DUTs

GVLs

GVL_COM_Buffers

VAR_GLOBAL
    // M1K4
    Serial_RXBuffer_M1K4 : ComBuffer;
    Serial_TXBuffer_M1K4 : ComBuffer;
END_VAR

GVL_M1K4

{attribute 'qualified_only'}
VAR_GLOBAL
    // Pitch Mechanism:
    {attribute 'TcLinkTo' := '.diEncCnt:=TIIB[EL5042_M1K4_PitchBender]^FB Inputs Channel 1^Position'}
    M1K4_Pitch : HOMS_PitchMechanism := (ReqPosLimHi := 275,
                                             ReqPosLimLo := -25,
                                             diEncPosLimHi := 10149192,
                                             diEncPosLimLo := 10047105);
END_VAR

GVL_M1K4_Constants

{attribute 'qualified_only'}
VAR_GLOBAL CONSTANT
    // Encoder reference values in counts = nm
    nYUP_ENC_REF : ULINT := 15000270;
    nYDWN_ENC_REF : ULINT := 15454300;
    nXUP_ENC_REF : ULINT := 24000300;
    nXDWN_ENC_REF : ULINT := 23999400;
END_VAR

GVL_M2K4_Constants

{attribute 'qualified_only'}
VAR_GLOBAL CONSTANT
    // Encoder reference values in counts = nm
    nM2K4X_ENC_REF : ULINT := 5973570;
    nM2K4Y_ENC_REF : ULINT := 6099450;
    nM2K4rY_ENC_REF : ULINT := 39050722;
END_VAR

GVL_M2K4_RTD

{attribute 'qualified_only'}
VAR_GLOBAL
    // M2K4 BENDER RTDs

    // M2K4 US RTDs
    {attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 1^Value'}
    nM2K4US_RTD_1 AT %I* : INT;
    {attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M2K4US1_M2K4US2]^RTD Inputs Channel 2^Value'}
    nM2K4US_RTD_2 AT %I* : INT;
    {attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M2K4US3_M2K4DS1]^RTD Inputs Channel 1^Value'}
    nM2K4US_RTD_3 AT %I* : INT;

    // M2K4 DS RTDs
    {attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M2K4US3_M2K4DS1]^RTD Inputs Channel 2^Value'}
    nM2K4DS_RTD_1 AT %I* : INT;
    {attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 1^Value'}
    nM2K4DS_RTD_2 AT %I* : INT;
    {attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M2K4DS2_M2K4DS3]^RTD Inputs Channel 2^Value'}
    nM2K4DS_RTD_3 AT %I* : INT;

END_VAR

GVL_M3K4_Constants

{attribute 'qualified_only'}
VAR_GLOBAL CONSTANT
    // Encoder reference values in counts = nm
    nM3K4X_ENC_REF : ULINT := 6404509;
    nM3K4Y_ENC_REF : ULINT := 6047240;
    nM3K4rX_ENC_REF : ULINT := 48388188;
END_VAR

GVL_M3K4_RTD

{attribute 'qualified_only'}
VAR_GLOBAL
    // M3K4 BENDER RTDs

    // M3K4 US RTDs
    {attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 1^Value'}
    nM3K4US_RTD_1 AT %I* : INT;
    {attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M3K4US1_M3K4US2]^RTD Inputs Channel 2^Value'}
    nM3K4US_RTD_2 AT %I* : INT;
    {attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M3K4US3_M3K4DS1]^RTD Inputs Channel 1^Value'}
    nM3K4US_RTD_3 AT %I* : INT;

    // M2K4 DS RTDs
    {attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M3K4US3_M3K4DS1]^RTD Inputs Channel 2^Value'}
    nM3K4DS_RTD_1 AT %I* : INT;
    {attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 1^Value'}
    nM3K4DS_RTD_2 AT %I* : INT;
    {attribute 'TcLinkTo' := 'TIIB[EL3202-0010_M3K4DS2_M3K4DS3]^RTD Inputs Channel 2^Value'}
    nM3K4DS_RTD_3 AT %I* : INT;

END_VAR

GVL_PMPS

{attribute 'qualified_only'}
VAR_GLOBAL
    // FFO for devices upstream of ST1K4 (M1K4)
    {attribute 'pytmc' := '
            pv: PLC:TMO:OPTICS:FFO:01
    '}
    {attribute 'TcLinkTo' := '.q_xFastFaultOut:=TIIB[PMPS_FFO]^Channel 1^Output'}
    g_FastFaultOutput1 : FB_HardwareFFOutput := (bAutoReset:=TRUE, i_sNetID:='172.21.92.73.1.1');
    // FFO for devices downstream of ST1K4 (TMO hutch optics)
    {attribute 'pytmc' := '
            pv: PLC:TMO:OPTICS:FFO:02
    '}
    {attribute 'TcLinkTo' := '.q_xFastFaultOut:=TIIB[PMPS_FFO]^Channel 2^Output'}
    g_FastFaultOutput2 : FB_HardwareFFOutput := (bAutoReset:=TRUE, i_sNetID:='172.21.92.73.1.1');

    // Arbiter for devices upstream of ST1K4 (M1K4)
    {attribute 'pytmc' := '
            pv: PLC:TMO:OPTICS:ARB:01
    '}
    g_fbArbiter1 : FB_Arbiter(1);
    // Arbiter for devices downstream of ST1K4 (TMO hutch optics)
    {attribute 'pytmc' := '
            pv: PLC:TMO:OPTICS:ARB:02
    '}
    g_fbArbiter2 : FB_Arbiter(2);
END_VAR

GVL_SerialIO

VAR_GLOBAL
    //Better have your inputs and outputs!
    // M1K4
    Serial_stComIn_M1K4   AT %I*    :       EL6inData22B (*KL6inData22B*);
    Serial_stComOut_M1K4  AT %Q*    :       EL6outData22B (*KL6outData22B*);
END_VAR

POUs

Main

PROGRAM Main
VAR
// M1K4
    // Motors
            {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-1000_M1K4_Yup]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041-1000_M1K4_Yup]^STM Status^Status^Digital input 2'}
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:MMS:YUP
            '}
            M1 : DUT_MotionStage := (fVelocity:=200.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE); // M1K4 Yup
            fbMotionStage_m1 : FB_MotionStage;

            {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-1000_M1K4_Ydwn]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041-1000_M1K4_Ydwn]^STM Status^Status^Digital input 2'}
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:MMS:YDWN
            '}
            M2 : DUT_MotionStage := (fVelocity:=200.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE); // M1K4 Ydwn
            fbMotionStage_m2 : FB_MotionStage;

            {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-1000_M1K4_Xup]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041-1000_M1K4_Xup]^STM Status^Status^Digital input 2'}
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:MMS:XUP
            '}
            M3 : DUT_MotionStage := (fVelocity:=1000.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE); // M1K4 Xup
            fbMotionStage_m3 : FB_MotionStage;

            {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-1000_M1K4_Xdwn]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041-1000_M1K4_Xdwn]^STM Status^Status^Digital input 2'}
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:MMS:XDWN
            '}
            M4 : DUT_MotionStage := (fVelocity:=1000.0, nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE); // M1K4 Xdwn
            fbMotionStage_m4 : FB_MotionStage;

            {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-1000_M1K4_PitchCoarse]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041-1000_M1K4_PitchCoarse]^STM Status^Status^Digital input 2'}
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:MMS:PITCH
            '}
            M5 : DUT_MotionStage := (fVelocity := 150.0, bPowerSelf:=TRUE, nEnableMode:=ENUM_StageEnableMode.ALWAYS); // M1K4 Pitch Stepper
        fbMotionStage_m5 : FB_MotionStage;

            {attribute 'TcLinkTo' := '.bLimitForwardEnable:=TIIB[EL7041-1000_M1K4_Bender]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041-1000_M1K4_Bender]^STM Status^Status^Digital input 2'}
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:MMS:BENDER
            '}
            M6 : DUT_MotionStage := (fVelocity := 150.0, bPowerSelf:=TRUE); // M1K4 Bender
            fbMotionStage_m6 : FB_MotionStage;

    {attribute 'TcLinkTo' := '.fbRunHOMS.bSTOEnable1:=TIIB[EL1004_M1K4_STO]^Channel 1^Input;
                              .fbRunHOMS.bSTOEnable2:=TIIB[EL1004_M1K4_STO]^Channel 2^Input;
                              .fbRunHOMS.stYupEnc.Count:=TIIB[EL5042_M1K4_Yupdwn]^FB Inputs Channel 1^Position;
                              .fbRunHOMS.stYdwnEnc.Count:=TIIB[EL5042_M1K4_Yupdwn]^FB Inputs Channel 2^Position;
                              .fbRunHOMS.stXupEnc.Count:=TIIB[EL5042_M1K4_Xupdwn]^FB Inputs Channel 1^Position;
                              .fbRunHOMS.stXdwnEnc.Count:=TIIB[EL5042_M1K4_Xupdwn]^FB Inputs Channel 2^Position'}
    {attribute 'pytmc' := '
            pv: MR1K4:SOMS
    '}
    M1K4 : DUT_HOMS;

    // Encoder Arrays/RMS Watch:
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:Y
            '}
            fbYRMSErrorM1K4 : FB_RMSWatch;
            fMaxYRMSErrorM1K4 : LREAL;
            fMinYRMSErrorM1K4 : LREAL;

            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:X
            '}
            fbXRMSErrorM1K4 : FB_RMSWatch;
            fMaxXRMSErrorM1K4 : LREAL;
            fMinXRMSErrorM1K4 : LREAL;

            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:PITCH
            '}
            fbPitchRMSErrorM1K4 : FB_RMSWatch;
            fMaxPitchRMSErrorM1K4 : LREAL;
            fMinPitchRMSErrorM1K4 : LREAL;

            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:BENDER
            '}
            fbBenderRMSErrorM1K4 : FB_RMSWatch;
            fMaxBenderRMSErrorM1K4 : LREAL;
            fMinBenderRMSErrorM1K4 : LREAL;

    // Piezo Pitch Control
            //fbM1K4PitchControl : FB_PitchControl;
            //bM1K4PitchDone : BOOL;
            //bM1K4PitchBusy : BOOL;

    // Bender Control
            fbBenderM1K4 : FB_Bender;

    // Raw Encoder Counts
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:YUP:CNT
                    field: EGU cnt
                    io: i
            '}
            nEncCntYupM1K4 : UDINT;
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:YDWN:CNT
                    field: EGU cnt
                    io: i
            '}
            nEncCntYdwnM1K4 : UDINT;
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:XUP:CNT
                    field: EGU cnt
                    io: i
            '}
            nEncCntXupM1K4 : UDINT;
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:XDWN:CNT
                    field: EGU cnt
                    io: i
            '}
            nEncCntXdwnM1K4 : UDINT;
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:PITCH:CNT
                    field: EGU cnt
                    io: i
            '}
            nEncCntPitchM1K4 : UDINT;

    // Encoder Reference Values
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:YUP:REF
                    field: EGU cnt
                    io: i
            '}
            nEncRefYupM1K4 : UDINT;
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:YDWN:REF
                    field: EGU cnt
                    io: i
            '}
            nEncRefYdwnM1K4 : UDINT;
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:XUP:REF
                    field: EGU cnt
                    io: i
            '}
            nEncRefXupM1K4 : UDINT;
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:XDWN:REF
                    field: EGU cnt
                    io: i
            '}
            nEncRefXdwnM1K4 : UDINT;
            {attribute 'pytmc' := '
                    pv: MR1K4:SOMS:ENC:PITCH:REF
                    field: EGU cnt
                    io: i
            '}
            nEncRefPitchM1K4 : UDINT;
            mcReadParameterPitchM1K4 : MC_ReadParameter;
            fEncRefPitchM1K4_urad : LREAL; // Current Pitch encoder offset in urad

    // Common
    fEncLeverArm_mm : LREAL := 513.0;

// LAMP KB Motors
    //MR2K4 X
            {attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041-0052_M2K4X]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041-0052_M2K4X]^STM Status^Status^Digital input 2;
                                                              .nRawEncoderULINT    := TIIB[EL5042_M2K4X_M2K4Y]^FB Inputs Channel 1^Position'}
            {attribute 'pytmc' := '
            pv: MR2K4:KBO:MMS:X
            '}
            M7 : DUT_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
            fbMotionStage_m7 : FB_MotionStage;
    //MR2K4 Y
            {attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041-0052_M2K4Y]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041-0052_M2K4Y]^STM Status^Status^Digital input 2;
                                                              .nRawEncoderULINT    := TIIB[EL5042_M2K4X_M2K4Y]^FB Inputs Channel 2^Position'}
            {attribute 'pytmc' := '
            pv: MR2K4:KBO:MMS:Y
            '}
            M8 : DUT_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
            fbMotionStage_m8 : FB_MotionStage;
    //MR2K4 rY
            {attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041-0052_M2K4rY]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041-0052_M2K4rY]^STM Status^Status^Digital input 2;
                                                              .nRawEncoderULINT    := TIIB[EL5042_M2K4rY_M3K4X]^FB Inputs Channel 1^Position'}
            {attribute 'pytmc' := '
            pv: MR2K4:KBO:MMS:PITCH
            '}
            M9 : DUT_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
            fbMotionStage_m9 : FB_MotionStage;
    //MR2K4 US BEND
            {attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041_M2K4_BEND_US]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041_M2K4_BEND_US]^STM Status^Status^Digital input 2;
                                                              .nRawEncoderULINT    := TIIB[EL5042_M2K4_BEND_USDS]^FB Inputs Channel 1^Position'}
            {attribute 'pytmc' := '
            pv: MR2K4:KBO:MMS:BEND:US
            '}
            M10 : DUT_MotionStage := (nEnableMode:=ENUM_StageEnableMode.DURING_MOTION, bPowerSelf:=TRUE);
            fbMotionStage_m10 : FB_MotionStage;
    //MR2K4 DS BEND
            {attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041_M2K4_BEND_DS]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041_M2K4_BEND_DS]^STM Status^Status^Digital input 2;
                                                              .nRawEncoderULINT    := TIIB[EL5042_M2K4_BEND_USDS]^FB Inputs Channel 2^Position'}
            {attribute 'pytmc' := '
            pv: MR2K4:KBO:MMS:BEND:DS
            '}
            M11 : DUT_MotionStage := (nEnableMode:=ENUM_StageEnableMode.DURING_MOTION, bPowerSelf:=TRUE);
            fbMotionStage_m11 : FB_MotionStage;
    //MR3K4 X
            {attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041-0052_M3K4X]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041-0052_M3K4X]^STM Status^Status^Digital input 2;
                                                              .nRawEncoderULINT    := TIIB[EL5042_M2K4rY_M3K4X]^FB Inputs Channel 2^Position'}
            {attribute 'pytmc' := '
            pv: MR3K4:KBO:MMS:X
            '}
            M12 : DUT_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
            fbMotionStage_m12 : FB_MotionStage;
    //MR3K4 Y
            {attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041-0052_M3K4Y]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041-0052_M3K4Y]^STM Status^Status^Digital input 2;
                                                              .nRawEncoderULINT    := TIIB[EL5042_M3K4Y_M3K4rX]^FB Inputs Channel 1^Position'}
            {attribute 'pytmc' := '
            pv: MR3K4:KBO:MMS:Y
            '}
            M13 : DUT_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
            fbMotionStage_m13 : FB_MotionStage;
    //MR3K4 rX
            {attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041-0052_M3K4rX]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041-0052_M3K4rX]^STM Status^Status^Digital input 2;
                                                              .nRawEncoderULINT    := TIIB[EL5042_M3K4Y_M3K4rX]^FB Inputs Channel 2^Position'}
            {attribute 'pytmc' := '
            pv: MR3K4:KBO:MMS:PITCH
            '}
            M14 : DUT_MotionStage := (nEnableMode:=ENUM_StageEnableMode.ALWAYS, bPowerSelf:=TRUE);
            fbMotionStage_m14 : FB_MotionStage;
    //MR3K4 US BEND
            {attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041_M3K4_BEND_US]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041_M3K4_BEND_US]^STM Status^Status^Digital input 2;
                                                              .nRawEncoderULINT    := TIIB[EL5042_M3K4_BEND_USDS]^FB Inputs Channel 1^Position'}
            {attribute 'pytmc' := '
            pv: MR3K4:KBO:MMS:BEND:US
            '}
            M15 : DUT_MotionStage := (nEnableMode:=ENUM_StageEnableMode.DURING_MOTION, bPowerSelf:=TRUE);
            fbMotionStage_m15 : FB_MotionStage;
            //////////////////////////////////
    //MR3K4 DS BEND
            {attribute 'TcLinkTo' := '.bLimitForwardEnable :=TIIB[EL7041_M3K4_BEND_DS]^STM Status^Status^Digital input 1;
                                                              .bLimitBackwardEnable:=TIIB[EL7041_M3K4_BEND_DS]^STM Status^Status^Digital input 2;
                                                              .nRawEncoderULINT    := TIIB[EL5042_M2K4_BEND_USDS]^FB Inputs Channel 2^Position'}
            {attribute 'pytmc' := '
            pv: MR3K4:KBO:MMS:BEND:DS
            '}
            M16 : DUT_MotionStage := (nEnableMode:=ENUM_StageEnableMode.DURING_MOTION, bPowerSelf:=TRUE);
            fbMotionStage_m16 : FB_MotionStage;

    // Encoder Arrays/RMS Watch:
            //MR2K4 X ENC RMS
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:ENC:X
            '}
            fbXRMSErrorM2K4 : FB_RMSWatch;
            fMaxXRMSErrorM2K4 : LREAL;
            fMinXRMSErrorM2K4 : LREAL;
            //MR2K4 Y ENC RMS
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:ENC:Y
            '}
            fbYRMSErrorM2K4 : FB_RMSWatch;
            fMaxYRMSErrorM2K4 : LREAL;
            fMinYRMSErrorM2K4 : LREAL;
            //MR2K4 rY ENC RMS
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:ENC:PITCH
            '}
            fbrYRMSErrorM2K4 : FB_RMSWatch;
            fMaxrYRMSErrorM2K4 : LREAL;
            fMinrYRMSErrorM2K4 : LREAL;
            //MR2K4 US BENDER ENC RMS
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:ENC:BEND:US
            '}
            fbBendUSRMSErrorM2K4 : FB_RMSWatch;
            fMaxBendUSRMSErrorM2K4 : LREAL;
            fMinBendUSRMSErrorM2K4 : LREAL;
            //MR2K4 DS BENDER ENC RMS
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:ENC:BEND:DS
            '}
            fbBendDSRMSErrorM2K4 : FB_RMSWatch;
            fMaxBendDSRMSErrorM2K4 : LREAL;
            fMinBendDSRMSErrorM2K4 : LREAL;
            //MR3K4 X ENC RMS
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:ENC:X
            '}
            fbXRMSErrorM3K4 : FB_RMSWatch;
            fMaxXRMSErrorM3K4 : LREAL;
            fMinXRMSErrorM3K4 : LREAL;
            //MR3K4 Y ENC RMS
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:ENC:Y
            '}
            fbYRMSErrorM3K4 : FB_RMSWatch;
            fMaxYRMSErrorM3K4 : LREAL;
            fMinYRMSErrorM3K4 : LREAL;
            //MR3K4 rX ENC RMS
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:ENC:PITCH
            '}
            fbrXRMSErrorM3K4 : FB_RMSWatch;
            fMaxrXRMSErrorM3K4 : LREAL;
            fMinrXRMSErrorM3K4 : LREAL;
            //MR3K4 US BENDER ENC RMS
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:ENC:BEND:US
            '}
            fbBendUSRMSErrorM3K4 : FB_RMSWatch;
            fMaxBendUSRMSErrorM3K4 : LREAL;
            fMinBendUSRMSErrorM3K4 : LREAL;
            //MR3K4 DS BENDER ENC RMS
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:ENC:BEND:DS
            '}
            fbBendDSRMSErrorM3K4 : FB_RMSWatch;
            fMaxBendDSRMSErrorM3K4 : LREAL;
            fMinBendDSRMSErrorM3K4 : LREAL;


    // Encoder Reference Values
            //MR2K4 X ENC REF
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:ENC:X:REF
                    field: EGU cnt
                    io: i
            '}
            nEncRefXM2K4 : UDINT;
            //MR2K4 Y ENC REF
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:ENC:Y:REF
                    field: EGU cnt
                    io: i
            '}
            nEncRefYM2K4 : UDINT;
            //MR2K4 rY ENC REF
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:ENC:PITCH:REF
                    field: EGU cnt
                    io: i
            '}
            nEncRefrYM2K4 : UDINT;
            //MR3K4 X ENC REF
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:ENC:X:REF
                    field: EGU cnt
                    io: i
            '}
            nEncRefXM3K4 : UDINT;
            //MR3K4 Y ENC REF
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:ENC:Y:REF
                    field: EGU cnt
                    io: i
            '}
            nEncRefYM3K4 : UDINT;
            //MR3K4 rX ENC REF
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:ENC:PITCH:REF
                    field: EGU cnt
                    io: i
            '}
            nEncRefrXM3K4 : UDINT;

    // Encoder raw counts
            //MR2K4 X ENC CNT
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:ENC:X:CNT
                    field: EGU cnt
                    io: i
            '}
            nEncCntXM2K4 : UDINT;
            //MR2K4 Y ENC CNT
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:ENC:Y:CNT
                    field: EGU cnt
                    io: i
            '}
            nEncCntYM2K4 : UDINT;
            //MR2K4 rY ENC CNT
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:ENC:PITCH:CNT
                    field: EGU cnt
                    io: i
            '}
            nEncCntrYM2K4 : UDINT;
            //MR3K4 X ENC CNT
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:ENC:X:CNT
                    field: EGU cnt
                    io: i
            '}
            nEncCntXM3K4 : UDINT;
            //MR3K4 Y ENC CNT
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:ENC:Y:CNT
                    field: EGU cnt
                    io: i
            '}
            nEncCntYM3K4 : UDINT;
            //MR3K4 rX ENC CNT
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:ENC:PITCH:CNT
                    field: EGU cnt
                    io: i
            '}
            nEncCntrXM3K4 : UDINT;

    //Emergency Stop for LAMP KBs (M2K4 and M3K4)
            LAMPbSTOEnable1 AT %I* : BOOL;
            LAMPbSTOEnable2 AT %I* : BOOL;

    // LAMP KB BENDER RTDs
    // M2K4 US RTDs
                    {attribute 'pytmc' := '
                            pv: MR2K4:KBO:RTD:BEND:US:1
                            field: ASLO 0.1
                            field: EGU C
                            io: i
                    '}
                    fM2K4US_RTD_1 : REAL;
                    {attribute 'pytmc' := '
                            pv: MR2K4:KBO:RTD:BEND:US:2
                            field: ASLO 0.1
                            field: EGU C
                            io: i
                    '}
                    fM2K4US_RTD_2 : REAL;
                    {attribute 'pytmc' := '
                            pv: MR2K4:KBO:RTD:BEND:US:3
                            field: ASLO 0.1
                            field: EGU C
                            io: i
                    '}
                    fM2K4US_RTD_3 : REAL;

    // M2K4 DS RTDs
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:RTD:BEND:DS:1
                    field: ASLO 0.1
                    field: EGU C
                    io: i
            '}
            fM2K4DS_RTD_1 : REAL;
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:RTD:BEND:DS:2
                    field: ASLO 0.1
                    field: EGU C
                    io: i
            '}
            fM2K4DS_RTD_2 : REAL;
            {attribute 'pytmc' := '
                    pv: MR2K4:KBO:RTD:BEND:DS:3
                    field: ASLO 0.1
                    field: EGU C
                    io: i
            '}
            fM2K4DS_RTD_3 : REAL;
    // M3K4 US RTDs
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:RTD:BEND:US:1
                    field: ASLO 0.1
                    field: EGU C
                    io: i
            '}
            fM3K4US_RTD_1 : REAL;
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:RTD:BEND:US:2
                    field: ASLO 0.1
                    field: EGU C
                    io: i
            '}
            fM3K4US_RTD_2 : REAL;
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:RTD:BEND:US:3
                    field: ASLO 0.1
                    field: EGU C
                    io: i
            '}
            fM3K4US_RTD_3 : REAL;
    // M3K4 DS RTDs
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:RTD:BEND:DS:1
                    field: ASLO 0.1
                    field: EGU C
                    io: i
            '}
            fM3K4DS_RTD_1 : REAL;
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:RTD:BEND:DS:2
                    field: ASLO 0.1
                    field: EGU C
                    io: i
            '}
            fM3K4DS_RTD_2 : REAL;
            {attribute 'pytmc' := '
                    pv: MR3K4:KBO:RTD:BEND:DS:3
                    field: ASLO 0.1
                    field: EGU cnt
                    io: i
            '}
            fM3K4DS_RTD_3 AT %I* : REAL;

    // RTD error bit
            bM2K4US_RTD_1_Err AT %I*: BOOL;
            bM2K4US_RTD_2_Err AT %I*: BOOL;
            bM2K4US_RTD_3_Err AT %I*: BOOL;
            bM2K4DS_RTD_1_Err AT %I*: BOOL;
            bM2K4DS_RTD_2_Err AT %I*: BOOL;
            bM2K4DS_RTD_3_Err AT %I*: BOOL;
            bM3K4US_RTD_1_Err AT %I*: BOOL;
            bM3K4US_RTD_2_Err AT %I*: BOOL;
            bM3K4US_RTD_3_Err AT %I*: BOOL;
            bM3K4DS_RTD_1_Err AT %I*: BOOL;
            bM3K4DS_RTD_2_Err AT %I*: BOOL;
            bM3K4DS_RTD_3_Err AT %I*: BOOL;

// Logging
fbLogHandler : FB_LogHandler;

//PMPS
fbArbiterIO : FB_SubSysToArbiter_IO;

ffFFO2ToFFO1 : FB_FastFault := (
    i_xAutoReset := TRUE,
    i_DevName := 'PMPS FFO2',
    i_Desc := 'Subordinate fast fault group, will clear on its own otherwise something is misconfigured in the diagnostic',
    i_TypeCode := 16#D);

bMR1K1Veto : BOOL;
END_VAR
// M1K4
    M1K4.fbRunHOMS(stYup:=M1,
                               stYdwn:=M2,
                               stXup:=M3,
                               stXdwn:=M4,
                               stPitch:=M5,
                               nYupEncRef:=GVL_M1K4_Constants.nYUP_ENC_REF,
                               nYdwnEncRef:=GVL_M1K4_Constants.nYDWN_ENC_REF,
                               nXupEncRef:=GVL_M1K4_Constants.nXUP_ENC_REF,
                               nXdwnEncRef:=GVL_M1K4_Constants.nXDWN_ENC_REF,
                               bExecuteCoupleY:=M1K4.bExecuteCoupleY,
                               bExecuteCoupleX:=M1K4.bExecuteCoupleX,
                               bExecuteDecoupleY:=M1K4.bExecuteDecoupleY,
                               bExecuteDecoupleX:=M1K4.bExecuteDecoupleX,
                               bGantryAlreadyCoupledY=>M1K4.bGantryAlreadyCoupledY,
                               bGantryAlreadyCoupledX=>M1K4.bGantryAlreadyCoupledX,
                               nCurrGantryY=>M1K4.nCurrGantryY,
                               nCurrGantryX=>M1K4.nCurrGantryX);
    fbBenderM1K4(stBender:=M6,
                             bSTOEnable1:=M1K4.fbRunHOMS.bSTOEnable1,
                             bSTOEnable2:=M1K4.fbRunHOMS.bSTOEnable2);
    // No slave motion through Epics
    M2.bExecute := FALSE; // M1K4-Ydwn
    M4.bExecute := FALSE; // M1K4-Xdwn

    // Convert nCurrGantry to um (smaller number) to read out in epics
            M1K4.fCurrGantryY_um := LINT_TO_REAL(M1K4.nCurrGantryY) / 1000.0;
            M1K4.fCurrGantryX_um := LINT_TO_REAL(M1K4.nCurrGantryX) / 1000.0;

    // FB_MotionStage's for non-piezo axes
            fbMotionStage_m1(stMotionStage:=M1);
            fbMotionStage_m2(stMotionStage:=M2);
            fbMotionStage_m3(stMotionStage:=M3);
            fbMotionStage_m4(stMotionStage:=M4);
        fbMotionStage_m5(stMotionStage:=M5);
            fbMotionStage_m6(stMotionStage:=M6);

    // Calculate Pitch RMS Error:
            fbYRMSErrorM1K4(stMotionStage:=M1,
                                            fMaxRMSError=>fMaxYRMSErrorM1K4,
                                            fMinRMSError=>fMinYRMSErrorM1K4);

            fbXRMSErrorM1K4(stMotionStage:=M3,
                                            fMaxRMSError=>fMaxXRMSErrorM1K4,
                                            fMinRMSError=>fMinXRMSErrorM1K4);

            fbPitchRMSErrorM1K4(stMotionStage:=M5,
                                                    fMaxRMSError=>fMaxPitchRMSErrorM1K4,
                                                    fMinRMSError=>fMinPitchRMSErrorM1K4);

            fbBenderRMSErrorM1K4(stMotionStage:=M6,
                                                     fMaxRMSError=>fMaxBenderRMSErrorM1K4,
                                                     fMinRMSError=>fMinBenderRMSErrorM1K4);

    // Pitch Control
            //fbM1K4PitchControl(Pitch:=GVL_M1K4.M1K4_Pitch,
                                               //Stepper:=M5,
                                               //lrCurrentSetpoint:=M5.fPosition,
                                              //q_bDone=>bM1K4PitchDone,
                                               //q_bBusy=>bM1K4PitchBusy);
    // When STO hit, need to reset SP
            //IF NOT M5.bHardwareEnable THEN
                    //M5.fPosition := M5.stAxisStatus.fActPosition;
            //END_IF

    // Raw Encoder Counts For Epics
            nEncCntYupM1K4 := ULINT_TO_UDINT(M1K4.fbRunHOMS.stYupEnc.Count);
            nEncCntYdwnM1K4 := ULINT_TO_UDINT(M1K4.fbRunHOMS.stYdwnEnc.Count);
            nEncCntXupM1K4 := ULINT_TO_UDINT(M1K4.fbRunHOMS.stXupEnc.Count);
            nEncCntXdwnM1K4 := ULINT_TO_UDINT(M1K4.fbRunHOMS.stXdwnEnc.Count);
            nEncCntPitchM1K4 := LINT_TO_UDINT(GVL_M1K4.M1K4_Pitch.diEncCnt);

    // Encoder Reference Values For Epics
            nEncRefYupM1K4 := ULINT_TO_UDINT(GVL_M1K4_Constants.nYUP_ENC_REF);
            nEncRefYdwnM1K4 := ULINT_TO_UDINT(GVL_M1K4_Constants.nYDWN_ENC_REF);
            nEncRefXupM1K4 := ULINT_TO_UDINT(GVL_M1K4_Constants.nXUP_ENC_REF);
            nEncRefXdwnM1K4 := ULINT_TO_UDINT(GVL_M1K4_Constants.nXDWN_ENC_REF);
            mcReadParameterPitchM1K4(Axis:=M5.Axis,
                                                             Enable:=TRUE,
                                                             ParameterNumber:=MC_AxisParameter.AxisEncoderOffset,
                                                             ReadMode:=READMODE_CYCLIC,
                                                             Value=>fEncRefPitchM1K4_urad);

            nEncRefPitchM1K4 := LREAL_TO_UDINT(ABS(fEncRefPitchM1K4_urad) * fEncLeverArm_mm);
//////////////////////////////////////////////////////////
//M2K4 and M3K4
    //FB_Motion stages for LAMP KBs
            //MR2K4
                    fbMotionStage_m7(stMotionStage:=M7);
                    fbMotionStage_m8(stMotionStage:=M8);
                    fbMotionStage_m9(stMotionStage:=M9);
            //MR2K4 BEND
                    fbMotionStage_m10(stMotionStage:=M10);
                    fbMotionStage_m11(stMotionStage:=M11);
            //MR3K4
                    fbMotionStage_m12(stMotionStage:=M12);
                    fbMotionStage_m13(stMotionStage:=M13);
                    fbMotionStage_m14(stMotionStage:=M14);
            //MR3K4 BEND
                    fbMotionStage_m15(stMotionStage:=M15);
                    fbMotionStage_m16(stMotionStage:=M16);

    // Calculate Pitch RMS Error for LAMP KBs:
            //MR2K4 X ENC RMS
            fbXRMSErrorM2K4(stMotionStage:=M7,
                                            fMaxRMSError=>fMaxXRMSErrorM2K4,
                                            fMinRMSError=>fMinXRMSErrorM2K4);
            //MR2K4 Y ENC RMS
            fbYRMSErrorM2K4(stMotionStage:=M8,
                                            fMaxRMSError=>fMaxYRMSErrorM2K4,
                                            fMinRMSError=>fMinYRMSErrorM2K4);
            //MR2K4 rY ENC RMS
            fbrYRMSErrorM2K4(stMotionStage:=M9,
                                            fMaxRMSError=>fMaxrYRMSErrorM2K4,
                                            fMinRMSError=>fMinrYRMSErrorM2K4);
            //MR2K4 US BENDER ENC RMS
            fbBendUSRMSErrorM2K4(stMotionStage:=M10,
                                                     fMaxRMSError=>fMaxBendUSRMSErrorM2K4,
                                                     fMinRMSError=>fMinBendUSRMSErrorM2K4);
            //MR2K4 DS BENDER ENC RMS
            fbBendDSRMSErrorM2K4(stMotionStage:=M11,
                                                     fMaxRMSError=>fMaxBendDSRMSErrorM2K4,
                                                     fMinRMSError=>fMinBendDSRMSErrorM2K4);
            //MR3K4 X ENC RMS
            fbXRMSErrorM3K4(stMotionStage:=M12,
                                            fMaxRMSError=>fMaxXRMSErrorM3K4,
                                            fMinRMSError=>fMinXRMSErrorM3K4);
            //MR3K4 Y ENC RMS
            fbYRMSErrorM3K4(stMotionStage:=M13,
                                            fMaxRMSError=>fMaxYRMSErrorM3K4,
                                            fMinRMSError=>fMinYRMSErrorM3K4);
            //MR3K4 rX ENC RMS
            fbrXRMSErrorM3K4(stMotionStage:=M14,
                                            fMaxRMSError=>fMaxrXRMSErrorM3K4,
                                            fMinRMSError=>fMinrXRMSErrorM3K4);
            //MR3K4 US BENDER ENC RMS
            fbBendUSRMSErrorM3K4(stMotionStage:=M15,
                                                     fMaxRMSError=>fMaxBendUSRMSErrorM3K4,
                                                     fMinRMSError=>fMinBendUSRMSErrorM3K4);
            //MR3K4 DS BENDER ENC RMS
            fbBendDSRMSErrorM3K4(stMotionStage:=M16,
                                                     fMaxRMSError=>fMaxBendDSRMSErrorM3K4,
                                                     fMinRMSError=>fMinBendDSRMSErrorM3K4);


    //STO for LAMP KBs
            //MR2K4
            M7.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
            M8.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
            M9.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
            //MR2K4 BEND
            M10.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
            M11.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
            //MR3K4
            M12.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
            M13.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
            M14.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
            //MR3K4 BEND
            M15.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;
            M16.bHardwareEnable := LAMPbSTOEnable1 AND LAMPbSTOEnable2;

    // LAMP KB Encoder Reference Values For Epics
            nEncRefXM2K4  := ULINT_TO_UDINT(GVL_M2K4_Constants.nM2K4X_ENC_REF);
            nEncRefYM2K4  := ULINT_TO_UDINT(GVL_M2K4_Constants.nM2K4Y_ENC_REF);
            nEncRefrYM2K4 := ULINT_TO_UDINT(GVL_M2K4_Constants.nM2K4rY_ENC_REF);
            nEncRefXM3K4  := ULINT_TO_UDINT(GVL_M3K4_Constants.nM3K4X_ENC_REF);
            nEncRefYM3K4  := ULINT_TO_UDINT(GVL_M3K4_Constants.nM3K4Y_ENC_REF);
            nEncRefrXM3K4 := ULINT_TO_UDINT(GVL_M3K4_Constants.nM3K4rX_ENC_REF);

    // LAMP KB Encoder Count Values For Epics
            nEncCntXM2K4  := ULINT_TO_UDINT(M7.nRawEncoderULINT);
            nEncCntYM2K4  := ULINT_TO_UDINT(M8.nRawEncoderULINT);
            nEncCntrYM2K4 := ULINT_TO_UDINT(M9.nRawEncoderULINT);
            nEncCntXM3K4  := ULINT_TO_UDINT(M12.nRawEncoderULINT);
            nEncCntYM3K4  := ULINT_TO_UDINT(M13.nRawEncoderULINT);
            nEncCntrXM3K4 := ULINT_TO_UDINT(M14.nRawEncoderULINT);

    // LAMP KB Bender RTDs
            fM2K4US_RTD_1 := INT_TO_REAL(GVL_M2K4_RTD.nM2K4US_RTD_1);
            fM2K4US_RTD_2 := INT_TO_REAL(GVL_M2K4_RTD.nM2K4US_RTD_2);
            fM2K4US_RTD_3 := INT_TO_REAL(GVL_M2K4_RTD.nM2K4US_RTD_3);

            fM2K4DS_RTD_1 := INT_TO_REAL(GVL_M2K4_RTD.nM2K4DS_RTD_1);
            fM2K4DS_RTD_2 := INT_TO_REAL(GVL_M2K4_RTD.nM2K4DS_RTD_2);
            fM2K4DS_RTD_3 := INT_TO_REAL(GVL_M2K4_RTD.nM2K4DS_RTD_3);

            fM3K4US_RTD_1 := INT_TO_REAL(GVL_M3K4_RTD.nM3K4US_RTD_1);
            fM3K4US_RTD_2 := INT_TO_REAL(GVL_M3K4_RTD.nM3K4US_RTD_2);
            fM3K4US_RTD_3 := INT_TO_REAL(GVL_M3K4_RTD.nM3K4US_RTD_3);

            fM3K4DS_RTD_1 := INT_TO_REAL(GVL_M3K4_RTD.nM3K4DS_RTD_1);
            fM3K4DS_RTD_2 := INT_TO_REAL(GVL_M3K4_RTD.nM3K4DS_RTD_2);
            fM3K4DS_RTD_3 := INT_TO_REAL(GVL_M3K4_RTD.nM3K4DS_RTD_3);

    // RTD not connected if T=0
            bM2K4US_RTD_1_Err := fM2K4US_RTD_1 = 0;
            bM2K4US_RTD_2_Err := fM2K4US_RTD_2 = 0;
            bM2K4US_RTD_3_Err := fM2K4US_RTD_3 = 0;
            bM2K4DS_RTD_1_Err := fM2K4DS_RTD_1 = 0;
            bM2K4DS_RTD_2_Err := fM2K4DS_RTD_2 = 0;
            bM2K4DS_RTD_3_Err := fM2K4DS_RTD_3 = 0;
            bM3K4US_RTD_1_Err := fM3K4US_RTD_1 = 0;
            bM3K4US_RTD_2_Err := fM3K4US_RTD_2 = 0;
            bM3K4US_RTD_3_Err := fM3K4US_RTD_3 = 0;
            bM3K4DS_RTD_1_Err := fM3K4DS_RTD_1 = 0;
            bM3K4DS_RTD_2_Err := fM3K4DS_RTD_2 = 0;
            bM3K4DS_RTD_3_Err := fM3K4DS_RTD_3 = 0;

    // LAMP KB Bender RTD interlocks
            M10.bHardwareEnable R= fM2K4US_RTD_1 > 1000 OR bM2K4US_RTD_1_Err;
            M11.bHardwareEnable R= fM2K4DS_RTD_1 > 1000 OR bM2K4DS_RTD_1_Err;
            M15.bHardwareEnable R= fM3K4US_RTD_1 > 1000 OR bM3K4US_RTD_1_Err;
            M16.bHardwareEnable R= fM3K4DS_RTD_1 > 1000 OR bM3K4DS_RTD_1_Err;
///////////////////////////////////////////////////

// PMPS
    fbArbiterIO(Arbiter := GVL_PMPS.g_fbArbiter1, fbFFHWO := GVL_PMPS.g_FastFaultOutput1);

    P_StripeProtections();
////////////////////////////////

// Logging
fbLogHandler();

// PMPS
bMR1K1Veto := PMPS.PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.MR1K1_IN]
            AND NOT PMPS.PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.MR1K1_OUT];
GVL_PMPS.g_FastFaultOutput2.i_xVeto := bMR1K1Veto OR
                                       PMPS.PMPS_GVL.stCurrentBeamParameters.aVetoDevices[PMPS.K_Stopper.ST3K4];
GVL_PMPS.g_FastFaultOutput2.Execute();

ffFFO2ToFFO1(i_xOK := GVL_PMPS.g_FastFaultOutput2.q_xFastFaultOut, io_fbFFHWO := GVL_PMPS.g_FastFaultOutput1);

GVL_PMPS.g_FastFaultOutput1.Execute(i_xVeto:= bMR1K1Veto );

END_PROGRAM

Related:

• GVL_M1K4

• GVL_M1K4_Constants

• GVL_M2K4_Constants

• GVL_M2K4_RTD

• GVL_M3K4_Constants

• GVL_M3K4_RTD

• GVL_PMPS

• P_StripeProtections

P_Serial_Com

PROGRAM P_Serial_Com
VAR
    fbSerialLineControl_EL6001_M1K4: SerialLineControl;
END_VAR
//These are the global IOs...don't forget to copy your data into them

(* EL6001 Serial port 0 com function *)
fbSerialLineControl_EL6001_M1K4(Mode:= SERIALLINEMODE_EL6_22B (*SERIALLINEMODE_KL6_22B_STANDARD*),
                                                    pComIn:= ADR(Serial_stComIn_M1K4),
                                                        pComOut:=ADR(Serial_stComOut_M1K4),
                                                    SizeComIn:= SIZEOF(Serial_stComIn_M1K4),
                                                    TxBuffer:= Serial_TXBuffer_M1K4,
                                                    RxBuffer:= Serial_RXBuffer_M1K4,
                                                    Error=> ,
                                                    ErrorID=> );

END_PROGRAM

P_StripeProtections

PROGRAM P_StripeProtections
VAR
(*
MR1K4 (RBV = MR1K4:SOMS:ENC:YUP:CNT_RBV)
B4C coating: RBV <= 15998960: 1111_1111_1111_1000 (allow everything between 350eV and 2.3keV)
Transition: 15998960 < RBV < 19998960: 0000_0000_0000_0000
Silicon surface: RBV >= 19998960: 0000_0000_0001_1110 (allow everything between 250eV and 450eV)
From M. Seaberg
*)
    fbStripProtMR1K4 : FB_MirrorTwoCoatingProtection := (
            sDevName := 'MR1K4',
            nUpperCoatingBoundary := 19998960,
            nUpperCoatingBitmask := F_eVExcludeRange(1.5E3, 7E3) AND F_eVExcludeRange(480, 680),
            sUpperCoatingType := 'Si',
            nLowerCoatingBoundary := 15998960,
            nLowerCoatingBitMask := F_eVExcludeRange(0, 350) AND F_eVExcludeRange(2.3E3, 7E3),
            sLowerCoatingType := 'B4C');
(*
MR2K4 (RBV = MR2K4:KBO:ENC:Y:CNT_RBV)
B4C coating: RBV <= 6976835: 1111_1111_1111_1000 (allow everything between 350eV and 2.3keV)
Transition: 6976835 < RBV < 7776781: 0000_0000_0000_0000
Silicon surface: RBV >= 7776781: 0000_0000_0001_1110 (allow everything below 250eV and 450eV)
*)

    fbStripProtMR2K4 : FB_MirrorTwoCoatingProtection := (
            sDevName := 'MR2K4',
            nUpperCoatingBoundary := 7776781,
            nUpperCoatingBitmask := F_eVExcludeRange(1.5E3, 7E3) AND F_eVExcludeRange(480, 680),
            sUpperCoatingType := 'Si',
            nLowerCoatingBoundary := 6976835,
            nLowerCoatingBitMask := F_eVExcludeRange(0, 350) AND F_eVExcludeRange(2.3E3, 7E3),
            sLowerCoatingType := 'B4C');
(*
MR3K4 (RBV = MR3K4:KBO:ENC:X:CNT_RBV)
B4C coating: RBV >= 5620000: 1111_1111_1111_1000 (allow everything between 350eV and 2.3keV)
Transition: 4820000 < ENC < 5620000: 0000_0000_0000_0000
Silicon surface: RBV <= 4820000: 0000_0000_0001_1110 (allow everything between 250eV and 450 eV)
*)
    fbStripProtMR3K4 : FB_MirrorTwoCoatingProtection := (
            sDevName := 'MR3K4',
            nUpperCoatingBoundary := 5620000,
            nUpperCoatingBitMask := F_eVExcludeRange(0, 350) AND F_eVExcludeRange(2.3E3, 7E3),
            sUpperCoatingType := 'B4C',
            nLowerCoatingBoundary := 4820000,
            nLowerCoatingBitmask := F_eVExcludeRange(1.5E3, 7E3) AND F_eVExcludeRange(480, 680),
            sLowerCoatingType := 'Si');

END_VAR
fbStripProtMR1K4(FFO:=GVL_PMPS.g_FastFaultOutput1,
                            nCurrentEncoderCount := MAIN.nEncCntYupM1K4,
                            neVRange:=PMPS_GVL.stCurrentBeamParameters.neVRange);

fbStripProtMR2K4(FFO:=GVL_PMPS.g_FastFaultOutput2,
                            nCurrentEncoderCount := MAIN.nEncCntYM2K4,
                            neVRange:=PMPS_GVL.stCurrentBeamParameters.neVRange);

fbStripProtMR3K4(FFO:=GVL_PMPS.g_FastFaultOutput2,
                            nCurrentEncoderCount := MAIN.nEncCntXM3K4,
                            neVRange:=PMPS_GVL.stCurrentBeamParameters.neVRange);

END_PROGRAM

Related:

• GVL_PMPS

PiezoSerial

PROGRAM PiezoSerial
VAR
    //PI Serial
    fbE621SerialDriver_M1K4 : FB_PI_E621_SerialDriver;
    rtInitParams_M1K4       :       R_TRIG;
    tonTimeoutRst_M1K4      : TON := (PT:=T#2S); //For timeout reset
END_VAR
//Piezo E-621
///////////////////////
fbE621SerialDriver_M1K4.i_xExecute := TRUE;
fbE621SerialDriver_M1K4.i_xExecute R= fbE621SerialDriver_M1K4.q_xDone;
fbE621SerialDriver_M1K4(iq_stPiezoAxis:= GVL_M1K4.M1K4_Pitch.Piezo,
                            iq_stSerialRXBuffer:= Serial_RXBuffer_M1K4,
                            iq_stSerialTXBuffer:= Serial_TXBuffer_M1K4);

END_PROGRAM

Related:

• GVL_M1K4