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             Format="REAL"
             DefaultValue="1"/>
         <Variable
             Offset="46"
             Format="REAL"
             DefaultValue="1.2855753"/>
         <Variable
             Offset="47"
             Format="REAL"
             DefaultValue="1.5320889"/>
         <Variable
             Offset="48"
             Format="REAL"
             DefaultValue="1.7320508"/>
         <Variable
             Offset="49"
             Format="REAL"
             DefaultValue="1.8793852"/>
         <Variable
             Offset="50"
             Format="REAL"
             DefaultValue="1.9696155"/>
         <Variable
             Offset="51"
             Format="REAL"
             DefaultValue="2"/>
         <Variable
             Offset="52"
             Format="REAL"
             DefaultValue="1.9696155"/>
         <Variable
             Offset="53"
             Format="REAL"
             DefaultValue="1.8793852"/>
         <Variable
             Offset="54"
             Format="REAL"
             DefaultValue="1.7320508"/>
         <Variable
             Offset="55"
             Format="REAL"
             DefaultValue="1.5320889"/>
         <Variable
             Offset="56"
             Format="REAL"
             DefaultValue="1.2855753"/>
         <Variable
             Offset="57"
             Format="REAL"
             DefaultValue="1"/>
         <Variable
             Offset="58"
             Format="REAL"
             DefaultValue="0.6840403"/>
         <Variable
             Offset="59"
             Format="REAL"
             DefaultValue="0.34729636"/>
         <Variable
             Offset="60"
             Format="REAL"
             DefaultValue="612.574E-18"/>
         <Variable
             Offset="61"
             Format="REAL"
             DefaultValue="-0.34729636"/>
         <Variable
             Offset="62"
             Format="REAL"
             DefaultValue="-0.6840403"/>
         <Variable
             Offset="63"
             Format="REAL"
             DefaultValue="-1"/>
         <Variable
             Offset="64"
             Format="REAL"
             DefaultValue="-1.2855753"/>
         <Variable
             Offset="65"
             Format="REAL"
             DefaultValue="-1.5320889"/>
         <Variable
             Offset="66"
             Format="REAL"
             DefaultValue="-1.7320508"/>
         <Variable
             Offset="67"
             Format="REAL"
             DefaultValue="-1.8793852"/>
         <Variable
             Offset="68"
             Format="REAL"
             DefaultValue="-1.9696155"/>
         <Variable
             Offset="69"
             Format="REAL"
             DefaultValue="-2"/>
         <Variable
             Offset="70"
             Format="REAL"
             DefaultValue="-1.9696155"/>
         <Variable
             Offset="71"
             Format="REAL"
             DefaultValue="-1.8793852"/>
         <Variable
             Offset="72"
             Format="REAL"
             DefaultValue="-1.7320508"/>
         <Variable
             Offset="73"
             Format="REAL"
             DefaultValue="-1.5320889"/>
         <Variable
             Offset="74"
             Format="REAL"
             DefaultValue="-1.2855753"/>
         <Variable
             Offset="75"
             Format="REAL"
             DefaultValue="-1"/>
         <Variable
             Offset="76"
             Format="REAL"
             DefaultValue="-0.6840403"/>
         <Variable
             Offset="77"
             Format="REAL"
             DefaultValue="-0.34729636"/>
         <Variable
             Offset="100"
             TagName="Curve_Y_Axis_Data"
             Format="REAL"
             DefaultValue="0"
             Description="Status"/>
         <Variable
             Offset="101"
             Format="REAL"
             DefaultValue="0"
             Description="Format 0 = evenly spaced points"/>
         <Variable
             Offset="102"
             Format="REAL"
             DefaultValue="73"
             Description="PointCount"/>
         <Variable
             Offset="103"
             Format="REAL"
             DefaultValue="2"
             Description="InterpOpt (2 = cyclic curve)"/>
         <Variable
             Offset="104"
             Format="REAL"
             DefaultValue="0"
             Description="X0 = 0 (time in seconds)"/>
         <Variable
             Offset="105"
             Format="REAL"
             DefaultValue="0.05556"
             Description="X Interval &#32;(time in seconds)"/>
         <Variable
             Offset="106"
             TagName="Curve_Y_Point1"
             Format="REAL"
             DefaultValue="0"
             Description="Y0"/>
         <Variable
             Offset="107"
             Format="REAL"
             DefaultValue="0.030384494"
             Description="Y1"/>
         <Variable
             Offset="108"
             Format="REAL"
             DefaultValue="0.12061476"
             Description="Y2"/>
         <Variable
             Offset="109"
             Format="REAL"
             DefaultValue="0.2679492"
             Description="Y3"/>
         <Variable
             Offset="110"
             Format="REAL"
             DefaultValue="0.46791112"
             Description="Y4"/>
         <Variable
             Offset="111"
             Format="REAL"
             DefaultValue="0.7144248"
             Description="Y5"/>
         <Variable
             Offset="112"
             Format="REAL"
             DefaultValue="1"
             Description="Y6"/>
         <Variable
             Offset="113"
             Format="REAL"
             DefaultValue="1.3159597"
             Description="Y7"/>
         <Variable
             Offset="114"
             Format="REAL"
             DefaultValue="1.6527036"
             Description="Y8"/>
         <Variable
             Offset="115"
             Format="REAL"
             DefaultValue="2"
             Description="Y9"/>
         <Variable
             Offset="116"
             Format="REAL"
             DefaultValue="2.3472962"
             Description="Y10"/>
         <Variable
             Offset="117"
             Format="REAL"
             DefaultValue="2.6840403"
             Description="Y11"/>
         <Variable
             Offset="118"
             Format="REAL"
             DefaultValue="3"
             Description="Y12"/>
         <Variable
             Offset="119"
             Format="REAL"
             DefaultValue="3.2855752"
             Description="Y13"/>
         <Variable
             Offset="120"
             Format="REAL"
             DefaultValue="3.532089"
             Description="Y14"/>
         <Variable
             Offset="121"
             Format="REAL"
             DefaultValue="3.732051"
             Description="Y15"/>
         <Variable
             Offset="122"
             Format="REAL"
             DefaultValue="3.8793852"
             Description="Y16"/>
         <Variable
             Offset="123"
             Format="REAL"
             DefaultValue="3.9696155"/>
         <Variable
             Offset="124"
             Format="REAL"
             DefaultValue="4"/>
         <Variable
             Offset="125"
             Format="REAL"
             DefaultValue="3.9696155"/>
         <Variable
             Offset="126"
             Format="REAL"
             DefaultValue="3.8793852"/>
         <Variable
             Offset="127"
             Format="REAL"
             DefaultValue="3.732051"/>
         <Variable
             Offset="128"
             Format="REAL"
             DefaultValue="3.532089"/>
         <Variable
             Offset="129"
             Format="REAL"
             DefaultValue="3.2855752"/>
         <Variable
             Offset="130"
             Format="REAL"
             DefaultValue="3"/>
         <Variable
             Offset="131"
             Format="REAL"
             DefaultValue="2.6840403"/>
         <Variable
             Offset="132"
             Format="REAL"
             DefaultValue="2.3472962"/>
         <Variable
             Offset="133"
             Format="REAL"
             DefaultValue="2"/>
         <Variable
             Offset="134"
             Format="REAL"
             DefaultValue="1.6527036"/>
         <Variable
             Offset="135"
             Format="REAL"
             DefaultValue="1.3159597"/>
         <Variable
             Offset="136"
             Format="REAL"
             DefaultValue="1"/>
         <Variable
             Offset="137"
             Format="REAL"
             DefaultValue="0.7144248"/>
         <Variable
             Offset="138"
             Format="REAL"
             DefaultValue="0.46791112"/>
         <Variable
             Offset="139"
             Format="REAL"
             DefaultValue="0.2679492"/>
         <Variable
             Offset="140"
             Format="REAL"
             DefaultValue="0.12061476"/>
         <Variable
             Offset="141"
             Format="REAL"
             DefaultValue="0.030384494"/>
         <Variable
             Offset="143"
             Format="REAL"
             DefaultValue="-0.030384494"/>
         <Variable
             Offset="144"
             Format="REAL"
             DefaultValue="-0.12061476"/>
         <Variable
             Offset="145"
             Format="REAL"
             DefaultValue="-0.2679492"/>
         <Variable
             Offset="146"
             Format="REAL"
             DefaultValue="-0.46791112"/>
         <Variable
             Offset="147"
             Format="REAL"
             DefaultValue="-0.7144248"/>
         <Variable
             Offset="148"
             Format="REAL"
             DefaultValue="-1"/>
         <Variable
             Offset="149"
             Format="REAL"
             DefaultValue="-1.3159597"/>
         <Variable
             Offset="150"
             Format="REAL"
             DefaultValue="-1.6527036"/>
         <Variable
             Offset="151"
             Format="REAL"
             DefaultValue="-2"/>
         <Variable
             Offset="152"
             Format="REAL"
             DefaultValue="-2.3472962"/>
         <Variable
             Offset="153"
             Format="REAL"
             DefaultValue="-2.6840403"/>
         <Variable
             Offset="154"
             Format="REAL"
             DefaultValue="-3"/>
         <Variable
             Offset="155"
             Format="REAL"
             DefaultValue="-3.2855752"/>
         <Variable
             Offset="156"
             Format="REAL"
             DefaultValue="-3.532089"/>
         <Variable
             Offset="157"
             Format="REAL"
             DefaultValue="-3.732051"/>
         <Variable
             Offset="158"
             Format="REAL"
             DefaultValue="-3.8793852"/>
         <Variable
             Offset="159"
             Format="REAL"
             DefaultValue="-3.9696155"/>
         <Variable
             Offset="160"
             Format="REAL"
             DefaultValue="-4"/>
         <Variable
             Offset="161"
             Format="REAL"
             DefaultValue="-3.9696155"/>
         <Variable
             Offset="162"
             Format="REAL"
             DefaultValue="-3.8793852"/>
         <Variable
             Offset="163"
             Format="REAL"
             DefaultValue="-3.732051"/>
         <Variable
             Offset="164"
             Format="REAL"
             DefaultValue="-3.532089"/>
         <Variable
             Offset="165"
             Format="REAL"
             DefaultValue="-3.2855752"/>
         <Variable
             Offset="166"
             Format="REAL"
             DefaultValue="-3"/>
         <Variable
             Offset="167"
             Format="REAL"
             DefaultValue="-2.6840403"/>
         <Variable
             Offset="168"
             Format="REAL"
             DefaultValue="-2.3472962"/>
         <Variable
             Offset="169"
             Format="REAL"
             DefaultValue="-2"/>
         <Variable
             Offset="170"
             Format="REAL"
             DefaultValue="-1.6527036"/>
         <Variable
             Offset="171"
             Format="REAL"
             DefaultValue="-1.3159597"/>
         <Variable
             Offset="172"
             Format="REAL"
             DefaultValue="-1"/>
         <Variable
             Offset="173"
             Format="REAL"
             DefaultValue="-0.7144248"/>
         <Variable
             Offset="174"
             Format="REAL"
             DefaultValue="-0.46791112"/>
         <Variable
             Offset="175"
             Format="REAL"
             DefaultValue="-0.2679492"/>
         <Variable
             Offset="176"
             Format="REAL"
             DefaultValue="-0.12061476"/>
         <Variable
             Offset="177"
             Format="REAL"
             DefaultValue="-0.030384494"/>
      </VariableTable>
      <IndirectDataMap/>
      <EventLogMgr>
         <ELogFilterController
             ControllerBits="0x00000007"/>
         <ELogFilterAxis
             AxisBits="0x0000000F"/>
         <ELogFilterAxis
             AxisBits="0x0000000F"/>
         <ELogFilterAxis
             AxisBits="0x0000000F"/>
         <ELogFilterAxis
             AxisBits="0x0000000F"/>
         <ELogFilterAxis
             AxisBits="0x0000000F"/>
         <ELogFilterTask
             TaskBits="0x0000000F"/>
         <ELogFilterTask
             TaskBits="0x0000000F"/>
         <ELogFilterTask
             TaskBits="0x0000000F"/>
         <ELogFilterTask
             TaskBits="0x0000000F"/>
         <ELogFilterTask
             TaskBits="0x0000000F"/>
         <ELogFilterUSB
             USBBits="0x00000040"/>
         <ELogFilterEthernet
             EthernetBits="0x0000007C"/>
      </EventLogMgr>
      <DiscreteIO>
         <IOPoint
             PointNumber="0"
             Type="Input"
             Tag="MyInput0"
             Comment=""/>
         <IOPoint
             PointNumber="1"
             Type="Input"
             Tag="MyInput1"
             Comment=""/>
         <IOPoint
             PointNumber="2"
             Type="Input"
             Tag="MyInput2"
             Comment=""/>
         <IOPoint
             PointNumber="3"
             Type="Input"
             Tag="MyInput3"
             Comment=""/>
         <IOPoint
             PointNumber="4"
             Type="Output"
             Tag="MyOutput4"
             ProgState="Hold"
             FaultState="Off"
             Comment=""/>
         <IOPoint
             PointNumber="5"
             Type="Output"
             Tag="MyOutput5"
             ProgState="Hold"
             FaultState="Off"
             Comment=""/>
         <IOPoint
             PointNumber="6"
             Type="Output"
             Tag="MyOutput6"
             ProgState="Hold"
             FaultState="Off"
             Comment=""/>
         <IOPoint
             PointNumber="7"
             Type="Output"
             Tag="MyOutput7"
             ProgState="Hold"
             FaultState="Off"
             Comment=""/>
      </DiscreteIO>
      <UserProgramMgr
          EnableExprLogging="True">
         <UserProgram
             Name="Background Events"
             Type="POLL"
             Desc=""
             IncludeInBuild="True">
            <ProgramBlock
                Type="POLL"/>
         </UserProgram>
         <UserProgram
             Name="PreScan Table"
             Type="POLL"
             Desc=""
             IncludeInBuild="True">
            <ProgramBlock
                Type="POLL"/>
         </UserProgram>
         <UserProgram
             Name="xyMoveUsingCurves"
             Type="STEP"
             Number="2"
             Desc="This program provides an example of how to perform two-dimensional curved motion using two one-dimensional curves. One curve does the x=axis, and the other curve does the y-axis.&#13;&#10;&#13;&#10;This example does a figure eight consisting of two perfect circles. The curve can of course be changed by changing the curve data in the variable table, and then adding the curve.&#13;&#10;&#13;&#10;This example does one complete cycle of the curve. To do more cycles, change the Cycle parameter of the Curve Start commands in step 1.&#13;&#10;&#13;&#10;These curves run based on the virtual axis named &quot;TimeRef&quot;. This axis is commanded to move at 1 pu/sec, thereby pretending to be time (in seconds), with the advantage that it&apos;s speed can be smoothly ramped up from zero, preventing the curve axes from starting with a jump.&#13;&#10;&#13;&#10;Before running this program, run the Add_Curves program so that the curves will be added to the curve store and can be used. The points in the curves must be determined beforehand and entered into the variable table in the curve data."
             IncludeInBuild="True">
            <ProgramBlock
                Type="STEP">
               <Comment
                   Comment="This step moves the x- and y-axes to the initial points of the curves, then waits for both axes to be in position."/>
               <Step>
                  <Command
                      Command="20"
                      CmdAxes="1"
                      CmdPrm1="Curve_X_Point1"
                      CmdPrm2="5.0"
                      CmdPrm3="20.0"
                      CmdPrm4="20.0"
                      CmdPrm5="Nearest (0)"/>
                  <Command
                      Command="20"
                      CmdAxes="2"
                      CmdPrm1="Curve_Y_Point1"
                      CmdPrm2="5.0"
                      CmdPrm3="20.0"
                      CmdPrm4="20.0"
                      CmdPrm5="Nearest (0)"/>
               </Step>
               <Transition>
                  <CheckCondition
                      Type="IF-THEN"
                      Condition="((_Axis[0].StatusBits AND 16#1) = 16#1) AND ((_Axis[1].StatusBits AND 16#1) = 16#1)"
                      True="Next"/>
               </Transition>
            </ProgramBlock>
            <ProgramBlock
                Type="STEP">
               <Comment
                   Comment="Starts the curves simultaneously, and they will move based on the virtual axis. Curve 0 is for the x-axis, curve 1 is for the y-axis. Also starts the virtual axis.&#13;&#10;Waits for the Target Generator bits to be on, indicating the axes have completed following the curves."/>
               <Step>
                  <Command
                      Command="86"
                      CmdAxes="1"
                      CmdPrm1="0"
                      CmdPrm2="_Axis[2].TarPos"
                      CmdPrm3="1.0"/>
                  <Command
                      Command="86"
                      CmdAxes="2"
                      CmdPrm1="1"
                      CmdPrm2="_Axis[2].TarPos"
                      CmdPrm3="1.0"/>
                  <Command
                      Command="37"
                      CmdAxes="4"
                      CmdPrm1="1.0"
                      CmdPrm2="20.0"
                      CmdPrm3="20.0"
                      CmdPrm4="Positive (+1)"/>
               </Step>
               <Transition>
                  <CheckCondition
                      Type="IF-THEN"
                      Condition="_Axis[0].StatusBits.9 AND _Axis[1].StatusBits.9"
                      True="Next"/>
               </Transition>
            </ProgramBlock>
            <ProgramBlock
                Type="STEP">
               <Comment
                   Comment="This step stops the curve axes and stops the virtual axis."/>
               <Step>
                  <Command
                      Command="6"
                      CmdAxes="1"
                      CmdPrm1="20.0"/>
                  <Command
                      Command="6"
                      CmdAxes="2"
                      CmdPrm1="20.0"/>
                  <Command
                      Command="6"
                      CmdAxes="4"
                      CmdPrm1="20.0"/>
               </Step>
               <Transition>
                  <End/>
               </Transition>
            </ProgramBlock>
         </UserProgram>
         <UserProgram
             Name="Add_Curves"
             Type="STEP"
             Number="3"
             Desc="This program adds the curves to the curve store so that they can be used later. This program needs only be run once after the RMC75 is powered up."
             IncludeInBuild="True">
            <ProgramBlock
                Type="STEP">
               <Comment
                   Comment="This step grabs the curve data areas in the variable table and makes then into curves in the curve store. The link waits for the RMC to indicate the processing is complete and the curves are ready to use."/>
               <Step>
                  <Command
                      Command="82"
                      CmdAxes="1"
                      CmdPrm1="0"
                      CmdPrm2="Curve_X_Axis_Data"
                      CmdPrm3="Cubic (2)"
                      CmdPrm4="Standard (0)"/>
                  <Command
                      Command="82"
                      CmdAxes="2"
                      CmdPrm1="1"
                      CmdPrm2="Curve_Y_Axis_Data"
                      CmdPrm3="Cubic (2)"
                      CmdPrm4="Standard (0)"/>
               </Step>
               <Transition>
                  <CheckCondition
                      Type="IF-THEN"
                      Condition="Curve_X_Axis_Data = 3.0 AND Curve_X_Axis_Data = 3.0"
                      True="Next"/>
               </Transition>
            </ProgramBlock>
            <ProgramBlock
                Type="STEP">
               <Step/>
               <Transition>
                  <End/>
               </Transition>
            </ProgramBlock>
         </UserProgram>
      </UserProgramMgr>
   </Controller>
</Project>
