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HIDDEN_BYTEunsigned char %sBYTE+ DWORDunsigned long %sDWORD*WORDunsigned short %sWORD)BYTEunsigned char %sBYTE=°NCCHANNELSTRUCT_FROMPLC mSkipLine mItpOpModeBH  sHandShakeh nReseverd pmChnAxisOverirde mChnSpindelOverride<°NCCHANNELSTRUCT_TOPLC mJobNr?  mDWORD@`Ŕ sHandShake mProgNr@ mItpOpModeP mItpOpState ` mErrorCode?  INTERNAL_NCTOPLC_CHANNELSTRUCT_2>` INTERNAL_NCTOPLC_CHANNELSTRUCT_1nFunc nRequested nReseverd nHFuncValue@ nSpindelRPMPnTool;`NCDRIVESTRUCT_TWOSPEED$  nOutData1$  nOutData2@ bMinusHighA bMinusLowBbPlusLowC bPlusHighD reserved1E reserved2F bBreakInvGbBreakHbDirectionMinusIbDirectionPlusJbVeloLowK bVeloHighL reserved3M reserved4N bBreakInv2ObBreak2:`NCDRIVESTRUCT_OUT$  nOutData1$  nOutData2@nCtrl1HnCtrl2PnCtrl3XnCtrl49`NCDRIVESTRUCT_IN$ nInData1$ nInData2@nStatus1HnStatus2PnStatus3XnStatus46`NCENCSTUCT_OUT$  nOutData1$  nOutData2@nCtrl1HnCtrl2PnCtrl3XnCtrl45` NCENCSTUCT_IN$ nInData1$ nInData2@nStatus1HnStatus2PnStatus3XnStatus43NCAXLESTRUCT_FROMPLC  nDeCtrlDWord nOverride @ nAxisModeReq `nAxisModeDWord @€fAxisModeLReal @ŔfActPosCorrection @ fExtSetPos @@ fExtSetVelo @€ fExtSetAcc ŔnExtSetDirection ŕ nReserved @fExtCtrlOutput2NCAXLESTRUCT_TOPLC nStateDWord nErrorCode @ nAxisState ` nAxisModeCon €nCalibrationState   nCoupleState Ŕ nSvbEntries ŕ nSafEntries nAxisId  nOpModeDWord @nReserved2_HIDDEN @`fPosIst @  fModuloPosIst ŕ nModuloTurns @fVeloIst @@fPosDiff @€fPosSoll @Ŕ fVeloSollL€LINESTRUCT_SERCENCOUT SignalCtrlMLINESTRUCT_SERCENCIN ActPos ActVelo @ProbePos `ProbeNeg€ DriveState SignalStateActPhase CycleCntK LINESTRUCT_WZHSOUTTimeCtrlJ`LINESTRUCT_OVENCOUT @ fPosition @ UserHandleHLINESTRUCT_WZOUT obIdY@rxDataY@VARTYPE_CANMESSAGEunsigned char %s[6]ARRAY [0..7] OF USINTW VARTYPE_BX_KBUS_STATEfaultArg faultPlaceU@VARTYPE_FCXXXX_GLOBALSTATEunsigned short %s[8]]€VARTYPE_EL6731_CDLINFO busErrorCounter cycleCounter error( actionCounter0actualCycleTime@ repeatCounterP equiErrorX actualModulo` equiCycleTimepequiRepeatCounterV€VARTYPE_FC310X_CDLINFO  cdlStartednReserved_HIDDEN cycleCounter error( actionCounter0actualCycleTime@ repeatCounterP equiErrorX actualModulo` equiCycleTimepequiRepeatCounterT@VARTYPE_FCXXXX_CDLINFO cdlStartednReserved_HIDDEN cycleCounter error( actionCounter0actualCycleTimeSVARTYPE_FCXXXX_CDL_ARRAYRunsigned short %s[8]R@VARTYPE_FCXXXX_CDL& cdlStartednReserved2_HIDDEN& error&0 actionCounterQ€VARTYPE_FCXXXX_DEBUGunsigned short %s[8]ZENUMunsigned short %snPVARTYPE_ECAT_HEADcmdidx$ addr0len@irqgVARTYPE_FC310X_PARA_RESserviceinvokeIdi€parai€"VARTYPE_FC310X_PARA_DESC_RES_ARRAYhunsigned short %s[8]h@VARTYPE_FC310X_PARA_DESC_RESstatussize datadVARTYPE_FC310X_PARA_INDserviceinvokeIdf€paraf€"VARTYPE_FC310X_PARA_DESC_IND_ARRAYeunsigned short %s[8]e@VARTYPE_FC310X_PARA_DESC_IND paraNumbersubindexsize datax@ AMSADDRESS/0netId0port0MASTER_MESSAGEMASTER_MESSAGE )Control_HiddenOutput 1_Hidden Output 2_Hidden Output 3_Hidden Output 4_Hidden Output 5_Hidden Output 6_HiddenOutput 7_HiddenOutput 8_Hidden)F_Control_Hidden)Host_Seq_No_Hidden) Slave_Crc2_Lo_Hidden)(Slave_Crc2_Hi_Hidden0 SLAVE_MESSAGE SLAVE_MESSAGE ) Status_HiddenInput 1_Hidden Input 2_Hidden Input 3_Hidden Input 4_Hidden Input 5_Hidden Input 6_HiddenInput 7_HiddenInput 8_Hidden)F_Status_Hidden)Slave_Seq_No_Hidden) Slave_Crc2_Lo_Hidden)(Slave_Crc2_Hi_HiddenɀISGSTRUCT_AXISIN6` EncOutStruct ` UserHandle%@€nCouter @Ŕ fPosition @ fVelocityʀISGSTRUCT_AXISOUT6` EncOutStruct ` UserHandle%@€nCouter @Ŕ fPosition @ fVelocity cI/O - Configuration LM_DEMO_00˙˙˙˙Ž I/O DevicesŽ^Device 1 (EtherCAT)šŽK^, ^'\DEVICE\{8F5E46D7-528C-4733-B0C7-B54629FE2EA9}âzţŠ˙˙!) Device 1 (EtherCAT)pDevice 1 (EtherCAT) ˙˙×Inputs Ž& Frm0State˙0x0001 = 1. EtherCAT command not sent (NOP requested) 0x0002 = 2. EtherCAT command not sent (NOP requested) 0x0004 = 3. EtherCAT command not sent (NOP requested) ... 0x4000 = 15. EtherCAT command not sent (NOP requested) 0x8000 = complete frame not sent Žđ' Frm0WcState˙'0x0001 = wrong working counter of 1. EtherCAT command received 0x0002 = wrong working counter of 2. EtherCAT command received 0x0004 = wrong working counter of 3. EtherCAT command received ... 0x4000 = wrong working counter of 15. EtherCAT command received 0x8000 = complete frame missing Žň SlaveCount(Actual count of EtherCAT slaves received ŽúDevState˙#0x0001 = Link error 0x0002 = I/O locked after link error (I/O reset required) 0x0004 = Link error (redundancy adapter) 0x0008 = Missing one frame (redundancy mode) 0x0010 = Out of send resources (I/O reset required) 0x0020 = Watchdog triggered 0x0040 = Ethernet driver (miniport) not found 0x0080 = I/O reset active 0x0100 = At least one device in 'INIT' state 0x0200 = At least one device in 'PRE-OP' state 0x0400 = At least one device in 'SAFE-OP' state 0x0800 = At least one device indicates an error state 0x1000 = DC not in sync ŽţOutputs Ž(Frm0Ctrl˙80x0001 = prevent 1. EtherCAT command from sending (request NOP) 0x0002 = prevent 2. EtherCAT command from sending (request NOP) 0x0004 = prevent 3. EtherCAT command from sending (request NOP) ... 0x4000 = prevent 15. EtherCAT command from sending (request NOP) 0x8000 = prevent complete frame from sending Žđ) Frm0WcCtrl˙0x0001 = copy data with wrong working counter of 1. EtherCAT command 0x0002 = copy data with wrong working counter of 2. EtherCAT command 0x0004 = copy data with wrong working counter of 3. EtherCAT command ... 0x4000 = copy data with wrong working counter of 15. EtherCAT command ŽňDevCtrlŽţInfoData Ž ChangeCountInfo data change counter ŽDevIdDeviceId of EtherCAT device ŽAmsNetIdAmsNetId of EtherCAT deviceŽ/0 AmsNetId[0]AmsNetId of EtherCAT device Ž  AmsNetId[1]AmsNetId of EtherCAT device Ž   AmsNetId[2]AmsNetId of EtherCAT device Ž   AmsNetId[3]AmsNetId of EtherCAT device Ž   AmsNetId[4]AmsNetId of EtherCAT device Ž   AmsNetId[5]AmsNetId of EtherCAT device Ž    CfgSlaveCount#Count of configured EtherCAT slaves Ž Device 1-Image˙˙˙˙Ž,  Device 1-Image-Info˙˙˙˙Ž,  ˙˙˙‹#Drive 1 (E1250-EC-UC)&"ŽT‹#ŔInputs Ž,StateVarŽ4 StatusWordŽ7WarnWordŽ8DemandPositionŽ 9 ActualPositionŽ $:  DemandCurrentŽ (; Outputs Ž2 Control WordŽDMotion Command HeaderŽGMotion Command Par 1Ž J Motion Command Par 2Ž "K Motion Command Par 3Ž &L Motion Command Par 4Ž *M Motion Command Par 5Ž .N WcState Žó3WcState"0 = Data valid 1 = Data invalid ŽňCInfoData ŽState˙0x___1 = Slave in 'INIT' state 0x___2 = Slave in 'PREOP' state 0x___3 = Slave in 'BOOT' state 0x___4 = Slave in 'SAFEOP' state 0x___8 = Slave in 'OP' state 0x001_ = Slave signals error 0x002_ = Invalid vendorId, productCode... read 0x004_ = Initialization error occurred 0x010_ = Slave not present 0x020_ = Slave signals link error 0x040_ = Slave signals missing link 0x080_ = Slave signals unexpected link 0x100_ = Communication port A 0x200_ = Communication port B 0x400_ = Communication port C 0x800_ = Communication port D Ž AdsAddr2Complete ADS address to access the slave (mailbox)Žx@netId2Complete ADS address to access the slave (mailbox)Ž/0 netId[0]2Complete ADS address to access the slave (mailbox) Ž netId[1]2Complete ADS address to access the slave (mailbox) Ž  netId[2]2Complete ADS address to access the slave (mailbox) Ž !netId[3]2Complete ADS address to access the slave (mailbox) Ž "netId[4]2Complete ADS address to access the slave (mailbox) Ž #netId[5]2Complete ADS address to access the slave (mailbox) Ž $port2Complete ADS address to access the slave (mailbox) Ž %AoeNetId,Slave contains an ADS router with this NetIdŽ/0* AoeNetId[0],Slave contains an ADS router with this NetId Ž + AoeNetId[1],Slave contains an ADS router with this NetId Ž , AoeNetId[2],Slave contains an ADS router with this NetId Ž - AoeNetId[3],Slave contains an ADS router with this NetId Ž . AoeNetId[4],Slave contains an ADS router with this NetId Ž / AoeNetId[5],Slave contains an ADS router with this NetId Ž <00Chn0Slave has a drive channel Ž1Chn1Slave has a drive channel Ž2Chn2Slave has a drive channel Ž‹€& €&€" €"$$  é` ˙˙×é˙˙˙ƒh2ITNLÚ–DrivesDcOffDC unusedDcSyncDC for synchronization1  ``ţOp mode4  Â`Cycle time3  Â`ýCycle expInputsbStateVarQ StatusWordŽWarnWordŠDemandPositionActualPosition“ DemandCurrent˙˙˙˙ Input DemVel‹DemandVelocity˙˙˙˙ Input ActVelŽActualVelocityOutputsR Control Word°Motion Command Header@Motion Command Par 1AMotion Command Par 2BMotion Command Par 3CMotion Command Par 4DMotion Command Par 5ˆ E1250-EC-UCE1250 EC čč¸ 'ˆČdč’„‚Áę@B…hLAN-Verbindung 3 (TwinCAT-Intel PCI Ethernet Adapter - TwinCAT RT-Ethernet Intermediate Miniport Driver)Mappings Ž+LM_DEMO_00 (Standard) - Device 1 (EtherCAT) Ž, 2PĐŔPĐ0 `/2LM_DEMO_00 (Standard) - Device 1 (EtherCAT) - Info Ž, @°0NC - Configuration€ˆ@xźČCam - Configuration”ˆ,Line Motion Configurationžp@xźPLC - ConfigurationŽ@xź  LM_DEMO_00(Ž!VC:\Dokumente und Einstellungen\willi\Eigene Dateien\TwinCAT\LinMot_Demo\LM_DEMO_00.tpy´ť›J0LM_DEMO_00-Image˙˙˙˙Ž! ."Standard$Task of IEC1131 project "LM_DEMO_00"˙˙˙˙Ž"'ďčInputs Ž.CLM_1_NodeState_Variable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*LinMot 1 Node state*)Ž34LM_1_StateVarWordZVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*State Var Word*)Ž* 7LM_1_StatusWordWVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*Status Word*)Ž* 8 LM_1_WarnWordUVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*Warn Word*)Ž*9 LM_1_DemPosiVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*LM demand position monitoring*)Ž  : LM_1_ActPosiVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*LM actual position monitoring*)Ž  ; LM_1_DemCurrhVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*LM demand current monitoring*)Ž  <LM_1_AoENetIdArrUVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*AoE NetID*)Ž0(=LM_1_AoENetIdArr[0]UVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*AoE NetID*) Ž)( >LM_1_AoENetIdArr[1]UVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*AoE NetID*) Ž)) ?LM_1_AoENetIdArr[2]UVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*AoE NetID*) Ž)* @LM_1_AoENetIdArr[3]UVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*AoE NetID*) Ž)+ ALM_1_AoENetIdArr[4]UVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*AoE NetID*) Ž), BLM_1_AoENetIdArr[5]UVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*AoE NetID*) Ž)- %0Outputs Ž" D LM_1_CtrlWordXVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*Control Word*)Ž* G LM_MC_HeaderaVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*Motion Command Header*)Ž* HLM_MC_HeaderLowjVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*Motion Command Header low byte*)Ž) ILM_MC_HeaderHighkVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*Motion Command Header high byte*)Ž) J LM_1_MC_Par_1fVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*Motion Command parameter 1*)Ž  K LM_1_MC_Par_2fVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*Motion Command parameter 1*)Ž  L LM_1_MC_Par_3fVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*Motion Command parameter 1*)Ž  M LM_1_MC_Par_4fVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*Motion Command parameter 1*)Ž  N LM_1_MC_Par_5fVariable of IEC1131 project "LM_DEMO_00". Updated with Task "Standard" (*Motion Command parameter 1*)Ž  SYSTEM - Configuration.˙˙˙˙Ž@xźReal-Time Settings/˙˙˙˙ŽÄ P Additional TasksŽâ)ţ˙ŕ…ŸňůOhŤ‘+'łŮ0Ô `€hpŒŹ ČÔ( x„°Licenceyour titlewilli / >see: menu 'File/Properties...'FSysMan v2.10 b1379 (TwinCAT b1340)@ĐJóT‡ÉFwilli NTI AG XXXX-87FE-1EFC-XXXX