From 37fbd1a77316ae6664d272a4d2457e09caf847bf Mon Sep 17 00:00:00 2001
From: tongju12 <tongju@slac.stanford.edu>
Date: Fri, 1 Mar 2024 13:18:46 -0800
Subject: [PATCH] Li2K4 target positions setup and EPS done

---
 .../_Config/IO/Device 1 (EtherCAT).xti        |   1 +
 .../tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU       |  40 ++-
 plc-tmo-motion/tmo_motion/tmo_motion.tmc      | 234 ++++--------------
 3 files changed, 82 insertions(+), 193 deletions(-)

diff --git a/plc-tmo-motion/_Config/IO/Device 1 (EtherCAT).xti b/plc-tmo-motion/_Config/IO/Device 1 (EtherCAT).xti
index 38ce751..2a3124f 100644
--- a/plc-tmo-motion/_Config/IO/Device 1 (EtherCAT).xti	
+++ b/plc-tmo-motion/_Config/IO/Device 1 (EtherCAT).xti	
@@ -46,6 +46,7 @@
 		</Box>
 		<EtherCAT EnableVirtualSwitch="true" MaxSwitchPorts="2" MaxSwitchFrames="120">
 			<SyncUnit Name="SL2K4" NoDeleteIfUnused="true"/>
+			<SyncUnit Name="LI2K4" NoDeleteIfUnused="true"/>
 		</EtherCAT>
 	</Device>
 </TcSmItem>
diff --git a/plc-tmo-motion/tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU b/plc-tmo-motion/tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU
index 7a0a67a..55ed8a9 100644
--- a/plc-tmo-motion/tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU
+++ b/plc-tmo-motion/tmo_motion/POUs/PRG_LI2K4_IP1.TcPOU
@@ -24,28 +24,54 @@ VAR
     li2k4_enumGet: ENUM_LaserCoupling_States;
     fbStateSetup: FB_StateSetupHelper;
     stDefault: ST_PositionState :=(
+        fDelta :=0.5,
         fVelocity := 0.5,
-        bMoveOK := TRUE,
         bValid := TRUE
     );
     aLI2K4XStates: ARRAY[1..GeneralConstants.MAX_STATES] OF ST_PositionState;
     aLI2K4YStates: ARRAY[1..GeneralConstants.MAX_STATES] OF ST_PositionState;
 
+
+    bLI2K4XOut: BOOL;
+    bLI2K4YIn: BOOL;
 END_VAR
 ]]></Declaration>
     <Implementation>
-      <ST><![CDATA[fbMotionLI2K4Y(stMotionStage:=Main.M45);
+      <ST><![CDATA[
+fbMotionLI2K4Y(stMotionStage:=Main.M45);
 fbMotionLI2K4X(stMotionStage:=Main.M46);
 
 //LI2K4 2DPMPS
 fbStateSetup(stPositionState:=stDefault, bSetDefault:=TRUE);
-fbStateSetup(stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.OUT], sName := 'OUT', fPosition:=0.0);
-fbStateSetup(stPositionState:=aLI2K4YStates[ENUM_LaserCoupling_States.OUT], sName := 'OUT', fPosition:=0.0);
-fbStateSetup(stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.Mirror1], sName := 'MIRROR1', fPosition:=0.0);
-fbStateSetup(stPositionState:=aLI2K4YStates[ENUM_LaserCoupling_States.Mirror1], sName := 'MIRROR1', fPosition:=0.0);
+fbStateSetup(stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.OUT], sName := 'OUT', fPosition:=-0.75);
+fbStateSetup(stPositionState:=aLI2K4YStates[ENUM_LaserCoupling_States.OUT], sName := 'OUT', fPosition:=-33.125);
+fbStateSetup(stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.Mirror1], sName := 'MIRROR1', fPosition:=-84.375);
+fbStateSetup(stPositionState:=aLI2K4YStates[ENUM_LaserCoupling_States.Mirror1], sName := 'MIRROR1', fPosition:=-3.375);
 
 aLI2K4XStates[ENUM_LaserCoupling_States.OUT].stPMPS.sPmpsState := 'LI2K4:IP1-OUT';
-aLI2K4XStates[ENUM_LaserCoupling_States.OUT].stPMPS.sPmpsState := 'LI2K4:IP1-MIRROR1';
+aLI2K4XStates[ENUM_LaserCoupling_States.Mirror1].stPMPS.sPmpsState := 'LI2K4:IP1-MIRROR1';
+
+//LI2K4 EPS condition: OUT->In move Y then move X + IN->OUT move X thenm move Y
+
+bLI2K4XOut := F_AtPositionState(stMotionStage:=Main.M46, stPositionState:=aLI2K4XStates[ENUM_LaserCoupling_States.OUT]);
+bLI2K4YIn := F_AtPositionState(stMotionStage:=Main.M45, stPositionState:=aLI2K4YStates[ENUM_LaserCoupling_States.Mirror1]);
+
+aLI2K4XStates[ENUM_LaserCoupling_States.OUT].bMoveOk := FALSE;
+aLI2K4XStates[ENUM_LaserCoupling_States.Mirror1].bMoveOk := FALSE;
+aLI2K4YStates[ENUM_LaserCoupling_States.OUT].bMoveOk := FALSE;
+aLI2K4YStates[ENUM_LaserCoupling_States.Mirror1].bMoveOk := FALSE;
+
+IF bLI2K4YIn THEN
+     aLI2K4XStates[ENUM_LaserCoupling_States.OUT].bMoveOk := TRUE;
+     aLI2K4XStates[ENUM_LaserCoupling_States.Mirror1].bMoveOk := TRUE;
+END_IF
+
+IF bLI2K4XOut THEN
+     aLI2K4YStates[ENUM_LaserCoupling_States.Mirror1].bMoveOk := TRUE;
+     aLI2K4YStates[ENUM_LaserCoupling_States.OUT].bMoveOk := TRUE;
+END_IF
+
+//LI2K4 sequenct move : OUT->IN Y move first and then X moves IN->OUT X moves first then Y
 
 fbLI2K4States(
     stMotionStage1:=Main.M45,
diff --git a/plc-tmo-motion/tmo_motion/tmo_motion.tmc b/plc-tmo-motion/tmo_motion/tmo_motion.tmc
index 8088aa5..ae50de2 100644
--- a/plc-tmo-motion/tmo_motion/tmo_motion.tmc
+++ b/plc-tmo-motion/tmo_motion/tmo_motion.tmc
@@ -1,5 +1,5 @@
 <?xml version='1.0' encoding='utf-8'?>
-<TcModuleClass xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2009/05/TcModuleClass" Hash="{67BFED32-EED4-DFF9-B997-9DAF4BC67FCB}" GeneratedBy="TwinCAT XAE Plc">
+<TcModuleClass xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:noNamespaceSchemaLocation="http://www.beckhoff.com/schemas/2009/05/TcModuleClass" Hash="{78193E65-DBF1-6CBD-9A86-FB92331BEE24}" GeneratedBy="TwinCAT XAE Plc">
   <DataTypes>
     <DataType>
       <Name Namespace="LCLS_General">ST_System</Name>
@@ -6256,11 +6256,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_BOOL</Name>
@@ -6396,11 +6391,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_STRING</Name>
@@ -6557,11 +6547,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>GetNumberOfSuccessfulTests</Name>
@@ -6671,11 +6656,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>SetTestFailed</Name>
@@ -6809,11 +6789,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>IsTestFinished</Name>
@@ -7294,11 +7269,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_SINT</Name>
@@ -8064,11 +8034,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_TIME</Name>
@@ -8460,11 +8425,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertArrayEquals_INT</Name>
@@ -8559,11 +8519,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertFalse</Name>
@@ -8688,11 +8643,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertArrayEquals_LWORD</Name>
@@ -8797,11 +8747,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_LWORD</Name>
@@ -9115,11 +9060,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AreAllTestsFinished</Name>
@@ -9287,11 +9227,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>FindTestSuiteInstancePath</Name>
@@ -9473,11 +9408,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertArrayEquals_LREAL</Name>
@@ -9578,11 +9508,6 @@
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Properties>
         <Property>
@@ -18031,7 +17956,7 @@ contributing fast faults, unless the FFO is currently vetoed.
       </Method>
     </DataType>
     <DataType>
-      <Name>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Name>
+      <Name>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Name>
       <BitSize>16</BitSize>
       <BaseType>UINT</BaseType>
       <Properties>
@@ -18045,6 +17970,21 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Property>
       </Properties>
     </DataType>
+    <DataType>
+      <Name>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Name>
+      <BitSize>16</BitSize>
+      <BaseType>UINT</BaseType>
+      <Properties>
+        <Property>
+          <Name>LowerBorder</Name>
+          <Value>1</Value>
+        </Property>
+        <Property>
+          <Name>UpperBorder</Name>
+          <Value>1000</Value>
+        </Property>
+      </Properties>
+    </DataType>
     <DataType>
       <Name Namespace="lcls_twincat_common_components.lcls_twincat_motion.PMPS.TcUnit">FB_AdsTestResultLogger</Name>
       <Comment>
@@ -18062,7 +18002,7 @@ contributing fast faults, unless the FFO is currently vetoed.
       </SubItem>
       <SubItem>
         <Name>PrintingTestSuiteResultNumber</Name>
-        <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+        <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
         <BitSize>16</BitSize>
         <BitOffs>96</BitOffs>
       </SubItem>
@@ -18100,12 +18040,12 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Local>
         <Local>
           <Name>TestsInTestSuiteCounter</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Type>
           <BitSize>16</BitSize>
         </Local>
         <Local>
           <Name>MaxNumberOfTestsToPrint</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Type>
           <BitSize>16</BitSize>
         </Local>
         <Local>
@@ -18936,7 +18876,7 @@ contributing fast faults, unless the FFO is currently vetoed.
       </SubItem>
       <SubItem>
         <Name>WritingTestSuiteResultNumber</Name>
-        <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+        <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
         <BitSize>16</BitSize>
         <BitOffs>530208</BitOffs>
       </SubItem>
@@ -19319,21 +19259,6 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Property>
       </Properties>
     </DataType>
-    <DataType>
-      <Name>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestsForEachTestSuite)</Name>
-      <BitSize>16</BitSize>
-      <BaseType>UINT</BaseType>
-      <Properties>
-        <Property>
-          <Name>LowerBorder</Name>
-          <Value>1</Value>
-        </Property>
-        <Property>
-          <Name>UpperBorder</Name>
-          <Value>100</Value>
-        </Property>
-      </Properties>
-    </DataType>
     <DataType>
       <Name Namespace="lcls_twincat_common_components.lcls_twincat_motion.PMPS.TcUnit">U_ExpectedOrActual</Name>
       <BitSize>4096</BitSize>
@@ -20769,11 +20694,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>FindTestSuiteInstancePath</Name>
@@ -20889,7 +20809,7 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Local>
         <Local>
           <Name>NumberOfTestsToAnalyse</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
           <BitSize>16</BitSize>
         </Local>
         <Local>
@@ -21032,11 +20952,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertArrayEquals_BYTE</Name>
@@ -21141,11 +21056,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_DATE</Name>
@@ -21302,11 +21212,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_LTIME</Name>
@@ -21432,11 +21337,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_LREAL</Name>
@@ -21578,11 +21478,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertEquals</Name>
@@ -22341,11 +22236,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>SetHasStartedRunning</Name>
@@ -22394,7 +22284,7 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Local>
         <Local>
           <Name>NumberOfTestsToAnalyse</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
           <BitSize>16</BitSize>
         </Local>
       </Method>
@@ -22506,11 +22396,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>GetHasStartedRunning</Name>
@@ -22616,11 +22501,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_WSTRING</Name>
@@ -22772,11 +22652,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_DINT</Name>
@@ -22902,11 +22777,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertEquals_STRING</Name>
@@ -22975,7 +22845,7 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Local>
         <Local>
           <Name>NumberOfTestsToAnalyse</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
           <BitSize>16</BitSize>
         </Local>
       </Method>
@@ -23082,11 +22952,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertArray3dEquals_LREAL</Name>
@@ -23369,11 +23234,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>CalculateAndSetNumberOfAssertsForTest</Name>
@@ -23424,7 +23284,7 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Local>
         <Local>
           <Name>NumberOfTestsToAnalyse</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
           <BitSize>16</BitSize>
         </Local>
       </Method>
@@ -23783,7 +23643,7 @@ contributing fast faults, unless the FFO is currently vetoed.
         </Local>
         <Local>
           <Name>NumberOfTestsToAnalyse</Name>
-          <Type>UINT (UINT#1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
+          <Type>UINT (1..GVL_Param_TcUnit.MaxNumberOfTestSuites)</Type>
           <BitSize>16</BitSize>
         </Local>
       </Method>
@@ -24167,11 +24027,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Method>
         <Name>AssertArrayEquals_UDINT</Name>
@@ -24266,11 +24121,6 @@ contributing fast faults, unless the FFO is currently vetoed.
           <Type>DINT</Type>
           <BitSize>32</BitSize>
         </Local>
-        <Local>
-          <Name>__Index__0</Name>
-          <Type>DINT</Type>
-          <BitSize>32</BitSize>
-        </Local>
       </Method>
       <Properties>
         <Property>
@@ -59868,7 +59718,7 @@ Digital outputs</Comment>
           <AreaNo AreaType="InputDst" CreateSymbols="true">0</AreaNo>
           <Name>PlcTask Inputs</Name>
           <ContextId>0</ContextId>
-          <ByteSize>87228416</ByteSize>
+          <ByteSize>87293952</ByteSize>
           <Symbol>
             <Name>PRG_AL1K4_L2SI.fbAL1K4.fbYStage.fbDriveVirtual.MasterAxis.NcToPlc</Name>
             <BitSize>2048</BitSize>
@@ -71350,7 +71200,7 @@ Digital outputs</Comment>
           <AreaNo AreaType="OutputSrc" CreateSymbols="true">1</AreaNo>
           <Name>PlcTask Outputs</Name>
           <ContextId>0</ContextId>
-          <ByteSize>87228416</ByteSize>
+          <ByteSize>87293952</ByteSize>
           <Symbol>
             <Name>PRG_AL1K4_L2SI.fbAL1K4.fbYStage.fbDriveVirtual.MasterAxis.PlcToNc</Name>
             <BitSize>1024</BitSize>
@@ -74291,7 +74141,7 @@ Digital outputs</Comment>
           <AreaNo AreaType="Internal" CreateSymbols="true">3</AreaNo>
           <Name>PlcTask Internal</Name>
           <ContextId>0</ContextId>
-          <ByteSize>87228416</ByteSize>
+          <ByteSize>87293952</ByteSize>
           <Symbol>
             <Name>DefaultGlobals.stSys</Name>
             <Comment>Included for you</Comment>
@@ -82124,12 +81974,12 @@ Digital outputs</Comment>
             <BaseType Namespace="lcls_twincat_motion">ST_PositionState</BaseType>
             <Default>
               <SubItem>
-                <Name>.fVelocity</Name>
+                <Name>.fDelta</Name>
                 <Value>0.5</Value>
               </SubItem>
               <SubItem>
-                <Name>.bMoveOK</Name>
-                <Value>1</Value>
+                <Name>.fVelocity</Name>
+                <Value>0.5</Value>
               </SubItem>
               <SubItem>
                 <Name>.bValid</Name>
@@ -83837,6 +83687,12 @@ Digital outputs</Comment>
             </Properties>
             <BitOffs>688556320</BitOffs>
           </Symbol>
+          <Symbol>
+            <Name>PRG_LI2K4_IP1.bLI2K4XOut</Name>
+            <BitSize>8</BitSize>
+            <BaseType>BOOL</BaseType>
+            <BitOffs>688556328</BitOffs>
+          </Symbol>
           <Symbol>
             <Name>Constants.RuntimeVersionNumeric</Name>
             <BitSize>32</BitSize>
@@ -84383,12 +84239,18 @@ Digital outputs</Comment>
             </Properties>
             <BitOffs>688603904</BitOffs>
           </Symbol>
+          <Symbol>
+            <Name>PRG_LI2K4_IP1.bLI2K4YIn</Name>
+            <BitSize>8</BitSize>
+            <BaseType>BOOL</BaseType>
+            <BitOffs>694586272</BitOffs>
+          </Symbol>
         </DataArea>
         <DataArea>
           <AreaNo AreaType="RetainSrc" CreateSymbols="true">4</AreaNo>
           <Name>PlcTask Retains</Name>
           <ContextId>0</ContextId>
-          <ByteSize>87228416</ByteSize>
+          <ByteSize>87293952</ByteSize>
           <Symbol>
             <Name>PMPS_GVL.SuccessfulPreemption</Name>
             <Comment> Any time BPTM applies a new BP request which is confirmed</Comment>
@@ -84468,15 +84330,15 @@ Digital outputs</Comment>
         </Property>
         <Property>
           <Name>ChangeDate</Name>
-          <Value>2024-02-20T12:26:31</Value>
+          <Value>2024-02-27T13:32:36</Value>
         </Property>
         <Property>
           <Name>GeneratedCodeSize</Name>
-          <Value>1081344</Value>
+          <Value>1007616</Value>
         </Property>
         <Property>
           <Name>GlobalDataSize</Name>
-          <Value>85659648</Value>
+          <Value>85598208</Value>
         </Property>
       </Properties>
     </Module>