<?xml version="1.0" encoding="UTF-8"?>

<Project
    SWVersion="5.09.3"
    ProjectName="Project59"
    Author=""
    ProjDesc=""
    SecurityVersion="2">
   <Controller
       Type="RMC70"
       Name="Controller1"
       CommunicationPath="USB/73154313::DF1"
       CipBridgePath=""
       CipBridgeSize="500"
       SerNo="73154313"
       LoopTime="0.001"
       SelectedPlotSet="0">
      <Module
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          ModuleID="3"
          HardwareVer="1.4"
          FWRev="3.75.0C (Beta)"
          FPGARev="2.11C"
          FLASHRev="7.2"
          FWBuildDT="January 6, 2026 (9:00 AM)"
          LdrRev="1.09"
          LdrBuildDT="July 19, 2017 (9:52 AM)"
          BoardRev="1.4C"
          EnetConfig="16#00000030"
          IPAddress="16#00000000"
          SubnetMask="16#00000000"
          DefGateway="16#00000000"
          McastTTL="1"
          McastAddrStart="16#00000000"
          McastAddrCount="0"
          ProAddr="16#00012000"
          ConAddr="16#00019000"
          EnetAppFlags="16#00000000"
          CustRec1000="0"
          CustRec1001="0"
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          CustRec1003="0"
          PNDevName=""
          EnetIpQos1="16#003B2F37"
          EnetIpQos2="16#2F2B1F1B"
          EnetIpAcdEnable="1"
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      <Module
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      <Module
          PartNo="AP2"
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      <Module
          PartNo="D8"
          ModuleID="66"
          HardwareVer="1.0"/>
      <Axis
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          InputType0="Pos"
          FeedbackType0.0="MDTSSI"
          FeedbackModule0.0="Axis0"
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          OutputType0="Analog"
          OutputModule0="Axis0"
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          Name="Axis0"
          AxisNumber="0"
          SimWizMaxPos="8"
          AutoStopCfg1="16#00924820"
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          HaltGroupNumber="0"
          PriInputBits="16#00000000"
          PositionScale="5e-04"
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          PositionOffset="-0.1"
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          ActualVelocityCut-offFreq="100"
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          NoiseErrorRate="1000"
          StopThreshold="0.1"
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          OutputBits="16#00000000"
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          OutputScale="10"
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          OutputDeadband="0"
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            <TuningCommand
                Command="0"
                Param1=""
                Param2=""
                Param3=""
                Param4=""
                Param5=""
                Param6=""
                Param7=""
                Param8=""
                Param9=""
                BtnText=""
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                Command="0"
                Param1=""
                Param2=""
                Param3=""
                Param4=""
                Param5=""
                Param6=""
                Param7=""
                Param8=""
                Param9=""
                BtnText=""
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            <TuningPlotCfg
                PlotCfgID="0"/>
            <TuningPlotCfg
                PlotCfgID="0"/>
            <TuningStatusMap
                NoRegisters="1"
                Register0="32776"/>
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            <TuningCommand
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                Param1=""
                Param2=""
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                Param2=""
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                Param4=""
                Param5=""
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                Param7=""
                Param8=""
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                PlotCfgID="0"/>
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                PlotCfgID="0"/>
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          InputType0="Pos"
          FeedbackType0.0="MDTSSI"
          FeedbackModule0.0="Axis1"
          FeedbackChannel0.0="0"
          InputType1="DifFrc"
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          FeedbackModule1.1="Exp0"
          FeedbackChannel1.1="1"
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          OutputModule0="Axis1"
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          Name="Axis1"
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          NoiseErrorRate="1000"
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          SecUnits="0"
          PFFilterHz="0"
          dPFFilterHz="500"
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          ModGainN="1"
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          AtPFTolerance="10"
          PFErrorTolerance="100"
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          PFIntGain="0.109876454"
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          dPFGain="1.9894367e-06"
          SecControlBits="16#00000000"
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          PrsFrcModelOrder="255"
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          SimNegPhysLim="0.5"
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            <TuningCommand
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                Param1=""
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                Param4=""
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                Param6=""
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                Param8=""
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                BtnText=""
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                Param3=""
                Param4=""
                Param5=""
                Param6=""
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                Param9=""
                BtnText=""
                CapturePlot="True"/>
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                PlotCfgID="1"/>
            <TuningPlotCfg
                PlotCfgID="1"/>
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                PlotCfgID="1"/>
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                PlotCfgID="1"/>
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                NoRegisters="3"
                Register0="36872"
                Register1="36924"
                Register2="36887"/>
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          NoofItems="16"
          Name="Plot Set 0">
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             NoofSamples="1000"
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             PlotCfgMode="1"
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             XYAxis="15"
             XYAuto="1"
             NoofSamples="1000"
             SamplePeriodS="0.001"
             AssignedToAxis="-1"
             TrendDurationS="3000"
             TriggerPercent="-1"
             TriggerType="16#00000101">
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                Graph="False"
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                Name="Axis0 Target Velocity"
                Units="pu/s"
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                Graph="False"
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                Graph="False"
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                Name="Axis0 Status Bits"
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                Filter="False"
                Type="HEX"
                DisplayType="DWORD"
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                Name="Axis0 Position Mean Squared Err"
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                AutoScale="True"
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                SingleVal="True"
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                ReqCaptureState="2"/>
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                Name="Axis1 Actual Position"
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                Name="18 - X"
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      <Tasks
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          RunProgInput="0"
          EnablePreScan="1"
          StopTasksOnHalt="16#00000001"
          StartupMode="0"/>
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          Name="Set 0">
         <ShortcutKey
             Key="0">
            <ShortcutAction
                Axis="0"
                Command="20"
                Param1="5.0"
                Param2="20.0"
                Param3="100.0"
                Param4="100.0"
                Param5="Nearest (0)"
                Param6="0.0"
                Param7="0.0"
                Param8="0.0"
                Param9="0.0"/>
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                Axis="0"
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                Param3="100.0"
                Param4="100.0"
                Param5="Nearest (0)"
                Param6="0.0"
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                Param8="0.0"
                Param9="0.0"/>
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         <ShortcutKey
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             Key="3"/>
         <ShortcutKey
             Key="4"/>
         <ShortcutKey
             Key="5"/>
         <ShortcutKey
             Key="6"/>
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             Key="7"/>
         <ShortcutKey
             Key="8"/>
         <ShortcutKey
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      <Curves/>
      <IndirectDataMap/>
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             AxisBits="16#0000000F"/>
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             TaskBits="16#0000000F"/>
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         <ELogFilterTask
             TaskBits="16#0000000F"/>
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             USBBits="16#00000040"/>
         <ELogFilterEthernet
             EthernetBits="16#0000007C"/>
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          RMCName=""
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          InLength2="0"
          InLength3="0"
          OutLength1="0"
          OutLength2="0"
          OutLength3="0"/>
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         <Variable
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             TagName="X1"
             Format="REAL"
             DefaultValue="0"/>
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             TagName="Y1"
             Format="REAL"
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             TagName="X2"
             Format="REAL"
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             TagName="Y2"
             Format="REAL"
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             Offset="11"
             TagName="R1"
             Format="REAL"
             DefaultValue="28"
             Description="28-36"/>
         <Variable
             Offset="12"
             TagName="R2"
             Format="REAL"
             DefaultValue="20"
             Description="20-28"/>
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             Offset="13"
             TagName="d"
             Format="REAL"
             DefaultValue="0"/>
         <Variable
             Offset="14"
             TagName="a"
             Format="REAL"
             DefaultValue="0"/>
         <Variable
             Offset="15"
             TagName="h"
             Format="REAL"
             DefaultValue="0"/>
         <Variable
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             TagName="X0"
             Format="REAL"
             DefaultValue="0"/>
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             TagName="Y0"
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             Offset="18"
             TagName="X"
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         <Variable
             Offset="19"
             TagName="Y"
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             DefaultValue="0"/>
         <Variable
             Offset="20"
             TagName="dX"
             Format="REAL"
             DefaultValue="0"
             Description="X2-X1"/>
         <Variable
             Offset="21"
             TagName="dY"
             Format="REAL"
             DefaultValue="0"
             Description="Y2-Y1"/>
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      <DiscreteIO>
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             PointNumber="0"
             Type="Input"/>
         <IOPoint
             PointNumber="1"
             Type="Input"/>
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             PointNumber="2"
             Type="Input"/>
         <IOPoint
             PointNumber="3"
             Type="Input"/>
         <IOPoint
             PointNumber="4"
             Type="Output"
             ProgState="Hold"
             FaultState="Off"/>
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             PointNumber="5"
             Type="Output"
             ProgState="Hold"
             FaultState="Off"/>
         <IOPoint
             PointNumber="6"
             Type="Output"
             ProgState="Hold"
             FaultState="Off"/>
         <IOPoint
             PointNumber="7"
             Type="Output"
             ProgState="Hold"
             FaultState="Off"/>
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          EnableExprLogging="True"
          EnableICMDLogging="True"
          InitializeProgTriggers="True"
          InsertAxisName="True">
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             Name="Background Events"
             Type="POLL"
             Desc=""
             IncludeInBuild="True">
            <ProgramBlock
                Type="POLL"/>
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         <UserProgram
             Name="PreScan Table"
             Type="POLL"
             Desc=""
             IncludeInBuild="True">
            <ProgramBlock
                Type="POLL">
               <PollItem
                   Condition="_FirstScan"
                   Task0Action="XYCalculator"
                   Description=""/>
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         <UserProgram
             Name="XYCalculator"
             Type="STEP"
             Number="5"
             Desc=""
             IncludeInBuild="True"
             SingleInstance="True"
             TaskMask="32767">
            <ProgramBlock
                Type="STEP">
               <Step>
                  <Expression
                      Src="// Distance between two fixed points. It never changes.&#13;&#10;dX := X2-X1;&#13;&#10;dY := Y2-Y1;&#13;&#10;d := SQRT(dX**2.0+Y2**2.0);"/>
               </Step>
               <Transition>
                  <Jump
                      Type="NEXT"/>
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            </ProgramBlock>
            <ProgramBlock
                Type="STEP">
               <Step>
                  <Expression
                      Src="R1 := Axis0.ActPos + 28.0;&#13;&#10;R2 := Axis1.ActPos + 20.0;&#13;&#10;&#13;&#10;// Distance from point A to the &quot;centerline&quot;&#13;&#10;a := (R1**2.0 - R2**2.0 + d**2.0) / (2.0*d);&#13;&#10;// Find the height (h)&#13;&#10;h := SQRT(R1**2.0 -a**2.0);&#13;&#10;// Find the point (X0,Y0) which is the point on line AB at distance a from Point A&#13;&#10;X0 := X1 + (a/d)*dX;&#13;&#10;Y0 := Y1 + (a/d)*dY;&#13;&#10;X := X0 + (h/d)*dY;&#13;&#10;Y := Y0 - (h/d)*dX;&#13;&#10;"/>
               </Step>
               <Transition>
                  <Jump
                      Type="JUMP"
                      Next="Repeat"/>
               </Transition>
            </ProgramBlock>
         </UserProgram>
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             Name="ExampleMoves"
             Type="STEP"
             Number="0"
             Desc=""
             IncludeInBuild="True"
             SingleInstance="True"
             TaskMask="32767">
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                Type="STEP">
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                      Command="20"
                      CmdAxes="1"
                      CmdPrm1="4.0"
                      CmdPrm2="5.0"
                      CmdPrm3="15.0"
                      CmdPrm4="15.0"
                      CmdPrm5="Nearest (0)"/>
                  <Command
                      Command="20"
                      CmdAxes="2"
                      CmdPrm1="0.0"
                      CmdPrm2="5.0"
                      CmdPrm3="15.0"
                      CmdPrm4="15.0"
                      CmdPrm5="Nearest (0)"/>
               </Step>
               <Transition>
                  <CheckCondition
                      Type="IF-THEN"
                      Condition="Axis0.StatusBits.InPos AND Axis1.StatusBits.InPos"
                      True="Next"/>
               </Transition>
            </ProgramBlock>
            <ProgramBlock
                Type="STEP">
               <Step>
                  <Command
                      Command="72"
                      CmdAxes="1"
                      CmdPrm1="5.0"
                      CmdPrm2="1.0"
                      CmdPrm3=".1"
                      CmdPrm4="0.0"
                      CmdPrm5="Auto (0)"
                      CmdPrm6="&lt;None&gt;"/>
                  <Command
                      Command="72"
                      CmdAxes="2"
                      CmdPrm1="4.0"
                      CmdPrm2="4.0"
                      CmdPrm3=".1"
                      CmdPrm4="0.0"
                      CmdPrm5="Auto (0)"
                      CmdPrm6="&lt;None&gt;"/>
               </Step>
               <Transition>
                  <Jump
                      Type="NEXT"/>
               </Transition>
            </ProgramBlock>
            <ProgramBlock
                Type="STEP">
               <Step>
                  <Command
                      Command="80"
                      CmdAxes="2"
                      CmdPrm1="Phase (4)"
                      CmdPrm2="45.0"
                      CmdPrm3="Time (0)"
                      CmdPrm4=".25"/>
               </Step>
               <Transition>
                  <Delay
                      Type="JUMP"
                      Duration="1.5"
                      Next="Next"/>
               </Transition>
            </ProgramBlock>
            <ProgramBlock
                Type="STEP">
               <Step/>
               <Transition>
                  <Delay
                      Type="JUMP"
                      Duration="10.0"
                      Next="Next"/>
               </Transition>
            </ProgramBlock>
            <ProgramBlock
                Type="STEP">
               <Step>
                  <Command
                      Command="80"
                      CmdAxes="2"
                      CmdPrm1="Phase (4)"
                      CmdPrm2="90.0"
                      CmdPrm3="Time (0)"
                      CmdPrm4=".25"/>
               </Step>
               <Transition>
                  <Delay
                      Type="JUMP"
                      Duration="1.5"
                      Next="Next"/>
               </Transition>
            </ProgramBlock>
            <ProgramBlock
                Type="STEP">
               <Step/>
               <Transition>
                  <Delay
                      Type="JUMP"
                      Duration="10.0"
                      Next="Next"/>
               </Transition>
            </ProgramBlock>
            <ProgramBlock
                Type="STEP">
               <Step>
                  <Command
                      Command="80"
                      CmdAxes="2"
                      CmdPrm1="Phase (4)"
                      CmdPrm2="135.0"
                      CmdPrm3="Time (0)"
                      CmdPrm4=".25"/>
               </Step>
               <Transition>
                  <Delay
                      Type="JUMP"
                      Duration="1.5"
                      Next="Next"/>
               </Transition>
            </ProgramBlock>
            <ProgramBlock
                Type="STEP">
               <Step/>
               <Transition>
                  <Delay
                      Type="JUMP"
                      Duration="10.0"
                      Next="Next"/>
               </Transition>
            </ProgramBlock>
            <ProgramBlock
                Type="STEP">
               <Step>
                  <Command
                      Command="6"
                      CmdAxes="3"
                      CmdPrm1="50.0"/>
               </Step>
               <Transition>
                  <End/>
               </Transition>
            </ProgramBlock>
         </UserProgram>
      </UserProgramMgr>
      <UserFunctionMgr/>
      <SecurityMgr
          SecurityFlags="16#00000000"
          Copyright=""
          Password=""
          SecurityGuid="{090D0E7D-C12E-41E5-9E9D-29968C24B2F2}"/>
   </Controller>
</Project>
