plc.xml

<?xml version='1.0' encoding='utf-8'?>
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              <connectionPointIn>
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              <connectionPointIn>
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              <connectionPointIn>
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              </connectionPointIn>
              <connectionPointIn>
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                  <position x="900" y="1960"/>
                  <position x="639" y="1960"/>
                </connection>
                <connection refLocalId="58">
                  <position x="900" y="1960"/>
                  <position x="740" y="1960"/>
                  <position x="740" y="2090"/>
                  <position x="651" y="2090"/>
                </connection>
                <connection refLocalId="154">
                  <position x="900" y="1960"/>
                  <position x="740" y="1960"/>
                  <position x="740" y="2030"/>
                  <position x="699" y="2030"/>
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                <connection refLocalId="153">
                  <position x="900" y="1960"/>
                  <position x="740" y="1960"/>
                  <position x="740" y="1910"/>
                  <position x="669" y="1910"/>
                </connection>
                <connection refLocalId="157">
                  <position x="900" y="1960"/>
                  <position x="740" y="1960"/>
                  <position x="740" y="2160"/>
                  <position x="691" y="2160"/>
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              </connectionPointIn>
              <connectionPointIn>
                <relPosition x="0" y="1940"/>
              </connectionPointIn>
              <connectionPointIn>
                <relPosition x="0" y="1980"/>
              </connectionPointIn>
            </rightPowerRail>
            <contact localId="4" negated="false" width="21" height="20">
              <position x="308" y="1700"/>
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                  <position x="250" y="1760"/>
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              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>B_JOG_UP</variable>
            </contact>
            <contact localId="5" negated="true" width="21" height="20">
              <position x="448" y="1700"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
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                  <position x="329" y="1710"/>
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              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
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              <variable>B_JOG_DOWN</variable>
            </contact>
            <contact localId="6" negated="true" width="21" height="20" executionOrderId="0">
              <position x="310" y="1750"/>
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              <variable>B_JOG_UP</variable>
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                  <position x="331" y="1760"/>
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              <connectionPointOut>
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              <variable>B_JOG_DOWN</variable>
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                  <position x="250" y="1760"/>
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              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
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              <variable>B_JOG_CW</variable>
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            <contact localId="9" negated="true" width="21" height="20">
              <position x="450" y="1810"/>
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                <relPosition x="0" y="10"/>
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                  <position x="331" y="1820"/>
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              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>B_JOG_CCW</variable>
            </contact>
            <contact localId="10" negated="true" width="21" height="20" executionOrderId="0">
              <position x="310" y="1860"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
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                  <position x="310" y="1870"/>
                  <position x="280" y="1870"/>
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                  <position x="250" y="1760"/>
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              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>B_JOG_CW</variable>
            </contact>
            <contact localId="11" negated="false" width="21" height="20" executionOrderId="0">
              <position x="450" y="1860"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
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                  <position x="450" y="1870"/>
                  <position x="331" y="1870"/>
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              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>B_JOG_CCW</variable>
            </contact>
            <coil localId="18" negated="false" width="21" height="20">
              <position x="620" y="1810"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="9">
                  <position x="620" y="1820"/>
                  <position x="471" y="1820"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>M_MAINT_CW</variable>
            </coil>
            <coil localId="19" negated="false" width="21" height="20" executionOrderId="0">
              <position x="620" y="1860"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="11">
                  <position x="620" y="1870"/>
                  <position x="471" y="1870"/>
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              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>M_MAINT_CCW</variable>
            </coil>
            <coil localId="39" negated="false" width="21" height="20">
              <position x="490" y="1640"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="165">
                  <position x="490" y="1650"/>
                  <position x="280" y="1650"/>
                  <position x="280" y="1760"/>
                  <position x="250" y="1760"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_MAINT_MODE</variable>
            </coil>
            <contact localId="12" negated="false" width="21" height="20" executionOrderId="0">
              <position x="160" y="1750"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="98">
                  <position x="160" y="1760"/>
                  <position x="101" y="1760"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>MAINT_MODE</variable>
            </contact>
            <coil localId="43" negated="false" width="21" height="20" storage="set">
              <position x="760" y="110"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="48">
                  <position x="760" y="120"/>
                  <position x="470" y="120"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_ESTOPPED</variable>
            </coil>
            <coil localId="44" negated="false" width="21" height="20">
              <position x="610" y="1700"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="5">
                  <position x="610" y="1710"/>
                  <position x="469" y="1710"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>M_MAINT_UP</variable>
            </coil>
            <coil localId="45" negated="false" width="21" height="20">
              <position x="618" y="1750"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="7">
                  <position x="618" y="1760"/>
                  <position x="471" y="1760"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>M_MAINT_DOWN</variable>
            </coil>
            <contact localId="47" negated="true" width="21" height="20">
              <position x="200" y="110"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="1">
                  <position x="200" y="120"/>
                  <position x="40" y="120"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_ESTOPPED</variable>
            </contact>
            <contact localId="48" negated="true" width="21" height="20">
              <position x="450" y="110"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="47">
                  <position x="450" y="120"/>
                  <position x="221" y="120"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>PROG_ESTOP</variable>
            </contact>
            <contact localId="49" negated="true" width="21" height="20">
              <position x="450" y="150"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="35">
                  <position x="450" y="160"/>
                  <position x="221" y="160"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>B_ESTOP</variable>
            </contact>
            <comment localId="50" height="110" width="310">
              <position x="930" y="50"/>
              <content>
                <xhtml:p><![CDATA[If the ESTOP button is pressed down (0 detected at gate)
OR
If PROG_ESTOP is outputting a 0 to 2nd MOSFET gate

When we press the physical EStop, we also activate the programmatic EStop so that we can control the recovery process.]]></xhtml:p>
              </content>
            </comment>
            <contact localId="52" negated="false" width="21" height="20">
              <position x="190" y="280"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="56">
                  <position x="190" y="290"/>
                  <position x="170" y="290"/>
                  <position x="170" y="320"/>
                  <position x="121" y="320"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>B_ESTOP</variable>
            </contact>
            <contact localId="53" negated="true" width="21" height="20">
              <position x="260" y="280"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="52">
                  <position x="260" y="290"/>
                  <position x="211" y="290"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>PROG_ESTOP</variable>
            </contact>
            <comment localId="55" height="80" width="310">
              <position x="920" y="220"/>
              <content>
                <xhtml:p><![CDATA[When a program EStop occurs, but the physical EStop hasn’t been pressed yet, blink red ESTOP_LED  to indicate physical button must be pressed in order to be able to reset (tests functionality of physical EStop before providing power to motors)]]></xhtml:p>
              </content>
            </comment>
            <contact localId="56" negated="false" width="21" height="20">
              <position x="100" y="310"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="1">
                  <position x="100" y="320"/>
                  <position x="40" y="320"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_ESTOPPED</variable>
            </contact>
            <comment localId="3" height="100" width="330">
              <position x="920" y="580"/>
              <content>
                <xhtml:p><![CDATA[Whenever both types of EStops are active, this will allow us to reset the next time we release the physical EStop button (sets the CAN_RESET flag to true)

Both EStops being active imply that the physical EStop had to have been pressed, and the physical button being pressed will be indicated with a solid LED_ESTOP]]></xhtml:p>
              </content>
            </comment>
            <contact localId="14" negated="true" width="21" height="20" executionOrderId="0">
              <position x="250" y="550"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="56">
                  <position x="250" y="560"/>
                  <position x="170" y="560"/>
                  <position x="170" y="320"/>
                  <position x="121" y="320"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>B_ESTOP</variable>
            </contact>
            <contact localId="15" negated="true" width="21" height="20" executionOrderId="0">
              <position x="350" y="550"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="14">
                  <position x="350" y="560"/>
                  <position x="271" y="560"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>PROG_ESTOP</variable>
            </contact>
            <comment localId="16" height="210" width="350">
              <position x="920" y="350"/>
              <content>
                <xhtml:p><![CDATA[If we’re able to reset (the physical EStop button has been pressed) AND we’ve released the physical EStop AND we’re in maintenance mode, then we will see the white RESET_LED begin blinking.

By pressing the reset button, both the EStop LED and Reset LED will be deactivated and our Arduino will allow current to flow through the 2nd transistor.

The motors now have power and the arduino is told an EStop is no longer in place

The CAN_RESET flag is also set to 0 so that the next time an EStop occurs, the operator will have to follow the same steps remove the fault

Homing will be allowed from here on out]]></xhtml:p>
              </content>
            </comment>
            <contact localId="72" negated="true" width="21" height="20">
              <position x="350" y="280"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="53">
                  <position x="350" y="290"/>
                  <position x="281" y="290"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>CAN_RESET</variable>
            </contact>
            <contact localId="73" negated="false" width="21" height="20">
              <position x="330" y="410"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="53">
                  <position x="330" y="420"/>
                  <position x="300" y="420"/>
                  <position x="300" y="290"/>
                  <position x="281" y="290"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>CAN_RESET</variable>
            </contact>
            <contact localId="74" negated="false" width="21" height="20">
              <position x="460" y="380"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="77">
                  <position x="460" y="390"/>
                  <position x="450" y="390"/>
                  <position x="450" y="420"/>
                  <position x="421" y="420"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>B_RESET</variable>
            </contact>
            <contact localId="77" negated="false" width="21" height="20">
              <position x="400" y="410"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="73">
                  <position x="400" y="420"/>
                  <position x="351" y="420"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>MAINT_MODE</variable>
            </contact>
            <coil localId="78" negated="false" width="21" height="20">
              <position x="700" y="380"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="74">
                  <position x="700" y="390"/>
                  <position x="481" y="390"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>POWER_ON_FLAG</variable>
            </coil>
            <coil localId="79" negated="false" storage="set" width="21" height="20">
              <position x="708" y="550"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="101">
                  <position x="708" y="560"/>
                  <position x="559" y="560"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>CAN_RESET</variable>
            </coil>
            <coil localId="84" negated="false" width="21" height="20">
              <position x="650" y="480"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="77">
                  <position x="650" y="490"/>
                  <position x="450" y="490"/>
                  <position x="450" y="420"/>
                  <position x="421" y="420"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>BLINK_RESET_SLOW</variable>
            </coil>
            <contact localId="87" negated="false" width="21" height="20">
              <position x="180" y="750"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="1">
                  <position x="180" y="760"/>
                  <position x="40" y="760"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>CAN_HOME</variable>
            </contact>
            <coil localId="92" negated="false" width="21" height="20">
              <position x="670" y="750"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="108">
                  <position x="670" y="760"/>
                  <position x="531" y="760"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>BEGIN_HOMING_FLAG</variable>
            </coil>
            <comment localId="27" height="100" width="340">
              <position x="920" y="770"/>
              <content>
                <xhtml:p><![CDATA[When we have just recovered from an E-Stop and pressed reset to give the motors power, the CAN_HOME flag will become true.

As long as we’re in maintenance mode, the ready LED will begin flashing more rapidly than when we recovered from the EStop, indicating it is ready to home.

When we press the start button, we can begin the homing sequence]]></xhtml:p>
              </content>
            </comment>
            <coil localId="94" negated="false" width="21" height="20">
              <position x="570" y="820"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="97">
                  <position x="570" y="830"/>
                  <position x="320" y="830"/>
                  <position x="320" y="760"/>
                  <position x="291" y="760"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>BLINK_RESET_FAST</variable>
            </coil>
            <contact localId="96" negated="false" width="21" height="20">
              <position x="350" y="750"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="97">
                  <position x="350" y="760"/>
                  <position x="291" y="760"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>B_START</variable>
            </contact>
            <contact localId="97" negated="false" width="21" height="20">
              <position x="270" y="750"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="87">
                  <position x="270" y="760"/>
                  <position x="201" y="760"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>MAINT_MODE</variable>
            </contact>
            <comment localId="17" height="60" width="90">
              <position x="920" y="1730"/>
              <content>
                <xhtml:p><![CDATA[Jogging flags for all 4 jog buttons]]></xhtml:p>
              </content>
            </comment>
            <contact localId="98" negated="true" width="21" height="20">
              <position x="80" y="1750"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="1">
                  <position x="80" y="1760"/>
                  <position x="40" y="1760"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_ESTOPPED</variable>
            </contact>
            <contact localId="26" negated="true" width="21" height="20" executionOrderId="0">
              <position x="320" y="1070"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="1">
                  <position x="320" y="1080"/>
                  <position x="40" y="1080"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>LED_ESTOP</variable>
            </contact>
            <block localId="28" typeName="TON" instanceName="TON3" width="60" height="100" executionOrderId="0">
              <position x="390" y="1020"/>
              <inputVariables>
                <variable formalParameter="EN">
                  <connectionPointIn>
                    <relPosition x="0" y="30"/>
                    <connection refLocalId="100">
                      <position x="390" y="1050"/>
                      <position x="289" y="1050"/>
                      <position x="289" y="1040"/>
                      <position x="188" y="1040"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="IN">
                  <connectionPointIn>
                    <relPosition x="0" y="60"/>
                    <connection refLocalId="26">
                      <position x="390" y="1080"/>
                      <position x="341" y="1080"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="PT">
                  <connectionPointIn>
                    <relPosition x="0" y="80"/>
                    <connection refLocalId="29">
                      <position x="390" y="1100"/>
                      <position x="380" y="1100"/>
                      <position x="380" y="1140"/>
                      <position x="370" y="1140"/>
                    </connection>
                  </connectionPointIn>
                </variable>
              </inputVariables>
              <inOutVariables/>
              <outputVariables>
                <variable formalParameter="ENO">
                  <connectionPointOut>
                    <relPosition x="60" y="30"/>
                  </connectionPointOut>
                </variable>
                <variable formalParameter="Q">
                  <connectionPointOut>
                    <relPosition x="60" y="60"/>
                  </connectionPointOut>
                </variable>
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              </connectionPointOut>
              <variable>HOMING_SEQ_1_1</variable>
            </contact>
            <contact localId="60" negated="false" width="21" height="20" executionOrderId="0">
              <position x="350" y="2060"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="142">
                  <position x="350" y="2070"/>
                  <position x="280" y="2070"/>
                  <position x="280" y="1960"/>
                  <position x="251" y="1960"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>HOMING_SEQ_1_2</variable>
            </contact>
            <coil localId="151" negated="false" storage="set" width="21" height="20">
              <position x="420" y="910"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="114">
                  <position x="420" y="920"/>
                  <position x="351" y="920"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>HOMING_SEQ_1_1</variable>
            </coil>
            <coil localId="152" negated="false" width="21" height="20" storage="set">
              <position x="520" y="910"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="151">
                  <position x="520" y="920"/>
                  <position x="441" y="920"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>HOMING_SEQ_1_2</variable>
            </coil>
            <coil localId="153" negated="false" storage="reset" width="21" height="20">
              <position x="648" y="1900"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="145">
                  <position x="648" y="1910"/>
                  <position x="551" y="1910"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>HOMING_SEQ_1_1</variable>
            </coil>
            <coil localId="154" negated="false" storage="reset" width="21" height="20">
              <position x="678" y="2020"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="40">
                  <position x="678" y="2030"/>
                  <position x="581" y="2030"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>HOMING_SEQ_1_2</variable>
            </coil>
            <contact localId="61" negated="true" width="21" height="20" executionOrderId="0">
              <position x="350" y="2150"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="142">
                  <position x="350" y="2160"/>
                  <position x="280" y="2160"/>
                  <position x="280" y="1960"/>
                  <position x="251" y="1960"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>HOMING_SEQ_1_1</variable>
            </contact>
            <contact localId="62" negated="true" width="21" height="20" executionOrderId="0">
              <position x="450" y="2150"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="61">
                  <position x="450" y="2160"/>
                  <position x="371" y="2160"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>HOMING_SEQ_1_2</variable>
            </contact>
            <coil localId="157" negated="false" width="21" height="20">
              <position x="670" y="2150"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="62">
                  <position x="670" y="2160"/>
                  <position x="471" y="2160"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_HOMING_2</variable>
            </coil>
            <contact localId="162" negated="false" width="21" height="20">
              <position x="218" y="2210"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="146">
                  <position x="218" y="2220"/>
                  <position x="129" y="2220"/>
                  <position x="129" y="2200"/>
                  <position x="40" y="2200"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>HOMING</variable>
            </contact>
            <coil localId="163" negated="false" width="21" height="20">
              <position x="628" y="2210"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="162">
                  <position x="628" y="2220"/>
                  <position x="239" y="2220"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>SOLID_HOMING</variable>
            </coil>
            <contact localId="165" negated="true" width="21" height="20">
              <position x="230" y="1750"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="12">
                  <position x="230" y="1760"/>
                  <position x="181" y="1760"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>HOMING</variable>
            </contact>
            <contact localId="64" negated="false" width="21" height="20" executionOrderId="0">
              <position x="160" y="2270"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="146">
                  <position x="160" y="2280"/>
                  <position x="40" y="2280"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_HOMING_2</variable>
            </contact>
            <coil localId="65" negated="false" storage="reset" width="21" height="20" executionOrderId="0">
              <position x="490" y="2270"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="215">
                  <position x="490" y="2280"/>
                  <position x="330" y="2280"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>HOMING</variable>
            </coil>
            <contact localId="166" negated="false" width="21" height="20">
              <position x="160" y="1950"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="143">
                  <position x="160" y="1960"/>
                  <position x="101" y="1960"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>MAINT_MODE</variable>
            </contact>
            <coil localId="167" negated="false" width="21" height="20" storage="set">
              <position x="690" y="2270"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="65">
                  <position x="690" y="2280"/>
                  <position x="511" y="2280"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>CAN_AUTO_MOVE</variable>
            </coil>
            <contact localId="169" negated="false" width="21" height="20">
              <position x="100" y="2350"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="146">
                  <position x="100" y="2360"/>
                  <position x="40" y="2360"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>CAN_AUTO_MOVE</variable>
            </contact>
            <contact localId="170" negated="true" width="21" height="20">
              <position x="188" y="2350"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="169">
                  <position x="188" y="2360"/>
                  <position x="121" y="2360"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>MAINT_MODE</variable>
            </contact>
            <contact localId="172" negated="false" width="21" height="20">
              <position x="350" y="2320"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="208">
                  <position x="350" y="2330"/>
                  <position x="320" y="2330"/>
                  <position x="320" y="2360"/>
                  <position x="301" y="2360"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>B_START</variable>
            </contact>
            <coil localId="173" negated="false" width="21" height="20" storage="set">
              <position x="580" y="2320"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="201">
                  <position x="580" y="2330"/>
                  <position x="469" y="2330"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_AUTO_UP</variable>
            </coil>
            <coil localId="174" negated="false" storage="reset" width="21" height="20">
              <position x="690" y="2320"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="173">
                  <position x="690" y="2330"/>
                  <position x="601" y="2330"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>CAN_AUTO_MOVE</variable>
            </coil>
            <contact localId="176" negated="false" width="21" height="20">
              <position x="100" y="2630"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="146">
                  <position x="100" y="2640"/>
                  <position x="40" y="2640"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_AUTO_MOVING</variable>
            </contact>
            <contact localId="183" negated="false" width="21" height="20">
              <position x="318" y="2550"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="193">
                  <position x="318" y="2560"/>
                  <position x="260" y="2560"/>
                  <position x="260" y="2640"/>
                  <position x="220" y="2640"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_AUTO_UP</variable>
            </contact>
            <contact localId="185" negated="false" width="21" height="20">
              <position x="450" y="2550"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="183">
                  <position x="450" y="2560"/>
                  <position x="339" y="2560"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_CHECKPOINT</variable>
            </contact>
            <coil localId="186" negated="false" storage="set" width="21" height="20">
              <position x="750" y="2550"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="203">
                  <position x="750" y="2560"/>
                  <position x="618" y="2560"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_AUTO_SPIN</variable>
            </coil>
            <contact localId="63" negated="false" width="21" height="20" executionOrderId="0">
              <position x="310" y="2660"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="193">
                  <position x="310" y="2670"/>
                  <position x="260" y="2670"/>
                  <position x="260" y="2640"/>
                  <position x="221" y="2640"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_AUTO_SPIN</variable>
            </contact>
            <block localId="188" typeName="TON" instanceName="TON0" width="60" height="80">
              <position x="440" y="2630"/>
              <inputVariables>
                <variable formalParameter="IN">
                  <connectionPointIn>
                    <relPosition x="0" y="30"/>
                    <connection refLocalId="63">
                      <position x="440" y="2660"/>
                      <position x="385" y="2660"/>
                      <position x="385" y="2670"/>
                      <position x="331" y="2670"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="PT">
                  <connectionPointIn>
                    <relPosition x="0" y="70"/>
                    <connection refLocalId="189">
                      <position x="440" y="2700"/>
                      <position x="415" y="2700"/>
                      <position x="415" y="2710"/>
                      <position x="390" y="2710"/>
                    </connection>
                  </connectionPointIn>
                </variable>
              </inputVariables>
              <inOutVariables/>
              <outputVariables>
                <variable formalParameter="Q">
                  <connectionPointOut>
                    <relPosition x="60" y="30"/>
                  </connectionPointOut>
                </variable>
                <variable formalParameter="ET">
                  <connectionPointOut>
                    <relPosition x="60" y="70"/>
                  </connectionPointOut>
                </variable>
              </outputVariables>
            </block>
            <inVariable localId="189" width="70" height="20" negated="false">
              <position x="320" y="2700"/>
              <connectionPointOut>
                <relPosition x="70" y="10"/>
              </connectionPointOut>
              <expression>T# 30000ms</expression>
            </inVariable>
            <coil localId="191" negated="false" width="21" height="20">
              <position x="610" y="2650"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="188" formalParameter="Q">
                  <position x="610" y="2660"/>
                  <position x="500" y="2660"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>CAN_AUTO_DOWN</variable>
            </coil>
            <coil localId="192" negated="false" storage="set" width="21" height="20">
              <position x="758" y="2650"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="191">
                  <position x="758" y="2660"/>
                  <position x="631" y="2660"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_AUTO_DOWN</variable>
            </coil>
            <contact localId="193" negated="true" width="21" height="20">
              <position x="200" y="2630"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="176">
                  <position x="200" y="2640"/>
                  <position x="121" y="2640"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>MAINT_MODE</variable>
            </contact>
            <contact localId="194" negated="false" width="21" height="20">
              <position x="310" y="2800"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="193">
                  <position x="310" y="2810"/>
                  <position x="260" y="2810"/>
                  <position x="260" y="2640"/>
                  <position x="221" y="2640"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_AUTO_DOWN</variable>
            </contact>
            <contact localId="195" negated="false" width="21" height="20">
              <position x="448" y="2800"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="194">
                  <position x="448" y="2810"/>
                  <position x="331" y="2810"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_CHECKPOINT</variable>
            </contact>
            <coil localId="196" negated="false" width="21" height="20">
              <position x="578" y="2800"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="195">
                  <position x="578" y="2810"/>
                  <position x="469" y="2810"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>CAN_AUTO_LOADING</variable>
            </coil>
            <coil localId="197" negated="false" storage="set" width="21" height="20">
              <position x="698" y="2800"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="196">
                  <position x="698" y="2810"/>
                  <position x="599" y="2810"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_AUTO_LOADING</variable>
            </coil>
            <contact localId="198" negated="false" width="21" height="20">
              <position x="330" y="2950"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="193">
                  <position x="330" y="2960"/>
                  <position x="260" y="2960"/>
                  <position x="260" y="2640"/>
                  <position x="221" y="2640"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_AUTO_LOADING</variable>
            </contact>
            <block localId="66" typeName="TON" instanceName="TON1" width="60" height="80" executionOrderId="0">
              <position x="450" y="2900"/>
              <inputVariables>
                <variable formalParameter="IN">
                  <connectionPointIn>
                    <relPosition x="0" y="40"/>
                    <connection refLocalId="198">
                      <position x="450" y="2940"/>
                      <position x="395" y="2940"/>
                      <position x="395" y="2960"/>
                      <position x="351" y="2960"/>
                    </connection>
                  </connectionPointIn>
                </variable>
                <variable formalParameter="PT">
                  <connectionPointIn>
                    <relPosition x="0" y="60"/>
                    <connection refLocalId="68">
                      <position x="450" y="2960"/>
                      <position x="415" y="2960"/>
                      <position x="415" y="2990"/>
                      <position x="390" y="2990"/>
                    </connection>
                  </connectionPointIn>
                </variable>
              </inputVariables>
              <inOutVariables/>
              <outputVariables>
                <variable formalParameter="Q">
                  <connectionPointOut>
                    <relPosition x="60" y="40"/>
                  </connectionPointOut>
                </variable>
                <variable formalParameter="ET">
                  <connectionPointOut>
                    <relPosition x="60" y="60"/>
                  </connectionPointOut>
                </variable>
              </outputVariables>
            </block>
            <inVariable localId="68" width="70" height="20" negated="false" executionOrderId="0">
              <position x="320" y="2980"/>
              <connectionPointOut>
                <relPosition x="70" y="10"/>
              </connectionPointOut>
              <expression>T# 18000ms</expression>
            </inVariable>
            <coil localId="69" negated="false" storage="set" width="21" height="20" executionOrderId="0">
              <position x="710" y="240"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="81">
                  <position x="710" y="250"/>
                  <position x="621" y="250"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>HOMING_SEQ_1_1</variable>
            </coil>
            <coil localId="70" negated="false" width="21" height="20" storage="set" executionOrderId="0">
              <position x="630" y="190"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="71">
                  <position x="630" y="200"/>
                  <position x="551" y="200"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>HOMING_SEQ_1_2</variable>
            </coil>
            <coil localId="80" negated="false" width="21" height="20" storage="reset" executionOrderId="0">
              <position x="810" y="240"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="69">
                  <position x="810" y="250"/>
                  <position x="731" y="250"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>CAN_AUTO_MOVE</variable>
            </coil>
            <coil localId="71" negated="false" width="21" height="20" storage="reset" executionOrderId="0">
              <position x="530" y="190"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="83">
                  <position x="530" y="200"/>
                  <position x="451" y="200"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_AUTO_UP</variable>
            </coil>
            <coil localId="81" negated="false" storage="reset" width="21" height="20" executionOrderId="0">
              <position x="600" y="240"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="89">
                  <position x="600" y="250"/>
                  <position x="521" y="250"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_AUTO_MOVING</variable>
            </coil>
            <coil localId="83" negated="false" width="21" height="20" storage="reset" executionOrderId="0">
              <position x="430" y="190"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="136">
                  <position x="430" y="200"/>
                  <position x="301" y="200"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_AUTO_DOWN</variable>
            </coil>
            <coil localId="85" negated="false" width="21" height="20" storage="reset" executionOrderId="0">
              <position x="400" y="240"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="136">
                  <position x="400" y="250"/>
                  <position x="350" y="250"/>
                  <position x="350" y="200"/>
                  <position x="301" y="200"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>ARD_AUTO_LOADING</variable>
            </coil>
            <coil localId="200" negated="false" width="21" height="20">
              <position x="550" y="3110"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="127">
                  <position x="550" y="3120"/>
                  <position x="470" y="3120"/>
                  <position x="470" y="3140"/>
                  <position x="391" y="3140"/>
                </connection>
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              </connectionPointIn>
              <connectionPointIn>
                <relPosition x="0" y="140"/>
                <connection refLocalId="182">
                  <position x="900" y="4200"/>
                  <position x="775" y="4200"/>
                  <position x="775" y="4220"/>
                  <position x="651" y="4220"/>
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              </connectionPointIn>
              <connectionPointIn>
                <relPosition x="0" y="180"/>
              </connectionPointIn>
              <connectionPointIn>
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              </connectionPointIn>
              <connectionPointIn>
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              <connectionPointIn>
                <relPosition x="0" y="300"/>
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              <connectionPointIn>
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              <connectionPointIn>
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              <connectionPointIn>
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              <connectionPointIn>
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              <connectionPointIn>
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              <connectionPointIn>
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              </connectionPointIn>
              <connectionPointIn>
                <relPosition x="0" y="580"/>
              </connectionPointIn>
              <connectionPointIn>
                <relPosition x="0" y="620"/>
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              <connectionPointIn>
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              </connectionPointIn>
              <connectionPointIn>
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              <connectionPointIn>
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              <connectionPointIn>
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              <connectionPointIn>
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              <connectionPointIn>
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              <connectionPointIn>
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              <connectionPointIn>
                <relPosition x="0" y="940"/>
              </connectionPointIn>
              <connectionPointIn>
                <relPosition x="0" y="980"/>
              </connectionPointIn>
            </rightPowerRail>
            <contact localId="238" negated="false" width="21" height="20">
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              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="146">
                  <position x="230" y="4010"/>
                  <position x="140" y="4010"/>
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                  <position x="40" y="4040"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>MAINT_MODE</variable>
            </contact>
            <coil localId="239" negated="false" width="21" height="20">
              <position x="440" y="4000"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="238">
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                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>LED_MAINT</variable>
            </coil>
            <contact localId="180" negated="true" width="21" height="20" executionOrderId="0">
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              <connectionPointIn>
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                  <position x="140" y="4040"/>
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              </connectionPointIn>
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              <variable>MAINT_MODE</variable>
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              </connectionPointIn>
              <connectionPointOut>
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              <variable>LED_AUTO</variable>
            </coil>
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              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="237">
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              </connectionPointIn>
              <connectionPointOut>
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              <variable>MAINT_MODE</variable>
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            <contact localId="242" negated="false" width="21" height="20">
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              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="241">
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                  <position x="280" y="4150"/>
                  <position x="280" y="4160"/>
                  <position x="189" y="4160"/>
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              <connectionPointOut>
                <relPosition x="21" y="10"/>
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              <variable>LIM_3</variable>
            </contact>
            <contact localId="243" negated="false" width="21" height="20">
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              <connectionPointIn>
                <relPosition x="0" y="10"/>
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                  <position x="189" y="4160"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>LIM_4</variable>
            </contact>
            <coil localId="244" negated="false" storage="reset" width="21" height="20">
              <position x="630" y="4150"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="245">
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                  <position x="570" y="4160"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>PROG_ESTOP</variable>
            </coil>
            <coil localId="245" negated="false" storage="set" width="21" height="20">
              <position x="550" y="4150"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="242">
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                  <position x="480" y="4160"/>
                  <position x="480" y="4150"/>
                  <position x="411" y="4150"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>LED_POS_DIS</variable>
            </coil>
            <coil localId="246" negated="false" storage="reset" width="21" height="20">
              <position x="748" y="630"/>
              <connectionPointIn>
                <relPosition x="0" y="10"/>
                <connection refLocalId="54">
                  <position x="748" y="640"/>
                  <position x="641" y="640"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>LED_POS_DIS</variable>
            </coil>
            <coil localId="181" negated="false" storage="set" width="21" height="20" executionOrderId="0">
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              <connectionPointIn>
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                </connection>
              </connectionPointIn>
              <connectionPointOut>
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              </connectionPointOut>
              <variable>LED_POS_DIS</variable>
            </coil>
            <coil localId="182" negated="false" storage="reset" width="21" height="20" executionOrderId="0">
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              <connectionPointIn>
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                  <position x="571" y="4220"/>
                </connection>
              </connectionPointIn>
              <connectionPointOut>
                <relPosition x="21" y="10"/>
              </connectionPointOut>
              <variable>PROG_ESTOP</variable>
            </coil>
          </LD>
        </body>
      </pou>
    </pous>
  </types>
  <instances>
    <configurations>
      <configuration name="Config0">
        <resource name="Res0">
          <task name="task0" priority="0" interval="T#20ms">
            <pouInstance name="instance0" typeName="LadderLogic"/>
          </task>
        </resource>
      </configuration>
    </configurations>
  </instances>
</project>