diff --git a/TC_Robot_Contro_System/POUs/MAIN.TcPOU b/TC_Robot_Contro_System/POUs/MAIN.TcPOU index f799355..8af313c 100644 --- a/TC_Robot_Contro_System/POUs/MAIN.TcPOU +++ b/TC_Robot_Contro_System/POUs/MAIN.TcPOU @@ -234,9 +234,12 @@ END_IF]]> // ====================机器人驱动重置========================= IF Robot_Reset THEN IF Reset_Execute THEN - Axis_Reset[Axis_Number] := TRUE; FOR Axis_Number := 1 TO 18 {BY 1} DO - Axis_Robot[Axis_Number].Reset(Drive_Reset:= Axis_Reset[Axis_Number]); + Axis_Robot[Axis_Number].Reset(Drive_Reset:= TRUE); + END_FOR + ELSE + FOR Axis_Number := 1 TO 18 {BY 1} DO + Axis_Robot[Axis_Number].Reset(Drive_Reset:= FALSE); END_FOR END_IF END_IF @@ -480,7 +483,10 @@ Current_Turque_Filter := Filter_Current.stOutput.Current_Monitor;]]> - + + + + diff --git a/TC_Robot_Contro_System/TC_Robot_Contro_System.tmc b/TC_Robot_Contro_System/TC_Robot_Contro_System.tmc index 4fd743a..03dc4dc 100644 --- a/TC_Robot_Contro_System/TC_Robot_Contro_System.tmc +++ b/TC_Robot_Contro_System/TC_Robot_Contro_System.tmc @@ -1,2490 +1,6 @@ - - - - - T_AmsNetID - - 192 - STRING(23) - - - _ST_NCADS_IDXOFFS_AxisParameter - 1504 - - PARAMSTRUCT - UDINT - 32 - 0 - - 0 - - - - ID - UDINT - 32 - 32 - - 1 - - - - NAME - UDINT - 32 - 64 - - 2 - - - - AXISTYPE - UDINT - 32 - 96 - - 3 - - - - CYCLETIME - UDINT - 32 - 128 - - 4 - - - - UNITNAME - UDINT - 32 - 160 - - 5 - - - - VELOREFSEARCH - UDINT - 32 - 192 - - 6 - - - - VELOSYNCSEARCH - UDINT - 32 - 224 - - 7 - - - - VELOSLOWMANUAL - UDINT - 32 - 256 - - 8 - - - - VELOFASTMANUAL - UDINT - 32 - 288 - - 9 - - - - VELOFAST - UDINT - 32 - 320 - - 10 - - - - POSAREAENABLE - UDINT - 32 - 352 - - 15 - - - - POSAREARANGE - UDINT - 32 - 384 - - 16 - - - - MOTCNTRLENABLE - UDINT - 32 - 416 - - 17 - - - - MOTCNTRLTIME - UDINT - 32 - 448 - - 18 - - - - LOOPENABLE - UDINT - 32 - 480 - - 19 - - - - LOOPDISTANCE - UDINT - 32 - 512 - - 20 - - - - TARGETPOSENA - UDINT - 32 - 544 - - 21 - - - - TARGETPOSRANGE - UDINT - 32 - 576 - - 22 - - - - TARGETPOSTIME - UDINT - 32 - 608 - - 23 - - - - PULSDISTPOS - UDINT - 32 - 640 - - 24 - - - - PULSDISTNEG - UDINT - 32 - 672 - - 25 - - - - FASTAXISSTOPSIGNALTYPE - UDINT - 32 - 704 - - 30 - - - - UNITFLAGS - UDINT - 32 - 736 - - 38 - - - - VELOMAXIMUM - UDINT - 32 - 768 - - 39 - - - - MOTCNTRLRANGE - UDINT - 32 - 800 - - 40 - - - - PEHCONTROLENA - UDINT - 32 - 832 - - 41 - - - - PEHCONTROLTIME - UDINT - 32 - 864 - - 42 - - - - BACKLASHCOMPENA - UDINT - 32 - 896 - - 43 - - - - BACKLASH - UDINT - 32 - 928 - - 44 - - - - DATAPERSISTENCE - UDINT - 32 - 960 - - 48 - - - - HWAMSADDR - UDINT - 32 - 992 - - 49 - - - - HWCHNNO - UDINT - 32 - 1024 - - 50 - - - - APPLICATIONREQUEST - UDINT - 32 - 1056 - - 51 - - - - ACC - UDINT - 32 - 1088 - - 257 - - - - DEC - UDINT - 32 - 1120 - - 258 - - - - JERK - UDINT - 32 - 1152 - - 259 - - - - DELAY - UDINT - 32 - 1184 - - 260 - - - - OVERRIDETYPE - UDINT - 32 - 1216 - - 261 - - - - VELOJUMPFACTOR - UDINT - 32 - 1248 - - 262 - - - - REDUCTIONFEEDBACK - UDINT - 32 - 1280 - - 263 - - - - TOLERANCEBALLAUXAXIS - UDINT - 32 - 1312 - - 264 - - - - MAXPOSDEVIATIONAUXAXIS - UDINT - 32 - 1344 - - 265 - - - - FASTACC - UDINT - 32 - 1376 - - 266 - - - - FASTDEC - UDINT - 32 - 1408 - - 267 - - - - FASTJERK - UDINT - 32 - 1440 - - 268 - - - - REF_POS - UDINT - 32 - 1472 - - 65795 - - - - - hide - - - - - _ST_NCADS_AxisParameter - 1536 - - IDXGRP - UDINT - 32 - 0 - - 16384 - - - - IDXOFFS - _ST_NCADS_IDXOFFS_AxisParameter - 1504 - 32 - - - - hide - - - - - _ST_NCADS_IDXOFFS_AxisState - 800 - - ONLINESTRUCT - UDINT - 32 - 0 - - 0 - - - - ERROR - UDINT - 32 - 32 - - 1 - - - - SETTASKCYCLE - UDINT - 32 - 64 - - 9 - - - - SETPOS - UDINT - 32 - 96 - - 10 - - - - SETVELO - UDINT - 32 - 128 - - 14 - - - - SETACC - UDINT - 32 - 160 - - 15 - - - - MODULOSETPOS - UDINT - 32 - 192 - - 11 - - - - MODULOSETTURNS - UDINT - 32 - 224 - - 12 - - - - SETDIR - UDINT - 32 - 256 - - 13 - - - - TARGETPOSITION - UDINT - 32 - 288 - - 19 - - - - REMAININGTIMEANDPOS - UDINT - 32 - 320 - - 20 - - - - STOPINFORMATION - UDINT - 32 - 352 - - 24 - - - - SETTASKCYCLE_WITHOUTCORR - UDINT - 32 - 384 - - 25 - - - - SETPOS_WITHOUTCORR - UDINT - 32 - 416 - - 26 - - - - SETVELO_WITHOUTCORR - UDINT - 32 - 448 - - 30 - - - - SETACC_WITHOUTCORR - UDINT - 32 - 480 - - 31 - - - - SETDIR_WITHOUTCORR - UDINT - 32 - 512 - - 29 - - - - COUPLESTATE - UDINT - 32 - 544 - - 32 - - - - CPLPARAMS - UDINT - 32 - 576 - - 34 - - - - CPLFACTOR - UDINT - 32 - 608 - - 35 - - - - AXISCTRLLOOPIDX - UDINT - 32 - 640 - - 36 - - - - AXISSETPOINTGENIDX - UDINT - 32 - 672 - - 37 - - - - CPLCHARACVALUES - UDINT - 32 - 704 - - 38 - - - - CAMINFO - UDINT - 32 - 736 - - 39 - - - - CAMSTATUS - UDINT - 32 - 768 - - 40 - - - - - hide - - - - - _ST_NCADS_AxisState - 832 - - IDXGRP - UDINT - 32 - 0 - - 16640 - - - - IDXOFFS - _ST_NCADS_IDXOFFS_AxisState - 800 - 32 - - - - hide - - - - - _ST_NCADS_IDXOFFS_AxisFunctions - 1728 - - RESET - UDINT - 32 - 0 - - 1 - - - - STOP - UDINT - 32 - 32 - - 2 - - - - CLEAR - UDINT - 32 - 64 - - 3 - - - - EMERGENCYSTOP - UDINT - 32 - 96 - - 4 - - - - PARAMETRIZEDSTOP - UDINT - 32 - 128 - - 5 - - - - INITIALIZE - UDINT - 32 - 160 - - 7 - - - - ORIENTEDSTOP - UDINT - 32 - 192 - - 9 - - - - CALIBR - UDINT - 32 - 224 - - 16 - - - - NEWTARGPOS - UDINT - 32 - 256 - - 17 - - - - NEWTARGPOSANDVELO - UDINT - 32 - 288 - - 18 - - - - CHANGEDYNAMICPARAM - UDINT - 32 - 320 - - 21 - - - - UNIVERSALSTART - UDINT - 32 - 352 - - 22 - - - - SLAVEUNIVERSALSTART - UDINT - 32 - 384 - - 23 - - - - SETEXTERNALERROR - UDINT - 32 - 416 - - 25 - - - - SETPOS - UDINT - 32 - 448 - - 26 - - - - SETCALFLAG - UDINT - 32 - 480 - - 27 - - - - SETACTPOS - UDINT - 32 - 512 - - 28 - - - - SETDRIVEPOS - UDINT - 32 - 544 - - 29 - - - - SETENCODERSCALING - UDINT - 32 - 576 - - 30 - - - - SETPOSONTHEFLY - UDINT - 32 - 608 - - 31 - - - - START - UDINT - 32 - 640 - - 32 - - - - STARTEXT - UDINT - 32 - 672 - - 33 - - - - STARTVELOCHANGE - UDINT - 32 - 704 - - 34 - - - - ENABLEEXTGEN - UDINT - 32 - 736 - - 35 - - - - DISABLEEXTGEN - UDINT - 32 - 768 - - 36 - - - - REVERSINGSEQUENCE - UDINT - 32 - 800 - - 37 - - - - STARTDRVOUT - UDINT - 32 - 832 - - 38 - - - - STOPDRVOUT - UDINT - 32 - 864 - - 39 - - - - CHANGEDRVOUT - UDINT - 32 - 896 - - 40 - - - - JUMPTOOVERRIDE - UDINT - 32 - 928 - - 41 - - - - EXTSETGENUNIVERSALSTART - UDINT - 32 - 960 - - 43 - - - - STARTSCOM - UDINT - 32 - 992 - - 48 - - - - STOPSCOM - UDINT - 32 - 1024 - - 49 - - - - PHASINGREQEUST - UDINT - 32 - 1056 - - 52 - - - - CPL - UDINT - 32 - 1088 - - 64 - - - - DECPL - UDINT - 32 - 1120 - - 65 - - - - CPLCHANGE - UDINT - 32 - 1152 - - 66 - - - - TABCPLCHANGE - UDINT - 32 - 1184 - - 67 - - - - STOPSLAVE - UDINT - 32 - 1216 - - 68 - - - - CPLTAB - UDINT - 32 - 1248 - - 69 - - - - TABSLVACTIVCOR - UDINT - 32 - 1280 - - 70 - - - - TABSLVLEAVECYC - UDINT - 32 - 1312 - - 71 - - - - TABSLVCOROFFSET - UDINT - 32 - 1344 - - 72 - - - - TABSLVSCALING - UDINT - 32 - 1376 - - 73 - - - - CPLSOLOTAB - UDINT - 32 - 1408 - - 74 - - - - CPLSYNCHRONIZING - UDINT - 32 - 1440 - - 75 - - - - CAMSCALING - UDINT - 32 - 1472 - - 77 - - - - DISABLE - UDINT - 32 - 1504 - - 80 - - - - ENABLE - UDINT - 32 - 1536 - - 81 - - - - CHANGEAXISCTRLLOOP - UDINT - 32 - 1568 - - 82 - - - - DRIVEDISABLE - UDINT - 32 - 1600 - - 96 - - - - DRIVEENABLE - UDINT - 32 - 1632 - - 97 - - - - RELEASEBRAKE - UDINT - 32 - 1664 - - 98 - - - - RECONFIGURATE - UDINT - 32 - 1696 - - 112 - - - - - hide - - - - - _ST_NCADS_AxisFunctions - 1760 - - IDXGRP - UDINT - 32 - 0 - - 16896 - - - - IDXOFFS - _ST_NCADS_IDXOFFS_AxisFunctions - 1728 - 32 - - - - hide - - - - - _ST_NCADS_Axis - 4128 - - Parameter - _ST_NCADS_AxisParameter - 1536 - 0 - - - State - _ST_NCADS_AxisState - 832 - 1536 - - - Functions - _ST_NCADS_AxisFunctions - 1760 - 2368 - - - - hide - - - - - _ST_NCADS_IDXOFFS_TableParameter - 192 - - MFREADCHARACVALUES - UDINT - 32 - 0 - - 80 - - - - WRITETABROWS - UDINT - 32 - 32 - - 16777216 - - - - WRITEMFTABROWS - UDINT - 32 - 64 - - 83886080 - - - - MFREADTAB - UDINT - 32 - 96 - - 34 - - - - READSLAVEDYNAMICS - UDINT - 32 - 128 - - 35 - - - - READMASTERPOSITION - UDINT - 32 - 160 - - 36 - - - - - hide - - - - - _ST_NCADS_TableParameter - 224 - - IDXGRP - UDINT - 32 - 0 - - 40960 - - - - IDXOFFS - _ST_NCADS_IDXOFFS_TableParameter - 192 - 32 - - - - hide - - - - - _ST_NCADS_IDXOFFS_TableFunctions - 96 - - CREATETAB - UDINT - 32 - 0 - - 65536 - - - - CREATEMOTIONTAB - UDINT - 32 - 32 - - 65552 - - - - DELETETAB - UDINT - 32 - 64 - - 131072 - - - - - hide - - - - - _ST_NCADS_TableFunctions - 128 - - IDXGRP - UDINT - 32 - 0 - - 41472 - - - - IDXOFFS - _ST_NCADS_IDXOFFS_TableFunctions - 96 - 32 - - - - hide - - - - - _ST_NCADS_Table - 352 - - Parameter - _ST_NCADS_TableParameter - 224 - 0 - - - Functions - _ST_NCADS_TableFunctions - 128 - 224 - - - - hide - - - - - T_AmsPort - - 16 - UINT - - - ADSRDDEVINFO - - 1280 - - NETID - T_AmsNetID - - 192 - 32 - - - ItemType - Input - - - - - PORT - T_AmsPort - - 16 - 224 - - - ItemType - Input - - - - - RDINFO - BOOL - - 8 - 240 - - - ItemType - Input - - - - - TMOUT - TIME - - 32 - 256 - - 5000 - - - - ItemType - Input - - - - - BUSY - BOOL - - 8 - 288 - - - ItemType - Output - - - - - ERR - BOOL - - 8 - 296 - - - ItemType - Output - - - - - ERRID - UDINT - - 32 - 320 - - - ItemType - Output - - - - - DEVNAME - STRING(19) - - 160 - 352 - - - ItemType - Output - - - - - DEVVER - UDINT - - 32 - 512 - - - ItemType - Output - - - - - - PouType - FunctionBlock - - - hide_all_locals - - - - - _TCMCGLOBAL - 6752 - - NCPORT_TCMC - UINT - 16 - 32 - - 500 - - - - ItemType - Input - - - - - NCPORT_TCMC_COUPLING - UINT - 16 - 48 - - 500 - - - - ItemType - Input - - - - - NCNETID_TCMC - T_AmsNetID - 192 - 64 - - - - - - ItemType - Input - - - - - NCPORT_TCMC_CAM - UINT - 16 - 256 - - 500 - - - - ItemType - Input - - - - - NCPORT_TCMC_CAM_FAST - UINT - 16 - 272 - - 500 - - - - ItemType - Input - - - - - NCNETID_TCMC_CAM - T_AmsNetID - 192 - 288 - - - - - - ItemType - Input - - - - - NCPORT_TCMC_SUPERPOSITION - UINT - 16 - 480 - - 501 - - - - ItemType - Input - - - - - NcDeviceInfoTcMainVersion - DWORD - 32 - 512 - - - ItemType - Output - - - - - NcDeviceInfoTcSubVersion - DWORD - 32 - 544 - - - ItemType - Output - - - - - NcDeviceInfoNcDriverVersion - DWORD - 32 - 576 - - - ItemType - Output - - - - - NcDeviceInfoNcVersion - DWORD - 32 - 608 - - - ItemType - Output - - - - - NcDeviceInfoNcName - STRING(19) - 160 - 640 - - - ItemType - Output - - - - - Axis - _ST_NCADS_Axis - 4128 - 800 - - - suppress_warning_0 - C0228 - - - - - Table - _ST_NCADS_Table - 352 - 4928 - - - suppress_warning_0 - C0228 - - - - - NCPORT_TCNCCAMMING_TABLEFUNCTION - UINT - 16 - 5280 - - 500 - - - - tTargetPosTimeOut - TIME - 32 - 5312 - - 6000 - - - - tADSTimeOut - TIME - 32 - 5344 - - 1000 - - - - tStopMonitoringTimeOut - TIME - 32 - 5376 - - 100 - - - - NCTOPLC_FEEDBACK_MAXWAITCYCLES - INT - 16 - 5408 - - 10 - - - - fbADSRDDEVINFO - ADSRDDEVINFO - 1280 - 5440 - - - DeviceVersion - DWORD - 32 - 6720 - - - ReadDeviceInfo - - - - PouType - FunctionBlock - - - hide - - - - - E_WATCHDOG_TIME_CONFIG - 16 - INT - - eWATCHDOG_TIME_DISABLED - 0 - - - eWATCHDOG_TIME_SECONDS - 1 - - - eWATCHDOG_TIME_MINUTES - 2 - - - - R_TRIG - T_AmsNetID192STRING(23)_ST_NCADS_IDXOFFS_AxisParameter1504PARAMSTRUCTUDINT3200IDUDINT32321NAMEUDINT32642AXISTYPEUDINT32963CYCLETIMEUDINT321284UNITNAMEUDINT321605VELOREFSEARCHUDINT321926VELOSYNCSEARCHUDINT322247VELOSLOWMANUALUDINT322568VELOFASTMANUALUDINT322889VELOFASTUDINT3232010POSAREAENABLEUDINT3235215POSAREARANGEUDINT3238416MOTCNTRLENABLEUDINT3241617MOTCNTRLTIMEUDINT3244818LOOPENABLEUDINT3248019LOOPDISTANCEUDINT3251220TARGETPOSENAUDINT3254421TARGETPOSRANGEUDINT3257622TARGETPOSTIMEUDINT3260823PULSDISTPOSUDINT3264024PULSDISTNEGUDINT3267225FASTAXISSTOPSIGNALTYPEUDINT3270430UNITFLAGSUDINT3273638VELOMAXIMUMUDINT3276839MOTCNTRLRANGEUDINT3280040PEHCONTROLENAUDINT3283241PEHCONTROLTIMEUDINT3286442BACKLASHCOMPENAUDINT3289643BACKLASHUDINT3292844DATAPERSISTENCEUDINT3296048HWAMSADDRUDINT3299249HWCHNNOUDINT32102450APPLICATIONREQUESTUDINT32105651ACCUDINT321088257DECUDINT321120258JERKUDINT321152259DELAYUDINT321184260OVERRIDETYPEUDINT321216261VELOJUMPFACTORUDINT321248262REDUCTIONFEEDBACKUDINT321280263TOLERANCEBALLAUXAXISUDINT321312264MAXPOSDEVIATIONAUXAXISUDINT321344265FASTACCUDINT321376266FASTDECUDINT321408267FASTJERKUDINT321440268REF_POSUDINT32147265795hide_ST_NCADS_AxisParameter1536IDXGRPUDINT32016384IDXOFFS_ST_NCADS_IDXOFFS_AxisParameter150432hide_ST_NCADS_IDXOFFS_AxisState800ONLINESTRUCTUDINT3200ERRORUDINT32321SETTASKCYCLEUDINT32649SETPOSUDINT329610SETVELOUDINT3212814SETACCUDINT3216015MODULOSETPOSUDINT3219211MODULOSETTURNSUDINT3222412SETDIRUDINT3225613TARGETPOSITIONUDINT3228819REMAININGTIMEANDPOSUDINT3232020STOPINFORMATIONUDINT3235224SETTASKCYCLE_WITHOUTCORRUDINT3238425SETPOS_WITHOUTCORRUDINT3241626SETVELO_WITHOUTCORRUDINT3244830SETACC_WITHOUTCORRUDINT3248031SETDIR_WITHOUTCORRUDINT3251229COUPLESTATEUDINT3254432CPLPARAMSUDINT3257634CPLFACTORUDINT3260835AXISCTRLLOOPIDXUDINT3264036AXISSETPOINTGENIDXUDINT3267237CPLCHARACVALUESUDINT3270438CAMINFOUDINT3273639CAMSTATUSUDINT3276840hide_ST_NCADS_AxisState832IDXGRPUDINT32016640IDXOFFS_ST_NCADS_IDXOFFS_AxisState80032hide_ST_NCADS_IDXOFFS_AxisFunctions1728RESETUDINT3201STOPUDINT32322CLEARUDINT32643EMERGENCYSTOPUDINT32964PARAMETRIZEDSTOPUDINT321285INITIALIZEUDINT321607ORIENTEDSTOPUDINT321929CALIBRUDINT3222416NEWTARGPOSUDINT3225617NEWTARGPOSANDVELOUDINT3228818CHANGEDYNAMICPARAMUDINT3232021UNIVERSALSTARTUDINT3235222SLAVEUNIVERSALSTARTUDINT3238423SETEXTERNALERRORUDINT3241625SETPOSUDINT3244826SETCALFLAGUDINT3248027SETACTPOSUDINT3251228SETDRIVEPOSUDINT3254429SETENCODERSCALINGUDINT3257630SETPOSONTHEFLYUDINT3260831STARTUDINT3264032STARTEXTUDINT3267233STARTVELOCHANGEUDINT3270434ENABLEEXTGENUDINT3273635DISABLEEXTGENUDINT3276836REVERSINGSEQUENCEUDINT3280037STARTDRVOUTUDINT3283238STOPDRVOUTUDINT3286439CHANGEDRVOUTUDINT3289640JUMPTOOVERRIDEUDINT3292841EXTSETGENUNIVERSALSTARTUDINT3296043STARTSCOMUDINT3299248STOPSCOMUDINT32102449PHASINGREQEUSTUDINT32105652CPLUDINT32108864DECPLUDINT32112065CPLCHANGEUDINT32115266TABCPLCHANGEUDINT32118467STOPSLAVEUDINT32121668CPLTABUDINT32124869TABSLVACTIVCORUDINT32128070TABSLVLEAVECYCUDINT32131271TABSLVCOROFFSETUDINT32134472TABSLVSCALINGUDINT32137673CPLSOLOTABUDINT32140874CPLSYNCHRONIZINGUDINT32144075CAMSCALINGUDINT32147277DISABLEUDINT32150480ENABLEUDINT32153681CHANGEAXISCTRLLOOPUDINT32156882DRIVEDISABLEUDINT32160096DRIVEENABLEUDINT32163297RELEASEBRAKEUDINT32166498RECONFIGURATEUDINT321696112hide_ST_NCADS_AxisFunctions1760IDXGRPUDINT32016896IDXOFFS_ST_NCADS_IDXOFFS_AxisFunctions172832hide_ST_NCADS_Axis4128Parameter_ST_NCADS_AxisParameter15360State_ST_NCADS_AxisState8321536Functions_ST_NCADS_AxisFunctions17602368hide_ST_NCADS_IDXOFFS_TableParameter192MFREADCHARACVALUESUDINT32080WRITETABROWSUDINT323216777216WRITEMFTABROWSUDINT326483886080MFREADTABUDINT329634READSLAVEDYNAMICSUDINT3212835READMASTERPOSITIONUDINT3216036hide_ST_NCADS_TableParameter224IDXGRPUDINT32040960IDXOFFS_ST_NCADS_IDXOFFS_TableParameter19232hide_ST_NCADS_IDXOFFS_TableFunctions96CREATETABUDINT32065536CREATEMOTIONTABUDINT323265552DELETETABUDINT3264131072hide_ST_NCADS_TableFunctions128IDXGRPUDINT32041472IDXOFFS_ST_NCADS_IDXOFFS_TableFunctions9632hide_ST_NCADS_Table352Parameter_ST_NCADS_TableParameter2240Functions_ST_NCADS_TableFunctions128224hideT_AmsPort16UINTADSRDDEVINFO1280NETIDT_AmsNetID19232ItemTypeInputPORTT_AmsPort16224ItemTypeInputRDINFOBOOL8240ItemTypeInputTMOUTTIME322565000ItemTypeInputBUSYBOOL8288ItemTypeOutputERRBOOL8296ItemTypeOutputERRIDUDINT32320ItemTypeOutputDEVNAMESTRING(19)160352ItemTypeOutputDEVVERUDINT32512ItemTypeOutputPouTypeFunctionBlockhide_all_locals_TCMCGLOBAL6752NCPORT_TCMCUINT1632500ItemTypeInputNCPORT_TCMC_COUPLINGUINT1648500ItemTypeInputNCNETID_TCMCT_AmsNetID19264ItemTypeInputNCPORT_TCMC_CAMUINT16256500ItemTypeInputNCPORT_TCMC_CAM_FASTUINT16272500ItemTypeInputNCNETID_TCMC_CAMT_AmsNetID192288ItemTypeInputNCPORT_TCMC_SUPERPOSITIONUINT16480501ItemTypeInputNcDeviceInfoTcMainVersionDWORD32512ItemTypeOutputNcDeviceInfoTcSubVersionDWORD32544ItemTypeOutputNcDeviceInfoNcDriverVersionDWORD32576ItemTypeOutputNcDeviceInfoNcVersionDWORD32608ItemTypeOutputNcDeviceInfoNcNameSTRING(19)160640ItemTypeOutputAxis_ST_NCADS_Axis4128800suppress_warning_0C0228Table_ST_NCADS_Table3524928suppress_warning_0C0228NCPORT_TCNCCAMMING_TABLEFUNCTIONUINT165280500tTargetPosTimeOutTIME3253126000tADSTimeOutTIME3253441000tStopMonitoringTimeOutTIME325376100NCTOPLC_FEEDBACK_MAXWAITCYCLESINT16540810fbADSRDDEVINFOADSRDDEVINFO12805440DeviceVersionDWORD326720ReadDeviceInfoPouTypeFunctionBlockhideE_WATCHDOG_TIME_CONFIG16INTeWATCHDOG_TIME_DISABLED0eWATCHDOG_TIME_SECONDS1eWATCHDOG_TIME_MINUTES2R_TRIG - 64 - - CLK - BOOL - - 8 - 32 - - - ItemType - Input - - - - - Q - BOOL - - 8 - 40 - - - ItemType - Output - - - - - - PouType - FunctionBlock - - - hide_all_locals - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - 64CLKBOOL832ItemTypeInputQBOOL840ItemTypeOutputPouTypeFunctionBlockhide_all_localsPLCTONC_AXIS_REF_CTRL32EnableBIT10FeedEnablePlusBIT11FeedEnableMinusBIT12HomingSensorBIT15AcceptBlockedDriveBIT18PlcDebugFlagBIT130NcDebugFlagBIT131%08x0x%08x16#%08XPLCTONC_AXIS_REF1024ControlDWordPLCTONC_AXIS_REF_CTRL320OverrideUDINT3232AxisModeRequestUDINT3264AxisModeDWordUDINT3296AxisModeLRealLREAL64128PositionCorrectionLREAL64192ExtSetPosLREAL64256ExtSetVeloLREAL64320ExtSetAccLREAL64384ExtSetDirectionDINT32448ExtControllerOutputLREAL64512GearRatio1LREAL64576GearRatio2LREAL64640GearRatio3LREAL64704GearRatio4LREAL64768MapStateBOOL8832PlcCycleControlBYTE8840PlcCycleCountBYTE8848NcStructType1NCAXLESTRUCT_FROMPLC3NCTOPLC_AXIS_REF_STATE32OperationalBIT10HomedBIT11NotMovingBIT12InPositionAreaBIT13InTargetPositionBIT14ProtectedBIT15ErrorPropagationDelayedBIT16HasBeenStoppedBIT17HasJobBIT18PositiveDirectionBIT19NegativeDirectionBIT110HomingBusyBIT111ConstantVelocityBIT112CompensatingBIT113ExtSetPointGenEnabledBIT114PhasingActiveBIT115ExternalLatchValidBIT116NewTargetPosBIT117ContinuousMotionBIT119ControlLoopClosedBIT120CamTableQueuedBIT121CamDataQueuedBIT122CamScalingPendingBIT123CmdBufferedBIT124PTPmodeBIT125SoftLimitMinExceededBIT126SoftLimitMaxExceededBIT127DriveDeviceErrorBIT128MotionCommandsLockedBIT129IoDataInvalidBIT130ErrorBIT131%08x0x%08x16#%08XNCTOPLC_AXIS_REF_OPMODE32OpModePosAreaMonitoringBIT10OpModeTargetPosMonitoringBIT11OpModeLoopBIT12OpModeMotionMonitoringBIT13OpModePEHTimeMonitoringBIT14OpModeBacklashCompensationBIT15OpModeDelayedErrorReactionBIT16OpModeModuloBIT17OpModeSimulationAxisBIT18OpModePosLagMonitoringBIT116OpModeVeloLagMonitoringBIT117OpModeSoftLimitMinMonitoringBIT118OpModeSoftLimitMaxMonitoringBIT119OpModePosCorrectionBIT120OpModeAllowSlaveCommandsBIT121OpModeAllowExtSetAxisCommandsBIT122ApplicationRequestBIT123NCTOPLC_AXIS_REF_STATE2_FLAGS32AvoidingCollisionBIT10%08x0x%08x16#%08XNCTOPLC_AXIS_REF_STATE232ValueDWORD320FlagsNCTOPLC_AXIS_REF_STATE2_FLAGS320%08x0x%08x16#%08XNCTOPLC_AXIS_REF_CAMCOUPLINGSTATE8CamActivationPendingBIT10CamDeactivationPendingBIT11CamActiveBIT12CamDataQueuedBIT16CamScalingPendingBIT17UINTARR8128UINT08NCTOPLC_AXIS_REF2048StateDWordNCTOPLC_AXIS_REF_STATE320ErrorCodeUDINT3232AxisStateUDINT - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - 3264AxisModeConfirmationUDINT3296HomingStateUDINT - 32 - 128 - - - CoupleState - UDINT - 32128CoupleStateUDINT - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - DWORD - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - - - - ST_AdsAddress - 224 - - NetId - STRING(23) - 192 - 0 - - - Port - UINT - 16 - 192 - - - Channel - UINT - 16 - 208 - - - - MC_AxisStates - 16 - INT - - MC_AXISSTATE_UNDEFINED - 0 - - - MC_AXISSTATE_DISABLED - 1 - - - MC_AXISSTATE_STANDSTILL - 2 - - - MC_AXISSTATE_ERRORSTOP - 3 - - - MC_AXISSTATE_STOPPING - 4 - - - MC_AXISSTATE_HOMING - 5 - - - MC_AXISSTATE_DISCRETEMOTION - 6 - - - MC_AXISSTATE_CONTINOUSMOTION - 7 - - - MC_AXISSTATE_SYNCHRONIZEDMOTION - 8 - - - - ST_AxisOpModes - - 136 - - PositionAreaMonitoring - BOOL - - 8 - 0 - - - TargetPositionMonitoring - BOOL - - 8 - 8 - - - LoopMode - BOOL - - 8 - 16 - - - MotionMonitoring - BOOL - - 8 - 24 - - - PEHTimeMonitoring - BOOL - - 8 - 32 - - - BacklashCompensation - BOOL - - 8 - 40 - - - DelayedErrorReaction - BOOL - - 8 - 48 - - - Modulo - BOOL - - 8 - 56 - - - SimulationAxis - BOOL - - 8 - 64 - - - StopMonitoring - BOOL - - 8 - 72 - - - PositionLagMonitoring - BOOL - - 8 - 80 - - - VelocityLagMonitoring - BOOL - - 8 - 88 - - - SoftLimitMinMonitoring - BOOL - - 8 - 96 - - - SoftLimitMaxMonitoring - BOOL - - 8 - 104 - - - PositionCorrection - BOOL - - 8 - 112 - - - AllowSlaveCommands - BOOL - - 8 - 120 - - - AllowExtSetAxisCommands - BOOL - - 8 - 128 - - - - ST_AxisStatus - 768 - - UpdateTaskIndex - BYTE - - 8 - 0 - - - UpdateCycleTime - LREAL - - 64 - 64 - - - CycleCounter - UDINT - - 32 - 128 - - - NcCycleCounter - UDINT - - 32 - 160 - - - MotionState - MC_AxisStates - - 16 - 192 - - - Error - BOOL - - 8 - 208 - - - ErrorID - UDINT - - 32 - 224 - - - ErrorStop - BOOL - - 8 - 256 - - - Disabled - BOOL - 8 - 264 - - - Stopping - BOOL - 8 - 272 - - - StandStill - BOOL - 8 - 280 - - - DiscreteMotion - BOOL - 8 - 288 - - - ContinuousMotion - BOOL - - 8 - 296 - - - SynchronizedMotion - BOOL - 8 - 304 - - - Homing - BOOL - 8 - 312 - - - ConstantVelocity - BOOL - - 8 - 320 - - - Accelerating - BOOL - 8 - 328 - - - Decelerating - BOOL - 8 - 336 - - - Operational - BOOL - - 8 - 344 - - - ControlLoopClosed - BOOL - - 8 - 352 - - - HasJob - BOOL - - 8 - 360 - - - HasBeenStopped - BOOL - - 8 - 368 - - - NewTargetPosition - BOOL - - 8 - 376 - - - InPositionArea - BOOL - - 8 - 384 - - - InTargetPosition - BOOL - - 8 - 392 - - - ProtectedMode - BOOL - - 8 - 400 - - - Homed - BOOL - - 8 - 408 - - - HomingBusy - BOOL - - 8 - 416 - - - MotionCommandsLocked - BOOL - - 8 - 424 - - - SoftLimitMinExceeded - BOOL - - 8 - 432 - - - SoftLimitMaxExceeded - BOOL - - 8 - 440 - - - Moving - BOOL - - 8 - 448 - - - PositiveDirection - BOOL - - 8 - 456 - - - NegativeDirection - BOOL - - 8 - 464 - - - NotMoving - BOOL - - 8 - 472 - - - Compensating - BOOL - - 8 - 480 - - - ExtSetPointGenEnabled - BOOL - - 8 - 488 - - - ExternalLatchValid - BOOL - - 8 - 496 - - - CamDataQueued - BOOL - - 8 - 504 - - - CamTableQueued - BOOL - - 8 - 512 - - - CamScalingPending - BOOL - - 8 - 520 - - - CmdBuffered - BOOL - - 8 - 528 - - - PTPmode - BOOL - - 8 - 536 - - - DriveDeviceError - BOOL - - 8 - 544 - - - IoDataInvalid - BOOL - - 8 - 552 - - - ErrorPropagationDelayed - BOOL - - 8 - 560 - - - Coupled - BOOL - - 8 - 568 - - - OpMode - ST_AxisOpModes - - 136 - 576 - - - NcApplicationRequest - BOOL - - 8 - 712 - - - - AXIS_REF - 32160SvbEntriesUDINT32192SafEntriesUDINT32224AxisIdUDINT32256OpModeDWordNCTOPLC_AXIS_REF_OPMODE32288ActPosLREAL64320ModuloActPosLREAL64384ActiveControlLoopIndexUINT16448ControlLoopIndexUINT16464ModuloActTurnsDINT32480ActVeloLREAL64512PosDiffLREAL64576SetPosLREAL64640SetVeloLREAL64704SetAccLREAL64768TargetPosLREAL64832ModuloSetPosLREAL64896ModuloSetTurnsDINT32960CmdNoUINT16992CmdStateUINT161008SetJerkLREAL641024SetTorqueLREAL641088ActTorqueLREAL641152StateDWord2NCTOPLC_AXIS_REF_STATE2321216StateDWord3DWORD321248TouchProbeStateDWORD321280TouchProbeCounterDWORD321312CamCouplingStateNCTOPLC_AXIS_REF_CAMCOUPLINGSTATE08641344CamCouplingTableIDUINTARR81281408ActTorqueDerivativeLREAL641536SetTorqueDerivativeLREAL641600ActPosWithoutPosCorrectionLREAL641792ActAccLREAL641856DcTimeStampUDINT321920NcStructType2NCAXLESTRUCT_TOPLCNCAXLESTRUCT_TOPLC2NCAXLESTRUCT_TOPLC3NCAXLESTRUCT_TOPLC4ST_AdsAddress224NetIdSTRING(23)1920PortUINT16192ChannelUINT16208MC_AxisStates16INTMC_AXISSTATE_UNDEFINED0MC_AXISSTATE_DISABLED1MC_AXISSTATE_STANDSTILL2MC_AXISSTATE_ERRORSTOP3MC_AXISSTATE_STOPPING4MC_AXISSTATE_HOMING5MC_AXISSTATE_DISCRETEMOTION6MC_AXISSTATE_CONTINOUSMOTION7MC_AXISSTATE_SYNCHRONIZEDMOTION8ST_AxisOpModes136PositionAreaMonitoringBOOL80TargetPositionMonitoringBOOL88LoopModeBOOL816MotionMonitoringBOOL824PEHTimeMonitoringBOOL832BacklashCompensationBOOL840DelayedErrorReactionBOOL848ModuloBOOL856SimulationAxisBOOL864StopMonitoringBOOL872PositionLagMonitoringBOOL880VelocityLagMonitoringBOOL888SoftLimitMinMonitoringBOOL896SoftLimitMaxMonitoringBOOL8104PositionCorrectionBOOL8112AllowSlaveCommandsBOOL8120AllowExtSetAxisCommandsBOOL8128ST_AxisStatus768UpdateTaskIndexBYTE80UpdateCycleTimeLREAL6464CycleCounterUDINT32128NcCycleCounterUDINT32160MotionStateMC_AxisStates16192ErrorBOOL8208ErrorIDUDINT32224ErrorStopBOOL8256DisabledBOOL8264StoppingBOOL8272StandStillBOOL8280DiscreteMotionBOOL8288ContinuousMotionBOOL8296SynchronizedMotionBOOL8304HomingBOOL8312ConstantVelocityBOOL8320AcceleratingBOOL8328DeceleratingBOOL8336OperationalBOOL8344ControlLoopClosedBOOL8352HasJobBOOL8360HasBeenStoppedBOOL8368NewTargetPositionBOOL8376InPositionAreaBOOL8384InTargetPositionBOOL8392ProtectedModeBOOL8400HomedBOOL8408HomingBusyBOOL8416MotionCommandsLockedBOOL8424SoftLimitMinExceededBOOL8432SoftLimitMaxExceededBOOL8440MovingBOOL8448PositiveDirectionBOOL8456NegativeDirectionBOOL8464NotMovingBOOL8472CompensatingBOOL8480ExtSetPointGenEnabledBOOL8488ExternalLatchValidBOOL8496CamDataQueuedBOOL8504CamTableQueuedBOOL8512CamScalingPendingBOOL8520CmdBufferedBOOL8528PTPmodeBOOL8536DriveDeviceErrorBOOL8544IoDataInvalidBOOL8552ErrorPropagationDelayedBOOL8560CoupledBOOL8568OpModeST_AxisOpModes136576NcApplicationRequestBOOL8712AXIS_REF - 8384 - - PlcToNc - PLCTONC_AXIS_REF - 1024 - 64 - - - ItemType - Input - - - - - NcToPlc - NCTOPLC_AXIS_REF - 2048 - 1088 - - - ItemType - Output - - - - - ADS - ST_AdsAddress - 224 - 3136 - - - ItemType - Output - - - - - Status - ST_AxisStatus - 768 - 3392 - - - ItemType - Output - - - - - ReadStatus - - - - PouType - FunctionBlock - - - hide_all_locals - - - - - MC_BufferMode - 16 - UINT - - MC_Aborting - 0 - - - MC_Buffered - 1 - - - MC_BlendingLow - 18 - - - MC_BlendingPrevious - 19 - - - MC_BlendingNext - 20 - - - MC_BlendingHigh - 21 - - - - ST_PowerOptions - 0 - - - MC_Power - 768 - - Axis - AXIS_REF - - 32 - 32 - - - ItemType - InOut - - - - - Enable - BOOL - - 8 - 64 - - - ItemType - Input - - - - - Enable_Positive - BOOL - - 8 - 72 - - - ItemType - Input - - - - - Enable_Negative - BOOL - - 8 - 80 - - - ItemType - Input - - - - - Override - LREAL - - 64 - 128 - - 100 - - - - ItemType - Input - - - - - BufferMode - MC_BufferMode - - 16 - 192 - - - ItemType - Input - - - - - Options - ST_PowerOptions - 0 - 208 - - - ItemType - Input - - - - - Status - BOOL - - 8 - 208 - - - ItemType - Output - - - - - Busy - BOOL - - 8 - 216 - - - ItemType - Output - - - - - Active - BOOL - - 8 - 224 - - - ItemType - Output - - - - - Error - BOOL - - 8 - 232 - - - ItemType - Output - - - - - ErrorID - UDINT - - 32 - 256 - - - ItemType - Output - - - - - - PouType - FunctionBlock - - - hide_all_locals - - - - - MC_HomingMode - 16 - INT - - MC_DefaultHoming - 0 - - - - MC_AbsSwitch - 1 - - - - MC_LimitSwitch - 2 - - - - MC_RefPulse - 3 - - - - MC_Direct - 4 - - - - MC_Absolute - 5 - - - - MC_Block - 6 - - - - MC_ForceCalibration - 7 - - - - MC_ResetCalibration - 8 - - - - - ST_HomingOptions - 8 - - ClearPositionLag - BOOL - - 8 - 0 - - - - _ST_FunctionBlockResults - 64 - - Done - BOOL - 8 - 0 - - - CommandAborted - BOOL - 8 - 8 - - - Error - BOOL - 8 - 16 - - - ErrorID - UDINT - 32 - 32 - - - - hide - - - - - _E_TcMC_STATES - 16 - INT - - STATE_INITIALIZATION - 100 - - - STATE_ORDER - 101 - - - STATE_RUNNING - 102 - - - STATE_WAITING - 103 - - - STATE_MOTIONCOMMANDSLOCKED - 104 - - - - ADSWRITE - - 1216 - - NETID - T_AmsNetID - - 192 - 32 - - - ItemType - Input - - - - - PORT - T_AmsPort - - 16 - 224 - - - ItemType - Input - - - - - IDXGRP - UDINT - - 32 - 256 - - - ItemType - Input - - - - - IDXOFFS - UDINT - - 32 - 288 - - - ItemType - Input - - - - - LEN - UDINT - - 32 - 320 - - - ItemType - Input - - - - - SRCADDR - PVOID - - 32 - 352 - - - ItemType - Input - - - - - WRITE - BOOL - - 8 - 384 - - - ItemType - Input - - - - - TMOUT - TIME - - 32 - 416 - - 5000 - - - - ItemType - Input - - - - - BUSY - BOOL - - 8 - 448 - - - ItemType - Output - - - - - ERR - BOOL - - 8 - 456 - - - ItemType - Output - - - - - ERRID - UDINT - - 32 - 480 - - - ItemType - Output - - - - - - PouType - FunctionBlock - - - hide_all_locals - - - - - ADSREAD - - 1248 - - NETID - T_AmsNetID - - 192 - 32 - - - ItemType - Input - - - - - PORT - T_AmsPort - - 16 - 224 - - - ItemType - Input - - - - - IDXGRP - UDINT - - 32 - 256 - - - ItemType - Input - - - - - IDXOFFS - UDINT - - 32 - 288 - - - ItemType - Input - - - - - LEN - UDINT - - 32 - 320 - - - ItemType - Input - - - - - DESTADDR - PVOID - - 32 - 352 - - - ItemType - Input - - - - - READ - BOOL - - 8 - 384 - - - ItemType - Input - - - - - TMOUT - TIME - - 32 - 416 - - 5000 - - - - ItemType - Input - - - - - BUSY - BOOL - - 8 - 448 - - - ItemType - Output - - - - - ERR - BOOL - - 8 - 456 - - - ItemType - Output - - - - - ERRID - UDINT - - 32 - 480 - - - ItemType - Output - - - - - - PouType - FunctionBlock - - - hide_all_locals - - - - - ST_SetPositionOptions - 32 - - ClearPositionLag - BOOL - - 8 - 0 - - - SelectEncoderIndex - BOOL - - 8 - 8 - - - EncoderIndex - UINT - - 16 - 16 - - - - _ST_TcNC_SetPosOnTheFly - 256 - - nPosSetType - UDINT - 32 - 0 - - - nCtrlDWord - UDINT - 32 - 32 - - - fPreviousActualPos - LREAL - 64 - 64 - - - fNewActualPos - LREAL - 64 - 128 - - - nReserved - DWORD - - 1 - 2 - - 64 - 192 - - - - hide - - - - - MC_SetPosition - 1984 - - Axis - AXIS_REF - - 32 - 32 - - - ItemType - InOut - - - - - Execute - BOOL - - 8 - 64 - - - ItemType - Input - - - - - Position - LREAL - - 64 - 128 - - - ItemType - Input - - - - - Mode - BOOL - - 8 - 192 - - - ItemType - Input - - - - - Options - ST_SetPositionOptions - - 32 - 208 - - - ItemType - Input - - - - - Done - BOOL - - 8 - 240 - - - ItemType - Output - - - - - Busy - BOOL - - 8 - 248 - - - ItemType - Output - - - - - Error - BOOL - - 8 - 256 - - - ItemType - Output - - - - - ErrorID - UDINT - - 32 - 288 - - - ItemType - Output - - - - - ADSbusy - BOOL - 8 - 320 - - - stSetPos - _ST_TcNC_SetPosOnTheFly - 256 - 384 - - - iState - _E_TcMC_STATES - 16 - 640 - - 100 - - - - fbAdsWrite - ADSWRITE - 1216 - 672 - - - - PouType - FunctionBlock - - - - - MC_Home - 6528 - - Axis - AXIS_REF - - 32 - 32 - - - ItemType - InOut - - - - - Execute - BOOL - - 8 - 64 - - - ItemType - Input - - - - - Position - LREAL - 64 - 128 - - 1E+307 - - - - ItemType - Input - - - - - HomingMode - MC_HomingMode - - 16 - 192 - - - ItemType - Input - - - - - BufferMode - MC_BufferMode - - 16 - 208 - - - ItemType - Input - - - - - Options - ST_HomingOptions - - 8 - 224 - - - ItemType - Input - - - - - bCalibrationCam - BOOL - - 8 - 232 - - - ItemType - Input - - - - - Done - BOOL - - 8 - 240 - - - ItemType - Output - - - - - Busy - BOOL - - 8 - 248 - - - ItemType - Output - - - - - Active - BOOL - - 8 - 256 - - - ItemType - Output - - - - - CommandAborted - BOOL - - 8 - 264 - - - ItemType - Output - - - - - Error - BOOL - - 8 - 272 - - - ItemType - Output - - - - - ErrorID - UDINT - - 32 - 288 - - - ItemType - Output - - - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 320 - - - ADSbusy - BOOL - 8 - 384 - - - iState - _E_TcMC_STATES - 16 - 400 - - 100 - - - - iSubState - INT - 16 - 416 - - - fbAdsWriteCmd - ADSWRITE - 1216 - 448 - - - fbAdsWriteRefPos - ADSWRITE - 1216 - 1664 - - - fbAdsReadRefPos - ADSREAD - 1248 - 2880 - - - ReferenceFlagValue - UDINT - 32 - 4128 - - - fbSetPosition - MC_SetPosition - 1984 - 4160 - - - NcHomePosition - LREAL - 64 - 6144 - - - - PouType - FunctionBlock - - - - - MC_Reset - 1600 - - Axis - AXIS_REF - - 32 - 32 - - - ItemType - InOut - - - - - Execute - BOOL - - 8 - 64 - - - ItemType - Input - - - - - Done - BOOL - - 8 - 72 - - - ItemType - Output - - - - - Busy - BOOL - - 8 - 80 - - - ItemType - Output - - - - - Error - BOOL - - 8 - 88 - - - ItemType - Output - - - - - ErrorID - UDINT - - 32 - 96 - - - ItemType - Output - - - - - ADSbusy - BOOL - 8 - 128 - - - iState - _E_TcMC_STATES - 16 - 144 - - 100 - - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 160 - - - - PouType - FunctionBlock - - - - - E_JogMode - 16 - INT - - MC_JOGMODE_STANDARD_SLOW - 0 - - - - MC_JOGMODE_STANDARD_FAST - 1 - - - - MC_JOGMODE_CONTINOUS - 2 - - - - MC_JOGMODE_INCHING - 3 - - - - MC_JOGMODE_INCHING_MODULO - 4 - - - - - MC_Direction - 16 - INT - - MC_Positive_Direction - 1 - - - MC_Shortest_Way - 2 - - - MC_Negative_Direction - 3 - - - MC_Current_Direction - 4 - - - - ST_MoveOptions - 256 - - EnableBlendingPosition - BOOL - - 8 - 0 - - - BlendingPosition - LREAL - 64 - 64 - - - StartVelocity - LREAL - - 64 - 128 - - - EndVelocity - LREAL - 64 - 192 - - - - _E_TcNC_StartPosType - 16 - UINT - - TCNC_START_ABSOLUTE - 1 - - - TCNC_START_RELATIVE - 2 - - - TCNC_START_ENDLESS_PLUS - 3 - - - TCNC_START_ENDLESS_MINUS - 4 - - - TCNC_START_MODULO - 5 - - - TCNC_START_ADDITIVE - 6 - - - TCNC_START_MODULO_SHORT - 261 - - - TCNC_START_MODULO_PLUS - 517 - - - TCNC_START_MODULO_MINUS - 773 - - - TCNC_START_MODULO_CURRENT - 1029 - - - TCNC_START_ABS_INTERNAL - 9 - - - TCNC_START_ENDLESSPLUS_SLOWMANUAL - 272 - - - TCNC_START_ENDLESSMINUS_SLOWMANUAL - 273 - - - TCNC_START_ENDLESSPLUS_FASTMANUAL - 528 - - - TCNC_START_ENDLESSMINUS_FASTMANUAL - 529 - - - TCNC_START_STOPANDLOCK - 4096 - - - TCNC_START_HALT - 8192 - - - - _ST_TcNC_UnversalAxisStartRequest - 640 - - nStartType - UDINT - 32 - 0 - - - nControlMask - UDINT - 32 - 32 - - - fPosTarget - LREAL - 64 - 64 - - - fVeloRequ - LREAL - 64 - 128 - - - fAcc - LREAL - 64 - 192 - - - fDec - LREAL - 64 - 256 - - - fJerk - LREAL - 64 - 320 - - - nBufferMode - UDINT - 32 - 384 - - - nReserved - UDINT - 32 - 416 - - - fBlendingPosition - LREAL - 64 - 448 - - - fVeloStart - LREAL - 64 - 512 - - - fVeloEnd - LREAL - 64 - 576 - - - - hide - - - - - _ST_TcNC_UnversalAxisStartResponse - 32 - - nCmdNo - WORD - 16 - 0 - - - nCmdState - WORD - 16 - 16 - - - - hide - - - - - ADSRDWRTEX - - 1440 - - NETID - T_AmsNetID - - 192 - 32 - - - ItemType - Input - - - - - PORT - T_AmsPort - - 16 - 224 - - - ItemType - Input - - - - - IDXGRP - UDINT - - 32 - 256 - - - ItemType - Input - - - - - IDXOFFS - UDINT - - 32 - 288 - - - ItemType - Input - - - - - WRITELEN - UDINT - - 32 - 320 - - - ItemType - Input - - - - - READLEN - UDINT - - 32 - 352 - - - ItemType - Input - - - - - SRCADDR - PVOID - - 32 - 384 - - - ItemType - Input - - - - - DESTADDR - PVOID - - 32 - 416 - - - ItemType - Input - - - - - WRTRD - BOOL - - 8 - 448 - - - ItemType - Input - - - - - TMOUT - TIME - - 32 - 480 - - 5000 - - - - ItemType - Input - - - - - BUSY - BOOL - - 8 - 512 - - - ItemType - Output - - - - - ERR - BOOL - - 8 - 520 - - - ItemType - Output - - - - - ERRID - UDINT - - 32 - 544 - - - ItemType - Output - - - - - COUNT_R - UDINT - - 32 - 576 - - - ItemType - Output - - - - - - PouType - FunctionBlock - - - hide_all_locals - - - - - GETCURTASKINDEX - - 128 - - index - BYTE - - 8 - 32 - - - ItemType - Output - - - - - - PouType - FunctionBlock - - - hide_all_locals - - - - - TON - 224 - - IN - BOOL - - 8 - 32 - - - ItemType - Input - - - - - PT - TIME - - 32 - 64 - - - ItemType - Input - - - - - Q - BOOL - - 8 - 96 - - - ItemType - Output - - - - - ET - TIME - - 32 - 128 - - - ItemType - Output - - - - - M - BOOL - 8 - 160 - - - StartTime - TIME - 32 - 192 - - - - PouType - FunctionBlock - - - - - _ST_TcNc_OperationModes - 128 - - PosAreaControl - DWORD - 32 - 0 - - 1 - - - - TargetPosControl - DWORD - 32 - 32 - - 2 - - - - StopMonitoring - DWORD - 32 - 64 - - 4096 - - - - AllowSlaveCommands - DWORD - 32 - 96 - - 2097152 - - - - - hide - - - - - _FB_MoveUniversalGeneric - 6464 - - Axis - AXIS_REF - 32 - 32 - - - ItemType - InOut - - - - - LastExecutionResult - _ST_FunctionBlockResults - 32 - 64 - - - ItemType - InOut - - - - - Execute - BOOL - 8 - 96 - - - ItemType - Input - - - - - StartType - _E_TcNC_StartPosType - 16 - 112 - - - ItemType - Input - - - - - Position - LREAL - 64 - 128 - - - ItemType - Input - - - - - Velocity - LREAL - 64 - 192 - - - ItemType - Input - - - - - Acceleration - LREAL - 64 - 256 - - - ItemType - Input - - - - - Deceleration - LREAL - 64 - 320 - - - ItemType - Input - - - - - Jerk - LREAL - 64 - 384 - - - ItemType - Input - - - - - BufferMode - MC_BufferMode - 16 - 448 - - - ItemType - Input - - - - - Options - ST_MoveOptions - 256 - 512 - - - ItemType - Input - - - - - Reset - BOOL - 8 - 768 - - - ItemType - Input - - - - - GotoRunState - BOOL - 8 - 776 - - - ItemType - Input - - - - - Done - BOOL - 8 - 784 - - - ItemType - Output - - - - - Busy - BOOL - 8 - 792 - - - ItemType - Output - - - - - Active - BOOL - 8 - 800 - - - ItemType - Output - - - - - CommandAborted - BOOL - 8 - 808 - - - ItemType - Output - - - - - Error - BOOL - 8 - 816 - - - ItemType - Output - - - - - ErrorID - UDINT - 32 - 832 - - - ItemType - Output - - - - - CmdNo - UINT - 16 - 864 - - - ItemType - Output - - - - - ADSbusy - BOOL - 8 - 880 - - - ItemType - Output - - - - - iState - _E_TcMC_STATES - 16 - 896 - - 100 - - - - sStartRequest - _ST_TcNC_UnversalAxisStartRequest - 640 - 960 - - - sStartResponse - _ST_TcNC_UnversalAxisStartResponse - 32 - 1600 - - - fbAdsReadWrite - ADSRDWRTEX - 1440 - 1632 - - - ContinousMode - BOOL - 8 - 3072 - - - InVelocity - BOOL - 8 - 3080 - - - DiffCycleCounter - UDINT - 32 - 3104 - - - EmptyStartResponse - _ST_TcNC_UnversalAxisStartResponse - 32 - 3136 - - - COUNT_R - UDINT - 32 - 3168 - - - CounterCmdNoZero - BYTE - 8 - 3200 - - - CounterCmdNotStarted - BYTE - 8 - 3208 - - - DiffCmdNo - INT - 16 - 3216 - - - InitialNcToPlcCmdNo - UINT - 16 - 3232 - - - NcCycleCounter - BYTE - 8 - 3248 - - - LastNcCycleCounter - BYTE - 8 - 3256 - - - NcMappingCounter - BYTE - 8 - 3264 - - - NcCycleCounterAvailable - BOOL - 8 - 3272 - - - NcCycleCounterNotAvailable - BOOL - 8 - 3280 - - - NcCyclicFeedbackExpected - BOOL - 8 - 3288 - - - PlcDebugCode - DWORD - 32 - 3296 - - - AxisIsSlave - BOOL - 8 - 3328 - - - GetTaskIndex - GETCURTASKINDEX - 128 - 3360 - - - CycleCounter - UDINT - 32 - 3488 - - - fbTimeOut - TON - 224 - 3520 - - - fbStopMonitoringTimeOut - TON - 224 - 3744 - - - fbTimeOutMappingCounter - TON - 224 - 3968 - - - fbOnTrigger - R_TRIG - 64 - 4192 - - - sTempMsg - STRING(255) - 2048 - 4256 - - - OpMode - _ST_TcNc_OperationModes - 128 - 6304 - - - suppress_warning_0 - C0228 - - - - - ActMonitorContinousMotion - - - ActErrorMessage - - - ActNcCycleCounter - - - ActMonitorDiscreteMotion - - - ActMonitorStop - - - ActCalcDiffCmdNo - - - - PouType - FunctionBlock - - - hide - - - - - MC_MoveVelocity - 7424 - - Axis - AXIS_REF - - 32 - 32 - - - ItemType - InOut - - - - - Execute - BOOL - - 8 - 64 - - - ItemType - Input - - - - - Velocity - LREAL - - 64 - 128 - - - ItemType - Input - - - - - Acceleration - LREAL - - 64 - 192 - - - ItemType - Input - - - - - Deceleration - LREAL - - 64 - 256 - - - ItemType - Input - - - - - Jerk - LREAL - - 64 - 320 - - - ItemType - Input - - - - - Direction - MC_Direction - - 16 - 384 - - 1 - - - - ItemType - Input - - - - - BufferMode - MC_BufferMode - - 16 - 400 - - - ItemType - Input - - - - - Options - ST_MoveOptions - - 256 - 448 - - - ItemType - Input - - - - - InVelocity - BOOL - - 8 - 704 - - - ItemType - Output - - - - - Busy - BOOL - - 8 - 712 - - - ItemType - Output - - - - - Active - BOOL - - 8 - 720 - - - ItemType - Output - - - - - CommandAborted - BOOL - - 8 - 728 - - - ItemType - Output - - - - - Error - BOOL - - 8 - 736 - - - ItemType - Output - - - - - ErrorID - UDINT - - 32 - 768 - - - ItemType - Output - - - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 800 - - - ADSbusy - BOOL - 8 - 864 - - - MoveGeneric - _FB_MoveUniversalGeneric - 6464 - 896 - - - CmdNo - UINT - 16 - 7360 - - - - PouType - FunctionBlock - - - - - ST_McOutputs - 96 - - Done - BOOL - 8 - 0 - - - Busy - BOOL - 8 - 8 - - - Active - BOOL - 8 - 16 - - - CommandAborted - BOOL - 8 - 24 - - - Error - BOOL - 8 - 32 - - - ErrorID - UDINT - 32 - 64 - - - - MC_Halt - 7296 - - Axis - AXIS_REF - - 32 - 32 - - - ItemType - InOut - - - - - Execute - BOOL - - 8 - 64 - - - ItemType - Input - - - - - Deceleration - LREAL - - 64 - 128 - - - ItemType - Input - - - - - Jerk - LREAL - - 64 - 192 - - - ItemType - Input - - - - - BufferMode - MC_BufferMode - - 16 - 256 - - - ItemType - Input - - - - - Options - ST_MoveOptions - - 256 - 320 - - - ItemType - Input - - - - - Done - BOOL - - 8 - 576 - - - ItemType - Output - - - - - Busy - BOOL - - 8 - 584 - - - ItemType - Output - - - - - Active - BOOL - - 8 - 592 - - - ItemType - Output - - - - - CommandAborted - BOOL - - 8 - 600 - - - ItemType - Output - - - - - Error - BOOL - - 8 - 608 - - - ItemType - Output - - - - - ErrorID - UDINT - - 32 - 640 - - - ItemType - Output - - - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 672 - - - ADSbusy - BOOL - 8 - 736 - - - MoveGeneric - _FB_MoveUniversalGeneric - 6464 - 768 - - - CmdNo - UINT - 16 - 7232 - - - - PouType - FunctionBlock - - - - - MC_MoveAbsolute - 7488 - - Axis - AXIS_REF - - 32 - 32 - - - ItemType - InOut - - - - - Execute - BOOL - - 8 - 64 - - - ItemType - Input - - - - - Position - LREAL - - 64 - 128 - - - ItemType - Input - - - - - Velocity - LREAL - - 64 - 192 - - - ItemType - Input - - - - - Acceleration - LREAL - - 64 - 256 - - - ItemType - Input - - - - - Deceleration - LREAL - - 64 - 320 - - - ItemType - Input - - - - - Jerk - LREAL - - 64 - 384 - - - ItemType - Input - - - - - BufferMode - MC_BufferMode - - 16 - 448 - - - ItemType - Input - - - - - Options - ST_MoveOptions - - 256 - 512 - - - ItemType - Input - - - - - Done - BOOL - - 8 - 768 - - - ItemType - Output - - - - - Busy - BOOL - - 8 - 776 - - - ItemType - Output - - - - - Active - BOOL - - 8 - 784 - - - ItemType - Output - - - - - CommandAborted - BOOL - - 8 - 792 - - - ItemType - Output - - - - - Error - BOOL - - 8 - 800 - - - ItemType - Output - - - - - ErrorID - UDINT - - 32 - 832 - - - ItemType - Output - - - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 864 - - - ADSbusy - BOOL - 8 - 928 - - - MoveGeneric - _FB_MoveUniversalGeneric - 6464 - 960 - - - CmdNo - UINT - 16 - 7424 - - - - PouType - FunctionBlock - - - - - MC_MoveRelative - 7488 - - Axis - AXIS_REF - - 32 - 32 - - - ItemType - InOut - - - - - Execute - BOOL - - 8 - 64 - - - ItemType - Input - - - - - Distance - LREAL - - 64 - 128 - - - ItemType - Input - - - - - Velocity - LREAL - - 64 - 192 - - - ItemType - Input - - - - - Acceleration - LREAL - - 64 - 256 - - - ItemType - Input - - - - - Deceleration - LREAL - - 64 - 320 - - - ItemType - Input - - - - - Jerk - LREAL - - 64 - 384 - - - ItemType - Input - - - - - BufferMode - MC_BufferMode - - 16 - 448 - - - ItemType - Input - - - - - Options - ST_MoveOptions - - 256 - 512 - - - ItemType - Input - - - - - Done - BOOL - - 8 - 768 - - - ItemType - Output - - - - - Busy - BOOL - - 8 - 776 - - - ItemType - Output - - - - - Active - BOOL - - 8 - 784 - - - ItemType - Output - - - - - CommandAborted - BOOL - - 8 - 792 - - - ItemType - Output - - - - - Error - BOOL - - 8 - 800 - - - ItemType - Output - - - - - ErrorID - UDINT - - 32 - 832 - - - ItemType - Output - - - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 864 - - - ADSbusy - BOOL - 8 - 928 - - - MoveGeneric - _FB_MoveUniversalGeneric - 6464 - 960 - - - CmdNo - UINT - 16 - 7424 - - - - PouType - FunctionBlock - - - - - MC_Jog - 37760 - - Axis - AXIS_REF - 32 - 32 - - - ItemType - InOut - - - - - JogForward - BOOL - 8 - 64 - - - ItemType - Input - - - - - JogBackwards - BOOL - 8 - 72 - - - ItemType - Input - - - - - Mode - E_JogMode - 16 - 80 - - - ItemType - Input - - - - - Position - LREAL - 64 - 128 - - - ItemType - Input - - - - - Velocity - LREAL - 64 - 192 - - - ItemType - Input - - - - - Acceleration - LREAL - 64 - 256 - - - ItemType - Input - - - - - Deceleration - LREAL - 64 - 320 - - - ItemType - Input - - - - - Jerk - LREAL - 64 - 384 - - - ItemType - Input - - - - - Done - BOOL - 8 - 448 - - - ItemType - Output - - - - - Busy - BOOL - 8 - 456 - - - ItemType - Output - - - - - Active - BOOL - 8 - 464 - - - ItemType - Output - - - - - CommandAborted - BOOL - 8 - 472 - - - ItemType - Output - - - - - Error - BOOL - 8 - 480 - - - ItemType - Output - - - - - ErrorID - UDINT - 32 - 512 - - - ItemType - Output - - - - - state - INT - 16 - 544 - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 576 - - - StateDWord - BOOL - 8 - 640 - - - ExecuteMoveVelocity - BOOL - 8 - 648 - - - MoveVelocity - MC_MoveVelocity - 7424 - 704 - - - MoveVelocityOut - ST_McOutputs - 96 - 8128 - - - Direction - MC_Direction - 16 - 8224 - - - ExecuteHalt - BOOL - 8 - 8240 - - - Halt - MC_Halt - 7296 - 8256 - - - HaltOut - ST_McOutputs - 96 - 15552 - - - ExecuteMoveAbsolute - BOOL - 8 - 15648 - - - MoveAbsolute - MC_MoveAbsolute - 7488 - 15680 - - - MoveAbsoluteOut - ST_McOutputs - 96 - 23168 - - - ExecuteMoveRelative - BOOL - 8 - 23264 - - - MoveRelative - MC_MoveRelative - 7488 - 23296 - - - MoveRelativeOut - ST_McOutputs - 96 - 30784 - - - JogMove - _FB_MoveUniversalGeneric - 6464 - 30912 - - - LastJogMoveResult - _ST_FunctionBlockResults - 64 - 37376 - - - ExecuteJogMove - BOOL - 8 - 37440 - - - StartType - _E_TcNC_StartPosType - 16 - 37456 - - - JogMoveOut - ST_McOutputs - 96 - 37472 - - - JogEnd - BOOL - 8 - 37568 - - - TargetPosition - LREAL - 64 - 37632 - - - modulo - LREAL - 64 - 37696 - - - ActJogMove - - - ActCheckJogEnd - - - - PouType - FunctionBlock - - - - - MC_Stop - 8768 - - Axis - AXIS_REF - - 32 - 32 - - - ItemType - InOut - - - - - Execute - BOOL - - 8 - 64 - - - ItemType - Input - - - - - Deceleration - LREAL - - 64 - 128 - - - ItemType - Input - - - - - Jerk - LREAL - - 64 - 192 - - - ItemType - Input - - - - - Options - ST_MoveOptions - - 256 - 256 - - - ItemType - Input - - - - - Done - BOOL - - 8 - 512 - - - ItemType - Output - - - - - Busy - BOOL - - 8 - 520 - - - ItemType - Output - - - - - Active - BOOL - - 8 - 528 - - - ItemType - Output - - - - - CommandAborted - BOOL - - 8 - 536 - - - ItemType - Output - - - - - Error - BOOL - - 8 - 544 - - - ItemType - Output - - - - - ErrorID - UDINT - - 32 - 576 - - - ItemType - Output - - - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 608 - - - ADSbusy - BOOL - 8 - 672 - - - MoveGeneric - _FB_MoveUniversalGeneric - 6464 - 704 - - - ReleaseLock - ADSWRITE - 1216 - 7168 - - - CmdNo - UINT - 16 - 8384 - - - AxisMotionCommandsLocked - BOOL - 8 - 8400 - - - iState - _E_TcMC_STATES - 16 - 8416 - - 100 - - - - NoJobTimer - TON - 224 - 8448 - - - ActStop - - - - PouType - FunctionBlock - - - - - MC_ReadActualPosition - 192 - - Axis - AXIS_REF - - 32 - 32 - - - ItemType - InOut - - - - - Enable - BOOL - - 8 - 64 - - - ItemType - Input - - - - - Valid - BOOL - - 8 - 72 - - - ItemType - Output - - - - - Busy - BOOL - - 8 - 80 - - - ItemType - Output - - - - - Error - BOOL - - 8 - 88 - - - ItemType - Output - - - - - ErrorID - UDINT - - 32 - 96 - - - ItemType - Output - - - - - Position - LREAL - - 64 - 128 - - - ItemType - Output - - - - - - PouType - FunctionBlock - - - - - Delay - 128 - - Delay_On - BOOL - 8 - 32 - - - ItemType - Input - - - - - Delay_Time - TIME - 32 - 64 - - - ItemType - Input - - - - - Delay_Done - BOOL - 8 - 96 - - - ItemType - Output - - - - - - PouType - FunctionBlock - - - - - E_PositionType - 16 - UINT - - POSITIONTYPE_ABSOLUTE - 1 - - - - POSITIONTYPE_RELATIVE - 2 - - - - POSITIONTYPE_MODULO - 5 - - - - - _ST_TcNC_SetPos - 192 - - nPosIstType - UDINT - 32 - 0 - - - nReserved - UDINT - 32 - 32 - - - fNewPosIst - LREAL - 64 - 64 - - - fReserved - LREAL - 64 - 128 - - - - hide - - - - - MC_ExtSetPointGenEnable - 2176 - - Axis - AXIS_REF - 32 - 32 - - - ItemType - InOut - - - - - Execute - BOOL - 8 - 64 - - - ItemType - Input - - - - - Position - LREAL - 64 - 128 - - - ItemType - Input - - - - - PositionType - E_PositionType - 16 - 192 - - - ItemType - Input - - - - - Done - BOOL - 8 - 208 - - - ItemType - Output - - - - - Busy - BOOL - 8 - 216 - - - ItemType - Output - - - - - Error - BOOL - 8 - 224 - - - ItemType - Output - - - - - ErrorID - UDINT - 32 - 256 - - - ItemType - Output - - - - - Enabled - BOOL - 8 - 288 - - - ItemType - Output - - - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 320 - - - iState - _E_TcMC_STATES - 16 - 384 - - 100 - - - - ADSbusy - BOOL - 8 - 400 - - - sExtSetPointGen - _ST_TcNC_SetPos - 192 - 448 - - - fbADSwrite - ADSWRITE - 1216 - 640 - - - - PouType - FunctionBlock - - - - - MC_ExtSetPointGenDisable - 1760 - - Axis - AXIS_REF - 32 - 32 - - - ItemType - InOut - - - - - Execute - BOOL - 8 - 64 - - - ItemType - Input - - - - - Done - BOOL - 8 - 72 - - - ItemType - Output - - - - - Busy - BOOL - 8 - 80 - - - ItemType - Output - - - - - Error - BOOL - 8 - 88 - - - ItemType - Output - - - - - ErrorID - UDINT - 32 - 96 - - - ItemType - Output - - - - - Enabled - BOOL - 8 - 128 - - - ItemType - Output - - - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 160 - - - iState - _E_TcMC_STATES - 16 - 224 - - 100 - - - - ADSbusy - BOOL - 8 - 240 - - - fbADSwrite - ADSWRITE - 1216 - 256 - - - - PouType - FunctionBlock - - - - - Axis - 98816 - - Axis_Error - BOOL - - 8 - 32 - - - ItemType - Output - - - - - Axis_ErrorID - UDINT - - 32 - 64 - - - ItemType - Output - - - - - Axis_Moves - BOOL - - 8 - 96 - - - ItemType - Output - - - - - JogDone - BOOL - - 8 - 104 - - - ResetDone - BOOL - - 8 - 112 - - - HaltDone - BOOL - - 8 - 120 - - - HomeDone - BOOL - - 8 - 128 - - - MoveAbsoluteDone - BOOL - - 8 - 136 - - - ExtSetPiontDone - BOOL - - 8 - 144 - - - Power_StatusEnable - BOOL - - 8 - 152 - - - Velocity_Jog - LREAL - - 64 - 192 - - - Velocity_Move - LREAL - - 64 - 256 - - - Velocity_Home - LREAL - - 64 - 320 - - - Velocity_Absolute - LREAL - - 64 - 384 - - - Velocity_Relative - LREAL - - 64 - 448 - - - fOverride - LREAL - - 64 - 512 - - 100 - - - - Home_Position - LREAL - - 64 - 576 - - - TriggerHalt - R_TRIG - - 64 - 640 - - - TriggerReset - R_TRIG - - 64 - 704 - - - AxisRef - AXIS_REF - - 8384 - 768 - - - Axis_Current_Turque - INT - - 16 - 9152 - - - Axis_Max_Turque - INT - 16 - 9168 - - - Proximity_Switch - DINT - - 32 - 9184 - - - Axis_Power - MC_Power - - 768 - 9216 - - - Axis_Home - MC_Home - - 6528 - 9984 - - - Axis_Reset - MC_Reset - - 1600 - 16512 - - - Axis_Jog - MC_Jog - - 37760 - 18112 - - - Axis_Stop - MC_Stop - - 8768 - 55872 - - - Axis_Halt - MC_Halt - - 7296 - 64640 - - - Axis_Move - MC_MoveVelocity - - 7424 - 71936 - - - Axis_MoveAbsolute - MC_MoveAbsolute - - 7488 - 79360 - - - Axis_MoveRelative - MC_MoveRelative - - 7488 - 86848 - - - Axis_ActPosition - MC_ReadActualPosition - - 192 - 94336 - - - Axis_Delay - Delay - - 128 - 94528 - - - Axis_ExtSetPiontEnable - MC_ExtSetPointGenEnable - - 2176 - 94656 - - - Axis_ExtSetPiontDisable - MC_ExtSetPointGenDisable - - 1760 - 96832 - - - Delay - TON - - 224 - 98592 - - - __getState_MoveAbsoluteDone - BOOL - 8 - - State_MoveAbsoluteDone - BOOL - - - - property - - - - - Home_Sensor - - Drive_Home - - BOOL - 8 - - - Home_Switch - - BOOL - 8 - - - BackDone - - BOOL - - - - Move_Relative - - Drive_Move_Relative - - BOOL - 8 - - - Relative_Position - - LREAL - 64 - - - - Halt - BOOL - 8 - - DriveHalt - - BOOL - 8 - - - - __getCurrent_Turque_Value - INT - 16 - - Current_Turque_Value - INT - - - - property - - - - - __getState_ExtSetPiontDone - BOOL - 8 - - State_ExtSetPiontDone - BOOL - - - - property - - - - - __getHome_Velocity - LREAL - 64 - - Home_Velocity - LREAL - - - - property - - - - - Move_Backward - - Move_Backward_Start - - BOOL - 8 - - - - __getState_JogDone - BOOL - 8 - - State_JogDone - BOOL - - - - property - - - - - __setJog_Velocity - BOOL - 8 - - Jog_Velocity - - LREAL - 64 - - - - property - - - - - __getState_PowerStatus - BOOL - 8 - - State_PowerStatus - BOOL - - - - property - - - - - Jog_Backward - - Drive_Jog_Backward - - BOOL - 8 - - - - Reset - - Drive_Reset - - BOOL - 8 - - - - __getMove_Velocity - LREAL - 64 - - Move_Velocity - LREAL - - - - property - - - - - __getState_ResetDone - BOOL - 8 - - State_ResetDone - BOOL - - - - property - - - - - __setHome_Absolute_Position - BOOL - 8 - - Home_Absolute_Position - LREAL - 64 - - - - property - - - - - __getMove_Relative_Velocity - LREAL - 64 - - Move_Relative_Velocity - LREAL - - - - property - - - - - Move_Fordward - - Move_Forward_Start - - BOOL - 8 - - - - __getJog_Velocity - LREAL - 64 - - Jog_Velocity - LREAL - - - - property - - - - - Power - - Axis_Enable - BOOL - 8 - - - - __setMax_Turque_Value - BOOL - 8 - - Max_Turque_Value - INT - 16 - - - - property - - - - - __setMove_Absolute_Velocity - BOOL - 8 - - Move_Absolute_Velocity - - LREAL - 64 - - - - property - - - - - __setMove_Relative_Velocity - BOOL - 8 - - Move_Relative_Velocity - - LREAL - 64 - - - - property - - - - - __getActPosition - LREAL - 64 - - ActPosition - LREAL - - - - property - - - - - __getMove_Absolute_Velocity - LREAL - 64 - - Move_Absolute_Velocity - LREAL - - - - property - - - - - __setCurrent_Turque_Value - BOOL - 8 - - Current_Turque_Value - INT - 16 - - - - property - - - - - Jog_Forward - BOOL - 8 - - Drive_Jog_Forward - - BOOL - 8 - - - - __getHome_Absolute_Position - LREAL - 64 - - Home_Absolute_Position - LREAL - - - - property - - - - - __setMove_Velocity - BOOL - 8 - - Move_Velocity - LREAL - 64 - - - - property - - - - - Move_Absolute - - Drive_Move_Absolute - - BOOL - 8 - - - Absolute_Position - - LREAL - 64 - - - - __setHome_Velocity - BOOL - 8 - - Home_Velocity - LREAL - 64 - - - - property - - - - - ExtSetPoint - - Drive_ExtSetPointEnable - - BOOL - 8 - - - Drive_ExtSetPointDisable - - BOOL - 8 - - - ExSetPosition - - LREAL - 64 - - - - __getState_HomeDone - BOOL - 8 - - State_HomeDone - BOOL - - - - property - - - - - Home - - Drive_Home - 8384PlcToNcPLCTONC_AXIS_REF102464ItemTypeInputNcToPlcNCTOPLC_AXIS_REF20481088ItemTypeOutputADSST_AdsAddress2243136ItemTypeOutputStatusST_AxisStatus7683392ItemTypeOutputReadStatusPouTypeFunctionBlockhide_all_localsMC_BufferMode16UINTMC_Aborting0MC_Buffered1MC_BlendingLow18MC_BlendingPrevious19MC_BlendingNext20MC_BlendingHigh21ST_PowerOptions0MC_Power768AxisAXIS_REF3232ItemTypeInOutEnableBOOL864ItemTypeInputEnable_PositiveBOOL872ItemTypeInputEnable_NegativeBOOL880ItemTypeInputOverrideLREAL64128100ItemTypeInputBufferModeMC_BufferMode16192ItemTypeInputOptionsST_PowerOptions0208ItemTypeInputStatusBOOL8208ItemTypeOutputBusyBOOL8216ItemTypeOutputActiveBOOL8224ItemTypeOutputErrorBOOL8232ItemTypeOutputErrorIDUDINT32256ItemTypeOutputPouTypeFunctionBlockhide_all_localsMC_HomingMode16INTMC_DefaultHoming0MC_AbsSwitch1MC_LimitSwitch2MC_RefPulse3MC_Direct4MC_Absolute5MC_Block6MC_ForceCalibration7MC_ResetCalibration8ST_HomingOptions8ClearPositionLagBOOL80_ST_FunctionBlockResults64DoneBOOL80CommandAbortedBOOL88ErrorBOOL816ErrorIDUDINT3232hide_E_TcMC_STATES16INTSTATE_INITIALIZATION100STATE_ORDER101STATE_RUNNING102STATE_WAITING103STATE_MOTIONCOMMANDSLOCKED104ADSWRITE1216NETIDT_AmsNetID19232ItemTypeInputPORTT_AmsPort16224ItemTypeInputIDXGRPUDINT32256ItemTypeInputIDXOFFSUDINT32288ItemTypeInputLENUDINT32320ItemTypeInputSRCADDRPVOID32352ItemTypeInputWRITEBOOL8384ItemTypeInputTMOUTTIME324165000ItemTypeInputBUSYBOOL8448ItemTypeOutputERRBOOL8456ItemTypeOutputERRIDUDINT32480ItemTypeOutputPouTypeFunctionBlockhide_all_localsADSREAD1248NETIDT_AmsNetID19232ItemTypeInputPORTT_AmsPort16224ItemTypeInputIDXGRPUDINT32256ItemTypeInputIDXOFFSUDINT32288ItemTypeInputLENUDINT32320ItemTypeInputDESTADDRPVOID32352ItemTypeInputREADBOOL8384ItemTypeInputTMOUTTIME324165000ItemTypeInputBUSYBOOL8448ItemTypeOutputERRBOOL8456ItemTypeOutputERRIDUDINT32480ItemTypeOutputPouTypeFunctionBlockhide_all_localsST_SetPositionOptions32ClearPositionLagBOOL80SelectEncoderIndexBOOL88EncoderIndexUINT1616_ST_TcNC_SetPosOnTheFly256nPosSetTypeUDINT320nCtrlDWordUDINT3232fPreviousActualPosLREAL6464fNewActualPosLREAL64128nReservedDWORD1264192hideMC_SetPosition1984AxisAXIS_REF3232ItemTypeInOutExecuteBOOL864ItemTypeInputPositionLREAL64128ItemTypeInputModeBOOL8192ItemTypeInputOptionsST_SetPositionOptions32208ItemTypeInputDoneBOOL8240ItemTypeOutputBusyBOOL8248ItemTypeOutputErrorBOOL8256ItemTypeOutputErrorIDUDINT32288ItemTypeOutputADSbusyBOOL8320stSetPos_ST_TcNC_SetPosOnTheFly256384iState_E_TcMC_STATES16640100fbAdsWriteADSWRITE1216672PouTypeFunctionBlockMC_Home6528AxisAXIS_REF3232ItemTypeInOutExecuteBOOL864ItemTypeInputPositionLREAL641281E+307ItemTypeInputHomingModeMC_HomingMode16192ItemTypeInputBufferModeMC_BufferMode16208ItemTypeInputOptionsST_HomingOptions8224ItemTypeInputbCalibrationCamBOOL8232ItemTypeInputDoneBOOL8240ItemTypeOutputBusyBOOL8248ItemTypeOutputActiveBOOL8256ItemTypeOutputCommandAbortedBOOL8264ItemTypeOutputErrorBOOL8272ItemTypeOutputErrorIDUDINT32288ItemTypeOutputLastExecutionResult_ST_FunctionBlockResults64320ADSbusyBOOL8384iState_E_TcMC_STATES16400100iSubStateINT16416fbAdsWriteCmdADSWRITE1216448fbAdsWriteRefPosADSWRITE12161664fbAdsReadRefPosADSREAD12482880ReferenceFlagValueUDINT324128fbSetPositionMC_SetPosition19844160NcHomePositionLREAL646144PouTypeFunctionBlockMC_Reset1600AxisAXIS_REF3232ItemTypeInOutExecuteBOOL864ItemTypeInputDoneBOOL872ItemTypeOutputBusyBOOL880ItemTypeOutputErrorBOOL888ItemTypeOutputErrorIDUDINT3296ItemTypeOutputADSbusyBOOL8128iState_E_TcMC_STATES16144100LastExecutionResult_ST_FunctionBlockResults64160PouTypeFunctionBlockE_JogMode16INTMC_JOGMODE_STANDARD_SLOW0MC_JOGMODE_STANDARD_FAST1MC_JOGMODE_CONTINOUS2MC_JOGMODE_INCHING3MC_JOGMODE_INCHING_MODULO4MC_Direction16INTMC_Positive_Direction1MC_Shortest_Way2MC_Negative_Direction3MC_Current_Direction4ST_MoveOptions256EnableBlendingPositionBOOL80BlendingPositionLREAL6464StartVelocityLREAL64128EndVelocityLREAL64192_E_TcNC_StartPosType16UINTTCNC_START_ABSOLUTE1TCNC_START_RELATIVE2TCNC_START_ENDLESS_PLUS3TCNC_START_ENDLESS_MINUS4TCNC_START_MODULO5TCNC_START_ADDITIVE6TCNC_START_MODULO_SHORT261TCNC_START_MODULO_PLUS517TCNC_START_MODULO_MINUS773TCNC_START_MODULO_CURRENT1029TCNC_START_ABS_INTERNAL9TCNC_START_ENDLESSPLUS_SLOWMANUAL272TCNC_START_ENDLESSMINUS_SLOWMANUAL273TCNC_START_ENDLESSPLUS_FASTMANUAL528TCNC_START_ENDLESSMINUS_FASTMANUAL529TCNC_START_STOPANDLOCK4096TCNC_START_HALT8192_ST_TcNC_UnversalAxisStartRequest640nStartTypeUDINT320nControlMaskUDINT3232fPosTargetLREAL6464fVeloRequLREAL64128fAccLREAL64192fDecLREAL64256fJerkLREAL64320nBufferModeUDINT32384nReservedUDINT32416fBlendingPositionLREAL64448fVeloStartLREAL64512fVeloEndLREAL64576hide_ST_TcNC_UnversalAxisStartResponse32nCmdNoWORD160nCmdStateWORD1616hideADSRDWRTEX1440NETIDT_AmsNetID19232ItemTypeInputPORTT_AmsPort16224ItemTypeInputIDXGRPUDINT32256ItemTypeInputIDXOFFSUDINT32288ItemTypeInputWRITELENUDINT32320ItemTypeInputREADLENUDINT32352ItemTypeInputSRCADDRPVOID32384ItemTypeInputDESTADDRPVOID32416ItemTypeInputWRTRDBOOL8448ItemTypeInputTMOUTTIME324805000ItemTypeInputBUSYBOOL8512ItemTypeOutputERRBOOL8520ItemTypeOutputERRIDUDINT32544ItemTypeOutputCOUNT_RUDINT32576ItemTypeOutputPouTypeFunctionBlockhide_all_localsGETCURTASKINDEX128indexBYTE832ItemTypeOutputPouTypeFunctionBlockhide_all_localsTON224INBOOL832ItemTypeInputPTTIME3264ItemTypeInputQBOOL896ItemTypeOutputETTIME32128ItemTypeOutputMBOOL8160StartTimeTIME32192PouTypeFunctionBlock_ST_TcNc_OperationModes128PosAreaControlDWORD3201TargetPosControlDWORD32322StopMonitoringDWORD32644096AllowSlaveCommandsDWORD32962097152hide_FB_MoveUniversalGeneric6464AxisAXIS_REF3232ItemTypeInOutLastExecutionResult_ST_FunctionBlockResults3264ItemTypeInOutExecuteBOOL896ItemTypeInputStartType_E_TcNC_StartPosType16112ItemTypeInputPositionLREAL64128ItemTypeInputVelocityLREAL64192ItemTypeInputAccelerationLREAL64256ItemTypeInputDecelerationLREAL64320ItemTypeInputJerkLREAL64384ItemTypeInputBufferModeMC_BufferMode16448ItemTypeInputOptionsST_MoveOptions256512ItemTypeInputResetBOOL8768ItemTypeInputGotoRunStateBOOL8776ItemTypeInputDoneBOOL8784ItemTypeOutputBusyBOOL8792ItemTypeOutputActiveBOOL8800ItemTypeOutputCommandAbortedBOOL8808ItemTypeOutputErrorBOOL8816ItemTypeOutputErrorIDUDINT32832ItemTypeOutputCmdNoUINT16864ItemTypeOutputADSbusyBOOL8880ItemTypeOutputiState_E_TcMC_STATES16896100sStartRequest_ST_TcNC_UnversalAxisStartRequest640960sStartResponse_ST_TcNC_UnversalAxisStartResponse321600fbAdsReadWriteADSRDWRTEX14401632ContinousModeBOOL83072InVelocityBOOL83080DiffCycleCounterUDINT323104EmptyStartResponse_ST_TcNC_UnversalAxisStartResponse323136COUNT_RUDINT323168CounterCmdNoZeroBYTE83200CounterCmdNotStartedBYTE83208DiffCmdNoINT163216InitialNcToPlcCmdNoUINT163232NcCycleCounterBYTE83248LastNcCycleCounterBYTE83256NcMappingCounterBYTE83264NcCycleCounterAvailableBOOL83272NcCycleCounterNotAvailableBOOL83280NcCyclicFeedbackExpectedBOOL83288PlcDebugCodeDWORD323296AxisIsSlaveBOOL83328GetTaskIndexGETCURTASKINDEX1283360CycleCounterUDINT323488fbTimeOutTON2243520fbStopMonitoringTimeOutTON2243744fbTimeOutMappingCounterTON2243968fbOnTriggerR_TRIG644192sTempMsgSTRING(255)20484256OpMode_ST_TcNc_OperationModes1286304suppress_warning_0C0228ActMonitorContinousMotionActErrorMessageActNcCycleCounterActMonitorDiscreteMotionActMonitorStopActCalcDiffCmdNoPouTypeFunctionBlockhideMC_MoveVelocity7424AxisAXIS_REF3232ItemTypeInOutExecuteBOOL864ItemTypeInputVelocityLREAL64128ItemTypeInputAccelerationLREAL64192ItemTypeInputDecelerationLREAL64256ItemTypeInputJerkLREAL64320ItemTypeInputDirectionMC_Direction163841ItemTypeInputBufferModeMC_BufferMode16400ItemTypeInputOptionsST_MoveOptions256448ItemTypeInputInVelocityBOOL8704ItemTypeOutputBusyBOOL8712ItemTypeOutputActiveBOOL8720ItemTypeOutputCommandAbortedBOOL8728ItemTypeOutputErrorBOOL8736ItemTypeOutputErrorIDUDINT32768ItemTypeOutputLastExecutionResult_ST_FunctionBlockResults64800ADSbusyBOOL8864MoveGeneric_FB_MoveUniversalGeneric6464896CmdNoUINT167360PouTypeFunctionBlockST_McOutputs96DoneBOOL80BusyBOOL88ActiveBOOL816CommandAbortedBOOL824ErrorBOOL832ErrorIDUDINT3264MC_Halt7296AxisAXIS_REF3232ItemTypeInOutExecuteBOOL864ItemTypeInputDecelerationLREAL64128ItemTypeInputJerkLREAL64192ItemTypeInputBufferModeMC_BufferMode16256ItemTypeInputOptionsST_MoveOptions256320ItemTypeInputDoneBOOL8576ItemTypeOutputBusyBOOL8584ItemTypeOutputActiveBOOL8592ItemTypeOutputCommandAbortedBOOL8600ItemTypeOutputErrorBOOL8608ItemTypeOutputErrorIDUDINT32640ItemTypeOutputLastExecutionResult_ST_FunctionBlockResults64672ADSbusyBOOL8736MoveGeneric_FB_MoveUniversalGeneric6464768CmdNoUINT167232PouTypeFunctionBlockMC_MoveAbsolute7488AxisAXIS_REF3232ItemTypeInOutExecuteBOOL864ItemTypeInputPositionLREAL64128ItemTypeInputVelocityLREAL64192ItemTypeInputAccelerationLREAL64256ItemTypeInputDecelerationLREAL64320ItemTypeInputJerkLREAL64384ItemTypeInputBufferModeMC_BufferMode16448ItemTypeInputOptionsST_MoveOptions256512ItemTypeInputDoneBOOL8768ItemTypeOutputBusyBOOL8776ItemTypeOutputActiveBOOL8784ItemTypeOutputCommandAbortedBOOL8792ItemTypeOutputErrorBOOL8800ItemTypeOutputErrorIDUDINT32832ItemTypeOutputLastExecutionResult_ST_FunctionBlockResults64864ADSbusyBOOL8928MoveGeneric_FB_MoveUniversalGeneric6464960CmdNoUINT167424PouTypeFunctionBlockMC_MoveRelative7488AxisAXIS_REF3232ItemTypeInOutExecuteBOOL864ItemTypeInputDistanceLREAL64128ItemTypeInputVelocityLREAL64192ItemTypeInputAccelerationLREAL64256ItemTypeInputDecelerationLREAL64320ItemTypeInputJerkLREAL64384ItemTypeInputBufferModeMC_BufferMode16448ItemTypeInputOptionsST_MoveOptions256512ItemTypeInputDoneBOOL8768ItemTypeOutputBusyBOOL8776ItemTypeOutputActiveBOOL8784ItemTypeOutputCommandAbortedBOOL8792ItemTypeOutputErrorBOOL8800ItemTypeOutputErrorIDUDINT32832ItemTypeOutputLastExecutionResult_ST_FunctionBlockResults64864ADSbusyBOOL8928MoveGeneric_FB_MoveUniversalGeneric6464960CmdNoUINT167424PouTypeFunctionBlockMC_Jog37760AxisAXIS_REF3232ItemTypeInOutJogForwardBOOL864ItemTypeInputJogBackwardsBOOL872ItemTypeInputModeE_JogMode1680ItemTypeInputPositionLREAL64128ItemTypeInputVelocityLREAL64192ItemTypeInputAccelerationLREAL64256ItemTypeInputDecelerationLREAL64320ItemTypeInputJerkLREAL64384ItemTypeInputDoneBOOL8448ItemTypeOutputBusyBOOL8456ItemTypeOutputActiveBOOL8464ItemTypeOutputCommandAbortedBOOL8472ItemTypeOutputErrorBOOL8480ItemTypeOutputErrorIDUDINT32512ItemTypeOutputstateINT16544LastExecutionResult_ST_FunctionBlockResults64576StateDWordBOOL8640ExecuteMoveVelocityBOOL8648MoveVelocityMC_MoveVelocity7424704MoveVelocityOutST_McOutputs968128DirectionMC_Direction168224ExecuteHaltBOOL88240HaltMC_Halt72968256HaltOutST_McOutputs9615552ExecuteMoveAbsoluteBOOL815648MoveAbsoluteMC_MoveAbsolute748815680MoveAbsoluteOutST_McOutputs9623168ExecuteMoveRelativeBOOL823264MoveRelativeMC_MoveRelative748823296MoveRelativeOutST_McOutputs9630784JogMove_FB_MoveUniversalGeneric646430912LastJogMoveResult_ST_FunctionBlockResults6437376ExecuteJogMoveBOOL837440StartType_E_TcNC_StartPosType1637456JogMoveOutST_McOutputs9637472JogEndBOOL837568TargetPositionLREAL6437632moduloLREAL6437696ActJogMoveActCheckJogEndPouTypeFunctionBlockMC_Stop8768AxisAXIS_REF3232ItemTypeInOutExecuteBOOL864ItemTypeInputDecelerationLREAL64128ItemTypeInputJerkLREAL64192ItemTypeInputOptionsST_MoveOptions256256ItemTypeInputDoneBOOL8512ItemTypeOutputBusyBOOL8520ItemTypeOutputActiveBOOL8528ItemTypeOutputCommandAbortedBOOL8536ItemTypeOutputErrorBOOL8544ItemTypeOutputErrorIDUDINT32576ItemTypeOutputLastExecutionResult_ST_FunctionBlockResults64608ADSbusyBOOL8672MoveGeneric_FB_MoveUniversalGeneric6464704ReleaseLockADSWRITE12167168CmdNoUINT168384AxisMotionCommandsLockedBOOL88400iState_E_TcMC_STATES168416100NoJobTimerTON2248448ActStopPouTypeFunctionBlockMC_ReadActualPosition192AxisAXIS_REF3232ItemTypeInOutEnableBOOL864ItemTypeInputValidBOOL872ItemTypeOutputBusyBOOL880ItemTypeOutputErrorBOOL888ItemTypeOutputErrorIDUDINT3296ItemTypeOutputPositionLREAL64128ItemTypeOutputPouTypeFunctionBlockDelay128Delay_OnBOOL832ItemTypeInputDelay_TimeTIME3264ItemTypeInputDelay_DoneBOOL896ItemTypeOutputPouTypeFunctionBlockE_PositionType16UINTPOSITIONTYPE_ABSOLUTE1POSITIONTYPE_RELATIVE2POSITIONTYPE_MODULO5_ST_TcNC_SetPos192nPosIstTypeUDINT320nReservedUDINT3232fNewPosIstLREAL6464fReservedLREAL64128hideMC_ExtSetPointGenEnable2176AxisAXIS_REF3232ItemTypeInOutExecuteBOOL864ItemTypeInputPositionLREAL64128ItemTypeInputPositionTypeE_PositionType16192ItemTypeInputDoneBOOL8208ItemTypeOutputBusyBOOL8216ItemTypeOutputErrorBOOL8224ItemTypeOutputErrorIDUDINT32256ItemTypeOutputEnabledBOOL8288ItemTypeOutputLastExecutionResult_ST_FunctionBlockResults64320iState_E_TcMC_STATES16384100ADSbusyBOOL8400sExtSetPointGen_ST_TcNC_SetPos192448fbADSwriteADSWRITE1216640PouTypeFunctionBlockMC_ExtSetPointGenDisable1760AxisAXIS_REF3232ItemTypeInOutExecuteBOOL864ItemTypeInputDoneBOOL872ItemTypeOutputBusyBOOL880ItemTypeOutputErrorBOOL888ItemTypeOutputErrorIDUDINT3296ItemTypeOutputEnabledBOOL8128ItemTypeOutputLastExecutionResult_ST_FunctionBlockResults64160iState_E_TcMC_STATES16224100ADSbusyBOOL8240fbADSwriteADSWRITE1216256PouTypeFunctionBlockAxis98816Axis_ErrorBOOL832ItemTypeOutputAxis_ErrorIDUDINT3264ItemTypeOutputAxis_MovesBOOL896ItemTypeOutputJogDoneBOOL8104ResetDoneBOOL8112HaltDoneBOOL8120HomeDoneBOOL8128MoveAbsoluteDoneBOOL8136ExtSetPiontDoneBOOL8144Power_StatusEnableBOOL8152Velocity_JogLREAL64192Velocity_MoveLREAL64256Velocity_HomeLREAL64320Velocity_AbsoluteLREAL64384Velocity_RelativeLREAL64448fOverrideLREAL64512100Home_PositionLREAL64576TriggerHaltR_TRIG64640TriggerResetR_TRIG64704AxisRefAXIS_REF8384768Axis_Current_TurqueINT169152Axis_Max_TurqueINT169168Proximity_SwitchDINT329184Axis_PowerMC_Power7689216Axis_HomeMC_Home65289984Axis_ResetMC_Reset160016512Axis_JogMC_Jog3776018112Axis_StopMC_Stop876855872Axis_HaltMC_Halt729664640Axis_MoveMC_MoveVelocity742471936Axis_MoveAbsoluteMC_MoveAbsolute748879360Axis_MoveRelativeMC_MoveRelative748886848Axis_ActPositionMC_ReadActualPosition19294336Axis_DelayDelay12894528Axis_ExtSetPiontEnableMC_ExtSetPointGenEnable217694656Axis_ExtSetPiontDisableMC_ExtSetPointGenDisable176096832DelayTON22498592__getState_MoveAbsoluteDoneBOOL8State_MoveAbsoluteDoneBOOLpropertyHome_SensorDrive_HomeBOOL8Home_SwitchBOOL8BackDoneBOOLMove_RelativeDrive_Move_RelativeBOOL8Relative_PositionLREAL64HaltBOOL8DriveHaltBOOL8__getCurrent_Turque_ValueINT16Current_Turque_ValueINTproperty__getState_ExtSetPiontDoneBOOL8State_ExtSetPiontDoneBOOLproperty__getHome_VelocityLREAL64Home_VelocityLREALpropertyMove_BackwardMove_Backward_StartBOOL8__getState_JogDoneBOOL8State_JogDoneBOOLproperty__setJog_VelocityBOOL8Jog_VelocityLREAL64property__getState_PowerStatusBOOL8State_PowerStatusBOOLpropertyJog_BackwardDrive_Jog_BackwardBOOL8ResetDrive_ResetBOOL8__getMove_VelocityLREAL64Move_VelocityLREALproperty__getState_ResetDoneBOOL8State_ResetDoneBOOLproperty__setHome_Absolute_PositionBOOL8Home_Absolute_PositionLREAL64property__getMove_Relative_VelocityLREAL64Move_Relative_VelocityLREALpropertyMove_FordwardMove_Forward_StartBOOL8__getJog_VelocityLREAL64Jog_VelocityLREALpropertyPowerAxis_EnableBOOL8__setMax_Turque_ValueBOOL8Max_Turque_ValueINT16property__setMove_Absolute_VelocityBOOL8Move_Absolute_VelocityLREAL64property__setMove_Relative_VelocityBOOL8Move_Relative_VelocityLREAL64property__getActPositionLREAL64ActPositionLREALproperty__getMove_Absolute_VelocityLREAL64Move_Absolute_VelocityLREALproperty__setCurrent_Turque_ValueBOOL8Current_Turque_ValueINT16propertyJog_ForwardBOOL8Drive_Jog_ForwardBOOL8__getHome_Absolute_PositionLREAL64Home_Absolute_PositionLREALproperty__setMove_VelocityBOOL8Move_VelocityLREAL64propertyMove_AbsoluteDrive_Move_AbsoluteBOOL8Absolute_PositionLREAL64__setHome_VelocityBOOL8Home_VelocityLREAL64propertyExtSetPointDrive_ExtSetPointEnableBOOL8Drive_ExtSetPointDisableBOOL8ExSetPositionLREAL64__getState_HomeDoneBOOL8State_HomeDoneBOOLpropertyHomeDrive_Home - BOOL - 8 - - - BackDone - - BOOL - - - - - PouType - FunctionBlock - - - - - TComInitDataElmHdr - 96 - - indexGroup - UDINT - 32 - 0 - - - indexOffset - UDINT - 32 - 32 - - - cbData - UDINT - 32 - 64 - - - - E_TcMatSimDataAreaType - 16 - INT - - NotSpecified - 0 - - - Standard - 1 - - - InputSrc - 2 - - - InputDst - 3 - - - OutputSrc - 4 - - - OutputDst - 5 - - - InternalDa - 6 - - - MArea - 7 - - - RetainDa - 8 - - - - ST_TcMatSimObjectDataAreaInfo - 160 - - pPlcVar - PVOID - 32 - 0 - - - pModuleProcImg - PVOID - 32 - 32 - - - nSize - UDINT - 32 - 64 - - - nDataAreaId - UDINT - 32 - 96 - - - eDataAreaType - E_TcMatSimDataAreaType - 16 - 128 - - - - TCOM_STATE - 32 - UDINT - - - 1 - - - - 2 - - - - 4 - - - - 8 - - - - TComInitDataHdr - 96 - - cbData - UDINT - 32 - 0 - - - uiElmCnt - UINT - 16 - 32 - - - reserved1 - UINT - 16 - 48 - - - reserved2 - UDINT - 32 - 64 - - - - FB_TcMatSimObject - 704 - - bWriteFbInputValues - BOOL - - 8 - 32 - - 1 - - - - ItemType - Input - - - - - 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access]]> - - - - TctStepSizeType - 32 - DINT - - - 0 - - - - - 1 - - - - - 2 - - - - - TctModuleCallByType - 32 - DINT - - - 0 - - - - - 1 - - - - - ST_HexMove_InitData - 1248 - - Header - TComInitDataHdr - 96 - 0 - - - CallByHdr - TComInitDataElmHdr - 96 - 96 - - - CallBy - TctModuleCallByType - 32 - 192 - - - ExecutionSequenceHdr - TComInitDataElmHdr - 96 - 224 - - - ExecutionSequence - TctModuleExecutionSequenceType - 32 - 320 - - - StepSizeHdr - TComInitDataElmHdr - 96 - 352 - - - StepSize - TctStepSizeType - 32 - 448 - - - ExecuteModelCodeHdr - TComInitDataElmHdr - 96 - 480 - - - ExecuteModelCode - BOOL - 8 - 576 - - - ContextInfoArr_0_TaskOidHdr - TComInitDataElmHdr - 96 - 608 - - - ContextInfoArr_0_TaskOid - OTCID - 32 - 704 - - - ContextInfoArr_0_TaskPriorityHdr - TComInitDataElmHdr - 96 - 736 - - - ContextInfoArr_0_TaskPriority - UDINT - 32 - 832 - - - ContextInfoArr_0_TaskCycleTimeNsHdr - TComInitDataElmHdr - 96 - 864 - - - ContextInfoArr_0_TaskCycleTimeNs - UDINT - 32 - 960 - - - ContextInfoArr_0_TaskPortHdr - TComInitDataElmHdr - 96 - 992 - - - ContextInfoArr_0_TaskPort - UINT - 16 - 1088 - - - ContextInfoArr_0_TaskSortOrderHdr - TComInitDataElmHdr - 96 - 1120 - - - ContextInfoArr_0_TaskSortOrder - UDINT - 32 - 1216 - - - - pack_mode - 4 - - - - - TctModelCheckSumType - 128 - UDINT - - 0 - 4 - - - - TctVersionArrayType - 128 - UDINT - - 0 - 4 - - - - TctModuleInfoType - 1184 - - ClassId - CLSID - 128 - 0 - - - BuildTimeStamp - DATE_AND_TIME - 32 - 128 - - - ModelCheckSum - TctModelCheckSumType - 128 - 160 - - - ModelVersion - TctVersionArrayType - 128 - 288 - - - TwinCatVersion - TctVersionArrayType - 128 - 416 - - - TcTargetVersion - TctVersionArrayType - 128 - 544 - - - MatlabVersion - TctVersionArrayType - 128 - 672 - - - SimulinkVersion - TctVersionArrayType - 128 - 800 - - - CoderVersion - TctVersionArrayType - 128 - 928 - - - TcTargetLicenseId - GUID - 128 - 1056 - - - - TctModuleBuildInfoType - 8 - - Debug - BOOL - 8 - 0 - - - - ExtU_hexmove_T - 64 - - t - LREAL - 64 - 0 - - - - ST_HexMove_Input - 64 - - t - LREAL - 64 - 0 - - - - matrix_18_real_T - 1152 - LREAL - - 0 - 18 - - - - ST_HexMove_Output - 1152 - - Disp_P - matrix_18_real_T - 1152 - 0 - - - - FB_HexMove - 3520 - FB_TcMatSimObject - - stInput - ST_HexMove_Input - 64 - 704 - - - ItemType - Input - - - - - stOutput - ST_HexMove_Output - 1152 - 768 - - - ItemType - Output - - - - - stInitData - ST_HexMove_InitData - 1248 - 1920 - - - arrDataAreas - ST_TcMatSimObjectDataAreaInfo - - 1 - 2 - - 320 - 3168 - - - bParametersVerified - BOOL - 8 - 3488 - - - __setExecutionSequence_Startup - BOOL - 8 - - ExecutionSequence_Startup - TctModuleExecutionSequenceType - 32 - - - - property - - - - - SaveOnlineParametersForInit - HRESULT - 32 - - idx - UINT - - - pInitElemHdr - TComInitDataElmHdr - - - pData - PVOID - - - nData - UDINT - - - nInitDataAlignment - UDINT - - - - object_name - SaveOnlineParametersForInit - - - - - __getContextInfoArr_0_TaskCycleTimeNs_Online - UDINT - 32 - - ContextInfoArr_0_TaskCycleTimeNs_Online - UDINT - - - - property - - - - - __getExecuteModelCode_Online - BOOL - 8 - - ExecuteModelCode_Online - BOOL - - - - property - - - - - __setStepSize_Online - BOOL - 8 - - StepSize_Online - TctStepSizeType - 32 - - - - property - - - - - __setStepSize_Startup - BOOL - 8 - - StepSize_Startup - TctStepSizeType - 32 - - - - property - - - - - __getContextInfoArr_0_TaskSortOrder_Online - UDINT - 32 - - ContextInfoArr_0_TaskSortOrder_Online - UDINT - - - - property - - - - - __getCallBy_Online - TctModuleCallByType - 32 - - CallBy_Online - TctModuleCallByType - - - - property - - - - - __getStepSize_Startup - TctStepSizeType - 32 - - StepSize_Startup - TctStepSizeType - - - - property - - - - - __setInitData - BOOL - 8 - - InitData - ST_HexMove_InitData - 1248 - - - - property - - - - - __getContextInfoArr_0_TaskSortOrder_Startup - UDINT - 32 - - ContextInfoArr_0_TaskSortOrder_Startup - UDINT - - - - property - - - - - __getInitData - ST_HexMove_InitData - 1248 - - InitData - ST_HexMove_InitData - - - - property - - - - - __getModuleInfo_Online - TctModuleInfoType - 1184 - - ModuleInfo_Online - TctModuleInfoType - - - - property - - - - - __getContextInfoArr_0_TaskPort_Online - UINT - 16 - - ContextInfoArr_0_TaskPort_Online - UINT - - - - property - - - - - __getCycleUpdateExecuted_Online - BOOL - 8 - - CycleUpdateExecuted_Online - BOOL - - - - property - - - - - __setContextInfoArr_0_TaskSortOrder_Online - BOOL - 8 - - ContextInfoArr_0_TaskSortOrder_Online - UDINT - 32 - - - - property - - - - - __getExecutionSequence_Startup - TctModuleExecutionSequenceType - 32 - - ExecutionSequence_Startup - TctModuleExecutionSequenceType - - - - property - - - - - __setContextInfoArr_0_TaskCycleTimeNs_Startup - BOOL - 8 - - ContextInfoArr_0_TaskCycleTimeNs_Startup - UDINT - 32 - - - - property - - - - - __getStepSize_Online - TctStepSizeType - 32 - - StepSize_Online - TctStepSizeType - - - - property - - - - - __setContextInfoArr_0_TaskSortOrder_Startup - BOOL - 8 - - ContextInfoArr_0_TaskSortOrder_Startup - UDINT - 32 - - - - property - - - - - __setModuleBuildInfo_Online - BOOL - 8 - - ModuleBuildInfo_Online - TctModuleBuildInfoType - 8 - - - - property - - - - - Execute - HRESULT - 32 - - - __setExecuteModelCode_Online - BOOL - 8 - - ExecuteModelCode_Online - BOOL - 8 - - - - property - - - - - __setModuleInfo_Online - BOOL - 8 - - ModuleInfo_Online - TctModuleInfoType - 1184 - - - - property - - - - - __getExecutionSequence_Online - TctModuleExecutionSequenceType - 32 - - ExecutionSequence_Online - TctModuleExecutionSequenceType - - - - property - - - - - __setExecuteModelCode_Startup - BOOL - 8 - - ExecuteModelCode_Startup - BOOL - 8 - - - - property - - - - - __getContextInfoArr_0_TaskPriority_Online - UDINT - 32 - - ContextInfoArr_0_TaskPriority_Online - UDINT - - - - property - - - - - VerifyParameters - HRESULT - 32 - - moduleCallByParam - TctModuleCallByType - - - - object_name - VerifyParameters - - - - - __setInput_Online - BOOL - 8 - - Input_Online - ExtU_hexmove_T - 64 - - - - property - - - - - __setCallBy_Startup - BOOL - 8 - - CallBy_Startup - TctModuleCallByType - 32 - - - - property - - - - - __getModuleBuildInfo_Online - TctModuleBuildInfoType - 8 - - ModuleBuildInfo_Online - TctModuleBuildInfoType - - - - property - - - - - __getContextInfoArr_0_TaskOid_Startup - OTCID - 32 - - ContextInfoArr_0_TaskOid_Startup - OTCID - - - - property - - - - - __getContextInfoArr_0_TaskPriority_Startup - UDINT - 32 - - ContextInfoArr_0_TaskPriority_Startup - UDINT - - - - property - - - - - __getExecuteModelCode_Startup - BOOL - 8 - - ExecuteModelCode_Startup - BOOL - - - - property - - - - - __setExecutionSequence_Online - BOOL - 8 - - ExecutionSequence_Online - TctModuleExecutionSequenceType - 32 - - - - property - - - - - __setCycleUpdateExecuted_Online - BOOL - 8 - - CycleUpdateExecuted_Online - BOOL - 8 - - - - property - - - - - __getInput_Online - ExtU_hexmove_T - 64 - - Input_Online - ExtU_hexmove_T - - - - property - - - - - __setSimulinkTime_Online - BOOL - 8 - - SimulinkTime_Online - LREAL - 64 - - - - property - - - - - __setMdlInitialized_Online - BOOL - 8 - - MdlInitialized_Online - BOOL - 8 - - - - property - - - - - __getCallBy_Startup - TctModuleCallByType - 32 - - CallBy_Startup - TctModuleCallByType - - - - property - - - - - __setContextInfoArr_0_TaskOid_Online - BOOL - 8 - - ContextInfoArr_0_TaskOid_Online - OTCID - 32 - - - - property - - - - - __getContextInfoArr_0_TaskCycleTimeNs_Startup - UDINT - 32 - - ContextInfoArr_0_TaskCycleTimeNs_Startup - UDINT - - - - property - - - - - __setContextInfoArr_0_TaskOid_Startup - BOOL - 8 - - ContextInfoArr_0_TaskOid_Startup - OTCID - 32 - - - - property - - - - - __setContextInfoArr_0_TaskPort_Online - BOOL - 8 - - ContextInfoArr_0_TaskPort_Online - UINT - 16 - - - - property - - - - - __setContextInfoArr_0_TaskCycleTimeNs_Online - BOOL - 8 - - ContextInfoArr_0_TaskCycleTimeNs_Online - UDINT - 32 - - - - property - - - - - __getSimulinkTime_Online - LREAL - 64 - - SimulinkTime_Online - LREAL - - - - property - - - - - __setContextInfoArr_0_TaskPort_Startup - BOOL - 8 - - ContextInfoArr_0_TaskPort_Startup - UINT - 16 - - - - property - - - - - __getContextInfoArr_0_TaskPort_Startup - UINT - 16 - - ContextInfoArr_0_TaskPort_Startup - UINT - - - - property - - - - - __setContextInfoArr_0_TaskPriority_Startup - BOOL - 8 - - ContextInfoArr_0_TaskPriority_Startup - UDINT - 32 - - - - property - - - - - __getContextInfoArr_0_TaskOid_Online - OTCID - 32 - - ContextInfoArr_0_TaskOid_Online - OTCID - - - - property - - - - - __setContextInfoArr_0_TaskPriority_Online - BOOL - 8 - - ContextInfoArr_0_TaskPriority_Online - UDINT - 32 - - - - property - - - - - __setCallBy_Online - BOOL - 8 - - CallBy_Online - TctModuleCallByType - 32 - - - - property - - - - - Internal_SetObjState - - hr - HRESULT - 32 - - - nextState - TCOM_STATE - 32 - - - - object_name - Internal_SetObjState - - - - - __getMdlInitialized_Online - BOOL - 8 - - MdlInitialized_Online - BOOL - - - - property - - - - - - PouType - FunctionBlock - - - TcDependOnClassFactory - HexMove - - - - - Hexapod_Robot_Mapping - 2368 - - Model_Leg_Position - LREAL - - 1 - 18 - - - 1152 - 64 - - - ItemType - Input - - - - - Controller_Leg_Position - LREAL - - 1 - 18 - - - 1152 - 1216 - - - ItemType - Output - - - - - - PouType - FunctionBlock - - - - - matrix_2_real_T - 128 - LREAL - - 0 - 2 - - - - P_Filter_Current_Hexapod_Robo_T - 5760 - - DiscreteFilter_NumCoef - matrix_2_real_T - 128 - 0 - - - DiscreteFilter_DenCoef - matrix_2_real_T - 128 - 128 - - - DiscreteFilter_InitialStates - LREAL - 64 - 256 - - - DiscreteFilter1_NumCoef - matrix_2_real_T - 128 - 320 - - - DiscreteFilter1_DenCoef - matrix_2_real_T - 128 - 448 - - - DiscreteFilter1_InitialStates - LREAL - 64 - 576 - - - DiscreteFilter2_NumCoef - matrix_2_real_T - 128 - 640 - - - DiscreteFilter2_DenCoef - matrix_2_real_T - 128 - 768 - - - DiscreteFilter2_InitialStates - LREAL - 64 - 896 - - - DiscreteFilter3_NumCoef - matrix_2_real_T - 128 - 960 - - - DiscreteFilter3_DenCoef - matrix_2_real_T - 128 - 1088 - - - DiscreteFilter3_InitialStates - LREAL - 64 - 1216 - - - DiscreteFilter4_NumCoef - matrix_2_real_T - 128 - 1280 - - - DiscreteFilter4_DenCoef - matrix_2_real_T - 128 - 1408 - - - DiscreteFilter4_InitialStates - LREAL - 64 - 1536 - - - DiscreteFilter5_NumCoef - matrix_2_real_T - 128 - 1600 - - - DiscreteFilter5_DenCoef - matrix_2_real_T - 128 - 1728 - - - DiscreteFilter5_InitialStates - LREAL - 64 - 1856 - - - DiscreteFilter6_NumCoef - matrix_2_real_T - 128 - 1920 - - - DiscreteFilter6_DenCoef - matrix_2_real_T - 128 - 2048 - - - DiscreteFilter6_InitialStates - LREAL - 64 - 2176 - - - DiscreteFilter7_NumCoef - matrix_2_real_T - 128 - 2240 - - - DiscreteFilter7_DenCoef - matrix_2_real_T - 128 - 2368 - - - DiscreteFilter7_InitialStates - LREAL - 64 - 2496 - - - DiscreteFilter8_NumCoef - matrix_2_real_T - 128 - 2560 - - - DiscreteFilter8_DenCoef - matrix_2_real_T - 128 - 2688 - - - DiscreteFilter8_InitialStates - LREAL - 64 - 2816 - - - DiscreteFilter9_NumCoef - matrix_2_real_T - 128 - 2880 - - - DiscreteFilter9_DenCoef - matrix_2_real_T - 128 - 3008 - - - DiscreteFilter9_InitialStates - LREAL - 64 - 3136 - - - DiscreteFilter10_NumCoef - matrix_2_real_T - 128 - 3200 - - - DiscreteFilter10_DenCoef - matrix_2_real_T - 128 - 3328 - - - DiscreteFilter10_InitialStates - LREAL - 64 - 3456 - - - DiscreteFilter11_NumCoef - matrix_2_real_T - 128 - 3520 - - - DiscreteFilter11_DenCoef - matrix_2_real_T - 128 - 3648 - - - DiscreteFilter11_InitialStates - LREAL - 64 - 3776 - - - DiscreteFilter12_NumCoef - matrix_2_real_T - 128 - 3840 - - - DiscreteFilter12_DenCoef - matrix_2_real_T - 128 - 3968 - - - DiscreteFilter12_InitialStates - LREAL - 64 - 4096 - - - DiscreteFilter13_NumCoef - matrix_2_real_T - 128 - 4160 - - - DiscreteFilter13_DenCoef - matrix_2_real_T - 128 - 4288 - - - DiscreteFilter13_InitialStates - LREAL - 64 - 4416 - - - DiscreteFilter14_NumCoef - matrix_2_real_T - 128 - 4480 - - - DiscreteFilter14_DenCoef - matrix_2_real_T - 128 - 4608 - - - DiscreteFilter14_InitialStates - LREAL - 64 - 4736 - - - DiscreteFilter15_NumCoef - matrix_2_real_T - 128 - 4800 - - - DiscreteFilter15_DenCoef - matrix_2_real_T - 128 - 4928 - - - DiscreteFilter15_InitialStates - LREAL - 64 - 5056 - - - DiscreteFilter16_NumCoef - matrix_2_real_T - 128 - 5120 - - - DiscreteFilter16_DenCoef - matrix_2_real_T - 128 - 5248 - - - DiscreteFilter16_InitialStates - LREAL - 64 - 5376 - - - DiscreteFilter17_NumCoef - matrix_2_real_T - 128 - 5440 - - - DiscreteFilter17_DenCoef - matrix_2_real_T - 128 - 5568 - - - DiscreteFilter17_InitialStates - LREAL - 64 - 5696 - - - - ST_Filter_Current_Hexapod_Robot_InitData - 7104 - - Header - TComInitDataHdr - 96 - 0 - - - CallByHdr - TComInitDataElmHdr - 96 - 96 - - - CallBy - TctModuleCallByType - 32 - 192 - - - ExecutionSequenceHdr - TComInitDataElmHdr - 96 - 224 - - - ExecutionSequence - TctModuleExecutionSequenceType - 32 - 320 - - - StepSizeHdr - TComInitDataElmHdr - 96 - 352 - - - StepSize - TctStepSizeType - 32 - 448 - - - ExecuteModelCodeHdr - TComInitDataElmHdr - 96 - 480 - - - ExecuteModelCode - BOOL - 8 - 576 - - - ModelParametersHdr - TComInitDataElmHdr - 96 - 608 - - - ModelParameters - P_Filter_Current_Hexapod_Robo_T - 5760 - 704 - - - ContextInfoArr_0_TaskOidHdr - TComInitDataElmHdr - 96 - 6464 - - - ContextInfoArr_0_TaskOid - OTCID - 32 - 6560 - - - ContextInfoArr_0_TaskPriorityHdr - TComInitDataElmHdr - 96 - 6592 - - - ContextInfoArr_0_TaskPriority - UDINT - 32 - 6688 - - - ContextInfoArr_0_TaskCycleTimeNsHdr - TComInitDataElmHdr - 96 - 6720 - - - ContextInfoArr_0_TaskCycleTimeNs - UDINT - 32 - 6816 - - - ContextInfoArr_0_TaskPortHdr - TComInitDataElmHdr - 96 - 6848 - - - ContextInfoArr_0_TaskPort - UINT - 16 - 6944 - - - ContextInfoArr_0_TaskSortOrderHdr - TComInitDataElmHdr - 96 - 6976 - - - ContextInfoArr_0_TaskSortOrder - UDINT - 32 - 7072 - - - - pack_mode - 4 - - - - - ExtU_Filter_Current_Hexapod_R_T - 1152 - - Current_Motor - matrix_18_real_T - 1152 - 0 - - - - ST_Filter_Current_Hexapod_Robot_Input - 1152 - - Current_Motor - matrix_18_real_T - 1152 - 0 - - - - ST_Filter_Current_Hexapod_Robot_Output - 1152 - - Current_Monitor - matrix_18_real_T - 1152 - 0 - - - - FB_Filter_Current_Hexapod_Robot - 10496 - FB_TcMatSimObject - - stInput - ST_Filter_Current_Hexapod_Robot_Input - 1152 - 704 - - - ItemType - Input - - - - - stOutput - ST_Filter_Current_Hexapod_Robot_Output - 1152 - 1856 - - - ItemType - Output - - - - - stInitData - ST_Filter_Current_Hexapod_Robot_InitData - 7104 - 3008 - - - arrDataAreas - ST_TcMatSimObjectDataAreaInfo - - 1 - 2 - - 320 - 10112 - - - bParametersVerified - BOOL - 8 - 10432 - - - __setExecutionSequence_Startup - BOOL - 8 - - ExecutionSequence_Startup - TctModuleExecutionSequenceType - 32 - - - - property - - - - - SaveOnlineParametersForInit - HRESULT - 32 - - idx - UINT - - - pInitElemHdr - TComInitDataElmHdr - - - pData - PVOID - - - nData - UDINT - - - nInitDataAlignment - UDINT - - - - object_name - SaveOnlineParametersForInit - - - - - __getContextInfoArr_0_TaskCycleTimeNs_Online - UDINT - 32 - - ContextInfoArr_0_TaskCycleTimeNs_Online - UDINT - - - - property - - - - - __getExecuteModelCode_Online - BOOL - 8 - - ExecuteModelCode_Online - BOOL - - - - property - - - - - __setStepSize_Online - BOOL - 8 - - StepSize_Online - TctStepSizeType - 32 - - - - property - - - - - __setStepSize_Startup - BOOL - 8 - - StepSize_Startup - TctStepSizeType - 32 - - - - property - - - - - __getContextInfoArr_0_TaskSortOrder_Online - UDINT - 32 - - ContextInfoArr_0_TaskSortOrder_Online - UDINT - - - - property - - - - - __getCallBy_Online - TctModuleCallByType - 32 - - CallBy_Online - TctModuleCallByType - - - - property - - - - - __getStepSize_Startup - TctStepSizeType - 32 - - StepSize_Startup - TctStepSizeType - - - - property - - - - - __getModelParameters_Online - P_Filter_Current_Hexapod_Robo_T - 5760 - - ModelParameters_Online - P_Filter_Current_Hexapod_Robo_T - - - - property - - - - - __setModuleInfo_Online - BOOL - 8 - - ModuleInfo_Online - TctModuleInfoType - 1184 - - - - property - - - - - __setInitData - BOOL - 8 - - InitData - ST_Filter_Current_Hexapod_Robot_InitData - 7104 - - - - property - - - - - __getContextInfoArr_0_TaskSortOrder_Startup - UDINT - 32 - - ContextInfoArr_0_TaskSortOrder_Startup - UDINT - - - - property - - - - - __getInitData - ST_Filter_Current_Hexapod_Robot_InitData - 7104 - - InitData - ST_Filter_Current_Hexapod_Robot_InitData - - - - property - - - - - __getModuleInfo_Online - TctModuleInfoType - 1184 - - ModuleInfo_Online - TctModuleInfoType - - - - property - - - - - __getContextInfoArr_0_TaskPort_Online - UINT - 16 - - ContextInfoArr_0_TaskPort_Online - UINT - - - - property - - - - - __getCycleUpdateExecuted_Online - BOOL - 8 - - CycleUpdateExecuted_Online - BOOL - - - - property - - - - - __setContextInfoArr_0_TaskSortOrder_Online - BOOL - 8 - - ContextInfoArr_0_TaskSortOrder_Online - UDINT - 32 - - - - property - - - - - __getExecutionSequence_Startup - TctModuleExecutionSequenceType - 32 - - ExecutionSequence_Startup - TctModuleExecutionSequenceType - - - - property - - - - - __getModelParameters_Startup - P_Filter_Current_Hexapod_Robo_T - 5760 - - ModelParameters_Startup - P_Filter_Current_Hexapod_Robo_T - - - - property - - - - - __setContextInfoArr_0_TaskCycleTimeNs_Startup - BOOL - 8 - - ContextInfoArr_0_TaskCycleTimeNs_Startup - UDINT - 32 - - - - property - - - - - __getStepSize_Online - TctStepSizeType - 32 - - StepSize_Online - TctStepSizeType - - - - property - - - - - __setContextInfoArr_0_TaskSortOrder_Startup - BOOL - 8 - - ContextInfoArr_0_TaskSortOrder_Startup - UDINT - 32 - - - - property - - - - - __setModuleBuildInfo_Online - BOOL - 8 - - ModuleBuildInfo_Online - TctModuleBuildInfoType - 8 - - - - property - - - - - Execute - HRESULT - 32 - - - __setExecuteModelCode_Online - BOOL - 8 - - ExecuteModelCode_Online - BOOL - 8 - - - - property - - - - - __setModelParameters_Online - BOOL - 8 - - ModelParameters_Online - P_Filter_Current_Hexapod_Robo_T - 5760 - - - - property - - - - - __setModelParameters_Startup - BOOL - 8 - - ModelParameters_Startup - P_Filter_Current_Hexapod_Robo_T - 5760 - - - - property - - - - - __getExecutionSequence_Online - TctModuleExecutionSequenceType - 32 - - ExecutionSequence_Online - TctModuleExecutionSequenceType - - - - property - - - - - __setExecuteModelCode_Startup - BOOL - 8 - - ExecuteModelCode_Startup - BOOL - 8 - - - - property - - - - - __getContextInfoArr_0_TaskPriority_Online - UDINT - 32 - - ContextInfoArr_0_TaskPriority_Online - UDINT - - - - property - - - - - VerifyParameters - HRESULT - 32 - - moduleCallByParam - TctModuleCallByType - - - - object_name - VerifyParameters - - - - - __setInput_Online - BOOL - 8 - - Input_Online - ExtU_Filter_Current_Hexapod_R_T - 1152 - - - - property - - - - - __setCallBy_Startup - BOOL - 8 - - CallBy_Startup - TctModuleCallByType - 32 - - - - property - - - - - __getModuleBuildInfo_Online - TctModuleBuildInfoType - 8 - - ModuleBuildInfo_Online - TctModuleBuildInfoType - - - - property - - - - - __getContextInfoArr_0_TaskOid_Startup - OTCID - 32 - - ContextInfoArr_0_TaskOid_Startup - OTCID - - - - property - - - - - __getContextInfoArr_0_TaskPriority_Startup - UDINT - 32 - - ContextInfoArr_0_TaskPriority_Startup - UDINT - - - - property - - - - - __getExecuteModelCode_Startup - BOOL - 8 - - ExecuteModelCode_Startup - BOOL - - - - property - - - - - __setExecutionSequence_Online - BOOL - 8 - - ExecutionSequence_Online - TctModuleExecutionSequenceType - 32 - - - - property - - - - - __setCycleUpdateExecuted_Online - BOOL - 8 - - CycleUpdateExecuted_Online - BOOL - 8 - - - - property - - - - - __getInput_Online - ExtU_Filter_Current_Hexapod_R_T - 1152 - - Input_Online - ExtU_Filter_Current_Hexapod_R_T - - - - property - - - - - __setSimulinkTime_Online - BOOL - 8 - - SimulinkTime_Online - LREAL - 64 - - - - property - - - - - __setMdlInitialized_Online - BOOL - 8 - - MdlInitialized_Online - BOOL - 8 - - - - property - - - - - __getCallBy_Startup - TctModuleCallByType - 32 - - CallBy_Startup - TctModuleCallByType - - - - property - - - - - __setContextInfoArr_0_TaskOid_Online - BOOL - 8 - - ContextInfoArr_0_TaskOid_Online - OTCID - 32 - - - - property - - - - - __getContextInfoArr_0_TaskCycleTimeNs_Startup - UDINT - 32 - - ContextInfoArr_0_TaskCycleTimeNs_Startup - UDINT - - - - property - - - - - __setContextInfoArr_0_TaskOid_Startup - BOOL - 8 - - ContextInfoArr_0_TaskOid_Startup - OTCID - 32 - - - - property - - - - - __setContextInfoArr_0_TaskPort_Online - BOOL - 8 - - ContextInfoArr_0_TaskPort_Online - UINT - 16 - - - - property - - - - - __setContextInfoArr_0_TaskCycleTimeNs_Online - BOOL - 8 - - ContextInfoArr_0_TaskCycleTimeNs_Online - UDINT - 32 - - - - property - - - - - __getSimulinkTime_Online - LREAL - 64 - - SimulinkTime_Online - LREAL - - - - property - - - - - __setContextInfoArr_0_TaskPort_Startup - BOOL - 8 - - ContextInfoArr_0_TaskPort_Startup - UINT - 16 - - - - property - - - - - __getContextInfoArr_0_TaskPort_Startup - UINT - 16 - - ContextInfoArr_0_TaskPort_Startup - UINT - - - - property - - - - - __setContextInfoArr_0_TaskPriority_Startup - BOOL - 8 - - ContextInfoArr_0_TaskPriority_Startup - UDINT - 32 - - - - property - - - - - __getContextInfoArr_0_TaskOid_Online - OTCID - 32 - - ContextInfoArr_0_TaskOid_Online - OTCID - - - - property - - - - - __setContextInfoArr_0_TaskPriority_Online - BOOL - 8 - - ContextInfoArr_0_TaskPriority_Online - UDINT - 32 - - - - property - - - - - __setCallBy_Online - BOOL - 8 - - CallBy_Online - TctModuleCallByType - 32 - - - - property - - - - - Internal_SetObjState - - hr - HRESULT - 32 - - - nextState - TCOM_STATE - 32 - - - - object_name - Internal_SetObjState - - - - - __getMdlInitialized_Online - BOOL - 8 - - MdlInitialized_Online - BOOL - - - - property - - - - - - PouType - FunctionBlock - - - TcDependOnClassFactory - Filter_Current_Hexapod_Robot - - - - - VERSION - 64 - - uiMajor - UINT - 16 - 0 - - - uiMinor - UINT - 16 - 16 - - - uiServicePack - UINT - 16 - 32 - - - uiPatch - UINT - 16 - 48 - - - - PlcAppSystemInfo - 2048 - - ObjId - OTCID - 32 - 0 - - - TaskCnt - UDINT - 32 - 32 - - - OnlineChangeCnt - UDINT - 32 - 64 - - - Flags - DWORD - 32 - 96 - - - AdsPort - UINT - 16 - 128 - - - BootDataLoaded - BOOL - 8 - 144 - - - OldBootData - BOOL - 8 - 152 - - - AppTimestamp - DT - 32 - 160 - - - KeepOutputsOnBP - BOOL - 8 - 192 - - - ShutdownInProgress - BOOL - 8 - 200 - - - LicensesPending - BOOL - 8 - 208 - - - BSODOccured - BOOL - 8 - 216 - - - TComSrvPtr - ITComObjectServer - 32 - 256 - - - TcComInterface - - - - - AppName - STRING(63) - 512 - 512 - - - ProjectName - STRING(63) - 512 - 1024 - - - - - - - - - PlcTaskSystemInfo - 1024 - - ObjId - 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urrent_Hexapod_Robot10496FB_TcMatSimObjectstInputST_Filter_Current_Hexapod_Robot_Input1152704ItemTypeInputstOutputST_Filter_Current_Hexapod_Robot_Output11521856ItemTypeOutputstInitDataST_Filter_Current_Hexapod_Robot_InitData71043008arrDataAreasST_TcMatSimObjectDataAreaInfo1232010112bParametersVerifiedBOOL810432__setExecutionSequence_StartupBOOL8ExecutionSequence_StartupTctModuleExecutionSequenceType32propertySaveOnlineParametersForInitHRESULT32idxUINTpInitElemHdrTComInitDataElmHdrpDataPVOIDnDataUDINTnInitDataAlignmentUDINTobject_nameSaveOnlineParametersForInit__getContextInfoArr_0_TaskCycleTimeNs_OnlineUDINT32ContextInfoArr_0_TaskCycleTimeNs_OnlineUDINTproperty__getExecuteModelCode_OnlineBOOL8ExecuteModelCode_OnlineBOOLproperty__setStepSize_OnlineBOOL8StepSize_OnlineTctStepSizeType32property__setStepSize_StartupBOOL8StepSize_StartupTctStepSizeType32property__getContextInfoArr_0_TaskSortOrder_OnlineUDINT32ContextInfoArr_0_TaskSortOrder_OnlineUDINTproperty__getCallBy_OnlineTctModuleCallByType32CallBy_OnlineTctModuleCallByTypeproperty__getStepSize_StartupTctStepSizeType32StepSize_StartupTctStepSizeTypeproperty__getModelParameters_OnlineP_Filter_Current_Hexapod_Robo_T5760ModelParameters_OnlineP_Filter_Current_Hexapod_Robo_Tproperty__setModuleInfo_OnlineBOOL8ModuleInfo_OnlineTctModuleInfoType1184property__setInitDataBOOL8InitDataST_Filter_Current_Hexapod_Robot_InitData7104property__getContextInfoArr_0_TaskSortOrder_StartupUDINT32ContextInfoArr_0_TaskSortOrder_StartupUDINTproperty__getInitDataST_Filter_Current_Hexapod_Robot_InitData7104InitDataST_Filter_Current_Hexapod_Robot_InitDataproperty__getModuleInfo_OnlineTctModuleInfoType1184ModuleInfo_OnlineTctModuleInfoTypeproperty__getContextInfoArr_0_TaskPort_OnlineUINT16ContextInfoArr_0_TaskPort_OnlineUINTproperty__getCycleUpdateExecuted_OnlineBOOL8CycleUpdateExecuted_OnlineBOOLproperty__setContextInfoArr_0_TaskSortOrder_OnlineBOOL8ContextInfoArr_0_TaskSortOrder_OnlineUDINT32property__getExecutionSequence_StartupTctModuleExecutionSequenceType32ExecutionSequence_StartupTctModuleExecutionSequenceTypeproperty__getModelParameters_StartupP_Filter_Current_Hexapod_Robo_T5760ModelParameters_StartupP_Filter_Current_Hexapod_Robo_Tproperty__setContextInfoArr_0_TaskCycleTimeNs_StartupBOOL8ContextInfoArr_0_TaskCycleTimeNs_StartupUDINT32property__getStepSize_OnlineTctStepSizeType32StepSize_OnlineTctStepSizeTypeproperty__setContextInfoArr_0_TaskSortOrder_StartupBOOL8ContextInfoArr_0_TaskSortOrder_StartupUDINT32property__setModuleBuildInfo_OnlineBOOL8ModuleBuildInfo_OnlineTctModuleBuildInfoType8propertyExecuteHRESULT32__setExecuteModelCode_OnlineBOOL8ExecuteModelCode_OnlineBOOL8property__setModelParameters_OnlineBOOL8ModelParameters_OnlineP_Filter_Current_Hexapod_Robo_T5760property__setModelParameters_StartupBOOL8ModelParameters_StartupP_Filter_Current_Hexapod_Robo_T5760property__getExecutionSequence_OnlineTctModuleExecutionSequenceType32ExecutionSequence_OnlineTctModuleExecutionSequenceTypeproperty__setExecuteModelCode_StartupBOOL8ExecuteModelCode_StartupBOOL8property__getContextInfoArr_0_TaskPriority_OnlineUDINT32ContextInfoArr_0_TaskPriority_OnlineUDINTpropertyVerifyParametersHRESULT32moduleCallByParamTctModuleCallByTypeobject_nameVerifyParameters__setInput_OnlineBOOL8Input_OnlineExtU_Filter_Current_Hexapod_R_T1152property__setCallBy_StartupBOOL8CallBy_StartupTctModuleCallByType32property__getModuleBuildInfo_OnlineTctModuleBuildInfoType8ModuleBuildInfo_OnlineTctModuleBuildInfoTypeproperty__getContextInfoArr_0_TaskOid_StartupOTCID32ContextInfoArr_0_TaskOid_StartupOTCIDproperty__getContextInfoArr_0_TaskPriority_StartupUDINT32ContextInfoArr_0_TaskPriority_StartupUDINTproperty__getExecuteModelCode_StartupBOOL8ExecuteModelCode_StartupBOOLproperty__setExecutionSequence_OnlineBOOL8ExecutionSequence_OnlineTctModuleExecutionSequenceType32property__setCycleUpdateExecuted_OnlineBOOL8CycleUpdateExecuted_OnlineBOOL8property__getInput_OnlineExtU_Filter_Current_Hexapod_R_T1152Input_OnlineExtU_Filter_Current_Hexapod_R_Tproperty__setSimulinkTime_OnlineBOOL8SimulinkTime_OnlineLREAL64property__setMdlInitialized_OnlineBOOL8MdlInitialized_OnlineBOOL8property__getCallBy_StartupTctModuleCallByType32CallBy_StartupTctModuleCallByTypeproperty__setContextInfoArr_0_TaskOid_OnlineBOOL8ContextInfoArr_0_TaskOid_OnlineOTCID32property__getContextInfoArr_0_TaskCycleTimeNs_StartupUDINT32ContextInfoArr_0_TaskCycleTimeNs_StartupUDINTproperty__setContextInfoArr_0_TaskOid_StartupBOOL8ContextInfoArr_0_TaskOid_StartupOTCID32property__setContextInfoArr_0_TaskPort_OnlineBOOL8ContextInfoArr_0_TaskPort_OnlineUINT16property__setContextInfoArr_0_TaskCycleTimeNs_OnlineBOOL8ContextInfoArr_0_TaskCycleTimeNs_OnlineUDINT32property__getSimulinkTime_OnlineLREAL64SimulinkTime_OnlineLREALproperty__setContextInfoArr_0_TaskPort_StartupBOOL8ContextInfoArr_0_TaskPort_StartupUINT16property__getContextInfoArr_0_TaskPort_StartupUINT16ContextInfoArr_0_TaskPort_StartupUINTproperty__setContextInfoArr_0_TaskPriority_StartupBOOL8ContextInfoArr_0_TaskPriority_StartupUDINT32property__getContextInfoArr_0_TaskOid_OnlineOTCID32ContextInfoArr_0_TaskOid_OnlineOTCIDproperty__setContextInfoArr_0_TaskPriority_OnlineBOOL8ContextInfoArr_0_TaskPriority_OnlineUDINT32property__setCallBy_OnlineBOOL8CallBy_OnlineTctModuleCallByType32propertyInternal_SetObjStatehrHRESULT32nextStateTCOM_STATE32object_nameInternal_SetObjState__getMdlInitialized_OnlineBOOL8MdlInitialized_OnlineBOOLpropertyPouTypeFunctionBlockTcDependOnClassFactoryFilter_Current_Hexapod_RobotVERSION64uiMajorUINT160uiMinorUINT1616uiServicePackUINT1632uiPatchUINT1648PlcAppSystemInfo2048ObjIdOTCID320TaskCntUDINT3232OnlineChangeCntUDINT3264FlagsDWORD3296AdsPortUINT16128BootDataLoadedBOOL8144OldBootDataBOOL8152AppTimestampDT32160KeepOutputsOnBPBOOL8192ShutdownInProgressBOOL8200LicensesPendingBOOL8208BSODOccuredBOOL8216TComSrvPtrITComObjectServer32256TcComInterfaceAppNameSTRING(63)512512ProjectNameSTRING(63)5121024PlcTaskSystemInfo1024ObjIdOTCID320CycleTimeUDINT3232PriorityUINT1664AdsPortUINT1680CycleCountUDINT3296DcTaskTimeLINT64128LastExecTimeUDINT32192FirstCycleBOOL8224CycleTimeExceededBOOL8232InCallAfterOutputUpdateBOOL8240RTViolationBOOL8248TaskNameSTRING(63)512512_Implicit_KindOfTask16INT_implicit_cyclic0_implicit_event1_implicit_external2_implicit_freewheeling3_Implicit_Jitter_Distribution48wRangeMaxWORD160wCountJitterNegWORD1616wCountJitterPosWORD1632hide_Implicit_Task_Info704dwVersionDWORD320pszNameSTRING(80)3232nPriorityINT1664KindOf_Implicit_KindOfTask1680bWatchdogBOOL896bProfilingTaskBOOL8104dwEventFunctionPointerBYTE32128pszExternalEventSTRING(80)32160dwTaskEntryFunctionPointerBYTE32192dwWatchdogSensitivityDWORD32224dwIntervalDWORD32256dwWatchdogTimeDWORD32288dwLastCycleTimeDWORD32320dwAverageCycleTimeDWORD32352dwMaxCycleTimeDWORD32384dwMinCycleTimeDWORD32416diJitterDINT32448diJitterMinDINT32480diJitterMaxDINT32512dwCycleCountDWORD32544wTaskStatusWORD16576wNumOfJitterDistributionsWORD16592pJitterDistribution_Implicit_Jitter_Distribution32608bWithinSPSTimeSlicingBOOL8640byDummyBYTE8648bShouldBlockBOOL8656bActiveBOOL8664dwIECCycleCountDWORD32672hideTC_Robot_Contro_System{08500001-0000-0000-F000-000000000064}0PlcTask#x020100400PlcTask Inputs0917504MAIN.Current_Turque_Value288INT1181024000MAIN.Axis_Robot[1].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF4125440MAIN.Axis_Robot[2].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF4224256MAIN.Axis_Robot[3].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF4323072MAIN.Axis_Robot[4].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF4421888MAIN.Axis_Robot[5].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF4520704MAIN.Axis_Robot[6].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF4619520MAIN.Axis_Robot[7].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF4718336MAIN.Axis_Robot[8].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF4817152MAIN.Axis_Robot[9].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF4915968MAIN.Axis_Robot[10].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF5014784MAIN.Axis_Robot[11].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF5113600MAIN.Axis_Robot[12].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF5212416MAIN.Axis_Robot[13].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF5311232MAIN.Axis_Robot[14].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF5410048MAIN.Axis_Robot[15].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF5508864MAIN.Axis_Robot[16].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF5607680MAIN.Axis_Robot[17].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF5706496MAIN.Axis_Robot[18].AxisRef.NcToPlc2048NCTOPLC_AXIS_REF58053121PlcTask Outputs0917504MAIN.Axis_Robot[1].AxisRef.PlcToNc1024PLCTONC_AXIS_REF4124416MAIN.Axis_Robot[2].AxisRef.PlcToNc1024PLCTONC_AXIS_REF4223232MAIN.Axis_Robot[3].AxisRef.PlcToNc1024PLCTONC_AXIS_REF4322048MAIN.Axis_Robot[4].AxisRef.PlcToNc1024PLCTONC_AXIS_REF4420864MAIN.Axis_Robot[5].AxisRef.PlcToNc1024PLCTONC_AXIS_REF4519680MAIN.Axis_Robot[6].AxisRef.PlcToNc1024PLCTONC_AXIS_REF4618496MAIN.Axis_Robot[7].AxisRef.PlcToNc1024PLCTONC_AXIS_REF4717312MAIN.Axis_Robot[8].AxisRef.PlcToNc1024PLCTONC_AXIS_REF4816128MAIN.Axis_Robot[9].AxisRef.PlcToNc1024PLCTONC_AXIS_REF4914944MAIN.Axis_Robot[10].AxisRef.PlcToNc1024PLCTONC_AXIS_REF5013760MAIN.Axis_Robot[11].AxisRef.PlcToNc1024PLCTONC_AXIS_REF5112576MAIN.Axis_Robot[12].AxisRef.PlcToNc1024PLCTONC_AXIS_REF5211392MAIN.Axis_Robot[13].AxisRef.PlcToNc1024PLCTONC_AXIS_REF5310208MAIN.Axis_Robot[14].AxisRef.PlcToNc1024PLCTONC_AXIS_REF5409024MAIN.Axis_Robot[15].AxisRef.PlcToNc1024PLCTONC_AXIS_REF5507840MAIN.Axis_Robot[16].AxisRef.PlcToNc1024PLCTONC_AXIS_REF5606656MAIN.Axis_Robot[17].AxisRef.PlcToNc1024PLCTONC_AXIS_REF5705472MAIN.Axis_Robot[18].AxisRef.PlcToNc1024PLCTONC_AXIS_REF58042883PlcTask Internal0917504Global_Variables.TcMcGlobal6752_TCMCGLOBALTcVarGlobal4096000Global_Variables.DEFAULT_HOME_POSITION64LREAL1E+307TcVarGlobal4102784Global_Variables.DEFAULT_BACKLASHVALUE64LREAL1E+307TcVarGlobal4102848Global_Variables.AMSPORT_LOGGER16UINT100TcVarGlobal4103104Global_Variables.AMSPORT_EVENTLOG16UINT110TcVarGlobal4103120Global_Variables.AMSPORT_R0_RTIME16UINT200TcVarGlobal4103136Global_Variables.AMSPORT_R0_IO16UINT300TcVarGlobal4103152Global_Variables.AMSPORT_R0_NC16UINT500TcVarGlobal4103168Global_Variables.AMSPORT_R0_NCSAF16UINT501TcVarGlobal4103184Global_Variables.AMSPORT_R0_NCSVB16UINT511TcVarGlobal4103200Global_Variables.AMSPORT_R0_ISG16UINT550TcVarGlobal4103216Global_Variables.AMSPORT_R0_CNC16UINT600TcVarGlobal4103232Global_Variables.AMSPORT_R0_LINE16UINT700TcVarGlobal4103248Global_Variables.AMSPORT_R0_PLC16UINT800TcVarGlobal4103264Global_Variables.AMSPORT_R0_PLC_RTS116UINT801TcVarGlobal4103280Global_Variables.AMSPORT_R0_PLC_RTS216UINT811TcVarGlobal4103296Global_Variables.AMSPORT_R0_PLC_RTS316UINT821TcVarGlobal4103312Global_Variables.AMSPORT_R0_PLC_RTS416UINT831TcVarGlobal4103328Global_Variables.AMSPORT_R0_CAM16UINT900TcVarGlobal4103344Global_Variables.AMSPORT_R0_CAMTOOL16UINT950TcVarGlobal4103360Global_Variables.AMSPORT_R3_SYSSERV16UINT10000TcVarGlobal4103376Global_Variables.AMSPORT_R3_SCOPESERVER16UINT14001TcVarGlobal4103392Global_Variables.ADSSTATE_INVALID16UINT0TcVarGlobal4103408Global_Variables.ADSSTATE_IDLE16UINT1TcVarGlobal4103424Global_Variables.ADSSTATE_RESET16UINT2TcVarGlobal4103440Global_Variables.ADSSTATE_INIT16UINT3TcVarGlobal4103456Global_Variables.ADSSTATE_START16UINT4TcVarGlobal4103472Global_Variables.ADSSTATE_RUN16UINT5TcVarGlobal4103488Global_Variables.ADSSTATE_STOP16UINT6TcVarGlobal4103504Global_Variables.ADSSTATE_SAVECFG16UINT7TcVarGlobal4103520Global_Variables.ADSSTATE_LOADCFG16UINT8TcVarGlobal4103536Global_Variables.ADSSTATE_POWERFAILURE16UINT9TcVarGlobal4103552Global_Variables.ADSSTATE_POWERGOOD16UINT10TcVarGlobal4103568Global_Variables.ADSSTATE_ERROR16UINT11TcVarGlobal4103584Global_Variables.ADSSTATE_SHUTDOWN16UINT12TcVarGlobal4103600Global_Variables.ADSSTATE_SUSPEND16UINT13TcVarGlobal4103616Global_Variables.ADSSTATE_RESUME16UINT14TcVarGlobal4103632Global_Variables.ADSSTATE_CONFIG16UINT15TcVarGlobal4103648Global_Variables.ADSSTATE_RECONFIG16UINT16TcVarGlobal4103664Global_Variables.ADSSTATE_STOPPING16UINT17TcVarGlobal4103680Global_Variables.ADSSTATE_INCOMPATIBLE16UINT18TcVarGlobal4103696Global_Variables.ADSSTATE_EXCEPTION16UINT19TcVarGlobal4103712Global_Variables.ADSSTATE_MAXSTATES16UINT20TcVarGlobal4103728Global_Variables.ADSIGRP_SYMTAB32UDINT61440TcVarGlobal4103744Global_Variables.ADSIGRP_SYMNAME32UDINT61441TcVarGlobal4103776Global_Variables.ADSIGRP_SYMVAL32UDINT61442TcVarGlobal4103808Global_Variables.ADSIGRP_SYM_HNDBYNAME32UDINT61443TcVarGlobal4103840Global_Variables.ADSIGRP_SYM_VALBYNAME32UDINT61444TcVarGlobal4103872Global_Variables.ADSIGRP_SYM_VALBYHND32UDINT61445TcVarGlobal4103904Global_Variables.ADSIGRP_SYM_RELEASEHND32UDINT61446TcVarGlobal4103936Global_Variables.ADSIGRP_SYM_INFOBYNAME32UDINT61447TcVarGlobal4103968Global_Variables.ADSIGRP_SYM_VERSION32UDINT61448TcVarGlobal4104000Global_Variables.ADSIGRP_SYM_INFOBYNAMEEX32UDINT61449TcVarGlobal4104032Global_Variables.ADSIGRP_SYM_DOWNLOAD32UDINT61450TcVarGlobal4104064Global_Variables.ADSIGRP_SYM_UPLOAD32UDINT61451TcVarGlobal4104096Global_Variables.ADSIGRP_SYM_UPLOADINFO32UDINT61452TcVarGlobal4104128Global_Variables.ADSIGRP_SYMNOTE32UDINT61456TcVarGlobal4104160Global_Variables.ADSIGRP_IOIMAGE_RWIB32UDINT61472TcVarGlobal4104192Global_Variables.ADSIGRP_IOIMAGE_RWIX32UDINT61473TcVarGlobal4104224Global_Variables.ADSIGRP_IOIMAGE_RISIZE32UDINT61477TcVarGlobal4104256Global_Variables.ADSIGRP_IOIMAGE_RWOB32UDINT61488TcVarGlobal4104288Global_Variables.ADSIGRP_IOIMAGE_RWOX32UDINT61489TcVarGlobal4104320Global_Variables.ADSIGRP_IOIMAGE_ROSIZE32UDINT61493TcVarGlobal4104352Global_Variables.ADSIGRP_IOIMAGE_CLEARI32UDINT61504TcVarGlobal4104384Global_Variables.ADSIGRP_IOIMAGE_CLEARO32UDINT61520TcVarGlobal4104416Global_Variables.ADSIGRP_IOIMAGE_RWIOB32UDINT61536TcVarGlobal4104448Global_Variables.ADSIGRP_DEVICE_DATA32UDINT61696TcVarGlobal4104480Global_Variables.ADSIOFFS_DEVDATA_ADSSTATE32UDINT0TcVarGlobal4104512Global_Variables.ADSIOFFS_DEVDATA_DEVSTATE32UDINT2TcVarGlobal4104544Global_Variables.SYSTEMSERVICE_OPENCREATE32UDINT100TcVarGlobal4104576Global_Variables.SYSTEMSERVICE_OPENREAD32UDINT101TcVarGlobal4104608Global_Variables.SYSTEMSERVICE_OPENWRITE32UDINT102TcVarGlobal4104640Global_Variables.SYSTEMSERVICE_CREATEFILE32UDINT110TcVarGlobal4104672Global_Variables.SYSTEMSERVICE_CLOSEHANDLE32UDINT111TcVarGlobal4104704Global_Variables.SYSTEMSERVICE_FOPEN32UDINT120TcVarGlobal4104736Global_Variables.SYSTEMSERVICE_FCLOSE32UDINT121TcVarGlobal4104768Global_Variables.SYSTEMSERVICE_FREAD32UDINT122TcVarGlobal4104800Global_Variables.SYSTEMSERVICE_FWRITE32UDINT123TcVarGlobal4104832Global_Variables.SYSTEMSERVICE_FSEEK32UDINT124TcVarGlobal4104864Global_Variables.SYSTEMSERVICE_FTELL32UDINT125TcVarGlobal4104896Global_Variables.SYSTEMSERVICE_FGETS32UDINT126TcVarGlobal4104928Global_Variables.SYSTEMSERVICE_FPUTS32UDINT127TcVarGlobal4104960Global_Variables.SYSTEMSERVICE_FSCANF32UDINT128TcVarGlobal4104992Global_Variables.SYSTEMSERVICE_FPRINTF32UDINT129TcVarGlobal4105024Global_Variables.SYSTEMSERVICE_FEOF32UDINT130TcVarGlobal4105056Global_Variables.SYSTEMSERVICE_FDELETE32UDINT131TcVarGlobal4105088Global_Variables.SYSTEMSERVICE_FRENAME32UDINT132TcVarGlobal4105120Global_Variables.SYSTEMSERVICE_MKDIR32UDINT138TcVarGlobal4105152Global_Variables.SYSTEMSERVICE_RMDIR32UDINT139TcVarGlobal4105184Global_Variables.SYSTEMSERVICE_REG_HKEYLOCALMACHINE32UDINT200TcVarGlobal4105216Global_Variables.SYSTEMSERVICE_SENDEMAIL32UDINT300TcVarGlobal4105248Global_Variables.SYSTEMSERVICE_TIMESERVICES32UDINT400TcVarGlobal4105280Global_Variables.SYSTEMSERVICE_STARTPROCESS32UDINT500TcVarGlobal4105312Global_Variables.SYSTEMSERVICE_CHANGENETID32UDINT600TcVarGlobal4105344Global_Variables.TIMESERVICE_DATEANDTIME32UDINT1TcVarGlobal4105376Global_Variables.TIMESERVICE_SYSTEMTIMES32UDINT2TcVarGlobal4105408Global_Variables.TIMESERVICE_RTCTIMEDIFF32UDINT3TcVarGlobal4105440Global_Variables.TIMESERVICE_ADJUSTTIMETORTC32UDINT4TcVarGlobal4105472Global_Variables.TIMESERVICE_TIMEZONINFORMATION32UDINT6TcVarGlobal4105504Global_Variables.ADSLOG_MSGTYPE_HINT32DWORD1TcVarGlobal4105536Global_Variables.ADSLOG_MSGTYPE_WARN32DWORD2TcVarGlobal4105568Global_Variables.ADSLOG_MSGTYPE_ERROR32DWORD4TcVarGlobal4105600Global_Variables.ADSLOG_MSGTYPE_LOG32DWORD16TcVarGlobal4105632Global_Variables.ADSLOG_MSGTYPE_MSGBOX32DWORD32TcVarGlobal4105664Global_Variables.ADSLOG_MSGTYPE_RESOURCE32DWORD64TcVarGlobal4105696Global_Variables.ADSLOG_MSGTYPE_STRING32DWORD128TcVarGlobal4105728Global_Variables.BOOTDATAFLAGS_RETAIN_LOADED8BYTE1TcVarGlobal4105760Global_Variables.BOOTDATAFLAGS_RETAIN_INVALID8BYTE2TcVarGlobal4105768Global_Variables.BOOTDATAFLAGS_RETAIN_REQUESTED8BYTE4TcVarGlobal4105776Global_Variables.BOOTDATAFLAGS_PERSISTENT_LOADED8BYTE16TcVarGlobal4105784Global_Variables.BOOTDATAFLAGS_PERSISTENT_INVALID8BYTE32TcVarGlobal4105792Global_Variables.SYSTEMSTATEFLAGS_BSOD8BYTE1TcVarGlobal4105800Global_Variables.SYSTEMSTATEFLAGS_RTVIOLATION8BYTE2TcVarGlobal4105808Global_Variables.nWatchdogTime8BYTETcVarGlobal4105816Global_Variables.FOPEN_MODEREAD32DWORD1TcVarGlobal4105824Global_Variables.FOPEN_MODEWRITE32DWORD2TcVarGlobal4105856Global_Variables.FOPEN_MODEAPPEND32DWORD4TcVarGlobal4105888Global_Variables.FOPEN_MODEPLUS32DWORD8TcVarGlobal4105920Global_Variables.FOPEN_MODEBINARY32DWORD16TcVarGlobal4105952Global_Variables.FOPEN_MODETEXT32DWORD32TcVarGlobal4105984Global_Variables.TCEVENTFLAG_PRIOCLASS16WORD16TcVarGlobal4106240Global_Variables.TCEVENTFLAG_FMTSELF16WORD32TcVarGlobal4106256Global_Variables.TCEVENTFLAG_LOG16WORD64TcVarGlobal4106272Global_Variables.TCEVENTFLAG_MSGBOX16WORD128TcVarGlobal4106288Global_Variables.TCEVENTFLAG_SRCID16WORD256TcVarGlobal4106304Global_Variables.TCEVENTFLAG_AUTOFMTALL16WORD4096TcVarGlobal4106320Global_Variables.TCEVENTSTATE_INVALID16WORD0TcVarGlobal4106336Global_Variables.TCEVENTSTATE_SIGNALED16WORD1TcVarGlobal4106352Global_Variables.TCEVENTSTATE_RESET16WORD2TcVarGlobal4106368Global_Variables.TCEVENTSTATE_CONFIRMED16WORD16TcVarGlobal4106384Global_Variables.TCEVENTSTATE_RESETCON16WORD18TcVarGlobal4106400Global_Variables.TCEVENT_SRCNAMESIZE16INT15TcVarGlobal4106416Global_Variables.TCEVENT_FMTPRGSIZE16INT31TcVarGlobal4106432Global_Variables.eWatchdogConfig16E_WATCHDOG_TIME_CONFIG0TcVarGlobal4106448Global_Variables.DEFAULT_ADS_TIMEOUT32TIME5000TcVarGlobal4106464Global_Variables.PI64LREAL3.14159265358979TcVarGlobal4106496Global_Variables.MAX_STRING_LENGTH32UDINT255TcVarGlobal4106560MAIN.Leg_Number16INT4123552MAIN.Axis_Number16INT4123568MAIN.Axis_Robot1778688Axis1184123584MAIN.Axis_Delay128Delay5902272MAIN.Power_Execute8BOOL5902400MAIN.Axis_Power144BOOL1185902408MAIN.Robot_Power8BOOL5902552MAIN.Home_Execute8BOOL5902560MAIN.Leg_Home_Set48BOOL165902568MAIN.Axis_Home_Set144BOOL1185902616MAIN.Robot_Home_Set8BOOL5902760MAIN.Move_Execute8BOOL5902768MAIN.Robot_Stand_Execute8BOOL5902776MAIN.Axis_Absolute_Eable144BOOL1185902784MAIN.Robot_Absolute_Eable144BOOL1185902928MAIN.ExSetPoint_Execute8BOOL5903072MAIN.ExtSetPointEnable8BOOL5903080MAIN.ExtSetPointDisable8BOOL5903088MAIN.Reset_Execute8BOOL5903096MAIN.Axis_Move_Position1152LREAL1185903104MAIN.Axis_Reset144BOOL1185904256MAIN.Robot_Reset8BOOL5904400MAIN.Axis_ResetDone144BOOL1185904408MAIN.Power_Status144BOOL1185904552MAIN.Leg_Home_Done48BOOL165904696MAIN.Home_Done144BOOL1185904744MAIN.MoveAbsoluteDone144BOOL1185904888MAIN.Robot_Error8BOOL5905032MAIN.Axis_Error144BOOL1185905040MAIN.Axis_ErrorID576UDINT1185905184MAIN.Max_Turque_Value16INT5905760Constants.bLittleEndian8BOOL1TcVarGlobal5905784MAIN.Axis_ActPostion1152LREAL1185905792MAIN.Difference_Position1152LREAL1185906944MAIN.Robot_Simulink3520FB_HexMove5908096MAIN.Model_Position1152LREAL1185911616MAIN.ExSetPoint_Position1152LREAL1185912768MAIN.T_ALL64LREAL1005913920MAIN.t_Interval64LREAL0.0015913984MAIN.t64LREAL05914048MAIN.Mapping2368Hexapod_Robot_Mapping5914112MAIN.Home_Position1152LREAL1185916480MAIN.Filter_Current10496FB_Filter_Current_Hexapod_Robot5917632MAIN.Current_Turque_Filter1152LREAL1185928128Constants.RuntimeVersion64VERSIONuiMajor3uiMinor5uiServicePack6uiPatch0TcVarGlobal5929792Constants.CompilerVersion64VERSIONuiMajor3uiMinor5uiServicePack8uiPatch40TcVarGlobal5929856Constants.bSimulationMode8BOOL0TcVarGlobal5929920Constants.bFPUSupport8BOOL1TcVarGlobal5929928Constants.nRegisterSize16WORD32TcVarGlobal5929936Constants.nPackMode16UINT8TcVarGlobal5929952Constants.RuntimeVersionNumeric32DWORD50660864TcVarGlobal5929984Constants.CompilerVersionNumeric32DWORD50661416TcVarGlobal5930016TwinCAT_SystemInfoVarList._AppInfo2048PlcAppSystemInfono_initTcVarGlobal5930048TwinCAT_SystemInfoVarList._TaskInfo1024PlcTaskSystemInfo11no_initTcVarGlobal5932096TwinCAT_SystemInfoVarList.__PlcTask704_Implicit_Task_InfodwVersion2TcVarGlobal5933120{00000000-0000-0000-0000-000000000000}{00000000-0000-0000-0000-000000000000}ApplicationNamePort_851ChangeDate2017-04-21T15:58:38GeneratedCodeSize135168GlobalDataSize258048 \ No newline at end of file diff --git a/TC_Robot_Control.sln b/TC_Robot_Control.sln deleted file mode 100644 index a3ebd4e..0000000 --- a/TC_Robot_Control.sln +++ /dev/null @@ -1,46 +0,0 @@ - -Microsoft Visual Studio Solution File, Format Version 12.00 -# Visual Studio 14 -VisualStudioVersion = 14.0.23107.0 -MinimumVisualStudioVersion = 10.0.40219.1 -Project("{B1E792BE-AA5F-4E3C-8C82-674BF9C0715B}") = "TC_Robot_Control", "TC_Robot_Control.tsproj", "{5F1F88CD-B05D-4CA0-B54C-7FB349808451}" -EndProject -Global - GlobalSection(SolutionConfigurationPlatforms) = preSolution - Debug|TwinCAT CE7 (ARMV7) = Debug|TwinCAT CE7 (ARMV7) - Debug|TwinCAT RT (x64) = Debug|TwinCAT RT (x64) - Debug|TwinCAT RT (x86) = Debug|TwinCAT RT (x86) - Release|TwinCAT CE7 (ARMV7) = Release|TwinCAT CE7 (ARMV7) - Release|TwinCAT RT (x64) = Release|TwinCAT RT (x64) - Release|TwinCAT RT (x86) = Release|TwinCAT RT (x86) - EndGlobalSection - GlobalSection(ProjectConfigurationPlatforms) = postSolution - {5F1F88CD-B05D-4CA0-B54C-7FB349808451}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) - {5F1F88CD-B05D-4CA0-B54C-7FB349808451}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) - {5F1F88CD-B05D-4CA0-B54C-7FB349808451}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) - {5F1F88CD-B05D-4CA0-B54C-7FB349808451}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) - {5F1F88CD-B05D-4CA0-B54C-7FB349808451}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) - {5F1F88CD-B05D-4CA0-B54C-7FB349808451}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) - {5F1F88CD-B05D-4CA0-B54C-7FB349808451}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) - {5F1F88CD-B05D-4CA0-B54C-7FB349808451}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) - {5F1F88CD-B05D-4CA0-B54C-7FB349808451}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) - {5F1F88CD-B05D-4CA0-B54C-7FB349808451}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) - {5F1F88CD-B05D-4CA0-B54C-7FB349808451}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) - {5F1F88CD-B05D-4CA0-B54C-7FB349808451}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) - {41DF21BC-5DAD-41C5-B304-5BCA5D02C90E}.Debug|TwinCAT CE7 (ARMV7).ActiveCfg = Debug|TwinCAT CE7 (ARMV7) - {41DF21BC-5DAD-41C5-B304-5BCA5D02C90E}.Debug|TwinCAT CE7 (ARMV7).Build.0 = Debug|TwinCAT CE7 (ARMV7) - {41DF21BC-5DAD-41C5-B304-5BCA5D02C90E}.Debug|TwinCAT RT (x64).ActiveCfg = Debug|TwinCAT RT (x64) - {41DF21BC-5DAD-41C5-B304-5BCA5D02C90E}.Debug|TwinCAT RT (x64).Build.0 = Debug|TwinCAT RT (x64) - {41DF21BC-5DAD-41C5-B304-5BCA5D02C90E}.Debug|TwinCAT RT (x86).ActiveCfg = Debug|TwinCAT RT (x86) - {41DF21BC-5DAD-41C5-B304-5BCA5D02C90E}.Debug|TwinCAT RT (x86).Build.0 = Debug|TwinCAT RT (x86) - {41DF21BC-5DAD-41C5-B304-5BCA5D02C90E}.Release|TwinCAT CE7 (ARMV7).ActiveCfg = Release|TwinCAT CE7 (ARMV7) - {41DF21BC-5DAD-41C5-B304-5BCA5D02C90E}.Release|TwinCAT CE7 (ARMV7).Build.0 = Release|TwinCAT CE7 (ARMV7) - {41DF21BC-5DAD-41C5-B304-5BCA5D02C90E}.Release|TwinCAT RT (x64).ActiveCfg = Release|TwinCAT RT (x64) - {41DF21BC-5DAD-41C5-B304-5BCA5D02C90E}.Release|TwinCAT RT (x64).Build.0 = Release|TwinCAT RT (x64) - {41DF21BC-5DAD-41C5-B304-5BCA5D02C90E}.Release|TwinCAT RT (x86).ActiveCfg = Release|TwinCAT RT (x86) - {41DF21BC-5DAD-41C5-B304-5BCA5D02C90E}.Release|TwinCAT RT (x86).Build.0 = Release|TwinCAT RT (x86) - EndGlobalSection - GlobalSection(SolutionProperties) = preSolution - HideSolutionNode = FALSE - EndGlobalSection -EndGlobal diff --git a/TC_Robot_Control.tsproj b/TC_Robot_Control.tsproj deleted file mode 100644 index be6fb41..0000000 --- a/TC_Robot_Control.tsproj +++ /dev/null @@ -1,18009 +0,0 @@ - - - - - TctModuleCallByType - 32 - DINT - - - - - 0 - - - - - - - - - 1 - - - - - - - TctModuleExecutionSequenceType - 32 - DINT - - - - - 0 - - Output mapping -> State update -> Output update -> External mode processing -> ADS access]]> - - - - - - - 1 - - Output update -> Output mapping -> State update -> External mode processing -> ADS access]]> - - - - - - - 2 - - State update -> Output update -> Output mapping -> External mode processing -> ADS access]]> - - - - - TctStepSizeType - 32 - DINT - - - - - 0 - - - - - - - - - 1 - - - - - - - - - 2 - - - - - - - TctModelCheckSumType - 128 - UDINT - - 0 - 4 - - - - TctVersionArrayType - 128 - UDINT - - 0 - 4 - - - - TctModuleInfoType - 1184 - - ClassId - CLSID - 128 - 0 - - - BuildTimeStamp - DATE_AND_TIME - 32 - 128 - - - ModelCheckSum - TctModelCheckSumType - 128 - 160 - - - ModelVersion - TctVersionArrayType - 128 - 288 - - - TwinCatVersion - TctVersionArrayType - 128 - 416 - - - TcTargetVersion - TctVersionArrayType - 128 - 544 - - - MatlabVersion - TctVersionArrayType - 128 - 672 - - - SimulinkVersion - TctVersionArrayType - 128 - 800 - - - CoderVersion - TctVersionArrayType - 128 - 928 - - - TcTargetLicenseId - GUID - 128 - 1056 - - - - TctModuleBuildInfoType - 8 - - Debug - BOOL - 8 - 0 - - - - matrix_18_real_T - 1152 - LREAL - - 0 - 18 - - - - ExtU_Filter_Current_Hexapod_R_T - 1152 - - Current_Motor - matrix_18_real_T - 1152 - 0 - - - - matrix_2_real_T - 128 - LREAL - - 0 - 2 - - - - P_Filter_Current_Hexapod_Robo_T - 5760 - - DiscreteFilter_NumCoef - matrix_2_real_T - 128 - 0 - - - DiscreteFilter_DenCoef - matrix_2_real_T - 128 - 128 - - - DiscreteFilter_InitialStates - LREAL - 64 - 256 - - - DiscreteFilter1_NumCoef - matrix_2_real_T - 128 - 320 - - - DiscreteFilter1_DenCoef - matrix_2_real_T - 128 - 448 - - - DiscreteFilter1_InitialStates - LREAL - 64 - 576 - - - DiscreteFilter2_NumCoef - matrix_2_real_T - 128 - 640 - - - DiscreteFilter2_DenCoef - matrix_2_real_T - 128 - 768 - - - DiscreteFilter2_InitialStates - LREAL - 64 - 896 - - - DiscreteFilter3_NumCoef - matrix_2_real_T - 128 - 960 - - - DiscreteFilter3_DenCoef - matrix_2_real_T - 128 - 1088 - - - DiscreteFilter3_InitialStates - LREAL - 64 - 1216 - - - DiscreteFilter4_NumCoef - matrix_2_real_T - 128 - 1280 - - - DiscreteFilter4_DenCoef - matrix_2_real_T - 128 - 1408 - - - DiscreteFilter4_InitialStates - LREAL - 64 - 1536 - - - DiscreteFilter5_NumCoef - matrix_2_real_T - 128 - 1600 - - - DiscreteFilter5_DenCoef - matrix_2_real_T - 128 - 1728 - - - DiscreteFilter5_InitialStates - LREAL - 64 - 1856 - - - DiscreteFilter6_NumCoef - matrix_2_real_T - 128 - 1920 - - - DiscreteFilter6_DenCoef - matrix_2_real_T - 128 - 2048 - - - DiscreteFilter6_InitialStates - LREAL - 64 - 2176 - - - DiscreteFilter7_NumCoef - matrix_2_real_T - 128 - 2240 - - - DiscreteFilter7_DenCoef - matrix_2_real_T - 128 - 2368 - - - DiscreteFilter7_InitialStates - LREAL - 64 - 2496 - - - DiscreteFilter8_NumCoef - matrix_2_real_T - 128 - 2560 - - - DiscreteFilter8_DenCoef - matrix_2_real_T - 128 - 2688 - - - DiscreteFilter8_InitialStates - LREAL - 64 - 2816 - - - DiscreteFilter9_NumCoef - matrix_2_real_T - 128 - 2880 - - - DiscreteFilter9_DenCoef - matrix_2_real_T - 128 - 3008 - - - DiscreteFilter9_InitialStates - LREAL - 64 - 3136 - - - DiscreteFilter10_NumCoef - matrix_2_real_T - 128 - 3200 - - - DiscreteFilter10_DenCoef - matrix_2_real_T - 128 - 3328 - - - DiscreteFilter10_InitialStates - LREAL - 64 - 3456 - - - DiscreteFilter11_NumCoef - matrix_2_real_T - 128 - 3520 - - - DiscreteFilter11_DenCoef - matrix_2_real_T - 128 - 3648 - - - DiscreteFilter11_InitialStates - LREAL - 64 - 3776 - - - DiscreteFilter12_NumCoef - matrix_2_real_T - 128 - 3840 - - - DiscreteFilter12_DenCoef - matrix_2_real_T - 128 - 3968 - - - DiscreteFilter12_InitialStates - LREAL - 64 - 4096 - - - DiscreteFilter13_NumCoef - matrix_2_real_T - 128 - 4160 - - - DiscreteFilter13_DenCoef - matrix_2_real_T - 128 - 4288 - - - DiscreteFilter13_InitialStates - LREAL - 64 - 4416 - - - DiscreteFilter14_NumCoef - matrix_2_real_T - 128 - 4480 - - - DiscreteFilter14_DenCoef - matrix_2_real_T - 128 - 4608 - - - DiscreteFilter14_InitialStates - LREAL - 64 - 4736 - - - DiscreteFilter15_NumCoef - matrix_2_real_T - 128 - 4800 - - - DiscreteFilter15_DenCoef - matrix_2_real_T - 128 - 4928 - - - DiscreteFilter15_InitialStates - LREAL - 64 - 5056 - - - DiscreteFilter16_NumCoef - matrix_2_real_T - 128 - 5120 - - - DiscreteFilter16_DenCoef - matrix_2_real_T - 128 - 5248 - - - DiscreteFilter16_InitialStates - LREAL - 64 - 5376 - - - DiscreteFilter17_NumCoef - matrix_2_real_T - 128 - 5440 - - - DiscreteFilter17_DenCoef - matrix_2_real_T - 128 - 5568 - - - DiscreteFilter17_InitialStates - LREAL - 64 - 5696 - - - - ExtU_hexmove_T - 64 - - t - LREAL - 64 - 0 - - - - UINTARR2 - 32 - UINT - - 0 - 2 - - - [%u, %u] - [0] - [1] - - - 0x%08x [%u, %u] - . - [0] - [1] - - - 0x%08x (%u) - . - . - - - - NCENCODERSTRUCT_IN2 - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 - - - nDcInputTime - DINT - 32 - 256 - - - - NCENCODERSTRUCT_IN - - 96 - - - - - - NCENCODERSTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCENCODERSTRUCT_OUT - - 96 - - - - - - NCDRIVESTRUCT_IN2 - 320 - - nDataIn1 - UINTARR2 - 32 - 0 - - - nDataIn2 - UINTARR2 - 32 - 32 - - - nState1 - USINT - 8 - 64 - - - nState2 - USINT - 8 - 72 - - - nState3 - USINT - 8 - 80 - - - nState4 - USINT - - - - 8 - 88 - - - nDataIn3 - UINTARR2 - 32 - 96 - - - nDataIn4 - UINTARR2 - 32 - 128 - - - nDataIn5 - UINTARR2 - 32 - 160 - - - nDataIn6 - UINTARR2 - 32 - 192 - - - nState5 - USINT - 8 - 224 - - - nState6 - USINT - 8 - 232 - - - nState7 - USINT - 8 - 240 - - - nState8 - USINT - 8 - 248 - - - nDcOutputTime - DINT - 32 - 256 - - - - NCDRIVESTRUCT_IN - - 96 - - - - - - NCDRIVESTRUCT_OUT2 - 320 - - nDataOut1 - UINTARR2 - 32 - 0 - - - nDataOut2 - UINTARR2 - 32 - 32 - - - nCtrl1 - USINT - 8 - 64 - - - nCtrl2 - USINT - 8 - 72 - - - nCtrl3 - USINT - 8 - 80 - - - nCtrl4 - USINT - 8 - 88 - - - nDataOut3 - UINTARR2 - 32 - 96 - - - nDataOut4 - UINTARR2 - 32 - 128 - - - nDataOut5 - UINTARR2 - 32 - 160 - - - nDataOut6 - UINTARR2 - 32 - 192 - - - nCtrl5 - USINT - 8 - 224 - - - nCtrl6 - USINT - 8 - 232 - - - nCtrl7 - USINT - 8 - 240 - - - nCtrl8 - USINT - 8 - 248 - - - - NCDRIVESTRUCT_OUT - - 96 - - - - - - PLCTONC_AXIS_REF_CTRL - 32 - - Enable - BIT - 1 - 0 - - - FeedEnablePlus - BIT - 1 - 1 - - - FeedEnableMinus - BIT - 1 - 2 - - - HomingSensor - BIT - 1 - 5 - - - AcceptBlockedDrive - BIT - 1 - 8 - - - PlcDebugFlag - BIT - 1 - 30 - - - NcDebugFlag - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - PLCTONC_AXIS_REF - 1024 - - ControlDWord - PLCTONC_AXIS_REF_CTRL - 32 - 0 - - - Override - UDINT - 32 - 32 - - - AxisModeRequest - UDINT - 32 - 64 - - - AxisModeDWord - UDINT - 32 - 96 - - - AxisModeLReal - LREAL - 64 - 128 - - - PositionCorrection - LREAL - 64 - 192 - - - ExtSetPos - LREAL - 64 - 256 - - - ExtSetVelo - LREAL - 64 - 320 - - - ExtSetAcc - LREAL - 64 - 384 - - - ExtSetDirection - DINT - 32 - 448 - - - ExtControllerOutput - LREAL - 64 - 512 - - - GearRatio1 - LREAL - 64 - 576 - - - GearRatio2 - LREAL - 64 - 640 - - - GearRatio3 - LREAL - 64 - 704 - - - GearRatio4 - LREAL - 64 - 768 - - - MapState - BOOL - 8 - 832 - - - PlcCycleControl - BYTE - 8 - 840 - - - PlcCycleCount - BYTE - 8 - 848 - - - - NcStructType - 1 - - - - - NCAXLESTRUCT_FROMPLC3 - - - - - NCTOPLC_AXIS_REF_STATE - 32 - - Operational - BIT - 1 - 0 - - - Homed - BIT - 1 - 1 - - - NotMoving - BIT - 1 - 2 - - - InPositionArea - BIT - 1 - 3 - - - InTargetPosition - BIT - 1 - 4 - - - Protected - BIT - 1 - 5 - - - ErrorPropagationDelayed - BIT - 1 - 6 - - - HasBeenStopped - BIT - 1 - 7 - - - HasJob - BIT - 1 - 8 - - - PositiveDirection - BIT - 1 - 9 - - - NegativeDirection - BIT - 1 - 10 - - - HomingBusy - BIT - 1 - 11 - - - ConstantVelocity - BIT - 1 - 12 - - - Compensating - BIT - 1 - 13 - - - ExtSetPointGenEnabled - BIT - 1 - 14 - - - PhasingActive - BIT - 1 - 15 - - - ExternalLatchValid - BIT - 1 - 16 - - - NewTargetPos - BIT - 1 - 17 - - - ContinuousMotion - BIT - 1 - 19 - - - ControlLoopClosed - BIT - 1 - 20 - - - CamTableQueued - BIT - 1 - 21 - - - CamDataQueued - BIT - 1 - 22 - - - CamScalingPending - BIT - 1 - 23 - - - CmdBuffered - BIT - 1 - 24 - - - PTPmode - BIT - 1 - 25 - - - SoftLimitMinExceeded - BIT - 1 - 26 - - - SoftLimitMaxExceeded - BIT - 1 - 27 - - - DriveDeviceError - BIT - 1 - 28 - - - MotionCommandsLocked - BIT - 1 - 29 - - - IoDataInvalid - BIT - 1 - 30 - - - Error - BIT - 1 - 31 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_OPMODE - 32 - - OpModePosAreaMonitoring - BIT - 1 - 0 - - - OpModeTargetPosMonitoring - BIT - 1 - 1 - - - OpModeLoop - BIT - 1 - 2 - - - OpModeMotionMonitoring - BIT - 1 - 3 - - - OpModePEHTimeMonitoring - BIT - 1 - 4 - - - OpModeBacklashCompensation - BIT - 1 - 5 - - - OpModeDelayedErrorReaction - BIT - 1 - 6 - - - OpModeModulo - BIT - 1 - 7 - - - OpModeSimulationAxis - BIT - 1 - 8 - - - OpModePosLagMonitoring - BIT - 1 - 16 - - - OpModeVeloLagMonitoring - BIT - 1 - 17 - - - OpModeSoftLimitMinMonitoring - BIT - 1 - 18 - - - OpModeSoftLimitMaxMonitoring - BIT - 1 - 19 - - - OpModePosCorrection - BIT - 1 - 20 - - - OpModeAllowSlaveCommands - BIT - 1 - 21 - - - OpModeAllowExtSetAxisCommands - BIT - 1 - 22 - - - ApplicationRequest - BIT - 1 - 23 - - - - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - - AvoidingCollision - BIT - 1 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_STATE2 - 32 - - Value - DWORD - 32 - 0 - - - Flags - NCTOPLC_AXIS_REF_STATE2_FLAGS - 32 - 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - - - 32 - 128 - - - CoupleState - UDINT - - - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 64 - 576 - - - SetPos - LREAL - 64 - 640 - - - SetVelo - LREAL - 64 - 704 - - - SetAcc - LREAL - 64 - 768 - - - TargetPos - LREAL - 64 - 832 - - - ModuloSetPos - LREAL - 64 - 896 - - - ModuloSetTurns - DINT - 32 - 960 - - - CmdNo - UINT - 16 - 992 - - - CmdState - UINT - 16 - 1008 - - - SetJerk - LREAL - 64 - 1024 - - - SetTorque - LREAL - 64 - 1088 - - - ActTorque - LREAL - 64 - 1152 - - - StateDWord2 - NCTOPLC_AXIS_REF_STATE2 - 32 - 1216 - - - StateDWord3 - DWORD - 32 - 1248 - - - TouchProbeState - DWORD - 32 - 1280 - - - TouchProbeCounter - DWORD - 32 - 1312 - - - CamCouplingState - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - - 0 - 8 - - 64 - 1344 - - - CamCouplingTableID - UINTARR8 - 128 - 1408 - - - ActTorqueDerivative - LREAL - 64 - 1536 - - - SetTorqueDerivative - LREAL - 64 - 1600 - - - ActPosWithoutPosCorrection - LREAL - 64 - 1792 - - - ActAcc - LREAL - 64 - 1856 - - - DcTimeStamp - UDINT - 32 - 1920 - - - - NcStructType - 2 - - - - - NCAXLESTRUCT_TOPLC - - - NCAXLESTRUCT_TOPLC2 - - - NCAXLESTRUCT_TOPLC3 - - - NCAXLESTRUCT_TOPLC4 - - - - - - - - - - - - - - ARRAY [1..18] OF INT - 288 - INT - - 1 - 18 - - - - ARRAY [0..0] OF BYTE - 8 - BYTE - - 0 - 1 - - - - E_AX5000_P_0275_ActiveFeedbackAndMemory - 8 - BYTE - - - - - 0 - - - - - - 1 - - - - - - 2 - - - - - - 8 - - - - - - 16 - - - - - - - ST_AX5000_P_0275 - 16 - - ActiveFeedbackAndMemory - E_AX5000_P_0275_ActiveFeedbackAndMemory - 8 - 0 - - - InitializationErrorBehavior - BIT - 1 - 8 - - - - - - - - - - - 424d3603000000000000360000002800000010000000100000000100180000000000000300000000000000000000000000000000000023542c32784c31784b3077493076482f75462e74442d72422c71402b703e2a6e3c296c3a286b372769352667331d4a1e337b4f3d94833c93803a917d398f7a378d76358a7233886f31856a2f81662d7e612b7b5d29775827735424704f266733357d5340998a3f98873d97843c95813a927d389079368d75348a7032876c3083672d7f622b7c5d297859277454276935378056439e913c8f712e66232e66232e66232e66232e66232e66232e66232e66232e66232e66233d7c50297759286b3838835946a5982e6623419d8d409b893e98863c96823a927d388f78358c7333876f31836a2e7c622e6623468b6f296c3a3a855b4caa9e2e66234ba99b397e4f57ad9c42a08d409d883c99833a957d389178368d7333886d2e6623478c702a6e3c4289605eb5aa2e662360b7ac2b6421326a29519d7f43a390409e893d9a833b967e389078358c732e6623488f732b703f4a8f6670bfb52e662373c3b82c65225ea997326c36407e4953a996409e893d99833a947e378f782e66234a91782c724153936b81c9c02e662385ccc42d65237cc8be70c1b5488a6e31682a539b7c409d893d98833a937d2e66234b947b2d73435b987092d2c92e662397d6ce2e66238cd1c980cbc172c2b659a79a3473453977404fa28e3c96812e66234d967f2e7445629b74a2d9d22e6623a8ded72e65229ad9d18dd1c97ec9bf6dbeb25ab2a43d8d702a612a4d92712e66234e98822f7647699e77b1dfd92e6623bce6e02d6520abdfd89bd7d08acfc67bc5bc68baae55ad9f49a2923977532e66234b98833077496ea079bde4df87aa942e66232e66232e66232e66232e66232e66232e66232e66232e66232e662332794f3c928031784b6fa07ac2e6e1d3edead2ede9c2e7e2b1e0d9a0d8d08dcfc77bc5bb69bab056afa446a497439f91409a8a3d948332784c6d9f79bde3dec9e8e4c8e8e4bde3deadddd79dd5ce8bcdc57ac3ba67b9ae54aea247a59945a093419b8c3e958633794e3e66416f9f7973a27c73a27c6fa07a689d76609a7258956e4f9169468b633d865d388259378157367e54347b5123542d - 424de6000000000000007600000028000000100000000e000000010004000000000070000000c40e0000c40e000000000000000000000000000000008000008000000080800080000000800080008080000080808000c0c0c0000000ff0000ff000000ffff00ff000000ff00ff00ffff0000ffffff00ffffffffffffffffffffffffffffffff79999997ffffffff99977999ffffffff9998ff89ffffffff99999fffffffffff999997ffff777777999999ffff777777799999ffff877777fffffffffff77777ffffffff78ff8777ffffffff77777777ffffffff77777777ffffffffffffffff - - - - - - PlcTask - - - - - Object2 (Filter_Current_Hexapod_Robot) - 1000 - - Filter_Current_Hexapod_Robot - {4EF20903-D648-49C7-A906-8CFC20507FB3} - - - - - - {AD7F40C3-F160-4413-83E3-6B7656A795A2} - - - PSO - - - 0 - - #x02010040 - - 20 - 1000000 - - - - - ITcCyclic - - - ITcPostCyclic - - - ITcADI - - - ITcWatchSource - - - - - CallBy - 32 - TctModuleCallByType - #x00000000 - - - ExecutionSequence - 32 - TctModuleExecutionSequenceType - #x00000001 - - - StepSize - 32 - TctStepSizeType - #x00000002 - - - MdlInitialized - 8 - BOOL - #x00000003 - - - CycleUpdateExecuted - 8 - BOOL - #x00000004 - - - SimulinkTime - 64 - LREAL - #x00000005 - - - ModuleInfo - 1184 - TctModuleInfoType - #x00000006 - - - ModuleBuildInfo - 8 - TctModuleBuildInfoType - #x00000007 - - - ExecuteModelCode - 8 - BOOL - #x00000008 - - - Input - 1152 - ExtU_Filter_Current_Hexapod_R_T - #x80000000 - - - ModelParameters - 5760 - P_Filter_Current_Hexapod_Robo_T - #x83000000 - - - ContextInfoArr_0_TaskOid - 32 - OTCID - #x03002060 - - - ContextInfoArr_0_TaskPriority - 32 - UDINT - #x03002070 - - - ContextInfoArr_0_TaskCycleTimeNs - 32 - UDINT - #x03002080 - - - ContextInfoArr_0_TaskPort - 16 - UINT - #x03002090 - - - ContextInfoArr_0_TaskSortOrder - 32 - UDINT - #x030020b0 - - - - - 0 - Input - 0 - 144 - - Current_Motor - 1152 - matrix_18_real_T - #x80000000 - 0 - - - - 1 - Output - 0 - 144 - - Current_Monitor - 1152 - matrix_18_real_T - #x81000000 - 0 - - - - 2 - BlockIO - 0 - 288 - - DiscreteFilter - 64 - LREAL - #x82000000 - 0 - - - DiscreteFilter1 - 64 - LREAL - #x82000008 - 64 - - - DiscreteFilter2 - 64 - LREAL - #x82000010 - 128 - - - DiscreteFilter3 - 64 - LREAL - #x82000018 - 192 - - - DiscreteFilter4 - 64 - LREAL - #x82000020 - 256 - - - DiscreteFilter5 - 64 - LREAL - #x82000028 - 320 - - - DiscreteFilter6 - 64 - LREAL - #x82000030 - 384 - - - DiscreteFilter7 - 64 - LREAL - #x82000038 - 448 - - - DiscreteFilter8 - 64 - LREAL - #x82000040 - 512 - - - DiscreteFilter9 - 64 - LREAL - #x82000048 - 576 - - - DiscreteFilter10 - 64 - LREAL - #x82000050 - 640 - - - DiscreteFilter11 - 64 - LREAL - #x82000058 - 704 - - - DiscreteFilter12 - 64 - LREAL - #x82000060 - 768 - - - DiscreteFilter13 - 64 - LREAL - #x82000068 - 832 - - - DiscreteFilter14 - 64 - LREAL - #x82000070 - 896 - - - DiscreteFilter15 - 64 - LREAL - #x82000078 - 960 - - - DiscreteFilter16 - 64 - LREAL - #x82000080 - 1024 - - - DiscreteFilter17 - 64 - LREAL - #x82000088 - 1088 - - - current_filter_In_1 - 64 - LREAL - #x82000090 - 1152 - - - current_filter_In_2 - 64 - LREAL - #x82000098 - 1216 - - - current_filter_In_3 - 64 - LREAL - #x820000a0 - 1280 - - - current_filter_In_4 - 64 - LREAL - #x820000a8 - 1344 - - - current_filter_In_5 - 64 - LREAL - #x820000b0 - 1408 - - - current_filter_In_6 - 64 - LREAL - #x820000b8 - 1472 - - - current_filter_In_7 - 64 - LREAL - #x820000c0 - 1536 - - - current_filter_In_8 - 64 - LREAL - #x820000c8 - 1600 - - - current_filter_In_9 - 64 - LREAL - #x820000d0 - 1664 - - - current_filter_In_10 - 64 - LREAL - #x820000d8 - 1728 - - - current_filter_In_11 - 64 - LREAL - #x820000e0 - 1792 - - - current_filter_In_12 - 64 - LREAL - #x820000e8 - 1856 - - - current_filter_In_13 - 64 - LREAL - #x820000f0 - 1920 - - - current_filter_In_14 - 64 - LREAL - #x820000f8 - 1984 - - - current_filter_In_15 - 64 - LREAL - #x82000100 - 2048 - - - current_filter_In_16 - 64 - LREAL - #x82000108 - 2112 - - - current_filter_In_17 - 64 - LREAL - #x82000110 - 2176 - - - current_filter_In_18 - 64 - LREAL - #x82000118 - 2240 - - - - 3 - ModelParameters - 0 - 720 - - DiscreteFilter_NumCoef - 128 - matrix_2_real_T - #x83000000 - 0 - - - DiscreteFilter_DenCoef - 128 - matrix_2_real_T - #x83000010 - 128 - - - DiscreteFilter_InitialStates - 64 - LREAL - #x83000020 - 256 - - - DiscreteFilter1_NumCoef - 128 - matrix_2_real_T - #x83000028 - 320 - - - DiscreteFilter1_DenCoef - 128 - matrix_2_real_T - #x83000038 - 448 - - - DiscreteFilter1_InitialStates - 64 - LREAL - #x83000048 - 576 - - - DiscreteFilter2_NumCoef - 128 - matrix_2_real_T - #x83000050 - 640 - - - DiscreteFilter2_DenCoef - 128 - matrix_2_real_T - #x83000060 - 768 - - - DiscreteFilter2_InitialStates - 64 - LREAL - #x83000070 - 896 - - - DiscreteFilter3_NumCoef - 128 - matrix_2_real_T - #x83000078 - 960 - - - DiscreteFilter3_DenCoef - 128 - matrix_2_real_T - #x83000088 - 1088 - - - DiscreteFilter3_InitialStates - 64 - LREAL - #x83000098 - 1216 - - - DiscreteFilter4_NumCoef - 128 - matrix_2_real_T - #x830000a0 - 1280 - - - DiscreteFilter4_DenCoef - 128 - matrix_2_real_T - #x830000b0 - 1408 - - - DiscreteFilter4_InitialStates - 64 - LREAL - #x830000c0 - 1536 - - - DiscreteFilter5_NumCoef - 128 - matrix_2_real_T - #x830000c8 - 1600 - - - DiscreteFilter5_DenCoef - 128 - matrix_2_real_T - #x830000d8 - 1728 - - - DiscreteFilter5_InitialStates - 64 - LREAL - #x830000e8 - 1856 - - - DiscreteFilter6_NumCoef - 128 - matrix_2_real_T - #x830000f0 - 1920 - - - DiscreteFilter6_DenCoef - 128 - matrix_2_real_T - #x83000100 - 2048 - - - DiscreteFilter6_InitialStates - 64 - LREAL - #x83000110 - 2176 - - - DiscreteFilter7_NumCoef - 128 - matrix_2_real_T - #x83000118 - 2240 - - - DiscreteFilter7_DenCoef - 128 - matrix_2_real_T - #x83000128 - 2368 - - - DiscreteFilter7_InitialStates - 64 - LREAL - #x83000138 - 2496 - - - DiscreteFilter8_NumCoef - 128 - matrix_2_real_T - #x83000140 - 2560 - - - DiscreteFilter8_DenCoef - 128 - matrix_2_real_T - #x83000150 - 2688 - - - DiscreteFilter8_InitialStates - 64 - LREAL - #x83000160 - 2816 - - - 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BOOL - #x00000003 - - - CycleUpdateExecuted - 8 - BOOL - #x00000004 - - - SimulinkTime - 64 - LREAL - #x00000005 - - - ModuleInfo - 1184 - TctModuleInfoType - #x00000006 - - - ModuleBuildInfo - 8 - TctModuleBuildInfoType - #x00000007 - - - ExecuteModelCode - 8 - BOOL - #x00000008 - - - Input - 1152 - ExtU_Filter_Current_Hexapod_R_T - #x80000000 - - - ModelParameters - 5760 - P_Filter_Current_Hexapod_Robo_T - #x83000000 - - - ContextInfoArr_0_TaskOid - 32 - OTCID - #x03002060 - - - ContextInfoArr_0_TaskPriority - 32 - UDINT - #x03002070 - - - ContextInfoArr_0_TaskCycleTimeNs - 32 - UDINT - #x03002080 - - - ContextInfoArr_0_TaskPort - 16 - UINT - #x03002090 - - - ContextInfoArr_0_TaskSortOrder - 32 - UDINT - #x030020b0 - - - - - 0 - Input - 0 - 144 - - Current_Motor - 1152 - matrix_18_real_T - #x80000000 - 0 - - - - 1 - Output - 0 - 144 - - Current_Monitor - 1152 - matrix_18_real_T - #x81000000 - 0 - - - - 2 - BlockIO - 0 - 288 - - DiscreteFilter - 64 - LREAL - #x82000000 - 0 - - - DiscreteFilter1 - 64 - LREAL - #x82000008 - 64 - - - DiscreteFilter2 - 64 - LREAL - #x82000010 - 128 - - - DiscreteFilter3 - 64 - LREAL - #x82000018 - 192 - - - DiscreteFilter4 - 64 - LREAL - #x82000020 - 256 - - - DiscreteFilter5 - 64 - LREAL - #x82000028 - 320 - - - DiscreteFilter6 - 64 - LREAL - #x82000030 - 384 - - - DiscreteFilter7 - 64 - LREAL - #x82000038 - 448 - - - DiscreteFilter8 - 64 - LREAL - #x82000040 - 512 - - - DiscreteFilter9 - 64 - LREAL - #x82000048 - 576 - - - DiscreteFilter10 - 64 - LREAL - #x82000050 - 640 - - - DiscreteFilter11 - 64 - LREAL - #x82000058 - 704 - - - DiscreteFilter12 - 64 - LREAL - #x82000060 - 768 - - - DiscreteFilter13 - 64 - LREAL - #x82000068 - 832 - - - DiscreteFilter14 - 64 - LREAL - #x82000070 - 896 - - - DiscreteFilter15 - 64 - LREAL - #x82000078 - 960 - - - DiscreteFilter16 - 64 - LREAL - #x82000080 - 1024 - - - DiscreteFilter17 - 64 - LREAL - #x82000088 - 1088 - - - current_filter_In_1 - 64 - LREAL - #x82000090 - 1152 - - - current_filter_In_2 - 64 - LREAL - #x82000098 - 1216 - - - current_filter_In_3 - 64 - LREAL - #x820000a0 - 1280 - - - current_filter_In_4 - 64 - LREAL - #x820000a8 - 1344 - - - current_filter_In_5 - 64 - LREAL - #x820000b0 - 1408 - - - current_filter_In_6 - 64 - LREAL - #x820000b8 - 1472 - - - current_filter_In_7 - 64 - LREAL - #x820000c0 - 1536 - - - current_filter_In_8 - 64 - LREAL - #x820000c8 - 1600 - - - current_filter_In_9 - 64 - LREAL - #x820000d0 - 1664 - - - current_filter_In_10 - 64 - LREAL - #x820000d8 - 1728 - - - current_filter_In_11 - 64 - LREAL - #x820000e0 - 1792 - - - current_filter_In_12 - 64 - LREAL - #x820000e8 - 1856 - - - current_filter_In_13 - 64 - LREAL - #x820000f0 - 1920 - - - current_filter_In_14 - 64 - LREAL - #x820000f8 - 1984 - - - current_filter_In_15 - 64 - LREAL - #x82000100 - 2048 - - - current_filter_In_16 - 64 - LREAL - #x82000108 - 2112 - - - current_filter_In_17 - 64 - LREAL - #x82000110 - 2176 - - - current_filter_In_18 - 64 - LREAL - #x82000118 - 2240 - - - - 3 - ModelParameters - 0 - 720 - - DiscreteFilter_NumCoef - 128 - matrix_2_real_T - #x83000000 - 0 - - - DiscreteFilter_DenCoef - 128 - matrix_2_real_T - #x83000010 - 128 - - - DiscreteFilter_InitialStates - 64 - LREAL - #x83000020 - 256 - - - DiscreteFilter1_NumCoef - 128 - matrix_2_real_T - #x83000028 - 320 - - - DiscreteFilter1_DenCoef - 128 - matrix_2_real_T - #x83000038 - 448 - - - DiscreteFilter1_InitialStates - 64 - LREAL - #x83000048 - 576 - - - DiscreteFilter2_NumCoef - 128 - matrix_2_real_T - #x83000050 - 640 - - - DiscreteFilter2_DenCoef - 128 - matrix_2_real_T - #x83000060 - 768 - - - DiscreteFilter2_InitialStates - 64 - LREAL - #x83000070 - 896 - - - DiscreteFilter3_NumCoef - 128 - matrix_2_real_T - #x83000078 - 960 - - - DiscreteFilter3_DenCoef - 128 - matrix_2_real_T - #x83000088 - 1088 - - - DiscreteFilter3_InitialStates - 64 - LREAL - #x83000098 - 1216 - - - DiscreteFilter4_NumCoef - 128 - matrix_2_real_T - #x830000a0 - 1280 - - - DiscreteFilter4_DenCoef - 128 - matrix_2_real_T - #x830000b0 - 1408 - - - DiscreteFilter4_InitialStates - 64 - LREAL - #x830000c0 - 1536 - - - DiscreteFilter5_NumCoef - 128 - matrix_2_real_T - #x830000c8 - 1600 - - - DiscreteFilter5_DenCoef - 128 - matrix_2_real_T - #x830000d8 - 1728 - - - DiscreteFilter5_InitialStates - 64 - LREAL - #x830000e8 - 1856 - - - DiscreteFilter6_NumCoef - 128 - matrix_2_real_T - #x830000f0 - 1920 - - - DiscreteFilter6_DenCoef - 128 - matrix_2_real_T - #x83000100 - 2048 - - - DiscreteFilter6_InitialStates - 64 - LREAL - #x83000110 - 2176 - - - DiscreteFilter7_NumCoef - 128 - matrix_2_real_T - #x83000118 - 2240 - - - DiscreteFilter7_DenCoef - 128 - matrix_2_real_T - #x83000128 - 2368 - - - DiscreteFilter7_InitialStates - 64 - LREAL - #x83000138 - 2496 - - - DiscreteFilter8_NumCoef - 128 - matrix_2_real_T - #x83000140 - 2560 - - - DiscreteFilter8_DenCoef - 128 - matrix_2_real_T - #x83000150 - 2688 - - - DiscreteFilter8_InitialStates - 64 - LREAL - #x83000160 - 2816 - - - DiscreteFilter9_NumCoef - 128 - matrix_2_real_T - #x83000168 - 2880 - - - DiscreteFilter9_DenCoef - 128 - matrix_2_real_T - #x83000178 - 3008 - - - DiscreteFilter9_InitialStates - 64 - LREAL - #x83000188 - 3136 - - - DiscreteFilter10_NumCoef - 128 - matrix_2_real_T - #x83000190 - 3200 - - - DiscreteFilter10_DenCoef - 128 - matrix_2_real_T - #x830001a0 - 3328 - - - DiscreteFilter10_InitialStates - 64 - LREAL - #x830001b0 - 3456 - - - DiscreteFilter11_NumCoef - 128 - matrix_2_real_T - #x830001b8 - 3520 - - - DiscreteFilter11_DenCoef - 128 - matrix_2_real_T - #x830001c8 - 3648 - - - DiscreteFilter11_InitialStates - 64 - LREAL - #x830001d8 - 3776 - - - DiscreteFilter12_NumCoef - 128 - matrix_2_real_T - #x830001e0 - 3840 - - - DiscreteFilter12_DenCoef - 128 - matrix_2_real_T - #x830001f0 - 3968 - - - DiscreteFilter12_InitialStates - 64 - LREAL - #x83000200 - 4096 - - - DiscreteFilter13_NumCoef - 128 - matrix_2_real_T - #x83000208 - 4160 - - - DiscreteFilter13_DenCoef - 128 - matrix_2_real_T - #x83000218 - 4288 - - - DiscreteFilter13_InitialStates - 64 - LREAL - #x83000228 - 4416 - - - DiscreteFilter14_NumCoef - 128 - matrix_2_real_T - #x83000230 - 4480 - - - DiscreteFilter14_DenCoef - 128 - matrix_2_real_T - #x83000240 - 4608 - - - DiscreteFilter14_InitialStates - 64 - LREAL - #x83000250 - 4736 - - - DiscreteFilter15_NumCoef - 128 - matrix_2_real_T - #x83000258 - 4800 - - - DiscreteFilter15_DenCoef - 128 - matrix_2_real_T - #x83000268 - 4928 - - - DiscreteFilter15_InitialStates - 64 - LREAL - #x83000278 - 5056 - - - DiscreteFilter16_NumCoef - 128 - matrix_2_real_T - #x83000280 - 5120 - - - DiscreteFilter16_DenCoef - 128 - matrix_2_real_T - #x83000290 - 5248 - - - DiscreteFilter16_InitialStates - 64 - LREAL - #x830002a0 - 5376 - - - DiscreteFilter17_NumCoef - 128 - matrix_2_real_T - #x830002a8 - 5440 - - - DiscreteFilter17_DenCoef - 128 - matrix_2_real_T - #x830002b8 - 5568 - - - DiscreteFilter17_InitialStates - 64 - LREAL - #x830002c8 - 5696 - - - - 4 - DWork - 0 - 288 - - DiscreteFilter_states - 64 - LREAL - #x84000000 - 0 - - - DiscreteFilter1_states - 64 - LREAL - #x84000008 - 64 - - - DiscreteFilter2_states - 64 - LREAL - #x84000010 - 128 - - - DiscreteFilter3_states - 64 - LREAL - #x84000018 - 192 - - - DiscreteFilter4_states - 64 - LREAL - #x84000020 - 256 - - - DiscreteFilter5_states - 64 - LREAL - #x84000028 - 320 - - - DiscreteFilter6_states - 64 - LREAL - #x84000030 - 384 - - - DiscreteFilter7_states - 64 - LREAL - #x84000038 - 448 - - - DiscreteFilter8_states - 64 - LREAL - #x84000040 - 512 - - - DiscreteFilter9_states - 64 - LREAL - #x84000048 - 576 - - - DiscreteFilter10_states - 64 - LREAL - #x84000050 - 640 - - - DiscreteFilter11_states - 64 - LREAL - #x84000058 - 704 - - - DiscreteFilter12_states - 64 - LREAL - #x84000060 - 768 - - - DiscreteFilter13_states - 64 - LREAL - #x84000068 - 832 - - - DiscreteFilter14_states - 64 - LREAL - #x84000070 - 896 - - - DiscreteFilter15_states - 64 - LREAL - #x84000078 - 960 - - - DiscreteFilter16_states - 64 - LREAL - #x84000080 - 1024 - - - DiscreteFilter17_states - 64 - LREAL - #x84000088 - 1088 - - - DiscreteFilter_tmp - 64 - LREAL - #x84000090 - 1152 - - - DiscreteFilter1_tmp - 64 - LREAL - #x84000098 - 1216 - - - DiscreteFilter2_tmp - 64 - LREAL - #x840000a0 - 1280 - - - DiscreteFilter3_tmp - 64 - LREAL - #x840000a8 - 1344 - - - DiscreteFilter4_tmp - 64 - LREAL - #x840000b0 - 1408 - - - DiscreteFilter5_tmp - 64 - LREAL - #x840000b8 - 1472 - - - DiscreteFilter6_tmp - 64 - LREAL - #x840000c0 - 1536 - - - DiscreteFilter7_tmp - 64 - LREAL - #x840000c8 - 1600 - - - DiscreteFilter8_tmp - 64 - LREAL - #x840000d0 - 1664 - - - DiscreteFilter9_tmp - 64 - LREAL - #x840000d8 - 1728 - - - DiscreteFilter10_tmp - 64 - LREAL - #x840000e0 - 1792 - - - DiscreteFilter11_tmp - 64 - LREAL - #x840000e8 - 1856 - - - DiscreteFilter12_tmp - 64 - LREAL - #x840000f0 - 1920 - - - DiscreteFilter13_tmp - 64 - LREAL - #x840000f8 - 1984 - - - DiscreteFilter14_tmp - 64 - LREAL - #x84000100 - 2048 - - - DiscreteFilter15_tmp - 64 - LREAL - #x84000108 - 2112 - - - DiscreteFilter16_tmp - 64 - LREAL - #x84000110 - 2176 - - - DiscreteFilter17_tmp - 64 - LREAL - #x84000118 - 2240 - - - - - - %SOLUTIONMODULEINSTTPATH%TwinCAT RT (x86)\%CLASSFACTORYNAME%.sys - %TC_DRIVERAUTOINSTALLPATH%%CLASSFACTORYNAME%.sys - - - %SOLUTIONMODULEINSTTPATH%TwinCAT RT (x86)\%CLASSFACTORYNAME%.pdb - %TC_DRIVERAUTOINSTALLPATH%%CLASSFACTORYNAME%.pdb - - - %SOLUTIONMODULEINSTTPATH%TwinCAT RT (x64)\%CLASSFACTORYNAME%.sys - %TC_DRIVERAUTOINSTALLPATH%%CLASSFACTORYNAME%.sys - - - %SOLUTIONMODULEINSTTPATH%TwinCAT RT (x64)\%CLASSFACTORYNAME%.pdb - %TC_DRIVERAUTOINSTALLPATH%%CLASSFACTORYNAME%.pdb - - - %SOLUTIONMODULEINSTTPATH%Filter_Current_Hexapod_Robot_PlcOpenPOUs.xml - - - %SOLUTIONMODULEINSTTPATH%Filter_Current_Hexapod_Robot_ModuleInfo.xml - - - - Filter_Current_Hexapod_Robot_ModuleInfo.xml - - - - CallBy - Module - - - ExecutionSequence - StateUpdateAfterOutputMapping - - - StepSize - UseTaskCycleTime - - - MdlInitialized - FALSE - - - CycleUpdateExecuted - FALSE - - - SimulinkTime - 0 - - - ModuleInfo.ClassId - 00000000000000000000000000000000 - - - ModuleInfo.BuildTimeStamp - 0 - - - ModuleInfo.ModelCheckSum[0] - 0 - - - ModuleInfo.ModelCheckSum[1] - 0 - - - ModuleInfo.ModelCheckSum[2] - 0 - - - ModuleInfo.ModelCheckSum[3] - 0 - - - ModuleInfo.ModelVersion[0] - 0 - - - ModuleInfo.ModelVersion[1] - 0 - - - ModuleInfo.ModelVersion[2] - 0 - - - ModuleInfo.ModelVersion[3] - 0 - - - ModuleInfo.TwinCatVersion[0] - 0 - - - ModuleInfo.TwinCatVersion[1] - 0 - - - ModuleInfo.TwinCatVersion[2] - 0 - - - ModuleInfo.TwinCatVersion[3] - 0 - - - ModuleInfo.TcTargetVersion[0] - 0 - - - ModuleInfo.TcTargetVersion[1] - 0 - - - ModuleInfo.TcTargetVersion[2] - 0 - - - ModuleInfo.TcTargetVersion[3] - 0 - - - ModuleInfo.MatlabVersion[0] - 0 - - - ModuleInfo.MatlabVersion[1] - 0 - - - ModuleInfo.MatlabVersion[2] - 0 - - - ModuleInfo.MatlabVersion[3] - 0 - - - ModuleInfo.SimulinkVersion[0] - 0 - - - ModuleInfo.SimulinkVersion[1] - 0 - - - ModuleInfo.SimulinkVersion[2] - 0 - - - ModuleInfo.SimulinkVersion[3] - 0 - - - ModuleInfo.CoderVersion[0] - 0 - - - ModuleInfo.CoderVersion[1] - 0 - - - ModuleInfo.CoderVersion[2] - 0 - - - ModuleInfo.CoderVersion[3] - 0 - - - ModuleInfo.TcTargetLicenseId - 00000000000000000000000000000000 - - - ModuleBuildInfo.Debug - FALSE - - - ExecuteModelCode - TRUE - - - Input.Current_Motor[0] - 0 - - - Input.Current_Motor[1] - 0 - - - Input.Current_Motor[2] - 0 - - - Input.Current_Motor[3] - 0 - - - Input.Current_Motor[4] - 0 - - - Input.Current_Motor[5] - 0 - - - Input.Current_Motor[6] - 0 - - - Input.Current_Motor[7] - 0 - - - Input.Current_Motor[8] - 0 - - - Input.Current_Motor[9] - 0 - - - Input.Current_Motor[10] - 0 - - - Input.Current_Motor[11] - 0 - - - Input.Current_Motor[12] - 0 - - - Input.Current_Motor[13] - 0 - - - Input.Current_Motor[14] - 0 - - - Input.Current_Motor[15] - 0 - - - Input.Current_Motor[16] - 0 - - - Input.Current_Motor[17] - 0 - - - ModelParameters.DiscreteFilter_NumCoef[0] - 12.5663706143592 - - - ModelParameters.DiscreteFilter_NumCoef[1] - 12.5663706143592 - - - ModelParameters.DiscreteFilter_DenCoef[0] - 2012.56637061436 - - - ModelParameters.DiscreteFilter_DenCoef[1] - -1987.43362938564 - - - ModelParameters.DiscreteFilter_InitialStates - 0 - - - ModelParameters.DiscreteFilter1_NumCoef[0] - 12.5663706143592 - - - ModelParameters.DiscreteFilter1_NumCoef[1] - 12.5663706143592 - - - ModelParameters.DiscreteFilter1_DenCoef[0] - 2012.56637061436 - - - ModelParameters.DiscreteFilter1_DenCoef[1] - -1987.43362938564 - - - ModelParameters.DiscreteFilter1_InitialStates - 0 - - - ModelParameters.DiscreteFilter2_NumCoef[0] - 12.5663706143592 - - - ModelParameters.DiscreteFilter2_NumCoef[1] - 12.5663706143592 - - - ModelParameters.DiscreteFilter2_DenCoef[0] - 2012.56637061436 - - - ModelParameters.DiscreteFilter2_DenCoef[1] - -1987.43362938564 - - - ModelParameters.DiscreteFilter2_InitialStates - 0 - - - ModelParameters.DiscreteFilter3_NumCoef[0] - 12.5663706143592 - - - ModelParameters.DiscreteFilter3_NumCoef[1] - 12.5663706143592 - - - ModelParameters.DiscreteFilter3_DenCoef[0] - 2012.56637061436 - - - ModelParameters.DiscreteFilter3_DenCoef[1] - -1987.43362938564 - - - ModelParameters.DiscreteFilter3_InitialStates - 0 - - - ModelParameters.DiscreteFilter4_NumCoef[0] - 12.5663706143592 - - - ModelParameters.DiscreteFilter4_NumCoef[1] - 12.5663706143592 - - - ModelParameters.DiscreteFilter4_DenCoef[0] - 2012.56637061436 - - - ModelParameters.DiscreteFilter4_DenCoef[1] - -1987.43362938564 - - - ModelParameters.DiscreteFilter4_InitialStates - 0 - - - ModelParameters.DiscreteFilter5_NumCoef[0] - 12.5663706143592 - - - ModelParameters.DiscreteFilter5_NumCoef[1] - 12.5663706143592 - - - ModelParameters.DiscreteFilter5_DenCoef[0] - 2012.56637061436 - - - ModelParameters.DiscreteFilter5_DenCoef[1] - -1987.43362938564 - - - ModelParameters.DiscreteFilter5_InitialStates - 0 - - - ModelParameters.DiscreteFilter6_NumCoef[0] - 12.5663706143592 - - - ModelParameters.DiscreteFilter6_NumCoef[1] - 12.5663706143592 - - - ModelParameters.DiscreteFilter6_DenCoef[0] - 2012.56637061436 - - - ModelParameters.DiscreteFilter6_DenCoef[1] - -1987.43362938564 - - - ModelParameters.DiscreteFilter6_InitialStates - 0 - - - ModelParameters.DiscreteFilter7_NumCoef[0] - 12.5663706143592 - - - ModelParameters.DiscreteFilter7_NumCoef[1] - 12.5663706143592 - - - ModelParameters.DiscreteFilter7_DenCoef[0] - 2012.56637061436 - - - ModelParameters.DiscreteFilter7_DenCoef[1] - -1987.43362938564 - - - ModelParameters.DiscreteFilter7_InitialStates - 0 - - - ModelParameters.DiscreteFilter8_NumCoef[0] - 12.5663706143592 - - - ModelParameters.DiscreteFilter8_NumCoef[1] - 12.5663706143592 - - - ModelParameters.DiscreteFilter8_DenCoef[0] - 2012.56637061436 - - - ModelParameters.DiscreteFilter8_DenCoef[1] - -1987.43362938564 - - - ModelParameters.DiscreteFilter8_InitialStates - 0 - - - ModelParameters.DiscreteFilter9_NumCoef[0] - 12.5663706143592 - - - ModelParameters.DiscreteFilter9_NumCoef[1] - 12.5663706143592 - - - ModelParameters.DiscreteFilter9_DenCoef[0] - 2012.56637061436 - - - ModelParameters.DiscreteFilter9_DenCoef[1] - -1987.43362938564 - - - ModelParameters.DiscreteFilter9_InitialStates - 0 - - - ModelParameters.DiscreteFilter10_NumCoef[0] - 12.5663706143592 - - - ModelParameters.DiscreteFilter10_NumCoef[1] - 12.5663706143592 - - - ModelParameters.DiscreteFilter10_DenCoef[0] - 2012.56637061436 - - - ModelParameters.DiscreteFilter10_DenCoef[1] - -1987.43362938564 - - - ModelParameters.DiscreteFilter10_InitialStates - 0 - - - ModelParameters.DiscreteFilter11_NumCoef[0] - 12.5663706143592 - - - ModelParameters.DiscreteFilter11_NumCoef[1] - 12.5663706143592 - - - ModelParameters.DiscreteFilter11_DenCoef[0] - 2012.56637061436 - - - ModelParameters.DiscreteFilter11_DenCoef[1] - -1987.43362938564 - - - 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- - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/TC_Robot_Control/DUTs/Axis/Axis.TcPOU b/TC_Robot_Control/DUTs/Axis/Axis.TcPOU deleted file mode 100644 index 8538bb5..0000000 --- a/TC_Robot_Control/DUTs/Axis/Axis.TcPOU +++ /dev/null @@ -1,955 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Axis_Max_Turque THEN - IF Axis_ExtSetPiontEnable.Error OR Axis_ExtSetPiontDisable.Error THEN - Axis_Error := TRUE; - Axis_ErrorID := Axis_Home.ErrorID; - END_IF - Axis_ExtSetPiontEnable( Axis:= AxisRef, - Execute:= 0 ); - Axis_ExtSetPiontDisable( Axis:= AxisRef, - Execute:= 1); -END_IF]]> - - - - - - - - - - - - Axis_Max_Turque AND NOT BackDone THEN - Drive_Home :=0; - Jog_Backward(Drive_Jog_Backward:= Drive_Home); - Delay(IN:= NOT Delay.Q, PT:=T#200MS, Q=> , ET=> ); - Axis_Home( Axis:= AxisRef, - Execute:= Delay.Q, - Position:= 0, - HomingMode:= MC_Direct); - BackDone := Axis_Home.Done; - END_IF - IF BackDone THEN - Move_Absolute(Drive_Move_Absolute:= TRUE, Absolute_Position:= Home_Position ); - IF Axis_MoveAbsolute.Done THEN - BackDone := FALSE; - END_IF - END_IF -END_IF - -(*IF HomeSet THEN - Jog_Backward(Drive_Jog_Backward:= 0, Axis_Current_Turque:= Axis_Current_Turque); - HomeDone := 1; -END_IF*) - -IF Axis_Home.Error OR Axis_Home.CommandAborted OR ABS(Axis_Current_Turque) < Axis_Max_Turque THEN - IF Axis_Jog.Error THEN - Axis_Error := TRUE; - Axis_ErrorID := Axis_Home.ErrorID; - END_IF - Axis_Home( Axis:= AxisRef, - Execute:= FALSE); -END_IF - -// =========================================================]]> - - - - - - - - - - - - - - - - - - - - - , ET=> ); - Axis_Home( Axis:= AxisRef, - Execute:= Delay.Q, - Position:= 0, - HomingMode:= MC_Direct); - BackDone := Axis_Home.Done; - END_IF - IF BackDone THEN - Move_Absolute(Drive_Move_Absolute:= TRUE, Absolute_Position:= 20); - IF Axis_MoveAbsolute.Done THEN - BackDone := FALSE; - END_IF - END_IF -END_IF - -(*IF HomeSet THEN - Jog_Backward(Drive_Jog_Backward:= 0, Axis_Current_Turque:= Axis_Current_Turque); - HomeDone := 1; -END_IF*) - -IF Axis_Home.Error OR Axis_Home.CommandAborted OR ABS(Axis_Current_Turque) < Axis_Max_Turque THEN - IF Axis_Jog.Error THEN - Axis_Error := TRUE; - Axis_ErrorID := Axis_Home.ErrorID; - END_IF - Axis_Home( Axis:= AxisRef, - Execute:= FALSE); -END_IF - -// =========================================================]]> - - - - - - - - - - - - - - - - - - - - - Axis_Max_Turque THEN - IF Axis_Jog.Error THEN - Axis_Error := TRUE; - Axis_ErrorID := Axis_Jog.ErrorID; - END_IF - - Axis_Jog( JogForward:= 0, - JogBackwards:= 0, - Axis := AxisRef); -END_IF - -(*IF ABS(Axis_Current_Turque) <1000 AND JogDone =1 THEN - Axis_Jog( JogForward:= 0, - JogBackwards:= 0, - Axis := AxisRef); - JogDone :=0; -END_IF*) - -// =========================================================]]> - - - - - - Axis_Max_Turque THEN - IF Axis_Jog.Error THEN - Axis_Error := TRUE; - Axis_ErrorID := Axis_Jog.ErrorID; - END_IF - - Axis_Jog( JogForward:= 0, - JogBackwards:= 0, - Axis := AxisRef); -END_IF - -(*IF ABS(Axis_Current_Turque) <1000 AND JogDone =1 THEN - Axis_Jog( JogForward:= 0, - JogBackwards:= 0, - Axis := AxisRef); - JogDone :=0; -END_IF*) - -// =========================================================]]> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Axis_Max_Turque THEN - IF Axis_MoveAbsolute.Error THEN - Axis_Error := TRUE; - Axis_ErrorID := Axis_MoveAbsolute.ErrorID; - END_IF - - Axis_MoveAbsolute( Axis:= AxisRef, - Execute:= 0, - BufferMode:= MC_Aborting); -END_IF - -// =========================================================]]> - - - - - - - - - - - - - - - - - - - - - Axis_Max_Turque THEN - IF Axis_Move.Error THEN - Axis_Error := TRUE; - Axis_ErrorID := Axis_Move.ErrorID; - END_IF - - Axis_Move( Execute := FALSE, - Axis := AxisRef); -END_IF - -// =========================================================]]> - - - - - - Axis_Max_Turque THEN - IF Axis_Move.Error THEN - Axis_Error := TRUE; - Axis_ErrorID := Axis_Move.ErrorID; - END_IF - - Axis_Move( Execute := FALSE, - Axis := AxisRef); -END_IF - -// =========================================================]]> - - - - - - Axis_Max_Turque THEN - IF Axis_MoveRelative.Error THEN - Axis_Error := TRUE; - Axis_ErrorID := Axis_MoveRelative.ErrorID; - END_IF - - Axis_MoveRelative( Axis:= AxisRef, - Execute:= 0, - BufferMode:= MC_Aborting); -END_IF - -// =========================================================]]> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - Power_StatusEnable); - -IF Axis_Power.Error THEN - Axis_Error := TRUE; - Axis_ErrorID := Axis_Power.ErrorID; -END_IF - -AxisRef.ReadStatus(); - -Axis_Moves := AxisRef.Status.Moving; - -// ==========================================================]]> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Delay/Delay.TcPOU b/TC_Robot_Control/DUTs/Delay/Delay.TcPOU deleted file mode 100644 index 1879a82..0000000 --- a/TC_Robot_Control/DUTs/Delay/Delay.TcPOU +++ /dev/null @@ -1,20 +0,0 @@ - - - - - - - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Filter_Current/E_TcMatSimDataAreaType_1.TcDUT b/TC_Robot_Control/DUTs/Filter_Current/E_TcMatSimDataAreaType_1.TcDUT deleted file mode 100644 index 75226c7..0000000 --- a/TC_Robot_Control/DUTs/Filter_Current/E_TcMatSimDataAreaType_1.TcDUT +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Filter_Current/FB_Filter_Current_Hexapod_Robot.TcPOU b/TC_Robot_Control/DUTs/Filter_Current/FB_Filter_Current_Hexapod_Robot.TcPOU deleted file mode 100644 index 032bac1..0000000 --- a/TC_Robot_Control/DUTs/Filter_Current/FB_Filter_Current_Hexapod_Robot.TcPOU +++ /dev/null @@ -1,904 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - TctModuleCallByType.Module)) THEN - VerifyParameters := Tc2_System.E_HRESULTAdsErr.INVALIDPARM; - END_IF - - // set the parameters verified flag - bParametersVerified := SUCCEEDED(VerifyParameters); -END_IF - ]]> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Filter_Current/FB_TcMatSimObject_1.TcPOU b/TC_Robot_Control/DUTs/Filter_Current/FB_TcMatSimObject_1.TcPOU deleted file mode 100644 index b96fd76..0000000 --- a/TC_Robot_Control/DUTs/Filter_Current/FB_TcMatSimObject_1.TcPOU +++ /dev/null @@ -1,860 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - TCOM_STATE_OP) THEN - hResult := Tc2_System.E_HRESULTAdsErr.NOTREADY; -END_IF - -// get image pointers -IF (SUCCEEDED(hResult)) THEN - GetImagePtrs(hResult); -END_IF - -// copy inputs -IF (pDataAreas<>0 AND bWriteFbInputValues) THEN - FOR nDaIdx:=0 TO nDataAreas-1 DO - IF (FAILED(hResult))THEN - CONTINUE; - END_IF - pCurDataArea := pDataAreas + nDaIdx*SIZEOF(ST_TcMatSimObjectDataAreaInfo); - IF ((pCurDataArea^.eDataAreaType <> E_TcMatSimDataAreaType.InputDst))THEN - CONTINUE; - END_IF - IF (pCurDataArea^.pModuleProcImg<>0 AND pCurDataArea^.pPlcVar<>0) THEN - MEMCPY(pCurDataArea^.pModuleProcImg,pCurDataArea^.pPlcVar,pCurDataArea^.nSize); - ELSE - hResult := Tc2_System.E_HRESULTAdsErr.NOINTERFACE; - END_IF - END_FOR -END_IF - -// call cycle update -IF (SUCCEEDED(hResult)) THEN - IF (ipTcCyclic<>0) THEN - hResult := ipTcCyclic.CycleUpdate(ipTask:= ipTask, ipCaller:= 0, context:= 0); - ELSE - hResult := Tc2_System.E_HRESULTAdsErr.NOINTERFACE; - END_IF -END_IF - -// copy outputs -IF (pDataAreas<>0) THEN - FOR nDaIdx:=0 TO nDataAreas-1 DO - IF (FAILED(hResult))THEN - CONTINUE; - END_IF - pCurDataArea := pDataAreas + nDaIdx*SIZEOF(ST_TcMatSimObjectDataAreaInfo); - IF ((pCurDataArea^.eDataAreaType = E_TcMatSimDataAreaType.OutputSrc) OR NOT bWriteFbInputValues) THEN - IF (pCurDataArea^.pModuleProcImg<>0 AND pCurDataArea^.pPlcVar<>0) THEN - MEMCPY(pCurDataArea^.pPlcVar,pCurDataArea^.pModuleProcImg,pCurDataArea^.nSize); - ELSE - hResult := Tc2_System.E_HRESULTAdsErr.NOINTERFACE; - END_IF - END_IF - END_FOR -END_IF - - -// call post cyclic update -IF (SUCCEEDED(hResult)) THEN - IF (ipTcPostCyclic<>0) THEN - hResult := ipTcPostCyclic.PostCyclicUpdate(ipTask:= 0, ipCaller:= 0, context:= 0); - ELSE - hResult := Tc2_System.E_HRESULTAdsErr.NOINTERFACE; - END_IF -END_IF - -ReleaseImagePtrs(); - -Execute := hResult; - ]]> - - - - - - 0) THEN - ipObjSrv.TcRelease(); - ipObjSrv := 0; - END_IF - - ReleaseTcComInterface(); -END_IF - ]]> - - - - - - - - - - - - TCOM_STATE_OP)THEN - hr := Tc2_System.E_HRESULTAdsErr.INVALIDSTATE; -END_IF - - -// get pointers to process images -IF (pDataAreas<>0) THEN - FOR nDaIdx:=0 TO nDataAreas-1 DO - pCurDataArea := pDataAreas + nDaIdx*SIZEOF(ST_TcMatSimObjectDataAreaInfo); - IF (FAILED(hr))THEN - CONTINUE; - END_IF - IF ((pCurDataArea^.eDataAreaType <> E_TcMatSimDataAreaType.InputDst) AND (pCurDataArea^.eDataAreaType <> E_TcMatSimDataAreaType.OutputSrc))THEN - CONTINUE; - END_IF - IF (pCurDataArea^.pModuleProcImg=0 AND pCurDataArea^.nSize>0) THEN - hr := ipTcAdi.GetImagePtr(size:= pCurDataArea^.nSize , offs:=0 , adi_x:=pCurDataArea^.nDataAreaId , ppData:=ADR(pCurDataArea^.pModuleProcImg)); - END_IF - END_FOR -END_IF - -IF (FAILED(hr)) THEN - ReleaseImagePtrs(); -END_IF - ]]> - - - - - - - - - - - - TCOM_STATE.TCOM_STATE_INIT) THEN - QueryObjInterfaces(hResult); -END_IF - -// return value -Init := hresult; - ]]> - - - - - - - - - - - - =TCOM_STATE_INIT) THEN - IF (ipTcComObj=0) THEN - hr := Tc2_System.E_HRESULTAdsErr.NOINTERFACE; - END_IF - IF (ipObjSrv=0) THEN - hr := Tc2_System.E_HRESULTAdsErr.NOINTERFACE; - END_IF - IF (SUCCEEDED(hr)) THEN - hr := ipTcComObj.TcSetObjState(nextState,ipObjSrv,pInitData); - END_IF -END_IF - ]]> - - - - - - - - - - - - - - - - - - 0) THEN - // query interface of existing object - hr := ipObjSrv.TcQueryObjectInterface(oid,IID_ITComObject,ADR(ipTcComObj)); - ELSE - // create new instance and get the object interface - hr := ipObjSrv.TcCreateInstance(assignedClsId,IID_ITComObject,ADR(ipTcComObj)); - IF (SUCCEEDED(hr)) THEN - bDynInstance := TRUE; - hr := ipTcComObj.TcSetObjectId(OTCID_CreateNewId); - END_IF - END_IF - IF (SUCCEEDED(hr)) THEN - eInitialObjState := State; - END_IF -END_IF - ]]> - - - - - - - - - - - - 0) THEN - // release pointers to the simulink module process images - FOR nDaIdx:=0 TO nDataAreas-1 DO - pCurDataArea := pDataAreas + nDaIdx*SIZEOF(ST_TcMatSimObjectDataAreaInfo); - - IF (pCurDataArea^.pModuleProcImg<>0) THEN - ipTcAdi.ReleaseImagePtr(pData:=pCurDataArea^.pModuleProcImg); - pCurDataArea^.pModuleProcImg := 0; - END_IF - END_FOR -END_IF - ]]> - - - - - - 0) THEN - ipTcCyclic.TcRelease(); - ipTcCyclic := 0; -END_IF -IF (ipTcPostCyclic<>0) THEN - ipTcPostCyclic.TcRelease(); - ipTcPostCyclic := 0; -END_IF -IF (ipTcAdi<>0) THEN - ipTcAdi.TcRelease(); - ipTcAdi := 0; -END_IF - ]]> - - - - - - 0) THEN - WHILE (State>eInitialObjState AND nStateChangeCnt<1000) DO - State := eInitialObjState; - nStateChangeCnt := nStateChangeCnt+1; - END_WHILE - ReleaseObjInterfaces(); - IF (bDynInstance) THEN - ReleaseTcComInterface := TC3_MODULE.FW_ObjMgr_DeleteInstance(ADR(ipTcComObj)); - ELSE - ipTcComObj.TcRelease(); - END_IF - ipTcComObj := 0; -END_IF - ]]> - - - - - - - - - - - - 0) THEN - pInitElemHdr := pInitData + SIZEOF(pInitData^); - FOR idx:=1 TO pInitData^.uiElmCnt DO - pData := pInitElemHdr + ULINT_TO_DWORD(SIZEOF(pInitElemHdr^)); - nData := pInitElemHdr^.cbData; - SaveOnlineParametersForInit := GetObjPara(pInitElemHdr^.indexOffset,nData,pData); - IF (FAILED(SaveOnlineParametersForInit)) THEN - RETURN; - END_IF - pInitElemHdr := pData + (nInitDataAlignment*((nData + nInitDataAlignment - 1)/nInitDataAlignment)); - END_FOR -ELSE - SaveOnlineParametersForInit := Tc2_System.E_HRESULTAdsErr.NOTINIT; -END_IF - ]]> - - - - - - - - - - - - - - - - - - - - - - - - currentState; -bShiftDown := finalState - - - - - - - - 0) THEN - hr := ipTcComObj.TcGetObjState(ADR(eObjState)); -IF (FAILED(hr)) THEN - eObjState := TCOM_STATE.TCOM_STATE_INIT; -END_IF -ELSE - eObjState := TCOM_STATE.TCOM_STATE_INIT; -END_IF -State := eObjState; - ]]> - - - - - - - - - - - - - 0) THEN - VerifyClassId := Tc2_System.E_HRESULTAdsErr.INVALIDCLSID; - END_IF - END_IF - bClassIdVerified := SUCCEEDED(VerifyClassId); -END_IF - ]]> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Filter_Current/ST_Filter_Current_Hexapod_Robot_InitData.TcDUT b/TC_Robot_Control/DUTs/Filter_Current/ST_Filter_Current_Hexapod_Robot_InitData.TcDUT deleted file mode 100644 index ea96cf3..0000000 --- a/TC_Robot_Control/DUTs/Filter_Current/ST_Filter_Current_Hexapod_Robot_InitData.TcDUT +++ /dev/null @@ -1,32 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Filter_Current/ST_Filter_Current_Hexapod_Robot_Input.TcDUT b/TC_Robot_Control/DUTs/Filter_Current/ST_Filter_Current_Hexapod_Robot_Input.TcDUT deleted file mode 100644 index b660c13..0000000 --- a/TC_Robot_Control/DUTs/Filter_Current/ST_Filter_Current_Hexapod_Robot_Input.TcDUT +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Filter_Current/ST_Filter_Current_Hexapod_Robot_Output.TcDUT b/TC_Robot_Control/DUTs/Filter_Current/ST_Filter_Current_Hexapod_Robot_Output.TcDUT deleted file mode 100644 index 850594c..0000000 --- a/TC_Robot_Control/DUTs/Filter_Current/ST_Filter_Current_Hexapod_Robot_Output.TcDUT +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Filter_Current/ST_TcMatSimObjectDataAreaInfo_1.TcDUT b/TC_Robot_Control/DUTs/Filter_Current/ST_TcMatSimObjectDataAreaInfo_1.TcDUT deleted file mode 100644 index 77d2569..0000000 --- a/TC_Robot_Control/DUTs/Filter_Current/ST_TcMatSimObjectDataAreaInfo_1.TcDUT +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Hexapod_Leg/Hexapod_Leg.TcPOU b/TC_Robot_Control/DUTs/Hexapod_Leg/Hexapod_Leg.TcPOU deleted file mode 100644 index 5412be7..0000000 --- a/TC_Robot_Control/DUTs/Hexapod_Leg/Hexapod_Leg.TcPOU +++ /dev/null @@ -1,69 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Mapping/Hexapod_Robot_Mapping.TcPOU b/TC_Robot_Control/DUTs/Mapping/Hexapod_Robot_Mapping.TcPOU deleted file mode 100644 index 3993eff..0000000 --- a/TC_Robot_Control/DUTs/Mapping/Hexapod_Robot_Mapping.TcPOU +++ /dev/null @@ -1,39 +0,0 @@ - - - - - - - - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Robot_Simulink/E_TcMatSimDataAreaType.TcDUT b/TC_Robot_Control/DUTs/Robot_Simulink/E_TcMatSimDataAreaType.TcDUT deleted file mode 100644 index 8c5ad1d..0000000 --- a/TC_Robot_Control/DUTs/Robot_Simulink/E_TcMatSimDataAreaType.TcDUT +++ /dev/null @@ -1,19 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Robot_Simulink/FB_HexMove.TcPOU b/TC_Robot_Control/DUTs/Robot_Simulink/FB_HexMove.TcPOU deleted file mode 100644 index 1bb6bc9..0000000 --- a/TC_Robot_Control/DUTs/Robot_Simulink/FB_HexMove.TcPOU +++ /dev/null @@ -1,767 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - TctModuleCallByType.Module)) THEN - VerifyParameters := Tc2_System.E_HRESULTAdsErr.INVALIDPARM; - END_IF - - // set the parameters verified flag - bParametersVerified := SUCCEEDED(VerifyParameters); -END_IF - ]]> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Robot_Simulink/FB_TcMatSimObject.TcPOU b/TC_Robot_Control/DUTs/Robot_Simulink/FB_TcMatSimObject.TcPOU deleted file mode 100644 index c27d1d2..0000000 --- a/TC_Robot_Control/DUTs/Robot_Simulink/FB_TcMatSimObject.TcPOU +++ /dev/null @@ -1,860 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - TCOM_STATE_OP) THEN - hResult := Tc2_System.E_HRESULTAdsErr.NOTREADY; -END_IF - -// get image pointers -IF (SUCCEEDED(hResult)) THEN - GetImagePtrs(hResult); -END_IF - -// copy inputs -IF (pDataAreas<>0 AND bWriteFbInputValues) THEN - FOR nDaIdx:=0 TO nDataAreas-1 DO - IF (FAILED(hResult))THEN - CONTINUE; - END_IF - pCurDataArea := pDataAreas + nDaIdx*SIZEOF(ST_TcMatSimObjectDataAreaInfo); - IF ((pCurDataArea^.eDataAreaType <> E_TcMatSimDataAreaType.InputDst))THEN - CONTINUE; - END_IF - IF (pCurDataArea^.pModuleProcImg<>0 AND pCurDataArea^.pPlcVar<>0) THEN - MEMCPY(pCurDataArea^.pModuleProcImg,pCurDataArea^.pPlcVar,pCurDataArea^.nSize); - ELSE - hResult := Tc2_System.E_HRESULTAdsErr.NOINTERFACE; - END_IF - END_FOR -END_IF - -// call cycle update -IF (SUCCEEDED(hResult)) THEN - IF (ipTcCyclic<>0) THEN - hResult := ipTcCyclic.CycleUpdate(ipTask:= ipTask, ipCaller:= 0, context:= 0); - ELSE - hResult := Tc2_System.E_HRESULTAdsErr.NOINTERFACE; - END_IF -END_IF - -// copy outputs -IF (pDataAreas<>0) THEN - FOR nDaIdx:=0 TO nDataAreas-1 DO - IF (FAILED(hResult))THEN - CONTINUE; - END_IF - pCurDataArea := pDataAreas + nDaIdx*SIZEOF(ST_TcMatSimObjectDataAreaInfo); - IF ((pCurDataArea^.eDataAreaType = E_TcMatSimDataAreaType.OutputSrc) OR NOT bWriteFbInputValues) THEN - IF (pCurDataArea^.pModuleProcImg<>0 AND pCurDataArea^.pPlcVar<>0) THEN - MEMCPY(pCurDataArea^.pPlcVar,pCurDataArea^.pModuleProcImg,pCurDataArea^.nSize); - ELSE - hResult := Tc2_System.E_HRESULTAdsErr.NOINTERFACE; - END_IF - END_IF - END_FOR -END_IF - - -// call post cyclic update -IF (SUCCEEDED(hResult)) THEN - IF (ipTcPostCyclic<>0) THEN - hResult := ipTcPostCyclic.PostCyclicUpdate(ipTask:= 0, ipCaller:= 0, context:= 0); - ELSE - hResult := Tc2_System.E_HRESULTAdsErr.NOINTERFACE; - END_IF -END_IF - -ReleaseImagePtrs(); - -Execute := hResult; - ]]> - - - - - - 0) THEN - ipObjSrv.TcRelease(); - ipObjSrv := 0; - END_IF - - ReleaseTcComInterface(); -END_IF - ]]> - - - - - - - - - - - - TCOM_STATE_OP)THEN - hr := Tc2_System.E_HRESULTAdsErr.INVALIDSTATE; -END_IF - - -// get pointers to process images -IF (pDataAreas<>0) THEN - FOR nDaIdx:=0 TO nDataAreas-1 DO - pCurDataArea := pDataAreas + nDaIdx*SIZEOF(ST_TcMatSimObjectDataAreaInfo); - IF (FAILED(hr))THEN - CONTINUE; - END_IF - IF ((pCurDataArea^.eDataAreaType <> E_TcMatSimDataAreaType.InputDst) AND (pCurDataArea^.eDataAreaType <> E_TcMatSimDataAreaType.OutputSrc))THEN - CONTINUE; - END_IF - IF (pCurDataArea^.pModuleProcImg=0 AND pCurDataArea^.nSize>0) THEN - hr := ipTcAdi.GetImagePtr(size:= pCurDataArea^.nSize , offs:=0 , adi_x:=pCurDataArea^.nDataAreaId , ppData:=ADR(pCurDataArea^.pModuleProcImg)); - END_IF - END_FOR -END_IF - -IF (FAILED(hr)) THEN - ReleaseImagePtrs(); -END_IF - ]]> - - - - - - - - - - - - TCOM_STATE.TCOM_STATE_INIT) THEN - QueryObjInterfaces(hResult); -END_IF - -// return value -Init := hresult; - ]]> - - - - - - - - - - - - =TCOM_STATE_INIT) THEN - IF (ipTcComObj=0) THEN - hr := Tc2_System.E_HRESULTAdsErr.NOINTERFACE; - END_IF - IF (ipObjSrv=0) THEN - hr := Tc2_System.E_HRESULTAdsErr.NOINTERFACE; - END_IF - IF (SUCCEEDED(hr)) THEN - hr := ipTcComObj.TcSetObjState(nextState,ipObjSrv,pInitData); - END_IF -END_IF - ]]> - - - - - - - - - - - - - - - - - - 0) THEN - // query interface of existing object - hr := ipObjSrv.TcQueryObjectInterface(oid,IID_ITComObject,ADR(ipTcComObj)); - ELSE - // create new instance and get the object interface - hr := ipObjSrv.TcCreateInstance(assignedClsId,IID_ITComObject,ADR(ipTcComObj)); - IF (SUCCEEDED(hr)) THEN - bDynInstance := TRUE; - hr := ipTcComObj.TcSetObjectId(OTCID_CreateNewId); - END_IF - END_IF - IF (SUCCEEDED(hr)) THEN - eInitialObjState := State; - END_IF -END_IF - ]]> - - - - - - - - - - - - 0) THEN - // release pointers to the simulink module process images - FOR nDaIdx:=0 TO nDataAreas-1 DO - pCurDataArea := pDataAreas + nDaIdx*SIZEOF(ST_TcMatSimObjectDataAreaInfo); - - IF (pCurDataArea^.pModuleProcImg<>0) THEN - ipTcAdi.ReleaseImagePtr(pData:=pCurDataArea^.pModuleProcImg); - pCurDataArea^.pModuleProcImg := 0; - END_IF - END_FOR -END_IF - ]]> - - - - - - 0) THEN - ipTcCyclic.TcRelease(); - ipTcCyclic := 0; -END_IF -IF (ipTcPostCyclic<>0) THEN - ipTcPostCyclic.TcRelease(); - ipTcPostCyclic := 0; -END_IF -IF (ipTcAdi<>0) THEN - ipTcAdi.TcRelease(); - ipTcAdi := 0; -END_IF - ]]> - - - - - - 0) THEN - WHILE (State>eInitialObjState AND nStateChangeCnt<1000) DO - State := eInitialObjState; - nStateChangeCnt := nStateChangeCnt+1; - END_WHILE - ReleaseObjInterfaces(); - IF (bDynInstance) THEN - ReleaseTcComInterface := TC3_MODULE.FW_ObjMgr_DeleteInstance(ADR(ipTcComObj)); - ELSE - ipTcComObj.TcRelease(); - END_IF - ipTcComObj := 0; -END_IF - ]]> - - - - - - - - - - - - 0) THEN - pInitElemHdr := pInitData + SIZEOF(pInitData^); - FOR idx:=1 TO pInitData^.uiElmCnt DO - pData := pInitElemHdr + ULINT_TO_DWORD(SIZEOF(pInitElemHdr^)); - nData := pInitElemHdr^.cbData; - SaveOnlineParametersForInit := GetObjPara(pInitElemHdr^.indexOffset,nData,pData); - IF (FAILED(SaveOnlineParametersForInit)) THEN - RETURN; - END_IF - pInitElemHdr := pData + (nInitDataAlignment*((nData + nInitDataAlignment - 1)/nInitDataAlignment)); - END_FOR -ELSE - SaveOnlineParametersForInit := Tc2_System.E_HRESULTAdsErr.NOTINIT; -END_IF - ]]> - - - - - - - - - - - - - - - - - - - - - - - - currentState; -bShiftDown := finalState - - - - - - - - 0) THEN - hr := ipTcComObj.TcGetObjState(ADR(eObjState)); -IF (FAILED(hr)) THEN - eObjState := TCOM_STATE.TCOM_STATE_INIT; -END_IF -ELSE - eObjState := TCOM_STATE.TCOM_STATE_INIT; -END_IF -State := eObjState; - ]]> - - - - - - - - - - - - - 0) THEN - VerifyClassId := Tc2_System.E_HRESULTAdsErr.INVALIDCLSID; - END_IF - END_IF - bClassIdVerified := SUCCEEDED(VerifyClassId); -END_IF - ]]> - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Robot_Simulink/ST_HexMove_InitData.TcDUT b/TC_Robot_Control/DUTs/Robot_Simulink/ST_HexMove_InitData.TcDUT deleted file mode 100644 index d6ae809..0000000 --- a/TC_Robot_Control/DUTs/Robot_Simulink/ST_HexMove_InitData.TcDUT +++ /dev/null @@ -1,30 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Robot_Simulink/ST_HexMove_Input.TcDUT b/TC_Robot_Control/DUTs/Robot_Simulink/ST_HexMove_Input.TcDUT deleted file mode 100644 index c0741fd..0000000 --- a/TC_Robot_Control/DUTs/Robot_Simulink/ST_HexMove_Input.TcDUT +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Robot_Simulink/ST_HexMove_Output.TcDUT b/TC_Robot_Control/DUTs/Robot_Simulink/ST_HexMove_Output.TcDUT deleted file mode 100644 index ad360aa..0000000 --- a/TC_Robot_Control/DUTs/Robot_Simulink/ST_HexMove_Output.TcDUT +++ /dev/null @@ -1,11 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/DUTs/Robot_Simulink/ST_TcMatSimObjectDataAreaInfo.TcDUT b/TC_Robot_Control/DUTs/Robot_Simulink/ST_TcMatSimObjectDataAreaInfo.TcDUT deleted file mode 100644 index 2942376..0000000 --- a/TC_Robot_Control/DUTs/Robot_Simulink/ST_TcMatSimObjectDataAreaInfo.TcDUT +++ /dev/null @@ -1,15 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/GlobalTextList.TcGTLO b/TC_Robot_Control/GlobalTextList.TcGTLO deleted file mode 100644 index a282c7c..0000000 --- a/TC_Robot_Control/GlobalTextList.TcGTLO +++ /dev/null @@ -1,879 +0,0 @@ - - - - - - - - - "145" - " %.2f" - - - - "165" - " t_Interval=%.2f" - - - - "167" - " t_Interval=%.3f" - - - - "169" - " t_Interval=%.4f" - - - - "168" - " t_Interval=%.5f" - - - - "143" - "%.2f" - - - - "81" - "Axis10_Back" - - - - "82" - "Axis10_Home" - - - - "117" - "Axis10_Move" - - - - "11" - "Axis10_Power" - - - - "83" - "Axis11_Back" - - - - "84" - "Axis11_Home" - - - - "118" - "Axis11_Move" - - - - "12" - "Axis11_Power" - - - - "85" - "Axis12_Back" - - - - "86" - "Axis12_Home" - - - - "119" - "Axis12_Move" - - - - "13" - "Axis12_Power" - - - - "87" - "Axis13_Back" - - - - "88" - "Axis13_Home" - - - - "120" - "Axis13_Move" - - - - "14" - "Axis13_Power" - - - - "89" - "Axis14_Back" - - - - "90" - "Axis14_Home" - - - - "121" - "Axis14_Move" - - - - "15" - "Axis14_Power" - - - - "91" - "Axis15_Back" - - - - "92" - "Axis15_Home" - - - - "122" - "Axis15_Move" - - - - "16" - "Axis15_Power" - - - - "93" - "Axis16_Back" - - - - "94" - "Axis16_Home" - - - - "123" - "Axis16_Move" - - - - "17" - "Axis16_Power" - - - - "95" - "Axis17_Back" - - - - "96" - "Axis17_Home" - - - - "124" - "Axis17_Move" - - - - "18" - "Axis17_Power" - - - - "97" - "Axis18_Back" - - - - "98" - "Axis18_Home" - - - - "125" - "Axis18_Move" - - - - "19" - "Axis18_Power" - - - - "62" - "Axis1_Back" - - - - "64" - "Axis1_Home" - - - - "63" - "Axis1_Home_Set" - - - - "106" - "Axis1_M" - - - - "108" - "Axis1_Move" - - - - "2" - "Axis1_Power" - - - - "65" - "Axis2_Back" - - - - "66" - "Axis2_Home" - - - - "109" - "Axis2_Move" - - - - "3" - "Axis2_Power" - - - - "67" - "Axis3_Back" - - - - "68" - "Axis3_Home" - - - - "110" - "Axis3_Move" - - - - "4" - "Axis3_Power" - - - - "69" - "Axis4_Back" - - - - "70" - "Axis4_Home" - - - - "111" - "Axis4_Move" - - - - "5" - "Axis4_Power" - - - - "71" - "Axis5_Back" - - - - "72" - "Axis5_Home" - - - - "112" - "Axis5_Move" - - - - "6" - "Axis5_Power" - - - - "73" - "Axis6_Back" - - - - "74" - "Axis6_Home" - - - - "113" - "Axis6_Move" - - - - "7" - "Axis6_Power" - - - - "75" - "Axis7_Back" - - - - "76" - "Axis7_Home" - - - - "114" - "Axis7_Move" - - - - "8" - "Axis7_Power" - - - 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"152" - "Exsetopint_On" - - - - "141" - "Exsetpoint_Exectue" - - - - "23" - "Home" - - - - "59" - "Home_Execute" - - - - "61" - "Home_Set" - - - - "131" - "Leg1_Home" - - - - "132" - "Leg2_Home" - - - - "133" - "Leg3_Home" - - - - "134" - "Leg4_Home" - - - - "135" - "Leg5_Home" - - - - "136" - "Leg6_Home" - - - - "130" - "Move & Stand" - - - - "107" - "MoveAbsoluteDone[INDEX]" - - - - "129" - "Move_Execute" - - - - "53" - "Power" - - - - "20" - "Power_Execute" - - - - "29" - "Reset" - - - - "49" - "Reset_Execute" - - - - "26" - "Robot_Error" - - - - "101" - "Robot_Home_Set" - - - - "0" - "Robot_Power" - - - - "48" - "Robot_Reset" - - - - "128" - "Robot_Stand_Execute" - - - - "99" - "Robot_Start_Back" - - - - "100" - "sadad" - - - - "166" - "Simulink_Move" - - - - "147" - "t=%.2f" - - - - "170" - "t=%.3f" - - - - "144" - "T_ALL = %.2f" - - - - "158" - "t_Interval=%.2f" - - - - "22" - "切换视图" - - - - "157" - "取样时间间隔 t_Interval" - - - - "160" - "取样时间间隔 t_Interval(ms)" - - - - "161" - 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{4bb79ed9-e594-427a-9000-1dbe5e4f64ee} - {6c39dee1-969a-4262-be39-2141f57b22cf} - - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - - - Code - 视图管理器.TcVMO - - - Code - 视图管理器.TcVMO - - - Code - 视图管理器.TcVMO - - - Code - 视图管理器.TcVMO - - - Code - 视图管理器.TcVMO - - - Code - - - - - - - - - - - - - - - - - VisuElemMeter, 3.5.8.0 (System) - VisuElemMeter - true - 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae - - - VisuElems, 3.5.8.40 (System) - VisuElems - true - 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae - - - VisuElemsSpecialControls, 3.5.8.0 (System) - VisuElemsSpecialControls - true - 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae - - - VisuElemsWinControls, 3.5.8.40 (System) - VisuElemsWinControls - true - 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae - - - VisuElemTextEditor, 3.5.8.0 (System) - VisuElemTextEditor - true - 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae - - - visuinputs, 3.5.8.0 (system) - visuinputs - true - 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae - - - VisuNativeControl, 3.5.8.0 (System) - VisuNativeControl - true - 2717eb6a-dd07-4c66-8d8d-cacebd7b18ae - - - Tc2_MC2, * (Beckhoff Automation GmbH) - Tc2_MC2 - - - Tc2_Standard, * (Beckhoff Automation GmbH) - Tc2_Standard - - - Tc2_System, * (Beckhoff Automation GmbH) - Tc2_System - - - Tc3_Module, * (Beckhoff Automation GmbH) - Tc3_Module - - - VisuDialogs, * (System) - VisuDialogs - - - - - Content - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - "<ProjectRoot>" - - {192FAD59-8248-4824-A8DE-9177C94C195A} - - "{192FAD59-8248-4824-A8DE-9177C94C195A}" - - - - {246001F4-279D-43AC-B241-948EB31120E1} - - "{246001F4-279D-43AC-B241-948EB31120E1}" - - - SymbolLibraryConfiguration - VisuSymbols (System);False - - - - {29BD8D0C-3586-4548-BB48-497B9A01693F} - - "{29BD8D0C-3586-4548-BB48-497B9A01693F}" - - Rules - - "Rules" - - - - - - - {8F99A816-E488-41E4-9FA3-846536012284} - - "{8F99A816-E488-41E4-9FA3-846536012284}" - - - - {40450F57-0AA3-4216-96F3-5444ECB29763} - - "{40450F57-0AA3-4216-96F3-5444ECB29763}" - - - ActiveVisuProfile - 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- - - - - - - - System.Collections.Hashtable - {54dd0eac-a6d8-46f2-8c27-2f43c7e49861} - System.String - - - - - \ No newline at end of file diff --git a/TC_Robot_Control/TC_Robot_Control.tmc b/TC_Robot_Control/TC_Robot_Control.tmc deleted file mode 100644 index 90fd521..0000000 --- a/TC_Robot_Control/TC_Robot_Control.tmc +++ /dev/null @@ -1,15032 +0,0 @@ - - - - - T_AmsNetID - - 192 - STRING(23) - - - _ST_NCADS_IDXOFFS_AxisParameter - 1504 - - PARAMSTRUCT - UDINT - 32 - 0 - - 0 - - - - ID - UDINT - 32 - 32 - - 1 - - - - NAME - UDINT - 32 - 64 - - 2 - - - - AXISTYPE - UDINT - 32 - 96 - - 3 - - - - CYCLETIME - UDINT - 32 - 128 - - 4 - - - - UNITNAME - UDINT - 32 - 160 - - 5 - - - - VELOREFSEARCH - UDINT - 32 - 192 - - 6 - - - - VELOSYNCSEARCH - UDINT - 32 - 224 - - 7 - - - - VELOSLOWMANUAL - UDINT - 32 - 256 - - 8 - - - - VELOFASTMANUAL - UDINT - 32 - 288 - - 9 - - - - VELOFAST - UDINT - 32 - 320 - - 10 - - - - POSAREAENABLE - UDINT - 32 - 352 - - 15 - - - - POSAREARANGE - UDINT - 32 - 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- 0 - - - %08x - - - 0x%08x - - - 16#%08X - - - - NCTOPLC_AXIS_REF_CAMCOUPLINGSTATE - 8 - - CamActivationPending - BIT - 1 - 0 - - - CamDeactivationPending - BIT - 1 - 1 - - - CamActive - BIT - 1 - 2 - - - CamDataQueued - BIT - 1 - 6 - - - CamScalingPending - BIT - 1 - 7 - - - - UINTARR8 - 128 - UINT - - 0 - 8 - - - - NCTOPLC_AXIS_REF - 2048 - - StateDWord - NCTOPLC_AXIS_REF_STATE - 32 - 0 - - - ErrorCode - UDINT - 32 - 32 - - - AxisState - UDINT - - 32 - 64 - - - AxisModeConfirmation - UDINT - 32 - 96 - - - HomingState - UDINT - - 32 - 128 - - - CoupleState - UDINT - - 32 - 160 - - - SvbEntries - UDINT - 32 - 192 - - - SafEntries - UDINT - 32 - 224 - - - AxisId - UDINT - 32 - 256 - - - OpModeDWord - NCTOPLC_AXIS_REF_OPMODE - 32 - 288 - - - ActPos - LREAL - 64 - 320 - - - ModuloActPos - LREAL - 64 - 384 - - - ActiveControlLoopIndex - UINT - 16 - 448 - - - ControlLoopIndex - UINT - 16 - 464 - - - ModuloActTurns - DINT - 32 - 480 - - - ActVelo - LREAL - 64 - 512 - - - PosDiff - LREAL - 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256 - - - ItemType - Input - - - - - Deceleration - LREAL - 64 - 320 - - - ItemType - Input - - - - - Jerk - LREAL - 64 - 384 - - - ItemType - Input - - - - - BufferMode - MC_BufferMode - 16 - 448 - - - ItemType - Input - - - - - Options - ST_MoveOptions - 256 - 512 - - - ItemType - Input - - - - - Reset - BOOL - 8 - 768 - - - ItemType - Input - - - - - GotoRunState - BOOL - 8 - 776 - - - ItemType - Input - - - - - Done - BOOL - 8 - 784 - - - ItemType - Output - - - - - Busy - BOOL - 8 - 792 - - - ItemType - Output - - - - - Active - BOOL - 8 - 800 - - - ItemType - Output - - - - - CommandAborted - BOOL - 8 - 808 - - - ItemType - Output - - - - - Error - BOOL - 8 - 816 - - - ItemType - Output - - - - - ErrorID - UDINT - 32 - 832 - - - ItemType - Output - - - - - CmdNo - UINT - 16 - 864 - - - ItemType - Output - - - - - ADSbusy - BOOL - 8 - 880 - - - ItemType - Output - - - - - iState - _E_TcMC_STATES - 16 - 896 - - 100 - - - - sStartRequest - _ST_TcNC_UnversalAxisStartRequest - 640 - 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ItemType - Output - - - - - CommandAborted - BOOL - 8 - 472 - - - ItemType - Output - - - - - Error - BOOL - 8 - 480 - - - ItemType - Output - - - - - ErrorID - UDINT - 32 - 512 - - - ItemType - Output - - - - - state - INT - 16 - 544 - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 576 - - - StateDWord - BOOL - 8 - 640 - - - ExecuteMoveVelocity - BOOL - 8 - 648 - - - MoveVelocity - MC_MoveVelocity - 7424 - 704 - - - MoveVelocityOut - ST_McOutputs - 96 - 8128 - - - Direction - MC_Direction - 16 - 8224 - - - ExecuteHalt - BOOL - 8 - 8240 - - - Halt - MC_Halt - 7296 - 8256 - - - HaltOut - ST_McOutputs - 96 - 15552 - - - ExecuteMoveAbsolute - BOOL - 8 - 15648 - - - MoveAbsolute - MC_MoveAbsolute - 7488 - 15680 - - - MoveAbsoluteOut - ST_McOutputs - 96 - 23168 - - - ExecuteMoveRelative - BOOL - 8 - 23264 - - - MoveRelative - MC_MoveRelative - 7488 - 23296 - - - MoveRelativeOut - ST_McOutputs - 96 - 30784 - - - JogMove - _FB_MoveUniversalGeneric - 6464 - 30912 - - - LastJogMoveResult - _ST_FunctionBlockResults - 64 - 37376 - - - ExecuteJogMove - BOOL - 8 - 37440 - - - StartType - _E_TcNC_StartPosType - 16 - 37456 - - - JogMoveOut - ST_McOutputs - 96 - 37472 - - - JogEnd - BOOL - 8 - 37568 - - - TargetPosition - LREAL - 64 - 37632 - - - modulo - LREAL - 64 - 37696 - - - ActJogMove - - - ActCheckJogEnd - - - - PouType - FunctionBlock - - - - - MC_Stop - 8768 - - Axis - AXIS_REF - - 32 - 32 - - - ItemType - InOut - - - - - Execute - BOOL - - 8 - 64 - - - ItemType - Input - - - - - Deceleration - LREAL - - 64 - 128 - - - ItemType - Input - - - - - Jerk - LREAL - - 64 - 192 - - - ItemType - Input - - - - - Options - ST_MoveOptions - - 256 - 256 - - - ItemType - Input - - - - - Done - BOOL - - 8 - 512 - - - ItemType - Output - - - - - Busy - BOOL - - 8 - 520 - - - ItemType - Output - - - - - Active - BOOL - - 8 - 528 - - - ItemType - Output - - - - - CommandAborted - BOOL - - 8 - 536 - - - ItemType - Output - - - - - Error - BOOL - - 8 - 544 - - - ItemType - Output - - - - - ErrorID - UDINT - - 32 - 576 - - - ItemType - Output - - - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 608 - - - ADSbusy - BOOL - 8 - 672 - - - MoveGeneric - _FB_MoveUniversalGeneric - 6464 - 704 - - - ReleaseLock - ADSWRITE - 1216 - 7168 - - - CmdNo - UINT - 16 - 8384 - - - AxisMotionCommandsLocked - BOOL - 8 - 8400 - - - iState - _E_TcMC_STATES - 16 - 8416 - - 100 - - - - NoJobTimer - TON - 224 - 8448 - - - ActStop - - - - PouType - FunctionBlock - - - - - MC_ReadActualPosition - 192 - - Axis - AXIS_REF - - 32 - 32 - - - ItemType - InOut - - - - - Enable - BOOL - - 8 - 64 - - - ItemType - Input - - - - - Valid - BOOL - - 8 - 72 - - - ItemType - Output - - - - - Busy - BOOL - - 8 - 80 - - - ItemType - Output - - - - - Error - BOOL - - 8 - 88 - - - ItemType - Output - - - - - ErrorID - UDINT - - 32 - 96 - - - ItemType - Output - - - - - Position - LREAL - - 64 - 128 - - - ItemType - Output - - - - - - PouType - FunctionBlock - - - - - Delay - 128 - - Delay_On - BOOL - 8 - 32 - - - ItemType - Input - - - - - Delay_Time - TIME - 32 - 64 - - - ItemType - Input - - - - - Delay_Done - BOOL - 8 - 96 - - - ItemType - Output - - - - - - PouType - FunctionBlock - - - - - E_PositionType - 16 - UINT - - POSITIONTYPE_ABSOLUTE - 1 - - - - POSITIONTYPE_RELATIVE - 2 - - - - POSITIONTYPE_MODULO - 5 - - - - - _ST_TcNC_SetPos - 192 - - nPosIstType - UDINT - 32 - 0 - - - nReserved - UDINT - 32 - 32 - - - fNewPosIst - LREAL - 64 - 64 - - - fReserved - LREAL - 64 - 128 - - - - hide - - - - - MC_ExtSetPointGenEnable - 2176 - - Axis - AXIS_REF - 32 - 32 - - - ItemType - InOut - - - - - Execute - BOOL - 8 - 64 - - - ItemType - Input - - - - - Position - LREAL - 64 - 128 - - - ItemType - Input - - - - - PositionType - E_PositionType - 16 - 192 - - - ItemType - Input - - - - - Done - BOOL - 8 - 208 - - - ItemType - Output - - - - - Busy - BOOL - 8 - 216 - - - ItemType - Output - - - - - Error - BOOL - 8 - 224 - - - ItemType - Output - - - - - ErrorID - UDINT - 32 - 256 - - - ItemType - Output - - - - - Enabled - BOOL - 8 - 288 - - - ItemType - Output - - - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 320 - - - iState - _E_TcMC_STATES - 16 - 384 - - 100 - - - - ADSbusy - BOOL - 8 - 400 - - - sExtSetPointGen - _ST_TcNC_SetPos - 192 - 448 - - - fbADSwrite - ADSWRITE - 1216 - 640 - - - - PouType - FunctionBlock - - - - - MC_ExtSetPointGenDisable - 1760 - - Axis - AXIS_REF - 32 - 32 - - - ItemType - InOut - - - - - Execute - BOOL - 8 - 64 - - - ItemType - Input - - - - - Done - BOOL - 8 - 72 - - - ItemType - Output - - - - - Busy - BOOL - 8 - 80 - - - ItemType - Output - - - - - Error - BOOL - 8 - 88 - - - ItemType - Output - - - - - ErrorID - UDINT - 32 - 96 - - - ItemType - Output - - - - - Enabled - BOOL - 8 - 128 - - - ItemType - Output - - - - - LastExecutionResult - _ST_FunctionBlockResults - 64 - 160 - - - iState - _E_TcMC_STATES - 16 - 224 - - 100 - - - - ADSbusy - BOOL - 8 - 240 - - - fbADSwrite - ADSWRITE - 1216 - 256 - - - - PouType - FunctionBlock - - - - - Axis - 98816 - - Axis_Error - BOOL - - 8 - 32 - - - ItemType - Output - - - - - Axis_ErrorID - UDINT - - 32 - 64 - - - ItemType - Output - - - - - Axis_Moves - BOOL - - 8 - 96 - - - ItemType - Output - - - - - JogDone - BOOL - - 8 - 104 - - - ResetDone - BOOL - - 8 - 112 - - - HaltDone - BOOL - - 8 - 120 - - - HomeDone - BOOL - - 8 - 128 - - - MoveAbsoluteDone - BOOL - - 8 - 136 - - - ExtSetPiontDone - BOOL - - 8 - 144 - - - Power_StatusEnable - BOOL - - 8 - 152 - - - Velocity_Jog - LREAL - - 64 - 192 - - - Velocity_Move - LREAL - - 64 - 256 - - - Velocity_Home - LREAL - - 64 - 320 - - - Velocity_Absolute - LREAL - - 64 - 384 - - - Velocity_Relative - LREAL - - 64 - 448 - - - fOverride - LREAL - - 64 - 512 - - 100 - - - - Home_Position - LREAL - - 64 - 576 - - - TriggerHalt - R_TRIG - - 64 - 640 - - - TriggerReset - R_TRIG - - 64 - 704 - - - AxisRef - AXIS_REF - - 8384 - 768 - - - Axis_Current_Turque - INT - - 16 - 9152 - - - Axis_Max_Turque - INT - 16 - 9168 - - - Proximity_Switch - DINT - - 32 - 9184 - - - Axis_Power - MC_Power - - 768 - 9216 - - - Axis_Home - MC_Home - - 6528 - 9984 - - - Axis_Reset - MC_Reset - - 1600 - 16512 - - - Axis_Jog - MC_Jog - - 37760 - 18112 - - - Axis_Stop - MC_Stop - - 8768 - 55872 - - - Axis_Halt - MC_Halt - - 7296 - 64640 - - - Axis_Move - MC_MoveVelocity - - 7424 - 71936 - - - Axis_MoveAbsolute - MC_MoveAbsolute - - 7488 - 79360 - - - Axis_MoveRelative - MC_MoveRelative - - 7488 - 86848 - - - Axis_ActPosition - MC_ReadActualPosition - - 192 - 94336 - - - Axis_Delay - Delay - - 128 - 94528 - - - Axis_ExtSetPiontEnable - MC_ExtSetPointGenEnable - - 2176 - 94656 - - - Axis_ExtSetPiontDisable - MC_ExtSetPointGenDisable - - 1760 - 96832 - - - Delay - TON - - 224 - 98592 - - - __getState_MoveAbsoluteDone - BOOL - 8 - - State_MoveAbsoluteDone - BOOL - - - - property - - - - - Home_Sensor - - Drive_Home - - BOOL - 8 - - - Home_Switch - - BOOL - 8 - - - BackDone - - BOOL - - - - Move_Relative - - Drive_Move_Relative - - BOOL - 8 - - - Relative_Position - - LREAL - 64 - - - - Halt - BOOL - 8 - - DriveHalt - - BOOL - 8 - - - - __getCurrent_Turque_Value - INT - 16 - - Current_Turque_Value - INT - - - - property - - - - - __getState_ExtSetPiontDone - BOOL - 8 - - State_ExtSetPiontDone - BOOL - - - - property - - - - - __getHome_Velocity - LREAL - 64 - - Home_Velocity - LREAL - - - - property - - - - - Move_Backward - - Move_Backward_Start - - BOOL - 8 - - - - __getState_JogDone - BOOL - 8 - - State_JogDone - BOOL - - - - property - - - - - __setJog_Velocity - BOOL - 8 - - Jog_Velocity - - LREAL - 64 - - - - property - - - - - __getState_PowerStatus - BOOL - 8 - - State_PowerStatus - BOOL - - - - property - - - - - Jog_Backward - - Drive_Jog_Backward - - BOOL - 8 - - - - Reset - - Drive_Reset - - BOOL - 8 - - - - __getMove_Velocity - LREAL - 64 - - Move_Velocity - LREAL - - - - property - - - - - __getState_ResetDone - BOOL - 8 - - State_ResetDone - BOOL - - - - property - - - - - __setHome_Absolute_Position - BOOL - 8 - - Home_Absolute_Position - LREAL - 64 - - - - property - - - - - __getMove_Relative_Velocity - LREAL - 64 - - Move_Relative_Velocity - LREAL - - - - property - - - - - Move_Fordward - - Move_Forward_Start - - BOOL - 8 - - - - __getJog_Velocity - LREAL - 64 - - Jog_Velocity - LREAL - - - - property - - - - - Power - - Axis_Enable - BOOL - 8 - - - - __setMax_Turque_Value - BOOL - 8 - - Max_Turque_Value - INT - 16 - - - - property - - - - - __setMove_Absolute_Velocity - BOOL - 8 - - Move_Absolute_Velocity - - LREAL - 64 - - - - property - - - - - __setMove_Relative_Velocity - BOOL - 8 - - Move_Relative_Velocity - - LREAL - 64 - - - - property - - - - - __getActPosition - LREAL - 64 - - ActPosition - LREAL - - - - property - - - - - __getMove_Absolute_Velocity - LREAL - 64 - - Move_Absolute_Velocity - LREAL - - - - property - - - - - __setCurrent_Turque_Value - BOOL - 8 - - Current_Turque_Value - INT - 16 - - - - property - - - - - Jog_Forward - BOOL - 8 - - Drive_Jog_Forward - - BOOL - 8 - - - - __getHome_Absolute_Position - LREAL - 64 - - Home_Absolute_Position - LREAL - - - - property - - - - - __setMove_Velocity - BOOL - 8 - - Move_Velocity - LREAL - 64 - - - - property - - - - - Move_Absolute - - Drive_Move_Absolute - - BOOL - 8 - - - Absolute_Position - - LREAL - 64 - - - - __setHome_Velocity - BOOL - 8 - - Home_Velocity - LREAL - 64 - - - - property - - - - - ExtSetPoint - - Drive_ExtSetPointEnable - - BOOL - 8 - - - Drive_ExtSetPointDisable - - BOOL - 8 - - - ExSetPosition - - LREAL - 64 - - - - __getState_HomeDone - BOOL - 8 - - State_HomeDone - BOOL - - - - property - - - - - Home - - Drive_Home - - BOOL - 8 - - - BackDone - - BOOL - - - - - PouType - FunctionBlock - - - - - TComInitDataElmHdr - 96 - - indexGroup - UDINT - 32 - 0 - - - indexOffset - UDINT - 32 - 32 - - - cbData - UDINT - 32 - 64 - - - - E_TcMatSimDataAreaType - 16 - INT - - NotSpecified - 0 - - - Standard - 1 - - - InputSrc - 2 - - - InputDst - 3 - - - OutputSrc - 4 - - - OutputDst - 5 - - - InternalDa - 6 - - - MArea - 7 - - - RetainDa - 8 - - - - ST_TcMatSimObjectDataAreaInfo - 160 - - pPlcVar - PVOID - 32 - 0 - - - pModuleProcImg - PVOID - 32 - 32 - - - nSize - UDINT - 32 - 64 - - - nDataAreaId - UDINT - 32 - 96 - - - eDataAreaType - E_TcMatSimDataAreaType - 16 - 128 - - - - TCOM_STATE - 32 - UDINT - - - 1 - - - - 2 - - - - 4 - - - - 8 - - - - TComInitDataHdr - 96 - - cbData - UDINT - 32 - 0 - - - uiElmCnt - UINT - 16 - 32 - - - reserved1 - UINT - 16 - 48 - - - reserved2 - UDINT - 32 - 64 - - - - FB_TcMatSimObject - 704 - - bWriteFbInputValues - BOOL - - 8 - 32 - - 1 - - - - ItemType - Input - - - - - pDataAreas - ST_TcMatSimObjectDataAreaInfo - - 32 - 64 - - - nDataAreas - UDINT - 32 - 96 - - - ipObjSrv - ITComObjectServer - - 32 - 128 - - - ipTcComObj - ITComObject - - 32 - 160 - - - ipTcCyclic - ITcCyclic - 32 - 192 - - - ipTcPostCyclic - ITcPostCyclic - 32 - 224 - - - ipTcAdi - ITcADI - 32 - 256 - - - ipTask - ITcTask - - 32 - 288 - - - pInitData - TComInitDataHdr - - 32 - 320 - - - hResult - HRESULT - - 32 - 352 - - - moduleClsId - CLSID - - 128 - 384 - - - assignedClsId - CLSID - - 128 - 512 - - - bClassIdVerified - BOOL - 8 - 640 - - - bDynInstance - BOOL - - 8 - 648 - - - eInitialObjState - TCOM_STATE - - 32 - 672 - - 1 - - - - QueryObjInterfaces - - hr - HRESULT - 32 - - - - object_name - QueryObjInterfaces - - - - - ResetHresult - - - object_name - ResetHresult - - - - - SaveOnlineParametersForInit - HRESULT - 32 - - idx - UINT - - - pInitElemHdr - TComInitDataElmHdr - - - pData - PVOID - - - nData - UDINT - - - nInitDataAlignment - UDINT - - - - object_name - SaveOnlineParametersForInit - - - - - SetObjPara - HRESULT - 32 - - pid - PTCID - 32 - - - nData - UDINT - 32 - - - pData - PVOID - 32 - - - - object_name - SetObjPara - - - - - SetDataAreaInfo - - pDataAreas - ST_TcMatSimObjectDataAreaInfo - 32 - - - nDataAreas - UDINT - 32 - - - - Internal_SetObjState - - hr - HRESULT - 32 - - - nextState - TCOM_STATE - 32 - - - - object_name - Internal_SetObjState - - - - - ReleaseImagePtrs - HRESULT - 32 - - nDaIdx - UDINT - - - pCurDataArea - ST_TcMatSimObjectDataAreaInfo - - - - object_name - ReleaseImagePtrs - - - - - SetObjState - HRESULT - 32 - - finalState - TCOM_STATE - 32 - - - bShiftUp - BOOL - - - bShiftDown - BOOL - - - currentState - TCOM_STATE - - - - object_name - SetObjState - - - - - QueryObjInterface - - hr - HRESULT - 32 - - - iid - IID - 32 - - - pipItf - ITcUnknown - 32 - - - pNull - PVOID - - - - object_name - QueryObjInterface - - - - - GetImagePtrs - - hr - HRESULT - 32 - - - nDaIdx - UDINT - - - pCurDataArea - ST_TcMatSimObjectDataAreaInfo - - - - object_name - GetImagePtrs - - - - - ReleaseObjInterfaces - HRESULT - 32 - - - object_name - ReleaseObjInterfaces - - - - - Execute - HRESULT - 32 - - nDaIdx - UDINT - - - pCurDataArea - ST_TcMatSimObjectDataAreaInfo - - - - object_name - Execute - - - - - Init - HRESULT - 32 - - oid - OTCID - 32 - - - - object_name - Init - - - - - __getState - TCOM_STATE - 32 - - State - TCOM_STATE - - - hr - HRESULT - - - eObjState - TCOM_STATE - - - - property - - - - - ReadModuleClassId - HRESULT - 32 - - emptyClsId - CLSID - - - - object_name - ReadModuleClassId - - - - - __setState - BOOL - 8 - - State - TCOM_STATE - 32 - - - - property - - - - - GetObjPara - HRESULT - 32 - - pid - PTCID - 32 - - - nData - UDINT - 32 - - - pData - PVOID - 32 - - - - object_name - GetObjPara - - - - - InitObjName - - hr - HRESULT - 32 - - - objectName - STRING(255) - - - oid - OTCID - - - - object_name - InitObjName - - - - - QueryTcComInterface - - hr - HRESULT - 32 - - - oid - OTCID - 32 - - - - object_name - QueryTcComInterface - - - - - VerifyClassId - HRESULT - 32 - - emptyClsId - CLSID - - - - object_name - VerifyClassId - - - - - AssignClassId - - clsId - CLSID - 128 - - - - SetInitDataInfo - - pInitData - TComInitDataHdr - 32 - - - - __getClassId - CLSID - 128 - - ClassId - CLSID - - - - property - - - - - __getErrorCode - HRESULT - 32 - - ErrorCode - HRESULT - - - - property - - - - - __getError - BOOL - 8 - - Error - BOOL - - - - property - - - - - ReleaseTcComInterface - HRESULT - 32 - - nStateChangeCnt - DINT - - - - object_name - ReleaseTcComInterface - - - - - - PouType - FunctionBlock - - - - - TctModuleExecutionSequenceType - 32 - DINT - - - 0 - Output mapping -> State update -> Output update -> External mode processing -> ADS access]]> - - - - 1 - Output update -> Output mapping -> State update -> External mode processing -> ADS access]]> - - - - 2 - State update -> Output update -> Output mapping -> External mode processing -> ADS access]]> - - - - TctStepSizeType - 32 - DINT - - - 0 - - - - - 1 - - - - - 2 - - - - - TctModuleCallByType - 32 - DINT - - - 0 - - - - - 1 - - - - - ST_HexMove_InitData - 1248 - - Header - TComInitDataHdr - 96 - 0 - - - CallByHdr - TComInitDataElmHdr - 96 - 96 - - - CallBy - TctModuleCallByType - 32 - 192 - - - ExecutionSequenceHdr - TComInitDataElmHdr - 96 - 224 - - - ExecutionSequence - TctModuleExecutionSequenceType - 32 - 320 - - - StepSizeHdr - TComInitDataElmHdr - 96 - 352 - - - StepSize - TctStepSizeType - 32 - 448 - - - ExecuteModelCodeHdr - TComInitDataElmHdr - 96 - 480 - - - ExecuteModelCode - BOOL - 8 - 576 - - - ContextInfoArr_0_TaskOidHdr - TComInitDataElmHdr - 96 - 608 - - - ContextInfoArr_0_TaskOid - OTCID - 32 - 704 - - - ContextInfoArr_0_TaskPriorityHdr - TComInitDataElmHdr - 96 - 736 - - - ContextInfoArr_0_TaskPriority - UDINT - 32 - 832 - - - ContextInfoArr_0_TaskCycleTimeNsHdr - TComInitDataElmHdr - 96 - 864 - - - ContextInfoArr_0_TaskCycleTimeNs - UDINT - 32 - 960 - - - ContextInfoArr_0_TaskPortHdr - TComInitDataElmHdr - 96 - 992 - - - ContextInfoArr_0_TaskPort - UINT - 16 - 1088 - - - ContextInfoArr_0_TaskSortOrderHdr - TComInitDataElmHdr - 96 - 1120 - - - ContextInfoArr_0_TaskSortOrder - UDINT - 32 - 1216 - - - - pack_mode - 4 - - - - - TctModelCheckSumType - 128 - UDINT - - 0 - 4 - - - - TctVersionArrayType - 128 - UDINT - - 0 - 4 - - - - TctModuleInfoType - 1184 - - ClassId - CLSID - 128 - 0 - - - BuildTimeStamp - DATE_AND_TIME - 32 - 128 - - - ModelCheckSum - TctModelCheckSumType - 128 - 160 - - - ModelVersion - TctVersionArrayType - 128 - 288 - - - TwinCatVersion - TctVersionArrayType - 128 - 416 - - - TcTargetVersion - TctVersionArrayType - 128 - 544 - - - MatlabVersion - TctVersionArrayType - 128 - 672 - - - SimulinkVersion - TctVersionArrayType - 128 - 800 - - - CoderVersion - TctVersionArrayType - 128 - 928 - - - TcTargetLicenseId - GUID - 128 - 1056 - - - - TctModuleBuildInfoType - 8 - - Debug - BOOL - 8 - 0 - - - - ExtU_hexmove_T - 64 - - t - LREAL - 64 - 0 - - - - ST_HexMove_Input - 64 - - t - LREAL - 64 - 0 - - - - matrix_18_real_T - 1152 - LREAL - - 0 - 18 - - - - ST_HexMove_Output - 1152 - - Disp_P - matrix_18_real_T - 1152 - 0 - - - - FB_HexMove - 3520 - FB_TcMatSimObject - - stInput - ST_HexMove_Input - 64 - 704 - - - ItemType - Input - - - - - stOutput - ST_HexMove_Output - 1152 - 768 - - - ItemType - Output - - - - - stInitData - ST_HexMove_InitData - 1248 - 1920 - - - arrDataAreas - ST_TcMatSimObjectDataAreaInfo - - 1 - 2 - - 320 - 3168 - - - bParametersVerified - BOOL - 8 - 3488 - - - __setExecutionSequence_Startup - BOOL - 8 - - ExecutionSequence_Startup - TctModuleExecutionSequenceType - 32 - - - - property - - - - - SaveOnlineParametersForInit - HRESULT - 32 - - idx - UINT - - - pInitElemHdr - TComInitDataElmHdr - - - pData - PVOID - - - nData - UDINT - - - nInitDataAlignment - UDINT - - - - object_name - SaveOnlineParametersForInit - - - - - __getContextInfoArr_0_TaskCycleTimeNs_Online - UDINT - 32 - - ContextInfoArr_0_TaskCycleTimeNs_Online - UDINT - - - - property - - - - - __getExecuteModelCode_Online - BOOL - 8 - - ExecuteModelCode_Online - BOOL - - - - property - - - - - __setStepSize_Online - BOOL - 8 - - StepSize_Online - TctStepSizeType - 32 - - - - property - - - - - __setStepSize_Startup - BOOL - 8 - - StepSize_Startup - TctStepSizeType - 32 - - - - property - - - - - __getContextInfoArr_0_TaskSortOrder_Online - UDINT - 32 - - ContextInfoArr_0_TaskSortOrder_Online - UDINT - - - - property - - - - - __getCallBy_Online - TctModuleCallByType - 32 - - CallBy_Online - TctModuleCallByType - - - - property - - - - - __getStepSize_Startup - TctStepSizeType - 32 - - StepSize_Startup - TctStepSizeType - - - - property - - - - - __setInitData - BOOL - 8 - - InitData - ST_HexMove_InitData - 1248 - - - - property - - - - - __getContextInfoArr_0_TaskSortOrder_Startup - UDINT - 32 - - ContextInfoArr_0_TaskSortOrder_Startup - UDINT - - - - property - - - - - __getInitData - ST_HexMove_InitData - 1248 - - InitData - ST_HexMove_InitData - - - - property - - - - - __getModuleInfo_Online - TctModuleInfoType - 1184 - - ModuleInfo_Online - TctModuleInfoType - - - - property - - - - - __getContextInfoArr_0_TaskPort_Online - UINT - 16 - - ContextInfoArr_0_TaskPort_Online - UINT - - - - property - - - - - __getCycleUpdateExecuted_Online - BOOL - 8 - - CycleUpdateExecuted_Online - BOOL - - - - property - - - - - __setContextInfoArr_0_TaskSortOrder_Online - BOOL - 8 - - ContextInfoArr_0_TaskSortOrder_Online - UDINT - 32 - - - - property - - - - - __getExecutionSequence_Startup - TctModuleExecutionSequenceType - 32 - - ExecutionSequence_Startup - TctModuleExecutionSequenceType - - - - property - - - - - __setContextInfoArr_0_TaskCycleTimeNs_Startup - BOOL - 8 - - ContextInfoArr_0_TaskCycleTimeNs_Startup - UDINT - 32 - - - - property - - - - - __getStepSize_Online - TctStepSizeType - 32 - - StepSize_Online - TctStepSizeType - - - - property - - - - - __setContextInfoArr_0_TaskSortOrder_Startup - BOOL - 8 - - ContextInfoArr_0_TaskSortOrder_Startup - UDINT - 32 - - - - property - - - - - __setModuleBuildInfo_Online - BOOL - 8 - - ModuleBuildInfo_Online - TctModuleBuildInfoType - 8 - - - - property - - - - - Execute - HRESULT - 32 - - - __setExecuteModelCode_Online - BOOL - 8 - - ExecuteModelCode_Online - BOOL - 8 - - - - property - - - - - __setModuleInfo_Online - BOOL - 8 - - ModuleInfo_Online - TctModuleInfoType - 1184 - - - - property - - - - - __getExecutionSequence_Online - TctModuleExecutionSequenceType - 32 - - ExecutionSequence_Online - TctModuleExecutionSequenceType - - - - property - - - - - __setExecuteModelCode_Startup - BOOL - 8 - - ExecuteModelCode_Startup - BOOL - 8 - - - - property - - - - - __getContextInfoArr_0_TaskPriority_Online - UDINT - 32 - - ContextInfoArr_0_TaskPriority_Online - UDINT - - - - property - - - - - VerifyParameters - HRESULT - 32 - - moduleCallByParam - TctModuleCallByType - - - - object_name - VerifyParameters - - - - - __setInput_Online - BOOL - 8 - - Input_Online - ExtU_hexmove_T - 64 - - - - property - - - - - __setCallBy_Startup - BOOL - 8 - - CallBy_Startup - TctModuleCallByType - 32 - - - - property - - - - - __getModuleBuildInfo_Online - TctModuleBuildInfoType - 8 - - ModuleBuildInfo_Online - TctModuleBuildInfoType - - - - property - - - - - __getContextInfoArr_0_TaskOid_Startup - OTCID - 32 - - ContextInfoArr_0_TaskOid_Startup - OTCID - - - - property - - - - - __getContextInfoArr_0_TaskPriority_Startup - UDINT - 32 - - ContextInfoArr_0_TaskPriority_Startup - UDINT - - - - property - - - - - __getExecuteModelCode_Startup - BOOL - 8 - - ExecuteModelCode_Startup - BOOL - - - - property - - - - - __setExecutionSequence_Online - BOOL - 8 - - ExecutionSequence_Online - TctModuleExecutionSequenceType - 32 - - - - property - - - - - __setCycleUpdateExecuted_Online - BOOL - 8 - - CycleUpdateExecuted_Online - BOOL - 8 - - - - property - - - - - __getInput_Online - ExtU_hexmove_T - 64 - - Input_Online - ExtU_hexmove_T - - - - property - - - - - __setSimulinkTime_Online - BOOL - 8 - - SimulinkTime_Online - LREAL - 64 - - - - property - - - - - __setMdlInitialized_Online - BOOL - 8 - - MdlInitialized_Online - BOOL - 8 - - - - property - - - - - __getCallBy_Startup - TctModuleCallByType - 32 - - CallBy_Startup - TctModuleCallByType - - - - property - - - - - __setContextInfoArr_0_TaskOid_Online - BOOL - 8 - - ContextInfoArr_0_TaskOid_Online - OTCID - 32 - - - - property - - - - - __getContextInfoArr_0_TaskCycleTimeNs_Startup - UDINT - 32 - - ContextInfoArr_0_TaskCycleTimeNs_Startup - UDINT - - - - property - - - - - __setContextInfoArr_0_TaskOid_Startup - BOOL - 8 - - ContextInfoArr_0_TaskOid_Startup - OTCID - 32 - - - - property - - - - - __setContextInfoArr_0_TaskPort_Online - BOOL - 8 - - ContextInfoArr_0_TaskPort_Online - UINT - 16 - - - - property - - - - - __setContextInfoArr_0_TaskCycleTimeNs_Online - BOOL - 8 - - ContextInfoArr_0_TaskCycleTimeNs_Online - UDINT - 32 - - - - property - - - - - __getSimulinkTime_Online - LREAL - 64 - - SimulinkTime_Online - LREAL - - - - property - - - - - __setContextInfoArr_0_TaskPort_Startup - BOOL - 8 - - ContextInfoArr_0_TaskPort_Startup - UINT - 16 - - - - property - - - - - __getContextInfoArr_0_TaskPort_Startup - UINT - 16 - - ContextInfoArr_0_TaskPort_Startup - UINT - - - - property - - - - - __setContextInfoArr_0_TaskPriority_Startup - BOOL - 8 - - ContextInfoArr_0_TaskPriority_Startup - UDINT - 32 - - - - property - - - - - __getContextInfoArr_0_TaskOid_Online - OTCID - 32 - - ContextInfoArr_0_TaskOid_Online - OTCID - - - - property - - - - - __setContextInfoArr_0_TaskPriority_Online - BOOL - 8 - - ContextInfoArr_0_TaskPriority_Online - UDINT - 32 - - - - property - - - - - __setCallBy_Online - BOOL - 8 - - CallBy_Online - TctModuleCallByType - 32 - - - - property - - - - - Internal_SetObjState - - hr - HRESULT - 32 - - - nextState - TCOM_STATE - 32 - - - - object_name - Internal_SetObjState - - - - - __getMdlInitialized_Online - BOOL - 8 - - MdlInitialized_Online - BOOL - - - - property - - - - - - PouType - FunctionBlock - - - TcDependOnClassFactory - HexMove - - - - - Hexapod_Robot_Mapping - 2368 - - Model_Leg_Position - LREAL - - 1 - 18 - - - 1152 - 64 - - - ItemType - Input - - - - - Controller_Leg_Position - LREAL - - 1 - 18 - - - 1152 - 1216 - - - ItemType - Output - - - - - - PouType - FunctionBlock - - - - - matrix_2_real_T - 128 - LREAL - - 0 - 2 - - - - P_Filter_Current_Hexapod_Robo_T - 5760 - - DiscreteFilter_NumCoef - matrix_2_real_T - 128 - 0 - - - DiscreteFilter_DenCoef - matrix_2_real_T - 128 - 128 - - - DiscreteFilter_InitialStates - LREAL - 64 - 256 - - - DiscreteFilter1_NumCoef - matrix_2_real_T - 128 - 320 - - - DiscreteFilter1_DenCoef - matrix_2_real_T - 128 - 448 - - - DiscreteFilter1_InitialStates - LREAL - 64 - 576 - - - DiscreteFilter2_NumCoef - matrix_2_real_T - 128 - 640 - - - DiscreteFilter2_DenCoef - matrix_2_real_T - 128 - 768 - - - DiscreteFilter2_InitialStates - LREAL - 64 - 896 - - - DiscreteFilter3_NumCoef - matrix_2_real_T - 128 - 960 - - - DiscreteFilter3_DenCoef - matrix_2_real_T - 128 - 1088 - - - DiscreteFilter3_InitialStates - LREAL - 64 - 1216 - - - DiscreteFilter4_NumCoef - matrix_2_real_T - 128 - 1280 - - - DiscreteFilter4_DenCoef - matrix_2_real_T - 128 - 1408 - - - DiscreteFilter4_InitialStates - LREAL - 64 - 1536 - - - DiscreteFilter5_NumCoef - matrix_2_real_T - 128 - 1600 - - - DiscreteFilter5_DenCoef - matrix_2_real_T - 128 - 1728 - - - DiscreteFilter5_InitialStates - LREAL - 64 - 1856 - - - DiscreteFilter6_NumCoef - matrix_2_real_T - 128 - 1920 - - - DiscreteFilter6_DenCoef - matrix_2_real_T - 128 - 2048 - - - DiscreteFilter6_InitialStates - LREAL - 64 - 2176 - - - DiscreteFilter7_NumCoef - matrix_2_real_T - 128 - 2240 - - - DiscreteFilter7_DenCoef - matrix_2_real_T - 128 - 2368 - - - DiscreteFilter7_InitialStates - LREAL - 64 - 2496 - - - DiscreteFilter8_NumCoef - matrix_2_real_T - 128 - 2560 - - - DiscreteFilter8_DenCoef - matrix_2_real_T - 128 - 2688 - - - DiscreteFilter8_InitialStates - LREAL - 64 - 2816 - - - DiscreteFilter9_NumCoef - matrix_2_real_T - 128 - 2880 - - - DiscreteFilter9_DenCoef - matrix_2_real_T - 128 - 3008 - - - DiscreteFilter9_InitialStates - LREAL - 64 - 3136 - - - DiscreteFilter10_NumCoef - matrix_2_real_T - 128 - 3200 - - - DiscreteFilter10_DenCoef - matrix_2_real_T - 128 - 3328 - - - DiscreteFilter10_InitialStates - LREAL - 64 - 3456 - - - DiscreteFilter11_NumCoef - matrix_2_real_T - 128 - 3520 - - - DiscreteFilter11_DenCoef - matrix_2_real_T - 128 - 3648 - - - DiscreteFilter11_InitialStates - LREAL - 64 - 3776 - - - DiscreteFilter12_NumCoef - matrix_2_real_T - 128 - 3840 - - - DiscreteFilter12_DenCoef - matrix_2_real_T - 128 - 3968 - - - DiscreteFilter12_InitialStates - LREAL - 64 - 4096 - - - DiscreteFilter13_NumCoef - matrix_2_real_T - 128 - 4160 - - - DiscreteFilter13_DenCoef - matrix_2_real_T - 128 - 4288 - - - DiscreteFilter13_InitialStates - LREAL - 64 - 4416 - - - DiscreteFilter14_NumCoef - matrix_2_real_T - 128 - 4480 - - - DiscreteFilter14_DenCoef - matrix_2_real_T - 128 - 4608 - - - DiscreteFilter14_InitialStates - LREAL - 64 - 4736 - - - DiscreteFilter15_NumCoef - matrix_2_real_T - 128 - 4800 - - - DiscreteFilter15_DenCoef - matrix_2_real_T - 128 - 4928 - - - DiscreteFilter15_InitialStates - LREAL - 64 - 5056 - - - DiscreteFilter16_NumCoef - matrix_2_real_T - 128 - 5120 - - - DiscreteFilter16_DenCoef - matrix_2_real_T - 128 - 5248 - - - DiscreteFilter16_InitialStates - LREAL - 64 - 5376 - - - DiscreteFilter17_NumCoef - matrix_2_real_T - 128 - 5440 - - - DiscreteFilter17_DenCoef - matrix_2_real_T - 128 - 5568 - - - DiscreteFilter17_InitialStates - LREAL - 64 - 5696 - - - - ST_Filter_Current_Hexapod_Robot_InitData - 7104 - - Header - TComInitDataHdr - 96 - 0 - - - CallByHdr - TComInitDataElmHdr - 96 - 96 - - - CallBy - TctModuleCallByType - 32 - 192 - - - ExecutionSequenceHdr - TComInitDataElmHdr - 96 - 224 - - - ExecutionSequence - TctModuleExecutionSequenceType - 32 - 320 - - - StepSizeHdr - TComInitDataElmHdr - 96 - 352 - - - StepSize - TctStepSizeType - 32 - 448 - - - ExecuteModelCodeHdr - TComInitDataElmHdr - 96 - 480 - - - ExecuteModelCode - BOOL - 8 - 576 - - - ModelParametersHdr - TComInitDataElmHdr - 96 - 608 - - - ModelParameters - P_Filter_Current_Hexapod_Robo_T - 5760 - 704 - - - ContextInfoArr_0_TaskOidHdr - TComInitDataElmHdr - 96 - 6464 - - - ContextInfoArr_0_TaskOid - OTCID - 32 - 6560 - - - ContextInfoArr_0_TaskPriorityHdr - TComInitDataElmHdr - 96 - 6592 - - - ContextInfoArr_0_TaskPriority - UDINT - 32 - 6688 - - - ContextInfoArr_0_TaskCycleTimeNsHdr - TComInitDataElmHdr - 96 - 6720 - - - ContextInfoArr_0_TaskCycleTimeNs - UDINT - 32 - 6816 - - - ContextInfoArr_0_TaskPortHdr - TComInitDataElmHdr - 96 - 6848 - - - ContextInfoArr_0_TaskPort - UINT - 16 - 6944 - - - ContextInfoArr_0_TaskSortOrderHdr - TComInitDataElmHdr - 96 - 6976 - - - ContextInfoArr_0_TaskSortOrder - UDINT - 32 - 7072 - - - - pack_mode - 4 - - - - - ExtU_Filter_Current_Hexapod_R_T - 1152 - - Current_Motor - matrix_18_real_T - 1152 - 0 - - - - ST_Filter_Current_Hexapod_Robot_Input - 1152 - - Current_Motor - matrix_18_real_T - 1152 - 0 - - - - ST_Filter_Current_Hexapod_Robot_Output - 1152 - - Current_Monitor - matrix_18_real_T - 1152 - 0 - - - - FB_Filter_Current_Hexapod_Robot - 10496 - FB_TcMatSimObject - - stInput - ST_Filter_Current_Hexapod_Robot_Input - 1152 - 704 - - - ItemType - Input - - - - - stOutput - ST_Filter_Current_Hexapod_Robot_Output - 1152 - 1856 - - - ItemType - Output - - - - - stInitData - ST_Filter_Current_Hexapod_Robot_InitData - 7104 - 3008 - - - arrDataAreas - ST_TcMatSimObjectDataAreaInfo - - 1 - 2 - - 320 - 10112 - - - bParametersVerified - BOOL - 8 - 10432 - - - __setExecutionSequence_Startup - BOOL - 8 - - ExecutionSequence_Startup - TctModuleExecutionSequenceType - 32 - - - - property - - - - - SaveOnlineParametersForInit - HRESULT - 32 - - idx - UINT - - - pInitElemHdr - TComInitDataElmHdr - - - pData - PVOID - - - nData - UDINT - - - nInitDataAlignment - UDINT - - - - object_name - SaveOnlineParametersForInit - - - - - __getContextInfoArr_0_TaskCycleTimeNs_Online - UDINT - 32 - - ContextInfoArr_0_TaskCycleTimeNs_Online - UDINT - - - - property - - - - - __getExecuteModelCode_Online - BOOL - 8 - - ExecuteModelCode_Online - BOOL - - - - property - - - - - __setStepSize_Online - BOOL - 8 - - StepSize_Online - TctStepSizeType - 32 - - - - property - - - - - __setStepSize_Startup - BOOL - 8 - - StepSize_Startup - TctStepSizeType - 32 - - - - property - - - - - __getContextInfoArr_0_TaskSortOrder_Online - UDINT - 32 - - ContextInfoArr_0_TaskSortOrder_Online - UDINT - - - - property - - - - - __getCallBy_Online - TctModuleCallByType - 32 - - CallBy_Online - TctModuleCallByType - - - - property - - - - - __getStepSize_Startup - TctStepSizeType - 32 - - StepSize_Startup - TctStepSizeType - - - - property - - - - - __getModelParameters_Online - P_Filter_Current_Hexapod_Robo_T - 5760 - - ModelParameters_Online - P_Filter_Current_Hexapod_Robo_T - - - - property - - - - - __setModuleInfo_Online - BOOL - 8 - - ModuleInfo_Online - TctModuleInfoType - 1184 - - - - property - - - - - __setInitData - BOOL - 8 - - InitData - ST_Filter_Current_Hexapod_Robot_InitData - 7104 - - - - property - - - - - __getContextInfoArr_0_TaskSortOrder_Startup - UDINT - 32 - - ContextInfoArr_0_TaskSortOrder_Startup - UDINT - - - - property - - - - - __getInitData - ST_Filter_Current_Hexapod_Robot_InitData - 7104 - - InitData - ST_Filter_Current_Hexapod_Robot_InitData - - - - property - - - - - __getModuleInfo_Online - TctModuleInfoType - 1184 - - ModuleInfo_Online - TctModuleInfoType - - - - property - - - - - __getContextInfoArr_0_TaskPort_Online - UINT - 16 - - ContextInfoArr_0_TaskPort_Online - UINT - - - - property - - - - - __getCycleUpdateExecuted_Online - BOOL - 8 - - CycleUpdateExecuted_Online - BOOL - - - - property - - - - - __setContextInfoArr_0_TaskSortOrder_Online - BOOL - 8 - - ContextInfoArr_0_TaskSortOrder_Online - UDINT - 32 - - - - property - - - - - __getExecutionSequence_Startup - TctModuleExecutionSequenceType - 32 - - ExecutionSequence_Startup - TctModuleExecutionSequenceType - - - - property - - - - - __getModelParameters_Startup - P_Filter_Current_Hexapod_Robo_T - 5760 - - ModelParameters_Startup - P_Filter_Current_Hexapod_Robo_T - - - - property - - - - - __setContextInfoArr_0_TaskCycleTimeNs_Startup - BOOL - 8 - - ContextInfoArr_0_TaskCycleTimeNs_Startup - UDINT - 32 - - - - property - - - - - __getStepSize_Online - TctStepSizeType - 32 - - StepSize_Online - TctStepSizeType - - - - property - - - - - __setContextInfoArr_0_TaskSortOrder_Startup - BOOL - 8 - - ContextInfoArr_0_TaskSortOrder_Startup - UDINT - 32 - - - - property - - - - - __setModuleBuildInfo_Online - BOOL - 8 - - ModuleBuildInfo_Online - TctModuleBuildInfoType - 8 - - - - property - - - - - Execute - HRESULT - 32 - - - __setExecuteModelCode_Online - BOOL - 8 - - ExecuteModelCode_Online - BOOL - 8 - - - - property - - - - - __setModelParameters_Online - BOOL - 8 - - ModelParameters_Online - P_Filter_Current_Hexapod_Robo_T - 5760 - - - - property - - - - - __setModelParameters_Startup - BOOL - 8 - - ModelParameters_Startup - P_Filter_Current_Hexapod_Robo_T - 5760 - - - - property - - - - - __getExecutionSequence_Online - TctModuleExecutionSequenceType - 32 - - ExecutionSequence_Online - TctModuleExecutionSequenceType - - - - property - - - - - __setExecuteModelCode_Startup - BOOL - 8 - - ExecuteModelCode_Startup - BOOL - 8 - - - - property - - - - - __getContextInfoArr_0_TaskPriority_Online - UDINT - 32 - - ContextInfoArr_0_TaskPriority_Online - UDINT - - - - property - - - - - VerifyParameters - HRESULT - 32 - - moduleCallByParam - TctModuleCallByType - - - - object_name - VerifyParameters - - - - - __setInput_Online - BOOL - 8 - - Input_Online - ExtU_Filter_Current_Hexapod_R_T - 1152 - - - - property - - - - - __setCallBy_Startup - BOOL - 8 - - CallBy_Startup - TctModuleCallByType - 32 - - - - property - - - - - __getModuleBuildInfo_Online - TctModuleBuildInfoType - 8 - - ModuleBuildInfo_Online - TctModuleBuildInfoType - - - - property - - - - - __getContextInfoArr_0_TaskOid_Startup - OTCID - 32 - - ContextInfoArr_0_TaskOid_Startup - OTCID - - - - property - - - - - __getContextInfoArr_0_TaskPriority_Startup - UDINT - 32 - - ContextInfoArr_0_TaskPriority_Startup - UDINT - - - - property - - - - - __getExecuteModelCode_Startup - BOOL - 8 - - ExecuteModelCode_Startup - BOOL - - - - property - - - - - __setExecutionSequence_Online - BOOL - 8 - - ExecutionSequence_Online - TctModuleExecutionSequenceType - 32 - - - - property - - - - - __setCycleUpdateExecuted_Online - BOOL - 8 - - CycleUpdateExecuted_Online - BOOL - 8 - - - - property - - - - - __getInput_Online - ExtU_Filter_Current_Hexapod_R_T - 1152 - - Input_Online - ExtU_Filter_Current_Hexapod_R_T - - - - property - - - - - __setSimulinkTime_Online - BOOL - 8 - - SimulinkTime_Online - LREAL - 64 - - - - property - - - - - __setMdlInitialized_Online - BOOL - 8 - - MdlInitialized_Online - BOOL - 8 - - - - property - - - - - __getCallBy_Startup - TctModuleCallByType - 32 - - CallBy_Startup - TctModuleCallByType - - - - property - - - - - __setContextInfoArr_0_TaskOid_Online - BOOL - 8 - - ContextInfoArr_0_TaskOid_Online - OTCID - 32 - - - - property - - - - - __getContextInfoArr_0_TaskCycleTimeNs_Startup - UDINT - 32 - - ContextInfoArr_0_TaskCycleTimeNs_Startup - UDINT - - - - property - - - - - __setContextInfoArr_0_TaskOid_Startup - BOOL - 8 - - ContextInfoArr_0_TaskOid_Startup - OTCID - 32 - - - - property - - - - - __setContextInfoArr_0_TaskPort_Online - BOOL - 8 - - ContextInfoArr_0_TaskPort_Online - UINT - 16 - - - - property - - - - - __setContextInfoArr_0_TaskCycleTimeNs_Online - BOOL - 8 - - ContextInfoArr_0_TaskCycleTimeNs_Online - UDINT - 32 - - - - property - - - - - __getSimulinkTime_Online - LREAL - 64 - - SimulinkTime_Online - LREAL - - - - property - - - - - __setContextInfoArr_0_TaskPort_Startup - BOOL - 8 - - ContextInfoArr_0_TaskPort_Startup - UINT - 16 - - - - property - - - - - __getContextInfoArr_0_TaskPort_Startup - UINT - 16 - - ContextInfoArr_0_TaskPort_Startup - UINT - - - - property - - - - - __setContextInfoArr_0_TaskPriority_Startup - BOOL - 8 - - ContextInfoArr_0_TaskPriority_Startup - UDINT - 32 - - - - property - - - - - __getContextInfoArr_0_TaskOid_Online - OTCID - 32 - - ContextInfoArr_0_TaskOid_Online - OTCID - - - - property - - - - - __setContextInfoArr_0_TaskPriority_Online - BOOL - 8 - - ContextInfoArr_0_TaskPriority_Online - UDINT - 32 - - - - property - - - - - __setCallBy_Online - BOOL - 8 - - CallBy_Online - TctModuleCallByType - 32 - - - - property - - - - - Internal_SetObjState - - hr - HRESULT - 32 - - - nextState - TCOM_STATE - 32 - - - - object_name - Internal_SetObjState - - - - - __getMdlInitialized_Online - BOOL - 8 - - MdlInitialized_Online - BOOL - - - - property - - - - - - PouType - FunctionBlock - - - TcDependOnClassFactory - Filter_Current_Hexapod_Robot - - - - - VERSION - 64 - - uiMajor - UINT - 16 - 0 - - - uiMinor - UINT - 16 - 16 - - - uiServicePack - UINT - 16 - 32 - - - uiPatch - UINT - 16 - 48 - - - - PlcAppSystemInfo - 2048 - - ObjId - OTCID - 32 - 0 - - - TaskCnt - UDINT - 32 - 32 - - - OnlineChangeCnt - UDINT - 32 - 64 - - - Flags - DWORD - 32 - 96 - - - AdsPort - UINT - 16 - 128 - - - BootDataLoaded - BOOL - 8 - 144 - - - OldBootData - BOOL - 8 - 152 - - - AppTimestamp - DT - 32 - 160 - - - KeepOutputsOnBP - BOOL - 8 - 192 - - - ShutdownInProgress - BOOL - 8 - 200 - - - LicensesPending - BOOL - 8 - 208 - - - BSODOccured - BOOL - 8 - 216 - - - TComSrvPtr - ITComObjectServer - 32 - 256 - - - TcComInterface - - - - - AppName - STRING(63) - 512 - 512 - - - ProjectName - STRING(63) - 512 - 1024 - - - - - - - - - PlcTaskSystemInfo - 1024 - - ObjId - OTCID - 32 - 0 - - - CycleTime - UDINT - 32 - 32 - - - Priority - UINT - 16 - 64 - - - AdsPort - UINT - 16 - 80 - - - CycleCount - UDINT - 32 - 96 - - - DcTaskTime - LINT - 64 - 128 - - - LastExecTime - UDINT - 32 - 192 - - - FirstCycle - BOOL - 8 - 224 - - - CycleTimeExceeded - BOOL - 8 - 232 - - - InCallAfterOutputUpdate - BOOL - 8 - 240 - - - RTViolation - BOOL - 8 - 248 - - - TaskName - STRING(63) - 512 - 512 - - - - - - - - _Implicit_KindOfTask - 16 - INT - - _implicit_cyclic - 0 - - - _implicit_event - 1 - - - _implicit_external - 2 - - - _implicit_freewheeling - 3 - - - - _Implicit_Jitter_Distribution - 48 - - wRangeMax - WORD - 16 - 0 - - - wCountJitterNeg - WORD - 16 - 16 - - - wCountJitterPos - WORD - 16 - 32 - - - - hide - - - - - _Implicit_Task_Info - 704 - - dwVersion - DWORD - 32 - 0 - - - pszName - STRING(80) - 32 - 32 - - - nPriority - INT - 16 - 64 - - - KindOf - _Implicit_KindOfTask - 16 - 80 - - - bWatchdog - BOOL - 8 - 96 - - - bProfilingTask - BOOL - 8 - 104 - - - dwEventFunctionPointer - BYTE - 32 - 128 - - - pszExternalEvent - STRING(80) - 32 - 160 - - - dwTaskEntryFunctionPointer - BYTE - 32 - 192 - - - dwWatchdogSensitivity - DWORD - 32 - 224 - - - dwInterval - DWORD - 32 - 256 - - - dwWatchdogTime - DWORD - 32 - 288 - - - dwLastCycleTime - DWORD - 32 - 320 - - - dwAverageCycleTime - DWORD - 32 - 352 - - - dwMaxCycleTime - DWORD - 32 - 384 - - - dwMinCycleTime - DWORD - 32 - 416 - - - diJitter - DINT - 32 - 448 - - - diJitterMin - DINT - 32 - 480 - - - diJitterMax - DINT - 32 - 512 - - - dwCycleCount - DWORD - 32 - 544 - - - wTaskStatus - WORD - 16 - 576 - - - wNumOfJitterDistributions - WORD - 16 - 592 - - - pJitterDistribution - _Implicit_Jitter_Distribution - 32 - 608 - - - bWithinSPSTimeSlicing - BOOL - 8 - 640 - - - byDummy - BYTE - 8 - 648 - - - bShouldBlock - BOOL - 8 - 656 - - - bActive - BOOL - 8 - 664 - - - dwIECCycleCount - DWORD - 32 - 672 - - - - hide - - - - - - - TC_Robot_Control - {08500001-0000-0000-F000-000000000064} - - - - 0 - PlcTask - - #x02010040 - - - - - - - 0 - PlcTask Inputs - 0 - 917504 - - MAIN.Current_Turque_Value - - 288 - INT - - 1 - 18 - - 1024000 - - - MAIN.Axis_Robot[1].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 4125440 - - - MAIN.Axis_Robot[2].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 4224256 - - - MAIN.Axis_Robot[3].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 4323072 - - - MAIN.Axis_Robot[4].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 4421888 - - - MAIN.Axis_Robot[5].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 4520704 - - - MAIN.Axis_Robot[6].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 4619520 - - - MAIN.Axis_Robot[7].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 4718336 - - - MAIN.Axis_Robot[8].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 4817152 - - - MAIN.Axis_Robot[9].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 4915968 - - - MAIN.Axis_Robot[10].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 5014784 - - - MAIN.Axis_Robot[11].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 5113600 - - - MAIN.Axis_Robot[12].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 5212416 - - - MAIN.Axis_Robot[13].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 5311232 - - - MAIN.Axis_Robot[14].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 5410048 - - - MAIN.Axis_Robot[15].AxisRef.NcToPlc - 2048 - NCTOPLC_AXIS_REF - 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{f18bec89-9fef-401d-9953-2f11739a6808} - - - - \ No newline at end of file diff --git a/TC_Robot_Control/VISUs/Visu_Power.TcVIS b/TC_Robot_Control/VISUs/Visu_Power.TcVIS deleted file mode 100644 index 9a58d2b..0000000 --- a/TC_Robot_Control/VISUs/Visu_Power.TcVIS +++ /dev/null @@ -1,8156 +0,0 @@ - - - - - - - - "3" - - - - - - - - - - 2340015797L - "HCENTER" - - - 2565699834L - "VCENTER" - - - 4134387352L - "NONE" - - - 1603690730L - "Arial" - - - 4253639993L - 12 - - - 2729990903L - 0U - - - 1213979116L - 0U - - - 3488306084L - 4278190080U - - - 2812299069L - 4294967295U - - - 494569607L - 4278190080U - - - 1649127785L - 987 - - - 357335551L - 37 - - - 2422045748L - 154 - - - 2134141914L - 32 - - - 390574330L - "Robot_Error" - - - 3729828405L - - - 1 - -65536 - "Arial" - 18 - - - - - - 493260384L - 4294967295U - - - 135947015L - 4278190080U - - - 2678395525L - 1U - - - 571893170L - "" - - - 2597686782L - true - - - 823443203L - "26" - - - - "Label" - "VisuFbLabel" - true - 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a/TC_Robot_Control/VISUs/Visu_SimulinkMove.TcVIS b/TC_Robot_Control/VISUs/Visu_SimulinkMove.TcVIS deleted file mode 100644 index 546a3cf..0000000 --- a/TC_Robot_Control/VISUs/Visu_SimulinkMove.TcVIS +++ /dev/null @@ -1,5470 +0,0 @@ - - - - - - - - "3" - - - - - - - - - - 571893170L - "" - - - 494569607L - - - -16777216 - "BasicElement-Frame-Color" - - - - - 2812299069L - - - -1 - "BasicElement-Fill-Color" - - - - - 135947015L - - - -65536 - "BasicElement-Alarm-Frame-Color" - - - - - 493260384L - - - -12337 - "BasicElement-Alarm-Fill-Color" - - - - - 2340015797L - "HCENTER" - - - 2565699834L - "VCENTER" - - - 4134387352L - "NONE" - - - 1603690730L - "Arial" - - - 4253639993L - 12 - - - 2729990903L - 0U - - - 1213979116L - 0U - - - 3488306084L - 4278190080U - - - 1999528970L - "<toggle/tap variable>" - - - 1649127785L - 749 - - - 357335551L - 498 - - - 2422045748L - 376 - - - 2134141914L - 96 - - - 3729828405L - - - 0 - -16777216 - "Font-Standard" - "Arial" - 12 - - -16777216 - 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