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>
		
		<Axis Name="PUF1.Flip" MotorType="Copley" COEAddress="192.168.0.14.4.1" COEPort="1012" DebugLogging="false">
			<Input Address="Task 2.Inputs.r_DPUF_A_FLIP_STATUS_WORD" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_FLIP_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_FLIP_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_FLIP_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_FLIP_ACTUAL_MOTOR_POS" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_FLIP_POSITION_LOOP_ERROR" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_FLIP_ACTUAL_MOTOR_VELOCITY" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_FLIP_TORQUE_ACTUAL" Type="ActualTorque" DataType="int"/>
			<Input Address="0x2A53:00" Type="SoftwareLimitDecel" DataType="udint"/>
			<Input Address="0x687D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Input Address="0x687D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Input Address="0x687C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
			<Input Address="0x6899:01" Type="HomingVelocity" DataType="dint"/>
			<Input Address="0x6899:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Input Address="0x689A:00" Type="HomingAccel" DataType="dint"/>
			<Input Address="0x2B53:00" Type="HomeAdjustment" DataType="dint"/>
			<Input Address="0x6885:00" Type="EStopDecel" DataType="dint"/>
			<Input Address="0x2903:00" Type="VelocityLimit" DataType="dint"/>
			<Input Address="0x2910:00" Type="PeakCurrentLimit" DataType="int"/>
			<Input Address="0x2911:00" Type="ContinuousCurrentLimit" DataType="int"/>
			<Input Address="0x6867:00" Type="PositionWindow" DataType="dint"/>
			<Input Address="0x2920:00" Type="FollowingErrorWindow" DataType="dint"/>

			<Output Address="Task 2.Outputs.c_DPUF_A_FLIP_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_FLIP_PROFILE_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_FLIP_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_FLIP_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_FLIP_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_FLIP_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_FLIP_PROFILE_JERK" Type="ProfileJerk" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_FLIP_PROFILE_TYPE" Type="ProfileType" DataType="int"/>
			<Output Address="0x2A53:00" Type="SoftwareLimitDecel" DataType="udint"/>
			<Output Address="0x687D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x687D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x687C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6899:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6899:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x689A:00" Type="HomingAccel" DataType="dint"/>

			<!-- 2222.2222 counts/degree -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>-1</MotorDriveDirection>
			<!-- +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<HomingMethod>5</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>44444</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>44444</HomingSpeedEncoderIndex>
			<HomingAccelDecel>44444</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>15</ProportionalGain>
			<IntegralGain>1</IntegralGain>
			<DerivativeGain>30</DerivativeGain>
			<IntegralLimit>1</IntegralLimit>
			<ErrorLimit>4444</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-19334</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>413867</ForwardSoftwareLimit>
			<Speed>44444</Speed>
			<Acceleration>333333</Acceleration>
			<Deceleration>333333</Deceleration>
			<Jerk>7200000</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
		</Axis>
		<Axis Name="PUF1.Rotation" MotorType="Copley" COEAddress="192.168.0.14.4.1" COEPort="1012" DebugLogging="false">
			<Input Address="Task 2.Inputs.r_DPUF_A_ROTATION_STATUS_WORD" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_ROTATION_ACTUAL_MOTOR_POS" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_ROTATION_POSITION_LOOP_ERROR" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_ROTATION_ACTUAL_MOTOR_VELOCITY" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_ROTATION_TORQUE_ACTUAL" 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="Task 2.Outputs.c_DPUF_A_ROTATION_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_ROTATION_PROFILE_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_ROTATION_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_ROTATION_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_ROTATION_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>			
			<Output Address="Task 2.Outputs.c_DPUF_A_ROTATION_PROFILE_JERK" Type="ProfileJerk" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_ROTATION_PROFILE_TYPE" Type="ProfileType" DataType="int"/>
			<Output Address="0x2253:00" Type="SoftwareLimitDecel" DataType="udint"/>
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>

			<!-- 2222.2222 counts/degree -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>+1</MotorDriveDirection>
			<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<HomingMethod>5</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>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="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1002" DebugLogging="false">
			<Input Address="Task 2.Inputs.r_DPUF_A_VERT_STATUS_WORD" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_VERT_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_VERT_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_VERT_POS_ACTUAL" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_VERT_INTERNAL_POS" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_VERT_FOLLOWING_ERROR" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_VERT_ACTUAL_VELOCITY" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_A_VERT_ActualTorque" Type="ActualTorque" DataType="int"/>
			<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="Task 2.Outputs.c_DPUF_A_VERT_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_VERT_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_VERT_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_VERT_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_VERT_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_A_VERT_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Task 2.Outputs.c_DPUF_A_VERT_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<!-- 104,857.6 counts/mm -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>+1</MotorDriveDirection>
			<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<HomingMethod>7</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>2242850</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>1000000</HomingSpeedEncoderIndex>
			<HomingAccelDecel>26214250</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>14</ProportionalGain>
			<IntegralGain>1</IntegralGain>
			<DerivativeGain>40</DerivativeGain>
			<IntegralLimit>1</IntegralLimit>
			<ErrorLimit>52428</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-30513562</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>1048576</ForwardSoftwareLimit>
			<Speed>2242880</Speed>
			<Acceleration>26214400</Acceleration>
			<Deceleration>26214400</Deceleration>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
			<NegativeTorqueLimit>35</NegativeTorqueLimit>
			<PositiveTorqueLimit>75</PositiveTorqueLimit>
		</Axis>
		<Axis Name="PUF2.Flip" MotorType="Copley" COEAddress="192.168.0.14.4.1" COEPort="1006" DebugLogging="false">
			<Input Address="Task 2.Inputs.r_DPUF_B_FLIP_STATUS_WORD" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_FLIP_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_FLIP_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_FLIP_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_FLIP_ACTUAL_MOTOR_POS" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_FLIP_POSITION_LOOP_ERROR" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_FLIP_ACTUAL_MOTOR_VELOCITY" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_FLIP_TORQUE_ACTUAL" Type="ActualTorque" DataType="int"/>
			<Input Address="0x2A53:00" Type="SoftwareLimitDecel" DataType="udint"/>
			<Input Address="0x687D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Input Address="0x687D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Input Address="0x687C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
			<Input Address="0x6899:01" Type="HomingVelocity" DataType="dint"/>
			<Input Address="0x6899:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Input Address="0x689A:00" Type="HomingAccel" DataType="dint"/>
			<Input Address="0x2B53:00" Type="HomeAdjustment" DataType="dint"/>
			<Input Address="0x6885:00" Type="EStopDecel" DataType="dint"/>
			<Input Address="0x2903:00" Type="VelocityLimit" DataType="dint"/>
			<Input Address="0x2910:00" Type="PeakCurrentLimit" DataType="int"/>
			<Input Address="0x2911:00" Type="ContinuousCurrentLimit" DataType="int"/>
			<Input Address="0x6867:00" Type="PositionWindow" DataType="dint"/>
			<Input Address="0x2920:00" Type="FollowingErrorWindow" DataType="dint"/>

			<Output Address="Task 2.Outputs.c_DPUF_B_FLIP_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_FLIP_PROFILE_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_FLIP_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_FLIP_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_FLIP_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_FLIP_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_FLIP_PROFILE_JERK" Type="ProfileJerk" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_FLIP_PROFILE_TYPE" Type="ProfileType" DataType="int"/>
			<Output Address="0x2A53:00" Type="SoftwareLimitDecel" DataType="udint"/>
			<Output Address="0x687D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x687D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x687C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6898:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6899:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6899:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x689A:00" Type="HomingAccel" DataType="dint"/>

			<!-- 2222.2222 counts/degree -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>-1</MotorDriveDirection>
			<!-- +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<HomingMethod>5</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>44444</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>44444</HomingSpeedEncoderIndex>
			<HomingAccelDecel>44444</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>44444</Speed>
			<Acceleration>333333</Acceleration>
			<Deceleration>333333</Deceleration>
			<Jerk>7200000</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
		</Axis>
		
		<Axis Name="PUF2.Rotation" MotorType="Copley" COEAddress="192.168.0.14.4.1" COEPort="1006" DebugLogging="false">
			<Input Address="Task 2.Inputs.r_DPUF_B_ROTATION_STATUS_WORD" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_ROTATION_ManufStatus" Type="ManufStatus" DataType="udint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_ROTATION_ProfileStatus" Type="ProfileStatus" DataType="int"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_ROTATION_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_ROTATION_ACTUAL_MOTOR_POS" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_ROTATION_POSITION_LOOP_ERROR" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_ROTATION_ACTUAL_MOTOR_VELOCITY" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_ROTATION_TORQUE_ACTUAL" 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="Task 2.Outputs.c_DPUF_B_ROTATION_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_ROTATION_PROFILE_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_ROTATION_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_ROTATION_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_ROTATION_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_ROTATION_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_ROTATION_PROFILE_JERK" Type="ProfileJerk" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_ROTATION_PROFILE_TYPE" Type="ProfileType" DataType="int"/>
			<Output Address="0x2253:00" Type="SoftwareLimitDecel" DataType="udint"/>
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>

			<!-- 2222.2222 counts/degree -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>+1</MotorDriveDirection>
			<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<HomingMethod>3</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<!--HomingOffset>0</HomingOffset-->
			<!-- clear bit 9 so motor does not move to zero after home -->
			<!-- HomeConfig>34</HomeConfig -->
			<HomingSpeedHomeSwitch>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="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1008" DebugLogging="false">
			<Input Address="Task 2.Inputs.r_DPUF_B_VERT_STATUS_WORD" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_VERT_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_VERT_ModeOfOperationDisplay" Type="ModeOfOperation" DataType="byte"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_VERT_POS_ACTUAL" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_VERT_INTERNAL_POS" Type="InternalPositionActual" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_VERT_FOLLOWING_ERROR" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_VERT_ACTUAL_VELOCITY" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_DPUF_B_VERT_ActualTorque" Type="ActualTorque" DataType="int"/>
			<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="Task 2.Outputs.c_DPUF_B_VERT_CONTROL_WORD" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_VERT_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_VERT_TARGET_POS" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_VERT_PROFILE_VELOCITY" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_VERT_PROFILE_ACCEL" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.c_DPUF_B_VERT_PROFILE_DECEL" Type="ProfileDecel" DataType="dint"/>
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<!-- 104,857.6 counts/mm -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>+1</MotorDriveDirection>
			<!-- MotorDriveDirection +1 = Forward and -1 = Backward-->
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>2</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>1</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>1</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>-1</HomeSwitchPolarity>
			<HomingMethod>7</HomingMethod>
			<HomingOffset>0</HomingOffset>
			<!--HomingOffset>0</HomingOffset-->
			<HomingSpeedHomeSwitch>2242850</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>2242880</Speed>
			<Acceleration>26214400</Acceleration>
			<Deceleration>26214400</Deceleration>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>1</OffOnError>
			<NegativeTorqueLimit>35</NegativeTorqueLimit>
			<PositiveTorqueLimit>75</PositiveTorqueLimit>
		</Axis>
		<Axis Name="Loader1.TiltA" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1022" DebugLogging="false">
			<Input Address="Task 2.Inputs.r_Loader1TiltA_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.Loader1TiltA_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.r_Loader1TiltA_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1TiltA_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1TiltA_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1TiltA_ActualTorque" Type="ActualTorque" DataType="int"/>
			<!-- Input Address="Task 2.Outputs.Loader1TiltA_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Task 2.Outputs.Loader1TiltA_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.Loader1TiltA_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.Loader1TiltA_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1TiltA_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1TiltA_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1TiltA_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!--<Output Address="Task 2.Outputs.Loader1TiltA_ProfileDecel" Type="ProfileDecel" DataType="dint"/>-->
			<!-- Output Address="Task 2.Outputs.Loader1TiltA_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>11650</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-28864967</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>30801919</ForwardSoftwareLimit>
			<Speed>52428800</Speed>
			<Acceleration>52428800</Acceleration>
			<Deceleration>104857600</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
			<NegativeTorqueLimit>50</NegativeTorqueLimit>
			<PositiveTorqueLimit>50</PositiveTorqueLimit>
		</Axis>	
		<Axis Name="Loader1.TiltB" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1021" DebugLogging="false">
			<Input Address="Task 2.Inputs.r_Loader1TiltB_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.Loader1TiltB_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.r_Loader1TiltB_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1TiltB_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1TiltB_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1TiltB_ActualTorque" Type="ActualTorque" DataType="int"/>
			<!-- Input Address="Task 2.Outputs.Loader1TiltB_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Task 2.Outputs.Loader1TiltB_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.Loader1TiltB_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.Loader1TiltB_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1TiltB_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1TiltB_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1TiltB_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Task 2.Outputs.Loader1TiltB_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>11650</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-29590232</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>31460192</ForwardSoftwareLimit>
			<Speed>52428800</Speed>
			<Acceleration>52428800</Acceleration>
			<Deceleration>104857600</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
			<NegativeTorqueLimit>50</NegativeTorqueLimit>
			<PositiveTorqueLimit>50</PositiveTorqueLimit>
		</Axis>
		<Axis Name="Loader1.SwingA" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1020" DebugLogging="false">
			<Input Address="Task 2.Inputs.r_Loader1SwingA_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.Loader1SwingA_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.r_Loader1SwingA_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1SwingA_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1SwingA_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1SwingA_ActualTorque" Type="ActualTorque" DataType="int"/>
			<!-- Input Address="Task 2.Outputs.Loader1SwingA_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Task 2.Outputs.Loader1SwingA_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.Loader1SwingA_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.Loader1SwingA_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1SwingA_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1SwingA_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1SwingA_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Task 2.Outputs.Loader1SwingA_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>11650</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-4864228</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>12242125</ForwardSoftwareLimit>
			<Speed>29127110</Speed>
			<Acceleration>29127110</Acceleration>
			<Deceleration>29127110</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
		<Axis Name="Loader1.SwingB" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1017" DebugLogging="false">
			<Input Address="Task 2.Inputs.r_Loader1SwingB_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.Loader1SwingB_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.r_Loader1SwingB_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1SwingB_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1SwingB_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1SwingB_ActualTorque" Type="ActualTorque" DataType="int"/>
			<!-- Input Address="Task 2.Outputs.Loader1SwingB_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Task 2.Outputs.Loader1SwingB_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.Loader1SwingB_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.Loader1SwingB_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1SwingB_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1SwingB_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1SwingB_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Task 2.Outputs.Loader1SwingB_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>60000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<!-- ErrorLimit>2000</ErrorLimit -->
			<ErrorLimit>11650</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-4349377</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>12923699</ForwardSoftwareLimit>
			<Speed>29127110</Speed>
			<Acceleration>29127110</Acceleration>
			<Deceleration>29127110</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
		<Axis Name="Loader1.CRSA" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1018" DebugLogging="false">
			<Input Address="Task 2.Inputs.r_Loader1CRSA_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.Loader1CRSA_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.r_Loader1CRSA_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_Loader1CRSA_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1CRSA_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_Loader1CRSA_ActualTorque" Type="ActualTorque" DataType="int"/>
			<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="Task 2.Outputs.Loader1CRSA_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.Loader1CRSA_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.Loader1CRSA_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1CRSA_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1CRSA_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1CRSA_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1CRSA_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/>
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>2300936</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>120000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>11504</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<Speed>4314255</Speed>
			<Acceleration>14380850</Acceleration>
			<Deceleration>14380850</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
		<Axis Name="Loader1.CRSB" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1019" DebugLogging="false">
			<Input Address="Task 2.Inputs.r_Loader1CRSB_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.Loader1CRSB_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.r_Loader1CRSB_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_Loader1CRSB_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1CRSB_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.r_Loader1CRSB_ActualTorque" Type="ActualTorque" DataType="int"/>
			<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="Task 2.Outputs.Loader1CRSB_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.Loader1CRSB_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.Loader1CRSB_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1CRSB_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1CRSB_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1CRSB_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1CRSB_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/>
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<HomingOffset>0</HomingOffset>
			<HomingSpeedHomeSwitch>2300936</HomingSpeedHomeSwitch>
			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>120000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<ErrorLimit>11504</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<Speed>4314255</Speed>
			<Acceleration>14380850</Acceleration>
			<Deceleration>14380850</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
		<Axis Name="Loader1.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
			<Input Address="Task 2.Inputs.r_Loader1Rotation_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.Loader1Rotation_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.r_Loader1Rotation_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1Rotation_FollowingError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1Rotation_ActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.Loader1Rotation_ActualTorque" Type="ActualTorque" DataType="int"/>
			<!-- Input Address="Task 2.Outputs.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>

			<Output Address="Task 2.Outputs.Loader1Rotation_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.Loader1Rotation_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.Loader1Rotation_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1Rotation_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1Rotation_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.Loader1Rotation_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Task 2.Outputs.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

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