<?xml version="1.0" encoding="UTF-8" standalone="yes"?>
<RSLogix5000Content SchemaRevision="1.0" SoftwareRevision="20.01" TargetName="T2STA" TargetType="AddOnInstructionDefinition" TargetRevision="1.0 " TargetLastEdited="2015-04-29T16:02:43.015Z" ContainsContext="true" Owner="Exlar, Exlar" ExportDate="Mon May 04 14:50:10 2015" ExportOptions="References DecoratedData Context Dependencies ForceProtectedEncoding AllProjDocTrans">
<Controller Use="Context" Name="Exlar_AOI_Sample_Project_v1_0">
<DataTypes Use="Context">
</DataTypes>
<AddOnInstructionDefinitions Use="Context">
<AddOnInstructionDefinition Use="Target" Name="T2STA" Revision="1.0" Vendor="Exlar Corporation" ExecutePrescan="false" ExecutePostscan="false" ExecuteEnableInFalse="false" CreatedDate="2014-04-17T15:10:41.733Z" CreatedBy="INT\jalvarez" EditedDate="2015-04-29T16:02:43.015Z" EditedBy="INT\jalvarez"
 SoftwareRevision="v20.01">
<AdditionalHelpText>
<![CDATA[Use the Tritex 2 Status (T2STA) instruction to retrieve drive status. The instruction parameters provide a summary view of the module, motion and position information for the drive. 

Configured for Exlar EIP AOI. 07/01/2014

----------------------------------------------------------------------------------------------------------------------------
Parameters Bit Definition
----------------------------------------------------------------------------------------------------------------------------

Module:   (Output) Module Status       
------------------------------------------------------------------
     Module.0:     Enable
     Module.1:     Homed
     Module.2:     Ready
     Module.3:     Fault Active
     Module.4:     Warning Active
     Module.5:     Fault or Warning Active


Motion:   (Output) Motion Status       
------------------------------------------------------------------
     Motion.0:     Stopped Active
     Motion.1:     Pasued Active
     Motion.2:     Jogged Active
     Motion.3:     Jog Positive Active
     Motion.4:     Jog Negative Active
     Motion.5:     Initiate Home Move Active
     Motion.6:     Emergency Move Active
     Motion.7:     Move Active
     Motion.8:     In Position Active


Warnings:     (Output) List of active drive Warnings 
------------------------------------------------------------------
     Warnings.0:  IPK – Peak Current
     Warnings.1:  C – Continuous Current
     Warnings.2:  POS – Position Tracking
     Warnings.3:  MV – Move Termination
     Warnings.4:  VLOW – Low DC Bus Voltage
     Warnings.5:  VHIGH – High DC Bus Voltage
     Warnings.6:  FE – Positional Following Error
     Warnings.7:  BT – Board Temperature
     Warnings.8:  AT – Actuator Temperature
     Warnings.9:  LOS – Loss of Signal
     Warnings.10:  COM –Communications
     Warnings.11:  IH – Hardware Over current
     Warnings.12:  HB – Absolute Hall Board Battery
     Warnings 13:  UP – User Parameters
     Warnings.14:  FP – Factory Parameters
     Warnings.15:  RS – Restart


Faults:     (Output)  List of active drive Faults 
------------------------------------------------------------------
     Faults.0:  IPK – Peak Current
     Faults.1:  C – Continuous Current
     Faults.2:  POS – Position Tracking
     Faults.3:  MV – Move Termination
     Faults.4:  VLOW – Low DC Bus Voltage
     Faults.5:  VHIGH – High DC Bus Voltage
     Faults.6:  FE – Positional Following Error
     Faults.7:  BT – Board Temperature
     Faults.8:  AT – Actuator Temperature
     Faults.9:  LOS – Loss of Signal
     Faults.10:  COM –Communications
     Faults.11:  IH – Hardware Over current
     Faults.12:  HB – Absolute Hall Board Battery
     Faults 13:  UP – User Parameters
     Faults.14:  FP – Factory Parameters
     Faults.15:  RS – Restart
]]>
</AdditionalHelpText>
<Parameters>
<Parameter Name="EnableIn" TagType="Base" DataType="BOOL" Usage="Input" Radix="Decimal" Required="false" Visible="false" ExternalAccess="Read Only">
<Description>
<![CDATA[Enable Input - System Defined Parameter]]>
</Description>
</Parameter>
<Parameter Name="EnableOut" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="false" ExternalAccess="Read Only">
<Description>
<![CDATA[Enable Output - System Defined Parameter]]>
</Description>
</Parameter>
<Parameter Name="ModuleInputs" TagType="Base" DataType="INT" Dimensions="101" Usage="InOut" Radix="Decimal" Required="true" Visible="true" Constant="false">
<Description>
<![CDATA[Module Input Array]]>
</Description>
</Parameter>
<Parameter Name="ModuleOutputs" TagType="Base" DataType="INT" Dimensions="101" Usage="InOut" Radix="Decimal" Required="true" Visible="true" Constant="false">
<Description>
<![CDATA[Module Outputs Array]]>
</Description>
</Parameter>
<Parameter Name="Units" TagType="Base" DataType="REAL" Dimensions="4" Usage="InOut" Radix="Float" Required="true" Visible="true" Constant="false">
<Description>
<![CDATA[User Units Configuration]]>
</Description>
</Parameter>
<Parameter Name="DF" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[A Drive Fault is active]]>
</Description>
<DefaultData>00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="ER" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[A Instruction error is Active]]>
</Description>
<DefaultData>00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="Ready" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[Enabled + Homed]]>
</Description>
<DefaultData>00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="Module" TagType="Base" DataType="INT" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[Drive Status]]>
</Description>
<DefaultData>00 00</DefaultData>
<Comments>
<Comment Operand=".0">
<![CDATA[Enable]]>
</Comment>
<Comment Operand=".1">
<![CDATA[Homed]]>
</Comment>
<Comment Operand=".2">
<![CDATA[Ready]]>
</Comment>
<Comment Operand=".3">
<![CDATA[Fault]]>
</Comment>
<Comment Operand=".4">
<![CDATA[Warning]]>
</Comment>
<Comment Operand=".5">
<![CDATA[Fault or Warning]]>
</Comment>
<Comment Operand=".7">
<![CDATA[Alternate Operating Mode]]>
</Comment>
<Comment Operand=".10">
<![CDATA[Define Home Position 1]]>
</Comment>
<Comment Operand=".11">
<![CDATA[Define Home Position 2]]>
</Comment>
<Comment Operand=".12">
<![CDATA[Move Teach Enable]]>
</Comment>
<Comment Operand=".13">
<![CDATA[Teach Selected Move Position]]>
</Comment>
<Comment Operand=".14">
<![CDATA[Brake Override]]>
</Comment>
<Comment Operand=".15">
<![CDATA[Fault Reset]]>
</Comment>
</Comments>
<DefaultData Format="Decorated">
<DataValue DataType="INT" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="Motion" TagType="Base" DataType="INT" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[Motion Status]]>
</Description>
<DefaultData>00 00</DefaultData>
<Comments>
<Comment Operand=".0">
<![CDATA[Stopped Active]]>
</Comment>
<Comment Operand=".1">
<![CDATA[Pasued Active]]>
</Comment>
<Comment Operand=".2">
<![CDATA[Jogged Active]]>
</Comment>
<Comment Operand=".3">
<![CDATA[Jog Positive Actived]]>
</Comment>
<Comment Operand=".4">
<![CDATA[Jog Negative Active]]>
</Comment>
<Comment Operand=".5">
<![CDATA[Initiate Home Move Active]]>
</Comment>
<Comment Operand=".6">
<![CDATA[EMOVE]]>
</Comment>
<Comment Operand=".7">
<![CDATA[Move active]]>
</Comment>
<Comment Operand=".8">
<![CDATA[In Position active]]>
</Comment>
</Comments>
<DefaultData Format="Decorated">
<DataValue DataType="INT" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="Position" TagType="Base" DataType="REAL" Usage="Output" Radix="Float" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[Module Position]]>
</Description>
<DefaultData>00 00 00 00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="REAL" Radix="Float" Value="0.0"/>
</DefaultData>
</Parameter>
<Parameter Name="Velocity" TagType="Base" DataType="DINT" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[Module Velocity]]>
</Description>
<DefaultData>00 00 00 00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="DINT" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="ContinuousCurrent" TagType="Base" DataType="REAL" Usage="Output" Radix="Float" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[Continous Current]]>
</Description>
<DefaultData>00 00 00 00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="REAL" Radix="Float" Value="0.0"/>
</DefaultData>
</Parameter>
<Parameter Name="ActualCurrent" TagType="Base" DataType="REAL" Usage="Output" Radix="Float" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[Actual Current]]>
</Description>
<DefaultData>00 00 00 00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="REAL" Radix="Float" Value="0.0"/>
</DefaultData>
</Parameter>
<Parameter Name="Battery" TagType="Base" DataType="INT" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[Battery Voltage if available]]>
</Description>
<DefaultData>00 00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="INT" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="BusVoltage" TagType="Base" DataType="INT" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[Bus Voltage]]>
</Description>
<DefaultData>00 00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="INT" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="BoardTemp" TagType="Base" DataType="INT" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[Board Temperature]]>
</Description>
<DefaultData>00 00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="INT" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="ActuatorTemp" TagType="Base" DataType="INT" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[Actuator Temperature]]>
</Description>
<DefaultData>00 00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="INT" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="Warnings" TagType="Base" DataType="INT" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[Warnings]]>
</Description>
<DefaultData>00 00</DefaultData>
<Comments>
<Comment Operand=".0">
<![CDATA[IPK- Peak Current]]>
</Comment>
<Comment Operand=".1">
<![CDATA[C - Continuous Current]]>
</Comment>
<Comment Operand=".2">
<![CDATA[POS - Position Tracking]]>
</Comment>
<Comment Operand=".3">
<![CDATA[MV - Move Termination]]>
</Comment>
<Comment Operand=".4">
<![CDATA[VLOW - Low DC Bus Voltage]]>
</Comment>
<Comment Operand=".5">
<![CDATA[VHIGH - High DC Bus Voltage]]>
</Comment>
<Comment Operand=".6">
<![CDATA[FE - Positional Following Error]]>
</Comment>
<Comment Operand=".7">
<![CDATA[BT - Board Temperature]]>
</Comment>
<Comment Operand=".8">
<![CDATA[AT - Actuator Temperature]]>
</Comment>
<Comment Operand=".9">
<![CDATA[LOS - Loss of Signal]]>
</Comment>
<Comment Operand=".10">
<![CDATA[COM - Communications]]>
</Comment>
<Comment Operand=".11">
<![CDATA[IH - Hardware Over current]]>
</Comment>
<Comment Operand=".12">
<![CDATA[HB - Absolute Hall Board Battery]]>
</Comment>
<Comment Operand=".13">
<![CDATA[UP - User Parameters]]>
</Comment>
<Comment Operand=".14">
<![CDATA[FP - Factory Parameters]]>
</Comment>
<Comment Operand=".15">
<![CDATA[RS - Restart]]>
</Comment>
<Comment Operand=".16">
<![CDATA[LVW]]>
</Comment>
</Comments>
<DefaultData Format="Decorated">
<DataValue DataType="INT" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
<Parameter Name="Faults" TagType="Base" DataType="INT" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
<Description>
<![CDATA[Faults]]>
</Description>
<DefaultData>00 00</DefaultData>
<Comments>
<Comment Operand=".0">
<![CDATA[IPK- Peak Current]]>
</Comment>
<Comment Operand=".1">
<![CDATA[C - Continuous Current]]>
</Comment>
<Comment Operand=".2">
<![CDATA[POS - Position Tracking]]>
</Comment>
<Comment Operand=".3">
<![CDATA[MV - Move Termination]]>
</Comment>
<Comment Operand=".4">
<![CDATA[VLOW - Low DC Bus Voltage]]>
</Comment>
<Comment Operand=".5">
<![CDATA[VHIGH - High DC Bus Voltage]]>
</Comment>
<Comment Operand=".6">
<![CDATA[FE - Positional Following Error]]>
</Comment>
<Comment Operand=".7">
<![CDATA[BT - Board Temperature]]>
</Comment>
<Comment Operand=".8">
<![CDATA[AT - Actuator Temperature]]>
</Comment>
<Comment Operand=".9">
<![CDATA[LOS - Loss of Signal]]>
</Comment>
<Comment Operand=".10">
<![CDATA[COM - Communications]]>
</Comment>
<Comment Operand=".11">
<![CDATA[IH - Hardware Over current]]>
</Comment>
<Comment Operand=".12">
<![CDATA[HB - Absolute Hall Board Battery]]>
</Comment>
<Comment Operand=".13">
<![CDATA[UP - User Parameters]]>
</Comment>
<Comment Operand=".14">
<![CDATA[FP - Factory Parameters]]>
</Comment>
<Comment Operand=".15">
<![CDATA[RS - Restart]]>
</Comment>
<Comment Operand=".16">
<![CDATA[LVW]]>
</Comment>
</Comments>
<DefaultData Format="Decorated">
<DataValue DataType="INT" Radix="Decimal" Value="0"/>
</DefaultData>
</Parameter>
</Parameters>
<LocalTags>
<LocalTag Name="dintTemp" DataType="DINT" Radix="Decimal" ExternalAccess="None">
<Description>
<![CDATA[Temporary register]]>
</Description>
<DefaultData>00 00 00 00</DefaultData>
<DefaultData Format="Decorated">
<DataValue DataType="DINT" Radix="Decimal" Value="0"/>
</DefaultData>
</LocalTag>
</LocalTags>
<Routines>
<Routine Name="Logic" Type="ST">
<STContent>
<Line Number="0">
<![CDATA[(***********************************************)]]>
</Line>
<Line Number="1">
<![CDATA[(*   Exlar Tritex 2 Status                     *)]]>
</Line>
<Line Number="2">
<![CDATA[(*                                             *)]]>
</Line>
<Line Number="3">
<![CDATA[(***********************************************)]]>
</Line>
<Line Number="4">
<![CDATA[]]>
</Line>
<Line Number="5">
<![CDATA[(*********** OUTPUTS  ***********)]]>
</Line>
<Line Number="6">
<![CDATA[]]>
</Line>
<Line Number="7">
<![CDATA[(* Drive Faults Active *)]]>
</Line>
<Line Number="8">
<![CDATA[	(* 104.03 Fault *)]]>
</Line>
<Line Number="9">
<![CDATA[	If ModuleInputs[1].03 then]]>
</Line>
<Line Number="10">
<![CDATA[ 		DF := 1;]]>
</Line>
<Line Number="11">
<![CDATA[	Else]]>
</Line>
<Line Number="12">
<![CDATA[		DF := 0;]]>
</Line>
<Line Number="13">
<![CDATA[	End_If;]]>
</Line>
<Line Number="14">
<![CDATA[]]>
</Line>
<Line Number="15">
<![CDATA[(* Ready Active *)]]>
</Line>
<Line Number="16">
<![CDATA[	(* 104.02 Ready *)]]>
</Line>
<Line Number="17">
<![CDATA[	if ModuleInputs[1].2 then]]>
</Line>
<Line Number="18">
<![CDATA[		Ready := 1;]]>
</Line>
<Line Number="19">
<![CDATA[	else]]>
</Line>
<Line Number="20">
<![CDATA[		Ready := 0;]]>
</Line>
<Line Number="21">
<![CDATA[	End_if;]]>
</Line>
<Line Number="22">
<![CDATA[]]>
</Line>
<Line Number="23">
<![CDATA[(* Drive Warnings Active *)]]>
</Line>
<Line Number="24">
<![CDATA[(* ID:7, Status.Mode.SoftFaults : ModuleInputs[7]*)]]>
</Line>
<Line Number="25">
<![CDATA[	Warnings := ModuleInputs[7];]]>
</Line>
<Line Number="26">
<![CDATA[]]>
</Line>
<Line Number="27">
<![CDATA[(* Drive Faults Active *)]]>
</Line>
<Line Number="28">
<![CDATA[(* ID:6, Status.Mode.HardFaults : ModuleInputs[8]*)]]>
</Line>
<Line Number="29">
<![CDATA[	Faults := ModuleInputs[8];]]>
</Line>
<Line Number="30">
<![CDATA[]]>
</Line>
<Line Number="31">
<![CDATA[(* Module  *)]]>
</Line>
<Line Number="32">
<![CDATA[	(* 104.00 Enable *)]]>
</Line>
<Line Number="33">
<![CDATA[	(* 104.01 Homed *)]]>
</Line>
<Line Number="34">
<![CDATA[	(* 104.02 Ready *)]]>
</Line>
<Line Number="35">
<![CDATA[	(* 104.03 Fault *)]]>
</Line>
<Line Number="36">
<![CDATA[	(* 104.04 Warning *)]]>
</Line>
<Line Number="37">
<![CDATA[	(* 104.05 Fault or Warning *)]]>
</Line>
<Line Number="38">
<![CDATA[	Module := ModuleInputs[1] AND 16#3F;]]>
</Line>
<Line Number="39">
<![CDATA[]]>
</Line>
<Line Number="40">
<![CDATA[(* Motion *)			]]>
</Line>
<Line Number="41">
<![CDATA[	(* 105.00 Stopped Active *)]]>
</Line>
<Line Number="42">
<![CDATA[	If ModuleInputs[3].0 Then]]>
</Line>
<Line Number="43">
<![CDATA[		Motion.0 := 1;]]>
</Line>
<Line Number="44">
<![CDATA[	else]]>
</Line>
<Line Number="45">
<![CDATA[		Motion.0 := 0;]]>
</Line>
<Line Number="46">
<![CDATA[	end_if;]]>
</Line>
<Line Number="47">
<![CDATA[]]>
</Line>
<Line Number="48">
<![CDATA[	(* 105.01 Pause *)]]>
</Line>
<Line Number="49">
<![CDATA[	If ModuleInputs[3].1 Then]]>
</Line>
<Line Number="50">
<![CDATA[		Motion.1 := 1;]]>
</Line>
<Line Number="51">
<![CDATA[	else]]>
</Line>
<Line Number="52">
<![CDATA[		Motion.1 := 0;]]>
</Line>
<Line Number="53">
<![CDATA[	end_if;]]>
</Line>
<Line Number="54">
<![CDATA[]]>
</Line>
<Line Number="55">
<![CDATA[	(* 105.02 Jogging *)]]>
</Line>
<Line Number="56">
<![CDATA[	If ModuleInputs[3].2 Then]]>
</Line>
<Line Number="57">
<![CDATA[		Motion.2 := 1;]]>
</Line>
<Line Number="58">
<![CDATA[	else]]>
</Line>
<Line Number="59">
<![CDATA[		Motion.2 := 0;]]>
</Line>
<Line Number="60">
<![CDATA[	end_if;]]>
</Line>
<Line Number="61">
<![CDATA[]]>
</Line>
<Line Number="62">
<![CDATA[	(* 105.03 Jogging Plus *)]]>
</Line>
<Line Number="63">
<![CDATA[	If ModuleInputs[3].3 Then]]>
</Line>
<Line Number="64">
<![CDATA[		Motion.3 := 1;]]>
</Line>
<Line Number="65">
<![CDATA[	else]]>
</Line>
<Line Number="66">
<![CDATA[		Motion.3 := 0;]]>
</Line>
<Line Number="67">
<![CDATA[	end_if;]]>
</Line>
<Line Number="68">
<![CDATA[]]>
</Line>
<Line Number="69">
<![CDATA[	(* 105.04 Jogging Minus *)]]>
</Line>
<Line Number="70">
<![CDATA[	If ModuleInputs[3].4 Then]]>
</Line>
<Line Number="71">
<![CDATA[		Motion.4 := 1;]]>
</Line>
<Line Number="72">
<![CDATA[	else]]>
</Line>
<Line Number="73">
<![CDATA[		Motion.4 := 0;]]>
</Line>
<Line Number="74">
<![CDATA[	end_if;]]>
</Line>
<Line Number="75">
<![CDATA[]]>
</Line>
<Line Number="76">
<![CDATA[	(* 105.05 Homing Active *)]]>
</Line>
<Line Number="77">
<![CDATA[	If ModuleInputs[3].5 Then]]>
</Line>
<Line Number="78">
<![CDATA[		Motion.5 := 1;]]>
</Line>
<Line Number="79">
<![CDATA[	else]]>
</Line>
<Line Number="80">
<![CDATA[		Motion.5 := 0;]]>
</Line>
<Line Number="81">
<![CDATA[	end_if;]]>
</Line>
<Line Number="82">
<![CDATA[]]>
</Line>
<Line Number="83">
<![CDATA[	(* 105.08 Dedicated Move Active *)]]>
</Line>
<Line Number="84">
<![CDATA[	If ModuleInputs[3].8 Then]]>
</Line>
<Line Number="85">
<![CDATA[		Motion.6 := 1;]]>
</Line>
<Line Number="86">
<![CDATA[	else]]>
</Line>
<Line Number="87">
<![CDATA[		Motion.6 := 0;]]>
</Line>
<Line Number="88">
<![CDATA[	end_if;]]>
</Line>
<Line Number="89">
<![CDATA[]]>
</Line>
<Line Number="90">
<![CDATA[	(* 105.09 Move Active *)]]>
</Line>
<Line Number="91">
<![CDATA[	If ModuleInputs[3].9 Then]]>
</Line>
<Line Number="92">
<![CDATA[		Motion.7 := 1;]]>
</Line>
<Line Number="93">
<![CDATA[	else]]>
</Line>
<Line Number="94">
<![CDATA[		Motion.7 := 0;]]>
</Line>
<Line Number="95">
<![CDATA[	end_if;]]>
</Line>
<Line Number="96">
<![CDATA[]]>
</Line>
<Line Number="97">
<![CDATA[	(* 105.12 Input Position *)]]>
</Line>
<Line Number="98">
<![CDATA[	If ModuleInputs[3].12 Then]]>
</Line>
<Line Number="99">
<![CDATA[		Motion.8 := 1;]]>
</Line>
<Line Number="100">
<![CDATA[	else]]>
</Line>
<Line Number="101">
<![CDATA[		Motion.8 := 0;]]>
</Line>
<Line Number="102">
<![CDATA[	end_if;]]>
</Line>
<Line Number="103">
<![CDATA[]]>
</Line>
<Line Number="104">
<![CDATA[(* Units  *)]]>
</Line>
<Line Number="105">
<![CDATA[	IF Units[0] > 0 THEN]]>
</Line>
<Line Number="106">
<![CDATA[		ER := 1;]]>
</Line>
<Line Number="107">
<![CDATA[	else]]>
</Line>
<Line Number="108">
<![CDATA[		ER := 0;]]>
</Line>
<Line Number="109">
<![CDATA[]]>
</Line>
<Line Number="110">
<![CDATA[		(* Velocity *)]]>
</Line>
<Line Number="111">
<![CDATA[		(*  ID:356, Status.Velocity.Display:    ModuleInputs[10],ModuleInputs[9] *)]]>
</Line>
<Line Number="112">
<![CDATA[		cps(ModuleInputs[9],dintTemp,2);]]>
</Line>
<Line Number="113">
<![CDATA[	]]>
</Line>
<Line Number="114">
<![CDATA[		if Units[2] = 0 then]]>
</Line>
<Line Number="115">
<![CDATA[			Velocity    :=  (dintTemp/16#1000000 )* Units[3];]]>
</Line>
<Line Number="116">
<![CDATA[		else]]>
</Line>
<Line Number="117">
<![CDATA[			Velocity    :=  ((dintTemp*60)/16#1000000)*  Units[3];]]>
</Line>
<Line Number="118">
<![CDATA[		end_if;]]>
</Line>
<Line Number="119">
<![CDATA[]]>
</Line>
<Line Number="120">
<![CDATA[		(* Position *)]]>
</Line>
<Line Number="121">
<![CDATA[		(*	ID:378, Status.Position.Feedback:   ModuleInputs[6],ModuleInputs[5]  *)]]>
</Line>
<Line Number="122">
<![CDATA[		cps(ModuleInputs[5],dintTemp,2);]]>
</Line>
<Line Number="123">
<![CDATA[		Position	:=	(dintTemp / 65536) * Units[3];]]>
</Line>
<Line Number="124">
<![CDATA[]]>
</Line>
<Line Number="125">
<![CDATA[		(* Current scale ? *)]]>
</Line>
<Line Number="126">
<![CDATA[		(*       0: AMPs   *)]]>
</Line>
<Line Number="127">
<![CDATA[		(*       1: %      *)]]>
</Line>
<Line Number="128">
<![CDATA[		if Units[1] = 0	then]]>
</Line>
<Line Number="129">
<![CDATA[			(* ID:567, Status.Current.Display:  ModuleInputs[11]  *)		]]>
</Line>
<Line Number="130">
<![CDATA[			ActualCurrent := ModuleInputs[11] * 0.0078125;]]>
</Line>
<Line Number="131">
<![CDATA[			]]>
</Line>
<Line Number="132">
<![CDATA[			(* ID:565, Status.Current.Continuous:  ModuleInputs[12]*)		]]>
</Line>
<Line Number="133">
<![CDATA[			ContinuousCurrent := ModuleInputs[12] * 0.0078125;]]>
</Line>
<Line Number="134">
<![CDATA[		else]]>
</Line>
<Line Number="135">
<![CDATA[			(* Use for %,ID:5108, Config.CurrentLimit:   ModuleInputs[13],  *)	]]>
</Line>
<Line Number="136">
<![CDATA[			ActualCurrent  :=  (ModuleInputs[11] / ModuleInputs[13]) * 100;]]>
</Line>
<Line Number="137">
<![CDATA[			ContinuousCurrent :=  (ModuleInputs[12] / ModuleInputs[13]) * 100;]]>
</Line>
<Line Number="138">
<![CDATA[		end_if;]]>
</Line>
<Line Number="139">
<![CDATA[]]>
</Line>
<Line Number="140">
<![CDATA[]]>
</Line>
<Line Number="141">
<![CDATA[	end_if;]]>
</Line>
<Line Number="142">
<![CDATA[]]>
</Line>
<Line Number="143">
<![CDATA[(*	ID:15,  Status.Temperature.Actuator:ModuleInputs[17] *)]]>
</Line>
<Line Number="144">
<![CDATA[ 	ActuatorTemp 	:=	ModuleInputs[17] * 0.125;]]>
</Line>
<Line Number="145">
<![CDATA[(*	ID:11,  Status.Temperature.Board: 	ModuleInputs[16] *)]]>
</Line>
<Line Number="146">
<![CDATA[	BoardTemp		:=	ModuleInputs[16] * 0.03125;]]>
</Line>
<Line Number="147">
<![CDATA[(*	ID:571, Status.Voltage.Vbus:    	ModuleInputs[15] *)]]>
</Line>
<Line Number="148">
<![CDATA[	BusVoltage		:=	ModuleInputs[15]*  0.03125;]]>
</Line>
<Line Number="149">
<![CDATA[(*	ID:08,  Status.Voltage.HallBattery: ModuleInputs[14] *)]]>
</Line>
<Line Number="150">
<![CDATA[]]>
</Line>
<Line Number="151">
<![CDATA[]]>
</Line>
</STContent>
</Routine>
</Routines>
</AddOnInstructionDefinition>
</AddOnInstructionDefinitions>
</Controller>
</RSLogix5000Content>
