﻿<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<RSLogix5000Content SchemaRevision="1.0" SoftwareRevision="17.00" TargetName="Coord_Motion_Blend_Circle_Diamond_Square" TargetType="Controller" ContainsContext="false" Owner="oksana, Microsoft" ExportDate="Sun Mar 25 21:24:25 2012" ExportOptions="DecoratedData AllProjDocTrans">
<Controller Use="Target" Name="Coord_Motion_Blend_Circle_Diamond_Square" ProcessorType="1756-L63" MajorRev="17" MinorRev="2" TimeSlice="10" ShareUnusedTimeSlice="1" ProjectCreationDate="Tue Jul 15 10:16:44 2008" LastModifiedDate="Tue Jul 15 10:16:50 2008" SFCExecutionControl="CurrentActive" SFCRestartPosition="MostRecent"
 SFCLastScan="DontScan" CommPath="AB_PCIC-1\3\Backplane\1" ProjectSN="16#0000_0000" MatchProjectToController="false" InhibitAutomaticFirmwareUpdate="0">
<Description>
<![CDATA[Example for Coordinated Motion Circle-Diamond-Square, using MCLM, MCCM.]]>
</Description>
<RedundancyInfo Enabled="false" KeepTestEditsOnSwitchOver="false" IOMemoryPadPercentage="90" DataTablePadPercentage="0"/>
<Security Code="0"/>
<SafetyInfo/>
<DataTypes>
<DataType Name="MOTION_PATH_udt" Family="NoFamily" Class="User">
<Members>
<Member Name="InstructionType" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false"/>
<Member Name="MoveType" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false"/>
<Member Name="CircleType" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false"/>
<Member Name="Direction" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false"/>
<Member Name="Position" DataType="REAL" Dimension="3" Radix="Float" Hidden="false"/>
<Member Name="ViaCenterRadius" DataType="REAL" Dimension="3" Radix="Float" Hidden="false"/>
</Members>
</DataType>
</DataTypes>
<Modules>
<Module Name="Local" CatalogNumber="1756-L63" Vendor="1" ProductType="14" ProductCode="56" Major="17" Minor="2" ParentModule="Local" ParentModPortId="1" Inhibited="false" MajorFault="true"
>
<EKey State="CompatibleModule"/>
<Ports>
<Port Id="1" Address="1" Type="ICP" Upstream="false">
<Bus Size="10"/>
</Port>
</Ports>
</Module>
</Modules>
<AddOnInstructionDefinitions/>
<Tags>
<Tag Name="CommandExecuting" 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="CS_XY" TagType="Base" DataType="COORDINATE_SYSTEM">
<Data Format="CoordinateSystem">
<CoordinateSystemParameters MotionGroupInstance="HyTechMotion" SystemType="Cartesian" Dimension="2" Axes="XAxisV YAxisV" MaximumPendingMoves="1" CoordinationMode="Primary Primary" CoordinationUnits="Coordination Units" ConversionRatioNumerator="1.0 1.0" ConversionRatioDenominator="1 1" CoordinateSystemAutoTagUpdate="Enabled" MaximumSpeed="3.0"
 MaximumAcceleration="20.0" MaximumDeceleration="20.0" ActualPositionTolerance="0.005" CommandPositionTolerance="0.005" TransformDimension="0" LinkLength1="0.0" LinkLength2="0.0" ZeroAngleOffset1="0.0" ZeroAngleOffset2="0.0" ZeroAngleOffset3="0.0" BaseOffset1="0.0"
 BaseOffset2="0.0" BaseOffset3="0.0" EndEffectorOffset1="0.0" EndEffectorOffset2="0.0" EndEffectorOffset3="0.0" DynamicsConfigurationBits="7" MaximumAccelerationJerk="133.33333" MaximumDecelerationJerk="133.33333"/>
</Data>
</Tag>
<Tag Name="CycleStart" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="CycleStop" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="End_Of_File" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>01</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="1"/>
</Data>
</Tag>
<Tag Name="Execute_Command" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="ExecutionComplete" 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="ExecutionError" 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="ExecutionStatus" TagType="Base" DataType="DINT" Dimensions="4" Radix="Decimal">
<Data>00 00 00 00 28 00 00 00 28 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Array DataType="DINT" Dimensions="4" Radix="Decimal">
<Element Index="[0]" Value="0"/>
<Element Index="[1]" Value="40"/>
<Element Index="[2]" Value="40"/>
<Element Index="[3]" Value="0"/>
</Array>
</Data>
</Tag>
<Tag Name="Func_CDS_Selected" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>01</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="1"/>
</Data>
</Tag>
<Tag Name="HyTechMotion" TagType="Base" DataType="MOTION_GROUP">
<Data Format="MotionGroup">
<MotionGroupParameters GroupType="Warning Enabled" CoarseUpdatePeriod="6000" PhaseShift="0" GeneralFaultType="Non Major Fault" AutoTagUpdate="Enabled"/>
</Data>
</Tag>
<Tag Name="Program_Selection" 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="RUNPROG_CDS" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="Scale1Selected" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="Scale2Selected" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="Scale3Selected" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="Scale4Selected" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>01</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="1"/>
</Data>
</Tag>
<Tag Name="StartIndex" 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="TermTypeSelect" TagType="Base" DataType="DINT" Radix="Decimal">
<Data>01 00 00 00</Data>
<Data Format="Decorated"><DataValue DataType="DINT" Radix="Decimal" Value="1"/>
</Data>
</Tag>
<Tag Name="user_CyStart_PB" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="user_input" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="XAxisV" TagType="Base" DataType="AXIS_VIRTUAL">
<Data Format="Axis">
<AxisParameters MotionGroup="HyTechMotion" ConversionConstant="8000.0" 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" MaximumSpeed="3.0" MaximumAcceleration="20.0" MaximumDeceleration="20.0" ProgrammedStopMode="Fast Stop" MasterInputConfigurationBits="1" MasterPositionFilterBandwidth="0.1" MaximumAccelerationJerk="133.33333" MaximumDecelerationJerk="133.33333"
 DynamicsConfigurationBits="7"/>
</Data>
</Tag>
<Tag Name="YAxisV" TagType="Base" DataType="AXIS_VIRTUAL">
<Data Format="Axis">
<AxisParameters MotionGroup="HyTechMotion" ConversionConstant="8000.0" 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" MaximumSpeed="3.0" MaximumAcceleration="20.0" MaximumDeceleration="20.0" ProgrammedStopMode="Fast Stop" MasterInputConfigurationBits="1" MasterPositionFilterBandwidth="0.1" MaximumAccelerationJerk="133.33333" MaximumDecelerationJerk="133.33333"
 DynamicsConfigurationBits="7"/>
</Data>
</Tag>
</Tags>
<Programs>
<Program Name="Example_XY_Coordinate_Motion" TestEdits="false" MainRoutineName="Run_Example_CirDSq" Disabled="false">
<Tags>
<Tag Name="CircleDiamondSquareCommandTolerance" TagType="Base" DataType="REAL" Radix="Float">
<Data>0A D7 23 3C</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="0.01"/>
</Data>
</Tag>
<Tag Name="CircleDiamondSquareComplete" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="CircleDiamondSquareDrawSpeed" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 40 40</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="3.0"/>
</Data>
</Tag>
<Tag Name="CircleDiamondSquarePath" TagType="Base" DataType="MOTION_PATH_udt" Dimensions="17">
<Description>
<![CDATA[CirDimSquare Data]]>
</Description>
<Comments>
<Comment Operand="[0]">
<![CDATA[Pt. 0= (0.0,0.5) Incrimental
(x, y)        
per Start at Absolute (0,0)]]>
</Comment>
<Comment Operand="[1]">
<![CDATA[Shapes= Incremental moves]]>
</Comment>
<Comment Operand="[2]">
<![CDATA[Pts. 2->5 = Diamond
[Incrimental moves]]]>
</Comment>
<Comment Operand="[6]">
<![CDATA[Pt. 6= (0,0) Absolute]]>
</Comment>
<Comment Operand="[7]">
<![CDATA[Pts. 7->10=Square
[Incrimental moves]]]>
</Comment>
<Comment Operand="[11]">
<![CDATA[Pt. 11= (0,0) Absolute]]>
</Comment>
<Comment Operand="[13]">
<![CDATA[Pt 13= CW full Circle]]>
</Comment>
<Comment Operand="[14]">
<![CDATA[Pt 14= CCW full Circle]]>
</Comment>
<Comment Operand="[15]">
<![CDATA[Pt. 15= (0,0.25) Absolute]]>
</Comment>
<Comment Operand="[16]">
<![CDATA[Pt. 16= (0,0) Absolute]]>
</Comment>
</Comments>
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<Data Format="Decorated"><Array DataType="MOTION_PATH_udt" Dimensions="17">
<Element Index="[0]">
<Structure DataType="MOTION_PATH_udt">
<DataValueMember Name="InstructionType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="MoveType" DataType="SINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="CircleType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="Direction" DataType="SINT" Radix="Decimal" Value="0"/>
<ArrayMember Name="Position" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.5"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
<ArrayMember Name="ViaCenterRadius" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
</Structure>
</Element>
<Element Index="[1]">
<Structure DataType="MOTION_PATH_udt">
<DataValueMember Name="InstructionType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="MoveType" DataType="SINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="CircleType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="Direction" DataType="SINT" Radix="Decimal" Value="0"/>
<ArrayMember Name="Position" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.5"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
<ArrayMember Name="ViaCenterRadius" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
</Structure>
</Element>
<Element Index="[2]">
<Structure DataType="MOTION_PATH_udt">
<DataValueMember Name="InstructionType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="MoveType" DataType="SINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="CircleType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="Direction" DataType="SINT" Radix="Decimal" Value="0"/>
<ArrayMember Name="Position" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="1.0"/>
<Element Index="[1]" Value="1.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
<ArrayMember Name="ViaCenterRadius" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
</Structure>
</Element>
<Element Index="[3]">
<Structure DataType="MOTION_PATH_udt">
<DataValueMember Name="InstructionType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="MoveType" DataType="SINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="CircleType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="Direction" DataType="SINT" Radix="Decimal" Value="0"/>
<ArrayMember Name="Position" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="1.0"/>
<Element Index="[1]" Value="-1.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
<ArrayMember Name="ViaCenterRadius" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
</Structure>
</Element>
<Element Index="[4]">
<Structure DataType="MOTION_PATH_udt">
<DataValueMember Name="InstructionType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="MoveType" DataType="SINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="CircleType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="Direction" DataType="SINT" Radix="Decimal" Value="0"/>
<ArrayMember Name="Position" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="-1.0"/>
<Element Index="[1]" Value="-1.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
<ArrayMember Name="ViaCenterRadius" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
</Structure>
</Element>
<Element Index="[5]">
<Structure DataType="MOTION_PATH_udt">
<DataValueMember Name="InstructionType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="MoveType" DataType="SINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="CircleType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="Direction" DataType="SINT" Radix="Decimal" Value="0"/>
<ArrayMember Name="Position" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="-1.0"/>
<Element Index="[1]" Value="1.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
<ArrayMember Name="ViaCenterRadius" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
</Structure>
</Element>
<Element Index="[6]">
<Structure DataType="MOTION_PATH_udt">
<DataValueMember Name="InstructionType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="MoveType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="CircleType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="Direction" DataType="SINT" Radix="Decimal" Value="0"/>
<ArrayMember Name="Position" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
<ArrayMember Name="ViaCenterRadius" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
</Structure>
</Element>
<Element Index="[7]">
<Structure DataType="MOTION_PATH_udt">
<DataValueMember Name="InstructionType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="MoveType" DataType="SINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="CircleType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="Direction" DataType="SINT" Radix="Decimal" Value="0"/>
<ArrayMember Name="Position" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="2.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
<ArrayMember Name="ViaCenterRadius" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
</Structure>
</Element>
<Element Index="[8]">
<Structure DataType="MOTION_PATH_udt">
<DataValueMember Name="InstructionType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="MoveType" DataType="SINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="CircleType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="Direction" DataType="SINT" Radix="Decimal" Value="0"/>
<ArrayMember Name="Position" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="2.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
<ArrayMember Name="ViaCenterRadius" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.55"/>
<Element Index="[1]" Value="-0.38"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
</Structure>
</Element>
<Element Index="[9]">
<Structure DataType="MOTION_PATH_udt">
<DataValueMember Name="InstructionType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="MoveType" DataType="SINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="CircleType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="Direction" DataType="SINT" Radix="Decimal" Value="0"/>
<ArrayMember Name="Position" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="-2.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
<ArrayMember Name="ViaCenterRadius" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
</Structure>
</Element>
<Element Index="[10]">
<Structure DataType="MOTION_PATH_udt">
<DataValueMember Name="InstructionType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="MoveType" DataType="SINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="CircleType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="Direction" DataType="SINT" Radix="Decimal" Value="0"/>
<ArrayMember Name="Position" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="-2.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
<ArrayMember Name="ViaCenterRadius" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
</Structure>
</Element>
<Element Index="[11]">
<Structure DataType="MOTION_PATH_udt">
<DataValueMember Name="InstructionType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="MoveType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="CircleType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="Direction" DataType="SINT" Radix="Decimal" Value="0"/>
<ArrayMember Name="Position" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
<ArrayMember Name="ViaCenterRadius" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
</Structure>
</Element>
<Element Index="[12]">
<Structure DataType="MOTION_PATH_udt">
<DataValueMember Name="InstructionType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="MoveType" DataType="SINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="CircleType" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="Direction" DataType="SINT" Radix="Decimal" Value="0"/>
<ArrayMember Name="Position" DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="1.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</ArrayMember>
<ArrayMember Name="ViaCenterRadius" DataType="REAL" Dimensions="3" Radix="Float">
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</Data>
</Tag>
<Tag Name="MCLM_PATH2D_DRAW1" TagType="Base" DataType="MOTION_INSTRUCTION">
<Data>00 00 00 02 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="33554432"/>
<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="MCLM_PATH2D_DRAW2" TagType="Base" DataType="MOTION_INSTRUCTION">
<Data>00 00 00 02 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="33554432"/>
<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="PathAccelTrapezoidal" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 A0 41</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="20.0"/>
</Data>
</Tag>
<Tag Name="PathComplete" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="PathCount" TagType="Base" DataType="DINT" Radix="Decimal">
<Data>11 00 00 00</Data>
<Data Format="Decorated"><DataValue DataType="DINT" Radix="Decimal" Value="17"/>
</Data>
</Tag>
<Tag Name="PathDecelTrapezoidal" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 A0 41</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="20.0"/>
</Data>
</Tag>
<Tag Name="PathError" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="PathIndex" 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="PathSpeed" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 40 40</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="3.0"/>
</Data>
</Tag>
<Tag Name="Scale" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 80 40</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="4.0"/>
</Data>
</Tag>
<Tag Name="TermType" TagType="Base" DataType="DINT" Radix="Decimal">
<Data>01 00 00 00</Data>
<Data Format="Decorated"><DataValue DataType="DINT" Radix="Decimal" Value="1"/>
</Data>
</Tag>
</Tags>
<Routines>
<Routine Name="DrawAlongPath2D" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Comment>
<![CDATA[call Subroutine: DrawAlongPath2D
  which Handles Itterating thru the User-Defined-Structure(UDS) Path_Segment of Target Positions & MCLM/MCCM data[index]
     Determine: if a Linear or Circular UDS Path_Segment, then Process & Execute the proper MCLM or MCCM.]]>
</Comment>
<Text>
<![CDATA[SBR(PathCount,DrawPath)XIC(FirstScan)MOV(StartIndex,PathIndex)OTU(PathComplete);]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Comment>
<![CDATA[NOTE: this Itterative [index] example allows for Blending between Successive Target Positions
                         see OnLine Help of the MCLM instruction for more details on Blending.]]>
</Comment>
<Text>
<![CDATA[[XIC(MCCM_PATH2D_DRAW1.ER) ,XIC(MCCM_PATH2D_DRAW2.ER) ,XIC(MCLM_PATH2D_DRAW1.ER) ,XIC(MCLM_PATH2D_DRAW2.ER) ]OTE(PathError);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Comment>
<![CDATA[These Rungs illustrate the use of the Coordiante Motion Queue[depth=1] 
                                 to provide Blending between successive Coordinate Motion MCLM and/or MCCM Commands.
See:: OnLine Help of the MCLM & MCCM instructions for more details on::
              Blending, Queue, Termination types, and Instruction status conditions 
]]>
</Comment>
<Text>
<![CDATA[LES(PathIndex,PathCount)EQU(DrawPath[PathIndex].InstructionType,Circular)XIO(MCCM_PATH2D_DRAW1.EN)XIO(MCCM_PATH2D_DRAW1.IP)XIO(PathError)XIO(CS_XY.MovePendingQueueFullStatus)MCCM(CS_XY,MCCM_PATH2D_DRAW1,DrawPath[PathIndex].MoveType,DrawPath[PathIndex].Position[0],DrawPath[PathIndex].CircleType,DrawPath[PathIndex].ViaCenterRadius[0],DrawPath[PathIndex].Direction,PathSpeed,Units per sec,PathAccelTrapezoidal,Units per sec2,PathDecelTrapezoidal,Units per sec2,Trapezoidal,100.0,100.0,% of Time,TermType,Disabled,Current)ADD(PathIndex,1,PathIndex);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Text>
<![CDATA[LES(PathIndex,PathCount)EQU(DrawPath[PathIndex].InstructionType,Circular)XIO(MCCM_PATH2D_DRAW2.EN)XIO(MCCM_PATH2D_DRAW2.IP)XIO(PathError)XIO(CS_XY.MovePendingQueueFullStatus)MCCM(CS_XY,MCCM_PATH2D_DRAW2,DrawPath[PathIndex].MoveType,DrawPath[PathIndex].Position[0],DrawPath[PathIndex].CircleType,DrawPath[PathIndex].ViaCenterRadius[0],DrawPath[PathIndex].Direction,PathSpeed,Units per sec,PathAccelTrapezoidal,Units per sec2,PathDecelTrapezoidal,Units per sec2,Trapezoidal,100.0,100.0,% of Time,TermType,Disabled,Current)ADD(PathIndex,1,PathIndex);]]>
</Text>
</Rung>
<Rung Number="4" Type="N">
<Text>
<![CDATA[LES(PathIndex,PathCount)EQU(DrawPath[PathIndex].InstructionType,Linear)XIO(MCLM_PATH2D_DRAW1.EN)XIO(MCLM_PATH2D_DRAW1.IP)XIO(PathError)XIO(CS_XY.MovePendingQueueFullStatus)MCLM(CS_XY,MCLM_PATH2D_DRAW1,DrawPath[PathIndex].MoveType,DrawPath[PathIndex].Position[0],PathSpeed,Units per sec,PathAccelTrapezoidal,Units per sec2,PathDecelTrapezoidal,Units per sec2,Trapezoidal,100.0,100.0,% of Time,TermType,Disabled,Current)ADD(PathIndex,1,PathIndex);]]>
</Text>
</Rung>
<Rung Number="5" Type="N">
<Text>
<![CDATA[LES(PathIndex,PathCount)EQU(DrawPath[PathIndex].InstructionType,Linear)XIO(MCLM_PATH2D_DRAW2.EN)XIO(MCLM_PATH2D_DRAW2.IP)XIO(PathError)XIO(CS_XY.MovePendingQueueFullStatus)MCLM(CS_XY,MCLM_PATH2D_DRAW2,DrawPath[PathIndex].MoveType,DrawPath[PathIndex].Position[0],PathSpeed,Units per sec,PathAccelTrapezoidal,Units per sec2,PathDecelTrapezoidal,Units per sec2,Trapezoidal,100.0,100.0,% of Time,TermType,Disabled,Current)ADD(PathIndex,1,PathIndex);]]>
</Text>
</Rung>
<Rung Number="6" Type="N">
<Text>
<![CDATA[XIC(FirstScan)OTU(FirstScan);]]>
</Text>
</Rung>
<Rung Number="7" Type="N">
<Text>
<![CDATA[[EQU(PathIndex,PathCount) XIO(CS_XY.MoveStatus) ,XIC(PathError) ]OTL(PathComplete)OTL(FirstScan);]]>
</Text>
</Rung>
<Rung Number="8" Type="N">
<Text>
<![CDATA[RET(PathComplete);]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="MotionCircleDiamondSquare" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Comment>
<![CDATA[call Subroutine: MotionCircleDiamondSquare
  which Handles Loading the Target Positions [defined in CircleDiamondSquarePath, array of 17 DataPoints]
via the CPS instruction, Loads the data into a working buffer DestPath[0 thru 17] 
      also via the FAL instruction, Scale(*1 thru *4) the Target & Center_Point Positions if so desired
This sample uses a Tag to select TermType=No_Settle(1) 
                                         user can change this view the affects of other Termination types on resultant Path]]>
</Comment>
<Text>
<![CDATA[SBR()OTL(Execute_Command);]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Text>
<![CDATA[XIC(CommandExecuting.0)[XIC(CircleDiamondSquareComplete) ,XIC(CycleStop) OTL(CircleDiamondSquareComplete) ,[XIC(MCCM_PATH2D_DRAW1.ER) MOV(MCCM_PATH2D_DRAW1.ERR,ExecutionStatus[0]) ,XIC(MCCM_PATH2D_DRAW2.ER) MOV(MCCM_PATH2D_DRAW2.ERR,ExecutionStatus[0]) ,XIC(MCLM_PATH2D_DRAW1.ER) MOV(MCLM_PATH2D_DRAW1.ERR,ExecutionStatus[0]) ,XIC(MCLM_PATH2D_DRAW2.ER) MOV(MCLM_PATH2D_DRAW2.ERR,ExecutionStatus[0]) ] OTL(ExecutionError.0) OTL(CircleDiamondSquareComplete) ]OTL(ExecutionComplete.0);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Comment>
<![CDATA[via the CPS instruction, Loads the data into a working buffer DestPath[0 thru 17] ]]>
</Comment>
<Text>
<![CDATA[XIC(Program_Selection.0)XIO(CommandExecuting.0)CPS(CircleDiamondSquarePath[0],DestPath[0],17)OTL(FirstScan)OTU(CircleDiamondSquareComplete)OTL(CommandExecuting.0);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Comment>
<![CDATA[via the FAL instruction, Scale(*1 thru *4) the Target & Center_Point Positions if so desired
this sample has chosen a Scaling multiplier of *4   at first scan S:FS.
NOTE: Important to consider Absolute vs Incrimental target postion data & circular center point data when Scaling ]]>
</Comment>
<Text>
<![CDATA[XIC(CommandExecuting.0)[XIC(Scale1Selected) MOV(CircleDiamondSquareScale1,Scale) ,XIC(Scale2Selected) MOV(CircleDiamondSquareScale2,Scale) ,XIC(Scale3Selected) MOV(CircleDiamondSquareScale3,Scale) ,XIC(Scale4Selected) MOV(CircleDiamondSquareScale4,Scale) ];]]>
</Text>
</Rung>
<Rung Number="4" Type="N">
<Text>
<![CDATA[XIC(CommandExecuting.0)XIO(CircleDiamondSquareComplete)FAL(FAL51,?,?,ALL,DestPath[FAL51.POS].Position[0],CircleDiamondSquarePath[FAL51.POS].Position[0]*Scale)FAL(FAL52,?,?,ALL,DestPath[FAL52.POS].Position[1],CircleDiamondSquarePath[FAL52.POS].Position[1]*Scale)FAL(FAL53,?,?,ALL,DestPath[FAL53.POS].ViaCenterRadius[0],CircleDiamondSquarePath[FAL53.POS].ViaCenterRadius[0]*Scale)FAL(FAL54,?,?,ALL,DestPath[FAL54.POS].ViaCenterRadius[1],CircleDiamondSquarePath[FAL54.POS].ViaCenterRadius[1]*Scale);]]>
</Text>
</Rung>
<Rung Number="5" Type="N">
<Comment>
<![CDATA[This sample uses a Tag to select TermType=No_Settle(1) 
                                         user can change this view the affects of other Termination types on resultant Path.]]>
</Comment>
<Text>
<![CDATA[XIC(CommandExecuting.0)XIO(CircleDiamondSquareComplete)MOV(TermTypeSelect,TermType)MOV(CircleDiamondSquareDrawSpeed,PathSpeed)SSV(COORDINATESYSTEM,CS_XY,CommandPositionTolerance,CircleDiamondSquareCommandTolerance);]]>
</Text>
</Rung>
<Rung Number="6" Type="N">
<Text>
<![CDATA[XIC(CommandExecuting.0)XIC(FAL51.DN)XIC(FAL52.DN)XIC(FAL53.DN)XIC(FAL54.DN)XIO(CircleDiamondSquareComplete)JSR(DrawAlongPath2D,2,17,DestPath,CircleDiamondSquareComplete);]]>
</Text>
</Rung>
<Rung Number="7" Type="N">
<Text>
<![CDATA[EQU(ExecutionComplete,Program_Selection)CLR(CommandExecuting)CLR(Program_Selection)CLR(ExecutionComplete)OTU(RUNPROG_CDS)OTU(Execute_Command);]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="Run_Example_CirDSq" Type="RLL">
<Description>
<![CDATA[Coordinated_Motion Example to Plot Circle_Diamond_Square in XY.
Use Data driven End_Point data array to define target postions.]]>
</Description>
<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.
]]>
</Comment>
<Text>
<![CDATA[NOP();]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Comment>
<![CDATA[Example of Coordinated Motion feature, 2-axis Cartesian coordiate system X & Y.
Using MCLM(Linear) and MCCM(Circular) Motion Instructions,
               to Itterate thru Data_driven Target Positions to Plot: Circle, Diamond, Square [CDSq] profiles.

NOTE: this Itterative [index] example allows for Blending between Successive Target Positions
                                                      see OnLine Help of the MCLM instruction for more details on Blending & Termination Type.                                        

Use:  Trend-> Plot_XvsY to see Graphic plot of the resultant X & Y CDSq. path
                                               Place the Controller in RUN Mode and the sample program will Automatically Cycle                       ]]>
</Comment>
<Text>
<![CDATA[[XIC(S:FS) ,XIC(user_CyStart_PB) ]MAH(XAxisV,MAH_X)MAH(YAxisV,MAH_Y);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Text>
<![CDATA[XIC(MAH_X.DN)XIC(MAH_Y.DN)OTL(CycleStart)OTL(Scale4Selected);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Comment>
<![CDATA[Target Positions in Tag = CircleDiamondSquarePath[17], using a UserDefinedStructure[UDS]                                       
                                                                            the UDS named Motion_Path emulates the Operands in the MCLM and MCCM instructions

call Subroutine: MotionCircleDiamondSquare ->  Scale & Load the Target Positions[17] into DataPath[index]
                                   then Subroutine:                DrawAlongPath2D -> Itterate thru  MCLM or MCCM per the defined UDS Target Positions[index]               
]]>
</Comment>
<Text>
<![CDATA[[XIC(RUNPROG_CDS) ,XIC(CycleStart) MOV(1,Program_Selection) OTL(RUNPROG_CDS) ]JSR(MotionCircleDiamondSquare,0);]]>
</Text>
</Rung>
</RLLContent>
</Routine>
</Routines>
</Program>
</Programs>
<Tasks>
<Task Name="MainTask" Type="CONTINUOUS" Priority="10" Watchdog="500" DisableUpdateOutputs="true" InhibitTask="false">
<ScheduledPrograms>
<ScheduledProgram Name="Example_XY_Coordinate_Motion"/>
</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="2"/>
<WallClockTime LocalTimeAdjustment="0" TimeZone="0"/>
<Trends>
<Trend Name="Plot_XY" SamplePeriod="10" NumberOfCaptures="1" CaptureSizeType="Time Period" CaptureSize="120000" StartTriggerType="No Trigger" StopTriggerType="No Trigger" TrendxVersion="5.2">
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