PunkHPX8/PunkHPX8_RT/Config/Devices/Beckhoffcfg.xml

<?xml version="1.0" encoding="utf-8"?>
<BeckhoffCfg>
	<Controller Name="MASTER" IPAddress="169.254.180.196.1.1" PortAddress="301">

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

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

		<!--////////////////////////////////////////////////// ALL INPUTS START //////////////////////////////////////////////////-->
		
		<!-- Safety inputs start -->
		<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_Safety_ComErr" Address="Task 2.Inputs.Safety_ComErr" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_FbErr" Address="Task 2.Inputs.Safety_FbErr" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_EtherCat_State_HotConnect_VPW" Address="Task 2.Inputs.EtherCat_State_HotConnect_VPW" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_Safety_ComErr_VPW" Address="Task 2.Inputs.Safety_ComErr_VPW"  Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_FbErr_VPW" Address="Task 2.Inputs.Safety_FbErr_VPW"  Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_EtherCat_State_HotConnect_RES1_2" Address="Task 2.Inputs.EtherCat_State_HotConnect_RES1_2" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_Safety_ComErr_RES1_2" Address="Task 2.Inputs.Safety_ComErr_RES1_2"  Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_FbErr_RES1_2" Address="Task 2.Inputs.Safety_FbErr_RES1_2"  Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_EtherCat_State_HotConnect_RES3_4" Address="Task 2.Inputs.EtherCat_State_HotConnect_RES3_4" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_Safety_ComErr_RES3_4" Address="Task 2.Inputs.Safety_ComErr_RES3_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_FbErr_RES3_4" Address="Task 2.Inputs.Safety_FbErr_RES3_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_EtherCat_State_HotConnect_Facility" Address="Task 2.Inputs.EtherCat_State_HotConnect_Facility" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_Safety_ComErr_Facility" Address="Task 2.Inputs.Safety_ComErr_Facility" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_FbErr_Facility" Address="Task 2.Inputs.Safety_FbErr_Facility" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_EtherCat_State_HotConnect_PlatingCell1_2" Address="Task 2.Inputs.EtherCat_State_HotConnect_PlatingCell1_2" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_Safety_ComErr_PlatingCell1_2" Address="Task 2.Inputs.Safety_ComErr_PlatingCell1_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_FbErr_PlatingCell1_2" Address="Task 2.Inputs.Safety_FbErr_PlatingCell1_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_EtherCat_State_HotConnect_PlatingCell3_4" Address="Task 2.Inputs.EtherCat_State_HotConnect_PlatingCell3_4" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_Safety_ComErr_PlatingCell3_4" Address="Task 2.Inputs.Safety_ComErr_PlatingCell3_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_FbErr_PlatingCell3_4" Address="Task 2.Inputs.Safety_FbErr_PlatingCell3_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_EtherCat_State_HotConnect_SRD" Address="Task 2.Inputs.EtherCat_State_HotConnect_SRD" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
		<Input Name="r_Safety_ComErr_SRD" Address="Task 2.Inputs.Safety_ComErr_SRD" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Safety_FbErr_SRD" Address="Task 2.Inputs.Safety_FbErr_SRD" Invert="false" Type="Digital" DataType="bool"/>
		
		<Input Name="r_Cell1_2_Doors_Left_Locked" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS100_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Cell1_2_Doors_Right_Locked" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS100_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Cell3_4_Doors_Left_Locked" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS100_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Cell3_4_Doors_Right_Locked" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS100_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Aligner_Door_Closed" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS101_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Cassette_Doors_Left_Locked" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS101_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Cassette_Doors_Right_Locked" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS101_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES1_2_Door_Closed" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS101_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES3_4_Door_Closed" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS102_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_VPW_Door_Closed" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS102_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Plumbing_Door_Closed" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS102_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_Panel_Closed" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS102_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Halt_Button_Left" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS103_1" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_Halt_Button_Right" Address="Task 2.Inputs.Safety_SDI_CHANNEL_EL1904_NS103_2" Invert="true" Type="Digital" DataType="bool"/>
		
		<Input Name="r_VPW_LEAK_DETECT"  Address="Task 2.Inputs.VPW_DI_16CHANNEL_EL1819_N100_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PlatingCell1_2_Leak_Detected" Address="Task 2.Inputs.RES1_2_DI_16CHANNEL_4_20MA_EL1819_N200_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PlatingCell3_4_Leak_Detected" Address="Task 2.Inputs.RES3_4_DI_8CHANNEL_4_20MA_EL1008_N230_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SAMPLE_SYS1_FLUID_PRESENT" Address="Task 2.Inputs.Facility_DI_16CHANNEL_EL1819_N000_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SAMPLE_SYS2_FLUID_PRESENT" Address="Task 2.Inputs.Facility_DI_16CHANNEL_EL1819_N000_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_CONTAINMENT_FLUID" Address="Task 2.Inputs.Facility_DI_16CHANNEL_EL1819_N000_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES1_2_Pump_EDM" Address="Task 2.Inputs.RES1_2_SDI_4CHANNEL_EL1904_NS401_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES3_4_Pump_EDM" Address="Task 2.Inputs.RES3_4_SDI_4CHANNEL_EL1904_NS431_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Degas1_Pump_EDM" Address="Task 2.Inputs.RES1_2_SDI_4CHANNEL_EL1904_NS400_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Degas2_Pump_EDM" Address="Task 2.Inputs.RES3_4_SDI_4CHANNEL_EL1904_NS430_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Vacuum_Pump_STO_EDM" Address="Task 2.Inputs.VPW_SDI_4CHANNEL_EL1904_NS300_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Booster_Pump_STO_EDM" Address="Task 2.Inputs.VPW_SDI_4CHANNEL_EL1904_NS300_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_External_Fluid_EDM" Address="Task 2.Inputs.Facility_SDI_4CHANNEL_EL1904_NS200_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES1_High_High" Address="Task 2.Inputs.RES1_2_SDI_4CHANNEL_EL1904_NS400_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES2_High_High" Address="Task 2.Inputs.RES1_2_SDI_4CHANNEL_EL1904_NS400_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES3_High_High" Address="Task 2.Inputs.RES3_4_SDI_4CHANNEL_EL1904_NS430_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES4_High_High" Address="Task 2.Inputs.RES3_4_SDI_4CHANNEL_EL1904_NS430_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_VPW1_Rotate_STO_EDM" Address="Task 2.Inputs.VPW_SDI_4CHANNEL_EL1904_NS300_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_VPW2_Rotate_STO_EDM" Address="Task 2.Inputs.VPW_SDI_4CHANNEL_EL1904_NS300_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PlatingCell1_2_Left_STO_EDM" Address="Task 2.Inputs.RES1_2_SDI_4CHANNEL_EL1904_NS500_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PlatingCell1_2_Right_STO_EDM" Address="Task 2.Inputs.RES1_2_SDI_4CHANNEL_EL1904_NS500_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PlatingCell3_4_Left_STO_EDM" Address="Task 2.Inputs.RES1_2_SDI_4CHANNEL_EL1904_NS531_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PlatingCell3_4_Right_STO_EDM" Address="Task 2.Inputs.RES3_4_SDI_4CHANNEL_EL1904_NS531_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PlatingCell1_2_Vertical_STO_EDM" Address="Task 2.Inputs.RES1_2_SDI_4CHANNEL_EL1904_NS500_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PlatingCell3_4_Vertical_STO_EDM" Address="Task 2.Inputs.RES1_2_SDI_4CHANNEL_EL1904_NS531_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_ROTATE_STO_EDM" Address="Task 2.Inputs.SRD1_SDI_4CHANNEL_EL1904_NS600_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_ROTATE_STO_EDM" Address="Task 2.Inputs.SRD2_SDI_4CHANNEL_EL1904_NS600_2" Invert="false" Type="Digital" DataType="bool"/>
		<!-- Safety inputs end -->
		
		
		<!-- facility inputs start -->
		<Input Name="r_SAMPLE_SYS_1_FLUID_PRESENT" Address="Task 2.Inputs.Facility_DI_16CHANNEL_EL1819_N000_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SAMPLE_SYS_2_FLUID_PRESENT" Address="Task 2.Inputs.Facility_DI_16CHANNEL_EL1819_N000_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_CONTAINMENT_FLUID" Address="Task 2.Inputs.Facility_DI_16CHANNEL_EL1819_N000_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_pH3" Address="Task 2.Inputs.Facility_AI_8CHANNEL_4_20mA_EL3058_N005_1" Scaling="0=0, 40=32767" Type="Analog" DataType="int"/>
		<Input Name="r_DIWRETURN_FLOW" Address="Task 2.Inputs.Facility_AI_8CHANNEL_4_20mA_EL3058_N006_106" Scaling="0=0, 40=32767" Type="Analog" DataType="int"/>
		<Input Name="r_HCW_FLOW" Address="Task 2.Inputs.Facility_AI_8CHANNEL_4_20mA_EL3058_N005_5" Scaling="0=0, 40=32767" Type="Analog" DataType="int"/>
		<Input Name="r_SYSTEM_EXHAUST_1" Address="Task 2.Inputs.Facility_AI_8CHANNEL_4_20mA_EL3058_N006_1" Scaling="0=0, 2=32767" Type="Analog" DataType="int"/>
		<Input Name="r_SYSTEM_EXHAUST_2" Address="Task 2.Inputs.Facility_AI_8CHANNEL_4_20mA_EL3058_N006_2" Scaling="0=0, 2=32767" Type="Analog" DataType="int"/>
		<Input Name="r_DI_WATER_PRESSURE" Address="Task 2.Inputs.Facility_AI_8CHANNEL_4_20mA_EL3058_N006_5" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_N2_1B_PRESSURE" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N007_1" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_N2_1A_PRESSURE" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N007_2" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_N2_2B_PRESSURE" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N007_3" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_N2_2A_PRESSURE" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N007_4" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_CDA_2_PRESSURE" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N007_5" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_CDA_1_PRESSURE" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N007_6" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_CDA_EXTERNAL_PRESSURE" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N007_7" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_SYSTEM_VACUUM" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N007_8" Scaling="-750=3276.7, 750=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_N2_BLANKET_PRESSURE" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N008_1" Scaling="-14.5=3276.7, 14.5=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_N2_OVERFLOW_PRESSURE" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N008_2" Scaling="-14.5=3276.7, 14.5=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_CLAMSHELL_CYLINDER_PRESSURE" Address="Task 2.Inputs.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3068_N402_3" Scaling="0=0, 100=32767" Type="Analog" DataType="udint"/>
		<Input Name="r_TILT_CYLINDER_PRESSURE" Address="Task 2.Inputs.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3068_N402_4" Scaling="0=0, 100=32767" Type="Analog" DataType="udint"/>
		<!-- facility inputs end -->
		
		
		<!--SRD inputs Start-->
		<Input Name="r_SRD_FLUID_LEVEL"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD_SUPPLY_WATER_PRESS"  Address="Task 2.Inputs.SRD_AI_8CHANNEL_4_20mA_EL3058_604_3" Scaling="758=0,100=32767" Type="Analog" DataType="int"/>
		<!--SRD inputs End-->
		

		<!--SRD1 inputs Start-->
		<Input Name="r_SRD1_SHUTTER_CLOSED"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_SHUTTER_OPEN"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_CHUCK_VAC_OK"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_WAFER_PRESENT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_LIFT_UP"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_150_FLIPPER1_OUT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_150_FLIPPER2_OUT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_150_FLIPPER3_OUT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_200_FLIPPER1_OUT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_200_FLIPPER2_OUT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_12" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD1_200_FLIPPER3_OUT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N600_13" Invert="false" Type="Digital" DataType="bool"/>

		<Input Name="r_SRD1_CHUCK_VACUUM_anlg"  Address="Task 2.Inputs.SRD_AI_8CHANNEL_0_10V_EL3058_6N05_1" Scaling="-0=3276.7,145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_SRD1_WATER_FLOW"  Address="Task 2.Inputs.SRD_AI_8CHANNEL_4_20mA_EL3058_N604_1" Scaling="0=0,8=32767" Type="Analog" DataType="int"/>
		<!--SRD1 inputs End-->
		
		<!--SRD2 inputs Start-->
		<Input Name="r_SRD2_SHUTTER_CLOSED"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N601_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_SHUTTER_OPEN"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N601_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_CHUCK_VAC_OK"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N601_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_WAFER_PRESENT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N601_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_LIFT_UP"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N601_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_150_FLIPPER1_OUT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N601_7" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_150_FLIPPER2_OUT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N601_8" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_150_FLIPPER3_OUT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N601_9" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_200_FLIPPER1_OUT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N601_10" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_200_FLIPPER2_OUT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N601_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_SRD2_200_FLIPPER3_OUT"  Address="Task 2.Inputs.SRD_DI_16CHANNEL_EL1819_N601_12" Invert="false" Type="Digital" DataType="bool"/>

		<Input Name="r_SRD2_CHUCK_VACUUM_anlg"  Address="Task 2.Inputs.SRD_AI_8CHANNEL_0_10V_EL3068_N605_2" Scaling="-0=3276.7,145=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_SRD2_WATER_FLOW"  Address="Task 2.Inputs.SRD_AI_8CHANNEL_4_20mA_EL3058_N604_1" Scaling="0=0,8=32767" Type="Analog" DataType="int"/>
		<!--SRD2 inputs End-->
		
		
		
		<!--PlatingCell1 inputs Start-->
		<Input Name="r_PlatingCell1_2_HEAD_TILTED"  Address="Task 2.Inputs.PlatingCell1_2_DI_16CHANNEL_EL1819_N400_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PlatingCell1_2_HEAD_VERTICAL"  Address="Task 2.Inputs.PlatingCell1_2_DI_16CHANNEL_EL1819_N400_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_CELL1_CLAMSHELL_DISTANCE"  Address="Task 2.Inputs.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3068_N402_1" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_CLAMSHELL_CYLINDER_PRESSURE"  Address="Task 2.Inputs.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3068_N402_3" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
		<Input Name="r_CELL1_OVERFLOW_LEVEL"  Address="Task 2.Inputs.PlatingCell1_2_AI_8CHANNEL_4_20MA_EL3058_N403_1" Scaling="4=0,20=32767" Type="Analog" DataType="int"/>
		<!--PlatingCell1 inputs End-->
		
		<!--PlatingCell2 inputs Start-->
		<Input Name="r_CELL2_CLAMSHELL_DISTANCE"  Address="Task 2.Inputs.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3068_N402_2" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_CELL2_OVERFLOW_LEVEL"  Address="Task 2.Inputs.PlatingCell1_2_AI_8CHANNEL_4_20MA_EL3058_N403_2" Scaling="4=0,20=32767" Type="Analog" DataType="int"/>
		<!--PlatingCell2 inputs End-->
		
		
		<!--PlatingCell3 inputs Start-->
		<Input Name="r_PlatingCell3_4_HEAD_TILTED"  Address="Task 2.Inputs.PlatingCell3_4_DI_16CHANNEL_EL1819_N430_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_PlatingCell3_4_HEAD_VERTICAL"  Address="Task 2.Inputs.PlatingCell3_4_DI_16CHANNEL_EL1819_N430_5" Invert="false" Type="Digital" DataType="bool"/>
		
		<Input Name="r_CELL3_CLAMSHELL_DISTANCE"  Address="Task 2.Inputs.PlatingCell3_4_AI_8CHANNEL_0_10V_EL3068_N432_1" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_CELL3_OVERFLOW_LEVEL"  Address="Task 2.Inputs.PlatingCell3_4_AI_8CHANNEL_4_20MA_EL3058_N433_1" Scaling="4=0,20=32767" Type="Analog" DataType="int"/>
		<!--PlatingCell3 inputs End-->
		
		
		<!--PlatingCell4 inputs Start-->
		<Input Name="r_CELL4_CLAMSHELL_DISTANCE"  Address="Task 2.Inputs.PlatingCell3_4_AI_8CHANNEL_0_10V_EL3068_N432_2" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_CELL4_OVERFLOW_LEVEL"  Address="Task 2.Inputs.PlatingCell3_4_AI_8CHANNEL_4_20MA_EL3058_N433_2" Scaling="4=0,20=32767" Type="Analog" DataType="int"/>
		<!--PlatingCell4 inputs End-->
		
		
		<!--Reservoir1 inputs Start-->
		<Input Name="r_RES1_CA_PUMP"  Address="Task 2.Inputs.RES1_2_DI_8CHANNEL_EL1008_N200_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES1_AN_TOWER_HIGH"  Address="Task 2.Inputs.RES1_2_DI_8CHANNEL_EL1008_N200_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES1_AN_TOWER_LOW"  Address="Task 2.Inputs.RES1_2_DI_8CHANNEL_EL1008_N200_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_CELL1_AN_FLOW"  Address="Task 2.Inputs.RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_1" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
		<Input Name="r_CELL1_CA_FLOW"  Address="Task 2.Inputs.RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_3" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
		<Input Name="r_RES1_CA_LEVEL_RAW"  Address="Task 2.Inputs.RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_5" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<!--Reservoir1 inputs End-->
		
		<!--Reservoir2 inputs Start-->
		<Input Name="r_RES2_CA_PUMP"  Address="Task 2.Inputs.RES1_2_DI_8CHANNEL_EL1008_N200_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES2_AN_TOWER_HIGH"  Address="Task 2.Inputs.RES1_2_DI_8CHANNEL_EL1008_N200_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES2_AN_TOWER_LOW"  Address="Task 2.Inputs.RES1_2_DI_8CHANNEL_EL1008_N200_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_CELL2_AN_FLOW"  Address="Task 2.Inputs.RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_2" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
		<Input Name="r_CELL2_CA_FLOW"  Address="Task 2.Inputs.RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_4" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
		<Input Name="r_RES2_CA_LEVEL_RAW"  Address="Task 2.Inputs.RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_6" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<!--Reservoir2 inputs End-->
		
		<!--Reservoir3 inputs Start-->
		<Input Name="r_RES3_CA_PUMP"  Address="Task 2.Inputs.RES3_4_DI_8CHANNEL_EL1008_N230_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES3_AN_TOWER_HIGH"  Address="Task 2.Inputs.RES3_4_DI_8CHANNEL_EL1008_N230_3" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES3_AN_TOWER_LOW"  Address="Task 2.Inputs.RES3_4_DI_8CHANNEL_EL1008_N230_4" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_CELL3_AN_FLOW"  Address="Task 2.Inputs.RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_1" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
		<Input Name="r_CELL3_CA_FLOW"  Address="Task 2.Inputs.RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_3" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
		<Input Name="r_RES3_CA_LEVEL_RAW"  Address="Task 2.Inputs.RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_5" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<!--Reservoir3inputs End-->
		
		<!--Reservoir4 inputs Start-->
		<Input Name="r_RES4_CA_PUMP"  Address="Task 2.Inputs.RES3_4_DI_8CHANNEL_EL1008_N230_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES4_AN_TOWER_HIGH"  Address="Task 2.Inputs.RES3_4_DI_8CHANNEL_EL1008_N230_5" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_RES4_AN_TOWER_LOW"  Address="Task 2.Inputs.RES3_4_DI_8CHANNEL_EL1008_N230_6" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_CELL4_AN_FLOW"  Address="Task 2.Inputs.RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_2" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
		<Input Name="r_CELL4_CA_FLOW"  Address="Task 2.Inputs.RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_4" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
		<Input Name="r_RES4_CA_LEVEL_RAW"  Address="Task 2.Inputs.RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_6" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<!--Reservoir4 inputs End-->
		

		<!--VPW Main Start-->
		<Input Name="r_VPW_CHAMBER_CLOSED"  Address="Task 2.Inputs.VPW_DI_16CHANNEL_EL1819_N100_1" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_VPW_CHAMBER_OPENED"  Address="Task 2.Inputs.VPW_DI_16CHANNEL_EL1819_N100_2" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_VPW_VAC_PUMP_PRESSURE"  Address="Task 2.Inputs.VPW_AI_8CHANNEL_4_20mA_EL3058_N102_6" Scaling="758=0,0=32767" Type="Analog" DataType="int"/>
		<Input Name="r_VPW_BOOSTER_PUMP_STATUS"  Address="Task 2.Inputs.VPW_DI_16CHANNEL_EL1819_N100_9" Invert="true" Type="Digital" DataType="bool"/>
		<Input Name="r_VPW_DIW_TOTAL_FLOW"  Address="Task 2.Inputs.VPW_AI_8CHANNEL_4_20mA_EL3058_N102_1" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
		<Input Name="r_VPW_DIW_PRESSURE"  Address="Task 2.Inputs.VPW_AI_8CHANNEL_4_20mA_EL3058_N102_4" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Input Name="r_VPW_DEGAS_PUMP_PRESSURE"  Address="Task 2.Inputs.VPW_AI_8CHANNEL_4_20mA_EL3058_N102_5" Scaling="758=0,100=32767" Type="Analog" DataType="int"/>
		<!--VPW Main End-->
		
		<!--VPW1 Start-->
		<Input Name="r_VPW_DIW_CELL_1_FLOW"  Address="Task 2.Inputs.VPW_AI_8CHANNEL_4_20mA_EL3058_N102_2" Scaling="0=0,8=32767" Type="Analog" DataType="int"/>
		<Input Name="r_VPW_CELL_1_VAC_PRESSURE"  Address="Task 2.Inputs.VPW_AI_8CHANNEL_0_10V_EL3068_N105_1" Scaling="0=0,10=32767" Type="Analog" DataType="int"/>
		<!--VPW1 End-->

		<!--VPW2 Start-->
		<Input Name="r_VPW_DIW_CELL_2_FLOW"  Address="Task 2.Inputs.VPW_AI_8CHANNEL_4_20mA_EL3058_N102_3" Scaling="0=0,8=32767" Type="Analog" DataType="int"/>
		<Input Name="r_VPW_CELL_2_VAC_PRESSURE"  Address="Task 2.Inputs.VPW_AI_8CHANNEL_0_10V_EL3068_N105_2" Scaling="0=0,10=32767" Type="Analog" DataType="int"/>
		<!--VPW2 End-->
		
		<!--EFEM Start-->
		<Input Name="r_EFEM_VACUUM" Address="Task 2.Inputs.Facility_AI_8CHANNEL_0_10V_EL3068_N007_8" Scaling="-750=3276.7, 750=16383.5" Type="Analog" DataType="int"/>
		<Input Name="r_Cassette_A_Present" Address="Task 2.Inputs.Facility_DI_16CHANNEL_EL1819_N000_11" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Cassette_A_100MM" Address="Task 2.Inputs.Facility_DI_16CHANNEL_EL1819_N000_12" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Cassette_A_200MM" Address="Task 2.Inputs.Facility_DI_16CHANNEL_EL1819_N000_13" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Cassette_B_Present" Address="Task 2.Inputs.Facility_DI_16CHANNEL_EL1819_N000_14" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Cassette_B_100MM" Address="Task 2.Inputs.Facility_DI_16CHANNEL_EL1819_N000_15" Invert="false" Type="Digital" DataType="bool"/>
		<Input Name="r_Cassette_B_200MM" Address="Task 2.Inputs.Facility_DI_16CHANNEL_EL1819_N000_16" Invert="false" Type="Digital" DataType="bool"/>
		<!--EFEM End-->
		<!--////////////////////////////////////////////////// ALL INPUTS END //////////////////////////////////////////////////-->


		<!--////////////////////////////////////////////////// ALL COUNTERS BEGIN //////////////////////////////////////////////////-->
		<Counter Name="r_DIREPLEN_FLOW" Address="Task 2.Outputs.Facility_COUNTER_2CHANNEL_EL1512_N009_1_Counter_value" DataType="udint" Mode="2" Period="2000" Scaling="0=0,1=22">
			<Output Address="Task 2.Outputs.Facility_COUNTER_2CHANNEL_EL1512_N009_1_Set_counter" Type="Start" DataType="bool"/>
			<Output Address="Task 2.Outputs.Facility_COUNTER_2CHANNEL_EL1512_N009_1_Inhibit_counter" Type="Stop" DataType="bool"/>
			<Output Address="Task 2.Outputs.Facility_COUNTER_2CHANNEL_EL1512_N009_1_Set_counter_value" Type="Reset" DataType="udint"/>
		</Counter>		

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



		<!--////////////////////////////////////////////////// ALL OUTPUTS BEGIN //////////////////////////////////////////////////-->
		
		<!-- Safety outputs start -->

		<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_VPW_STO_EStop_Restart" Address="Task 2.Outputs.Safety_VPW_STO_EStop_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_RES1_2_STO_EStop_Restart" Address="Task 2.Outputs.Safety_RES1_2_STO_EStop_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_RES3_4_STO_EStop_Restart" Address="Task 2.Outputs.Safety_RES3_4_STO_EStop_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_PlatingCell1_2_STO_1_EStop_Restart" Address="Task 2.Outputs.Safety_PlatingCell1_2_STO_1_EStop_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_PlatingCell1_2_STO_2_EStop_Restart" Address="Task 2.Outputs.Safety_PlatingCell1_2_STO_2_EStop_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_PlatingCell3_4_STO_1_EStop_Restart" Address="Task 2.Outputs.Safety_PlatingCell3_4_STO_1_EStop_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_PlatingCell3_4_STO_2_EStop_Restart" Address="Task 2.Outputs.Safety_PlatingCell3_4_STO_2_EStop_Restart" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_Facility_STO_EStop_Restart" Address="Task 2.Outputs.Safety_Facility_STO_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_ReqAlignerDoorsLock" Address="Task 2.Outputs.Safety_ReqAlignerDoorsLock" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_ReqCassetteDoorsLock" Address="Task 2.Outputs.Safety_ReqCassetteDoorsLock" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_ReqCell1_2DoorsLock" Address="Task 2.Outputs.Safety_ReqCell1_2DoorsLock" Type="Digital" DataType="bool"/>
		<Output Name="c_Safety_ReqCell3_4DoorsLock" Address="Task 2.Outputs.Safety_ReqCell3_4DoorsLock" Type="Digital" DataType="bool"/>

		<!-- Safety outputs end -->
		
		<!-- facility outputs start -->
		<Output Name="c_N2_ENABLE" Address="Task 2.Outputs.Facility_DO_16CHANNEL_EL2809_N002_1" Type="Digital" DataType="bool"/> 
		<Output Name="c_CDA_ENABLE" Address="Task 2.Outputs.Facility_DO_16CHANNEL_EL2809_N002_2" Type="Digital" DataType="bool"/>
		<Output Name="c_EXTERNAL_CDA_ENABLE" Address="Task 2.Outputs.Facility_DO_16CHANNEL_EL2809_N002_3" Type="Digital" DataType="bool"/>
		<Output Name="c_DI_Task 2.Outputs_ENABLE" Address="Task 2.Outputs.Facility_DO_16CHANNEL_EL2809_N002_4" Type="Digital" DataType="bool"/>
		<Output Name="c_HCW_ENABLE" Address="Task 2.Outputs.Facility_DO_16CHANNEL_EL2809_N002_5" Type="Digital" DataType="bool"/>
		<Output Name="c_DI_REPLEN_ENABLE" Address="Task 2.Outputs.Facility_DO_16CHANNEL_EL2809_N002_6" Type="Digital" DataType="bool"/>
		<Output Name="c_DI_FILL_ENABLE" Address="Task 2.Outputs.Facility_DO_16CHANNEL_EL2809_N002_7" Type="Digital" DataType="bool"/>
		
		<Output Name="c_SAMPLE_STATION_ENABLE" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE2" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_FILTER_PURGE_ENABLE" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE2" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_DIW_SRD_ENABLE" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE2" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<!-- facility outputs end -->
		
		<!--SRD1 outputs Start-->
		<Output Name="c_SRD1_Water_Above_Wafer"  Address="Task 2.Outputs.c_SRD1_Water_Above_Wafer" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD1_Water_Below_Wafer"  Address="Task 2.Outputs.c_SRD1_Water_Below_Wafer" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD1_Exhaust_Fan_On"  Address="Task 2.Outputs.c_SRD1_Exhaust_Fan_On" Invert="false" Type="Digital" DataType="bool"/>
		
		<Output Name="c_SRD1_Shutter_Close"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_4" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD1_CHUCK_VACUUM"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_6" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD1_CHUCK_ATM_ON"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_8" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD1_LIFT_UP"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_1" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD1_150_FLIPPERS_IN"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_2" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD1_200_FLIPPERS_IN"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_3" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD1_WATER_ON"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_5" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD1_N2_FLOW_ON"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_7" Invert="false" Type="Digital" DataType="bool"/>
		<!--SRD1 outputs End-->
		
		<!--SRD2 outputs Start-->
		
		<Output Name="c_SRD2_Shutter_Close"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_12" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD2_CHUCK_VACUUM"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_14" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD2_CHUCK_ATM_ON"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_16" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD2_LIFT_UP"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_9" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD2_150_FLIPPERS_IN"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_10" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD2_200_FLIPPERS_IN"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_11" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD2_WATER_ON"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_13" Invert="false" Type="Digital" DataType="bool"/>
		<Output Name="c_SRD2_N2_FLOW_ON"  Address="Task 2.Outputs.SRD_DO_16CHANNEL_EL2809_N602_15" Invert="false" Type="Digital" DataType="bool"/>
		<!--SRD2 outputs End-->
		
		
		
				
		<!--PlatingCell1 outputs Start-->
		<Output Name="c_CELL1_CLAMSHELL_CLOSE" Address="Task 2.Outputs.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_9" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_PlatingCell1_2_HEAD_TILT" Address="Task 2.Outputs.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_13" Type="Digital" Invert="false" DataType="bool"/>
		<!--PlatingCell1 outputs End-->
		
				<!--PlatingCell2 outputs Start-->
		<Output Name="c_CELL2_CLAMSHELL_CLOSE" Address="Task 2.Outputs.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_10" Type="Digital" Invert="false" DataType="bool"/>
		<!--PlatingCell2 outputs End-->
		
		<!--PlatingCell3 outputs Start-->
		<Output Name="c_CELL3_CLAMSHELL_CLOSE" Address="Task 2.Outputs.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_11" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_PlatingCell3_4_HEAD_TILT" Address="Task 2.Outputs.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_14" Type="Digital" Invert="false" DataType="bool"/>
		<!--PlatingCell3 outputs End-->
		
		<!--PlatingCell4 outputs Start-->
		<Output Name="c_CELL4_CLAMSHELL_CLOSE" Address="Task 2.Outputs.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_12" Type="Digital" Invert="false" DataType="bool"/>
		<!--PlatingCell4 outputs End-->
		
		<!--Reservoir1 output Start-->
		<Output Name="c_RES1_AN_PUMP_ENABLE" Address="Task 2.Outputs.RES1_DO_16CHANNEL_EL2809_N201_1" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_RES1_CA_PUMP_ENABLE" Address="Task 2.Outputs.RES1_DO_16CHANNEL_EL2809_N201_3" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_RES1_AN_PUMP_SPEED" Address="Task 2.Outputs.RES1_2_AO_8CHANNEL_0_10V_EL4008_N204_1" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES1_CA_PUMP_SPEED" Address="Task 2.Outputs.RES1_2_AO_4CHANNEL_4_20mA_EL4024_N205_1" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES1_RETURN_VALVE_OPENING" Address="Task 2.Outputs.RES1_2_AO_4CHANNEL_4_20mA_EL4024_N205_3" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES1_CA_DIW_REPLEN" Address="Task 2.Outputs.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_RES1_SAMPLE_OUT" Address="Task 2.Outputs.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_RES1_DEGAS_ENABLE" Address="Task 2.Outputs.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL1_CA_ISOLATION" Address="Task 2.Outputs.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_RES1_AN_DIW_REPLEN" Address="Task 2.Outputs.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL1_AN_ISOLATION" Address="Task 2.Outputs.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<!--Reservoir1 output End-->
		
		<!--Reservoir2 outputs Start-->
		<Output Name="c_RES2_AN_PUMP_ENABLE" Address="Task 2.Outputs.RES1_2_DO_16CHANNEL_EL2809_N201_2" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_RES2_CA_PUMP_ENABLE" Address="Task 2.Outputs.RES1_2_DO_16CHANNEL_EL2809_N201_4" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_RES2_AN_PUMP_SPEED" Address="Task 2.Outputs.RES1_2_AO_8CHANNEL_0_10V_EL4008_N204_2" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES2_CA_PUMP_SPEED" Address="Task 2.Outputs.RES1_2_AO_4CHANNEL_4_20mA_EL4024_N205_2" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES2_RETURN_VALVE_OPENING" Address="Task 2.Outputs.RES1_2_AO_4CHANNEL_4_20mA_EL4024_N205_4" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES2_CA_DIW_REPLEN" Address="Task 2.Outputs.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_RES2_SAMPLE_OUT" Address="Task 2.Outputs.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<Output Name="c_RES2_DEGAS_ENABLE" Address="Task 2.Outputs.RES1_2_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_CELL2_CA_ISOLATION" Address="Task 2.Outputs.RES1_2_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_RES2_AN_DIW_REPLEN" Address="Task 2.Outputs.RES1_2_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL2_AN_ISOLATION" Address="Task 2.Outputs.RES1_2_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<!--Reservoir2 outputs End-->
		
		<!--Reservoir3 outputs Start-->
		<Output Name="c_RES3_AN_PUMP_ENABLE" Address="Task 2.Outputs.RES3_4_DO_16CHANNEL_EL2809_N231_1" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_RES3_CA_PUMP_ENABLE" Address="Task 2.Outputs.RES3_4_DO_16CHANNEL_EL2809_N231_3" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_RES3_AN_PUMP_SPEED" Address="Task 2.Outputs.RES3_4_AO_8CHANNEL_0_10V_EL4008_N234_1" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES3_CA_PUMP_SPEED" Address="Task 2.Outputs.RES3_4_AO_4CHANNEL_4_20mA_EL4024_N235_1" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES3_RETURN_VALVE_OPENING" Address="Task 2.Outputs.RES3_4_AO_4CHANNEL_4_20mA_EL4024_N235_3" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES3_CA_DIW_REPLEN" Address="Task 2.Outputs.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_RES3_SAMPLE_OUT" Address="Task 2.Outputs.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_RES3_DEGAS_ENABLE" Address="Task 2.Outputs.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL3_CA_ISOLATION" Address="Task 2.Outputs.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_RES3_AN_DIW_REPLEN" Address="Task 2.Outputs.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_CELL3_AN_ISOLATION" Address="Task 2.Outputs.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<!--Reservoir3 outputs End-->
		
		<!--Reservoir4 outputs Start-->
		<Output Name="c_RES4_AN_PUMP_ENABLE" Address="Task 2.Outputs.RES3_4_DO_16CHANNEL_EL2809_N231_2" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_RES4_CA_PUMP_ENABLE" Address="Task 2.Outputs.RES3_4_DO_16CHANNEL_EL2809_N231_4" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_RES4_AN_PUMP_SPEED" Address="Task 2.Outputs.RES3_4_AO_8CHANNEL_0_10V_EL4008_N234_2" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES4_CA_PUMP_SPEED" Address="Task 2.Outputs.RES3_4_AO_4CHANNEL_4_20mA_EL4024_N235_2" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES4_RETURN_VALVE_OPENING" Address="Task 2.Outputs.RES3_4_AO_4CHANNEL_4_20mA_EL4024_N235_4" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
		<Output Name="c_RES4_CA_DIW_REPLEN" Address="Task 2.Outputs.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_RES4_SAMPLE_OUT" Address="Task 2.Outputs.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<Output Name="c_RES4_DEGAS_ENABLE" Address="Task 2.Outputs.RES3_4_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_CELL4_CA_ISOLATION" Address="Task 2.Outputs.RES3_4_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_RES4_AN_DIW_REPLEN" Address="Task 2.Outputs.RES3_4_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_CELL4_AN_ISOLATION" Address="Task 2.Outputs.RES3_4_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<!--Reservoir4 outputs End-->
		
		
		<!--VPW Main Start-->
		<Output Name="c_VPW_CHAMBER_CLOSE" Address="Task 2.Outputs.MOTION_DO_16CHANNEL_EL2809_N401_15" Type="Digital" Invert="true" DataType="bool"/>
		<Output Name="c_VPW_VACUUM_PUMP_POWER" Address="Task 2.Outputs.VPW_DO_16CHANNEL_EL2809_N101_5" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_VPW_DEGAS_PUMP_ENABLE" Address="Task 2.Outputs.VPW_DO_16CHANNEL_EL2809_N101_6" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_VPW_BOOSTER_PUMP_ENABLE" Address="Task 2.Outputs.VPW_DO_16CHANNEL_EL2809_N101_7" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_VPW_VACUUM_PUMP_ENABLE" Address="Task 2.Outputs.MAIN_IO_RELAY_4CHANNEL_EL2624_N106_1" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_VPW_VACUUM_PUMP_SPEED_ENABLE" Address="Task 2.Outputs.MAIN_IO_RELAY_4CHANNEL_EL2624_N106_2" Type="Digital" Invert="false" DataType="bool"/>
		<Output Name="c_VPW_VACUUM_PUMP_SPEED" Address="Task 2.Outputs.VPW_AO_8CHANNEL_0_10V_EL4008_N104_1" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
		<Output Name="c_VPW_BOOSTER_PUMP_SPPED" Address="Task 2.Outputs.VPW_AO_8CHANNEL_0_10V_EL4008_N104_5" Scaling="300=0,10000=32767" Type="Analog" DataType="int"/>
		<Output Name="c_VPW_DIW_ENABLE" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_VPW_DIW_PROCESS" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_VPW_DIW_DEGAS" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<Output Name="c_VPW_DEGAS_ADJUST" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<Output Name="c_VPW_DEGAS_PURGE" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<!--VPW Main End-->
		
		<!--VPW1 Start-->
		<Output Name="c_VPW_1_FLOW_DRIP" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
		<Output Name="c_VPW_1_FLOW_SMALL" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_VPW_1_FLOW_LARGE" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_VPW_1_VACUUM_VALVE" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
		<Output Name="c_VPW_1_VENT_VALVE" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_VPW_1_DIW_DRAIN" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_V09_V12" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
		<!--VPW1 End-->
		
		<!--VPW2 Start-->
		<Output Name="c_VPW_2_FLOW_DRIP" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
		<Output Name="c_VPW_2_FLOW_SMALL" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_VPW_2_FLOW_LARGE" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
		<Output Name="c_VPW_2_VACUUM_VALVE" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
		<Output Name="c_VPW_2_VENT_VALVE" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
		<Output Name="c_VPW_2_DIW_DRAIN" Address="Task 2.Outputs.VPW_PNEU_SMC_EX260_V09_V12" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
		<!--VPW2 End-->
		
		<!--EFEM Start-->
		<Output Name="c_System_Alarm" Address="Task 2.Outputs.Facility_DO_16CHANNEL_EL2809_N003_1" Type="Digital" DataType="bool"/>
		<Output Name="c_Pole_Red" Address="Task 2.Outputs.Facility_DO_16CHANNEL_EL2809_N003_2" Type="Digital" DataType="bool"/>
		<Output Name="c_Pole_Amber" Address="Task 2.Outputs.Facility_DO_16CHANNEL_EL2809_N003_3" Type="Digital" DataType="bool"/>
		<Output Name="c_Pole_Green" Address="Task 2.Outputs.Facility_DO_16CHANNEL_EL2809_N003_4" Type="Digital" DataType="bool"/>
		<Output Name="c_Pole_Blue" Address="Task 2.Outputs.Facility_DO_16CHANNEL_EL2809_N003_5" Type="Digital" DataType="bool"/>
		<Output Name="c_System_Alarm2" Address="Task 2.Outputs.Facility_DO_16CHANNEL_EL2809_N003_6" Type="Digital" DataType="bool"/>
		<!--EFEM End-->
		<!--////////////////////////////////////////////////// ALL OUTPUTS END //////////////////////////////////////////////////-->

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

		<!--////////////////////////////////////////////////// ALL AXIS BEGIN //////////////////////////////////////////////////-->		
		
		<Axis Name="VPW1.Rotation" MotorType="Kollmorgen" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
			<Input Address="Task 2.Inputs.VPW1RotationStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.VPW1RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.VPW1RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.VPW1RotationPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.VPW1RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.VPW1RotationActualTorque" Type="ActualTorque" DataType="int"/>
			<!-- Input Address="Task 2.Inputs.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.VPW1RotationControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.VPW1RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.VPW1RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.VPW1RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.VPW1RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.VPW1RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Task 2.Inputs.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>0</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<!-- -193 degrees * 169161 = -32648073 -->
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<!-- 13 degrees * 169161 = 2199093 -->
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<Speed>360</Speed>
			<Acceleration>1000</Acceleration>
			<Deceleration>1000</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
		<Axis Name="VPW2.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
			<Input Address="Task 2.Inputs.VPW2RotationStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.VPW2RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.VPW2RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.VPW2RotationPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.VPW2RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.VPW2RotationActualTorque" Type="ActualTorque" DataType="int"/>
			<!-- Input Address="Task 2.Inputs.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.VPW2RotationControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.VPW2RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.VPW2RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.VPW2RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.VPW2RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.VPW2RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="Task 2.Inputs.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>0</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<!-- -193 degrees * 169161 = -32648073 -->
			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
			<!-- 13 degrees * 169161 = 2199093 -->
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<Speed>360</Speed>
			<Acceleration>1000</Acceleration>
			<Deceleration>1000</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
<Axis Name="SRD1.Rotation" MotorType="Kollmorgen" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
			<Input Address="Task 2.Inputs.SRD1RotationStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.SRD1RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.SRD1RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.SRD1RotationPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.SRD1RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.SRD1RotationActualTorque" Type="ActualTorque" DataType="int"/>
			<!-- Input Address="MAIN.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.SRD1RotationControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.SRD1RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.SRD1RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.SRD1RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.SRD1RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.SRD1RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="MAIN.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>0</ReverseSoftwareLimit>
			<!-- 13 degrees * 169161 = 2199093 -->
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<Speed>360</Speed>
			<Acceleration>1000</Acceleration>
			<Deceleration>1000</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
		<Axis Name="SRD2.Rotation" MotorType="Kollmorgen" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
			<Input Address="Task 2.Inputs.SRD2RotationStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.vSRD2RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.SRD2RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.SRD2RotationPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.SRD2RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.SRD2RotationActualTorque" Type="ActualTorque" DataType="int"/>
			<!-- Input Address="MAIN.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.SRD2RotationControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.SRD2RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.SRD2RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.SRD2RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.SRD2RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.SRD2RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="MAIN.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>0</ReverseSoftwareLimit>
			<!-- 13 degrees * 169161 = 2199093 -->
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<Speed>360</Speed>
			<Acceleration>1000</Acceleration>
			<Deceleration>1000</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
		<Axis Name="PlatingCell1_2.Vertical" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
			<Input Address="Task 2.Inputs.PlatingCell1_2Vertical_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.PlatingCell1_2Vertical_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.PlatingCell1_2Vertical_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell1_2Vertical_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell1_2Vertical_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell1_2Vertical_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.PlatingCell1_2Vertical_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.PlatingCell1_2Vertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell1_2Vertical_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.PlatingCell1_2Vertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell1_2Vertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell1_2Vertical_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="MAIN.LoaderTransporterHorizontal_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607d:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607d:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x607c:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609a:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<!-- Z axis: 47784 counts/mm -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<!-- HomingMethod 28 = Home Switch Negative Direction -->
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<!--HomingOffset>-662500</HomingOffset-->
			<HomingOffset>-398200</HomingOffset>
			<!-- HomingVelocity same as HomeSpeedHomeSwitch -->
			<!-- HomingSpeedHomeSwitch 57 rev/min = 0.9 rev/sec = 1000000 counts/sec -->
			<HomingSpeedHomeSwitch>1000000</HomingSpeedHomeSwitch>
			<!--HomingSpeedHomeSwitch>100000</HomingSpeedHomeSwitch-->
			<HomingSpeedEncoderIndex>100000</HomingSpeedEncoderIndex>
			<!-- HomingAccelDecel 0.05 rev/min/min = 0.0009 rev/sec/sec = 1000 counts/sec/sec -->
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>120000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<!--ErrorLimit>0</ErrorLimit-->
			<ErrorLimit>2000</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-1190000</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>28000000</ForwardSoftwareLimit>
			<!-- Speed 1430 rev/min = 23 rev/sec = 25000000 counts/sec -->
			<!--Speed>25000000</Speed-->
			<Speed>18000000</Speed>
			<!--Speed>12000000</Speed-->
			<!-- Acceleration/Deceleration 0.78 rev/min/min = 0.01 rev/sec/sec = 13800 counts/sec/sec -->
			<Acceleration>138000000</Acceleration>
			<Deceleration>138000000</Deceleration>
			<!--Acceleration>13800000</Acceleration>
      <Deceleration>13800000</Deceleration-->
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</Axis>
		<Axis Name="PlatingCell3_4.Vertical" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
			<Input Address="Task 2.Inputs.PlatingCell3_4Vertical_StatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.PlatingCell3_4Vertical_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.PlatingCell3_4Vertical_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell3_4Vertical_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell3_4Vertical_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell3_4Vertical_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.PlatingCell3_4Vertical_ControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.PlatingCell3_4Vertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell3_4Vertical_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.PlatingCell3_4Vertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell3_4Vertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell3_4Vertical_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="MAIN.LoaderTransporterHorizontal_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
			<Output Address="0x607d:01" Type="SoftwareLimitMinus" DataType="dint"/>
			<Output Address="0x607d:02" Type="SoftwareLimitPlus" DataType="dint"/>
			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
			<Output Address="0x607c:00" Type="HomeOffset" DataType="dint"/>
			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
			<Output Address="0x609a:00" Type="HomingAccel" DataType="dint"/>
			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>

			<!-- Z axis: 47784 counts/mm -->
			<MotorType>Servo</MotorType>
			<MotorDriveDirection>0</MotorDriveDirection>
			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
			<HomeSwitchPolarity>0</HomeSwitchPolarity>
			<!-- HomingMethod 28 = Home Switch Negative Direction -->
			<HomingMethod>28</HomingMethod>
			<HomeConfig>0</HomeConfig>
			<!--HomingOffset>-662500</HomingOffset-->
			<HomingOffset>-398200</HomingOffset>
			<!-- HomingVelocity same as HomeSpeedHomeSwitch -->
			<!-- HomingSpeedHomeSwitch 57 rev/min = 0.9 rev/sec = 1000000 counts/sec -->
			<HomingSpeedHomeSwitch>1000000</HomingSpeedHomeSwitch>
			<!--HomingSpeedHomeSwitch>100000</HomingSpeedHomeSwitch-->
			<HomingSpeedEncoderIndex>100000</HomingSpeedEncoderIndex>
			<!-- HomingAccelDecel 0.05 rev/min/min = 0.0009 rev/sec/sec = 1000 counts/sec/sec -->
			<HomingAccelDecel>10000000</HomingAccelDecel>
			<HomingTimeOut>120000</HomingTimeOut>
			<ProportionalGain>0</ProportionalGain>
			<IntegralGain>0</IntegralGain>
			<DerivativeGain>0</DerivativeGain>
			<IntegralLimit>0</IntegralLimit>
			<!--ErrorLimit>0</ErrorLimit-->
			<ErrorLimit>2000</ErrorLimit>
			<VoltageOffset>0</VoltageOffset>
			<ReverseSoftwareLimit>-1190000</ReverseSoftwareLimit>
			<ForwardSoftwareLimit>28000000</ForwardSoftwareLimit>
			<!-- Speed 1430 rev/min = 23 rev/sec = 25000000 counts/sec -->
			<!--Speed>25000000</Speed-->
			<Speed>18000000</Speed>
			<!--Speed>12000000</Speed-->
			<!-- Acceleration/Deceleration 0.78 rev/min/min = 0.01 rev/sec/sec = 13800 counts/sec/sec -->
			<Acceleration>138000000</Acceleration>
			<Deceleration>138000000</Deceleration>
			<!--Acceleration>13800000</Acceleration>
      <Deceleration>13800000</Deceleration-->
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
			<NegativeTorqueLimit>130</NegativeTorqueLimit>
			<PositiveTorqueLimit>20</PositiveTorqueLimit>
		</Axis>
		<Axis Name="PlatingCell1.Rotation" MotorType="Kollmorgen" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
			<Input Address="Task 2.Inputs.PlatingCell1_RotationStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.PlatingCell1_RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.PlatingCell1_RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell1_RotationPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell1_RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell1_RotationActualTorque" Type="ActualTorque" DataType="int"/>
			<!-- Input Address="MAIN.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.PlatingCell1_RotationControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.PlatingCell1_RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.PlatingCell1_RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell1_RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell1_RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell1_RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="MAIN.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>0</ReverseSoftwareLimit>
			<!-- 13 degrees * 169161 = 2199093 -->
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<Speed>360</Speed>
			<Acceleration>1000</Acceleration>
			<Deceleration>1000</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
		<Axis Name="PlatingCell2.Rotation" MotorType="Kollmorgen" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
			<Input Address="Task 2.Inputs.PlatingCell2_RotationStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.PlatingCell2_RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.PlatingCell2_RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell2_RotationPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell2_RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell2_RotationActualTorque" Type="ActualTorque" DataType="int"/>
			<!-- Input Address="MAIN.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.PlatingCell2_RotationControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.PlatingCell2_RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.PlatingCell2_RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell2_RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell2_RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell2_RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="MAIN.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>0</ReverseSoftwareLimit>
			<!-- 13 degrees * 169161 = 2199093 -->
			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
			<Speed>360</Speed>
			<Acceleration>1000</Acceleration>
			<Deceleration>1000</Deceleration>
			<Jerk>0</Jerk>
			<FeedforwardVelocity>0</FeedforwardVelocity>
			<FeedforwardAcceleration>0</FeedforwardAcceleration>
			<OffOnError>0</OffOnError>
		</Axis>
		<Axis Name="PlatingCell3.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
			<Input Address="Task 2.Inputs.PlatingCell3_RotationStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.PlatingCell3_RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.PlatingCell3_RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell3_RotationPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell3_RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell3_RotationActualTorque" Type="ActualTorque" DataType="int"/>
			<!-- Input Address="MAIN.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.PlatingCell3_RotationControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.PlatingCell3_RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.PlatingCell3_RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell3_RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell3_RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell3_RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="MAIN.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>-46180953</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>
		<Axis Name="PlatingCell4.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
			<Input Address="Task 2.Inputs.PlatingCell4_RotationStatusWord" Type="StatusWord" DataType="uint"/>
			<Input Address="Task 2.Inputs.PlatingCell4_RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
			<Input Address="Task 2.Inputs.PlatingCell4_RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell4_RotationPositionError" Type="PositionError" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell4_RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
			<Input Address="Task 2.Inputs.PlatingCell4_RotationActualTorque" Type="ActualTorque" DataType="int"/>
			<!-- Input Address="MAIN.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.PlatingCell4_RotationControlWord" Type="ControlWord" DataType="uint"/>
			<Output Address="Task 2.Outputs.PlatingCell4_RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
			<Output Address="Task 2.Outputs.PlatingCell4_RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell4_RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell4_RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
			<Output Address="Task 2.Outputs.PlatingCell4_RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
			<!-- Output Address="MAIN.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>-46180953</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>
		<!--////////////////////////////////////////////////// ALL AXIS END //////////////////////////////////////////////////-->
	</Controller>
</BeckhoffCfg>