51@(494L"StandardLM_DEMO94L_________CALLTASKSTANDARD94L@EVAL2POINTMODEEval2PointMode1&&2'94L@` EVALMCPANELfbStart2PointMode R_TRIG@2''''fbStop2PointMode F_TRIG@2' ' ' '94L@`LM_DEMO94L@`ST_MC_GENMOTIONINTFMotionIntfHeader4! MotionIntfPar 4!94L@` ST_STATEVARLowByte5"HighByte5"94L@`ST_VAI_MOTION_CMDPos1&&46#. position, new target position, incremnet, .. Vel1&&56# max velocity of VAI motion Acc1&&66# acceleration of VAI motion Dec 1&&76# deceleration of VAI motion 94L@`CONCATSTR1STR2CONCAT94LdCTDM Variable for CD Edge DetectionCD Count Down on rising edge LOAD Load Start Value PV Start Value Q Counter reached 0 CV Current Counter Value 94LdCTUM Variable for CU Edge Detection CU Count Up RESET Reset Counter to 0 PV Counter Limit Q Counter reached the Limit CV Current Counter Value 94LdCTUD MU Variable for CU Edge Detection MD Variable for CD Edge Detection CU Count Up CD Count Down RESET Reset Counter to Null LOAD Load Start Value PV Start Value / Counter Limit QU Counter reached Limit QD  Counter reached Null CV  Current Counter Value 94LdDELETESTR LEN POS DELETE 94Ld F_TRIGM CLK 2'  Signal to detect Q 2'  Edge detected 94Ld FINDSTR1 STR2 FIND 94Ld INSERTSTR1 STR2 POS INSERT 94Ld LEFTSTR SIZE LEFT 94Ld LENSTRLEN94LdMIDSTRLENPOSMID94LdR_TRIGMCLK2' Signal to detect Q2' Edge detected 94LdREPLACESTR1STR2LPREPLACE94LdRIGHTSTRSIZERIGHT94LdRSSETRESET1Q194LdSEMAXCLAIMRELEASEBUSY94LdSRSET1RESETQ194LdTOFM internal variable StartTime internal variable IN? starts timer with falling edge, resets timer with rising edge PT time to pass, before Q is set Q 2 is FALSE, PT seconds after IN had a falling edge ET  elapsed time 94LdTONM internal variable StartTime internal variable IN1&&&&#&$&?&@? starts timer with rising edge, resets timer with falling edge PT1&&$&@ time to pass, before Q is set Q 1&&*0 is TRUE, PT seconds after IN had a rising edge ET  elapsed time 94LdTP StartTime internal variable IN! Trigger for Start of the Signal PT' The length of the High-Signal in 10ms Q The pulse ET & The current phase of the High-Signal 94Ld@VAR_GLOBAL_CONST@)94L`@VAR_GLOBAL_CONST_LIB@)94L`@VAR_GLOBAL_CONST_STRING@)94L`@VAR_GLOBAL_CONST_STRING_LIB@)94L` @VAR_GLOBAL@) Index7001P4!!!!! VVWXX Index7002P Index7003P Index7004P Index7005P Index7006P Index7007P Index7008P" Index7009P& bBool7001P*''6 bRetain7001P+ELM_1_NodeState IX% LinMot 1 Node state LM_1_StateVarWord  IW %1&"&>3 State Var WordLM_1_StatusWord  IW %1&"&> Status Word LM_1_WarnWord IW% Warn Word LM_1_DemPos ID%3 LM demand position monitoring LM_1_ActPos ID%3 LM actual position monitoring LM_1_DemCurr ID%3 LM demand current monitoring LM_1_CtrlWord?  QW %Control Word LM_MC_Header  QW %1&&8  Motion Command Header LM_MC_HeaderLow  QB % Motion Command Header low byte LM_MC_HeaderHigh  QB % ! Motion Command Header high byte LM_1_MC_Par_1 QD%3   Motion Command parameter 1 LM_1_MC_Par_2 QD%  Motion Command parameter 1 LM_1_MC_Par_3 QD% Motion Command parameter 1 LM_1_MC_Par_4 QD% Motion Command parameter 1 LM_1_MC_Par_5 QD% Motion Command parameter 1 LM_1_AoENetIdArr  (IB(% AoE NetID sArrMCStates ))d 'Not Ready To Switch On', (* 0 *) 'Switch On Disabled', (* 1 *) 'Ready To Switch On', (* 2 *) 'Setup Error', (* 3 *) 'Error', (* 4 *) 'HW Tests', (* 5 *) 'Ready To Operate', (* 6 *) 'Setup Operation Enabled', (* 7 *) 'Operation Enabled', (* 8 *) 'Homing', (* 9 *) 'Clearance Checking', (* 10 *) 'Going To Initial Position', (* 11 *) 'Aborting', (* 12 *) 'Freezing', (* 13 *) 'Error Behavior Quick Stop', (* 14 *) 'Going To Position', (* 15 *) 'Jogging +', (* 16 *) 'Jogging -', (* 17 *) 'Linearizing', (* 18 *) 'Phase Searching')Not Ready To Switch On)Switch On Disabled)Ready To Switch On) Setup Error)Error)HW Tests)Ready To Operate)Setup Operation Enabled)Operation Enabled)Homing)Clearance Checking)Going To Initial Position)Aborting)Freezing)Error Behavior Quick Stop)Going To Position) Jogging +) Jogging -) Linearizing)Phase Searching@, !"#$%&' 19 MainPrgState@`3    ( main programm state spStateVar  ST_StateVar@b3 ) spVAI_MC_Par ST_VAI_MOTION_CMD@f1&&&&&4&5&6&73 * TaskCounter@j3  + Task counter for debugging LM_DemPosFl0@n3 ,$LM demand position monitoring float LM_ActPosFl0@v3 -$LM actual position monitoring float LM_DemCurrFl0@~3 .#LM demand current monitoring float MC_Intf_RunMode@2'' ''/MC_Intf_RunModeState@1&& & & &&&!&%&%&(&:&:&=&A2'' 0MC_Intf_2P_Active@2'' 1MC_Intf_2P_RC_CNT@2MC_Intf_2P_FC_CNT@3MC_Intf_WaitTimePos1@1&&$4 1s MC_Intf_WaitTimePos2@1&@5 1s fbMC_Intf_WaitTimer TON@1&&&&&&&& &&#&#&$&$&$&)&*&?&?&@&@&@6MC_Intf_Pos_1Fl0.0@1&7 0mm MC_Intf_Pos_1@1&&8 0mm MC_Intf_MaxVel_1Fl?0.1?@1&9 0.1 m/s MC_Intf_MaxVel_1@1&&: 0m/s MC_Intf_Acc_1Fl?1.0?@1&; 1 m/s^2 MC_Intf_Acc_1@1&&< 0m/s MC_Intf_Dec_1Fl?1.0?@1&= 1 m/s^2 MC_Intf_Dec_1@1&&> 0m/s MC_Intf_Pos_2FlI@50.0I@@1&-? 50mm MC_Intf_Pos_2 @1&-&4@ 50mm MC_Intf_MaxVel_2Fl?0.1?@1&.A 0.1 m/s MC_Intf_MaxVel_2@1&.&5B 0m/s MC_Intf_Acc_2Fl?1.0?@1&/C 1 m/s^2 MC_Intf_Acc_2@1&/&6D 0m/s MC_Intf_Dec_2Fl?1.0?@1&0E 1 m/s^2 MC_Intf_Dec_2@1&0&7F 0m/s MC_Intf_Pos_IncFl$@10.0$@@G 10mm MC_Intf_Pos_Inc@H 0mm MC_Intf_MaxVel_IncFl?0.1?@I 0.1 m/s MC_Intf_MaxVel_Inc@J 0m/s MC_Intf_Acc_IncFl?1.0?@ K 1 m/s^2 MC_Intf_Acc_Inc@(L 0m/s MC_Intf_Dec_IncFl?1.0?@,M 1 m/s^2 MC_Intf_Dec_Inc@4N 0m/s CurrentVisu))P8O CurrentCaller))PaPCurrentLanguage))P QCurrentUsername))P RCurrentPassword))PS CurrentUserIDP TCurrentUserLevelP UCurrentPasswords P  WRTGraphic_Init_VarPYVisuDoExecuteUserlevelInitPZCurrentWriteAccessClientIdP[CurrentClientIdP\94L` @VAR_CONFIG@*˛J6ATANATAN@SRinit)SRinitSRinit@vEVAL2POINTMODE1EVAL2POINTMODEEVAL2POINTMODE@&<ju11151P1k 1 1 1 1] 111V11j11Z11111.1=1V1!1]!1-"1z"1&#1$1%1 &1&&1(1-(1)1J*1^*1-1q.1/1a0141Q51h617181:1;1;1=1=1>1>1?1L@1gA1B1B1G1>Y~cS5OLgZJXo@UzX, _config_init _config_init _config_init@nearizinSEMAinit'SEMAinitSEMAinit@wLENLENLEN@vST_MC_GENMOTIONINTFinit4ST_MC_GENMOTIONINTFinittST_MC_GENMOTIONINTFinit@MLEFTLEFTLEFT@vTPinit/TPinitTPinit@wCONCATCONCATCONCAT@hv _get_address _get_address_get_address@ce Check EVALMCPANEL2 EVALMCPANEL EVALMCPANEL@'l22%2Z2A2O 2Z 2x 2 2 22222221225HSf@! 1LOG LOG@ST_VAI_MOTION_CMDinit6ST_VAI_MOTION_CMDinit$ST_VAI_MOTION_CMDinit@iREPLACE"REPLACEREPLACE@w R_TRIGinit! R_TRIGinit R_TRIGinit@wCTDinitCTDinitCTDinit@wCTUinitCTUinitCTUinit@v_CALLTASKSTANDARD0_CALLTASKSTANDARD_CALLTASKSTANDARD@0I ,3real_to_string real_to_string@CTDCTDCTD@hvCTUCTUCTU@w string_to_any string_to_any@(TANTAN@0SEMA&SEMASEMA@v any_to_string any_to_string@HTONinit-TONinitTONinit@vST_STATEVARinit5ST_STATEVARinitST_STATEVARinit@XLN LN@  _global_init _global_init _global_init@\Data\TwTOFinit+TOFinitTOFinit@wASINASIN@INSERTINSERTINSERT@v F_TRIGinit F_TRIGinit F_TRIGinit@vRS$RSRS@wSR(SRSR@wFINDFINDFIND@vTP.TPTP@vDELETEDELETEDELETE@wTOF*TOFTOF@vTON,TONTON@wCTUDinitCTUDinitCTUDinit@wF_TRIGF_TRIGF_TRIG@wLM_DEMO3LM_DEMO$ LM_DEMO@ 333w393H3W3 3w 3 3 333 233APj2EXP EXP@8RSinit%RSinitRSinit@vMIDMIDMID@vCTUDCTUDCTUD@vEXPT EXPT@string_to_realstring_to_real@`ACOSACOS@@DR_TRIG R_TRIGR_TRIG@vRIGHT#RIGHTRIGHT@w _get_identity _get_identity_get_identity@* 13 *) EVAL2POINTMODE94LEVAL2POINTMODEUSRWV]5h@h@3C33;y.)P3.)P.!/)P3и3;)P34d8h@h$U}fErE?EE߿EE}fE fEm}mE@Dh.Ah$U}fErE?EE߿EE}fE fEm}mELPhj@h$U}fErE?EE߿EE}fE fEm}mEX\hj@h$U}fErE?EE߿EE}fE fEm}mEd@SPXC[LSPXC[XSPXC[dSPXC [f$3иD3;3ЍR # Z:иR3fRи#Z;Z#4Y3.)P.!/)P3иt3;)P34dhh@h$U}fErE?EE߿EE}fE fEm}mEpth.Ah$U}fErE?EE߿EE}fE fEm}mE|hj@h$U}fErE?EE߿EE}fE fEm}mEhj@h$U}fErE?EE߿EE}fE fEm}mEpSPXC[|SPXC[SPXC[SPXC [f$3и3;3ЍR # Z:иR3fRи#Z;Z#4N3.)P.%/)Ph@C^_Z[.drelocs@X $:BIU]dpuzfnV^ #9BRi"9PWau]eMT]kt)QY`lqv~ .comments _config_init94L  _config_init USRWV^_Z[.drelocs@ .comments_epilog94L_epilog  ?DKRZahw  ).<TJt$`@r&Z &+29DKahpw#*29@Vl!(29Jb    ) 9 N e l v  r z b i r  > f n u y iq-6LUe| *9PU]dr;[ky 29Zd~$D] #)9TANATANASINACOSLN LOG EXP EXPT real_to_string string_to_realstring_to_anyany_to_stringCONCATCTDCTDinitCTUCTUinitCTUDCTUDinitDELETEF_TRIGF_TRIGinitFINDINSERTLEFTLENMIDR_TRIG R_TRIGinit!REPLACE"RIGHT#RS$RSinit%SEMA&SEMAinit'SR(SRinit)TOF*TOFinit+TON,TONinit-TP.TPinit/ST_MC_GENMOTIONINTFinit94LST_MC_GENMOTIONINTFinitttUSRWV]53fC3С;*3PXD;и£^_Z[.drelocs@ +@O]j .comments _get_address94L _get_addressUE%@.drelocs@ .commentsC:\TWINCAT\PLC\LIB\STANDARD.OBJ94LC:\TWINCAT\PLC\LIB\STANDARD.OBJ3.drelocs@.bss.nrelocs .comments.data EVALMCPANEL94L EVALMCPANEL  USRWVPР:43PhР:43333;:3;ăP^_Z[.drelocs@ ,KV]bjq .commentsST_VAI_MOTION_CMDinit94LST_VAI_MOTION_CMDinit$$USRWV]3C3C3C3C ^_Z[.drelocs@ .comments_CALLTASKSTANDARD94L_CALLTASKSTANDARDUSRWV^_Z[.drelocs@  .commentsST_STATEVARinit94LST_STATEVARinitUSRWV]3C3C^_Z[.drelocs@ .comments _global_init94L  _global_init  USRWVEPPPPl3t %3f3f3f333?f$3f$3$3$3$3$3$3$3$3С;)3PXи£V3i)PNot Ready To Switch OnX_f^Vi)PSwitch On DisabledX_f^Vi)PReady To Switch OnX_f^Vi)P Setup ErrorX_f^Vi)PErrorX_^Vi)P HW TestsX_^Vi)PReady To OperateX_^Vi)PSetup Operation EnabledX_f^Vi)POperation EnabledX_^V i)PHomingX_f^V i)PClearance CheckingX_f^V i)PGoing To Initial PositionX_^V i)P AbortingX_^V i)P FreezingX_^Vi)PError Behavior Quick StopX_^Vi)PGoing To PositionX_^Vi)P Jogging +X_^Vi)P Jogging -X_^Vi)P LinearizingX_f^Vi)PPhase SearchingX_f^3f33333333!%P)P83@h?h$D3LP3X\3dhI@h$h ph?h$t3|33h$@h$3h?h$333VPX_^VPX_^VPX_^VCPX_^VlPX_^3f3f3С;;ViPX_^и£ABC3GE^_Z[.drelocs@m &-4CLU]elsz b@r,X >&^-4<CKRhr "8Nd{ .comments_header94L _header44u >LM_DEMO94LLM_DEMO$$USRWVи33f;>$3fиf3f;P$h6?h-C$P$h6?h-C$P$hMbP?h$^_Z[.drelocs@ (=DLS]n  .comments _code_init94L  _code_initUSRWV@`@ @$@d@@@=E@@@ @f@f@f@f@f@7P'P+`P/`@&^_Z[3@=3 @=Z 0         $.drelocs@"  !'+15A *0@FV\lr .commentsEnd of function _get_identity94L  _get_identity4.drelocs@ .commentsCode:386 @````@@T94L51@