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<![CDATA[This AOI exhibits the PICK and PLACE behavior for a virtual cartesian axes.]]>
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<Routine Name="Logic" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Text>
<![CDATA[OTU(PC)OTU(ER)OTL(EN)OTL(IP)OTU(ErrorFound);]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Text>
<![CDATA[MOV(AccDec,AccDecDisplay);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Text>
<![CDATA[XIC(EN)XIC(IP)MOV(UpDistance,VerticalDist[2])CPT(DownDist[2],-DownDistance)MOV(HorizontalDistance,HorizonDist[0])CPT(AccDec,Speed**2/(0.5* ABS(HorizontalDistance)))MOV(2,PickTermType)MOV(1,TermTypeDown);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Text>
<![CDATA[EQU(LocalStep,-1)XIC(EN)XIC(IP)[MCLM(CoordinateSystem,Mclm1,1,VerticalDist[0],Speed,Units per sec,AccDec,Units per sec2,AccDec,Units per sec2,S-Curve,100.0,100.0,% of Time,PickTermType,disabled,Programmed) ,XIC(Mclm1.IP) XIO(CoordinateSystem.MovePendingQueueFullStatus) MOV(1,LocalStep) ];]]>
</Text>
</Rung>
<Rung Number="4" Type="N">
<Text>
<![CDATA[EQU(LocalStep,1)XIC(EN)XIC(IP)[MCLM(CoordinateSystem,Mclm2,1,HorizonDist[0],Speed,Units per sec,AccDec,Units per sec2,AccDec,Units per sec2,S-Curve,100.0,100.0,% of Time,PickTermType,disabled,Programmed) ,XIC(Mclm2.IP) XIO(CoordinateSystem.MovePendingQueueFullStatus) MOV(2,LocalStep) ];]]>
</Text>
</Rung>
<Rung Number="5" Type="N">
<Text>
<![CDATA[EQU(LocalStep,2)XIC(EN)XIC(IP)[MCLM(CoordinateSystem,Mclm3,1,DownDist[0],Speed,Units per sec,AccDec,Units per sec2,AccDec,Units per sec2,S-Curve,100.0,100.0,% of Time,TermTypeDown,disabled,Programmed) ,XIC(Mclm3.PC) [MOV(-1,LocalStep) ,OTL(PC) OTU(EN) OTU(IP) ] ];]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="Prescan" Type="RLL">
<Description>
<![CDATA[Move Step]]>
</Description>
<RLLContent>
<Rung Number="0" Type="N">
<Text>
<![CDATA[MOV(-1,LocalStep);]]>
</Text>
</Rung>
</RLLContent>
</Routine>
</Routines>
</AddOnInstructionDefinition>
</AddOnInstructionDefinitions>
<Tags>
<Tag Name="a1_move_to_initialposition" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="a2_mctTurnOn" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="AccDec" TagType="Base" DataType="REAL" Radix="Float">
<Data>52 55 D0 45</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="6666.665"/>
</Data>
</Tag>
<Tag Name="Actual_Position_axis" TagType="Base" DataType="REAL" Dimensions="3" Radix="Float">
<Data>00 00 00 00 00 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Array DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</Array>
</Data>
</Tag>
<Tag Name="CartSpeed" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 61 45</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="3600.0"/>
</Data>
</Tag>
<Tag Name="CommandTolerance" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 34 43</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="180.0"/>
</Data>
</Tag>
<Tag Name="Counter" TagType="Base" DataType="COUNTER">
<Data>00 00 00 00 02 00 00 00 01 00 00 00</Data>
<Data Format="Decorated"><Structure DataType="COUNTER">
<DataValueMember Name="PRE" DataType="DINT" Radix="Decimal" Value="2"/>
<DataValueMember Name="ACC" DataType="DINT" Radix="Decimal" Value="1"/>
<DataValueMember Name="CU" DataType="BOOL" Value="0"/>
<DataValueMember Name="CD" DataType="BOOL" Value="0"/>
<DataValueMember Name="DN" DataType="BOOL" Value="0"/>
<DataValueMember Name="OV" DataType="BOOL" Value="0"/>
<DataValueMember Name="UN" DataType="BOOL" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="CS_XYZ" TagType="Base" DataType="COORDINATE_SYSTEM">
<Data Format="CoordinateSystem">
<CoordinateSystemParameters MotionGroupInstance="MotionGroup" SystemType="Cartesian" Dimension="3" Axes="X Y Z" MaximumPendingMoves="1" CoordinationMode="Primary Primary Primary" CoordinationUnits="Coordination Units" ConversionRatioNumerator="1.0 1.0 1.0" ConversionRatioDenominator="1 1 1" CoordinateSystemAutoTagUpdate="Enabled" MaximumSpeed="100.0"
 MaximumAcceleration="70000.0" MaximumDeceleration="1000.0" ActualPositionTolerance="0.01" CommandPositionTolerance="180.0" TransformDimension="3" JointRatioNumerator="1.0 1.0 1.0" JointRatioDenominator="1 1 1" 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="49000000.0" MaximumDecelerationJerk="10000.0"/>
</Data>
</Tag>
<Tag Name="CycleTime" TagType="Base" DataType="TIMER">
<Data>7C 42 0A C0 9F 86 01 00 A2 01 00 00</Data>
<Data Format="Decorated"><Structure DataType="TIMER">
<DataValueMember Name="PRE" DataType="DINT" Radix="Decimal" Value="99999"/>
<DataValueMember Name="ACC" DataType="DINT" Radix="Decimal" Value="418"/>
<DataValueMember Name="EN" DataType="BOOL" Value="1"/>
<DataValueMember Name="TT" DataType="BOOL" Value="1"/>
<DataValueMember Name="DN" DataType="BOOL" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="Delta3D" TagType="Base" DataType="COORDINATE_SYSTEM">
<Data Format="CoordinateSystem">
<CoordinateSystemParameters MotionGroupInstance="MotionGroup" SystemType="Delta" Dimension="3" Axes="J1 J2 J3" MaximumPendingMoves="1" CoordinationMode="Ancillary Ancillary Ancillary" CoordinationUnits="Coordination Units" ConversionRatioNumerator="1.0 1.0 1.0" ConversionRatioDenominator="1 1 1" CoordinateSystemAutoTagUpdate="Enabled" MaximumSpeed="100.0"
 MaximumAcceleration="70000.0" MaximumDeceleration="1000.0" ActualPositionTolerance="0.01" CommandPositionTolerance="180.0" TransformDimension="3" JointRatioNumerator="1.0 1.0 1.0" JointRatioDenominator="1 1 1" LinkLength1="220.2" LinkLength2="670.0" ZeroAngleOffset1="0.0" ZeroAngleOffset2="0.0"
 ZeroAngleOffset3="0.0" BaseOffset1="130.0" BaseOffset2="0.0" BaseOffset3="0.0" EndEffectorOffset1="40.0" EndEffectorOffset2="0.0" EndEffectorOffset3="0.0" DynamicsConfigurationBits="7" MaximumAccelerationJerk="49000000.0" MaximumDecelerationJerk="10000.0"/>
</Data>
</Tag>
<Tag Name="DownDist" TagType="Base" DataType="REAL" Dimensions="3" Radix="Float">
<Data>00 00 00 00 00 00 00 00 00 00 70 C2</Data>
<Data Format="Decorated"><Array DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="-60.0"/>
</Array>
</Data>
</Tag>
<Tag Name="Downdistance" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 A0 42</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="80.0"/>
</Data>
</Tag>
<Tag Name="DownDistBack" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 F0 C2</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="-120.0"/>
</Data>
</Tag>
<Tag Name="HalfHorizonMCLM" TagType="Base" DataType="MOTION_INSTRUCTION">
<Data>00 00 00 AA 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="-1442840576"/>
<DataValueMember Name="EN" DataType="BOOL" Value="1"/>
<DataValueMember Name="DN" DataType="BOOL" Value="1"/>
<DataValueMember Name="ER" DataType="BOOL" Value="0"/>
<DataValueMember Name="PC" DataType="BOOL" Value="1"/>
<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="HorizDistance" TagType="Base" DataType="REAL" Dimensions="3" Radix="Float">
<Data>00 00 16 C3 00 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Array DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="-150.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</Array>
</Data>
</Tag>
<Tag Name="HorizDistBack" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 B4 C3</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="-360.0"/>
</Data>
</Tag>
<Tag Name="HorizontalDistance" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 B4 43</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="360.0"/>
</Data>
</Tag>
<Tag Name="InitialMclm1" TagType="Base" DataType="MOTION_INSTRUCTION">
<Data>00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
<DataValueMember Name="FLAGS" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EN" DataType="BOOL" Value="0"/>
<DataValueMember Name="DN" DataType="BOOL" Value="0"/>
<DataValueMember Name="ER" DataType="BOOL" Value="0"/>
<DataValueMember Name="PC" DataType="BOOL" Value="0"/>
<DataValueMember Name="IP" DataType="BOOL" Value="0"/>
<DataValueMember Name="AC" DataType="BOOL" Value="0"/>
<DataValueMember Name="ACCEL" DataType="BOOL" Value="0"/>
<DataValueMember Name="DECEL" DataType="BOOL" Value="0"/>
<DataValueMember Name="ERR" DataType="INT" Radix="Decimal" Value="0"/>
<DataValueMember Name="STATUS" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="STATE" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="SEGMENT" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EXERR" DataType="SINT" Radix="Decimal" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="InitialPos" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="J1" TagType="Base" DataType="AXIS_VIRTUAL">
<Data Format="Axis">
<AxisParameters MotionGroup="MotionGroup" 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="16.0" HomeOffset="0.0" MaximumSpeed="10.0" MaximumAcceleration="100.0" MaximumDeceleration="100.0" ProgrammedStopMode="Fast Stop" MasterInputConfigurationBits="1" MasterPositionFilterBandwidth="0.1" MaximumAccelerationJerk="3000.0" MaximumDecelerationJerk="3000.0"
 DynamicsConfigurationBits="3"/>
</Data>
</Tag>
<Tag Name="J2" TagType="Base" DataType="AXIS_VIRTUAL">
<Data Format="Axis">
<AxisParameters MotionGroup="MotionGroup" 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="16.0" HomeOffset="0.0" MaximumSpeed="10.0" MaximumAcceleration="100.0" MaximumDeceleration="100.0" ProgrammedStopMode="Fast Stop" MasterInputConfigurationBits="1" MasterPositionFilterBandwidth="0.1" MaximumAccelerationJerk="3000.0" MaximumDecelerationJerk="3000.0"
 DynamicsConfigurationBits="3"/>
</Data>
</Tag>
<Tag Name="J3" TagType="Base" DataType="AXIS_VIRTUAL">
<Data Format="Axis">
<AxisParameters MotionGroup="MotionGroup" 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="16.0" HomeOffset="0.0" MaximumSpeed="10.0" MaximumAcceleration="100.0" MaximumDeceleration="100.0" ProgrammedStopMode="Fast Stop" MasterInputConfigurationBits="1" MasterPositionFilterBandwidth="0.1" MaximumAccelerationJerk="3000.0" MaximumDecelerationJerk="3000.0"
 DynamicsConfigurationBits="3"/>
</Data>
</Tag>
<Tag Name="junk1" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="LocalStep" 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="LocalStep1" TagType="Base" DataType="DINT" Radix="Decimal">
<Data>03 00 00 00</Data>
<Data Format="Decorated"><DataValue DataType="DINT" Radix="Decimal" Value="3"/>
</Data>
</Tag>
<Tag Name="mas1" 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="MaxAccDec" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 00 00</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="0.0"/>
</Data>
</Tag>
<Tag Name="MaxAccel" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 B8 88 47</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="70000.0"/>
</Data>
</Tag>
<Tag Name="mccd1" TagType="Base" DataType="MOTION_INSTRUCTION">
<Data>00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
<DataValueMember Name="FLAGS" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EN" DataType="BOOL" Value="0"/>
<DataValueMember Name="DN" DataType="BOOL" Value="0"/>
<DataValueMember Name="ER" DataType="BOOL" Value="0"/>
<DataValueMember Name="PC" DataType="BOOL" Value="0"/>
<DataValueMember Name="IP" DataType="BOOL" Value="0"/>
<DataValueMember Name="AC" DataType="BOOL" Value="0"/>
<DataValueMember Name="ACCEL" DataType="BOOL" Value="0"/>
<DataValueMember Name="DECEL" DataType="BOOL" Value="0"/>
<DataValueMember Name="ERR" DataType="INT" Radix="Decimal" Value="0"/>
<DataValueMember Name="STATUS" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="STATE" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="SEGMENT" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EXERR" DataType="SINT" Radix="Decimal" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="mccdOn" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="MCSOn" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="mct1" 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="mctOn" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>01</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="1"/>
</Data>
</Tag>
<Tag Name="MotionGroup" TagType="Base" DataType="MOTION_GROUP">
<Data Format="MotionGroup">
<MotionGroupParameters GroupType="Warning Enabled" CoarseUpdatePeriod="3000" PhaseShift="0" GeneralFaultType="Non Major Fault" AutoTagUpdate="Enabled"/>
</Data>
</Tag>
<Tag Name="MoveDown" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="OldCartSpeed" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 00 00</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="0.0"/>
</Data>
</Tag>
<Tag Name="ort" TagType="Base" DataType="REAL" Dimensions="3" Radix="Float">
<Data>00 00 00 00 00 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Array DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</Array>
</Data>
</Tag>
<Tag Name="PickPlace" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="PickPlace2" TagType="Base" DataType="PICKPLACE">
<Data>00 00 00 00 00 00 B4 C3 00 00 A0 42 00 00 A0 42 
00 00 61 45 FA 9F 8C 47 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 A0 42 00 00 B4 C3 
00 00 00 00 00 00 00 00 00 00 00 2A 00 00 00 00 
00 00 00 00 00 00 00 00 FA 9F 8C 47 02 00 00 00 
00 00 80 26 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 A6 00 00 00 00 00 00 00 00 00 00 00 00 
01 00 00 00 02 00 00 00 00 00 00 92 17 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 A0 C2</Data>
<Data Format="Decorated"><Structure DataType="PICKPLACE">
<DataValueMember Name="EnableIn" DataType="BOOL" Value="0"/>
<DataValueMember Name="EnableOut" DataType="BOOL" Value="0"/>
<DataValueMember Name="HorizontalDistance" DataType="REAL" Radix="Float" Value="-360.0"/>
<DataValueMember Name="UpDistance" DataType="REAL" Radix="Float" Value="80.0"/>
<DataValueMember Name="DownDistance" DataType="REAL" Radix="Float" Value="80.0"/>
<DataValueMember Name="Speed" DataType="REAL" Radix="Float" Value="3600.0"/>
<DataValueMember Name="AccDecDisplay" DataType="REAL" Radix="Float" Value="71999.95"/>
<DataValueMember Name="EN" DataType="BOOL" Value="0"/>
<DataValueMember Name="IP" DataType="BOOL" Value="0"/>
<DataValueMember Name="ER" DataType="BOOL" Value="0"/>
<DataValueMember Name="PC" DataType="BOOL" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="Pick_cycles_per_minute" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 00 00</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="0.0"/>
</Data>
</Tag>
<Tag Name="Place" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="posArray" TagType="Base" DataType="REAL" Dimensions="3" Radix="Float">
<Data>00 00 00 00 00 00 00 00 00 00 1B C4</Data>
<Data Format="Decorated"><Array DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="-620.0"/>
</Array>
</Data>
</Tag>
<Tag Name="SpeedOverwrite" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="step" TagType="Base" DataType="DINT" Radix="Decimal">
<Data>FF FF FF FF</Data>
<Data Format="Decorated"><DataValue DataType="DINT" Radix="Decimal" Value="-1"/>
</Data>
</Tag>
<Tag Name="TermType1" 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="TimeinSeconds" TagType="Base" DataType="REAL" Radix="Float">
<Data>EE 7C FF 3E</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="0.499"/>
</Data>
</Tag>
<Tag Name="trs" TagType="Base" DataType="REAL" Dimensions="3" Radix="Float">
<Data>00 00 00 00 00 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Array DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="0.0"/>
</Array>
</Data>
</Tag>
<Tag Name="T_CycleFrequency" TagType="Base" DataType="REAL" Radix="Float">
<Data>E4 79 F0 42</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="120.23807"/>
</Data>
</Tag>
<Tag Name="unlatch" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="UpDistance" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 A0 42</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="80.0"/>
</Data>
</Tag>
<Tag Name="UpdistanceBack" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 A0 C2</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="-80.0"/>
</Data>
</Tag>
<Tag Name="VectorAcceleration" TagType="Base" DataType="REAL" Radix="Float">
<Data>CD 71 86 47</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="68835.6"/>
</Data>
</Tag>
<Tag Name="VectorVelocity" TagType="Base" DataType="REAL" Radix="Float">
<Data>B9 CD 14 45</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="2380.8577"/>
</Data>
</Tag>
<Tag Name="VertDist" TagType="Base" DataType="REAL" Radix="Float">
<Data>00 00 A0 42</Data>
<Data Format="Decorated"><DataValue DataType="REAL" Radix="Float" Value="80.0"/>
</Data>
</Tag>
<Tag Name="VertDistance" TagType="Base" DataType="REAL" Dimensions="3" Radix="Float">
<Data>00 00 00 00 00 00 00 00 00 00 20 C2</Data>
<Data Format="Decorated"><Array DataType="REAL" Dimensions="3" Radix="Float">
<Element Index="[0]" Value="0.0"/>
<Element Index="[1]" Value="0.0"/>
<Element Index="[2]" Value="-40.0"/>
</Array>
</Data>
</Tag>
<Tag Name="VerticalMCLM" TagType="Base" DataType="MOTION_INSTRUCTION">
<Data>00 00 00 AA 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="-1442840576"/>
<DataValueMember Name="EN" DataType="BOOL" Value="1"/>
<DataValueMember Name="DN" DataType="BOOL" Value="1"/>
<DataValueMember Name="ER" DataType="BOOL" Value="0"/>
<DataValueMember Name="PC" DataType="BOOL" Value="1"/>
<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="X" TagType="Base" DataType="AXIS_VIRTUAL">
<Data Format="Axis">
<AxisParameters MotionGroup="MotionGroup" 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="16.0" HomeOffset="0.0" MaximumSpeed="10.0" MaximumAcceleration="100.0" MaximumDeceleration="100.0" ProgrammedStopMode="Fast Stop" MasterInputConfigurationBits="1" MasterPositionFilterBandwidth="0.1" MaximumAccelerationJerk="3000.0" MaximumDecelerationJerk="3000.0"
 DynamicsConfigurationBits="3"/>
</Data>
</Tag>
<Tag Name="Y" TagType="Base" DataType="AXIS_VIRTUAL">
<Data Format="Axis">
<AxisParameters MotionGroup="MotionGroup" 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="10.0" MaximumAcceleration="100.0" MaximumDeceleration="100.0" ProgrammedStopMode="Fast Stop" MasterInputConfigurationBits="1" MasterPositionFilterBandwidth="0.1" MaximumAccelerationJerk="3000.0" MaximumDecelerationJerk="3000.0"
 DynamicsConfigurationBits="3"/>
</Data>
</Tag>
<Tag Name="Z" TagType="Base" DataType="AXIS_VIRTUAL">
<Data Format="Axis">
<AxisParameters MotionGroup="MotionGroup" 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="8.0" HomeOffset="0.0" MaximumSpeed="10.0" MaximumAcceleration="100.0" MaximumDeceleration="100.0" ProgrammedStopMode="Fast Stop" MasterInputConfigurationBits="1" MasterPositionFilterBandwidth="0.1" MaximumAccelerationJerk="3000.0" MaximumDecelerationJerk="3000.0"
 DynamicsConfigurationBits="3"/>
</Data>
</Tag>
</Tags>
<Programs>
<Program Name="MainProgram" TestEdits="false" MainRoutineName="a1_MainRoutine" Disabled="false">
<Tags>
<Tag Name="MASAll" TagType="Base" DataType="BOOL" Radix="Decimal">
<Data>00</Data>
<Data Format="Decorated"><DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</Data>
</Tag>
<Tag Name="mcs1" TagType="Base" DataType="MOTION_INSTRUCTION">
<Data>00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00</Data>
<Data Format="Decorated"><Structure DataType="MOTION_INSTRUCTION">
<DataValueMember Name="FLAGS" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EN" DataType="BOOL" Value="0"/>
<DataValueMember Name="DN" DataType="BOOL" Value="0"/>
<DataValueMember Name="ER" DataType="BOOL" Value="0"/>
<DataValueMember Name="PC" DataType="BOOL" Value="0"/>
<DataValueMember Name="IP" DataType="BOOL" Value="0"/>
<DataValueMember Name="AC" DataType="BOOL" Value="0"/>
<DataValueMember Name="ACCEL" DataType="BOOL" Value="0"/>
<DataValueMember Name="DECEL" DataType="BOOL" Value="0"/>
<DataValueMember Name="ERR" DataType="INT" Radix="Decimal" Value="0"/>
<DataValueMember Name="STATUS" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="STATE" DataType="SINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="SEGMENT" DataType="DINT" Radix="Decimal" Value="0"/>
<DataValueMember Name="EXERR" DataType="SINT" Radix="Decimal" Value="0"/>
</Structure>
</Data>
</Tag>
<Tag Name="PickPlace1" TagType="Base" DataType="PICKPLACE">
<Data>00 00 00 00 00 00 B4 43 00 00 A0 42 00 00 A0 42 
00 00 61 45 FA 9F 8C 47 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 00 00 00 00 00 00 00 A0 42 00 00 B4 43 
00 00 00 00 00 00 00 00 00 00 00 2A 00 00 00 00 
00 00 00 00 00 00 00 00 FA 9F 8C 47 02 00 00 00 
00 00 00 2A 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 00 AA 00 00 00 00 00 00 00 00 00 00 00 00 
01 00 00 00 FF FF FF FF 00 00 00 92 17 00 00 00 
00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 
00 00 A0 C2</Data>
<Data Format="Decorated"><Structure DataType="PICKPLACE">
<DataValueMember Name="EnableIn" DataType="BOOL" Value="0"/>
<DataValueMember Name="EnableOut" DataType="BOOL" Value="0"/>
<DataValueMember Name="HorizontalDistance" DataType="REAL" Radix="Float" Value="360.0"/>
<DataValueMember Name="UpDistance" DataType="REAL" Radix="Float" Value="80.0"/>
<DataValueMember Name="DownDistance" DataType="REAL" Radix="Float" Value="80.0"/>
<DataValueMember Name="Speed" DataType="REAL" Radix="Float" Value="3600.0"/>
<DataValueMember Name="AccDecDisplay" DataType="REAL" Radix="Float" Value="71999.95"/>
<DataValueMember Name="EN" DataType="BOOL" Value="0"/>
<DataValueMember Name="IP" DataType="BOOL" Value="0"/>
<DataValueMember Name="ER" DataType="BOOL" Value="0"/>
<DataValueMember Name="PC" DataType="BOOL" Value="0"/>
</Structure>
</Data>
</Tag>
</Tags>
<Routines>
<Routine Name="a1_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[==================================================================
Sample program for Kinematics feature, via  MCT programming ;
with Source coordinate_system=CS_XYZ (3 Virtual axes, Geometry=Cartesian)
and  Target  coordinate_system=Delta3D (3 Joint axes, Geometry=Delta 3D)   
====   ==== ==== ==== ==== ==== ====
Using  Multi-Axis Linear moves MCLM in AOI Logix to exercise a PICK & PLACE cycle. 
in PickPlace AIO: pass in Velocity, & the AIO calculates the Acc/Dec for Speed-invariant Path 
open Trend=  to view the Position plot of the resulting Pick & Place profile.   
==================================================================]]>
</Comment>
<Text>
<![CDATA[[JSR(VectorDynamics,0) ,JSR(TimerRoutine,0) ,JSR(a3_PICK_PLACE,0) ];]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Comment>
<![CDATA[==========================
USER SETUP:::
Toggle bits from left to right.
===========================
 a2_MCTTurnOn: Enables the Transformation between the Cartesian axes and Robot axes
InitialPos: Moves to the inital Cartesian Position(HorizDistance/2, 0, -620)
PICKPLACE: Does a PICK and PLACE with a speed invariant path..See Z_help for more details
]]>
</Comment>
<Text>
<![CDATA[XIC(a2_mctTurnOn)XIC(InitialPos)XIC(PickPlace)OTU(unlatch);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Comment>
<![CDATA[Status & Monitor the [Source's cartesian] Axis Position]]>
</Comment>
<Text>
<![CDATA[[XIC(CS_XYZ.TransformSourceStatus) ,XIC(Delta3D.TransformTargetStatus) ]MOV(CS_XYZ.ActualPosition[0],Actual_Position_axis[0])MOV(CS_XYZ.ActualPosition[1],Actual_Position_axis[1])MOV(CS_XYZ.ActualPosition[2],Actual_Position_axis[2]);]]>
</Text>
</Rung>
<Rung Number="4" Type="N">
<Text>
<![CDATA[MOV(T_CycleFrequency,Pick_cycles_per_minute);]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="a3_PICK_PLACE" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Text>
<![CDATA[XIC(s:fs)MOV(-1,step);]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Text>
<![CDATA[CPT(HorizDistBack,-HorizontalDistance)CPT(CommandTolerance,CommandTolerance)CPT(posArray[0],-HorizontalDistance/2);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Text>
<![CDATA[SSV(COORDINATESYSTEM,CS_XYZ,CommandPositionTolerance,CommandTolerance);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Text>
<![CDATA[XIC(MotionGroup.GroupSynced)XIC(a2_mctTurnOn)MCT(CS_XYZ,Delta3D,mct1,ort[0],trs[0])OTU(a2_mctTurnOn);]]>
</Text>
</Rung>
<Rung Number="4" Type="N">
<Text>
<![CDATA[XIC(InitialPos)MCLM(CS_XYZ,InitialMclm1,0,posArray[0],CartSpeed,Units per sec,PickPlace1.AccDecDisplay,Units per sec2,PickPlace1.AccDecDisplay,Units per sec2,S-Curve,100.0,100.0,% of Time,TermType1,0,Programmed)OTU(InitialPos);]]>
</Text>
</Rung>
<Rung Number="5" Type="N">
<Comment>
<![CDATA[Add-On Instruction for PICK PLACE -  Specify the velocity to  the AOI and it calculates
 the required ACC/ DEC for speed-invariant path.]]>
</Comment>
<Text>
<![CDATA[XIC(PickPlace)EQU(step,-1)[PICKPLACE(PickPlace1,CS_XYZ,HorizontalDistance,UpDistance,Downdistance,CartSpeed) ,XIC(PickPlace1.PC) MOV(1,step) ];]]>
</Text>
</Rung>
<Rung Number="6" Type="N">
<Text>
<![CDATA[EQU(step,1)[PICKPLACE(PickPlace2,CS_XYZ,HorizDistBack,Downdistance,UpDistance,CartSpeed) ,XIC(PickPlace2.PC) MOV(-1,step) ];]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="TimerRoutine" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Comment>
<![CDATA[This routine claculates the number of PICK-PLACE 's per minute.
T_Cyclefrequency displays the value]]>
</Comment>
<Text>
<![CDATA[EQU(step,1)CTU(Counter,?,?);]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Text>
<![CDATA[RTO(CycleTime,?,?);]]>
</Text>
</Rung>
<Rung Number="2" Type="N">
<Text>
<![CDATA[XIC(Counter.DN)CPT(TimeinSeconds,CycleTime.ACC/((Counter.PRE-1)*1000))RES(Counter)RES(CycleTime);]]>
</Text>
</Rung>
<Rung Number="3" Type="N">
<Text>
<![CDATA[CPT(T_CycleFrequency,60.0/(TimeinSeconds+.00001));]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="VectorDynamics" Type="RLL">
<RLLContent>
<Rung Number="0" Type="N">
<Comment>
<![CDATA[Vector velocity of Cartesian Coordinate System]]>
</Comment>
<Text>
<![CDATA[CPT(VectorVelocity,SQR(X.ActualVelocity**2 + Y.ActualVelocity**2+Z.ActualVelocity**2));]]>
</Text>
</Rung>
<Rung Number="1" Type="N">
<Comment>
<![CDATA[Vector Acceleration of the cartesian Cooridnate system]]>
</Comment>
<Text>
<![CDATA[CPT(VectorAcceleration,SQR(X.CommandAcceleration**2+Y.CommandAcceleration**2+Z.CommandAcceleration**2));]]>
</Text>
</Rung>
</RLLContent>
</Routine>
<Routine Name="Z_help" Type="ST">
<STContent>
<Line Number="0">
<![CDATA[]]>
</Line>
<Line Number="1">
<![CDATA[(*]]>
</Line>
<Line Number="2">
<![CDATA[ /*  ============================================================================= */	]]>
</Line>
<Line Number="3">
<![CDATA[                  DELTA Geometry PICK - PLACE CYCLE AOI Overview ]]>
</Line>
<Line Number="4">
<![CDATA[ /*  ============================================================================= */	]]>
</Line>
<Line Number="5">
<![CDATA[         ]]>
</Line>
<Line Number="6">
<![CDATA[]]>
</Line>
<Line Number="7">
<![CDATA[ Open a1_mainRoutine and  toggle the bits from left to right. ]]>
</Line>
<Line Number="8">
<![CDATA[    ]]>
</Line>
<Line Number="9">
<![CDATA[                     __________________________  ]]>
</Line>
<Line Number="10">
<![CDATA[                  A |    HorizontalDistance    | C]]>
</Line>
<Line Number="11">
<![CDATA[       Updistance   |                          |  DownDistance]]>
</Line>
<Line Number="12">
<![CDATA[                    |                          |]]>
</Line>
<Line Number="13">
<![CDATA[                  B |                          | D    ]]>
</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[UpDistance         =  Pick distance       ]]>
</Line>
<Line Number="19">
<![CDATA[Downdistance       =  Place distance ]]>
</Line>
<Line Number="20">
<![CDATA[HorizontalDistance =  The width of the PICK-PLACE Cycle (Pick and Place distance vaues can be set with different values)  ]]>
</Line>
<Line Number="21">
<![CDATA[CartSpeed          =  PICK-PLACE cycle speed]]>
</Line>
<Line Number="22">
<![CDATA[]]>
</Line>
<Line Number="23">
<![CDATA[CommandTolerance   = Set the command tolerance equal to half the horizontal distance for maximum blending.]]>
</Line>
<Line Number="24">
<![CDATA[					 If clearance is required during PICK nad PLACE, set it equal to Updistance minus Clearance distance required.]]>
</Line>
<Line Number="25">
<![CDATA[             ]]>
</Line>
<Line Number="26">
<![CDATA[For example: AB = UpDistance = 80 mm and you require 10 mm clearance from B, then set ]]>
</Line>
<Line Number="27">
<![CDATA[CommandTolerance =  70 mm.]]>
</Line>
<Line Number="28">
<![CDATA[]]>
</Line>
<Line Number="29">
<![CDATA[]]>
</Line>
<Line Number="30">
<![CDATA[The  Acc/Dec for the PICK-PLACE values are computed in the AOI based on the CartSpeed value that the user specifies. ]]>
</Line>
<Line Number="31">
<![CDATA[ ]]>
</Line>
<Line Number="32">
<![CDATA[]]>
</Line>
<Line Number="33">
<![CDATA[T_cyclefrequency tag displays the number of pick and place cycles.]]>
</Line>
<Line Number="34">
<![CDATA[]]>
</Line>
<Line Number="35">
<![CDATA[]]>
</Line>
<Line Number="36">
<![CDATA[Note: All moves are incremental. ]]>
</Line>
<Line Number="37">
<![CDATA[]]>
</Line>
<Line Number="38">
<![CDATA[*)]]>
</Line>
</STContent>
</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="VectorAcceleration" SamplePeriod="10" NumberOfCaptures="1" CaptureSizeType="Samples" CaptureSize="60000" StartTriggerType="No Trigger" StopTriggerType="No Trigger" TrendxVersion="5.2">
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