[r1]: / tags / Release_0.0.0.4 / sm3raspi-stepper / SM3_Drive_RaspiStepper.library Maximize Restore History
643 lines (633 with data), 193.3 kB
PK SæTøÐ.«. ) ) e4d96831-4db1-4f98-8fb2-94eaab6fcb10.meta) Öÿ (
U¡"\[ðØPK SæT±@n/ * + e4d96831-4db1-4f98-8fb2-94eaab6fcb10.object*Õý ( ¦Í»y Hü² [ªç -mö ¢
7 ÙNæ Î ÏY9ßË Ï Ô Õ6 ( Õ Ö ' È ×1 e × ØÇT Ù Ú Û`Þ¢( Ü Ýg\ð/ Þ ßÓsúb à áW* â ã äÆ4ò ä è é Vÿ é ê ëø¾ý ë ì ·4 í
©î¼ïÃûðñµòÀó¦ô²õ÷ø¸ù¬ú¢ü¯ýPK SæTÛËE+ & ) 11c0fc3a-9bcf-4dd8-ac38-efb93363e521.meta& Ùÿ ( l!Ýà9_ÚPK SæThN¢ + 11c0fc3a-9bcf-4dd8-ac38-efb93363e521.objectbþ ( { $yz*+-,- ./,0 .1,2 .3,4 .5,6 .78 .970 .:7; .<7= .>7? .@7A .B7C .D7E .F7G .H7I .J74 .K7L . 76 .M7N .O7P .QR .SQ0 .TQ6 .UQV .WQX .YZ .[Y\ .][^ ._]0 .`]4 .a]6 .b[c .db0 .eb4 .fb6 .gh .i9- .j9k .l9m .n9o .p9q .r9s .t9u .v9R .w9x ."#}\~)#&| '( ¨»ÅÊPK SæT½8ö. ) ) 6470a90f-b7cb-43ac-9ae5-94b2338b4573.meta) Öÿ ( ÷ä¯9_ÚPK SæTß< ø + 6470a90f-b7cb-43ac-9ae5-94b2338b4573.object øb ( ä Þ»ÿþ< ? x m l v e r s i o n = " 1 . 0 " e n c o d i n g = " u t f - 1 6 " ? >
< S i n g l e x m l : s p a c e = " p r e s e r v e " T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > & l t ; P r o j e c t R o o t & g t ; < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > { 0 1 9 7 6 B C 1 - B A 9 8 - 4 A 4 D - 9 8 A 8 - E A D C 3 C 9 4 9 C F 8 } } < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > { 0 1 9 7 6 B C 1 - B A 9 8 - 4 A 4 D - 9 8 A 8 - E A D C 3 C 9 4 9 C F 8 } } < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " / >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > { 2 4 6 0 0 1 F 4 - 2 7 9 D - 4 3 A C - B 2 4 1 - 9 4 8 E B 3 1 1 2 0 E 1 } < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > { 2 4 6 0 0 1 F 4 - 2 7 9 D - 4 3 A C - B 2 4 1 - 9 4 8 E B 3 1 1 2 0 E 1 } < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " / >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > { 2 9 B D 8 D 0 C - 3 5 8 6 - 4 5 4 8 - B B 4 8 - 4 9 7 B 9 A 0 1 6 9 3 F } < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > { 2 9 B D 8 D 0 C - 3 5 8 6 - 4 5 4 8 - B B 4 8 - 4 9 7 B 9 A 0 1 6 9 3 F } < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > M e t r i c s < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > M e t r i c s < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " / >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > N a m i n g C o n v e n t i o n s < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > N a m i n g C o n v e n t i o n s < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " / >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > R u l e s < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > R u l e s < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " / >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< / D i c t i o n a r y >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " / >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > { 4 0 4 5 0 F 5 7 - 0 A A 3 - 4 2 1 6 - 9 6 F 3 - 5 4 4 4 E C B 2 9 7 6 3 } < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > { 4 0 4 5 0 F 5 7 - 0 A A 3 - 4 2 1 6 - 9 6 F 3 - 5 4 4 4 E C B 2 9 7 6 3 } < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > A c t i v e V i s u E x t e n s i o n s L e n g t h < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " i n t " > 0 < / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > A c t i v e V i s u P r o f i l e < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " s t r i n g " > I R 0 w h W r 8 b w f A C A A A t d W U W Q A A A A B X A w A A R B Y E m Q A A A A A B A A A A A A A A A A E a U w B 5 A H M A d A B l A G 0 A L g B T A H Q A c g B p A G 4 A Z w A C T H s A Z g A 5 A D U A Y g B i A D Q A M g A 2 A C 0 A N Q A 1 A D I A N A A t A D Q A Y g A 0 A D U A L Q A 5 A D Q A M A A w A C 0 A Z g B i A D A A Z g A y A G U A N w A 3 A G U A N Q A x A G I A f Q A D C E 4 A Y Q B t A G U A B D p D A E 8 A R A B F A F M A W Q B T A C A A V g B p A H M A d Q B h A G w A a Q B 6 A G E A d A B p A G 8 A b g A g A D Q A L g A y A C 4 A M A A u A D A A B R Z Q A H I A b w B m A G k A b A B l A E Q A Y Q B 0 A G E A B k x 7 A D E A N g B l A D U A N Q B i A D Y A M A A t A D c A M A A 0 A D M A L Q A 0 A G E A N g A z A C 0 A Y g A 2 A D U A Y g A t A D Y A M Q A 0 A D c A M Q A z A D g A N w A 4 A G Q A N A A y A H 0 A B x J M A G k A Y g B y A G E A c g B p A G U A c w A I T H s A M w B i A G Y A Z A A 1 A D Q A N Q A 5 A C 0 A Y g A w A D c A Z g A t A D Q A Z A A 2 A G U A L Q B h A G U A M Q B h A C 0 A Y Q A 4 A D M A M w A 1 A D Y A Y Q A 1 A D U A M Q A 0 A D I A f Q A J T H s A O Q B j A D k A N Q A 4 A D k A N g A 4 A C 0 A M g B j A D g A N Q A t A D Q A M Q B i A G I A L Q A 4 A D g A N w A x A C 0 A O A A 5 A D U A Z g B m A D E A Z g B l A G Q A Z Q A x A G E A f Q A K D l Y A Z Q B y A H M A a Q B v A G 4 A C w Z p A G 4 A d A A M C l U A c w B h A G c A Z Q A N C l Q A a Q B 0 A G w A Z Q A O E l Y A a Q B z A H U A R Q B s A G U A b Q B z A A 8 O Q w B v A G 0 A c A B h A G 4 A e Q A Q D F M A e Q B z A H Q A Z Q B t A B E a V g B p A H M A d Q B F A G w A Z Q B t A E 0 A Z Q B 0 A G U A c g A S M F Y A a Q B z A H U A R Q B s A G U A b Q B z A F M A c A B l A G M A a Q B h A G w A Q w B v A G 4 A d A B y A G 8 A b A B z A B M o V g B p A H M A d Q B F A G w A Z Q B t A H M A V w B p A G 4 A Q w B v A G 4 A d A B y A G 8 A b A B z A B Q k V g B p A H M A d Q B F A G w A Z Q B t A F Q A Z Q B 4 A H Q A R Q B k A G k A d A B v A H I A F R p W A G k A c w B 1 A E U A b A B l A G 0 A V A B y A G E A Y w B l A B Y i V g B p A H M A d Q B O A G E A d A B p A H Y A Z Q B D A G 8 A b g B 0 A H I A b w B s A B c c V g B p A H M A d Q B F A G w A Z Q B t A H M A Q Q B s A G E A c g B t A B g o V g B p A H M A d Q B F A G w A Z Q B t A E M A Y Q B t A E Q A a Q B z A H A A b A B h A H k A Z Q B y A B k c V g B p A H M A d Q B F A G w A Z Q B t A D M A R A B Q A G E A d A B o A B o i V g B p A H M A d Q B F A G w A Z Q B t A H M A R A B h A H Q A Z Q B U A G k A b Q B l A B s e V g B p A H M A d Q B F A G w A Z Q B t A F g A W Q B D A G g A Y Q B y A H Q A H B R W A G k A c w B 1 A E k A b g B w A H U A d A B z A B 0 Y V g B p A H M A d Q B F A G w A Z Q B t A E I A Y Q B z A G U A H i Z E A G U A d g B Q A G w A Y Q B j A G U A a A B v A G w A Z A B l A H I A c w B V A H M A Z Q B k A B 8 I Y g B v A G 8 A b A A g I l A A b A B 1 A G c A a Q B u A E M A b w B u A H M A d A B y A G E A a Q B u A H Q A c w A h T H s A N A A z A G Q A N Q A y A G I A Y w B l A C 0 A O Q A 0 A D I A Y w A t A D Q A N A B k A D c A L Q A 5 A G U A O Q A 0 A C 0 A M Q B i A G Y A Z A B m A D M A M Q A w A G U A N g A z A G M A f Q A i H E E A d A B M A G U A Y Q B z A H Q A V g B l A H I A c w B p A G 8 A b g A j F F A A b A B 1 A G c A a Q B u A E c A d Q B p A G Q A J B Z T A H k A c w B 0 A G U A b Q A u A E c A d Q B p A G Q A J U h h A G Y A Y w B k A D U A N A A 0 A D Y A L Q A 0 A D k A M Q A 0 A C 0 A N A B m A G U A N w A t A G I A Y g A 3 A D g A L Q A 5 A G I A Z g B m A G U A Y g A 3 A D A A Z g B k A D E A N w A m F F U A c A B k A G E A d A B l A E k A b g B m A G 8 A J 0 x 7 A G I A M A A z A D M A N g A 2 A G E A O A A t A G I A N Q B j A D A A L Q A 0 A G I A O Q B h A C 0 A Y Q A w A D A A Z Q A t A G U A Y g A 4 A D Y A M A A x A D E A M Q A w A D Q A Y w A z A H 0 A K A 5 V A H A A Z A B h A H Q A Z Q B z A C l M e w A x A D g A N g A 4 A G Y A Z g B j A D k A L Q B l A D Q A Z g B j A C 0 A N A A 1 A D M A M g A t A G E A Y w A w A D Y A L Q A x A G U A M w A 5 A G I A Y g A 1 A D U A N w B i A D Y A O Q B 9 A C p M e w B h A D U A Y g B k A D Q A O A B j A D M A L Q A w A G Q A M Q A 3 A C 0 A N A A x A G I A N Q A t A G I A M Q A 2 A D Q A L Q A 1 A G Y A Y w A 2 A G E A Z A A y A G I A O Q A 2 A G I A N w B 9 A C s W T w B i A G o A Z Q B j A H Q A c w B U A H k A c A B l A C x U V Q B w A G Q A Y Q B 0 A G U A T A B h A G 4 A Z w B 1 A G E A Z w B l A E 0 A b w B k A G U A b A B G A G 8 A c g B D A G 8 A b g B 2 A G U A c g B 0 A G k A Y g B s A G U A T A B p A G I A c g B h A H I A a Q B l A H M A L R B M A G k A Y g B U A G k A d A B s A G U A L h R M A G k A Y g B D A G 8 A b Q B w A G E A b g B 5 A C 8 e V Q B w A G Q A Y Q B 0 A G U A U A B y A G 8 A d g B p A G Q A Z Q B y A H M A M D h T A H k A c w B 0 A G U A b Q A u A E M A b w B s A G w A Z Q B j A H Q A a Q B v A G 4 A c w A u A E g A Y Q B z A G g A d A B h A G I A b A B l A D E S d g B p A H M A d Q B l A G w A Z Q B t A H M A M g x z A H k A c w B 0 A G U A b Q A z S D Y A Y w B i A D E A Y w B k A G U A M Q A t A G Q A N Q B k A G M A L Q A 0 A G E A M w B i A C 0 A O Q A w A D U A N A A t A D I A M Q B m A G E A N w A 1 A D Y A Y Q A z A G Y A Y Q A 0 A D Q o S Q B u A H Q A Z Q B y A G Y A Y Q B j A G U A V g B l A H I A c w B p A G 8 A b g B J A G 4 A Z g B v A D V M e w B j A D Y A M Q A x A G U A N A A w A D A A L Q A 3 A G Y A Y g A 5 A C 0 A N A B j A D M A N Q A t A G I A O Q B h A G M A L Q A 0 A G U A M w A x A D Q A Y g A 1 A D k A O Q A 2 A D Q A M w B 9 A D Y Y T Q B h A G o A b w B y A F Y A Z Q B y A H M A a Q B v A G 4 A N x h N A G k A b g B v A H I A V g B l A H I A c w B p A G 8 A b g A 4 D E w A Z Q B n A G E A Y w B 5 A D k w T A B h A G 4 A Z w B 1 A G E A Z w B l A E 0 A b w B k A G U A b A B W A G U A c g B z A G k A b w B u A E k A b g B m A G 8 A O j B M A G 8 A Y Q B k A E w A a Q B i A H I A Y Q B y A G k A Z Q B z A E k A b g B 0 A G 8 A U A B y A G 8 A a g B l A G M A d A A 7 G k M A b w B t A H A A Y Q B 0 A G k A Y g B p A G w A a Q B 0 A H k A 0 A A C G g P Q A w E t B N A F B h o H 0 A c I G g F F B w k O 0 A A J G g R F C g s E B A A A A A I A A A A A A A A A A A A A A N A M C 6 0 B A A A A 0 A 0 B L Q 7 Q D w E t E N A A C R o E R Q o L B A Q A A A A C A A A A A A A A A A A A A A D Q D A u t A g A A A N A N A S 0 R 0 A 8 B L R D Q A A k a B E U K C w Q E A A A A A g A A A A A A A A A A A A A A 0 A w L r Q I A A A D Q D Q E t E t A P A S 0 Q 0 A A J G g R F C g s E B A A A A A I A A A A A A A A A A A A A A N A M C 6 0 C A A A A 0 A 0 B L R P Q D w E t E N A A C R o E R Q o L B A Q A A A A C A A A A A A A A A A A A A A D Q D A u t A g A A A N A N A S 0 U 0 A 8 B L R D Q A A k a B E U K C w Q E A A A A A g A A A A A A A A A A A A A A 0 A w L r Q I A A A D Q D Q E t F d A P A S 0 Q 0 A A J G g R F C g s E B A A A A A I A A A A A A A A A A A A A A N A M C 6 0 C A A A A 0 A 0 B L R b Q D w E t E N A A C R o E R Q o L B A Q A A A A C A A A A A A A A A A A A A A D Q D A u t A g A A A N A N A S 0 X 0 A 8 B L R D Q A A k a B E U K C w Q E A A A A A g A A A A A A A A A A A A A A 0 A w L r Q I A A A D Q D Q E t G N A P A S 0 Q 0 A A J G g R F C g s E B A A A A A E A A A A A A A A A A A A A A N A M C 6 0 C A A A A 0 A 0 B L R n Q D w E t E N A A C R o E R Q o L B A Q A A A A C A A A A A A A A A A A A A A D Q D A u t A g A A A N A N A S 0 a 0 A 8 B L R D Q A A k a B E U K C w Q E A A A A A g A A A A A A A A A A A A A A 0 A w L r Q I A A A D Q D Q E t G 9 A P A S 0 Q 0 A A J G g R F C g s E B A A A A A I A A A A A A A A A A A A A A N A M C 6 0 C A A A A 0 A 0 B L R z Q D w E t E N A A C R o E R Q o L B A Q A A A A C A A A A A A A A A A A A A A D Q D A u t B A A A A N A N A S 0 d 0 A 8 B L R D Q H h + t A U U g I Q H Q A C E a A k U i C w Q E A A A A A g A A A A A A A A A A A A A A 0 C M k L S X Q J i c a A k U o K Q L Q A C o a B U U K C w Q D A A A A A w A A A A A A A A A K A A A A 0 C s L r Q A A A A D Q A w E t L N A t A S 0 O 0 C 4 B L R D Q A C o a B U U K C w Q D A A A A A w A A A A A A A A A K A A A A 0 C s L r Q E A A A D Q A w E t L N A t A S 0 O 0 C 4 B L R C a L z A B R Q A B A t A A A S 0 x 0 A A B L T L Q A C Q t M 9 A 0 N R o D 0 D Y L r Q E A A A D Q N w u t I Q A A A N A 4 H 6 0 A 0 D k 1 G g P Q N g u t A g A A A N A 3 C 6 0 G A A A A 0 D g f r Q D Q O h + t A N A 7 H 6 0 A < / S i n g l e >
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< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > { 5 3 5 6 5 8 C 0 - 5 A F 5 - 4 6 0 d - 9 9 A 4 - B F F B 9 8 4 A 8 2 9 A } < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > { 5 3 5 6 5 8 C 0 - 5 A F 5 - 4 6 0 d - 9 9 A 4 - B F F B 9 8 4 A 8 2 9 A } < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > V e r s i o n C o n s t r a i n t < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { f 9 0 7 9 1 1 5 - a 4 b a - 4 f 3 0 - b f 7 c - 9 e 7 6 6 1 3 1 4 6 f c } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " T h e V e r s i o n " T y p e = " s t r i n g " > 3 . 5 . 1 6 . 3 0 < / S i n g l e >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< / D i c t i o n a r y >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > { 8 F 9 9 A 8 1 6 - E 4 8 8 - 4 1 E 4 - 9 F A 3 - 8 4 6 5 3 6 0 1 2 2 8 4 } < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > { 8 F 9 9 A 8 1 6 - E 4 8 8 - 4 1 E 4 - 9 F A 3 - 8 4 6 5 3 6 0 1 2 2 8 4 } < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " / >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > { A 3 B B A 7 1 3 - 6 3 D 7 - 4 d e 6 - B E C 2 - E 3 B A A D 8 7 8 9 F 8 } < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > { A 3 B B A 7 1 3 - 6 3 D 7 - 4 d e 6 - B E C 2 - E 3 B A A D 8 7 8 9 F 8 } < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " / >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > { A D F B E 8 8 D - 1 C 5 C - 4 5 9 C - A 6 4 E - 4 8 B A B 8 9 0 F A A 0 } < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > { A D F B E 8 8 D - 1 C 5 C - 4 5 9 C - A 6 4 E - 4 8 B A B 8 9 0 F A A 0 } < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > S o f t M o t i o n V e r s i o n < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " s t r i n g " > 4 . 6 . 2 . 0 < / S i n g l e >
< / V a l u e >
< / E n t r y >
< / D i c t i o n a r y >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > { B F 2 8 6 0 E 0 - 8 3 6 2 - 4 b 4 3 - A F A 9 - 2 E 9 1 5 8 6 7 E C 4 6 } < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > { B F 2 8 6 0 E 0 - 8 3 6 2 - 4 b 4 3 - A F A 9 - 2 E 9 1 5 8 6 7 E C 4 6 } < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " / >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > { C 7 0 B 7 8 4 5 - 2 7 2 2 - 4 a 9 b - A 0 E A - 8 8 C 8 7 7 A 4 B 3 6 F } < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > { C 7 0 B 7 8 4 5 - 2 7 2 2 - 4 a 9 b - A 0 E A - 8 8 C 8 7 7 A 4 B 3 6 F } < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > E n a b l e M a x A u t h e n t i c a t i o n T r i a l s < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " b o o l " > T r u e < / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > E n a b l e M a x T i m e O f I n a c t i v i t y < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " b o o l " > T r u e < / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > G r o u p L i s t < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { b f 4 d f f d a - f 0 5 5 - 4 4 6 d - 9 d 7 a - 5 f 1 2 6 7 2 0 8 9 6 b } " M e t h o d = " I A r c h i v a b l e " >
< A r r a y N a m e = " G r o u p s " T y p e = " { d a e c d 4 b e - 1 e 2 b - 4 3 3 5 - a 1 2 5 - 4 a 1 a c 8 3 e a 4 9 f } " >
< S i n g l e T y p e = " { d a e c d 4 b e - 1 e 2 b - 4 3 3 5 - a 1 2 5 - 4 a 1 a c 8 3 e a 4 9 f } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " I d " T y p e = " S y s t e m . G u i d " > d 2 9 9 a 1 f c - b 5 e c - 4 4 9 a - b 9 5 8 - 2 8 c 4 3 7 1 6 9 c e f < / S i n g l e >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > O w n e r < / S i n g l e >
< S i n g l e N a m e = " D e s c r i p t i o n " T y p e = " s t r i n g " > < / S i n g l e >
< S i n g l e N a m e = " I s E v e r y o n e G r o u p " T y p e = " b o o l " > F a l s e < / S i n g l e >
< S i n g l e N a m e = " I s O w n e r G r o u p " T y p e = " b o o l " > T r u e < / S i n g l e >
< L i s t N a m e = " U s e r M e m b e r s " T y p e = " S y s t e m . C o l l e c t i o n s . A r r a y L i s t " >
< S i n g l e T y p e = " S y s t e m . G u i d " > 5 d d b 8 a 9 e - 1 1 e 4 - 4 5 a 0 - 9 3 3 2 - 7 3 b c 0 3 0 6 a f 8 0 < / S i n g l e >
< / L i s t >
< L i s t N a m e = " G r o u p M e m b e r s " T y p e = " S y s t e m . C o l l e c t i o n s . A r r a y L i s t " / >
< / S i n g l e >
< S i n g l e T y p e = " { d a e c d 4 b e - 1 e 2 b - 4 3 3 5 - a 1 2 5 - 4 a 1 a c 8 3 e a 4 9 f } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " I d " T y p e = " S y s t e m . G u i d " > 7 3 6 b f b 6 5 - 8 2 b 7 - 4 2 7 6 - b 5 1 5 - 0 8 1 7 4 a 9 b 3 0 f a < / S i n g l e >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > E v e r y o n e < / S i n g l e >
< S i n g l e N a m e = " D e s c r i p t i o n " T y p e = " s t r i n g " > < / S i n g l e >
< S i n g l e N a m e = " I s E v e r y o n e G r o u p " T y p e = " b o o l " > T r u e < / S i n g l e >
< S i n g l e N a m e = " I s O w n e r G r o u p " T y p e = " b o o l " > F a l s e < / S i n g l e >
< L i s t N a m e = " U s e r M e m b e r s " T y p e = " S y s t e m . C o l l e c t i o n s . A r r a y L i s t " >
< S i n g l e T y p e = " S y s t e m . G u i d " > 5 d d b 8 a 9 e - 1 1 e 4 - 4 5 a 0 - 9 3 3 2 - 7 3 b c 0 3 0 6 a f 8 0 < / S i n g l e >
< / L i s t >
< L i s t N a m e = " G r o u p M e m b e r s " T y p e = " S y s t e m . C o l l e c t i o n s . A r r a y L i s t " / >
< / S i n g l e >
< / A r r a y >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > M a x A u t h e n t i c a t i o n T r i a l s < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " i n t " > 3 < / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > M a x T i m e O f I n a c t i v i t y < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " i n t " > 1 0 < / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > U s e r A u t h e n t i c a t i o n < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 3 6 3 5 a 6 7 1 - 9 7 f 5 - 4 1 b b - 9 e 2 9 - 0 e b b 9 7 9 5 9 7 5 c } " M e t h o d = " I A r c h i v a b l e " >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " U s e r T o P a s s w o r d H a s h " >
< E n t r y >
< K e y >
< S i n g l e T y p e = " S y s t e m . G u i d " > 5 d d b 8 a 9 e - 1 1 e 4 - 4 5 a 0 - 9 3 3 2 - 7 3 b c 0 3 0 6 a f 8 0 < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " s t r i n g " > d 4 1 d 8 c d 9 8 f 0 0 b 2 0 4 e 9 8 0 0 9 9 8 e c f 8 4 2 7 e < / S i n g l e >
< / V a l u e >
< / E n t r y >
< / D i c t i o n a r y >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > U s e r L i s t < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 9 f e 6 b 5 4 7 - 6 b c 8 - 4 f 1 1 - b 5 8 9 - b 5 1 7 8 6 0 c 5 8 9 1 } " M e t h o d = " I A r c h i v a b l e " >
< A r r a y N a m e = " U s e r s " T y p e = " { c d 8 3 0 2 9 e - 1 3 b 0 - 4 9 1 e - 9 e 4 b - 9 2 1 a d d a 0 d 8 6 b } " >
< S i n g l e T y p e = " { c d 8 3 0 2 9 e - 1 3 b 0 - 4 9 1 e - 9 e 4 b - 9 2 1 a d d a 0 d 8 6 b } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " I d " T y p e = " S y s t e m . G u i d " > 5 d d b 8 a 9 e - 1 1 e 4 - 4 5 a 0 - 9 3 3 2 - 7 3 b c 0 3 0 6 a f 8 0 < / S i n g l e >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > O w n e r < / S i n g l e >
< S i n g l e N a m e = " F u l l N a m e " T y p e = " s t r i n g " > < / S i n g l e >
< S i n g l e N a m e = " D e s c r i p t i o n " T y p e = " s t r i n g " > < / S i n g l e >
< S i n g l e N a m e = " A c t i v e " T y p e = " b o o l " > T r u e < / S i n g l e >
< / S i n g l e >
< / A r r a y >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< / D i c t i o n a r y >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > { E 7 0 9 B 0 8 B - B 6 E 4 - 4 9 6 6 - 8 E E D - D 7 9 3 A 1 3 1 1 4 C 6 } < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > { E 7 0 9 B 0 8 B - B 6 E 4 - 4 9 6 6 - 8 E E D - D 7 9 3 A 1 3 1 1 4 C 6 } < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > E n a b l e B r e a k p o i n t L o g g i n g < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " b o o l " > T r u e < / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > M a x C o m p i l e r W a r n i n g s < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " i n t " > 1 0 0 < / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > R e p l a c e C o n s t a n t s < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " b o o l " > T r u e < / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > U n i c o d e I d e n t i f i e r s < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " b o o l " > F a l s e < / S i n g l e >
< / V a l u e >
< / E n t r y >
< / D i c t i o n a r y >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > { F E 9 F 6 3 D 4 - 9 E 3 4 - 4 3 c e - 9 3 2 2 - D 4 6 7 4 7 A 0 0 F 3 3 } < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " { 5 4 d d 0 e a c - a 6 d 8 - 4 6 f 2 - 8 c 2 7 - 2 f 4 3 c 7 e 4 9 8 6 1 } " M e t h o d = " I A r c h i v a b l e " >
< S i n g l e N a m e = " N a m e " T y p e = " s t r i n g " > { F E 9 F 6 3 D 4 - 9 E 3 4 - 4 3 c e - 9 3 2 2 - D 4 6 7 4 7 A 0 0 F 3 3 } < / S i n g l e >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " S u b K e y s " / >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > S o u r c e D o w n l o a d C o n t e n t < / S i n g l e >
< / K e y >
< V a l u e >
< S i n g l e T y p e = " i n t " > 1 < / S i n g l e >
< / V a l u e >
< / E n t r y >
< E n t r y >
< K e y >
< S i n g l e T y p e = " s t r i n g " > S o u r c e D o w n l o a d C o n t e n t 2 < / S i n g l e >
< / K e y >
< V a l u e >
< A r r a y T y p e = " S y s t e m . G u i d " >
< S i n g l e T y p e = " S y s t e m . G u i d " > b 0 b 5 3 f 8 3 - a f 7 8 - 4 9 a a - 8 1 3 3 - 0 0 6 3 f 4 7 6 b d 7 c < / S i n g l e >
< / A r r a y >
< / V a l u e >
< / E n t r y >
< / D i c t i o n a r y >
< / S i n g l e >
< / V a l u e >
< / E n t r y >
< / D i c t i o n a r y >
< D i c t i o n a r y T y p e = " S y s t e m . C o l l e c t i o n s . H a s h t a b l e " N a m e = " V a l u e s " / >
< / S i n g l e > ÿÿPK SæTp´1 , ) b9741afd-ccd3-4994-99f4-7d8a942952f6.meta, Óÿ ( ¸¬ÖÀXØPK SæTiÂ\Ò + b9741afd-ccd3-4994-99f4-7d8a942952f6.object èÿ ( PK SæT»TU¥5 0 ) 8ad6e219-0844-4a03-9d00-6077c0ff578e.meta0 Ïÿ ( ¸¬ÖÀXØPK SæTiÂ\Ò + 8ad6e219-0844-4a03-9d00-6077c0ff578e.object èÿ ( PK SæT¹h5 0 ) a1970cad-fb7e-4f32-9f9c-fd8f237326f9.meta0 Ïÿ (
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¡ï¢PK SæTªeµ¸Úh Õh . __shared_data_storage_string_table__.auxiliaryÕh*¯ $b9741afd-ccd3-4994-99f4-7d8a942952f6$00000000-0000-0000-0000-000000000000SM3_Drive_RaspiStepper System.Guid$829a18f2-c514-4f6e-9634-1df173429203$738bea1e-99bb-4f04-90bb-a7a567e74e3a$21af5390-2942-461a-bf89-951aaf6999f1$8ad6e219-0844-4a03-9d00-6077c0ff578eFunction Blocks $a1970cad-fb7e-4f32-9f9c-fd8f237326f9
Functions $fe17f240-98b5-4f7c-b01f-ef88da0cd3d8 GlobalVariables
$733deadb-ae48-45b3-af8d-6d477978535cTypes$89b4d9d8-96c9-4911-9370-fe647cb95a0aConfig$a742b0a9-56ff-4176-9b06-4437e43f5034$18b2c326-48c2-462b-8619-1c59da35b17dprocess IO data$90d54b7d-63c7-465a-ab41-c135a91b170b
state machine$11c0fc3a-9bcf-4dd8-ac38-efb93363e521Project Information$085afe48-c5d8-4ea5-ab0d-b35701fa6009LanguageModelAttributequalified-access-onlyAutoResolveUnbound LibraryCategoryIds $af11cf2a-bea4-4a38-add0-f13b3682d425 DefaultNamespace IsEndUserLibrary #CompiledLibraryCompatibilityVersion!GetLibVersion.uiPatch := 3;"Author# $Version%1723&Title' DocFormat(reStructuredText)Project*LibraryCategories+&{aecb3560-8a8a-40ab-9e88-42f4b333af8b},$e98088bb-59f5-4096-8784-4443932920df- Application.1.0.0.0/$d2c47c8c-760e-440c-9147-4468a3c03edb0CAA1$9bad807f-0127-4ea6-86e7-4f68c24e02252Common3$8677b78e-b730-40de-8a62-fdbce8da66804Safety5$3dd4868c-6477-4606-b687-f340a9dbdd2c6
SoftMotion7$66558e58-9485-48b4-9433-2bf60b0457568Intern9$b8b4ee4e-1f42-45af-8ccf-c7f09c488826:$385db9bf-1635-44ea-9c03-f7e409018454;CANbus<$4b460928-c15e-4b69-919b-8e6fbab12643=
Compatibility>$7fc58ff6-d63b-4aac-a20f-7abbc9fd72f8?
DataServer@$0204e5d6-0060-4153-acd0-429a397324d0A IoDriverBaseB$a560fc75-2952-4be9-b2f7-e04b029744abC IoDriversD$7f3353de-c77d-4c8c-9bc0-5b221ce0a7feENetVarsF$e129985a-d24f-4869-8755-5a2b089f16c4GProfilerH$75a5fc32-fdd8-4338-9a21-cd620e3c7569IRecipeManagementJ$59ff46a0-e373-49c8-b11c-91d772d9f754K$fff3a71e-3da2-468a-b82b-6c8fa8607f26LSFCM$e7430333-8bd3-4ce2-8535-d61528e26db2NSymbolConfigurationO$24114f71-a313-48dc-b727-4814a5ae5e7ePVisuQ$b62c2041-b627-4159-b727-149b019609e6RSystemS$62e04908-d9eb-41d7-b3fd-8087020771a0T$8302f600-9f75-49a9-9172-d355d63e3a62U$5250160a-a348-41ef-96d8-0cd52f94e320VSysLibsW$45f0ac40-c00c-4d2d-a74e-2cf5adbaf3a4X SysLibs23Y$75b20332-150b-4ccd-aa20-fb072490fb80ZTarget[$7db0e3a2-bee3-451b-932c-0f87340204d4\"3S - Smart Software Solutions GmbH]$519b1d74-b1de-4a68-a3bf-c1fdb3909c18^
PLCWinNT V3.x_$21e56dab-2863-4515-a4a5-d154a08ccd4e`$bef66cc1-9006-4083-92e8-84957423b2c7a$c52dbc97-13e5-46c3-8641-481f5d8daff9b$c179664b-4223-4f78-b898-054073c60fb3cPLCWinRTE V3.xd$2a47d467-e781-4f73-a35c-01b9d33d28d2e$a4c9aab3-b8bd-4826-9677-1820291d2f2df$11ebb73b-df74-48e0-8fed-9b2db84e438ag$769db563-3955-441f-b96b-8b177b70d377h Use Casesi$e66bdbd6-b91d-4e4a-97d6-c698c033210cj$c812fecb-9bc1-488a-9e68-df19744bfaefkDatabasel$6680e7c8-f7d5-41a9-94fe-14602a15effamFieldbusn$b42cc94a-6be6-4e71-9420-bda87e1cd129o
Foundationp$50af6a48-e2e7-4280-82af-8818f86e464dq
Guidelinesr$a60af49c-8a71-4300-a862-17e5fe7de198sNetworkt$368639a0-d7b3-4311-9a2f-7bf2bab35b30uRuntimev$a4072735-6719-4d80-ba50-1d428672d406w$94be3750-453a-45b4-b1b7-327809b35168x Utilitiesy DescriptionzVSoftMotion driver to control a stepper motor connected to local GPIOs of Raspberry Pi.{Released|
SourceLibrary}Company~ PlaceholderPlaceholderTemplate$6470a90f-b7cb-43ac-9ae5-94b2338b4573Project Settings$8753fe6f-4a22-4320-8103-e553c4fc8e04$e4d96831-4db1-4f98-8fb2-94eaab6fcb10Library Manager
$adb5cb65-8e1d-4a00-b70a-375ea27582f3IecSfc, 3.4.2.0 (System)IecSfc$b303f5ce-75ff-4668-a777-7da8debb449cGetLibVersionNumber := 3;= //es darf nur die steigende Flanke als Step gezählt werden0.0.0.3 GC_SMC_READNCFILE_BUFFERSIZEAnyIntGetLibVersion.uiPatch := 4;GetLibVersionNumber := 4;IsLibReleased := FALSE; bLimitPos : BOOL := TRUE; bLimitNeg : BOOL := TRUE; CmpTraceMgr, 3.5.0.0 (System) CmpTraceMgr0.0.0.4 fLastOffset := fOffsetPosition;3:SM3_Robotics, 4.5.1.0 (3S - Smart Software Solutions GmbH) SM3_Robotics?SM3_Robotics_Visu, 4.5.1.0 (3S - Smart Software Solutions GmbH)SM3_Robotics_Visu@SM3_Transformation, 4.5.1.0 (3S - Smart Software Solutions GmbH)SM3_TransformationTRAFOStandard, * (System) Standard¡4¢System_VisuElems£5¤6¥ fLastOffset: LREAL;¦System_VisuElemMeter§7¨9© System_VisuElemsSpecialControlsªA«B¬System_VisuElemsWinControlsC®D¯System_VisuElemTextEditor°E±F²System_VisuElemTrace³10´11µSystem_VisuNativeControl¶12·17¸System_VisuElemsAlarm¹13º14»22¼System_VisuElemCamDisplayer½15¾16¿18ÀSystem_VisuElem3DPathÁ19Â1AÃSystem_VisuElemsDateTimeÄ1BÅ1CÆ1DÇ1EÈ1FÉ20Ê21ËOfPosError := fLastSetPosition + (fLastOffset - fOffsetPosition) - fActPosition;Ì27Í23Î IoStandard, 3.5.16.0 (System)Ï
IoStandardÐ24Ñ25Ò34Ó26Ô7SM3_Basic, 4.6.1.0 (3S - Smart Software Solutions GmbH)Õ SM3_BasicÖ5SM3_CNC, 4.6.1.0 (3S - Smart Software Solutions GmbH)×SM3_CNCØ9IoDrvGPIO, 3.5.15.10 (3S - Smart Software Solutions GmbH)Ù IoDrvGPIOÚ8CAA Device Diagnosis, 3.5.15.0 (CAA Technical Workgroup)ÛCAA Device DiagnosisÜDEDÝSysTask, 3.5.10.0 (System)ÞSysTaskß SysTypes2 Interfaces, * (System)àSysTypesáSysTime, 3.5.9.0 (System)âSysTimeãBSM3_Drive_PosControl, 4.6.0.0 (3S - Smart Software Solutions GmbH)äSM3_Drive_PosControlå] //fScalefactor := DWORD_TO_LREAL(dwRatioTechUnitsDenom) / DINT_TO_LREAL(iRatioTechUnitsNum);æ //fFactorVel := fScalefactor;ç28èCmpApp, * (System)éCmpAppêCmpIecTask, * (System)ë
CmpIecTaskì!CmpErrors2 Interfaces, * (System)í CmpErrorsî+VisuElemsSpecialControls, 3.5.16.0 (System)ï'VisuElemCamDisplayer, 3.5.16.0 (System)ðElementCollectionsñBElement Collections, 3.5.16.0 (3S - Smart Software Solutions GmbH)ò$VisuNativeControl, 3.5.16.0 (System)ó!VisuElem3DPath, 3.5.16.0 (System)ô VisuElemMeter, 3.5.16.0 (System)õ VisuElemTrace, 3.5.16.0 (System)ö29÷CBMLøECommon Behaviour Model, 3.5.15.0 (3S - Smart Software Solutions GmbH)ù!VisuElemsAlarm, 3.5.16.0 (System)ú'VisuElemsWinControls, 3.5.16.0 (System)û$VisuElemsDateTime, 3.5.16.0 (System)ü VisuElems, 3.5.16.0 (System)ý%VisuElemTextEditor, 3.5.16.0 (System)þAXIS_REF_RaspiStepperÿ$6f9dac99-8de1-4efc-8465-68ac443b7d08$a9ed5b7e-75c5-4651-af16-d2c27e98cb94$3b83b776-fb25-43b8-99f2-3c507c9143fcNone super^();2A
VAR_INPUTEND_VAR
VAR_OUTPUTVAR" IF NOT xPuls AND lrFreq > 0 THEN sc: StepperControl := ();2B$757618d6-0503-47b8-9bdb-da60606fc15aStepperControl43StepperControl_STATE.INIT:
//Set IO-Pins2C% ELSIF NOT xPuls AND lrFreq < 0 THEN* udiStep := TO_UDINT(1E6/ABS(lrFreq*2));2D GVL.GPIO.SetType();//Get Task-Handle' SysTask.SysTaskGetCurrent(ADR(hTask));- IF hTask <> SysTypes.RTS_INVALID_HANDLE THEN2E END_IF t := LTIME(); StepperControl_STATE.OPERATION: tAlt := t; tCycle := t - tAlt; H udiStep := TO_UDINT(1E6/ABS(LIMIT(-lrMaxFreq, lrFreq, lrMaxFreq)*2));¡1//SMC_CheckSetPositionForResiduals(pDrive:=THIS);¢> udiResult := SysTask.SysTaskSetInterval(hTask, udiSetTime); £ udiOldSetTime := udiSetTime;¤J//di := SMC_ConvertSetPositionForResiduals(f:=fSetPosition, pDrive:=this);¥2F¦
//di: DINT; §30¨& dwCounterStep := dwCounterStep + 1;©31ª& dwCounterStep := dwCounterStep - 1;« END_IF¬ udiSetTimeSum := 0;32®33¯ //fSetVel: LREAL; ° ELSE± //{attribute 'noinit'}² dwActPos := dwCounterStep;³) //SysTask.SysTaskGetCurrent(ADR(hTask));´* //SysTaskGetInterval(hTask, pulInterval);µ35¶A //hTask: SysTypes.RTS_IEC_HANDLE := SysTypes.RTS_INVALID_HANDLE;·36¸ //pulInterval: UDINT;¹37º( //sc.udiMasterCycleTime := pulInterval;»38¼39½3A¾3B¿ GVL.GPIO.SetOutputs();ÀEND_CASEÁ FUNCTION_BLOCK StepperControlÂ3CÃB udiMasterCycleTime: UDINT; //cycle time of commanding task in usÄv lrPower: LREAL; //[0..1] fraction of the cycle, where outputs are set High; determines the power of the motor Å3DÆD xHalfStep: BOOL; //Motor takes half steps not full steps if TrueÇ tCycle: LTIME;È> dwActPos: DWORD; //set position of motor (generated steps)É42Ê
//Task-HandleË3EÌ? hTask: SysTypes.RTS_IEC_HANDLE := SysTypes.RTS_INVALID_HANDLE;Í3 sc.udiMasterCycleTime := TO_UDINT(fTaskCycle*1E6);Î3FÏ udiResult: RTS_IEC_RESULT;Ðb OutMask: ARRAY[0..7] OF BYTE := [2#1000, 2#1010, 2#0010, 2#0110, 2#0100, 2#0101, 2#0001, 2#1001];Ñ//current Byte of the ArrayÒ
bySet: BYTE;Ó//GPIO-AssignmentsÔ xA, xA_, xB, xB_: BOOL;Õ//Cycletime monitoringÖ
t: LTIME;×
tAlt: LTIME;Ø stSleepUs: SYSTIME;Ù udiSetTimeSum: UDINT;Ú40Û, sTaskName: STRING := 'Task_StepperControl';Ü dwCounterStep: DWORD;Ý41Þ$457deb73-24e2-4594-87a5-03afa9613089ßmyGPIOà,FUNCTION_BLOCK myGPIO EXTENDS IoDrvGPIO.GPIOá289543â$8ca474e6-342b-466c-ac6b-43995f5aa348ãTaskCallStepperControlä!pTaskInfo := parameter.pTaskInfo;å2pInstance := pTaskInfo^.pszExternalEvent; (* !! *)æ-udiState := parameter.pApplication^.udiState;ç44è45éEND_IFê46ë/FUNCTION INTERNAL TaskCallStepperControl : BOOLì! parameter : IEC_CYCLE_STRUCT;í* pInstance : POINTER TO StepperControl;î& pTaskInfo : POINTER TO Task_Info2;ï udiState : UDINT;ð47ñ$84c2172a-7795-4eec-bf55-349d33cd922aòGVLó$ffbfa93a-b94d-45fc-a329-229860183b1dô {attribute 'qualified_only'}õ
VAR_GLOBALö GPIO: myGPIO;÷$05c35748-17b3-43ff-b1f2-0775a5e9fd81øStepperControl_STATEù$2db5746d-d284-4425-9f7f-2663a34b0ebcú{attribute 'strict'}ûTYPE StepperControl_STATE :ü(ý48þ);ÿEND_TYPE8$984f0d97-5590-4d77-9338-f04a1403662b
CreateTask$f8a58466-d7f6-439f-bbb8-d4600e41d09949
4A4B4C4D4E4F505152METHOD CreateTask : BOOL5354 pApp : POINTER TO APPLICATION;$70db5515-5e7b-4cec-96ed-f85763c49128FB_Exit565758 {attribute 'conditionalshow'} METHOD PUBLIC FB_Exit : BOOL bInCopyCode : BOOL;$e67360a3-1e0f-4d1d-b0df-6432b067e8ba GetInputsIF _iState = 10 THEN SUPER^.GetInputs();METHOD GetInputs$9597f6e4-0483-47f4-8192-9547dc5c2135
SetOutputs¡ SUPER^.SetOutputs();¢METHOD SetOutputs£$809941ac-8a40-4e3f-ab9f-b459c406faad¤SetType¥ SUPER^.SetType();¦METHOD SetType§$86049e11-ec08-4ee5-834c-9cc232b1e47e¨fb_init©,_eProcessorType := DetermineProcessorType();ªDetermineConstants();«init();¬U//FB_Init is always available implicitly and it is used primarily for initialization.W//The return value is not evaluated. For a specific influence, you can also declare the®W//methods explicitly and provide additional code there with the standard initialization¯*//code. You can evaluate the return value.°METHOD FB_Init: BOOL±_ bInitRetains: BOOL; // TRUE: the retain variables are initialized (reset warm / reset cold)²j bInCopyCode: BOOL; // TRUE: the instance will be copied to the copy code afterward (online change) ³$88eb6b2e-48bf-44f0-8ca0-6464e7babba5´GetStandardConfigParamsµ<GetStandardConfigParams := SUPER^.GetStandardConfigParams();¶59·5A¸5B¹5Cº5D»5E¼5F½60¾61¿62À63Á64ÂTlrPower := ConfigGetParameterValueLreal(ConfigGetParameter(m_pConnector, 10304), 0);Ã65Ä sc.lrPower := lrPower;Å66Æsc.xHalfStep := xHalfStep;ÇIF xHalfStep THENÈ67É68Ê69Ë%METHOD GetStandardConfigParams : BOOLÌ dwA: DWORD;Í
dwA_: DWORD;Î dwB: DWORD;Ï
dwB_: DWORD;Ð lrPower: LREAL;Ñ xHalfStep: BOOL;Ò Ó$9703e167-4f73-41bf-990f-6fecb5c7e2dcÔPrepareOutputsÕ6AÖ6B× METHOD PrepareOutputs : BOOLØ$c3882c1d-1fec-4571-a9c3-1dd8603711b8Ù
ProcessInputsÚ6CÛ6DÜ6EÝ6FÞMETHOD ProcessInputs : BOOLß$7c867a36-7090-441d-b246-744d770bbdbeàCommunicationStateMachineá70â71ã72ä73å74æ@CommunicationStateMachine := SUPER^.CommunicationStateMachine();ç'METHOD CommunicationStateMachine : BOOLè//Cycletime Main-Taské75ê
ParentObjectsë&{fa2ee218-a39b-4b6d-b249-49dbddbd168a}ì$81297157-7ec9-45ce-845e-84cab2b88adeíGuidî
ParentGuidïNameð
Propertiesñ&{2c41fa04-1834-41c1-816e-303c7aa2c05b}òTypeGuidóEmbeddedTypeGuidsô TimestampõStructuredViewGuidö System.Collections.Hashtable÷GetCompanyGUIDø GetTitleGUIDùGetVersionGUIDúGetTextPropertyGUIDûGetTextProperty2GUIDüGetNumberPropertyGUIDýGetBooleanPropertyGUIDþGetVersionPropertyGUIDÿGetLibVersionGUIDGetLibVersionNumberGUIDIsLibReleasedGUID$78562ae7-5a2e-4542-9033-c5c093009235$aecb3560-8a8a-40ab-9e88-42f4b333af8bId
ParentCategoryId DefaultNameLocalizedNames
OptionData System.Byte$4723ebe7-5bfc-43c6-be6b-5097002ef6b4DefaultResolutionOptionalParams&{e38db981-1fbe-4d68-b5b0-d55ca6086daa}PlaceholderName ResolverGuid Namespace
SystemLibrary HideWhenReferencedAsDependencyPublishSymbolsInContainer
QualifiedOnlyLinkAllContent$88513019-926a-4125-ab4f-260cf5e4c63eTypePositionToSaveMessagesToSave&{bc2be951-49f6-4f0f-b731-e31e36606f1e} LongValue TypeClass&{16f7aa24-038f-444e-9d81-b001bc091d35}Negative OriginalTypeClass¡$e38db981-1fbe-4d68-b5b0-d55ca6086daa¢Exp£$51a11660-6c0d-4598-8c08-419c5845ea1f¤Items¥ System.Collections.ArrayList¦PlaceholderRedirectionTable§$a5de0b0b-1cb5-4913-ac21-9d70293ec00d¨Tag©Textª$f3878285-8e4f-490b-bb1b-9acbb7eb04db« TextLines¬&{a5de0b0b-1cb5-4913-ac21-9d70293ec00d} TextDocument® SpecialFunc¯&{0db3d7bb-cde0-4416-9a7b-ce49a0124323}°Implementation± Interface²UniqueIdGenerator³POULevel´&{8e575c5b-1d37-49c6-941b-5c0ec7874787}µChildObjectGuids¶AddAttributeSubsequent·NetVarProperties¸
ParameterList¹$c8706b13-1f28-4097-8c35-c12aa6824251ºLibrary Information»$d754badd-b8c8-5d3b-840b-2496c8e67b65¼
GetLibVersion½$24568a24-c491-472c-a21f-ee5d33859fab¾GetLibVersion.uiMajor := 0;¿GetLibVersion.uiMinor := 0;À!GetLibVersion.uiServicePack := 0;Á76ÂO// This function has been automatically generated from the project information.Ã FUNCTION GetLibVersion : VERSIONÄ77Å$e5561e6b-e4a3-52c2-afe2-127b8d3ac083ÆGetLibVersionNumberÇ78È$FUNCTION GetLibVersionNumber : DWORDÉ79Ê$445d2b8e-e5c5-54ec-8b5c-0abf82faae3aË
IsLibReleasedÌ7AÍ FUNCTION IsLibReleased : BOOLÎ7BÏ$8cb24c63-0127-455c-a59d-bb723c2f672aÐStepperControlTypeÑTYPE StepperControlType :Ò DIRECT, PULSDIRÓ$04640f0b-89a2-40ed-b5c7-3f0dd59f0db8Ô
DriverNameÕ$5a3b8626-d3e9-4f37-98b5-66420063d91eÖ PROPERTY DriverName : STRING(16)×1Ø$5f7be810-e751-487c-8645-f0613f1c4471Ù
DriverVersionÚ PROPERTY DriverVersion : DWORDÛ2Ü$0055524a-b2df-4a79-a739-4627a8fd34bfÝImplicitly calledÞ$1f0dd1bb-7ef8-4b42-91b4-25ebc418432dß Parameterà$84d1beb9-faf1-4c57-b513-4b62f3d5cc0cáClearOutputPinsâ(GVL.GPIO.axOutputs[iA] := xA := FALSE;ã)GVL.GPIO.axOutputs[iA_] := xA_ := FALSE;ä(GVL.GPIO.axOutputs[iB] := xB := FALSE;å)GVL.GPIO.axOutputs[iB_] := xB_ := FALSE;æGVL.GPIO.SetOutputs();ç METHOD ClearOutputPins : BOOLè$e63aa6d6-309f-4012-840f-d60dbae2158aéIsIncludedInReceiveDataêCASE iParameterNumber OFë1101:ì! IsIncludedInReceiveData := TRUE;íELSEî" IsIncludedInReceiveData := FALSE;ï%METHOD IsIncludedInReceiveData : BOOLð iParameterNumber: INT;ñ i: INT;ò$bf0ef15c-3a53-4874-a074-29b3287c46e7óIsIncludedInTransmitDataô1110:õ" IsIncludedInTransmitData := TRUE;ö# IsIncludedInTransmitData := FALSE;÷&METHOD IsIncludedInTransmitData : BOOLø$23e7cab6-2224-45cb-8b1d-104468df442bùGetú$792f2eb6-721e-4e64-ba20-bc98351056dbû DriverName := 'RaspiStepper';ü$21b9bc03-4e65-4dc3-8783-de6e8f04d34eýv := GetLibVersion();þµDriverVersion := SHL(UINT_TO_DWORD(v.uiMajor), 24) + SHL(UINT_TO_DWORD(v.uiMinor), 16) + SHL(UINT_TO_DWORD(v.uiServicePack), 8) + 2 * v.uiPatch - BOOL_TO_DWORD(NOT IsLibReleased());ÿ v: Version;$42e1bc0a-663a-4233-98f0-b92977e04850AfterReadInputs"IF m_xSkipNextAfterReadInputs THEN% m_xSkipNextAfterReadInputs := FALSE; RETURN;
IF NOT bVirtual THEN= IF wCommunicationState>=90 AND wCommunicationState<=100 THEN PrepareOutputs(); ProcessInputs();" sc.bRegulatorOn := bRegulatorOn; sc.lrFreq := 0;SUPER^.AfterReadInputs(); METHOD AfterReadInputs : INT$7f45985a-ad81-4c24-9235-9d9c4787da18BeforeWriteOutputs%IF m_xSkipNextBeforeWriteOutputs THEN( m_xSkipNextBeforeWriteOutputs := FALSE; SUPER^.BeforeWriteOutputs(); METHOD BeforeWriteOutputs : INT$09a5c0cd-4e29-4948-8a65-3854394be130GetMappedDriveParameterCASE diParameterNumber OF1030,1032: diDriveParameterNumber := 0; usiDataLength := 0 ; GetMappedDriveParameter:=TRUE;; GetMappedDriveParameter := SUPER^.GetMappedDriveParameter( bRead:=bRead, ' diParameterNumber:=diParameterNumber,3 diDriveParameterNumber => diDriveParameterNumber," usiDataLength => usiDataLength); METHOD GetMappedDriveParameter¡
bRead: BOOL;¢ diParameterNumber: DINT;£ {attribute 'noinit'}¤! GetMappedDriveParameter : BOOL ;¥ diDriveParameterNumber:DINT;¦ usiDataLength: USINT;§7C¨CODESYS V3.5 SP16 Patch 3©4IF ConfigGetParameter(m_pConnector, 10300) <> 0 THENª. sc.eControlType := StepperControlType.DIRECT;«Q dwA := ConfigGetParameterValueDword(ConfigGetParameter(m_pConnector, 10300), 0);¬ IF dwA < 28 THEN sc.iA := DWORD_TO_INT(dwA);®R dwA_ := ConfigGetParameterValueDword(ConfigGetParameter(m_pConnector, 10301), 0);¯ IF dwA_ < 28 THEN ° sc.iA_ := DWORD_TO_INT(dwA_);±Q dwB := ConfigGetParameterValueDword(ConfigGetParameter(m_pConnector, 10302), 0);² IF dwB < 28 THEN ³ sc.iB := DWORD_TO_INT(dwB);´R dwB_ := ConfigGetParameterValueDword(ConfigGetParameter(m_pConnector, 10303), 0);µ IF dwB_ < 28 THEN ¶ sc.iB_ := DWORD_TO_INT(dwB_);·/ sc.eControlType := StepperControlType.PULSDIR;¸T dwPuls := ConfigGetParameterValueDword(ConfigGetParameter(m_pConnector, 10310), 0);¹ IF dwPuls < 28 THEN º# sc.iPuls := DWORD_TO_INT(dwPuls);»S dwDir := ConfigGetParameterValueDword(ConfigGetParameter(m_pConnector, 10311), 0);¼ IF dwDir < 28 THEN ½! sc.iDir := DWORD_TO_INT(dwDir);¾W dwDisable := ConfigGetParameterValueDword(ConfigGetParameter(m_pConnector, 10312), 0);¿ IF dwDisable < 28 THEN À) sc.iDisable := DWORD_TO_INT(dwDisable);ÁV dwEnable := ConfigGetParameterValueDword(ConfigGetParameter(m_pConnector, 10313), 0);Â IF dwEnable < 28 THEN Ã' sc.iEnable := DWORD_TO_INT(dwEnable);Ä$IF lrPower >= 0 AND lrPower <=1 THENÅUxHalfStep := ConfigGetParameterValueBool(ConfigGetParameter(m_pConnector, 10305), 0);Æ( dwEncoderCounterModulo := 16#8000_0000;ÇYsc.lrMaxFreq := ConfigGetParameterValueLreal(ConfigGetParameter(m_pConnector, 10306), 0);È6pParameter := ConfigGetParameter(m_pConnector, 10307);ÉIF pParameter <> 0 AND_THEN pParameter^.dwValue <> 0 AND_THEN TO_BOOL(pParameter^.dwFlags AND ParameterValueFlags.PVF_POINTER) THENÊ ps := pParameter^.dwValue;Ë sc.strTaskGroup := ps^;Ì dwPuls: DWORD;Í dwDir: DWORD;Î dwEnable: DWORD;Ï dwDisable: DWORD;Ð lrMaxFreq: LREAL;Ñ ps: Pointer to STRING;Ò, pParameter : POINTER TO IoConfigParameter; Ó4hes(bHigh:=bLimitPos, bLow:=bLimitNeg, Axis:=THIS^);Ô7DÕIF iMovementType = 0 THENÖ& IF fPosError > fPositionPeriod/2 THEN×+ fPosError := fPosError - fPositionPeriod;Ø* ELSIF fPosError < -fPositionPeriod/2 THENÙ+ fPosError := fPosError + fPositionPeriod;Ú'IF ABS(fPosError*fScalefactor) < 1 THENÛ fPosError := 0;Ü7EÝ7FÞIF NOT bError THENß7 IF byControllerMode = 2 THEN (* velocity controlled *)à( sc.lrFreq:= fSetVelocity * fFactorVel;á ELSE (*position control *)â® sc.lrFreq := (fSetVelocity + fPosError/fTaskCycle*fKp) * fFactorVel; // out contains the number of increments per Task call, but we need the number of increments per secondãF IF fSetVelocity = 0 AND_THEN ABS(fPosError * fScalefactor) < 0.5 THENä! sc.bRegulatorOn := bRegulatorOn;å sc.lrFreq := 0;æ sc.bRegulatorOn := FALSE; ç!fLastSetPosition := fSetPosition;è80é81êdwActPos := sc.dwActPos;ë!IF dwEncoderCounterModulo<>0 THENì2 di := DWORD_TO_DINT(dwActPos - dwOldActPosition);í5 IF di > DWORD_TO_DINT(dwEncoderCounterModulo/2) THENî6 dwPosOffset := dwPosOffset - dwEncoderCounterModulo;ï9 ELSIF di < -DWORD_TO_DINT(dwEncoderCounterModulo/2) THENð6 dwPosOffset := dwPosOffset + dwEncoderCounterModulo;ñ dwOldActPosition := dwActPos;ò) dwActPosition := dwPosOffset + dwActPos;ó dwActPosition := dwActPos;ôp fActPosition := SMC_fmod(SMC_ConvertActPositionForResiduals(dw:=dwActPosition, pDrive:=this), fPositionPeriod);õU fActPosition := SMC_ConvertActPositionForResiduals(dw:=dwActPosition, pDrive:=this);öIF bErrorAckn THEN÷ bError := FALSE;ø bErrorAckn:=FALSE;ù'bRegulatorRealState := sc.bRegulatorOn;ú$bDriveStartRealState := bDriveStart;û
di: DINT;ü dwActPos: DWORD;ýCASE wCommunicationState OFþ0:ÿ8283 IF sc.CreateTask() THEN wCommunicationState := 10; wCommunicationState := 1000;10:
wCommunicationState := 90;90: Timer(IN:=TRUE); IF Timer.Q THEN Timer(IN:=FALSE); wCommunicationState := 100;200: (* reset AxisGroup *) wCommunicationState:=210;AFUNCTION_BLOCK AXIS_REF_RaspiStepper EXTENDS AXIS_REF_MAPPING_SM38485 fKp: LREAL := 0.1; hes: SMC_HardwareEndSwitches;= dwEncoderCounterModulo: DWORD:=0; (* encoder modulo value *) (* locals *)' dwOldActPosition, dwPosOffset : DWORD; Timer: TON:=(pT:=T#500MS); fPosError: LREAL; fLastSetPosition: LREAL;86'pApp := AppGetCurrent(ADR(udiResult)); // detect own instance number uiInstance := uiInstanceCounter;+uiInstanceCounter := uiInstanceCounter + 1;
//create taskBsTaskName := CONCAT(sTaskName, WORD_TO_STRING(uiInstanceCounter));#TaskInfo.pszName := ADR(sTaskname); +TaskInfo.pszExternalEvent := THIS; (* !! *)¡TaskInfo.nPriority := 0;¢ TaskInfo.dwInterval := 10000;£+TaskInfo.KindOfTask := TaskType.TaskCyclic;¤CTaskInfo.dwTaskEntryFunctionPointer := ADR(TaskCallStepperControl);¥uhIecTask := IecTaskCreate2(pApp:=pApp, pTaskInfo:=ADR(TaskInfo), psTaskGroup:=strTaskGroup, pResult:=ADR(udiResult));¦4CreateTask := (udiResult = CmpErrors.Errors.ERR_OK);§ udiResult: RTS_IEC_RESULT; ¨+IF eState <> StepperControl_STATE.INIT THEN©2 IF eControlType = StepperControlType.DIRECT THEN ª ClearOutputPins();« IF iDisable <> -1 THEN¬( GVL.GPIO.axOutputs[iDisable] := TRUE; END_IF ®&IF hIecTask <> RTS_INVALID_HANDLE THEN¯) eState := StepperControl_STATE.SHUTDOWN;°F //work around: deleting many tasks at the same time does not work....±@ stSleepUs := TO_ULINT(udiMasterCycleTime * 2 * (uiInstance+1));²& SysTaskWaitSleepUs(hTask, stSleepUs);³ ´ //delete taskµ] udiResult := IecTaskDelete2(hIecTask := hIecTask, ulTimeoutMs := udiMasterCycleTime/1000*2);¶# hIecTask := RTS_INVALID_HANDLE;·FB_Exit := TRUE;¸.IF hIecTask = SysTypes.RTS_INVALID_HANDLE THEN¹CASE eState OFº IF iA > 0 THEN»* GVL.GPIO.aeType[iA] := GPIOType.O;¼ IF iA_ > 0 THEN½* GVL.GPIO.aeType[iA_] := GPIOType.O;¾ IF iB > 0 THEN¿* GVL.GPIO.aeType[iB] := GPIOType.O;À IF iB_ > 0 THENÁ* GVL.GPIO.aeType[iB_] := GPIOType.O;Â IF iPuls > 0 THENÃ* GVL.GPIO.aeType[iPuls] := GPIOType.O;Ä IF iDir > 0 THENÅ* GVL.GPIO.aeType[iDir] := GPIOType.O;Æ IF iDisable > 0 THENÇ+ GVL.GPIO.aeType[iDisable] := GPIOType.O;È IF iEnable > 0 THENÉ* GVL.GPIO.aeType[iEnable] := GPIOType.O;Ê xHalfStep := FALSE;Ë+ eState := StepperControl_STATE.OPERATION;Ì // measure time since last callÍ IF lrFreq <> 0 THENÎ IF lrMaxFreq > 0 THENÏ87Ð ELSEÑ88Ò& IF udiStep > udiMasterCycleTime THENÓ5 //one step takes longer than the master cycle timeÔ# IF lrLastFreq * lrFreq < 0 THEN Õ //direction invertedÖ udiSetTimeSum := 0;× END_IFØ$ udiSetTime := udiMasterCycleTime;Ù0 IF udiSetTimeSum + udiSetTime >= udiStep THENÚ xStep := TRUE;Û6 udiSetTimeSum := MAX(0, udiStep - udiSetTimeSum); Ü ELSEÝ1 udiSetTimeSum := udiSetTimeSum + udiSetTime; Þ( //more than one step per master cycleß udiSetTime := udiStep;à xStep := TRUE;á udiSetTimeSum := 0;â# udiSetTime := udiMasterCycleTime;ã$ IF udiOldSetTime <> udiSetTime THENä IF xStep THENå3 IF eControlType = StepperControlType.PULSDIR THENæ IF iPuls <> -1 THENç4 GVL.GPIO.axOutputs[iPuls] := xPuls := NOT xPuls;è IF iDir <> -1 THENé5 GVL.GPIO.axOutputs[iDir] := xDir := lrFreq > 0;ê END_IF ë IF xHalfStep THENì8 bySet := OutMask[dwCounterStep MOD 8]; //half stepí! dwActPos := dwCounterStep / 2;î; bySet := OutMask[(dwCounterStep MOD 4)*2]; //full stepï dwActPos := dwCounterStep;ð IF iA <> -1 THENñ> GVL.GPIO.axOutputs[iA] := xA := bySet.0 AND bRegulatorOn;ò IF iA_ <> -1 THENó? GVL.GPIO.axOutputs[iA_] := xA_ := bySet.1 AND bRegulatorOn;ô IF iB <> -1 THENõ> GVL.GPIO.axOutputs[iB] := xB := bySet.2 AND bRegulatorOn;ö IF iB_ <> -1 THEN÷? GVL.GPIO.axOutputs[iB_] := xB_ := bySet.3 AND bRegulatorOn;ø& IF lrPower < 1 AND bRegulatorOn THENù3 //wait the time slice where lrPower shall be on.ú0 stSleepUs := TO_ULINT(udiSetTime * lrPower); û( SysTaskWaitSleepUs(hTask, stSleepUs);ü ClearOutputPins();ý4 GVL.GPIO.axOutputs[iDisable] := NOT bRegulatorOn;þ
END_IF ÿ IF iEnable <> -1 THEN/ GVL.GPIO.axOutputs[iEnable] := bRegulatorOn;R eControlType:StepperControlType;//control type : direct (A, A_,B, B_) or puls/dir= lrFreq: LREAL; //steps per second (positive or negative)J lrMaxFreq: LREAL; //maximum steps per seond that the motor can follow = iA, iA_, iB, iB_ : INT := -1; //GPIO pins for direct control
: iPuls, iDir: INT :=-1; //GPIO pins for puls/dir control; iDisable, iEnable: INT :=-1; //GPIO pins for power control. bRegulatorOn: BOOL; //bRegulatorOn of Axise strTaskGroup: STRING := 'IEC-Tasks'; //name of the task group (only relevant for multi core systems)//state variable; eState: StepperControl_STATE := StepperControl_STATE.INIT;//number of internal steps//Task-HandlesB hIecTask: SysTypes.RTS_IEC_HANDLE := SysTypes.RTS_INVALID_HANDLE;//mask for output bits xPuls, xDir: BOOL;$//time in which the ouputs are set. //step time udiStep: UDINT;&//set time for the task and last value" udiSetTime, udiOldSetTime: UDINT;l// accumulated time without step (used for low frequencies, where step time is larger than master cycle time// last cycle's frequency lrLastFreq: LREAL;// task info variables , TaskInfo : Task_Info2 := (dwVersion:=2);// instance number (0..n) uiInstance : UINT;VAR_STATG// static instance number; helps to find the instance number of this FB uiInstanceCounter: UINT;VAR_TEMP
xStep: BOOL;¡89¢IF udiState <> AS_STOP THEN£ pInstance^();¤55¥ INIT, OPERATION, SHUTDOWN¦ MemoryReserveForOnlineChange§ExcludeFromBuild¨External©EnableSystemCallªCompilerDefines«
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