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<Description>
<![CDATA[An 8-step Drill Cycle example application.
Use Coordinated Motion MCLM to allow Z-axis Infeed Blending at Change speed.]]>
</Description>
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<Tags>
<Tag Name="DrillCycMotDat" TagType="Base" DataType="REAL" Dimensions="3 6" Radix="Float">
<Comments>
<Comment Operand="[0,0]">
<![CDATA[Hole Position Along X]]>
</Comment>
<Comment Operand="[0,1]">
<![CDATA[Advance Position Along Z]]>
</Comment>
<Comment Operand="[0,2]">
<![CDATA[Feed Position Along Z]]>
</Comment>
<Comment Operand="[0,3]">
<![CDATA[Dwell]]>
</Comment>
<Comment Operand="[0,4]">
<![CDATA[Retract Position Along Z]]>
</Comment>
<Comment Operand="[0,5]">
<![CDATA[Feed]]>
</Comment>
<Comment Operand="[1,0]">
<![CDATA[Hole Position Along X]]>
</Comment>
<Comment Operand="[1,1]">
<![CDATA[Advance Position Along Z]]>
</Comment>
<Comment Operand="[1,2]">
<![CDATA[Feed Position Along Z]]>
</Comment>
<Comment Operand="[1,3]">
<![CDATA[Dwell]]>
</Comment>
<Comment Operand="[1,4]">
<![CDATA[Retract Position Along Z]]>
</Comment>
<Comment Operand="[1,5]">
<![CDATA[Feed]]>
</Comment>
<Comment Operand="[2,0]">
<![CDATA[Hole Position Along X]]>
</Comment>
<Comment Operand="[2,1]">
<![CDATA[Advance Position Along Z]]>
</Comment>
<Comment Operand="[2,2]">
<![CDATA[Feed Position Along Z]]>
</Comment>
<Comment Operand="[2,3]">
<![CDATA[Dwell]]>
</Comment>
<Comment Operand="[2,4]">
<![CDATA[Retract Position Along Z]]>
</Comment>
<Comment Operand="[2,5]">
<![CDATA[Feed]]>
</Comment>
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</Data>
</Tag>
<Tag Name="drill_axis" TagType="Base" DataType="MOTION_GROUP">
<Data Format="MotionGroup">
<MotionGroupParameters GroupType="Warning Enabled" CoarseUpdatePeriod="4000" PhaseShift="0" GeneralFaultType="Major Fault" AutoTagUpdate="Enabled"/>
</Data>
</Tag>
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</Tag>
<Tag Name="fwd" TagType="Alias" Radix="Decimal" AliasFor="Local:4:I.Data.11"/>
<Tag Name="infeed_blend" TagType="Base" DataType="COORDINATE_SYSTEM">
<Data Format="CoordinateSystem">
<CoordinateSystemParameters MotionGroupInstance="drill_axis" SystemType="Cartesian" Dimension="1" Axes="z_axis" MaximumPendingMoves="1" CoordinationMode="Primary" CoordinationUnits="Coordination Units" ConversionRatioNumerator="1.0" ConversionRatioDenominator="1" CoordinateSystemAutoTagUpdate="Enabled" MaximumSpeed="333.3333"
 MaximumAcceleration="4000.0" MaximumDeceleration="4000.0" ActualPositionTolerance="0.01" CommandPositionTolerance="0.01" 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="48000.004" MaximumDecelerationJerk="48000.004"/>
</Data>
</Tag>
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</Data>
</Tag>
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<Tag Name="xz_coord" TagType="Base" DataType="COORDINATE_SYSTEM">
<Data Format="CoordinateSystem">
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 MaximumAcceleration="1000.0" MaximumDeceleration="1000.0" ActualPositionTolerance="0.02" CommandPositionTolerance="0.01" TransformDimension="0" LinkLength1="0.0" LinkLength2="0.0" ZeroAngleOffset1="0.0" ZeroAngleOffset2="0.0" ZeroAngleOffset3="0.0" BaseOffset1="0.0"
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</Data>
</Tag>
<Tag Name="x_axis" TagType="Base" DataType="AXIS_SERVO">
<Data Format="Axis">
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 HomeSequence="Marker" HomeConfigurationBits="16#0000_0000" HomePosition="0.0" HomeOffset="0.0" HomeSpeed="20.0" HomeReturnSpeed="2.0" MaximumSpeed="333.3333" MaximumAcceleration="20202.02" MaximumDeceleration="20202.02" ProgrammedStopMode="Fast Stop" MasterInputConfigurationBits="1"
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 FrictionCompensationWindow="0.0" BacklashStabilizationWindow="0" BacklashReversalOffset="0.0" SoftOvertravelFaultAction="Disable Drive" PositionErrorFaultAction="Disable Drive" FeedbackFaultAction="Disable Drive" FeedbackNoiseFaultAction="Disable Drive" DriveFaultAction="Disable Drive" TestIncrement="1.0" TuningTravelLimit="100.0" TuningSpeed="333.3333"
 TuningTorque="100.0" DampingFactor="0.8" DriveModelTimeConstant="0.0015" PositionServoBandwidth="16.198286" VelocityServoBandwidth="41.467617" TuningConfigurationBits="16#0000_003c" MaximumAccelerationJerk="1224364.9" MaximumDecelerationJerk="1224364.9" DynamicsConfigurationBits="7"/>
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</Tag>
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 MasterPositionFilterBandwidth="0.1" AxisType="Servo" ServoLoopConfiguration="Position Servo" ExternalDriveType="Torque" FaultConfigurationBits="12" AxisInfoSelect1="Velocity Command" AxisInfoSelect2="Position Command" LDTType="PWM" LDTRecirculations="1" LDTCalibrationConstant="9.0" LDTCalibrationConstantUnits="us/in"
 LDTScaling="1.0" LDTScalingUnits="Position Units/m" LDTLength="36.0" LDTLengthUnits="in" SSICodeType="Binary" SSIDataLength="13" SSIClockFrequency="208" AbsoluteFeedbackEnable="1" AbsoluteFeedbackOffset="0.0" ServoFeedbackType="AQB - A Quadrature B" ServoPolarityBits="0"
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</Data>
</Tag>
<Tag Name="z_axis_mc_home" TagType="Base" DataType="MOTION_INSTRUCTION">
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</Data>
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</Data>
</Tag>
<Tag Name="z_dwell_DC" TagType="Base" DataType="TIMER">
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<DataValueMember Name="TT" DataType="BOOL" Value="0"/>
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</Data>
</Tag>
<Tag Name="z_feed_DC" TagType="Base" DataType="REAL" Radix="Float">
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</Tag>
<Tag Name="z_mc_DS2" TagType="Base" DataType="MOTION_INSTRUCTION">
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</Structure>
</Data>
</Tag>
<Tag Name="z_mc_DS3" TagType="Base" DataType="MOTION_INSTRUCTION">
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</Structure>
</Data>
</Tag>
<Tag Name="z_mc_DS5" TagType="Base" DataType="MOTION_INSTRUCTION">
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</Structure>
</Data>
</Tag>
<Tag Name="z_mc_DS7" TagType="Base" DataType="MOTION_INSTRUCTION">
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<DataValueMember Name="EXERR" DataType="SINT" Radix="Decimal" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="z_mc_DS8" TagType="Base" DataType="MOTION_INSTRUCTION">
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<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
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<DataValueMember Name="EN" DataType="BOOL" Value="1"/>
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<DataValueMember Name="EXERR" DataType="SINT" Radix="Decimal" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="z_mc_stop" TagType="Base" DataType="MOTION_INSTRUCTION">
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</Data>
</Tag>
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<Data Format="Decorated"><Array DataType="REAL" Dimensions="4" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="50.0"/>
<Element Index="[2]" Value="65.0"/>
<Element Index="[3]" Value="0.0"/>
</Array>
</Data>
</Tag>
</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

]]>
</Comment>
<Text>
<![CDATA[NOP();]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Comment>
<![CDATA[See Routine Motion Task: Drill_Cycle_ReadME_Info  for Info on ==> Coord Motion Drill Cycle Example ]]>
</Comment>
<Text>
<![CDATA[NOP();]]>
</Text>
</Rung>
</RLLContent>
</Routine>
</Routines>
</Program>
<Program Name="MotionProgram" TestEdits="false" MainRoutineName="MainMotionRoutine" Disabled="false">
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<Tag Name="ClearMotEnable" TagType="Base" DataType="BOOL" Radix="Decimal">
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<Tag Name="cycstp" TagType="Alias" Radix="Decimal" AliasFor="Motion_Active_Flags.16"/>
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<DataValueMember Name="UN" DataType="BOOL" Value="0"/>
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<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
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<Tag Name="Home_Active" TagType="Alias" Radix="Decimal" AliasFor="B1.6"/>
<Tag Name="Home_OneShot" TagType="Alias" Radix="Decimal" AliasFor="B1.5"/>
<Tag Name="Jog" TagType="Alias" Radix="Decimal" AliasFor="Local:4:I.Data.12"/>
<Tag Name="Jog_Active" TagType="Alias" Radix="Decimal" AliasFor="B1.15"/>
<Tag Name="Jog_DIR" TagType="Base" DataType="SINT" Radix="Decimal">
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<Data Format="Decorated"><DataValue DataType="SINT" Radix="Decimal" Value="1"/>
</Data>
</Tag>
<Tag Name="Jog_OneShot" TagType="Alias" Radix="Decimal" AliasFor="B1.14"/>
<Tag Name="MotFaultReset" TagType="Alias" Radix="Decimal" AliasFor="Local:4:I.Data.2"/>
<Tag Name="Return1" TagType="Alias" Radix="Decimal" AliasFor="Local:4:I.Data.14"/>
<Tag Name="Return_Active" TagType="Alias" Radix="Decimal" AliasFor="B1.9"/>
<Tag Name="Return_OneShot" TagType="Alias" Radix="Decimal" AliasFor="B1.8"/>
<Tag Name="Run" TagType="Alias" Radix="Decimal" AliasFor="Local:4:I.Data.15"/>
<Tag Name="Run_ONS" TagType="Alias" Radix="Decimal" AliasFor="B1.3"/>
<Tag Name="ServoOn" TagType="Alias" Radix="Decimal" AliasFor="Local:4:I.Data.0"/>
<Tag Name="STEP" TagType="Alias" Radix="Decimal" AliasFor="Local:4:I.Data.9"/>
<Tag Name="StepFwd" TagType="Base" DataType="BOOL" Radix="Decimal">
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<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="1"/>
</Data>
</Tag>
<Tag Name="StepRev" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="StpONS" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="term_type" TagType="Base" DataType="INT" Radix="Decimal">
<Data>00 00</Data>
<Data Format="Decorated"><DataValue DataType="INT" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="xz_retract" TagType="Base" DataType="REAL" Dimensions="4" Radix="Float">
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<Data Format="Decorated"><Array DataType="REAL" Dimensions="4" Radix="Float">
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<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
<Element Index="[3]" Value="0.0"/>
</Array>
</Data>
</Tag>
<Tag Name="x_axis_home_complete" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>01</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="1"/>
</Data>
</Tag>
<Tag Name="x_axis_returned" TagType="Base" DataType="BOOL" Radix="Decimal">
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<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="1"/>
</Data>
</Tag>
<Tag Name="x_fault_reset" TagType="Base" DataType="MOTION_INSTRUCTION">
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<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
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<DataValueMember Name="EN" DataType="BOOL" Value="0"/>
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</Data>
</Tag>
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<Tag Name="x_J_plus" TagType="Alias" Radix="Decimal" AliasFor="Local:4:I.Data.11"/>
<Tag Name="x_mc_Jog" TagType="Base" DataType="MOTION_INSTRUCTION">
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<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
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</Structure>
</Data>
</Tag>
<Tag Name="x_mc_JStop" TagType="Base" DataType="MOTION_INSTRUCTION">
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<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
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<DataValueMember Name="ERR" DataType="INT" Radix="Decimal" Value="0"/>
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<DataValueMember Name="SEGMENT" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EXERR" DataType="SINT" Radix="Decimal" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="x_select" TagType="Alias" Radix="Decimal" AliasFor="Local:4:I.Data.3"/>
<Tag Name="x_servo_off" TagType="Base" DataType="MOTION_INSTRUCTION">
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<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
<DataValueMember Name="FLAGS" DataType="DINT" Radix="Decimal" Value="536870912"/>
<DataValueMember Name="EN" DataType="BOOL" Value="0"/>
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<DataValueMember Name="STATUS" DataType="SINT" Radix="Decimal" Value="2"/>
<DataValueMember Name="STATE" DataType="SINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="SEGMENT" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EXERR" DataType="SINT" Radix="Decimal" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="x_servo_on" TagType="Base" DataType="MOTION_INSTRUCTION">
<Data>00 00 00 20 00 00 00 01 00 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
<DataValueMember Name="FLAGS" DataType="DINT" Radix="Decimal" Value="536870912"/>
<DataValueMember Name="EN" DataType="BOOL" Value="0"/>
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<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="1"/>
<DataValueMember Name="SEGMENT" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EXERR" DataType="SINT" Radix="Decimal" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="z_axis_home_complete" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>01</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="1"/>
</Data>
</Tag>
<Tag Name="z_axis_returned" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>01</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="1"/>
</Data>
</Tag>
<Tag Name="z_fault_reset" 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="z_J_minus" TagType="Alias" Radix="Decimal" AliasFor="Local:4:I.Data.10"/>
<Tag Name="z_J_plus" TagType="Alias" Radix="Decimal" AliasFor="Local:4:I.Data.11"/>
<Tag Name="z_mc_Jog" 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="z_mc_JStop" 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="z_select" TagType="Alias" Radix="Decimal" AliasFor="Local:4:I.Data.4"/>
<Tag Name="z_servo_off" TagType="Base" DataType="MOTION_INSTRUCTION">
<Data>00 00 00 20 00 00 02 01 00 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
<DataValueMember Name="FLAGS" DataType="DINT" Radix="Decimal" Value="536870912"/>
<DataValueMember Name="EN" DataType="BOOL" Value="0"/>
<DataValueMember Name="DN" DataType="BOOL" Value="1"/>
<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="2"/>
<DataValueMember Name="STATE" DataType="SINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="SEGMENT" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EXERR" DataType="SINT" Radix="Decimal" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="z_servo_on" TagType="Base" DataType="MOTION_INSTRUCTION">
<Data>00 00 00 20 00 00 00 01 00 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
<DataValueMember Name="FLAGS" DataType="DINT" Radix="Decimal" Value="536870912"/>
<DataValueMember Name="EN" DataType="BOOL" Value="0"/>
<DataValueMember Name="DN" DataType="BOOL" Value="1"/>
<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="1"/>
<DataValueMember Name="SEGMENT" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EXERR" DataType="SINT" Radix="Decimal" Value="0"/>
</Structure>
</Data>
</Tag>
</Tags>
<Routines>
<Routine Name="Drill_Cycle" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Comment>
<![CDATA[===============================================================
Motion Sample Project:  for Drill Cycle X & Z axis, using Coordiante Motion for:
===============================================================
                                    Blend of the -> Infeed axis Z( using MCLM Z) coordinated moves   [step.2 to step.3]
                                    Blend of the -> Retract X&Z (using MCLM X&Z) coordinated move [step.7 to step.8]
                                          Positioning to the -> Hole & Feed Along  moves (using MAM)          [step.1 and step.5]   
                          this Drill Cycle example will Drill 3 repeat holes]]>
</Comment>
<Text>
<![CDATA[OTU(DrillCycComp);]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Text>
<![CDATA[[XIC(cycstp) ,XIC(Return_Active) ]OTE(ClearMotEnable);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Comment>
<![CDATA[*  then chose STEP-by-STEP or  AUTO step
                                                                    Switch.9 ==   Step-by-Step [must toggle to initiate each of the 8 steps]
                                                       Switch.8 ==   Auto   [auto sequence thru each of the 8 steps]
                                                                                ===============================================================]]>
</Comment>
<Text>
<![CDATA[[XIC(STEP) ONS(StpONS) ,XIC(AUTO) ][XIC(x_J_plus) OTE(StepFwd) ,XIC(x_J_minus) OTE(StepRev) ]OTL(FirstPass);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Text>
<![CDATA[XIO(FirstPass)JMP(Return1);]]>
</Text>
</Rung>
<Rung Number="4" Type="N">
<Text>
<![CDATA[XIC(DrillCycStp.0)MOV(DrillCycMotDat[DrillCycOpCntr.ACC,0],x_pos_DC[1])MOV(DrillCycMotDat[DrillCycOpCntr.ACC,0],xz_retract[0])MOV(DrillCycMotDat[DrillCycOpCntr.ACC,1],z_pos_DC[1])MOV(DrillCycMotDat[DrillCycOpCntr.ACC,2],z_pos_DC[2])MUL(DrillCycMotDat[DrillCycOpCntr.ACC,3],1000,z_dwell_DC.PRE)MOV(DrillCycMotDat[DrillCycOpCntr.ACC,4],z_pos_DC[3])CPT(xz_retract[1],DrillCycMotDat[DrillCycOpCntr.ACC,4]-DrillCycMotDat[DrillCycOpCntr.ACC,4]/2)MOV(DrillCycMotDat[DrillCycOpCntr.ACC,5],z_feed_DC)[XIC(x_J_plus) OTL(DrillCycStp.1) ,XIC(x_J_minus) OTL(DrillCycStp.5) ][OTU(Dwell) GRT(z_dwell_DC.PRE,0) OTL(Dwell) ,OTU(DrillCycStp.0) ];]]>
</Text>
</Rung>
<Rung Number="5" Type="N">
<Text>
<![CDATA[XIC(DrillCycStp.1)XIO(ClearMotEnable)MAM(x_axis,x_mc_DS1,0,x_pos_DC[1],100,% of Maximum,100,% of Maximum,100,% of Maximum,Trapezoidal,100.0,100.0,% of Time,Disabled,Current)XIC(x_mc_DS1.EN)[XIC(x_mc_DS1.PC) [XIC(StepFwd) OTL(DrillCycStp.2) ,XIC(StepRev) OTL(DrillCycStp.2) ] OTU(DrillCycStp.1) ,XIC(x_mc_DS1.IP) OTU(x_axis_returned) ];]]>
</Text>
</Rung>
<Rung Number="6" Type="N">
<Text>
<![CDATA[XIC(DrillCycStp.2)XIO(ClearMotEnable)MCLM(infeed_blend,z_mc_DS2,0,z_pos_DC[1],100,% of Maximum,100,% of Maximum,100,% of Maximum,Trapezoidal,100.0,100.0,% of Time,3,Disabled,Programmed)XIC(z_mc_DS2.EN)XIC(z_mc_DS2.IP)OTU(z_axis_returned)[XIC(StepFwd) OTL(DrillCycStp.3) ,XIC(StepRev) OTL(DrillCycStp.3) ]OTU(DrillCycStp.2);]]>
</Text>
</Rung>
<Rung Number="7" Type="N">
<Comment>
<![CDATA[Step.2 =  MCLM  Z_Axis [Infeed_blend]    Z_pos_DC[1]   @100.0
                         Step.3 =  MCLM  Z_Axis [Infeed_blend]    Z_pos_DC[2]   @5.0
                                                                                         Blending of Coordinate_Motion [a Queue of 1] allows
                                                                       smooth Step.2 to Step.3 Speed transition.
                                                  ===============================================================]]>
</Comment>
<Text>
<![CDATA[XIC(DrillCycStp.3)XIO(ClearMotEnable)MCLM(infeed_blend,z_mc_DS3,0,z_pos_DC[2],z_feed_DC,% of Maximum,100,% of Maximum,100,% of Maximum,Trapezoidal,100.0,100.0,% of Time,0,Disabled,Programmed)XIC(z_mc_DS3.EN)XIC(z_mc_DS3.PC)[XIC(StepFwd) [XIC(Dwell) OTL(DrillCycStp.4) ,XIO(Dwell) OTL(DrillCycStp.5) ] ,XIC(StepRev) [XIC(Dwell) OTL(DrillCycStp.4) ,XIO(Dwell) OTL(DrillCycStp.6) ] ]OTU(DrillCycStp.3);]]>
</Text>
</Rung>
<Rung Number="8" Type="N">
<Text>
<![CDATA[XIC(DrillCycStp.4)XIO(ClearMotEnable)TON(z_dwell_DC,?,?)XIC(z_dwell_DC.EN)XIC(z_dwell_DC.DN)[XIC(StepFwd) OTL(DrillCycStp.5) ,XIC(StepRev) OTL(DrillCycStp.6) ]OTU(DrillCycStp.4);]]>
</Text>
</Rung>
<Rung Number="9" Type="N">
<Text>
<![CDATA[XIC(DrillCycStp.5)XIO(ClearMotEnable)MAM(z_axis,z_mc_DS5,0,z_pos_DC[3],100.0,% of Maximum,100,% of Maximum,100,% of Maximum,Trapezoidal,100.0,100.0,% of Time,Disabled,Current)XIC(z_mc_DS5.EN)XIC(z_mc_DS5.PC)[XIC(StepFwd) OTL(DrillCycStp.6) ,XIC(StepRev) OTL(DrillCycStp.1) ]OTU(DrillCycStp.5);]]>
</Text>
</Rung>
<Rung Number="10" Type="N">
<Text>
<![CDATA[XIC(DrillCycStp.6)[XIC(x_J_plus) CTU(DrillCycOpCntr,?,?) [XIO(DrillCycOpCntr.DN) OTL(DrillCycStp.0) ,XIC(DrillCycOpCntr.DN) [OTL(DrillCycStp.7) ,RES(DrillCycOpCntr) ] ] ,XIC(x_J_minus) CTD(DrillCycOpCntr,?,?) [GEQ(DrillCycOpCntr.ACC,0) OTL(DrillCycStp.0) ,LES(DrillCycOpCntr.ACC,0) [OTL(DrillCycStp.7) ,RES(DrillCycOpCntr) ] ] ]OTU(DrillCycStp.6);]]>
</Text>
</Rung>
<Rung Number="11" Type="N">
<Text>
<![CDATA[XIC(DrillCycStp.7)XIO(ClearMotEnable)MCLM(xz_coord,z_mc_DS7,0,xz_retract[0],100,% of Maximum,100,% of Maximum,100,% of Maximum,Trapezoidal,100.0,100.0,% of Time,3,Disabled,Programmed)XIC(z_mc_DS7.EN)XIC(z_mc_DS7.IP)[[XIC(StepFwd) ,XIC(StepRev) ] [OTU(DrillCycStp.7) ,OTL(DrillCycStp.8) ] ,OTL(z_axis_returned) ];]]>
</Text>
</Rung>
<Rung Number="12" Type="N">
<Text>
<![CDATA[XIC(DrillCycStp.8)XIO(ClearMotEnable)MCLM(xz_coord,z_mc_DS8,0,xz_retract[2],100,% of Maximum,100,% of Maximum,100,% of Maximum,Trapezoidal,100.0,100.0,% of Time,0,Disabled,Programmed)XIC(z_mc_DS8.EN)XIC(z_mc_DS8.PC)[OTU(DrillCycStp.8) ,OTL(DrillCycStp.0) ,OTL(DrillCycComp) ,OTL(x_axis_returned) ,OTU(FirstPass) ];]]>
</Text>
</Rung>
<Rung Number="13" Type="N">
<Text>
<![CDATA[XIC(ClearMotEnable)[OTU(Drill_Cycle_Active) ,OTU(FirstPass) ];]]>
</Text>
</Rung>
<Rung Number="14" Type="N">
<Text>
<![CDATA[LBL(Return1)RET();]]>
</Text>
</Rung>
<Rung Number="15" Type="N">
<Text>
<![CDATA[XIC(DrillCycStp.0)XIC(DrillCycStp.1)XIC(DrillCycStp.2)XIC(DrillCycStp.3)XIC(DrillCycStp.4)XIC(DrillCycStp.5)XIC(DrillCycStp.6)XIC(DrillCycStp.7)XIC(DrillCycStp.8)NOP();]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="Drill_Cycle_ReadME_Info" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Comment>
<![CDATA[===============================================================
Motion Sample Project:  for Drill Cycle X & Z axis, using Coordiante Motion for:
===============================================================
                                    Blend of the -> Infeed axis Z( using MCLM Z) coordinated moves   [step.2 to step.3]
                                    Blend of the -> Retract X&Z (using MCLM X&Z) coordinated move [step.7 to step.8]
                                          Positioning to the -> Hole & Feed Along  moves (using MAM)          [step.1 and step.5]   
]]>
</Comment>
<Text>
<![CDATA[OTL(read_me);]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Comment>
<![CDATA[Step.1 =  MAM    X_axis                            X_pos_DC[1]   @100.0
                             Step.2 =  MCLM  Z_Axis [Infeed_blend]    Z_pos_DC[1]   @100.0
                         Step.3 =  MCLM  Z_Axis [Infeed_blend]    Z_pos_DC[2]   @5.0
                                                                                         Blending of Coordinate_Motion [a Queue of 1] allows
                                                                       smooth Step.2 to Step.3 Speed transition.
                             Step.4 =  TON     Z dwell                           Z_dwell_DC    @dwell
                               Step.5 =  MAM    Z_axis                            Z_pos_DC[3]   @100.0 
   Step.6 =  CTU      if X_J_plus                              
       Step.6 =  CTD      if X_J_minus                               
                               Step.7 =  MCLM   XZ_coord [retract.0]       XZ_retract[0]  @100.0
                               Step.8 =  MCLM   XZ_coord [retract.2]       XZ_retract[2]  @100.0
  
    Trend ==> the X and Z Command Position


]]>
</Comment>
<Text>
<![CDATA[OTL(read_me);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Comment>
<![CDATA[==================================================                         
                        Sequence of Operation to Do the 8_Steps of the Dwell Cycle.
                         ==================================================
     Switch.0 ==   MSO    Servo On
                                                 Switch.11 =   x_J_plus    [X Hole postion direction]      OR,
                                     Switch.10 =   x_J_minus  [X Hole postion direction]
                         *  then chose STEP-by-STEP or  AUTO step
                                                                    Switch.9 ==   Step-by-Step [must toggle to initiate each of the 8 steps]
                                                       Switch.8 ==   Auto   [auto sequence thru each of the 8 steps]
*  then                               
  Switch.15 =  RUN activate ...

           *   if need to Stop or Reset-Faults::
                             Switch.1 ==   MAS     Axes Stop  [Cycle Stop]
                    Switch.2 ==   MAFR   Motion Fault Reset
                          ]]>
</Comment>
<Text>
<![CDATA[OTL(read_me);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Comment>
<![CDATA[LICENSE ADDENDUM TO RSLogix 5000 LICENSE FOR SAMPLE PROJECT FILES
======================================================================================

All information provided  -- No warranty or implied merchantability

Rockwell Software, Inc. () and/or its affiliates and licensors and affiliates make no representations 
as to the suitability of the information contained in the related sample logic project files and related 
documentation () provided herein for any purpose. All such Sample Project Files 
are provided  without warranty of any kind. RSI hereby disclaims all warranties and conditions with 
regard to this information, including all implied warranties and conditions of merchantability, fitness for 
a particular purpose, title and non-infringement.  In no event shall RSI and/or its respective affiliates be 
liable for any damages whatsoever resulting from loss of use, data or profits, whether in an action of contract, 
negligence or other action, arising out of or in connection with the use or performance of Sample Project 
Files.  Your use of any said Sample Project Files automatically implies agreement to all terms set fourth herein.

Inaccuracies - Modifications

The Sample Project Files and related documentation provided herein could include technical inaccuracies or 
typographical errors. Changes may be periodically added by RSI to the information herein. RSI and/or its 
respective licensors and affiliates may make improvements, changes in the materials and/or programs, or 
remove at will and without prior notice any content described herein at any time. No level of responsibility for 
accuracy or usability of any content in the Sample Project Files is claimed or accepted.
======================================================================================]]>
</Comment>
<Text>
<![CDATA[OTL(read_me);]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="Home_Axis" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Text>
<![CDATA[[XIO(z_axis_home_complete) ,XIO(x_axis_home_complete) ]OTE(Home_Active);]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Text>
<![CDATA[XIO(z_axis_home_complete)XIC(Home_Active)MAH(z_axis,z_axis_mc_home)XIC(z_axis_mc_home.EN)XIC(z_axis_mc_home.PC)OTL(z_axis_home_complete);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Text>
<![CDATA[XIC(z_axis_home_complete)XIC(Home_Active)MAH(x_axis,x_axis_mc_home)XIC(x_axis_mc_home.EN)XIC(x_axis_mc_home.PC)OTL(x_axis_home_complete);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Text>
<![CDATA[RET();]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="InitScan" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Text>
<![CDATA[[OTU(Drill_Cycle_Active) ,OTU(Home_Active) ,OTU(Return_Active) ];]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Text>
<![CDATA[RET();]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="Jog_Axis" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Text>
<![CDATA[XIC(Jog)OTE(Jog_Active);]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Text>
<![CDATA[[XIC(x_J_plus) ,XIC(x_J_plus) ]OTU(Jog_DIR.0);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Text>
<![CDATA[[XIC(x_J_minus) ,XIC(x_J_minus) ]OTL(Jog_DIR.0);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Text>
<![CDATA[XIC(x_select)[XIC(x_J_plus) ,XIC(x_J_minus) ]MAJ(x_axis,x_mc_Jog,Jog_DIR,10,% of Maximum,100,% of Maximum,100,% of Maximum,Trapezoidal,100.0,100.0,% of Time,Enabled,Programmed);]]>
</Text>
</Rung>
<Rung Number="4" Type="N">
<Text>
<![CDATA[XIC(z_select)[XIC(x_J_plus) ,XIC(x_J_minus) ]MAJ(z_axis,z_mc_Jog,Jog_DIR,10,% of Maximum,100,% of Maximum,100,% of Maximum,Trapezoidal,100.0,100.0,% of Time,Enabled,Programmed);]]>
</Text>
</Rung>
<Rung Number="5" Type="N">
<Text>
<![CDATA[[XIC(x_select) [XIO(x_J_plus) XIO(x_J_minus) ,XIC(x_J_plus) XIC(x_J_minus) ] ,XIO(Jog_Active) ]MAS(x_axis,x_mc_JStop,All,No,100,% of Maximum,Yes,100.0,% of Time);]]>
</Text>
</Rung>
<Rung Number="6" Type="N">
<Text>
<![CDATA[[XIC(z_select) [XIO(x_J_plus) XIO(x_J_minus) ,XIC(x_J_plus) XIC(x_J_minus) ] ,XIO(Jog_Active) ]MAS(z_axis,z_mc_JStop,All,No,100,% of Maximum,Yes,100.0,% of Time);]]>
</Text>
</Rung>
<Rung Number="7" Type="N">
<Text>
<![CDATA[RET();]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="MainMotionRoutine" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Text>
<![CDATA[XIC(S:FS)JSR(InitScan,0);]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Comment>
<![CDATA[===============================================================
Motion Sample Project:  for Drill Cycle X & Z axis, using Coordiante Motion for:
===============================================================
                                    Blend of the -> Infeed axis Z( using MCLM Z) coordinated moves   [step.2 to step.3]
                                    Blend of the -> Retract X&Z (using MCLM X&Z) coordinated move [step.7 to step.8]
                                          Positioning to the -> Hole & Feed Along  moves (using MAM)          [step.1 and step.5]   
                          this Drill Cycle example will Drill 3 repeat holes

]]>
</Comment>
<Text>
<![CDATA[MOV(DrillCycStp,Local:0:O.Data);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Text>
<![CDATA[XIC(ServoOn)ONS(B1.10)[MSO(x_axis,x_servo_on) ,MSO(z_axis,z_servo_on) ];]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Text>
<![CDATA[XIO(ServoOn)ONS(B1.11)[MSF(x_axis,x_servo_off) ,MSF(z_axis,z_servo_off) ];]]>
</Text>
</Rung>
<Rung Number="4" Type="N">
<Text>
<![CDATA[[XIC(CycleStop) ,XIC(Return1) ]ONS(B1.12)[MAS(x_axis,x_mc_stop,All,No,100,% of Maximum,Yes,100.0,% of Time) ,MAS(z_axis,z_mc_stop,All,No,100,% of Maximum,Yes,100.0,% of Time) ]OTE(cycstp);]]>
</Text>
</Rung>
<Rung Number="5" Type="N">
<Text>
<![CDATA[XIC(MotFaultReset)ONS(B1.13)[MAFR(x_axis,x_fault_reset) ,MAFR(z_axis,z_fault_reset) ];]]>
</Text>
</Rung>
<Rung Number="6" Type="N">
<Text>
<![CDATA[[XIC(Run) ONS(Run_ONS) XIO(Jog) XIO(Home) XIO(Return1) ,XIC(Drill_Cycle_Active) XIO(DrillCycComp) ][OTE(Drill_Cycle_Active) ,JSR(Drill_Cycle,0) ];]]>
</Text>
</Rung>
<Rung Number="7" Type="N">
<Text>
<![CDATA[[XIC(Home) ONS(Home_OneShot) XIO(Jog) XIO(Return1) XIO(Run) [OTU(x_axis_home_complete) ,OTU(z_axis_home_complete) ] ,XIC(Home_Active) XIO(x_mc_stop.EN) XIO(z_mc_stop.EN) ]JSR(Home_Axis,0);]]>
</Text>
</Rung>
<Rung Number="8" Type="N">
<Text>
<![CDATA[[XIC(Return1) ONS(Return_OneShot) XIO(Jog) XIO(Home) XIO(Run) [OTU(x_axis_returned) ,OTU(z_axis_returned) ] ,XIC(Return_Active) ]JSR(Return_Axis,0);]]>
</Text>
</Rung>
<Rung Number="9" Type="N">
<Text>
<![CDATA[[XIC(Jog) XIO(Home) XIO(Return1) XIO(Run) ,XIC(Jog_Active) ]JSR(Jog_Axis,0);]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="Return_Axis" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Text>
<![CDATA[[OTL(Return_Active) ,OTU(Drill_Cycle_Active) ,OTU(FirstPass) ];]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Text>
<![CDATA[XIO(z_axis_returned)MAM(z_axis,z_axis_mc_rtn,0,0.0,100.0,% of Maximum,100,% of Maximum,100,% of Maximum,Trapezoidal,100.0,100.0,% of Time,Disabled,Current)XIC(z_axis_mc_rtn.EN)XIC(z_axis_mc_rtn.PC)OTL(z_axis_returned);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Text>
<![CDATA[XIC(z_axis_returned)MAM(x_axis,x_axis_mc_rtn,0,0.0,100.0,% of Maximum,100,% of Maximum,100,% of Maximum,Trapezoidal,100.0,100.0,% of Time,Disabled,Current)XIC(x_axis_mc_rtn.EN)XIC(x_axis_mc_rtn.PC)OTL(x_axis_returned);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Text>
<![CDATA[XIC(x_axis_returned)XIC(z_axis_returned)OTU(Return_Active);]]>
</Text>
</Rung>
<Rung Number="4" Type="N">
<Text>
<![CDATA[RET();]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="Zone" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Text>
<![CDATA[[ADD(DrillCycMotDat[0,0],ZoneWindow,ZoneCalc[0,0]) ADD(DrillCycMotDat[1,0],ZoneWindow,ZoneCalc[1,0]) ADD(DrillCycMotDat[2,0],ZoneWindow,ZoneCalc[2,0]) ,SUB(DrillCycMotDat[0,0],ZoneWindow,ZoneCalc[0,1]) SUB(DrillCycMotDat[1,0],ZoneWindow,ZoneCalc[1,1]) SUB(DrillCycMotDat[2,0],ZoneWindow,ZoneCalc[2,1]) ];]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Text>
<![CDATA[[ADD(DrillCycMotDat[0,1],ZoneWindow,ZoneCalc[0,2]) ADD(DrillCycMotDat[1,1],ZoneWindow,ZoneCalc[1,2]) ADD(DrillCycMotDat[2,1],ZoneWindow,ZoneCalc[2,2]) ,SUB(DrillCycMotDat[0,1],ZoneWindow,ZoneCalc[0,3]) SUB(DrillCycMotDat[1,1],ZoneWindow,ZoneCalc[1,3]) SUB(DrillCycMotDat[2,1],ZoneWindow,ZoneCalc[2,3]) ];]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Text>
<![CDATA[[ADD(DrillCycMotDat[0,2],ZoneWindow,ZoneCalc[0,4]) ADD(DrillCycMotDat[1,2],ZoneWindow,ZoneCalc[1,4]) ADD(DrillCycMotDat[2,2],ZoneWindow,ZoneCalc[2,4]) ,SUB(DrillCycMotDat[0,2],ZoneWindow,ZoneCalc[0,5]) SUB(DrillCycMotDat[1,2],ZoneWindow,ZoneCalc[1,5]) SUB(DrillCycMotDat[2,2],ZoneWindow,ZoneCalc[2,5]) ];]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Text>
<![CDATA[[ADD(DrillCycMotDat[0,4],ZoneWindow,ZoneCalc[0,6]) ADD(DrillCycMotDat[1,4],ZoneWindow,ZoneCalc[1,6]) ADD(DrillCycMotDat[2,4],ZoneWindow,ZoneCalc[2,6]) ,SUB(DrillCycMotDat[0,4],ZoneWindow,ZoneCalc[0,7]) SUB(DrillCycMotDat[1,4],ZoneWindow,ZoneCalc[1,7]) SUB(DrillCycMotDat[2,4],ZoneWindow,ZoneCalc[2,7]) ];]]>
</Text>
</Rung>
<Rung Number="4" Type="N">
<Text>
<![CDATA[GEQ(x_axis.ActualPosition,-0.001)LEQ(x_axis.ActualPosition,0.001)OTE(Zone.0);]]>
</Text>
</Rung>
<Rung Number="5" Type="N">
<Text>
<![CDATA[GEQ(x_axis.ActualPosition,ZoneCalc[0,1])LEQ(x_axis.ActualPosition,ZoneCalc[0,0])OTE(Zone.1);]]>
</Text>
</Rung>
<Rung Number="6" Type="N">
<Text>
<![CDATA[GEQ(x_axis.ActualPosition,ZoneCalc[1,1])LEQ(x_axis.ActualPosition,ZoneCalc[1,0])OTE(Zone.2);]]>
</Text>
</Rung>
<Rung Number="7" Type="N">
<Text>
<![CDATA[GEQ(x_axis.ActualPosition,ZoneCalc[2,1])LEQ(x_axis.ActualPosition,ZoneCalc[2,0])OTE(Zone.3);]]>
</Text>
</Rung>
<Rung Number="8" Type="N">
<Text>
<![CDATA[GEQ(z_axis.ActualPosition,-0.001)LEQ(z_axis.ActualPosition,0.001)OTE(Zone.4);]]>
</Text>
</Rung>
<Rung Number="9" Type="N">
<Text>
<![CDATA[GEQ(z_axis.ActualPosition,ZoneCalc[0,3])LEQ(z_axis.ActualPosition,ZoneCalc[0,2])OTE(Zone.5);]]>
</Text>
</Rung>
<Rung Number="10" Type="N">
<Text>
<![CDATA[GEQ(z_axis.ActualPosition,ZoneCalc[0,5])LEQ(z_axis.ActualPosition,ZoneCalc[0,4])OTE(Zone.6);]]>
</Text>
</Rung>
<Rung Number="11" Type="N">
<Text>
<![CDATA[GEQ(z_axis.ActualPosition,ZoneCalc[0,7])LEQ(z_axis.ActualPosition,ZoneCalc[0,6])OTE(Zone.7);]]>
</Text>
</Rung>
<Rung Number="12" Type="N">
<Text>
<![CDATA[GEQ(z_axis.ActualPosition,ZoneCalc[1,3])LEQ(z_axis.ActualPosition,ZoneCalc[1,2])OTE(Zone.8);]]>
</Text>
</Rung>
<Rung Number="13" Type="N">
<Text>
<![CDATA[GEQ(z_axis.ActualPosition,ZoneCalc[1,5])LEQ(z_axis.ActualPosition,ZoneCalc[1,4])OTE(Zone.9);]]>
</Text>
</Rung>
<Rung Number="14" Type="N">
<Text>
<![CDATA[GEQ(z_axis.ActualPosition,ZoneCalc[1,7])LEQ(z_axis.ActualPosition,ZoneCalc[1,6])OTE(Zone.10);]]>
</Text>
</Rung>
<Rung Number="15" Type="N">
<Text>
<![CDATA[GEQ(z_axis.ActualPosition,ZoneCalc[2,3])LEQ(z_axis.ActualPosition,ZoneCalc[2,2])OTE(Zone.11);]]>
</Text>
</Rung>
<Rung Number="16" Type="N">
<Text>
<![CDATA[GEQ(z_axis.ActualPosition,ZoneCalc[2,5])LEQ(z_axis.ActualPosition,ZoneCalc[2,4])OTE(Zone.12);]]>
</Text>
</Rung>
<Rung Number="17" Type="N">
<Text>
<![CDATA[GEQ(z_axis.ActualPosition,ZoneCalc[2,7])LEQ(z_axis.ActualPosition,ZoneCalc[2,6])OTE(Zone.13);]]>
</Text>
</Rung>
<Rung Number="18" Type="N">
<Text>
<![CDATA[XIC(Zone.14)OTE(Zone.14);]]>
</Text>
</Rung>
<Rung Number="19" Type="N">
<Text>
<![CDATA[XIC(Zone.15)OTE(Zone.15);]]>
</Text>
</Rung>
</RLLContent>
</Routine>
</Routines>
</Program>
<Program Name="VectorCalcProgram" TestEdits="false" MainRoutineName="calcRoutine" Disabled="false">
<Tags>
<Tag Name="CommandVectorVelocity" 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>
</Tags>
<Routines>
<Routine Name="calcRoutine" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Text>
<![CDATA[CPT(CommandVectorVelocity,SQR((x_axis.CommandVelocity**2)+(z_axis.CommandVelocity**2)));]]>
</Text>
</Rung>
</RLLContent>
</Routine>
</Routines>
</Program>
</Programs>
<Tasks>
<Task Name="CalcTask" Type="EVENT" Rate="10" Priority="10" Watchdog="500" DisableUpdateOutputs="true" InhibitTask="false">
<EventInfo EventTrigger="Motion Group Execution" EventTag="drill_axis" EnableTimeout="false"/>
<ScheduledPrograms>
<ScheduledProgram Name="VectorCalcProgram"/>
</ScheduledPrograms>
</Task>
<Task Name="MainTask" Type="CONTINUOUS" Priority="10" Watchdog="500" DisableUpdateOutputs="false" InhibitTask="false">
<ScheduledPrograms>
<ScheduledProgram Name="MainProgram"/>
</ScheduledPrograms>
</Task>
<Task Name="MotionTask" Type="PERIODIC" Rate="20" Priority="12" Watchdog="500" DisableUpdateOutputs="false" InhibitTask="false">
<ScheduledPrograms>
<ScheduledProgram Name="MotionProgram"/>
</ScheduledPrograms>
</Task>
</Tasks>
<CommPorts>
<SerialPort Channel="0" BaudRate="38400" 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="Zaxis_Velocity_vs_Position" SamplePeriod="4" NumberOfCaptures="1" CaptureSizeType="Time Period" CaptureSize="60000" StartTriggerType="No Trigger" StopTriggerType="No Trigger" TrendxVersion="5.2">
<Description>
<![CDATA[Z-axis (Infeed-axis)  Velocity vs. Position.
Plot shows Coord_Motion allows Z-infeed change of speed, at Z-specified-Position]]>
</Description>
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<Pens>
<Pen Name="x_axis.CommandVelocity" Color="16#0000_ffff" Visible="false" Width="1" Type="Analog" Style="0" Marker="0" Min="0.0" Max="100.0"/>
<Pen Name="z_axis.CommandVelocity" Color="16#0080_00ff" Visible="true" Width="1" Type="Analog" Style="0" Marker="0" Min="0.0" Max="100.0"/>
<Pen Name="z_axis.CommandPosition" Color="16#00ff_ff00" Visible="true" Width="1" Type="Analog" Style="0" Marker="0" Min="0.0" Max="100.0"/>
</Pens>
</Trend>
</Trends>
</Controller>
</RSLogix5000Content>
