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Gx_låb!0…jüo@S¤? "CÐÀSystem.StringL{6f9dac99-8de1-4efc-8465-68ac443b7d08}SpecialFuncL{0db3d7bb-cde0-4416-9a7b-ce49a0124323}NoneImplementationL{3b83b776-fb25-43b8-99f2-3c507c9143fc}TextDocument    L{f3878285-8e4f-490b-bb1b-9acbb7eb04db}
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TextLinesL{a5de0b0b-1cb5-4913-ac21-9d70293ec00d}Id
longTagText$IF NOT xInit THEN N UM            (    sName := 'Normal Operation', ì                    dwSupportedStates := PACK_ML.State.All - PACK_ML.State.Suspending - PACK_ML.State.Suspended - PACK_ML.State.UnSuspending - PACK_ML.Holding - PACK_ML.Held - PACK_ML.UnHolding, Ô                    dwAllowsLeavingFromStates := PACK_ML.State.Stopped OR PACK_ML.State.Aborted OR PACK_ML.State.Idle, Ö                    dwAllowsEnteringIntoStates := PACK_ML.State.Stopped OR PACK_ML.State.Aborted OR PACK_ML.State.Idle, \                   eInitialState := PACK_ML.State.Aborted,2                     xActive := TRUE);  xInit := TRUE; END_IF4IF Client.bReadyToPLC THEN:   CASE Client.iCommandToPLC OF" 0 :    //Handshake   1 :    //Lock       IF SysStrCmp(Client.sCommandToPLC, Client.LockCommands[0]) =  0 THEN       0       //First Lock Function!         ;"–     ELSIF SysStrCmp(Client.sCommandToPLC, Client.LockCommands[1]) =  0 THEN    #2       //Second Lock Function$
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          ; %    END_IF& 2 :    //Key'   3 :    //IO( 4 :    //Media)   5 :    //Hint* 6 :    //State +p    IF SysStrCmp(Client.sCommandFromPLC, 'SC') =  0 THEN      ,&       StateComplete();-x    ELSIF SysStrCmp(Client.sCommandToPLC, 'Start') =  0 THEN      .       Start();/v    ELSIF SysStrCmp(Client.sCommandToPLC, 'Stop') =  0 THEN    0       Stop();1x      ELSIF SysStrCmp(Client.sCommandToPLC, 'Reset') =  0 THEN      2       Reset();3x    ELSIF SysStrCmp(Client.sCommandToPLC, 'Abort') =  0 THEN      4       Abort();5x    ELSIF SysStrCmp(Client.sCommandToPLC, 'Clear') =  0 THEN      6       Clear();7v    ELSIF SysStrCmp(Client.sCommandToPLC, 'Hold') =  0 THEN    8       Hold();9z      ELSIF SysStrCmp(Client.sCommandToPLC, 'UnHold') =  0 THEN    :       Unhold(); ;|    ELSIF SysStrCmp(Client.sCommandToPLC, 'Suspend') =  0 THEN      <       Suspend();=€       ELSIF SysStrCmp(Client.sCommandToPLC, 'UnSuspend') =  0 THEN      >       UnSuspend();?    @ END_CASEA6 Client.iCommandToPLC := 0;B8 Client.sCommandToPLC := '';C:   Client.bReadyToPLC := FALSE;D.CASE UM.CurrentState OFE,PACK_ML.State.Stopped:F   ;G,PACK_ML.State.Aborted:H&PACK_ML.State.Idle:I2PACK_ML.State.Complete : J.PACK_ML.State.Execute :KŽ    IF CMMT_ST_Linear1.AxisError (*OR CMMT_ST_Rotery_Boot.AxisError*) THENL    Abort();M    RETURN;N   END_IFO˜    // NOTE: Remember that most math has the Y axis as positive above the X.P”    // However, for screens we have Y as positive below. For this reason, Qz    // the Y values are inverted to get the expected results.RT    //final double deltaY = (p1.y - p2.y);ST    //final double deltaX = (p2.x - p1.x);T    //final double result = Math.toDegrees(Math.atan2(deltaY, deltaX)); Uj    //return (result < 0) ? (360d + result) : result;Vx    //actualPositionBoat := CMMT_ST_Rotery_Boot.ActualPosition;Wr   actualPositionLinear1 := CMMT_ST_Linear1.ActualPosition;XJ deltaY := actualPositionLinear1 - 0;YN deltaX := actualPositionLinear2 - 500;ZV angle := OSCAT_BASIC.ATAN2(deltaY,deltaX);[\ targetPositionBoat := angle * 180 / 3.1415;    \@ IF targetPositionBoat <= 0 THEN]4      targetPositionBoat := 0;^J ELSIF targetPositionBoat >= 360 THEN_8    targetPositionBoat := 360;`†    //CMMT_ST_Rotery_Boot_MoveAbsolute.Position:= targetPositionBoat ;ad //CMMT_ST_Rotery_Boot_MoveAbsolute.Execute:=TRUE;bˆ  (*CMMT_ST_Rotery_Boot.MoveAbsolute(Position:= targetPositionBoat , c,            Velocity:= 10000, d6          Acceleration:= 100000, e6            Deceleration:= 100000, f*            Jerk:= 10000000, gX            BufferMode:= MC_BUFFER_MODE.mcAborting, h           ErrorID=> , i(          ErrorString=> );j*)k8   CASE Client.ActualStep OF    l
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       0:   m,       CASE Client.Mode OFn            Mode.Mode1:o2               CASE Client.Level OFp,                Level.Beginner: q4                   speed := 100;                r2                Level.Placeholder1:s(                     speed := 200;t2                  Level.Intermediate:u(                     speed := 300;v2                  Level.Placeholder2:w(                     speed := 400;x*                  Level.Advanced:y(                     speed := 500;z               END_CASE{<             Client.ActualStep := 100;|2               executeBoat := TRUE;}(          Mode.Mode2:             ~<             Client.ActualStep := 200;(            Mode.Mode3:             €H                Client.ActualStep := 300;                               ‚          END_CASE      ƒ       100:„r          bMove := CMMT_ST_Linear1.MoveAbsolute(Position:= 50 , …,             Velocity:= speed, †0             Acceleration:= 500, ‡0             Deceleration:= 500, ˆ"             Jerk:= 1000, ‰X           BufferMode:= MC_BUFFER_MODE.mcBuffered, Š           IF bMove THEN‹^           Client.ActualStep := Client.ActualStep + 1;Œ        END_IF       101:ŽP          IF CMMT_ST_Linear1.TargetReached THEN        END_IF                102:‘t          bMove := CMMT_ST_Linear1.MoveAbsolute(Position:= 550 , ’     103:“:             Client.ActualStep := 100;”        END_IF      •       200:–       300:—(          StateComplete();   ˜    END_CASE   ™2PACK_ML.State.Resetting :šd   CMMT_ST_Rotery_Boot_MoveAbsolute.Execute:=FALSE;   ›,    executeBoat := FALSE;œ:  CMMT_ST_Linear1.ResetHalt();F    //CMMT_ST_Rotery_Boot.ResetHalt();ž&    StateComplete();      Ÿ0PACK_ML.State.Starting : L       IF NOT CMMT_ST_Linear1.Enabled THEN¡^        //ELSIF NOT CMMT_ST_Rotery_Boot.Enabled THEN¢>             //Client.ActualStep := 200;£        ELSE¤@             Client.ActualStep := 10;            ¥       10: ¦T          IF NOT CMMT_ST_Linear1.HomingValid THEN§:           Client.ActualStep := 110;¨f        //ELSIF NOT CMMT_ST_Rotery_Boot.HomingValid THEN©>             //Client.ActualStep := 210;ªB           Client.ActualStep := 300;          «          END_IF   ¬V          enable := CMMT_ST_Linear1.EnableDrive();­"          IF enable THEN®6             Client.ActualStep := 0;¯           Abort();°       110:±‚         home := CMMT_ST_Linear1.Home(Position := 0,HomingMethod := 0);²&          IF home THEN            ³b             Client.ActualStep := Client.ActualStep + 10;   ´       120:µT          IF CMMT_ST_Linear1.HomingValid THEN          ¶:             Client.ActualStep := 10;   ·b          //enable := CMMT_ST_Rotery_Boot.EnableDrive();¸          ELSE            ¹       210:ºŽ         //home := CMMT_ST_Rotery_Boot.Home(Position := 0,HomingMethod := 0);»       220:¼`          //IF CMMT_ST_Rotery_Boot.HomingValid THEN          ½
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                ¾4PACK_ML.State.Completing :¿$ StateComplete();   À0PACK_ML.State.Aborting :Á@ CMMT_ST_Linear1.DisableDrive();ÂL  //CMMT_ST_Rotery_Boot.DisableDrive();Ã"  StateComplete();Ä.PACK_ML.State.Stopping:Å4   CASE Client.ActualStep OFÆ     0:Ç8          StopBoat.Execute := TRUE;È<        StopLinear.Execute := TRUE;É6        Client.ActualStep := 10;Ê
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       10:Ër        IF BoatStatus.Stopping AND LinearStatus.Stopping THEN;Ì@             StopLinear.Execute := FALSE;Í<             StopBoat.Execute := FALSE;Î:             Client.ActualStep := 20;   Ï
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       20:Ð.PACK_ML.State.Clearing:ÑH       IF CMMT_ST_Linear1.AxisError THENÒZ        //ELSIF CMMT_ST_Rotery_Boot.AxisError THENÓ6          CMMT_ST_Linear1.Reset();Ô6          Client.ActualStep := 0; ÕB          //CMMT_ST_Rotery_Boot.Reset();ÖEND_CASE×LClient.ActualState := UM.CurrentState;Øf(*IF NOT (x_EmergencyGF AND NOT x_EmergencyFF) THENÙ(  //Emergency Abort.Ú  Abort();   ÛEND_IF*)ÜäpuzzleTimer(xStartTimer := UM.CurrentState = PACK_ML.State.Execute ,xPauseTimer := ,xStopTimer:= NOT (UM.CurrentState = PACK_ML.State.Execute),tMaxPuzzleTime := Client.Duration);ÝPClient.Progress := puzzleTimer.iProcess;ÞHIF puzzleTimer.iProcess >= 100 THEN    ß    Stop();àJ// couple axis to functionblocks hereáv//BoatStatus (Axis := CMMT_ST_Rotery_Boot, Enable := TRUE);ânLinearStatus (Axis := CMMT_ST_Linear1, Enable := TRUE);ãT//StopBoat ( Axis := CMMT_ST_Rotery_Boot);äJStopLinear (Axis := CMMT_ST_Linear1);å~(*CMMT_ST_Rotery_Boot_MoveAbsolute(Axis:=CMMT_ST_Rotery_Boot , æ6           ContinuousUpdate:=TRUE,ç*           Velocity:= 1000, è4           Acceleration:= 10000, é4             Deceleration:= 10000, ê(             Jerk:= 1000000, ë^             BufferMode:= MC_BUFFER_MODE.mcAborting );*)ìInterfaceíL{a9ed5b7e-75c5-4651-af16-d2c27e98cb94}îVFUNCTION_BLOCK BalastTankPuzzleStateMachineïVAR_IN_OUTð.  Client : PuzzleClient;ñEND_VARòVARó0  UM   : PACK_ML.UnitMode; ôj    xInit          : BOOL := FALSE; // Flag for initializationõ8  puzzleTimer    : PuzzleTimer;ö ÷P  moveAbsolute  : MC_MoveAbsolute_Festo;ø6    StopBoat      : MC_Stop_Festo;ù<    StopLinear     : MC_Stop_Festo;úF    BoatStatus      : MC_ReadStatus_Festo;ûH    LinearStatus   : MC_ReadStatus_Festo;ü$    enable        : BOOL;ý   home        : BOOL;þ"  bMove          : BOOL;ÿ  speed          :INT;€<  actualPositionLinear1 : REAL;J  actualPositionLinear2 : REAL := 300;‚6    actualPositionBoat : REAL;ƒ    deltaY : REAL;„    deltaX : REAL;…    angle : REAL;†(  executeBoat : BOOL;‡6  targetPositionBoat : REAL;ˆ    bl : BLINK;‰  ii: INT;Šr    CMMT_ST_Rotery_Boot_MoveAbsolute :MC_MoveAbsolute_Festo;‹"UniqueIdGeneratorŒ1707POULevelŽL{8e575c5b-1d37-49c6-941b-5c0ec7874787}Standard ChildObjectGuids‘8System.Collections.ArrayList’,AddAttributeSubsequent“boolÐÐ-ÐÐ E
8
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