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Beckhoffcfg - plctask.xml

Beckhoffcfg - plctask.xml 22 KB
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  1. <?xml version="1.0" encoding="utf-8"?>
    2. 

  2. <BeckhoffCfg>
    3. 

  3. 	<Controller Name="MASTER" IPAddress="10.4.6.75.1.1" PortAddress="851">
    4. 

  4. 

  5. 		<!-- Need to have at least one input and one output before Axis stuff -->
    6. 

  6. 

  7. 		<!-- All inputs first, then all outputs -->
    8. 

  8. 

  9. 		<!--////////////////////////////////////////////////// ALL INPUTS START //////////////////////////////////////////////////-->
    10. 

  10. 		
    11. 

  11. 		<!-- Safety inputs start -->
    12. 

  12. 		<Input Name="r_EtherCat_State" Address="MAIN.EtherCAT_State" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
    13. 

  13. 		<Input Name="r_Safety_ComErr" Address="MAIN.Safety_ComErr" Invert="false" Type="Digital" DataType="bool"/>
    14. 

  14. 		<Input Name="r_Safety_FbErr" Address="MAIN.Safety_FbErr" Invert="false" Type="Digital" DataType="bool"/>
    15. 

  15. 		<Input Name="r_EtherCat_State_HotConnect_VPW" Address="MAIN.EtherCat_State_HotConnect_VPW" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
    16. 

  16. 		<Input Name="r_Safety_ComErr_VPW" Address="MAIN.Safety_ComErr_VPW"  Invert="false" Type="Digital" DataType="bool"/>
    17. 

  17. 		<Input Name="r_Safety_FbErr_VPW" Address="MAIN.Safety_FbErr_VPW"  Invert="false" Type="Digital" DataType="bool"/>
    18. 

  18. 		<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"/>
    19. 

  19. 		<Input Name="r_Safety_ComErr_RES1_2" Address="MAIN.Safety_ComErr_RES1_2"  Invert="false" Type="Digital" DataType="bool"/>
    20. 

  20. 		<Input Name="r_Safety_FbErr_RES1_2" Address="MAIN.Safety_FbErr_RES1_2"  Invert="false" Type="Digital" DataType="bool"/>
    21. 

  21. 		<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"/>
    22. 

  22. 		<Input Name="r_Safety_ComErr_RES3_4" Address="MAIN.Safety_ComErr_RES3_4" Invert="false" Type="Digital" DataType="bool"/>
    23. 

  23. 		<Input Name="r_Safety_FbErr_RES3_4" Address="MAIN.Safety_FbErr_RES3_4" Invert="false" Type="Digital" DataType="bool"/>
    24. 

  24. 		<Input Name="r_EtherCat_State_HotConnect_Facility" Address="MAIN.EtherCat_State_HotConnect_Facility" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
    25. 

  25. 		<Input Name="r_Safety_ComErr_Facility" Address="MAIN.Safety_ComErr_Facility" Invert="false" Type="Digital" DataType="bool"/>
    26. 

  26. 		<Input Name="r_Safety_FbErr_Facility" Address="MAIN.Safety_FbErr_Facility" Invert="false" Type="Digital" DataType="bool"/>
    27. 

  27. 		<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"/>
    28. 

  28. 		<Input Name="r_Safety_ComErr_PlatingCell1_2" Address="MAIN.Safety_ComErr_PlatingCell1_2" Invert="false" Type="Digital" DataType="bool"/>
    29. 

  29. 		<Input Name="r_Safety_FbErr_PlatingCell1_2" Address="MAIN.Safety_FbErr_PlatingCell1_2" Invert="false" Type="Digital" DataType="bool"/>
    30. 

  30. 		<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"/>
    31. 

  31. 		<Input Name="r_Safety_ComErr_PlatingCell3_4" Address="MAIN.Safety_ComErr_PlatingCell3_4" Invert="false" Type="Digital" DataType="bool"/>
    32. 

  32. 		<Input Name="r_Safety_FbErr_PlatingCell3_4" Address="MAIN.Safety_FbErr_PlatingCell3_4" Invert="false" Type="Digital" DataType="bool"/>
    33. 

  33. 		<Input Name="r_EtherCat_State_HotConnect_SRD" Address="MAIN.EtherCat_State_HotConnect_SRD" Invert="false" Type="Analog" Scaling="0=0,1=1" DataType="uint"/>
    34. 

  34. 		<Input Name="r_Safety_ComErr_SRD" Address="MAIN.Safety_ComErr_SRD" Invert="false" Type="Digital" DataType="bool"/>
    35. 

  35. 		<Input Name="r_Safety_FbErr_SRD" Address="MAIN.Safety_FbErr_SRD" Invert="false" Type="Digital" DataType="bool"/>
    36. 

  36. 		
    37. 

  37. 		<Input Name="r_Cell1_2_Doors_Left_Locked" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS100_1" Invert="false" Type="Digital" DataType="bool"/>
    38. 

  38. 		<Input Name="r_Cell1_2_Doors_Right_Locked" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS100_2" Invert="false" Type="Digital" DataType="bool"/>
    39. 

  39. 		<Input Name="r_Cell3_4_Doors_Left_Locked" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS100_3" Invert="false" Type="Digital" DataType="bool"/>
    40. 

  40. 		<Input Name="r_Cell3_4_Doors_Right_Locked" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS100_4" Invert="false" Type="Digital" DataType="bool"/>
    41. 

  41. 		<Input Name="r_Aligner_Door_Closed" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS101_1" Invert="false" Type="Digital" DataType="bool"/>
    42. 

  42. 		<Input Name="r_Cassette_Doors_Left_Locked" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS101_2" Invert="false" Type="Digital" DataType="bool"/>
    43. 

  43. 		<Input Name="r_Cassette_Doors_Right_Locked" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS101_3" Invert="false" Type="Digital" DataType="bool"/>
    44. 

  44. 		<Input Name="r_RES1_2_Door_Closed" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS101_4" Invert="false" Type="Digital" DataType="bool"/>
    45. 

  45. 		<Input Name="r_RES3_4_Door_Closed" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS102_1" Invert="false" Type="Digital" DataType="bool"/>
    46. 

  46. 		<Input Name="r_VPW_Door_Closed" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS102_2" Invert="false" Type="Digital" DataType="bool"/>
    47. 

  47. 		<Input Name="r_Plumbing_Door_Closed" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS102_3" Invert="false" Type="Digital" DataType="bool"/>
    48. 

  48. 		<Input Name="r_SRD_Panel_Closed" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS102_4" Invert="false" Type="Digital" DataType="bool"/>
    49. 

  49. 		<Input Name="r_Halt_Button_Left" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS103_1" Invert="true" Type="Digital" DataType="bool"/>
    50. 

  50. 		<Input Name="r_Halt_Button_Right" Address="MAIN.Safety_SDI_CHANNEL_EL1904_NS103_2" Invert="true" Type="Digital" DataType="bool"/>
    51. 

  51. 		
    52. 

  52. 

  53. 		<!-- Safety inputs end -->
    54. 

  54. 

  55. 

  56. 

  57. 		<!--VPW Main Start-->
    58. 

  58. 		<Input Name="r_VPW_CHAMBER_CLOSED"  Address="MAIN.VPW_DI_16CHANNEL_EL1819_N100_1" Invert="false" Type="Digital" DataType="bool"/>
    59. 

  59. 		<Input Name="r_VPW_CHAMBER_OPENED"  Address="MAIN.VPW_DI_16CHANNEL_EL1819_N100_2" Invert="false" Type="Digital" DataType="bool"/>
    60. 

  60. 		<Input Name="r_VPW_LEAK_DETECT"  Address="MAIN.VPW_DI_16CHANNEL_EL1819_N100_3" Invert="true" Type="Digital" DataType="bool"/>
    61. 

  61. 		<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"/>
    62. 

  62. 		<Input Name="r_VPW_BOOSTER_PUMP_STATUS"  Address="MAIN.VPW_DI_16CHANNEL_EL1819_N100_9" Invert="true" Type="Digital" DataType="bool"/>
    63. 

  63. 		<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"/>
    64. 

  64. 		<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"/>
    65. 

  65. 		<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"/>
    66. 

  66. 		<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"/>
    67. 

  67. 		<!--VPW Main End-->
    68. 

  68. 

  69. 		<!--VPW1 Start-->
    70. 

  70. 		<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"/>
    71. 

  71. 		<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"/>
    72. 

  72. 		<!--VPW1 End-->
    73. 

  73. 

  74. 		<!--VPW2 Start-->
    75. 

  75. 		<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"/>
    76. 

  76. 		<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"/>
    77. 

  77. 		<!--VPW2 End-->
    78. 

  78. 		
    79. 

  79. 		
    80. 

  80. 		<!--////////////////////////////////////////////////// ALL INPUTS END //////////////////////////////////////////////////-->
    81. 

  81. 

  82. 

  83. 		<!--////////////////////////////////////////////////// ALL OUTPUTS BEGIN //////////////////////////////////////////////////-->
    84. 

  84. 		
    85. 

  85. 		<!-- Safety outputs start -->
    86. 

  86. 

  87. 		<Output Name="c_Safety_RunStop" Address="MAIN.Safety_RunStop" Type="Digital" DataType="bool"/>
    88. 

  88. 		<Output Name="c_Safety_ErrAck" Address="MAIN.Safety_ErrAck" Type="Digital" DataType="bool"/>
    89. 

  89. 		<Output Name="c_Safety_VPW_STO_EStop_Restart" Address="MAIN.Safety_VPW_STO_EStop_Restart" Type="Digital" DataType="bool"/>
    90. 

  90. 		<Output Name="c_Safety_RES1_2_STO_EStop_Restart" Address="MAIN.Safety_RES1_2_STO_EStop_Restart" Type="Digital" DataType="bool"/>
    91. 

  91. 		<Output Name="c_Safety_RES3_4_STO_EStop_Restart" Address="MAIN.Safety_RES3_4_STO_EStop_Restart" Type="Digital" DataType="bool"/>
    92. 

  92. 		<Output Name="c_Safety_PlatingCell1_2_STO_1_EStop_Restart" Address="MAIN.Safety_PlatingCell1_2_STO_1_EStop_Restart" Type="Digital" DataType="bool"/>
    93. 

  93. 		<Output Name="c_Safety_PlatingCell1_2_STO_2_EStop_Restart" Address="MAIN.Safety_PlatingCell1_2_STO_2_EStop_Restart" Type="Digital" DataType="bool"/>
    94. 

  94. 		<Output Name="c_Safety_PlatingCell3_4_STO_1_EStop_Restart" Address="MAIN.Safety_PlatingCell3_4_STO_1_EStop_Restart" Type="Digital" DataType="bool"/>
    95. 

  95. 		<Output Name="c_Safety_PlatingCell3_4_STO_2_EStop_Restart" Address="MAIN.Safety_PlatingCell3_4_STO_2_EStop_Restart" Type="Digital" DataType="bool"/>
    96. 

  96. 		<Output Name="c_Safety_Facility_STO_EStop_Restart" Address="MAIN.Safety_Facility_STO_EStop_Restart" Type="Digital" DataType="bool"/>
    97. 

  97. 		<Output Name="c_Safety_SRD_STO_EStop_Restart" Address="MAIN.Safety_SRD_STO_EStop_Restart" Type="Digital" DataType="bool"/>
    98. 

  98. 		<Output Name="c_Safety_ReqAlignerDoorsLock" Address="MAIN.Safety_ReqAlignerDoorsLock" Type="Digital" DataType="bool"/>
    99. 

  99. 		<Output Name="c_Safety_ReqCassetteDoorsLock" Address="MAIN.Safety_ReqCassetteDoorsLock" Type="Digital" DataType="bool"/>
    100. 

  100. 		<Output Name="c_Safety_ReqCell1_2DoorsLock" Address="MAIN.Safety_ReqCell1_2DoorsLock" Type="Digital" DataType="bool"/>
    101. 

  101. 		<Output Name="c_Safety_ReqCell3_4DoorsLock" Address="MAIN.Safety_ReqCell3_4DoorsLock" Type="Digital" DataType="bool"/>
    102. 

  102. 

  103. 		<!-- Safety outputs end -->
    104. 

  104. 		
    105. 

  105. 		<!--VPW Main Start-->
    106. 

  106. 		<Output Name="c_VPW_CHAMBER_CLOSE" Address="MAIN.MOTION_DO_16CHANNEL_EL2809_N401_15" Type="Digital" Invert="true" DataType="bool"/>
    107. 

  107. 		<Output Name="c_VPW_VACUUM_PUMP_POWER" Address="MAIN.VPW_DO_16CHANNEL_EL2809_101_5" Type="Digital" Invert="false" DataType="bool"/>
    108. 

  108. 		<Output Name="c_VPW_DEGAS_PUMP_ENABLE" Address="MAIN.VPW_DO_16CHANNEL_EL2809_101_6" Type="Digital" Invert="false" DataType="bool"/>
    109. 

  109. 		<Output Name="c_VPW_BOOSTER_PUMP_ENABLE" Address="MAIN.VPW_DO_16CHANNEL_EL2809_101_7" Type="Digital" Invert="false" DataType="bool"/>
    110. 

  110. 		<Output Name="c_VPW_VACUUM_PUMP_ENABLE" Address="MAIN.MAIN_IO_RELAY_4CHANNEL_EL2624_N106_1" Type="Digital" Invert="false" DataType="bool"/>
    111. 

  111. 		<Output Name="c_VPW_VACUUM_PUMP_SPEED_ENABLE" Address="MAIN.MAIN_IO_RELAY_4CHANNEL_EL2624_N106_2" Type="Digital" Invert="false" DataType="bool"/>
    112. 

  112. 		<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"/>
    113. 

  113. 		<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"/>
    114. 

  114. 		<Output Name="c_VPW_DIW_ENABLE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
    115. 

  115. 		<Output Name="c_VPW_DIW_PROCESS" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
    116. 

  116. 		<Output Name="c_VPW_DIW_DEGAS" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
    117. 

  117. 		<Output Name="c_VPW_DEGAS_ADJUST" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
    118. 

  118. 		<Output Name="c_VPW_DEGAS_PURGE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
    119. 

  119. 		<!--VPW Main End-->
    120. 

  120. 

  121. 		<!--VPW1 Start-->
    122. 

  122. 		<Output Name="c_VPW_1_FLOW_DRIP" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
    123. 

  123. 		<Output Name="c_VPW_1_FLOW_SMALL" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
    124. 

  124. 		<Output Name="c_VPW_1_FLOW_LARGE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
    125. 

  125. 		<Output Name="c_VPW_1_VACUUM_VALVE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
    126. 

  126. 		<Output Name="c_VPW_1_VENT_VALVE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
    127. 

  127. 		<Output Name="c_VPW_1_DIW_DRAIN" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE2" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
    128. 

  128. 		<!--VPW1 End-->
    129. 

  129. 

  130. 		<!--VPW2 Start-->
    131. 

  131. 		<Output Name="c_VPW_2_FLOW_DRIP" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
    132. 

  132. 		<Output Name="c_VPW_2_FLOW_SMALL" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
    133. 

  133. 		<Output Name="c_VPW_2_FLOW_LARGE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
    134. 

  134. 		<Output Name="c_VPW_2_VACUUM_VALVE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
    135. 

  135. 		<Output Name="c_VPW_2_VENT_VALVE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
    136. 

  136. 		<Output Name="c_VPW_2_DIW_DRAIN" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE2" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
    137. 

  137. 		<!--VPW2 End-->
    138. 

  138. 		<!--////////////////////////////////////////////////// ALL OUTPUTS END //////////////////////////////////////////////////-->
    139. 

  139. 

  140. 		<!--////////////////////////////////////////////////// ALL COUNTERS BEGIN //////////////////////////////////////////////////-->
    141. 

  141. 

  142. 

  143. 		<!--////////////////////////////////////////////////// ALL COUNTERS END //////////////////////////////////////////////////-->
    144. 

  144. 

  145. 		<!--////////////////////////////////////////////////// ALL AXIS BEGIN //////////////////////////////////////////////////-->
    146. 

  146. 

  147. 		<Axis Name="VPW1.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
    148. 

  148. 			<Input Address="MAIN.VPW1RotationStatusWord" Type="StatusWord" DataType="uint"/>
    149. 

  149. 			<Input Address="MAIN.VPW1RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
    150. 

  150. 			<Input Address="MAIN.VPW1RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
    151. 

  151. 			<Input Address="MAIN.VPW1RotationPositionError" Type="PositionError" DataType="dint"/>
    152. 

  152. 			<Input Address="MAIN.VPW1RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
    153. 

  153. 			<Input Address="MAIN.VPW1RotationActualTorque" Type="ActualTorque" DataType="int"/>
    154. 

  154. 			<!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
    155. 

  155. 			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    156. 

  156. 			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    157. 

  157. 			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    158. 

  158. 			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    159. 

  159. 			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    160. 

  160. 			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    161. 

  161. 			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    162. 

  162. 			<Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
    163. 

  163. 			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
    164. 

  164. 			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
    165. 

  165. 			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
    166. 

  166. 			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
    167. 

  167. 			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
    168. 

  168. 			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
    169. 

  169. 			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
    170. 

  170. 

  171. 			<Output Address="MAIN.VPW1RotationControlWord" Type="ControlWord" DataType="uint"/>
    172. 

  172. 			<Output Address="MAIN.VPW1RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
    173. 

  173. 			<Output Address="MAIN.VPW1RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
    174. 

  174. 			<Output Address="MAIN.VPW1RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
    175. 

  175. 			<Output Address="MAIN.VPW1RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
    176. 

  176. 			<Output Address="MAIN.VPW1RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
    177. 

  177. 			<!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
    178. 

  178. 			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    179. 

  179. 			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    180. 

  180. 			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    181. 

  181. 			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    182. 

  182. 			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    183. 

  183. 			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    184. 

  184. 			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    185. 

  185. 			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
    186. 

  186. 			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
    187. 

  187. 

  188. 			<MotorType>Servo</MotorType>
    189. 

  189. 			<MotorDriveDirection>0</MotorDriveDirection>
    190. 

  190. 			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
    191. 

  191. 			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
    192. 

  192. 			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
    193. 

  193. 			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
    194. 

  194. 			<HomeSwitchPolarity>0</HomeSwitchPolarity>
    195. 

  195. 			<HomingMethod>24</HomingMethod>
    196. 

  196. 			<HomeConfig>0</HomeConfig>
    197. 

  197. 			<HomingOffset>0</HomingOffset>
    198. 

  198. 			<HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
    199. 

  199. 			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
    200. 

  200. 			<HomingAccelDecel>10000000</HomingAccelDecel>
    201. 

  201. 			<HomingTimeOut>60000</HomingTimeOut>
    202. 

  202. 			<ProportionalGain>0</ProportionalGain>
    203. 

  203. 			<IntegralGain>0</IntegralGain>
    204. 

  204. 			<DerivativeGain>0</DerivativeGain>
    205. 

  205. 			<IntegralLimit>0</IntegralLimit>
    206. 

  206. 			<ErrorLimit>6766</ErrorLimit>
    207. 

  207. 			<VoltageOffset>0</VoltageOffset>
    208. 

  208. 			<!-- -193 degrees * 169161 = -32648073 -->
    209. 

  209. 			<ReverseSoftwareLimit>0</ReverseSoftwareLimit>
    210. 

  210. 			<!-- 13 degrees * 169161 = 2199093 -->
    211. 

  211. 			<ForwardSoftwareLimit>0</ForwardSoftwareLimit>
    212. 

  212. 			<Speed>360</Speed>
    213. 

  213. 			<Acceleration>1000</Acceleration>
    214. 

  214. 			<Deceleration>1000</Deceleration>
    215. 

  215. 			<Jerk>0</Jerk>
    216. 

  216. 			<FeedforwardVelocity>0</FeedforwardVelocity>
    217. 

  217. 			<FeedforwardAcceleration>0</FeedforwardAcceleration>
    218. 

  218. 			<OffOnError>0</OffOnError>
    219. 

  219. 		</Axis>
    220. 

  220. 		<Axis Name="VPW2.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
    221. 

  221. 			<Input Address="MAIN.VPW2RotationStatusWord" Type="StatusWord" DataType="uint"/>
    222. 

  222. 			<Input Address="MAIN.VPW2RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
    223. 

  223. 			<Input Address="MAIN.VPW2RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
    224. 

  224. 			<Input Address="MAIN.VPW2RotationPositionError" Type="PositionError" DataType="dint"/>
    225. 

  225. 			<Input Address="MAIN.VPW2RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
    226. 

  226. 			<Input Address="MAIN.VPW2RotationActualTorque" Type="ActualTorque" DataType="int"/>
    227. 

  227. 			<!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
    228. 

  228. 			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    229. 

  229. 			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    230. 

  230. 			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    231. 

  231. 			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    232. 

  232. 			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    233. 

  233. 			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    234. 

  234. 			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    235. 

  235. 			<Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
    236. 

  236. 			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
    237. 

  237. 			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
    238. 

  238. 			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
    239. 

  239. 			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
    240. 

  240. 			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
    241. 

  241. 			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
    242. 

  242. 			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
    243. 

  243. 

  244. 			<Output Address="MAIN.VPW2RotationControlWord" Type="ControlWord" DataType="uint"/>
    245. 

  245. 			<Output Address="MAIN.VPW2RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
    246. 

  246. 			<Output Address="MAIN.VPW2RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
    247. 

  247. 			<Output Address="MAIN.VPW2RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
    248. 

  248. 			<Output Address="MAIN.VPW2RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
    249. 

  249. 			<Output Address="MAIN.VPW2RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
    250. 

  250. 			<!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
    251. 

  251. 			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    252. 

  252. 			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    253. 

  253. 			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    254. 

  254. 			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    255. 

  255. 			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    256. 

  256. 			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    257. 

  257. 			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    258. 

  258. 			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
    259. 

  259. 			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
    260. 

  260. 

  261. 			<MotorType>Servo</MotorType>
    262. 

  262. 			<MotorDriveDirection>0</MotorDriveDirection>
    263. 

  263. 			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
    264. 

  264. 			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
    265. 

  265. 			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
    266. 

  266. 			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
    267. 

  267. 			<HomeSwitchPolarity>0</HomeSwitchPolarity>
    268. 

  268. 			<HomingMethod>24</HomingMethod>
    269. 

  269. 			<HomeConfig>0</HomeConfig>
    270. 

  270. 			<HomingOffset>0</HomingOffset>
    271. 

  271. 			<HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
    272. 

  272. 			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
    273. 

  273. 			<HomingAccelDecel>10000000</HomingAccelDecel>
    274. 

  274. 			<HomingTimeOut>60000</HomingTimeOut>
    275. 

  275. 			<ProportionalGain>0</ProportionalGain>
    276. 

  276. 			<IntegralGain>0</IntegralGain>
    277. 

  277. 			<DerivativeGain>0</DerivativeGain>
    278. 

  278. 			<IntegralLimit>0</IntegralLimit>
    279. 

  279. 			<ErrorLimit>6766</ErrorLimit>
    280. 

  280. 			<VoltageOffset>0</VoltageOffset>
    281. 

  281. 			<!-- -193 degrees * 169161 = -32648073 -->
    282. 

  282. 			<ReverseSoftwareLimit>-46180953</ReverseSoftwareLimit>
    283. 

  283. 			<!-- 13 degrees * 169161 = 2199093 -->
    284. 

  284. 			<ForwardSoftwareLimit>2706576</ForwardSoftwareLimit>
    285. 

  285. 			<Speed>15000000</Speed>
    286. 

  286. 			<Acceleration>10000000</Acceleration>
    287. 

  287. 			<Deceleration>10000000</Deceleration>
    288. 

  288. 			<Jerk>0</Jerk>
    289. 

  289. 			<FeedforwardVelocity>0</FeedforwardVelocity>
    290. 

  290. 			<FeedforwardAcceleration>0</FeedforwardAcceleration>
    291. 

  291. 			<OffOnError>0</OffOnError>
    292. 

  292. 		</Axis>
    293. 

  293. 	</Controller>
    294. 

  294. </BeckhoffCfg>
    295. 

  295.