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<DataValueMember Name="ERR" DataType="INT" Radix="Decimal" Value="0"/>
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<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="Mclm6" TagType="Base" DataType="MOTION_INSTRUCTION">
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<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"/>
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<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="Mclm7" TagType="Base" DataType="MOTION_INSTRUCTION">
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<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
<DataValueMember Name="FLAGS" DataType="DINT" Radix="Decimal" Value="33554432"/>
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<DataValueMember Name="DN" DataType="BOOL" 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>
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<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"/>
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<DataValueMember Name="ACCEL" DataType="BOOL" Value="0"/>
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<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="Mclm9" 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"/>
<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="P1" TagType="Base" DataType="REAL" Radix="Float">
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<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="99.08263"/>
</Data>
</Tag>
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</Data>
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</Data>
</Tag>
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<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="-720.6786"/>
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<Tag Name="start" TagType="Base" DataType="BOOL" Radix="Decimal">
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<Tag Name="startmct" TagType="Base" DataType="BOOL" Radix="Decimal">
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<Data>1B 90 BA BF</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="-1.4575227"/>
</Data>
</Tag>
<Tag Name="theta3" TagType="Base" DataType="REAL" Radix="Float">
<Data>08 C5 47 40</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="3.1214008"/>
</Data>
</Tag>
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</Tag>
<Tag Name="y" TagType="Base" DataType="REAL" Radix="Float">
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<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="100.0"/>
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<Tag Name="z" TagType="Base" DataType="REAL" Radix="Float">
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<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="100.0"/>
</Data>
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</Tags>
<Routines>
<Routine Name="aaReadMe" Type="ST">
<STContent>
<Line Number="0">
<![CDATA[(* This Routine describes how to run the sample project ]]>
</Line>
<Line Number="1">
<![CDATA[]]>
</Line>
<Line Number="2">
<![CDATA[Step1 -  Move physical axes to start position - See routine -  "Robot_StartPosition"]]>
</Line>
<Line Number="3">
<![CDATA[Step2 -  Start the Transform -  See Routine  - "Transform_Routine"]]>
</Line>
<Line Number="4">
<![CDATA[Step3 -  Begin Application -  See Routine - "Application Routine"]]>
</Line>
<Line Number="5">
<![CDATA[Step4 -  Run Trend ]]>
</Line>
<Line Number="6">
<![CDATA[]]>
</Line>
<Line Number="7">
<![CDATA[]]>
</Line>
<Line Number="8">
<![CDATA[]]>
</Line>
<Line Number="9">
<![CDATA[]]>
</Line>
<Line Number="10">
<![CDATA[]]>
</Line>
<Line Number="11">
<![CDATA[]]>
</Line>
<Line Number="12">
<![CDATA[]]>
</Line>
<Line Number="13">
<![CDATA[]]>
</Line>
<Line Number="14">
<![CDATA[]]>
</Line>
<Line Number="15">
<![CDATA[]]>
</Line>
<Line Number="16">
<![CDATA[]]>
</Line>
<Line Number="17">
<![CDATA[]]>
</Line>
<Line Number="18">
<![CDATA[]]>
</Line>
<Line Number="19">
<![CDATA[]]>
</Line>
<Line Number="20">
<![CDATA[]]>
</Line>
<Line Number="21">
<![CDATA[]]>
</Line>
<Line Number="22">
<![CDATA[]]>
</Line>
<Line Number="23">
<![CDATA[]]>
</Line>
<Line Number="24">
<![CDATA[]]>
</Line>
<Line Number="25">
<![CDATA[]]>
</Line>
<Line Number="26">
<![CDATA[]]>
</Line>
<Line Number="27">
<![CDATA[*) ]]>
</Line>
</STContent>
</Routine>
<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">
<Text>
<![CDATA[JSR(Transform_Routine,0);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Text>
<![CDATA[JSR(Robot_StartPosition,0);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Text>
<![CDATA[JSR(PickAndPlace_Routine,0);]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="PickAndPlace_Routine" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Comment>
<![CDATA[Go to start position
]]>
</Comment>
<Text>
<![CDATA[XIC(Begin_Application)EQU(step,0)[MCLM(CS_Source,mc_word[0],0,pos[0,0],cartspeed,Units per sec,cartacc,Units per sec2,cartdec,Units per sec2,S-Curve,100.0,100.0,% of Time,1,Disabled,Programmed) ,XIC(mc_word[0].PC) ADD(1,step,step) ];]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Comment>
<![CDATA[Go to Pick position
]]>
</Comment>
<Text>
<![CDATA[EQU(step,1)[MCLM(CS_Source,mc_word[1],0,pos[1,0],cartspeed,Units per sec,cartacc,Units per sec2,cartdec,Units per sec2,S-Curve,100.0,100.0,% of Time,1,Disabled,Programmed) ,XIC(mc_word[1].PC) ADD(1,step,step) ];]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Comment>
<![CDATA[Quarter Circle move  away from 
pick position
]]>
</Comment>
<Text>
<![CDATA[EQU(step,2)[MCCM(CS_Source,mc_word[2],0,pos[2,0],Center,CenterVia_points[2,0],CW,cartspeed,Units per sec,cartacc,Units per sec2,cartdec,Units per sec2,S-Curve,100.0,100.0,% of Time,1,Disabled,Programmed) ,XIC(mc_word[2].PC) ADD(1,step,step) ];]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Comment>
<![CDATA[Linear Move to Drop Position
]]>
</Comment>
<Text>
<![CDATA[EQU(step,3)[MCLM(CS_Source,mc_word[3],0,pos[3,0],cartspeed,Units per sec,cartacc,Units per sec2,cartdec,Units per sec2,S-Curve,100.0,100.0,% of Time,1,Disabled,Programmed) ,XIC(mc_word[3].PC) ADD(1,step,step) ];]]>
</Text>
</Rung>
<Rung Number="4" Type="N">
<Comment>
<![CDATA[Circle move to drop position
]]>
</Comment>
<Text>
<![CDATA[EQU(step,4)[MCCM(CS_Source,mc_word[4],0,pos[4,0],Center,CenterVia_points[4,0],CW,cartspeed,Units per sec,cartacc,Units per sec2,cartdec,Units per sec2,S-Curve,100.0,100.0,% of Time,1,Disabled,Programmed) ,XIC(mc_word[4].PC) ADD(1,step,step) ];]]>
</Text>
</Rung>
<Rung Number="5" Type="N">
<Comment>
<![CDATA[Reverse Cycle
]]>
</Comment>
<Text>
<![CDATA[EQU(step,5)[MCCM(CS_Source,mc_word[5],0,pos[5,0],Center,CenterVia_points[4,0],CW,cartspeed,Units per sec,cartacc,Units per sec2,cartdec,Units per sec2,S-Curve,100.0,100.0,% of Time,1,Disabled,Programmed) ,XIC(mc_word[5].PC) ADD(1,step,step) ];]]>
</Text>
</Rung>
<Rung Number="6" Type="N">
<Comment>
<![CDATA[Linear Move to Pick position
]]>
</Comment>
<Text>
<![CDATA[EQU(step,6)[MCLM(CS_Source,mc_word[6],0,pos[6,0],cartspeed,Units per sec,cartacc,Units per sec2,cartdec,Units per sec2,S-Curve,100.0,100.0,% of Time,1,Disabled,Programmed) ,XIC(mc_word[6].PC) ADD(1,step,step) ];]]>
</Text>
</Rung>
<Rung Number="7" Type="N">
<Comment>
<![CDATA[Go to Pick Position and Repeat Cycle
]]>
</Comment>
<Text>
<![CDATA[EQU(step,7)[MCCM(CS_Source,mc_word[7],0,pos[7,0],Center,CenterVia_points[7,0],CW,cartspeed,Units per sec,cartacc,Units per sec2,cartdec,Units per sec2,s-Curve,100.0,100.0,% of Time,1,Disabled,Programmed) ,XIC(mc_word[7].PC) MOV(2,step) ];]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="Robot_StartPosition" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Text>
<![CDATA[XIC(Go_ToStartPosition)[MAM(Physical_Joint_1,mc_initialposition[0],0,-26,20.0,Units per sec,100,Units per sec2,100,Units per sec2,Trapezoidal,1000,1000,Units per sec3,Disabled,Programmed) ,MAM(Physical_Joint_2,mc_initialposition[1],0,80,20.0,Units per sec,100,Units per sec2,100,Units per sec2,Trapezoidal,1000,1000,Units per sec3,Disabled,Programmed) ,MAM(Physical_Joint_3,mc_initialposition[2],0,-80,20.0,Units per sec,100,Units per sec2,100,Units per sec2,Trapezoidal,1000,1000,Units per sec3,Disabled,Programmed) ];]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Text>
<![CDATA[XIC(mc_initialposition[0].PC)XIC(mc_initialposition[1].PC)XIC(mc_initialposition[2].PC)OTU(Go_ToStartPosition);]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="Transform_Routine" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Comment>
<![CDATA[Enable transform and once enabled as indicated by the  status,
  the trigger bit  is disabled
]]>
</Comment>
<Text>
<![CDATA[XIC(Transform_Start)[MCT(CS_Source,CS_3D_Artindep_Target,mct1,ort[0],trs[0]) ,XIC(mct1.IP) OTU(Transform_Start) ];]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Comment>
<![CDATA[Transform Stop Rung
]]>
</Comment>
<Text>
<![CDATA[XIC(Transform_Stop1)[MCS(CS_3D_Artindep_Target,mc_transformStop,Coordinated Transform,No,100,Units per sec2,Yes,100.0,% of Time) ,XIC(mc_transformStop.PC) OTU(Transform_Stop1) ];]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Comment>
<![CDATA[Please Note:  a Motion Axis stop  will also
stop the transform
]]>
</Comment>
<Text>
<![CDATA[XIC(Transform_Stop2)[MAS(Physical_Joint_1,mc_transformStop2,All,No,100,Units per sec2,No,1000,Units per sec3) ,XIC(mc_transformStop2.PC) OTU(Transform_Stop2) ];]]>
</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="1"/>
<WallClockTime LocalTimeAdjustment="0" TimeZone="0"/>
<Trends>
<Trend Name="YZ_Plot" SamplePeriod="10" NumberOfCaptures="1" CaptureSizeType="Samples" CaptureSize="60000" StartTriggerType="No Trigger" StopTriggerType="No Trigger" TrendxVersion="5.2">
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<Pens>
<Pen Name="Virtual_vx_1.ActualPosition" Color="16#00ff_0000" Visible="false" Width="1" Type="Analog" Style="0" Marker="0" Min="-20.0" Max="20.0"/>
<Pen Name="Virtual_vx_2.ActualPosition" Color="16#0000_ff00" Visible="false" Width="1" Type="Analog" Style="0" Marker="0" Min="-20.0" Max="20.0"/>
<Pen Name="Virtual_vx_3.ActualPosition" Color="16#0000_ffff" Visible="true" Width="1" Type="Analog" Style="0" Marker="0" Min="-20.0" Max="20.0"/>
</Pens>
</Trend>
</Trends>
</Controller>
</RSLogix5000Content>
