Beckhoffcfg - plctask.xml 87 KB

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  1. <?xml version="1.0" encoding="utf-8"?>
  2. <BeckhoffCfg>
  3. <Controller Name="MASTER" IPAddress="192.168.0.200.1.1" PortAddress="851">
  4. <!-- Need to have at least one input and one output before Axis stuff -->
  5. <!-- All inputs first, then all outputs -->
  6. <!--////////////////////////////////////////////////// ALL INPUTS START //////////////////////////////////////////////////-->
  7. <!-- Safety inputs start -->
  8. <Input Name="r_EtherCat_State" Address="MAIN.EtherCAT_State" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
  9. <Input Name="r_Safety_ComErr" Address="MAIN.Safety_ComErr" Invert="false" Type="Digital" DataType="bool"/>
  10. <Input Name="r_Safety_FbErr" Address="MAIN.Safety_FbErr" Invert="false" Type="Digital" DataType="bool"/>
  11. <Input Name="r_EtherCat_State_HotConnect_VPW" Address="MAIN.EtherCat_State_HotConnect_VPW" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
  12. <Input Name="r_Safety_ComErr_VPW" Address="MAIN.Safety_ComErr_VPW" Invert="false" Type="Digital" DataType="bool"/>
  13. <Input Name="r_Safety_FbErr_VPW" Address="MAIN.Safety_FbErr_VPW" Invert="false" Type="Digital" DataType="bool"/>
  14. <Input Name="r_EtherCat_State_HotConnect_RES1_2" Address="MAIN.EtherCat_State_HotConnect_RES1_2" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
  15. <Input Name="r_Safety_ComErr_RES1_2" Address="MAIN.Safety_ComErr_RES1_2" Invert="false" Type="Digital" DataType="bool"/>
  16. <Input Name="r_Safety_FbErr_RES1_2" Address="MAIN.Safety_FbErr_RES1_2" Invert="false" Type="Digital" DataType="bool"/>
  17. <Input Name="r_EtherCat_State_HotConnect_RES3_4" Address="MAIN.EtherCat_State_HotConnect_RES3_4" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
  18. <Input Name="r_Safety_ComErr_RES3_4" Address="MAIN.Safety_ComErr_RES3_4" Invert="false" Type="Digital" DataType="bool"/>
  19. <Input Name="r_Safety_FbErr_RES3_4" Address="MAIN.Safety_FbErr_RES3_4" Invert="false" Type="Digital" DataType="bool"/>
  20. <Input Name="r_EtherCat_State_HotConnect_Facility" Address="MAIN.EtherCat_State_HotConnect_Facility" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
  21. <Input Name="r_Safety_ComErr_Facility" Address="MAIN.Safety_ComErr_Facility" Invert="false" Type="Digital" DataType="bool"/>
  22. <Input Name="r_Safety_FbErr_Facility" Address="MAIN.Safety_FbErr_Facility" Invert="false" Type="Digital" DataType="bool"/>
  23. <Input Name="r_EtherCat_State_HotConnect_PlatingCell1_2" Address="MAIN.EtherCat_State_HotConnect_PlatingCell1_2" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
  24. <Input Name="r_Safety_ComErr_PlatingCell1_2" Address="MAIN.Safety_ComErr_PlatingCell1_2" Invert="false" Type="Digital" DataType="bool"/>
  25. <Input Name="r_Safety_FbErr_PlatingCell1_2" Address="MAIN.Safety_FbErr_PlatingCell1_2" Invert="false" Type="Digital" DataType="bool"/>
  26. <Input Name="r_EtherCat_State_HotConnect_PlatingCell3_4" Address="MAIN.EtherCat_State_HotConnect_PlatingCell3_4" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
  27. <Input Name="r_Safety_ComErr_PlatingCell3_4" Address="MAIN.Safety_ComErr_PlatingCell3_4" Invert="false" Type="Digital" DataType="bool"/>
  28. <Input Name="r_Safety_FbErr_PlatingCell3_4" Address="MAIN.Safety_FbErr_PlatingCell3_4" Invert="false" Type="Digital" DataType="bool"/>
  29. <Input Name="r_EtherCat_State_HotConnect_SRD" Address="MAIN.EtherCat_State_HotConnect_SRD" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
  30. <Input Name="r_Safety_ComErr_SRD" Address="MAIN.Safety_ComErr_SRD" Invert="false" Type="Digital" DataType="bool"/>
  31. <Input Name="r_Safety_FbErr_SRD" Address="MAIN.Safety_FbErr_SRD" Invert="false" Type="Digital" DataType="bool"/>
  32. <Input Name="r_Cell1_2_Doors_Left_Locked" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS100_1" Invert="false" Type="Digital" DataType="bool"/>
  33. <Input Name="r_Cell1_2_Doors_Right_Locked" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS100_2" Invert="false" Type="Digital" DataType="bool"/>
  34. <Input Name="r_Cell3_4_Doors_Left_Locked" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS100_3" Invert="false" Type="Digital" DataType="bool"/>
  35. <Input Name="r_Cell3_4_Doors_Right_Locked" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS100_4" Invert="false" Type="Digital" DataType="bool"/>
  36. <Input Name="r_Aligner_Door_Closed" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS101_1" Invert="false" Type="Digital" DataType="bool"/>
  37. <Input Name="r_Cassette_Doors_Left_Locked" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS101_2" Invert="false" Type="Digital" DataType="bool"/>
  38. <Input Name="r_Cassette_Doors_Right_Locked" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS101_3" Invert="false" Type="Digital" DataType="bool"/>
  39. <Input Name="r_RES1_2_Door_Closed" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS101_4" Invert="false" Type="Digital" DataType="bool"/>
  40. <Input Name="r_RES3_4_Door_Closed" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS102_1" Invert="false" Type="Digital" DataType="bool"/>
  41. <Input Name="r_VPW_Door_Closed" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS102_2" Invert="false" Type="Digital" DataType="bool"/>
  42. <Input Name="r_Plumbing_Door_Closed" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS102_3" Invert="false" Type="Digital" DataType="bool"/>
  43. <Input Name="r_SRD_Panel_Closed" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS102_4" Invert="false" Type="Digital" DataType="bool"/>
  44. <Input Name="r_Halt_Button_Left" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS103_1" Invert="true" Type="Digital" DataType="bool"/>
  45. <Input Name="r_Halt_Button_Right" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS103_2" Invert="true" Type="Digital" DataType="bool"/>
  46. <Input Name="r_VPW_LEAK_DETECT" Address="MAIN.VPW_DI_16CHANNEL_EL1819_N100_3" Invert="false" Type="Digital" DataType="bool"/>
  47. <Input Name="r_RES1_2_Pump_EDM" Address="MAIN.RES1_2_SDI_4CHANNEL_EL1904_NS401_1" Invert="false" Type="Digital" DataType="bool"/>
  48. <Input Name="r_RES3_4_Pump_EDM" Address="MAIN.RES3_4_SDI_4CHANNEL_EL1904_NS431_1" Invert="false" Type="Digital" DataType="bool"/>
  49. <Input Name="r_Degas1_Pump_EDM" Address="MAIN.RES1_2_SDI_4CHANNEL_EL1904_NS400_1" Invert="false" Type="Digital" DataType="bool"/>
  50. <Input Name="r_Degas2_Pump_EDM" Address="MAIN.RES3_4_SDI_4CHANNEL_EL1904_NS430_1" Invert="false" Type="Digital" DataType="bool"/>
  51. <Input Name="r_Vacuum_Pump_STO_EDM" Address="MAIN.VPW_SDI_4CHANNEL_EL1904_NS300_2" Invert="false" Type="Digital" DataType="bool"/>
  52. <Input Name="r_Booster_Pump_STO_EDM" Address="MAIN.VPW_SDI_4CHANNEL_EL1904_NS300_2" Invert="false" Type="Digital" DataType="bool"/>
  53. <Input Name="r_External_Fluid_EDM" Address="MAIN.Facility_SDI_4CHANNEL_EL1904_NS200_1" Invert="false" Type="Digital" DataType="bool"/>
  54. <Input Name="r_RES1_High_High" Address="MAIN.RES1_2_SDI_4CHANNEL_EL1904_NS400_2" Invert="false" Type="Digital" DataType="bool"/>
  55. <Input Name="r_RES2_High_High" Address="MAIN.RES1_2_SDI_4CHANNEL_EL1904_NS400_3" Invert="false" Type="Digital" DataType="bool"/>
  56. <Input Name="r_RES3_High_High" Address="MAIN.RES3_4_SDI_4CHANNEL_EL1904_NS430_2" Invert="false" Type="Digital" DataType="bool"/>
  57. <Input Name="r_RES4_High_High" Address="MAIN.RES3_4_SDI_4CHANNEL_EL1904_NS430_3" Invert="false" Type="Digital" DataType="bool"/>
  58. <Input Name="r_VPW1_Rotate_STO_EDM" Address="MAIN.VPW_SDI_4CHANNEL_EL1904_NS300_1" Invert="false" Type="Digital" DataType="bool"/>
  59. <Input Name="r_VPW2_Rotate_STO_EDM" Address="MAIN.VPW_SDI_4CHANNEL_EL1904_NS300_4" Invert="false" Type="Digital" DataType="bool"/>
  60. <Input Name="r_SAMPLE_SYS_1_FLUID_PRESENT" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_1" Invert="false" Type="Digital" DataType="bool"/>
  61. <Input Name="r_SAMPLE_SYS_2_FLUID_PRESENT" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_2" Invert="false" Type="Digital" DataType="bool"/>
  62. <Input Name="r_CONTAINMENT_FLUID" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_10" Invert="false" Type="Digital" DataType="bool"/>
  63. <Input Name="r_PlatingCell1_2_Leak_Detected" Address="MAIN.RES1_2_DI_16CHANNEL_4_20MA_EL1819_N200_7" Invert="false" Type="Digital" DataType="bool"/>
  64. <Input Name="r_PlatingCell3_4_Leak_Detected" Address="MAIN.RES3_4_DI_8CHANNEL_4_20MA_EL1008_N230_7" Invert="false" Type="Digital" DataType="bool"/>
  65. <Input Name="r_PlatingCell1_2_Left_STO_EDM" Address="MAIN.RES1_2_SDI_4CHANNEL_EL1904_NS500_2" Invert="false" Type="Digital" DataType="bool"/>
  66. <Input Name="r_PlatingCell1_2_Right_STO_EDM" Address="MAIN.RES1_2_SDI_4CHANNEL_EL1904_NS500_3" Invert="false" Type="Digital" DataType="bool"/>
  67. <Input Name="r_PlatingCell3_4_Left_STO_EDM" Address="MAIN.RES1_2_SDI_4CHANNEL_EL1904_NS531_2" Invert="false" Type="Digital" DataType="bool"/>
  68. <Input Name="r_PlatingCell3_4_Right_STO_EDM" Address="MAIN.RES3_4_SDI_4CHANNEL_EL1904_NS531_1" Invert="false" Type="Digital" DataType="bool"/>
  69. <Input Name="r_PlatingCell1_2_Vertical_STO_EDM" Address="MAIN.RES1_2_SDI_4CHANNEL_EL1904_NS500_1" Invert="false" Type="Digital" DataType="bool"/>
  70. <Input Name="r_PlatingCell3_4_Vertical_STO_EDM" Address="MAIN.RES1_2_SDI_4CHANNEL_EL1904_NS531_1" Invert="false" Type="Digital" DataType="bool"/>
  71. <Input Name="r_SRD1_ROTATE_STO_EDM" Address="MAIN.SRD1_SDI_4CHANNEL_EL1904_NS600_1" Invert="false" Type="Digital" DataType="bool"/>
  72. <Input Name="r_SRD2_ROTATE_STO_EDM" Address="MAIN.SRD2_SDI_4CHANNEL_EL1904_NS600_2" Invert="false" Type="Digital" DataType="bool"/>
  73. <!-- Safety inputs end -->
  74. <!-- facility inputs start -->
  75. <Input Name="r_Cassette_A_Present" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_11" Invert="false" Type="Digital" DataType="bool"/>
  76. <Input Name="r_Cassette_A_100MM" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_12" Invert="false" Type="Digital" DataType="bool"/>
  77. <Input Name="r_Cassette_A_200MM" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_13" Invert="false" Type="Digital" DataType="bool"/>
  78. <Input Name="r_Cassette_B_Present" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_14" Invert="false" Type="Digital" DataType="bool"/>
  79. <Input Name="r_Cassette_B_100MM" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_15" Invert="false" Type="Digital" DataType="bool"/>
  80. <Input Name="r_Cassette_B_200MM" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_16" Invert="false" Type="Digital" DataType="bool"/>
  81. <Input Name="r_pH3" Address="MAIN.Facility_AI_8CHANNEL_4_20mA_EL3058_N005_1" Scaling="0=0, 40=32767" Type="Analog" DataType="int"/>
  82. <Input Name="r_HCW_FLOW" Address="MAIN.Facility_AI_8CHANNEL_4_20mA_EL3058_N005_5" Scaling="0=0, 40=32767" Type="Analog" DataType="int"/>
  83. <Input Name="r_DIWRETURN_FLOW" Address="MAIN.Facility_AI_8CHANNEL_4_20mA_EL3058_N006_106" Scaling="0=0, 40=32767" Type="Analog" DataType="int"/>
  84. <Input Name="r_SYSTEM_EXHAUST_1" Address="MAIN.Facility_AI_8CHANNEL_4_20mA_EL3058_N006_1" Scaling="0=0, 2=32767" Type="Analog" DataType="int"/>
  85. <Input Name="r_SYSTEM_EXHAUST_2" Address="MAIN.Facility_AI_8CHANNEL_4_20mA_EL3058_N006_2" Scaling="0=0, 2=32767" Type="Analog" DataType="int"/>
  86. <Input Name="r_DI_WATER_PRESSURE" Address="MAIN.Facility_AI_8CHANNEL_4_20mA_EL3058_N006_5" Scaling="0=0, 100=32767" Type="Analog" DataType="int"/>
  87. <Input Name="r_N2_1B_PRESSURE" Address="MAIN.Facility_AI_8CHANNEL_0_10V_EL3068_N007_1" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
  88. <Input Name="r_N2_1A_PRESSURE" Address="MAIN.Facility_AI_8CHANNEL_0_10V_EL3068_N007_2" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
  89. <Input Name="r_N2_2B_PRESSURE" Address="MAIN.Facility_AI_8CHANNEL_0_10V_EL3068_N007_3" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
  90. <Input Name="r_N2_2A_PRESSURE" Address="MAIN.Facility_AI_8CHANNEL_0_10V_EL3068_N007_4" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
  91. <Input Name="r_CDA_2_PRESSURE" Address="MAIN.Facility_AI_8CHANNEL_0_10V_EL3068_N007_5" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
  92. <Input Name="r_CDA_1_PRESSURE" Address="MAIN.Facility_AI_8CHANNEL_0_10V_EL3068_N007_6" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
  93. <Input Name="r_CDA_EXTERNAL_PRESSURE" Address="MAIN.Facility_AI_8CHANNEL_0_10V_EL3068_N007_7" Scaling="0=3276.7, 145=16383.5" Type="Analog" DataType="int"/>
  94. <Input Name="r_SYSTEM_VACUUM" Address="MAIN.Facility_AI_8CHANNEL_0_10V_EL3068_N007_8" Scaling="-750=3276.7, 750=16383.5" Type="Analog" DataType="int"/>
  95. <Input Name="r_N2_BLANKET_PRESSURE" Address="MAIN.Facility_AI_8CHANNEL_0_10V_EL3068_N008_1" Scaling="-14.5=3276.7, 14.5=16383.5" Type="Analog" DataType="int"/>
  96. <Input Name="r_N2_OVERFLOW_PRESSURE" Address="MAIN.Facility_AI_8CHANNEL_0_10V_EL3068_N008_2" Scaling="-14.5=3276.7, 14.5=16383.5" Type="Analog" DataType="int"/>
  97. <Input Name="r_CLAMSHELL_CYLINDER_PRESSURE" Address="MAIN.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3086_N402_3" Scaling="0=0, 100=32767" Type="Analog" DataType="udint"/>
  98. <Input Name="r_TILT_CYLINDER_PRESSURE" Address="MAIN.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3086_N402_4" Scaling="0=0, 100=32767" Type="Analog" DataType="udint"/>
  99. <!-- facility inputs end -->
  100. <!--SRD inputs Start-->
  101. <Input Name="r_SRD_FLUID_LEVEL" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N600_1" Invert="false" Type="Digital" DataType="bool"/>
  102. <Input Name="r_SRD_SUPPLY_WATER_PRESS" Address="MAIN.SRD_AI_8CHANNEL_4_20mA_EL3058_604_3" Scaling="0=3276.7,50=32767" Type="Analog" DataType="int"/>
  103. <!--SRD inputs End-->
  104. <!--SRD1 inputs Start-->
  105. <Input Name="r_SRD1_SHUTTER_CLOSED" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N600_7" Invert="false" Type="Digital" DataType="bool"/>
  106. <Input Name="r_SRD1_SHUTTER_OPEN" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N600_6" Invert="false" Type="Digital" DataType="bool"/>
  107. <Input Name="r_SRD1_CHUCK_VAC_OK" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N600_2" Invert="false" Type="Digital" DataType="bool"/>
  108. <Input Name="r_SRD1_WAFER_PRESENT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N600_3" Invert="false" Type="Digital" DataType="bool"/>
  109. <Input Name="r_SRD1_LIFT_UP" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N600_4" Invert="false" Type="Digital" DataType="bool"/>
  110. <Input Name="r_SRD1_150_FLIPPER1_OUT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N600_8" Invert="false" Type="Digital" DataType="bool"/>
  111. <Input Name="r_SRD1_150_FLIPPER2_OUT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N600_9" Invert="false" Type="Digital" DataType="bool"/>
  112. <Input Name="r_SRD1_150_FLIPPER3_OUT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N600_10" Invert="false" Type="Digital" DataType="bool"/>
  113. <Input Name="r_SRD1_200_FLIPPER1_OUT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N600_11" Invert="false" Type="Digital" DataType="bool"/>
  114. <Input Name="r_SRD1_200_FLIPPER2_OUT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N600_12" Invert="false" Type="Digital" DataType="bool"/>
  115. <Input Name="r_SRD1_200_FLIPPER3_OUT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N600_13" Invert="false" Type="Digital" DataType="bool"/>
  116. <Input Name="r_SRD1_CHUCK_VACUUM_anlg" Address="MAIN.SRD_AI_8CHANNEL_4_10V_EL3058_605_1" Scaling="-757.5=3276.7,757.5=16383.5" Type="Analog" DataType="int"/>
  117. <Input Name="r_SRD1_WATER_FLOW" Address="MAIN.SRD_AI_8CHANNEL_4_20mA_EL3058_604_1" Scaling="0=3276.7,2.5=32767" Type="Analog" DataType="int"/>
  118. <!--SRD1 inputs End-->
  119. <!--SRD2 inputs Start-->
  120. <Input Name="r_SRD2_SHUTTER_CLOSED" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N601_6" Invert="false" Type="Digital" DataType="bool"/>
  121. <Input Name="r_SRD2_SHUTTER_OPEN" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N601_5" Invert="false" Type="Digital" DataType="bool"/>
  122. <Input Name="r_SRD2_CHUCK_VAC_OK" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N601_1" Invert="false" Type="Digital" DataType="bool"/>
  123. <Input Name="r_SRD2_WAFER_PRESENT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N601_2" Invert="false" Type="Digital" DataType="bool"/>
  124. <Input Name="r_SRD2_LIFT_UP" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N601_3" Invert="false" Type="Digital" DataType="bool"/>
  125. <Input Name="r_SRD2_150_FLIPPER1_OUT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N601_7" Invert="false" Type="Digital" DataType="bool"/>
  126. <Input Name="r_SRD2_150_FLIPPER2_OUT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N601_8" Invert="false" Type="Digital" DataType="bool"/>
  127. <Input Name="r_SRD2_150_FLIPPER3_OUT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N601_9" Invert="false" Type="Digital" DataType="bool"/>
  128. <Input Name="r_SRD2_200_FLIPPER1_OUT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N601_10" Invert="false" Type="Digital" DataType="bool"/>
  129. <Input Name="r_SRD2_200_FLIPPER2_OUT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N601_11" Invert="false" Type="Digital" DataType="bool"/>
  130. <Input Name="r_SRD2_200_FLIPPER3_OUT" Address="MAIN.SRD_DI_16CHANNEL_EL1819_N601_12" Invert="false" Type="Digital" DataType="bool"/>
  131. <Input Name="r_SRD2_CHUCK_VACUUM_anlg" Address="MAIN.SRD_AI_8CHANNEL_4_10V_EL3058_605_2" Scaling="-757.5=3276.7,757.5=16383.5" Type="Analog" DataType="int"/>
  132. <Input Name="r_SRD2_WATER_FLOW" Address="MAIN.SRD_AI_8CHANNEL_4_20mA_EL3058_604_1" Scaling="0=3276.7,2.5=32767" Type="Analog" DataType="int"/>
  133. <!--SRD2 inputs End-->
  134. <!--PlatingCell1 inputs Start-->
  135. <Input Name="r_PlatingCell1_HEAD_TILTED" Address="MAIN.PlatingCell1_2_DI_16CHANNEL_EL1819_N400_4" Invert="false" Type="Digital" DataType="bool"/>
  136. <Input Name="r_PlatingCell1_HEAD_VERTICAL" Address="MAIN.PlatingCell1_2_DI_16CHANNEL_EL1819_N400_5" Invert="false" Type="Digital" DataType="bool"/>
  137. <Input Name="r_CELL1_CLAMSHELL_DISTANCE" Address="MAIN.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3068_N402_1" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  138. <Input Name="r_CLAMSHELL_CYLINDER_PRESSURE" Address="MAIN.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3068_N402_3" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
  139. <Input Name="r_CELL1_OVERFLOW_LEVEL" Address="MAIN.PlatingCell1_2_AI_8CHANNEL_4_20MA_EL3058_N403_1" Scaling="4=0,20=32767" Type="Analog" DataType="int"/>
  140. <!--PlatingCell1 inputs End-->
  141. <!--PlatingCell2 inputs Start-->
  142. <Input Name="r_PlatingCell2_HEAD_TILTED" Address="MAIN.PlatingCell1_2_DI_16CHANNEL_EL1819_N400_4" Invert="false" Type="Digital" DataType="bool"/>
  143. <Input Name="r_PlatingCell2_HEAD_VERTICAL" Address="MAIN.PlatingCell1_2_DI_16CHANNEL_EL1819_N400_5" Invert="false" Type="Digital" DataType="bool"/>
  144. <Input Name="r_CELL2_CLAMSHELL_DISTANCE" Address="MAIN.PlatingCell1_2_AI_8CHANNEL_0_10V_EL3068_N402_2" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  145. <Input Name="r_CELL2_OVERFLOW_LEVEL" Address="MAIN.PlatingCell1_2_AI_8CHANNEL_4_20MA_EL3058_N403_2" Scaling="4=0,20=32767" Type="Analog" DataType="int"/>
  146. <!--PlatingCell2 inputs End-->
  147. <!--PlatingCell3 inputs Start-->
  148. <Input Name="r_PlatingCell3_HEAD_TILTED" Address="MAIN.PlatingCell3_4_DI_16CHANNEL_EL1819_N430_4" Invert="false" Type="Digital" DataType="bool"/>
  149. <Input Name="r_PlatingCell3_HEAD_VERTICAL" Address="MAIN.PlatingCell3_4_DI_16CHANNEL_EL1819_N430_5" Invert="false" Type="Digital" DataType="bool"/>
  150. <Input Name="r_CELL3_CLAMSHELL_DISTANCE" Address="MAIN.PlatingCell3_4_AI_8CHANNEL_0_10V_EL3068_N432_1" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  151. <Input Name="r_CELL3_OVERFLOW_LEVEL" Address="MAIN.PlatingCell3_4_AI_8CHANNEL_4_20MA_EL3058_N433_1" Scaling="4=0,20=32767" Type="Analog" DataType="int"/>
  152. <!--PlatingCell3 inputs End-->
  153. <!--PlatingCell4 inputs Start-->
  154. <Input Name="r_PlatingCell4_HEAD_TILTED" Address="MAIN.PlatingCell3_4_DI_16CHANNEL_EL1819_N430_4" Invert="false" Type="Digital" DataType="bool"/>
  155. <Input Name="r_PlatingCell4_HEAD_VERTICAL" Address="MAIN.PlatingCell3_4_DI_16CHANNEL_EL1819_N430_5" Invert="false" Type="Digital" DataType="bool"/>
  156. <Input Name="r_CELL4_CLAMSHELL_DISTANCE" Address="MAIN.PlatingCell3_4_AI_8CHANNEL_0_10V_EL3068_N432_2" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  157. <Input Name="r_CELL4_OVERFLOW_LEVEL" Address="MAIN.PlatingCell3_4_AI_8CHANNEL_4_20MA_EL3058_N433_2" Scaling="4=0,20=32767" Type="Analog" DataType="int"/>
  158. <!--PlatingCell4 inputs End-->
  159. <!--Reservoir1 inputs Start-->
  160. <Input Name="r_RES1_CA_PUMP" Address="MAIN.RES1_2_DI_8CHANNEL_EL1008_N200_1" Invert="false" Type="Digital" DataType="bool"/>
  161. <Input Name="r_RES1_AN_TOWER_HIGH" Address="MAIN.RES1_2_DI_8CHANNEL_EL1008_N200_3" Invert="false" Type="Digital" DataType="bool"/>
  162. <Input Name="r_RES1_AN_TOWER_LOW" Address="MAIN.RES1_2_DI_8CHANNEL_EL1008_N200_4" Invert="false" Type="Digital" DataType="bool"/>
  163. <Input Name="r_CELL1_AN_FLOW" Address="MAIN.RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_1" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
  164. <Input Name="r_CELL1_CA_FLOW" Address="MAIN.RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_3" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
  165. <Input Name="r_RES1_CA_LEVEL_RAW" Address="MAIN.RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_5" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  166. <!--Reservoir1 inputs End-->
  167. <!--Reservoir2 inputs Start-->
  168. <Input Name="r_RES2_CA_PUMP" Address="MAIN.RES1_2_DI_8CHANNEL_EL1008_N200_2" Invert="false" Type="Digital" DataType="bool"/>
  169. <Input Name="r_RES2_AN_TOWER_HIGH" Address="MAIN.RES1_2_DI_8CHANNEL_EL1008_N200_5" Invert="false" Type="Digital" DataType="bool"/>
  170. <Input Name="r_RES2_AN_TOWER_LOW" Address="MAIN.RES1_2_DI_8CHANNEL_EL1008_N200_6" Invert="false" Type="Digital" DataType="bool"/>
  171. <Input Name="r_CELL2_AN_FLOW" Address="MAIN.RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_2" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
  172. <Input Name="r_CELL2_CA_FLOW" Address="MAIN.RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_4" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
  173. <Input Name="r_RES2_CA_LEVEL_RAW" Address="MAIN.RES1_2_AI_8CHANNEL_4_20MA_EL3058_N202_6" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  174. <!--Reservoir2 inputs End-->
  175. <!--Reservoir3 inputs Start-->
  176. <Input Name="r_RES3_CA_PUMP" Address="MAIN.RES3_4_DI_8CHANNEL_EL1008_N230_1" Invert="false" Type="Digital" DataType="bool"/>
  177. <Input Name="r_RES3_AN_TOWER_HIGH" Address="MAIN.RES3_4_DI_8CHANNEL_EL1008_N230_3" Invert="false" Type="Digital" DataType="bool"/>
  178. <Input Name="r_RES3_AN_TOWER_LOW" Address="MAIN.RES3_4_DI_8CHANNEL_EL1008_N230_4" Invert="false" Type="Digital" DataType="bool"/>
  179. <Input Name="r_CELL3_AN_FLOW" Address="MAIN.RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_1" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
  180. <Input Name="r_CELL3_CA_FLOW" Address="MAIN.RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_3" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
  181. <Input Name="r_RES3_CA_LEVEL_RAW" Address="MAIN.RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_5" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  182. <!--Reservoir3inputs End-->
  183. <!--Reservoir4 inputs Start-->
  184. <Input Name="r_RES4_CA_PUMP" Address="MAIN.RES3_4_DI_8CHANNEL_EL1008_N230_2" Invert="false" Type="Digital" DataType="bool"/>
  185. <Input Name="r_RES4_AN_TOWER_HIGH" Address="MAIN.RES3_4_DI_8CHANNEL_EL1008_N230_5" Invert="false" Type="Digital" DataType="bool"/>
  186. <Input Name="r_RES4_AN_TOWER_LOW" Address="MAIN.RES3_4_DI_8CHANNEL_EL1008_N230_6" Invert="false" Type="Digital" DataType="bool"/>
  187. <Input Name="r_CELL4_AN_FLOW" Address="MAIN.RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_2" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
  188. <Input Name="r_CELL4_CA_FLOW" Address="MAIN.RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_4" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
  189. <Input Name="r_RES4_CA_LEVEL_RAW" Address="MAIN.RES3_4_AI_8CHANNEL_4_20MA_EL3058_N232_6" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  190. <!--Reservoir4 inputs End-->
  191. <!--VPW Main Start-->
  192. <Input Name="r_VPW_CHAMBER_CLOSED" Address="MAIN.VPW_DI_16CHANNEL_EL1819_N100_1" Invert="false" Type="Digital" DataType="bool"/>
  193. <Input Name="r_VPW_CHAMBER_OPENED" Address="MAIN.VPW_DI_16CHANNEL_EL1819_N100_2" Invert="false" Type="Digital" DataType="bool"/>
  194. <Input Name="r_VPW_VAC_PUMP_PRESSURE" Address="MAIN.VPW_AI_8CHANNEL_4_20mA_EL3058_N102_6" Scaling="758=0,0=32767" Type="Analog" DataType="int"/>
  195. <Input Name="r_VPW_BOOSTER_PUMP_STATUS" Address="MAIN.VPW_DI_16CHANNEL_EL1819_N100_9" Invert="true" Type="Digital" DataType="bool"/>
  196. <Input Name="r_VPW_DIW_TOTAL_FLOW" Address="MAIN.VPW_AI_8CHANNEL_4_20mA_EL3058_N102_1" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
  197. <Input Name="r_VPW_DIW_PRESSURE" Address="MAIN.VPW_AI_8CHANNEL_4_20mA_EL3058_N102_4" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  198. <Input Name="r_VPW_DEGAS_PUMP_PRESSURE" Address="MAIN.VPW_AI_8CHANNEL_4_20mA_EL3058_N102_5" Scaling="758=0,100=32767" Type="Analog" DataType="int"/>
  199. <Input Name="r_VPW_BOOSTER_PUMP_CURRENT" Address="MAIN.VPW_AO_8CHANNEL_0_10V_EL4008_N104_5" Scaling="0=0, 10=32767" Type="Analog" DataType="int"/>
  200. <!--VPW Main End-->
  201. <!--VPW1 Start-->
  202. <Input Name="r_VPW_DIW_CELL_1_FLOW" Address="MAIN.VPW_AI_8CHANNEL_4_20mA_EL3058_N102_2" Scaling="0=0,8=32767" Type="Analog" DataType="int"/>
  203. <Input Name="r_VPW_CELL_1_VAC_PRESSURE" Address="MAIN.VPW_AI_8CHANNEL_0_10V_EL3068_N105_1" Scaling="0=0,10=32767" Type="Analog" DataType="int"/>
  204. <!--VPW1 End-->
  205. <!--VPW2 Start-->
  206. <Input Name="r_VPW_DIW_CELL_2_FLOW" Address="MAIN.VPW_AI_8CHANNEL_4_20mA_EL3058_N102_3" Scaling="0=0,8=32767" Type="Analog" DataType="int"/>
  207. <Input Name="r_VPW_CELL_2_VAC_PRESSURE" Address="MAIN.VPW_AI_8CHANNEL_0_10V_EL3068_N105_2" Scaling="0=0,10=32767" Type="Analog" DataType="int"/>
  208. <!--VPW2 End-->
  209. <!--EFEM Start-->
  210. <Input Name="r_EFEM_VACUUM" Address="MAIN.Facility_AI_8CHANNEL_0_10V_EL3068_N007_8" Scaling="-750=3276.7, 750=16383.5" Type="Analog" DataType="int"/>
  211. <Input Name="r_Cassette_A_Present" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_11" Invert="false" Type="Digital" DataType="bool"/>
  212. <Input Name="r_Cassette_A_100MM" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_12" Invert="false" Type="Digital" DataType="bool"/>
  213. <Input Name="r_Cassette_A_200MM" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_13" Invert="false" Type="Digital" DataType="bool"/>
  214. <Input Name="r_Cassette_B_Present" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_14" Invert="false" Type="Digital" DataType="bool"/>
  215. <Input Name="r_Cassette_B_100MM" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_15" Invert="false" Type="Digital" DataType="bool"/>
  216. <Input Name="r_Cassette_B_200MM" Address="MAIN.Facility_DI_16CHANNEL_EL1819_N000_16" Invert="false" Type="Digital" DataType="bool"/>
  217. <!--EFEM End-->
  218. <!--////////////////////////////////////////////////// ALL INPUTS END //////////////////////////////////////////////////-->
  219. <!--////////////////////////////////////////////////// ALL COUNTERS BEGIN //////////////////////////////////////////////////-->
  220. <Counter Name="r_DIREPLEN_FLOW" Address="MAIN.Facility_COUNTER_2CHANNEL_EL1512_N009_1_Counter_value" DataType="udint" Mode="2" Period="2000" Scaling="0=0,1=22">
  221. <Output Address="MAIN.Facility_COUNTER_2CHANNEL_EL1512_N009_1_Set_counter" Type="Start" DataType="bool"/>
  222. <Output Address="MAIN.Facility_COUNTER_2CHANNEL_EL1512_N009_1_Inhibit_counter" Type="Stop" DataType="bool"/>
  223. <Output Address="MAIN.Facility_COUNTER_2CHANNEL_EL1512_N009_1_Set_counter_value" Type="Reset" DataType="udint"/>
  224. </Counter>
  225. <!--////////////////////////////////////////////////// ALL COUNTERS END //////////////////////////////////////////////////-->
  226. <!--////////////////////////////////////////////////// ALL OUTPUTS BEGIN //////////////////////////////////////////////////-->
  227. <!-- Safety outputs start -->
  228. <Output Name="c_Safety_RunStop" Address="MAIN.Safety_RunStop" Type="Digital" DataType="bool"/>
  229. <Output Name="c_Safety_ErrAck" Address="MAIN.Safety_ErrAck" Type="Digital" DataType="bool"/>
  230. <Output Name="c_Safety_VPW_STO_EStop_Restart" Address="MAIN.Safety_VPW_STO_EStop_Restart" Type="Digital" DataType="bool"/>
  231. <Output Name="c_Safety_RES1_2_STO_EStop_Restart" Address="MAIN.Safety_RES1_2_STO_EStop_Restart" Type="Digital" DataType="bool"/>
  232. <Output Name="c_Safety_RES3_4_STO_EStop_Restart" Address="MAIN.Safety_RES3_4_STO_EStop_Restart" Type="Digital" DataType="bool"/>
  233. <Output Name="c_Safety_PlatingCell1_2_STO_1_EStop_Restart" Address="MAIN.Safety_PlatingCell1_2_STO_1_EStop_Restart" Type="Digital" DataType="bool"/>
  234. <Output Name="c_Safety_PlatingCell1_2_STO_2_EStop_Restart" Address="MAIN.Safety_PlatingCell1_2_STO_2_EStop_Restart" Type="Digital" DataType="bool"/>
  235. <Output Name="c_Safety_PlatingCell3_4_STO_1_EStop_Restart" Address="MAIN.Safety_PlatingCell3_4_STO_1_EStop_Restart" Type="Digital" DataType="bool"/>
  236. <Output Name="c_Safety_PlatingCell3_4_STO_2_EStop_Restart" Address="MAIN.Safety_PlatingCell3_4_STO_2_EStop_Restart" Type="Digital" DataType="bool"/>
  237. <Output Name="c_Safety_Facility_STO_EStop_Restart" Address="MAIN.Safety_Facility_STO_EStop_Restart" Type="Digital" DataType="bool"/>
  238. <Output Name="c_Safety_SRD_STO_EStop_Restart" Address="MAIN.Safety_SRD_STO_EStop_Restart" Type="Digital" DataType="bool"/>
  239. <Output Name="c_Safety_ReqAlignerDoorsLock" Address="MAIN.Safety_ReqAlignerDoorsLock" Type="Digital" DataType="bool"/>
  240. <Output Name="c_Safety_ReqCassetteDoorsLock" Address="MAIN.Safety_ReqCassetteDoorsLock" Type="Digital" DataType="bool"/>
  241. <Output Name="c_Safety_ReqCell1_2DoorsLock" Address="MAIN.Safety_ReqCell1_2DoorsLock" Type="Digital" DataType="bool"/>
  242. <Output Name="c_Safety_ReqCell3_4DoorsLock" Address="MAIN.Safety_ReqCell3_4DoorsLock" Type="Digital" DataType="bool"/>
  243. <!-- Safety outputs end -->
  244. <!-- facility outputs start -->
  245. <Output Name="c_N2_ENABLE" Address="MAIN.Facility_DO_16CHANNEL_EL2809_N002_1" Type="Digital" DataType="bool"/>
  246. <Output Name="c_CDA_ENABLE" Address="MAIN.Facility_DO_16CHANNEL_EL2809_N002_2" Type="Digital" DataType="bool"/>
  247. <Output Name="c_EXTERNAL_CDA_ENABLE" Address="MAIN.Facility_DO_16CHANNEL_EL2809_N002_3" Type="Digital" DataType="bool"/>
  248. <Output Name="c_DI_MAIN_ENABLE" Address="MAIN.Facility_DO_16CHANNEL_EL2809_N002_4" Type="Digital" DataType="bool"/>
  249. <Output Name="c_HCW_ENABLE" Address="MAIN.Facility_DO_16CHANNEL_EL2809_N002_5" Type="Digital" DataType="bool"/>
  250. <Output Name="c_DI_REPLEN_ENABLE" Address="MAIN.Facility_DO_16CHANNEL_EL2809_N002_6" Type="Digital" DataType="bool"/>
  251. <Output Name="c_DI_FILL_ENABLE" Address="MAIN.Facility_DO_16CHANNEL_EL2809_N002_7" Type="Digital" DataType="bool"/>
  252. <Output Name="c_SAMPLE_STATION_ENABLE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE2" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
  253. <Output Name="c_FILTER_PURGE_ENABLE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE2" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
  254. <Output Name="c_DIW_SRD_ENABLE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE2" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
  255. <!-- facility outputs end -->
  256. <!--SRD1 outputs Start-->
  257. <Output Name="c_SRD1_Shutter_Close" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_4" Invert="false" Type="Digital" DataType="bool"/>
  258. <Output Name="c_SRD1_CHUCK_VACUUM" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_6" Invert="false" Type="Digital" DataType="bool"/>
  259. <Output Name="c_SRD1_CHUCK_ATM_ON" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_8" Invert="false" Type="Digital" DataType="bool"/>
  260. <Output Name="c_SRD1_LIFT_UP" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_1" Invert="false" Type="Digital" DataType="bool"/>
  261. <Output Name="c_SRD1_150_FLIPPERS_IN" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_2" Invert="false" Type="Digital" DataType="bool"/>
  262. <Output Name="c_SRD1_200_FLIPPERS_IN" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_3" Invert="false" Type="Digital" DataType="bool"/>
  263. <Output Name="c_SRD1_WATER_ON" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_5" Invert="false" Type="Digital" DataType="bool"/>
  264. <Output Name="c_SRD1_N2_FLOW_ON" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_7" Invert="false" Type="Digital" DataType="bool"/>
  265. <!--SRD1 outputs End-->
  266. <!--SRD2 outputs Start-->
  267. <Output Name="c_SRD2_Shutter_Close" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_12" Invert="false" Type="Digital" DataType="bool"/>
  268. <Output Name="c_SRD2_CHUCK_VACUUM" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_14" Invert="false" Type="Digital" DataType="bool"/>
  269. <Output Name="c_SRD2_CHUCK_ATM_ON" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_16" Invert="false" Type="Digital" DataType="bool"/>
  270. <Output Name="c_SRD2_LIFT_UP" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_9" Invert="false" Type="Digital" DataType="bool"/>
  271. <Output Name="c_SRD2_150_FLIPPERS_IN" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_10" Invert="false" Type="Digital" DataType="bool"/>
  272. <Output Name="c_SRD2_200_FLIPPERS_IN" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_11" Invert="false" Type="Digital" DataType="bool"/>
  273. <Output Name="c_SRD2_WATER_ON" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_13" Invert="false" Type="Digital" DataType="bool"/>
  274. <Output Name="c_SRD2_N2_FLOW_ON" Address="MAIN.SRD_DO_16CHANNEL_EL2809_N602_15" Invert="false" Type="Digital" DataType="bool"/>
  275. <!--SRD2 outputs End-->
  276. <!--PlatingCell1 outputs Start-->
  277. <Output Name="c_CELL1_CLAMSHELL_CLOSE" Address="MAIN.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_9" Type="Digital" Invert="false" DataType="bool"/>
  278. <Output Name="c_PlatingCell1_HEAD_TILT" Address="MAIN.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_13" Type="Digital" Invert="false" DataType="bool"/>
  279. <Output Name="c_CELL1_CCR_ENABLE" Address="MAIN.RES1_2_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
  280. <Output Name="c_CELL1_RINSE_ENABLE" Address="MAIN.RES1_2_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
  281. <!--PlatingCell1 outputs End-->
  282. <!--PlatingCell2 outputs Start-->
  283. <Output Name="c_CELL2_CLAMSHELL_CLOSE" Address="MAIN.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_10" Type="Digital" Invert="false" DataType="bool"/>
  284. <Output Name="c_PlatingCell2_HEAD_TILT" Address="MAIN.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_13" Type="Digital" Invert="false" DataType="bool"/>
  285. <Output Name="c_CELL2_CCR_ENABLE" Address="MAIN.RES1_2_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
  286. <Output Name="c_CELL2_RINSE_ENABLE" Address="MAIN.RES1_2_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
  287. <!--PlatingCell2 outputs End-->
  288. <!--PlatingCell3 outputs Start-->
  289. <Output Name="c_CELL3_CLAMSHELL_CLOSE" Address="MAIN.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_11" Type="Digital" Invert="false" DataType="bool"/>
  290. <Output Name="c_PlatingCell3_HEAD_TILT" Address="MAIN.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_14" Type="Digital" Invert="false" DataType="bool"/>
  291. <Output Name="c_CELL3_CCR_ENABLE" Address="MAIN.RES3_4_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
  292. <Output Name="c_CELL3_RINSE_ENABLE" Address="MAIN.RES3_4_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
  293. <!--PlatingCell3 outputs End-->
  294. <!--PlatingCell4 outputs Start-->
  295. <Output Name="c_CELL4_CLAMSHELL_CLOSE" Address="MAIN.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_12" Type="Digital" Invert="false" DataType="bool"/>
  296. <Output Name="c_PlatingCell4_HEAD_TILT" Address="MAIN.PlatingCell1_2_DO_16CHANNEL_EL2809_N401_14" Type="Digital" Invert="false" DataType="bool"/>
  297. <Output Name="c_CELL4_CCR_ENABLE" Address="MAIN.RES3_4_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
  298. <Output Name="c_CELL4_RINSE_ENABLE" Address="MAIN.RES3_4_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
  299. <!--PlatingCell4 outputs End-->
  300. <!--Reservoir1 outputs Start-->
  301. <Output Name="c_RES1_AN_PUMP_ENABLE" Address="MAIN.RES1_2_DO_16CHANNEL_EL2809_N201_1" Type="Digital" Invert="false" DataType="bool"/>
  302. <Output Name="c_RES1_CA_PUMP_ENABLE" Address="MAIN.RES1_2_DO_16CHANNEL_EL2809_N201_3" Type="Digital" Invert="false" DataType="bool"/>
  303. <Output Name="c_RES1_AN_PUMP_SPEED" Address="MAIN.RES1_2_AO_8CHANNEL_0_10V_EL4008_N204_1" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  304. <Output Name="c_RES1_CA_PUMP_SPEED" Address="MAIN.RES1_2_AO_4CHANNEL_4_20mA_EL4024_N205_1" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  305. <Output Name="c_RES1_RETURN_VALVE_OPENING" Address="MAIN.RES1_2_AO_4CHANNEL_4_20mA_EL4024_N205_3" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  306. <Output Name="c_RES1_CA_DIW_REPLEN" Address="MAIN.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
  307. <Output Name="c_RES1_SAMPLE_OUT" Address="MAIN.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
  308. <Output Name="c_RES1_DEGAS_ENABLE" Address="MAIN.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
  309. <Output Name="c_CELL1_CA_ISOLATION" Address="MAIN.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
  310. <Output Name="c_RES1_AN_DIW_REPLEN" Address="MAIN.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
  311. <Output Name="c_CELL1_AN_ISOLATION" Address="MAIN.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
  312. <!--Reservoir1 outputs End-->
  313. <!--Reservoir2 outputs Start-->
  314. <Output Name="c_RES2_AN_PUMP_ENABLE" Address="MAIN.RES1_2_DO_16CHANNEL_EL2809_N201_2" Type="Digital" Invert="false" DataType="bool"/>
  315. <Output Name="c_RES2_CA_PUMP_ENABLE" Address="MAIN.RES1_2_DO_16CHANNEL_EL2809_N201_4" Type="Digital" Invert="false" DataType="bool"/>
  316. <Output Name="c_RES2_AN_PUMP_SPEED" Address="MAIN.RES1_2_AO_8CHANNEL_0_10V_EL4008_N204_2" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  317. <Output Name="c_RES2_CA_PUMP_SPEED" Address="MAIN.RES1_2_AO_4CHANNEL_4_20mA_EL4024_N205_2" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  318. <Output Name="c_RES2_RETURN_VALVE_OPENING" Address="MAIN.RES1_2_AO_4CHANNEL_4_20mA_EL4024_N205_4" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  319. <Output Name="c_RES2_CA_DIW_REPLEN" Address="MAIN.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
  320. <Output Name="c_RES2_SAMPLE_OUT" Address="MAIN.RES1_2_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
  321. <Output Name="c_RES2_DEGAS_ENABLE" Address="MAIN.RES1_2_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
  322. <Output Name="c_CELL2_CA_ISOLATION" Address="MAIN.RES1_2_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
  323. <Output Name="c_RES2_AN_DIW_REPLEN" Address="MAIN.RES1_2_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
  324. <Output Name="c_CELL2_AN_ISOLATION" Address="MAIN.RES1_2_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
  325. <!--Reservoir2 outputs End-->
  326. <!--Reservoir3 outputs Start-->
  327. <Output Name="c_RES3_AN_PUMP_ENABLE" Address="MAIN.RES3_4_DO_16CHANNEL_EL2809_N231_1" Type="Digital" Invert="false" DataType="bool"/>
  328. <Output Name="c_RES3_CA_PUMP_ENABLE" Address="MAIN.RES3_4_DO_16CHANNEL_EL2809_N231_3" Type="Digital" Invert="false" DataType="bool"/>
  329. <Output Name="c_RES3_AN_PUMP_SPEED" Address="MAIN.RES3_4_AO_8CHANNEL_0_10V_EL4008_N234_1" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  330. <Output Name="c_RES3_CA_PUMP_SPEED" Address="MAIN.RES3_4_AO_4CHANNEL_4_20mA_EL4024_N235_1" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  331. <Output Name="c_RES3_RETURN_VALVE_OPENING" Address="MAIN.RES3_4_AO_4CHANNEL_4_20mA_EL4024_N235_3" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  332. <Output Name="c_RES3_CA_DIW_REPLEN" Address="MAIN.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
  333. <Output Name="c_RES3_SAMPLE_OUT" Address="MAIN.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
  334. <Output Name="c_RES3_DEGAS_ENABLE" Address="MAIN.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
  335. <Output Name="c_CELL3_CA_ISOLATION" Address="MAIN.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
  336. <Output Name="c_RES3_AN_DIW_REPLEN" Address="MAIN.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
  337. <Output Name="c_CELL3_AN_ISOLATION" Address="MAIN.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
  338. <!--Reservoir3 outputs End-->
  339. <!--Reservoir4 outputs Start-->
  340. <Output Name="c_RES4_AN_PUMP_ENABLE" Address="MAIN.RES3_4_DO_16CHANNEL_EL2809_N231_2" Type="Digital" Invert="false" DataType="bool"/>
  341. <Output Name="c_RES4_CA_PUMP_ENABLE" Address="MAIN.RES3_4_DO_16CHANNEL_EL2809_N231_4" Type="Digital" Invert="false" DataType="bool"/>
  342. <Output Name="c_RES4_AN_PUMP_SPEED" Address="MAIN.RES3_4_AO_8CHANNEL_0_10V_EL4008_N234_2" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  343. <Output Name="c_RES4_CA_PUMP_SPEED" Address="MAIN.RES3_4_AO_4CHANNEL_4_20mA_EL4024_N235_2" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  344. <Output Name="c_RES4_RETURN_VALVE_OPENING" Address="MAIN.RES3_4_AO_4CHANNEL_4_20mA_EL4024_N235_4" Scaling="0=0,100=32767" Type="Analog" DataType="int"/>
  345. <Output Name="c_RES4_CA_DIW_REPLEN" Address="MAIN.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
  346. <Output Name="c_RES4_SAMPLE_OUT" Address="MAIN.RES3_4_PNEU_SMC_EX260_V01_V04" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
  347. <Output Name="c_RES4_DEGAS_ENABLE" Address="MAIN.RES3_4_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
  348. <Output Name="c_CELL4_CA_ISOLATION" Address="MAIN.RES3_4_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
  349. <Output Name="c_RES4_AN_DIW_REPLEN" Address="MAIN.RES3_4_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
  350. <Output Name="c_CELL4_AN_ISOLATION" Address="MAIN.RES3_4_PNEU_SMC_EX260_V05_V08" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
  351. <!--Reservoir4 outputs End-->
  352. <!--VPW Main Start-->
  353. <Output Name="c_VPW_CHAMBER_CLOSE" Address="MAIN.MOTION_DO_16CHANNEL_EL2809_N401_15" Type="Digital" Invert="true" DataType="bool"/>
  354. <Output Name="c_VPW_VACUUM_PUMP_POWER" Address="MAIN.VPW_DO_16CHANNEL_EL2809_101_5" Type="Digital" Invert="false" DataType="bool"/>
  355. <Output Name="c_VPW_DEGAS_PUMP_ENABLE" Address="MAIN.VPW_DO_16CHANNEL_EL2809_101_6" Type="Digital" Invert="false" DataType="bool"/>
  356. <Output Name="c_VPW_BOOSTER_PUMP_ENABLE" Address="MAIN.VPW_DO_16CHANNEL_EL2809_101_7" Type="Digital" Invert="false" DataType="bool"/>
  357. <Output Name="c_VPW_VACUUM_PUMP_ENABLE" Address="MAIN.MAIN_IO_RELAY_4CHANNEL_EL2624_N106_1" Type="Digital" Invert="false" DataType="bool"/>
  358. <Output Name="c_VPW_VACUUM_PUMP_SPEED_ENABLE" Address="MAIN.MAIN_IO_RELAY_4CHANNEL_EL2624_N106_2" Type="Digital" Invert="false" DataType="bool"/>
  359. <Output Name="c_VPW_VACUUM_PUMP_SPEED" Address="MAIN.VPW_AO_8CHANNEL_0_10V_EL4008_N104_1" Scaling="0=0,20=32767" Type="Analog" DataType="int"/>
  360. <Output Name="c_VPW_BOOSTER_PUMP_SPPED" Address="MAIN.VPW_AO_8CHANNEL_0_10V_EL4008_N104_5" Scaling="300=0,10000=32767" Type="Analog" DataType="int"/>
  361. <Output Name="c_VPW_DIW_ENABLE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
  362. <Output Name="c_VPW_DIW_PROCESS" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
  363. <Output Name="c_VPW_DIW_DEGAS" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
  364. <Output Name="c_VPW_DEGAS_ADJUST" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
  365. <Output Name="c_VPW_DEGAS_PURGE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
  366. <!--VPW Main End-->
  367. <!--VPW1 Start-->
  368. <Output Name="c_VPW_1_FLOW_DRIP" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
  369. <Output Name="c_VPW_1_FLOW_SMALL" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
  370. <Output Name="c_VPW_1_FLOW_LARGE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
  371. <Output Name="c_VPW_1_VACUUM_VALVE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
  372. <Output Name="c_VPW_1_VENT_VALVE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
  373. <Output Name="c_VPW_1_DIW_DRAIN" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE2" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
  374. <!--VPW1 End-->
  375. <!--VPW2 Start-->
  376. <Output Name="c_VPW_2_FLOW_DRIP" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
  377. <Output Name="c_VPW_2_FLOW_SMALL" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
  378. <Output Name="c_VPW_2_FLOW_LARGE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
  379. <Output Name="c_VPW_2_VACUUM_VALVE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
  380. <Output Name="c_VPW_2_VENT_VALVE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
  381. <Output Name="c_VPW_2_DIW_DRAIN" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE2" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
  382. <!--VPW2 End-->
  383. <!--EFEM Start-->
  384. <Output Name="c_System_Alarm" Address="MAIN.Facility_DO_16CHANNEL_EL2809_N003_1" Type="Digital" DataType="bool"/>
  385. <Output Name="c_Pole_Red" Address="MAIN.Facility_DO_16CHANNEL_EL2809_N003_2" Type="Digital" DataType="bool"/>
  386. <Output Name="c_Pole_Amber" Address="MAIN.Facility_DO_16CHANNEL_EL2809_N003_3" Type="Digital" DataType="bool"/>
  387. <Output Name="c_Pole_Green" Address="MAIN.Facility_DO_16CHANNEL_EL2809_N003_4" Type="Digital" DataType="bool"/>
  388. <Output Name="c_Pole_Blue" Address="MAIN.Facility_DO_16CHANNEL_EL2809_N003_5" Type="Digital" DataType="bool"/>
  389. <Output Name="c_System_Alarm2" Address="MAIN.Facility_DO_16CHANNEL_EL2809_N003_6" Type="Digital" DataType="bool"/>
  390. <!--EFEM End-->
  391. <!--////////////////////////////////////////////////// ALL OUTPUTS END //////////////////////////////////////////////////-->
  392. <!--////////////////////////////////////////////////// ALL AXIS BEGIN //////////////////////////////////////////////////-->
  393. <Axis Name="VPW1.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
  394. <Input Address="MAIN.VPW1RotationStatusWord" Type="StatusWord" DataType="uint"/>
  395. <Input Address="MAIN.VPW1RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
  396. <Input Address="MAIN.VPW1RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
  397. <Input Address="MAIN.VPW1RotationPositionError" Type="PositionError" DataType="dint"/>
  398. <Input Address="MAIN.VPW1RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
  399. <Input Address="MAIN.VPW1RotationActualTorque" Type="ActualTorque" DataType="int"/>
  400. <!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  401. <Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  402. <Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  403. <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  404. <Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  405. <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  406. <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  407. <Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  408. <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  409. <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  410. <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
  411. <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
  412. <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
  413. <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
  414. <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
  415. <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
  416. <Output Address="MAIN.VPW1RotationControlWord" Type="ControlWord" DataType="uint"/>
  417. <Output Address="MAIN.VPW1RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
  418. <Output Address="MAIN.VPW1RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
  419. <Output Address="MAIN.VPW1RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
  420. <Output Address="MAIN.VPW1RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
  421. <Output Address="MAIN.VPW1RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
  422. <!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  423. <Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  424. <Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  425. <Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  426. <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  427. <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  428. <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  429. <Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  430. <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  431. <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  432. <MotorType>Servo</MotorType>
  433. <MotorDriveDirection>0</MotorDriveDirection>
  434. <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
  435. <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
  436. <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
  437. <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
  438. <HomeSwitchPolarity>0</HomeSwitchPolarity>
  439. <HomingMethod>24</HomingMethod>
  440. <HomeConfig>0</HomeConfig>
  441. <HomingOffset>0</HomingOffset>
  442. <HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
  443. <HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
  444. <HomingAccelDecel>10000000</HomingAccelDecel>
  445. <HomingTimeOut>60000</HomingTimeOut>
  446. <ProportionalGain>0</ProportionalGain>
  447. <IntegralGain>0</IntegralGain>
  448. <DerivativeGain>0</DerivativeGain>
  449. <IntegralLimit>0</IntegralLimit>
  450. <ErrorLimit>6766</ErrorLimit>
  451. <VoltageOffset>0</VoltageOffset>
  452. <!-- -193 degrees * 169161 = -32648073 -->
  453. <ReverseSoftwareLimit>0</ReverseSoftwareLimit>
  454. <!-- 13 degrees * 169161 = 2199093 -->
  455. <ForwardSoftwareLimit>0</ForwardSoftwareLimit>
  456. <Speed>360</Speed>
  457. <Acceleration>1000</Acceleration>
  458. <Deceleration>1000</Deceleration>
  459. <Jerk>0</Jerk>
  460. <FeedforwardVelocity>0</FeedforwardVelocity>
  461. <FeedforwardAcceleration>0</FeedforwardAcceleration>
  462. <OffOnError>0</OffOnError>
  463. </Axis>
  464. <Axis Name="VPW2.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
  465. <Input Address="MAIN.VPW2RotationStatusWord" Type="StatusWord" DataType="uint"/>
  466. <Input Address="MAIN.VPW2RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
  467. <Input Address="MAIN.VPW2RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
  468. <Input Address="MAIN.VPW2RotationPositionError" Type="PositionError" DataType="dint"/>
  469. <Input Address="MAIN.VPW2RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
  470. <Input Address="MAIN.VPW2RotationActualTorque" Type="ActualTorque" DataType="int"/>
  471. <!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  472. <Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  473. <Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  474. <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  475. <Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  476. <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  477. <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  478. <Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  479. <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  480. <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  481. <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
  482. <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
  483. <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
  484. <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
  485. <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
  486. <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
  487. <Output Address="MAIN.VPW2RotationControlWord" Type="ControlWord" DataType="uint"/>
  488. <Output Address="MAIN.VPW2RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
  489. <Output Address="MAIN.VPW2RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
  490. <Output Address="MAIN.VPW2RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
  491. <Output Address="MAIN.VPW2RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
  492. <Output Address="MAIN.VPW2RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
  493. <!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  494. <Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  495. <Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  496. <Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  497. <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  498. <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  499. <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  500. <Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  501. <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  502. <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  503. <MotorType>Servo</MotorType>
  504. <MotorDriveDirection>0</MotorDriveDirection>
  505. <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
  506. <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
  507. <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
  508. <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
  509. <HomeSwitchPolarity>0</HomeSwitchPolarity>
  510. <HomingMethod>24</HomingMethod>
  511. <HomeConfig>0</HomeConfig>
  512. <HomingOffset>0</HomingOffset>
  513. <HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
  514. <HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
  515. <HomingAccelDecel>10000000</HomingAccelDecel>
  516. <HomingTimeOut>60000</HomingTimeOut>
  517. <ProportionalGain>0</ProportionalGain>
  518. <IntegralGain>0</IntegralGain>
  519. <DerivativeGain>0</DerivativeGain>
  520. <IntegralLimit>0</IntegralLimit>
  521. <ErrorLimit>6766</ErrorLimit>
  522. <VoltageOffset>0</VoltageOffset>
  523. <!-- -193 degrees * 169161 = -32648073 -->
  524. <ReverseSoftwareLimit>-46180953</ReverseSoftwareLimit>
  525. <!-- 13 degrees * 169161 = 2199093 -->
  526. <ForwardSoftwareLimit>2706576</ForwardSoftwareLimit>
  527. <Speed>15000000</Speed>
  528. <Acceleration>10000000</Acceleration>
  529. <Deceleration>10000000</Deceleration>
  530. <Jerk>0</Jerk>
  531. <FeedforwardVelocity>0</FeedforwardVelocity>
  532. <FeedforwardAcceleration>0</FeedforwardAcceleration>
  533. <OffOnError>0</OffOnError>
  534. </Axis>
  535. <Axis Name="SRD1.Rotation" MotorType="Kollmorgen" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
  536. <Input Address="MAIN.SRD1RotationStatusWord" Type="StatusWord" DataType="uint"/>
  537. <Input Address="MAIN.SRD1RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
  538. <Input Address="MAIN.SRD1RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
  539. <Input Address="MAIN.SRD1RotationPositionError" Type="PositionError" DataType="dint"/>
  540. <Input Address="MAIN.SRD1RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
  541. <Input Address="MAIN.SRD1RotationActualTorque" Type="ActualTorque" DataType="int"/>
  542. <!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  543. <Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  544. <Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  545. <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  546. <Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  547. <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  548. <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  549. <Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  550. <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  551. <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  552. <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
  553. <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
  554. <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
  555. <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
  556. <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
  557. <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
  558. <Output Address="MAIN.SRD1RotationControlWord" Type="ControlWord" DataType="uint"/>
  559. <Output Address="MAIN.SRD1RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
  560. <Output Address="MAIN.SRD1RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
  561. <Output Address="MAIN.SRD1RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
  562. <Output Address="MAIN.SRD1RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
  563. <Output Address="MAIN.SRD1RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
  564. <!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  565. <Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  566. <Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  567. <Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  568. <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  569. <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  570. <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  571. <Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  572. <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  573. <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  574. <MotorType>Servo</MotorType>
  575. <MotorDriveDirection>0</MotorDriveDirection>
  576. <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
  577. <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
  578. <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
  579. <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
  580. <HomeSwitchPolarity>0</HomeSwitchPolarity>
  581. <HomingMethod>24</HomingMethod>
  582. <HomeConfig>0</HomeConfig>
  583. <HomingOffset>0</HomingOffset>
  584. <HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
  585. <HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
  586. <HomingAccelDecel>10000000</HomingAccelDecel>
  587. <HomingTimeOut>60000</HomingTimeOut>
  588. <ProportionalGain>0</ProportionalGain>
  589. <IntegralGain>0</IntegralGain>
  590. <DerivativeGain>0</DerivativeGain>
  591. <IntegralLimit>0</IntegralLimit>
  592. <ErrorLimit>6766</ErrorLimit>
  593. <VoltageOffset>0</VoltageOffset>
  594. <!-- -193 degrees * 169161 = -32648073 -->
  595. <ReverseSoftwareLimit>0</ReverseSoftwareLimit>
  596. <!-- 13 degrees * 169161 = 2199093 -->
  597. <ForwardSoftwareLimit>0</ForwardSoftwareLimit>
  598. <Speed>360</Speed>
  599. <Acceleration>1000</Acceleration>
  600. <Deceleration>1000</Deceleration>
  601. <Jerk>0</Jerk>
  602. <FeedforwardVelocity>0</FeedforwardVelocity>
  603. <FeedforwardAcceleration>0</FeedforwardAcceleration>
  604. <OffOnError>0</OffOnError>
  605. </Axis>
  606. <Axis Name="PlatingCell1_2.Vertical" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
  607. <Input Address="MAIN.PlatingCell1_2Vertical_StatusWord" Type="StatusWord" DataType="uint"/>
  608. <Input Address="MAIN.PlatingCell1_2Vertical_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
  609. <Input Address="MAIN.PlatingCell1_2Vertical_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
  610. <Input Address="MAIN.PlatingCell1_2Vertical_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
  611. <Input Address="MAIN.PlatingCell1_2Vertical_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
  612. <Input Address="MAIN.PlatingCell1_2Vertical_TorqueActualValue" Type="ActualTorque" DataType="short"/>
  613. <Input Address="0x607d:01" Type="SoftwareLimitMinus" DataType="dint"/>
  614. <Input Address="0x607d:02" Type="SoftwareLimitPlus" DataType="dint"/>
  615. <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  616. <Input Address="0x607c:00" Type="HomeOffset" DataType="dint"/>
  617. <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  618. <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  619. <Input Address="0x609a:00" Type="HomingAccel" DataType="dint"/>
  620. <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  621. <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  622. <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
  623. <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
  624. <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
  625. <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
  626. <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
  627. <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
  628. <Output Address="MAIN.PlatingCell1_2Vertical_ControlWord" Type="ControlWord" DataType="uint"/>
  629. <Output Address="MAIN.PlatingCell1_2Vertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
  630. <Output Address="MAIN.PlatingCell1_2Vertical_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
  631. <Output Address="MAIN.PlatingCell1_2Vertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
  632. <Output Address="MAIN.PlatingCell1_2Vertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
  633. <Output Address="MAIN.PlatingCell1_2Vertical_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
  634. <!-- Output Address="MAIN.LoaderTransporterHorizontal_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  635. <Output Address="0x607d:01" Type="SoftwareLimitMinus" DataType="dint"/>
  636. <Output Address="0x607d:02" Type="SoftwareLimitPlus" DataType="dint"/>
  637. <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  638. <Output Address="0x607c:00" Type="HomeOffset" DataType="dint"/>
  639. <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  640. <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  641. <Output Address="0x609a:00" Type="HomingAccel" DataType="dint"/>
  642. <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  643. <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  644. <!-- Z axis: 47784 counts/mm -->
  645. <MotorType>Servo</MotorType>
  646. <MotorDriveDirection>0</MotorDriveDirection>
  647. <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
  648. <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
  649. <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
  650. <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
  651. <HomeSwitchPolarity>0</HomeSwitchPolarity>
  652. <!-- HomingMethod 28 = Home Switch Negative Direction -->
  653. <HomingMethod>28</HomingMethod>
  654. <HomeConfig>0</HomeConfig>
  655. <!--HomingOffset>-662500</HomingOffset-->
  656. <HomingOffset>-398200</HomingOffset>
  657. <!-- HomingVelocity same as HomeSpeedHomeSwitch -->
  658. <!-- HomingSpeedHomeSwitch 57 rev/min = 0.9 rev/sec = 1000000 counts/sec -->
  659. <HomingSpeedHomeSwitch>1000000</HomingSpeedHomeSwitch>
  660. <!--HomingSpeedHomeSwitch>100000</HomingSpeedHomeSwitch-->
  661. <HomingSpeedEncoderIndex>100000</HomingSpeedEncoderIndex>
  662. <!-- HomingAccelDecel 0.05 rev/min/min = 0.0009 rev/sec/sec = 1000 counts/sec/sec -->
  663. <HomingAccelDecel>10000000</HomingAccelDecel>
  664. <HomingTimeOut>120000</HomingTimeOut>
  665. <ProportionalGain>0</ProportionalGain>
  666. <IntegralGain>0</IntegralGain>
  667. <DerivativeGain>0</DerivativeGain>
  668. <IntegralLimit>0</IntegralLimit>
  669. <!--ErrorLimit>0</ErrorLimit-->
  670. <ErrorLimit>2000</ErrorLimit>
  671. <VoltageOffset>0</VoltageOffset>
  672. <ReverseSoftwareLimit>-1190000</ReverseSoftwareLimit>
  673. <ForwardSoftwareLimit>28000000</ForwardSoftwareLimit>
  674. <!-- Speed 1430 rev/min = 23 rev/sec = 25000000 counts/sec -->
  675. <!--Speed>25000000</Speed-->
  676. <Speed>18000000</Speed>
  677. <!--Speed>12000000</Speed-->
  678. <!-- Acceleration/Deceleration 0.78 rev/min/min = 0.01 rev/sec/sec = 13800 counts/sec/sec -->
  679. <Acceleration>138000000</Acceleration>
  680. <Deceleration>138000000</Deceleration>
  681. <!--Acceleration>13800000</Acceleration>
  682. <Deceleration>13800000</Deceleration-->
  683. <Jerk>0</Jerk>
  684. <FeedforwardVelocity>0</FeedforwardVelocity>
  685. <FeedforwardAcceleration>0</FeedforwardAcceleration>
  686. <OffOnError>0</OffOnError>
  687. <NegativeTorqueLimit>130</NegativeTorqueLimit>
  688. <PositiveTorqueLimit>20</PositiveTorqueLimit>
  689. </Axis>
  690. <Axis Name="PlatingCell3_4.Vertical" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
  691. <Input Address="MAIN.PlatingCell3_4Vertical_StatusWord" Type="StatusWord" DataType="uint"/>
  692. <Input Address="MAIN.PlatingCell3_4Vertical_DigitalInputs" Type="DigitalInputs" DataType="udint"/>
  693. <Input Address="MAIN.PlatingCell3_4Vertical_ActualMotorPosition" Type="MotorPosition" DataType="dint"/>
  694. <Input Address="MAIN.PlatingCell3_4Vertical_FollowingErrorActualValue" Type="PositionError" DataType="dint"/>
  695. <Input Address="MAIN.PlatingCell3_4Vertical_VelocityActualValue" Type="ActualVelocity" DataType="dint"/>
  696. <Input Address="MAIN.PlatingCell3_4Vertical_TorqueActualValue" Type="ActualTorque" DataType="short"/>
  697. <Input Address="0x607d:01" Type="SoftwareLimitMinus" DataType="dint"/>
  698. <Input Address="0x607d:02" Type="SoftwareLimitPlus" DataType="dint"/>
  699. <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  700. <Input Address="0x607c:00" Type="HomeOffset" DataType="dint"/>
  701. <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  702. <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  703. <Input Address="0x609a:00" Type="HomingAccel" DataType="dint"/>
  704. <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  705. <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  706. <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
  707. <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
  708. <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
  709. <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
  710. <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
  711. <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
  712. <Output Address="MAIN.PlatingCell3_4Vertical_ControlWord" Type="ControlWord" DataType="uint"/>
  713. <Output Address="MAIN.PlatingCell3_4Vertical_TargetPosition" Type="TargetPosition" DataType="dint"/>
  714. <Output Address="MAIN.PlatingCell3_4Vertical_ModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
  715. <Output Address="MAIN.PlatingCell3_4Vertical_ProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
  716. <Output Address="MAIN.PlatingCell3_4Vertical_ProfileAccel" Type="ProfileAccel" DataType="dint"/>
  717. <Output Address="MAIN.PlatingCell3_4Vertical_ProfileDecel" Type="ProfileDecel" DataType="dint"/>
  718. <!-- Output Address="MAIN.LoaderTransporterHorizontal_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  719. <Output Address="0x607d:01" Type="SoftwareLimitMinus" DataType="dint"/>
  720. <Output Address="0x607d:02" Type="SoftwareLimitPlus" DataType="dint"/>
  721. <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  722. <Output Address="0x607c:00" Type="HomeOffset" DataType="dint"/>
  723. <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  724. <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  725. <Output Address="0x609a:00" Type="HomingAccel" DataType="dint"/>
  726. <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  727. <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  728. <!-- Z axis: 47784 counts/mm -->
  729. <MotorType>Servo</MotorType>
  730. <MotorDriveDirection>0</MotorDriveDirection>
  731. <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
  732. <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
  733. <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
  734. <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
  735. <HomeSwitchPolarity>0</HomeSwitchPolarity>
  736. <!-- HomingMethod 28 = Home Switch Negative Direction -->
  737. <HomingMethod>28</HomingMethod>
  738. <HomeConfig>0</HomeConfig>
  739. <!--HomingOffset>-662500</HomingOffset-->
  740. <HomingOffset>-398200</HomingOffset>
  741. <!-- HomingVelocity same as HomeSpeedHomeSwitch -->
  742. <!-- HomingSpeedHomeSwitch 57 rev/min = 0.9 rev/sec = 1000000 counts/sec -->
  743. <HomingSpeedHomeSwitch>1000000</HomingSpeedHomeSwitch>
  744. <!--HomingSpeedHomeSwitch>100000</HomingSpeedHomeSwitch-->
  745. <HomingSpeedEncoderIndex>100000</HomingSpeedEncoderIndex>
  746. <!-- HomingAccelDecel 0.05 rev/min/min = 0.0009 rev/sec/sec = 1000 counts/sec/sec -->
  747. <HomingAccelDecel>10000000</HomingAccelDecel>
  748. <HomingTimeOut>120000</HomingTimeOut>
  749. <ProportionalGain>0</ProportionalGain>
  750. <IntegralGain>0</IntegralGain>
  751. <DerivativeGain>0</DerivativeGain>
  752. <IntegralLimit>0</IntegralLimit>
  753. <!--ErrorLimit>0</ErrorLimit-->
  754. <ErrorLimit>2000</ErrorLimit>
  755. <VoltageOffset>0</VoltageOffset>
  756. <ReverseSoftwareLimit>-1190000</ReverseSoftwareLimit>
  757. <ForwardSoftwareLimit>28000000</ForwardSoftwareLimit>
  758. <!-- Speed 1430 rev/min = 23 rev/sec = 25000000 counts/sec -->
  759. <!--Speed>25000000</Speed-->
  760. <Speed>18000000</Speed>
  761. <!--Speed>12000000</Speed-->
  762. <!-- Acceleration/Deceleration 0.78 rev/min/min = 0.01 rev/sec/sec = 13800 counts/sec/sec -->
  763. <Acceleration>138000000</Acceleration>
  764. <Deceleration>138000000</Deceleration>
  765. <!--Acceleration>13800000</Acceleration>
  766. <Deceleration>13800000</Deceleration-->
  767. <Jerk>0</Jerk>
  768. <FeedforwardVelocity>0</FeedforwardVelocity>
  769. <FeedforwardAcceleration>0</FeedforwardAcceleration>
  770. <OffOnError>0</OffOnError>
  771. <NegativeTorqueLimit>130</NegativeTorqueLimit>
  772. <PositiveTorqueLimit>20</PositiveTorqueLimit>
  773. </Axis>
  774. <Axis Name="PlatingCell1.Rotation" MotorType="Kollmorgen" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
  775. <Input Address="MAIN.PlatingCell1_RotationStatusWord" Type="StatusWord" DataType="uint"/>
  776. <Input Address="MAIN.PlatingCell1_RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
  777. <Input Address="MAIN.PlatingCell1_RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
  778. <Input Address="MAIN.PlatingCell1_RotationPositionError" Type="PositionError" DataType="dint"/>
  779. <Input Address="MAIN.PlatingCell1_RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
  780. <Input Address="MAIN.PlatingCell1_RotationActualTorque" Type="ActualTorque" DataType="int"/>
  781. <!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  782. <Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  783. <Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  784. <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  785. <Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  786. <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  787. <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  788. <Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  789. <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  790. <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  791. <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
  792. <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
  793. <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
  794. <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
  795. <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
  796. <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
  797. <Output Address="MAIN.PlatingCell1_RotationControlWord" Type="ControlWord" DataType="uint"/>
  798. <Output Address="MAIN.PlatingCell1_RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
  799. <Output Address="MAIN.PlatingCell1_RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
  800. <Output Address="MAIN.PlatingCell1_RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
  801. <Output Address="MAIN.PlatingCell1_RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
  802. <Output Address="MAIN.PlatingCell1_RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
  803. <!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  804. <Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  805. <Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  806. <Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  807. <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  808. <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  809. <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  810. <Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  811. <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  812. <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  813. <MotorType>Servo</MotorType>
  814. <MotorDriveDirection>0</MotorDriveDirection>
  815. <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
  816. <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
  817. <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
  818. <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
  819. <HomeSwitchPolarity>0</HomeSwitchPolarity>
  820. <HomingMethod>24</HomingMethod>
  821. <HomeConfig>0</HomeConfig>
  822. <HomingOffset>0</HomingOffset>
  823. <HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
  824. <HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
  825. <HomingAccelDecel>10000000</HomingAccelDecel>
  826. <HomingTimeOut>60000</HomingTimeOut>
  827. <ProportionalGain>0</ProportionalGain>
  828. <IntegralGain>0</IntegralGain>
  829. <DerivativeGain>0</DerivativeGain>
  830. <IntegralLimit>0</IntegralLimit>
  831. <ErrorLimit>6766</ErrorLimit>
  832. <VoltageOffset>0</VoltageOffset>
  833. <!-- -193 degrees * 169161 = -32648073 -->
  834. <ReverseSoftwareLimit>0</ReverseSoftwareLimit>
  835. <!-- 13 degrees * 169161 = 2199093 -->
  836. <ForwardSoftwareLimit>0</ForwardSoftwareLimit>
  837. <Speed>360</Speed>
  838. <Acceleration>1000</Acceleration>
  839. <Deceleration>1000</Deceleration>
  840. <Jerk>0</Jerk>
  841. <FeedforwardVelocity>0</FeedforwardVelocity>
  842. <FeedforwardAcceleration>0</FeedforwardAcceleration>
  843. <OffOnError>0</OffOnError>
  844. </Axis>
  845. <Axis Name="PlatingCell2.Rotation" MotorType="Kollmorgen" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
  846. <Input Address="MAIN.PlatingCell2_RotationStatusWord" Type="StatusWord" DataType="uint"/>
  847. <Input Address="MAIN.PlatingCell2_RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
  848. <Input Address="MAIN.PlatingCell2_RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
  849. <Input Address="MAIN.PlatingCell2_RotationPositionError" Type="PositionError" DataType="dint"/>
  850. <Input Address="MAIN.PlatingCell2_RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
  851. <Input Address="MAIN.PlatingCell2_RotationActualTorque" Type="ActualTorque" DataType="int"/>
  852. <!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  853. <Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  854. <Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  855. <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  856. <Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  857. <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  858. <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  859. <Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  860. <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  861. <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  862. <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
  863. <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
  864. <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
  865. <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
  866. <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
  867. <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
  868. <Output Address="MAIN.PlatingCell2_RotationControlWord" Type="ControlWord" DataType="uint"/>
  869. <Output Address="MAIN.PlatingCell2_RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
  870. <Output Address="MAIN.PlatingCell2_RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
  871. <Output Address="MAIN.PlatingCell2_RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
  872. <Output Address="MAIN.PlatingCell2_RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
  873. <Output Address="MAIN.PlatingCell2_RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
  874. <!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  875. <Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  876. <Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  877. <Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  878. <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  879. <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  880. <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  881. <Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  882. <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  883. <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  884. <MotorType>Servo</MotorType>
  885. <MotorDriveDirection>0</MotorDriveDirection>
  886. <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
  887. <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
  888. <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
  889. <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
  890. <HomeSwitchPolarity>0</HomeSwitchPolarity>
  891. <HomingMethod>24</HomingMethod>
  892. <HomeConfig>0</HomeConfig>
  893. <HomingOffset>0</HomingOffset>
  894. <HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
  895. <HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
  896. <HomingAccelDecel>10000000</HomingAccelDecel>
  897. <HomingTimeOut>60000</HomingTimeOut>
  898. <ProportionalGain>0</ProportionalGain>
  899. <IntegralGain>0</IntegralGain>
  900. <DerivativeGain>0</DerivativeGain>
  901. <IntegralLimit>0</IntegralLimit>
  902. <ErrorLimit>6766</ErrorLimit>
  903. <VoltageOffset>0</VoltageOffset>
  904. <!-- -193 degrees * 169161 = -32648073 -->
  905. <ReverseSoftwareLimit>0</ReverseSoftwareLimit>
  906. <!-- 13 degrees * 169161 = 2199093 -->
  907. <ForwardSoftwareLimit>0</ForwardSoftwareLimit>
  908. <Speed>360</Speed>
  909. <Acceleration>1000</Acceleration>
  910. <Deceleration>1000</Deceleration>
  911. <Jerk>0</Jerk>
  912. <FeedforwardVelocity>0</FeedforwardVelocity>
  913. <FeedforwardAcceleration>0</FeedforwardAcceleration>
  914. <OffOnError>0</OffOnError>
  915. </Axis>
  916. <Axis Name="PlatingCell3.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
  917. <Input Address="MAIN.PlatingCell3_RotationStatusWord" Type="StatusWord" DataType="uint"/>
  918. <Input Address="MAIN.PlatingCell3_RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
  919. <Input Address="MAIN.PlatingCell3_RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
  920. <Input Address="MAIN.PlatingCell3_RotationPositionError" Type="PositionError" DataType="dint"/>
  921. <Input Address="MAIN.PlatingCell3_RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
  922. <Input Address="MAIN.PlatingCell3_RotationActualTorque" Type="ActualTorque" DataType="int"/>
  923. <!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  924. <Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  925. <Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  926. <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  927. <Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  928. <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  929. <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  930. <Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  931. <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  932. <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  933. <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
  934. <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
  935. <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
  936. <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
  937. <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
  938. <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
  939. <Output Address="MAIN.PlatingCell3_RotationControlWord" Type="ControlWord" DataType="uint"/>
  940. <Output Address="MAIN.PlatingCell3_RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
  941. <Output Address="MAIN.PlatingCell3_RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
  942. <Output Address="MAIN.PlatingCell3_RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
  943. <Output Address="MAIN.PlatingCell3_RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
  944. <Output Address="MAIN.PlatingCell3_RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
  945. <!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  946. <Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  947. <Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  948. <Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  949. <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  950. <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  951. <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  952. <Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  953. <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  954. <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  955. <MotorType>Servo</MotorType>
  956. <MotorDriveDirection>0</MotorDriveDirection>
  957. <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
  958. <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
  959. <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
  960. <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
  961. <HomeSwitchPolarity>0</HomeSwitchPolarity>
  962. <HomingMethod>24</HomingMethod>
  963. <HomeConfig>0</HomeConfig>
  964. <HomingOffset>0</HomingOffset>
  965. <HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
  966. <HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
  967. <HomingAccelDecel>10000000</HomingAccelDecel>
  968. <HomingTimeOut>60000</HomingTimeOut>
  969. <ProportionalGain>0</ProportionalGain>
  970. <IntegralGain>0</IntegralGain>
  971. <DerivativeGain>0</DerivativeGain>
  972. <IntegralLimit>0</IntegralLimit>
  973. <ErrorLimit>6766</ErrorLimit>
  974. <VoltageOffset>0</VoltageOffset>
  975. <!-- -193 degrees * 169161 = -32648073 -->
  976. <ReverseSoftwareLimit>-46180953</ReverseSoftwareLimit>
  977. <!-- 13 degrees * 169161 = 2199093 -->
  978. <ForwardSoftwareLimit>2706576</ForwardSoftwareLimit>
  979. <Speed>15000000</Speed>
  980. <Acceleration>10000000</Acceleration>
  981. <Deceleration>10000000</Deceleration>
  982. <Jerk>0</Jerk>
  983. <FeedforwardVelocity>0</FeedforwardVelocity>
  984. <FeedforwardAcceleration>0</FeedforwardAcceleration>
  985. <OffOnError>0</OffOnError>
  986. </Axis>
  987. <Axis Name="PlatingCell4.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
  988. <Input Address="MAIN.PlatingCell4_RotationStatusWord" Type="StatusWord" DataType="uint"/>
  989. <Input Address="MAIN.PlatingCell4_RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
  990. <Input Address="MAIN.PlatingCell4_RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
  991. <Input Address="MAIN.PlatingCell4_RotationPositionError" Type="PositionError" DataType="dint"/>
  992. <Input Address="MAIN.PlatingCell4_RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
  993. <Input Address="MAIN.PlatingCell4_RotationActualTorque" Type="ActualTorque" DataType="int"/>
  994. <!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  995. <Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  996. <Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  997. <Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  998. <Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  999. <Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  1000. <Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  1001. <Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  1002. <Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  1003. <Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  1004. <Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
  1005. <Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
  1006. <Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
  1007. <Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
  1008. <Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
  1009. <Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
  1010. <Output Address="MAIN.PlatingCell4_RotationControlWord" Type="ControlWord" DataType="uint"/>
  1011. <Output Address="MAIN.PlatingCell4_RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
  1012. <Output Address="MAIN.PlatingCell4_RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
  1013. <Output Address="MAIN.PlatingCell4_RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
  1014. <Output Address="MAIN.PlatingCell4_RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
  1015. <Output Address="MAIN.PlatingCell4_RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
  1016. <!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
  1017. <Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
  1018. <Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
  1019. <Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
  1020. <Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
  1021. <Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
  1022. <Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
  1023. <Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
  1024. <Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
  1025. <Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
  1026. <MotorType>Servo</MotorType>
  1027. <MotorDriveDirection>0</MotorDriveDirection>
  1028. <EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
  1029. <EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
  1030. <ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
  1031. <ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
  1032. <HomeSwitchPolarity>0</HomeSwitchPolarity>
  1033. <HomingMethod>24</HomingMethod>
  1034. <HomeConfig>0</HomeConfig>
  1035. <HomingOffset>0</HomingOffset>
  1036. <HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
  1037. <HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
  1038. <HomingAccelDecel>10000000</HomingAccelDecel>
  1039. <HomingTimeOut>60000</HomingTimeOut>
  1040. <ProportionalGain>0</ProportionalGain>
  1041. <IntegralGain>0</IntegralGain>
  1042. <DerivativeGain>0</DerivativeGain>
  1043. <IntegralLimit>0</IntegralLimit>
  1044. <ErrorLimit>6766</ErrorLimit>
  1045. <VoltageOffset>0</VoltageOffset>
  1046. <!-- -193 degrees * 169161 = -32648073 -->
  1047. <ReverseSoftwareLimit>-46180953</ReverseSoftwareLimit>
  1048. <!-- 13 degrees * 169161 = 2199093 -->
  1049. <ForwardSoftwareLimit>2706576</ForwardSoftwareLimit>
  1050. <Speed>15000000</Speed>
  1051. <Acceleration>10000000</Acceleration>
  1052. <Deceleration>10000000</Deceleration>
  1053. <Jerk>0</Jerk>
  1054. <FeedforwardVelocity>0</FeedforwardVelocity>
  1055. <FeedforwardAcceleration>0</FeedforwardAcceleration>
  1056. <OffOnError>0</OffOnError>
  1057. </Axis>
  1058. </Controller>
  1059. </BeckhoffCfg>