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Beckhoffcfg - plctask.xml

Beckhoffcfg - plctask.xml 15 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. 		<!--VPW Main Start-->
    12. 

  12. 		<Input Name="r_VPW_CHAMBER_CLOSED"  Address="MAIN.VPW_DI_16CHANNEL_EL1819_N100_1" Invert="true" Type="Digital" DataType="bool"/>
    13. 

  13. 		<Input Name="r_VPW_CHAMBER_OPENED"  Address="MAIN.VPW_DI_16CHANNEL_EL1819_N100_2" Invert="true" Type="Digital" DataType="bool"/>
    14. 

  14. 		<Input Name="r_VPW_LEAK_DETECT"  Address="MAIN.VPW_DI_16CHANNEL_EL1819_N100_3" Invert="true" Type="Digital" DataType="bool"/>
    15. 

  15. 		<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"/>
    16. 

  16. 		<Input Name="r_VPW_BOOSTER_PUMP_STATUS"  Address="MAIN.VPW_DI_16CHANNEL_EL1819_N100_9" Invert="true" Type="Digital" DataType="bool"/>
    17. 

  17. 		<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"/>
    18. 

  18. 		<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"/>
    19. 

  19. 		<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"/>
    20. 

  20. 		<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"/>
    21. 

  21. 		<!--VPW Main End-->
    22. 

  22. 

  23. 		<!--VPW1 Start-->
    24. 

  24. 		<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"/>
    25. 

  25. 		<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"/>
    26. 

  26. 		<!--VPW1 End-->
    27. 

  27. 

  28. 		<!--VPW2 Start-->
    29. 

  29. 		<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"/>
    30. 

  30. 		<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"/>
    31. 

  31. 		<!--VPW2 End-->
    32. 

  32. 		<!--////////////////////////////////////////////////// ALL INPUTS END //////////////////////////////////////////////////-->
    33. 

  33. 

  34. 

  35. 		<!--////////////////////////////////////////////////// ALL OUTPUTS BEGIN //////////////////////////////////////////////////-->
    36. 

  36. 		<!--VPW Main Start-->
    37. 

  37. 		<Output Name="c_VPW_CHAMBER_CLOSE" Address="MAIN.MOTION_DO_16CHANNEL_EL2809_N401_15" Type="Digital" Invert="true" DataType="bool"/>
    38. 

  38. 		<Output Name="c_VPW_VACUUM_PUMP_POWER" Address="MAIN.VPW_DO_16CHANNEL_EL2809_101_5" Type="Digital" Invert="false" DataType="bool"/>
    39. 

  39. 		<Output Name="c_VPW_DEGAS_PUMP_ENABLE" Address="MAIN.VPW_DO_16CHANNEL_EL2809_101_6" Type="Digital" Invert="false" DataType="bool"/>
    40. 

  40. 		<Output Name="c_VPW_BOOSTER_PUMP_ENABLE" Address="MAIN.VPW_DO_16CHANNEL_EL2809_101_7" Type="Digital" Invert="false" DataType="bool"/>
    41. 

  41. 		<Output Name="c_VPW_VACUUM_PUMP_ENABLE" Address="MAIN.MAIN_IO_RELAY_4CHANNEL_EL2624_N106_1" Type="Digital" Invert="false" DataType="bool"/>
    42. 

  42. 		<Output Name="c_VPW_VACUUM_PUMP_SPEED_ENABLE" Address="MAIN.MAIN_IO_RELAY_4CHANNEL_EL2624_N106_2" Type="Digital" Invert="false" DataType="bool"/>
    43. 

  43. 		<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"/>
    44. 

  44. 		<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"/>
    45. 

  45. 		<Output Name="c_VPW_DIW_ENABLE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
    46. 

  46. 		<Output Name="c_VPW_DIW_PROCESS" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
    47. 

  47. 		<Output Name="c_VPW_DIW_DEGAS" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
    48. 

  48. 		<Output Name="c_VPW_DEGAS_ADJUST" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
    49. 

  49. 		<Output Name="c_VPW_DEGAS_PURGE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
    50. 

  50. 		<!--VPW Main End-->
    51. 

  51. 

  52. 		<!--VPW1 Start-->
    53. 

  53. 		<Output Name="c_VPW_1_FLOW_DRIP" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="2" DataType="byte"/>
    54. 

  54. 		<Output Name="c_VPW_1_FLOW_SMALL" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
    55. 

  55. 		<Output Name="c_VPW_1_FLOW_LARGE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
    56. 

  56. 		<Output Name="c_VPW_1_VACUUM_VALVE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="3" DataType="byte"/>
    57. 

  57. 		<Output Name="c_VPW_1_VENT_VALVE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
    58. 

  58. 		<Output Name="c_VPW_1_DIW_DRAIN" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE2" Type="Digital" BitOperated="true" Bit="0" DataType="byte"/>
    59. 

  59. 		<!--VPW1 End-->
    60. 

  60. 

  61. 		<!--VPW2 Start-->
    62. 

  62. 		<Output Name="c_VPW_2_FLOW_DRIP" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="5" DataType="byte"/>
    63. 

  63. 		<Output Name="c_VPW_2_FLOW_SMALL" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
    64. 

  64. 		<Output Name="c_VPW_2_FLOW_LARGE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE0" Type="Digital" BitOperated="true" Bit="7" DataType="byte"/>
    65. 

  65. 		<Output Name="c_VPW_2_VACUUM_VALVE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="4" DataType="byte"/>
    66. 

  66. 		<Output Name="c_VPW_2_VENT_VALVE" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE1" Type="Digital" BitOperated="true" Bit="6" DataType="byte"/>
    67. 

  67. 		<Output Name="c_VPW_2_DIW_DRAIN" Address="MAIN.VPW_PNEU_SMC_EX260_BYTE2" Type="Digital" BitOperated="true" Bit="1" DataType="byte"/>
    68. 

  68. 		<!--VPW2 End-->
    69. 

  69. 		<!--////////////////////////////////////////////////// ALL OUTPUTS END //////////////////////////////////////////////////-->
    70. 

  70. 

  71. 		<!--////////////////////////////////////////////////// ALL COUNTERS BEGIN //////////////////////////////////////////////////-->
    72. 

  72. 

  73. 

  74. 		<!--////////////////////////////////////////////////// ALL COUNTERS END //////////////////////////////////////////////////-->
    75. 

  75. 

  76. 		<!--////////////////////////////////////////////////// ALL AXIS BEGIN //////////////////////////////////////////////////-->
    77. 

  77. 

  78. 		<Axis Name="VPW1.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
    79. 

  79. 			<Input Address="MAIN.VPW1RotationStatusWord" Type="StatusWord" DataType="uint"/>
    80. 

  80. 			<Input Address="MAIN.VPW1RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
    81. 

  81. 			<Input Address="MAIN.VPW1RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
    82. 

  82. 			<Input Address="MAIN.VPW1RotationPositionError" Type="PositionError" DataType="dint"/>
    83. 

  83. 			<Input Address="MAIN.VPW1RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
    84. 

  84. 			<Input Address="MAIN.VPW1RotationActualTorque" Type="ActualTorque" DataType="int"/>
    85. 

  85. 			<!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
    86. 

  86. 			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    87. 

  87. 			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    88. 

  88. 			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    89. 

  89. 			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    90. 

  90. 			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    91. 

  91. 			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    92. 

  92. 			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    93. 

  93. 			<Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
    94. 

  94. 			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
    95. 

  95. 			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
    96. 

  96. 			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
    97. 

  97. 			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
    98. 

  98. 			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
    99. 

  99. 			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
    100. 

  100. 			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
    101. 

  101. 

  102. 			<Output Address="MAIN.VPW1RotationControlWord" Type="ControlWord" DataType="uint"/>
    103. 

  103. 			<Output Address="MAIN.VPW1RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
    104. 

  104. 			<Output Address="MAIN.VPW1RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
    105. 

  105. 			<Output Address="MAIN.VPW1RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
    106. 

  106. 			<Output Address="MAIN.VPW1RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
    107. 

  107. 			<Output Address="MAIN.VPW1RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
    108. 

  108. 			<!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
    109. 

  109. 			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    110. 

  110. 			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    111. 

  111. 			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    112. 

  112. 			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    113. 

  113. 			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    114. 

  114. 			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    115. 

  115. 			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    116. 

  116. 			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
    117. 

  117. 			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
    118. 

  118. 

  119. 			<MotorType>Servo</MotorType>
    120. 

  120. 			<MotorDriveDirection>0</MotorDriveDirection>
    121. 

  121. 			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
    122. 

  122. 			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
    123. 

  123. 			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
    124. 

  124. 			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
    125. 

  125. 			<HomeSwitchPolarity>0</HomeSwitchPolarity>
    126. 

  126. 			<HomingMethod>24</HomingMethod>
    127. 

  127. 			<HomeConfig>0</HomeConfig>
    128. 

  128. 			<HomingOffset>0</HomingOffset>
    129. 

  129. 			<HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
    130. 

  130. 			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
    131. 

  131. 			<HomingAccelDecel>10000000</HomingAccelDecel>
    132. 

  132. 			<HomingTimeOut>60000</HomingTimeOut>
    133. 

  133. 			<ProportionalGain>0</ProportionalGain>
    134. 

  134. 			<IntegralGain>0</IntegralGain>
    135. 

  135. 			<DerivativeGain>0</DerivativeGain>
    136. 

  136. 			<IntegralLimit>0</IntegralLimit>
    137. 

  137. 			<ErrorLimit>6766</ErrorLimit>
    138. 

  138. 			<VoltageOffset>0</VoltageOffset>
    139. 

  139. 			<!-- -193 degrees * 169161 = -32648073 -->
    140. 

  140. 			<ReverseSoftwareLimit>-46180953</ReverseSoftwareLimit>
    141. 

  141. 			<!-- 13 degrees * 169161 = 2199093 -->
    142. 

  142. 			<ForwardSoftwareLimit>2706576</ForwardSoftwareLimit>
    143. 

  143. 			<Speed>360</Speed>
    144. 

  144. 			<Acceleration>1000</Acceleration>
    145. 

  145. 			<Deceleration>1000</Deceleration>
    146. 

  146. 			<Jerk>0</Jerk>
    147. 

  147. 			<FeedforwardVelocity>0</FeedforwardVelocity>
    148. 

  148. 			<FeedforwardAcceleration>0</FeedforwardAcceleration>
    149. 

  149. 			<OffOnError>0</OffOnError>
    150. 

  150. 		</Axis>
    151. 

  151. 		<Axis Name="VPW2.Rotation" MotorType="Yaskawa" COEAddress="192.168.0.14.4.1" COEPort="1016" DebugLogging="false">
    152. 

  152. 			<Input Address="MAIN.VPW2RotationStatusWord" Type="StatusWord" DataType="uint"/>
    153. 

  153. 			<Input Address="MAIN.VPW2RotationDigitalInputs" Type="DigitalInputs" DataType="udint"/>
    154. 

  154. 			<Input Address="MAIN.VPW2RotationMotorPosition" Type="MotorPosition" DataType="dint"/>
    155. 

  155. 			<Input Address="MAIN.VPW2RotationPositionError" Type="PositionError" DataType="dint"/>
    156. 

  156. 			<Input Address="MAIN.VPW2RotationActualVelocity" Type="ActualVelocity" DataType="dint"/>
    157. 

  157. 			<Input Address="MAIN.VPW2RotationActualTorque" Type="ActualTorque" DataType="int"/>
    158. 

  158. 			<!-- Input Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
    159. 

  159. 			<Input Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    160. 

  160. 			<Input Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    161. 

  161. 			<Input Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    162. 

  162. 			<Input Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    163. 

  163. 			<Input Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    164. 

  164. 			<Input Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    165. 

  165. 			<Input Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    166. 

  166. 			<Input Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
    167. 

  167. 			<Input Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
    168. 

  168. 			<Input Address="0x6085:00" Type="EStopDecel" DataType="udint"/>
    169. 

  169. 			<Input Address="0x2406:00" Type="EStopTorque" DataType="uint"/>
    170. 

  170. 			<Input Address="0x607F:00" Type="VelocityLimit" DataType="udint"/>
    171. 

  171. 			<Input Address="0x2522:00" Type="PositionWindow" DataType="udint"/>
    172. 

  172. 			<Input Address="0x2520:00" Type="FollowingErrorWindow" DataType="udint"/>
    173. 

  173. 			<Input Address="0x603F:00" Type="ErrorCode" DataType="uint"/>
    174. 

  174. 

  175. 			<Output Address="MAIN.VPW2RotationControlWord" Type="ControlWord" DataType="uint"/>
    176. 

  176. 			<Output Address="MAIN.VPW2RotationModeOfOperation" Type="ModeOfOperation" DataType="byte"/>
    177. 

  177. 			<Output Address="MAIN.VPW2RotationTargetPosition" Type="TargetPosition" DataType="dint"/>
    178. 

  178. 			<Output Address="MAIN.VPW2RotationProfileVelocity" Type="ProfileVelocity" DataType="dint"/>
    179. 

  179. 			<Output Address="MAIN.VPW2RotationProfileAccel" Type="ProfileAccel" DataType="dint"/>
    180. 

  180. 			<Output Address="MAIN.VPW2RotationProfileDecel" Type="ProfileDecel" DataType="dint"/>
    181. 

  181. 			<!-- Output Address="MAIN.Loader1Rotation_DigitalOutputs" Type="DigitalOutputs" DataType="dint"/ -->
    182. 

  182. 			<Output Address="0x607D:01" Type="SoftwareLimitMinus" DataType="dint"/>
    183. 

  183. 			<Output Address="0x607D:02" Type="SoftwareLimitPlus" DataType="dint"/>
    184. 

  184. 			<Output Address="0x607C:00" Type="HomeOffset" DataType="dint"/>
    185. 

  185. 			<Output Address="0x6098:00" Type="HomingMethod" DataType="byte"/>
    186. 

  186. 			<Output Address="0x6099:01" Type="HomingVelocity" DataType="dint"/>
    187. 

  187. 			<Output Address="0x6099:02" Type="HomingVelocitySlow" DataType="dint"/>
    188. 

  188. 			<Output Address="0x609A:00" Type="HomingAccel" DataType="dint"/>
    189. 

  189. 			<Output Address="0x2403:00" Type="NegativeTorqueLimit" DataType="uint"/>
    190. 

  190. 			<Output Address="0x2402:00" Type="PositiveTorqueLimit" DataType="uint"/>
    191. 

  191. 

  192. 			<MotorType>Servo</MotorType>
    193. 

  193. 			<MotorDriveDirection>0</MotorDriveDirection>
    194. 

  194. 			<EncoderFeedbackDirectionMValue>0</EncoderFeedbackDirectionMValue>
    195. 

  195. 			<EncoderFeedbackDirectionNValue>0</EncoderFeedbackDirectionNValue>
    196. 

  196. 			<ReverseLimitSwitchPolarity>0</ReverseLimitSwitchPolarity>
    197. 

  197. 			<ForwardLimitSwitchPolarity>0</ForwardLimitSwitchPolarity>
    198. 

  198. 			<HomeSwitchPolarity>0</HomeSwitchPolarity>
    199. 

  199. 			<HomingMethod>24</HomingMethod>
    200. 

  200. 			<HomeConfig>0</HomeConfig>
    201. 

  201. 			<HomingOffset>0</HomingOffset>
    202. 

  202. 			<HomingSpeedHomeSwitch>1500000</HomingSpeedHomeSwitch>
    203. 

  203. 			<HomingSpeedEncoderIndex>0</HomingSpeedEncoderIndex>
    204. 

  204. 			<HomingAccelDecel>10000000</HomingAccelDecel>
    205. 

  205. 			<HomingTimeOut>60000</HomingTimeOut>
    206. 

  206. 			<ProportionalGain>0</ProportionalGain>
    207. 

  207. 			<IntegralGain>0</IntegralGain>
    208. 

  208. 			<DerivativeGain>0</DerivativeGain>
    209. 

  209. 			<IntegralLimit>0</IntegralLimit>
    210. 

  210. 			<ErrorLimit>6766</ErrorLimit>
    211. 

  211. 			<VoltageOffset>0</VoltageOffset>
    212. 

  212. 			<!-- -193 degrees * 169161 = -32648073 -->
    213. 

  213. 			<ReverseSoftwareLimit>-46180953</ReverseSoftwareLimit>
    214. 

  214. 			<!-- 13 degrees * 169161 = 2199093 -->
    215. 

  215. 			<ForwardSoftwareLimit>2706576</ForwardSoftwareLimit>
    216. 

  216. 			<Speed>15000000</Speed>
    217. 

  217. 			<Acceleration>10000000</Acceleration>
    218. 

  218. 			<Deceleration>10000000</Deceleration>
    219. 

  219. 			<Jerk>0</Jerk>
    220. 

  220. 			<FeedforwardVelocity>0</FeedforwardVelocity>
    221. 

  221. 			<FeedforwardAcceleration>0</FeedforwardAcceleration>
    222. 

  222. 			<OffOnError>0</OffOnError>
    223. 

  223. 		</Axis>
    224. 

  224. 	</Controller>
    225. 

  225. </BeckhoffCfg>
    226. 

  226.