﻿<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<RSLogix5000Content SchemaRevision="1.0" SoftwareRevision="17.00" TargetName="Absolute_Position" TargetType="Controller" ContainsContext="false" Owner="oksana, Microsoft" ExportDate="Sun Mar 25 21:21:13 2012" ExportOptions="DecoratedData AllProjDocTrans">
<Controller Use="Target" Name="Absolute_Position" ProcessorType="PowerFlex 700S 2" MajorRev="17" MinorRev="2" TimeSlice="20" ShareUnusedTimeSlice="1" ProjectCreationDate="Tue Jul 15 10:13:26 2008" LastModifiedDate="Tue Jul 15 10:13:49 2008" SFCExecutionControl="CurrentActive" SFCRestartPosition="MostRecent"
 SFCLastScan="DontScan" ProjectSN="16#0000_0000" MatchProjectToController="false" InhibitAutomaticFirmwareUpdate="0">
<Description>
<![CDATA[Absolute position support for DriveLogix Motion]]>
</Description>
<RedundancyInfo Enabled="false" KeepTestEditsOnSwitchOver="false" IOMemoryPadPercentage="90" DataTablePadPercentage="50"/>
<Security Code="0"/>
<SafetyInfo/>
<DataTypes/>
<Modules>
<Module Name="Controller" CatalogNumber="DriveLogix5730" Vendor="1" ProductType="14" ProductCode="52" Major="17" Minor="2" ParentModule="Controller" ParentModPortId="1" Inhibited="false" MajorFault="false"
>
<EKey State="ExactMatch"/>
<Ports>
<Port Id="1" Address="0" Type="DriveLogix5730Controller" Upstream="false">
<Bus/>
</Port>
</Ports>
</Module>
<Module Name="Drive" CatalogNumber="PowerFlex 700S 2-400V" Vendor="1" ProductType="125" ProductCode="76" Major="2" Minor="3" ParentModule="Controller" ParentModPortId="1" Inhibited="false" MajorFault="false"
>
<EKey State="CompatibleModule"/>
<Ports>
<Port Id="1" Address="2" Type="DriveLogixAPVPL" Upstream="true"/>
</Ports>
<Communications CommMethod="536870916">
<ConfigData ConfigSize="76">
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</ConfigData>
<Connections>
<Connection Name="MotionAsync" RPI="25000" Type="MotionAsync" InputCxnPoint="0" OutputCxnPoint="0" OutputSize="0" InputSize="0" EventID="0" ProgrammaticallySendEventTrigger="false"/>
<Connection Name="MotionEvent" RPI="1000000" Type="MotionEvent" InputCxnPoint="0" OutputCxnPoint="0" OutputSize="0" InputSize="0" EventID="0" ProgrammaticallySendEventTrigger="false"/>
<Connection Name="MotionSync" RPI="2000" Type="MotionSync" InputCxnPoint="0" OutputCxnPoint="0" OutputSize="0" InputSize="0" EventID="0" ProgrammaticallySendEventTrigger="false"/>
<Connection Name="Output" RPI="4000" Type="Output" InputCxnPoint="0" OutputCxnPoint="0" OutputSize="0" InputSize="0" EventID="0" ProgrammaticallySendEventTrigger="false">
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<Data Format="Decorated"><Structure DataType="AB:PF700S_2_MOTIONCONTROL:I:0">
<DataValueMember Name="LogicStatus" DataType="DINT" Radix="Binary" Value="2#0000_0000_0000_0000_0000_0000_0000_0000"/>
<DataValueMember Name="Active" DataType="BOOL" Value="0"/>
<DataValueMember Name="Running" DataType="BOOL" Value="0"/>
<DataValueMember Name="CommandDir" DataType="BOOL" Value="0"/>
<DataValueMember Name="ActualDir" DataType="BOOL" Value="0"/>
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<DataValueMember Name="Jogging" DataType="BOOL" Value="0"/>
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<DataValueMember Name="Alarm" DataType="BOOL" Value="0"/>
<DataValueMember Name="FlashMode" DataType="BOOL" Value="0"/>
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<DataValueMember Name="MCCommis" DataType="BOOL" Value="0"/>
<DataValueMember Name="SpdCommis" DataType="BOOL" Value="0"/>
<DataValueMember Name="HwEnableOn" DataType="BOOL" Value="0"/>
<DataValueMember Name="TorqueMode" DataType="BOOL" Value="0"/>
<DataValueMember Name="SpeedMode" DataType="BOOL" Value="0"/>
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<Data Format="Decorated"><Structure DataType="AB:PF700S_2_MOTIONCONTROL:O:0">
<ArrayMember Name="UserDefinedRealData" DataType="REAL" Dimensions="12" Radix="Float">
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</Data>
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</Connection>
</Connections>
</Communications>
<ExtendedProperties><public><DriveConfigCode>0</DriveConfigCode><CommModulePort>0</CommModulePort><CommModuleMajorRev>0</CommModuleMajorRev><CommModuleMinorRev>0</CommModuleMinorRev><HarmonyPath>none</HarmonyPath><ConfigID>107</ConfigID><AOPVersion>100302200</AOPVersion><LgxVersion>17</LgxVersion></public></ExtendedProperties>
</Module>
<Module Name="Local" CatalogNumber="CompactBus" Vendor="1" ProductType="12" ProductCode="71" Major="17" Minor="1" ParentModule="Controller" ParentModPortId="1" Inhibited="true" MajorFault="true"
>
<EKey State="ExactMatch"/>
<Ports>
<Port Id="1" Address="0" Type="Compact" Upstream="false">
<Bus Size="31"/>
</Port>
<Port Id="2" Address="3" Type="CompactVirtualAdapter" Upstream="true"/>
</Ports>
<Communications CommMethod="805306369">
<Connections>
<Connection Name="Output" RPI="2000" Type="Input" EventID="0" ProgrammaticallySendEventTrigger="false"/>
</Connections>
</Communications>
<ExtendedProperties><public><ConfigID>900</ConfigID></public></ExtendedProperties>
</Module>
</Modules>
<AddOnInstructionDefinitions/>
<Tags>
<Tag Name="Absolute" TagType="Base" DataType="AXIS_GENERIC">
<Data Format="Axis">
<AxisParameters MotionGroup="Grouped_Axis" MotionModule="Drive:Ch0" ConversionConstant="1777247.5" OutputCamExecutionTargets="0" AxisState="Axis-Ready" PositionUnits="Position Units" AverageVelocityTimebase="0.25" RotaryAxis="Linear" PositionUnwind="8000" HomeMode="Active" HomeDirection="Bi-directional Forward"
 HomeSequence="Immediate" HomeConfigurationBits="16#0000_0000" HomePosition="0.0" HomeOffset="0.0" HomeSpeed="0.0" HomeReturnSpeed="0.0" MaximumSpeed="29.0" MaximumAcceleration="100.0" MaximumDeceleration="100.0" ProgrammedStopMode="Fast Stop" MasterInputConfigurationBits="1"
 MasterPositionFilterBandwidth="0.1" AxisType="Servo" MaximumAccelerationJerk="344.82758" MaximumDecelerationJerk="344.82758" DynamicsConfigurationBits="7"/>
</Data>
</Tag>
<Tag Name="Actual_Position" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 00 00</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="0.0"/>
</Data>
</Tag>
<Tag Name="Axis_Conversion_Constant" TagType="Base" DataType="REAL" Radix="Float">
<Data>FC F2 D8 49</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="1777247.5"/>
</Data>
</Tag>
<Tag Name="Current_Positon_Counts" TagType="Base" DataType="DINT" Radix="Decimal">
<Data>00 00 00 00</Data>
<Data Format="Decorated"><DataValue DataType="DINT" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="Err_Tmr" TagType="Base" DataType="TIMER">
<Data>00 00 00 00 64 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Structure DataType="TIMER">
<DataValueMember Name="PRE" DataType="DINT" Radix="Decimal" Value="100"/>
<DataValueMember Name="ACC" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EN" DataType="BOOL" Value="0"/>
<DataValueMember Name="TT" DataType="BOOL" Value="0"/>
<DataValueMember Name="DN" DataType="BOOL" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="Grouped_Axis" TagType="Base" DataType="MOTION_GROUP">
<Data Format="MotionGroup">
<MotionGroupParameters GroupType="Warning Enabled" CoarseUpdatePeriod="4000" PhaseShift="0" GeneralFaultType="Non Major Fault" AutoTagUpdate="Enabled"/>
</Data>
</Tag>
<Tag Name="Home1" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="Home2" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="Home_Position_Stegmann_Counts" TagType="Alias" Radix="Decimal" AliasFor="Drive:I.UserDefinedIntegerData[1]"/>
<Tag Name="Init_First_Scan" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="Init_MRP" TagType="Base" DataType="MOTION_INSTRUCTION">
<Data>00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
<DataValueMember Name="FLAGS" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EN" DataType="BOOL" Value="0"/>
<DataValueMember Name="DN" DataType="BOOL" Value="0"/>
<DataValueMember Name="ER" DataType="BOOL" Value="0"/>
<DataValueMember Name="PC" DataType="BOOL" Value="0"/>
<DataValueMember Name="IP" DataType="BOOL" Value="0"/>
<DataValueMember Name="AC" DataType="BOOL" Value="0"/>
<DataValueMember Name="ACCEL" DataType="BOOL" Value="0"/>
<DataValueMember Name="DECEL" DataType="BOOL" Value="0"/>
<DataValueMember Name="ERR" DataType="INT" Radix="Decimal" Value="0"/>
<DataValueMember Name="STATUS" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="STATE" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="SEGMENT" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EXERR" DataType="SINT" Radix="Decimal" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="Init_MSO" TagType="Base" DataType="MOTION_INSTRUCTION">
<Data>00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
<DataValueMember Name="FLAGS" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EN" DataType="BOOL" Value="0"/>
<DataValueMember Name="DN" DataType="BOOL" Value="0"/>
<DataValueMember Name="ER" DataType="BOOL" Value="0"/>
<DataValueMember Name="PC" DataType="BOOL" Value="0"/>
<DataValueMember Name="IP" DataType="BOOL" Value="0"/>
<DataValueMember Name="AC" DataType="BOOL" Value="0"/>
<DataValueMember Name="ACCEL" DataType="BOOL" Value="0"/>
<DataValueMember Name="DECEL" DataType="BOOL" Value="0"/>
<DataValueMember Name="ERR" DataType="INT" Radix="Decimal" Value="0"/>
<DataValueMember Name="STATUS" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="STATE" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="SEGMENT" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EXERR" DataType="SINT" Radix="Decimal" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="Stegman_Feedback" TagType="Alias" Radix="Decimal" AliasFor="Drive:I.UserDefinedIntegerData[0]"/>
</Tags>
<Programs>
<Program Name="MainProgram" TestEdits="false" MainRoutineName="MainRoutine" Disabled="false">
<Tags/>
<Routines>
<Routine Name="MainRoutine" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Comment>
<![CDATA[
All information provided  -- No warranty or implied merchantability.
Refer to the RSLogix 5000 End User License Agreement (EULA) in the Release Notes.


----------------------------------------------------

Find the current Stegman Position and calculate current absolute 

Stegmann_Feedback is an alias for UserDefinedIntegerData[1] =P639 [ToDriveLogix13] linked to p250 [FB Opt0 Posit]

Home_Position_Stegmann_Counts is an alias for UserDefinedIntegerData[2] = P639 [ToDriveLogix14] Linked to  P757 [Abs Posit Offset].

Current_Position_Counts = number of counts from home position

Axis_Conversion_Counts = The counts per unit entered into the Axis configuration

Actual_Position =  Current_Position_Counts / Axis_Conversion Constant]]>
</Comment>
<Text>
<![CDATA[[XIO(Init_First_Scan) GSV(axis,Absolute,ConversionConstant,Axis_Conversion_Constant) ,SUB(Stegman_Feedback,Home_Position_Stegmann_Counts,Current_Positon_Counts) ,DIV(Current_Positon_Counts,Axis_Conversion_Constant,Actual_Position) ];]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Comment>
<![CDATA[If this is the first time through the routine after power up or program mode to run mode.
Clear the homing latch bits
]]>
</Comment>
<Text>
<![CDATA[XIO(Init_First_Scan)OTU(Home1)OTU(Home2);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Comment>
<![CDATA[Enable the axis to hold position
]]>
</Comment>
<Text>
<![CDATA[XIO(Err_Tmr.TT)XIO(Drive:I.Faulted)XIO(Absolute.DriveEnableStatus)XIC(Drive:I.Ready)[MSO(Absolute,Init_MSO) ,OTL(Home1) ];]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Comment>
<![CDATA[If the Motion Servo On instruction errors time delay and it will attempt again
]]>
</Comment>
<Text>
<![CDATA[XIC(Init_MSO.ER)XIO(Err_Tmr.DN)[TON(Err_Tmr,?,?) ,OTU(Home1) ];]]>
</Text>
</Rung>
<Rung Number="4" Type="N">
<Comment>
<![CDATA[When the Axis is on and enabled. Redefine the position to the actual position
]]>
</Comment>
<Text>
<![CDATA[XIC(Absolute.DriveEnableStatus)XIC(Absolute.ServoActionStatus)XIC(Home1)XIO(Home2)[MRP(Absolute,Init_MRP,Absolute,Actual,Actual_Position) ,OTL(Home2) ];]]>
</Text>
</Rung>
<Rung Number="5" Type="N">
<Text>
<![CDATA[OTE(Init_First_Scan);]]>
</Text>
</Rung>
</RLLContent>
</Routine>
</Routines>
</Program>
</Programs>
<Tasks>
<Task Name="MainTask" Type="CONTINUOUS" Priority="10" Watchdog="500" DisableUpdateOutputs="false" InhibitTask="false">
<ScheduledPrograms>
<ScheduledProgram Name="MainProgram"/>
</ScheduledPrograms>
</Task>
</Tasks>
<CommPorts>
<SerialPort Channel="0" BaudRate="19200" Parity="No Parity" DataBits="8 Bits of Data" StopBits="1 Stop Bit" ComDriverId="DF1" RTSOffDelay="0" RTSSendDelay="0" ControlLine="No Handshake" RemoteModeChangeFlag="false" ModeChangeAttentionChar="27"
 SystemModeCharacter="83" UserModeCharacter="85" DCDWaitDelay="0">
<ASCII XONXOFFEnable="false" DeleteMode="0" EchoMode="0" TerminationChars="65293" AppendChars="2573" BufferSize="82"/>
<DF1 DuplicateDetection="true" ErrorDetection="BCC Error" EmbeddedResponseEnable="Autodetect" DF1Mode="Pt to Pt" ACKTimeout="50" NAKReceiveLimit="3" ENQTransmitLimit="3" TransmitRetries="3" StationAddress="0" ReplyMessageWait="5" PollingMode="Message Based (slave can initiate messages)"
 MasterMessageTransmit="Between station polls" NormalPollNodeFile="&lt;NA&gt;" NormalPollGroupSize="0" PriorityPollNodeFile="&lt;NA&gt;" ActiveStationFile="&lt;NA&gt;" SlavePollTimeout="3000" EOTSuppression="0" MaxStationAddress="31" TokenHoldFactor="1" EnableStoreFwd="false" StoreFwdFile="&lt;NA&gt;"
/>
</SerialPort>
</CommPorts>
<CST MasterID="0"/>
<WallClockTime LocalTimeAdjustment="0" TimeZone="0"/>
<Trends/>
</Controller>
</RSLogix5000Content>
