AS4 Initial Commit

2013-08-08 15:49:26 +02:00
parent cbd653019e
commit 291e105036
1141 changed files with 97302 additions and 0 deletions
--- a/Logical/Axises/ACPPar/Package.pkg
+++ b/Logical/Axises/ACPPar/Package.pkg
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<Package xmlns="http://br-automation.co.at/AS/Package">
+  <Objects>
+    <Object Type="DataObject" Language="Apt">gaxwirea</Object>
+    <Object Type="DataObject" Language="Apt">gaxbelta</Object>
+    <Object Type="DataObject" Language="Apt">gaxlanea</Object>
+    <Object Type="DataObject" Language="Apt">gaxbenda</Object>
+  </Objects>
+</Package>
--- a/Logical/Axises/ACPPar/gaxbelta/Apt.dob
+++ b/Logical/Axises/ACPPar/gaxbelta/Apt.dob
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<DataObject xmlns="http://br-automation.co.at/AS/DataObject">
+  <Files>
+    <File>gaxbelta.apt</File>
+  </Files>
+</DataObject>
--- a/Logical/Axises/ACPPar/gaxbelta/gaxbelta.apt
+++ b/Logical/Axises/ACPPar/gaxbelta/gaxbelta.apt
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<AcoposParameterTable>
+  <Root Name="Parameters">
+    <Parameter Name="SCALE_ENCOD_INCR" ID="109" Value="1024" Description="Encoder1: Encoder scaling: increments per SCALE_ENCOD_MOTOR_REV motor revolutions" />
+    <Parameter Name="SM_SCALE_LOAD_MOTREV" ID="64234" Value="1" Description="Stepper motor: Load scaling: Motor revolutions" />
+    <Parameter Name="SM_SCALE_LOAD_UNITS" ID="64233" Value="1200" Unit="Units" Description="Stepper motor: Load scaling: Units per SM_SCALE_LOAD_MOTREV motor revolutions [1/10 mm]" />
+    <Parameter Name="SM_SCALE_STEP" ID="64232" Value="51200" Description="Stepper motor: Step scaling: Steps per motor revolution" />
+  </Root>
+</AcoposParameterTable>
--- a/Logical/Axises/ACPPar/gaxbenda/Apt.dob
+++ b/Logical/Axises/ACPPar/gaxbenda/Apt.dob
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<DataObject xmlns="http://br-automation.co.at/AS/DataObject">
+  <Files>
+    <File>gaxbenda.apt</File>
+  </Files>
+</DataObject>
--- a/Logical/Axises/ACPPar/gaxbenda/gaxbenda.apt
+++ b/Logical/Axises/ACPPar/gaxbenda/gaxbenda.apt
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<AcoposParameterTable>
+  <Root Name="Parameters">
+    <Parameter Name="SCALE_ENCOD_INCR" ID="109" Value="1024" Description="Encoder1: Encoder scaling: increments per SCALE_ENCOD_MOTOR_REV motor revolutions" />
+    <Parameter Name="SM_SCALE_LOAD_MOTREV" ID="64234" Value="1" Description="Stepper motor: Load scaling: Motor revolutions" />
+    <Parameter Name="SM_SCALE_LOAD_UNITS" ID="64233" Value="180" Unit="Units" Description="Stepper motor: Load scaling: Units per SM_SCALE_LOAD_MOTREV motor revolutions" />
+    <Parameter Name="SM_SCALE_STEP" ID="64232" Value="51200" Description="Stepper motor: Step scaling: Steps per motor revolution" />
+  </Root>
+</AcoposParameterTable>
--- a/Logical/Axises/ACPPar/gaxlanea/Apt.dob
+++ b/Logical/Axises/ACPPar/gaxlanea/Apt.dob
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<DataObject xmlns="http://br-automation.co.at/AS/DataObject">
+  <Files>
+    <File>gaxlanea.apt</File>
+  </Files>
+</DataObject>
--- a/Logical/Axises/ACPPar/gaxlanea/gaxlanea.apt
+++ b/Logical/Axises/ACPPar/gaxlanea/gaxlanea.apt
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<AcoposParameterTable>
+  <Root Name="Parameters">
+    <Parameter Name="SCALE_ENCOD_INCR" ID="109" Value="1024" Description="Encoder1: Encoder scaling: increments per SCALE_ENCOD_MOTOR_REV motor revolutions" />
+    <Parameter Name="SM_SCALE_LOAD_MOTREV" ID="64234" Value="1" Description="Stepper motor: Load scaling: Motor revolutions" />
+    <Parameter Name="SM_SCALE_LOAD_UNITS" ID="64233" Value="40" Unit="Units" Description="Stepper motor: Load scaling: Units per SM_SCALE_LOAD_MOTREV motor revolutions [1/100mm]" />
+    <Parameter Name="SM_SCALE_STEP" ID="64232" Value="51200" Description="Stepper motor: Step scaling: Steps per motor revolution" />
+  </Root>
+</AcoposParameterTable>
--- a/Logical/Axises/ACPPar/gaxwirea/Apt.dob
+++ b/Logical/Axises/ACPPar/gaxwirea/Apt.dob
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<DataObject xmlns="http://br-automation.co.at/AS/DataObject">
+  <Files>
+    <File>gaxwirea.apt</File>
+  </Files>
+</DataObject>
--- a/Logical/Axises/ACPPar/gaxwirea/gaxwirea.apt
+++ b/Logical/Axises/ACPPar/gaxwirea/gaxwirea.apt
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<AcoposParameterTable>
+  <Root Name="Parameters">
+    <Parameter Name="SCALE_ENCOD_INCR" ID="109" Value="51200" Description="Encoder1: Encoder scaling: increments per SCALE_ENCOD_MOTOR_REV motor revolutions [µSteps]" />
+    <Parameter Name="SM_SCALE_LOAD_MOTREV" ID="64234" Value="1000" Description="Stepper motor: Load scaling: Motor revolutions" />
+    <Parameter Name="SM_SCALE_LOAD_UNITS" ID="64233" Value="314159" Unit="Units" Description="Stepper motor: Load scaling: Units per SM_SCALE_LOAD_MOTREV motor revolutions [10mm]" />
+    <Parameter Name="SM_SCALE_STEP" ID="64232" Value="51200" Description="Stepper motor: Step scaling: Steps per motor revolution" />
+  </Root>
+</AcoposParameterTable>
--- a/Logical/Axises/Axis1/IEC.prg
+++ b/Logical/Axises/Axis1/IEC.prg
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File>axCyclic.ab</File>
+    <File>axInit.ab</File>
+    <File Private="true">ax.var</File>
+  </Files>
+</Program>
--- a/Logical/Axises/Axis1/ax.var
+++ b/Logical/Axises/Axis1/ax.var
@@ -0,0 +1,84 @@
+(*//-----------------------------------------------------------------------------------------------------*)
+(*//MC FunctionBlocks*)
+VAR
+	Axis_MC_ACP_ENCOD_REF : MC_ACP_ENCOD_REF := (0);
+	Axis_MC_ACP_ENCOD_PARAM_REF : MC_ACP_ENCOD_PARAM_REF := (0);
+	Axis_MC_CamIn : MC_CamIn := (0); (*Start CAM coupling with master*)
+	Axis_MC_CamOut : MC_CamOut := (0); (*Stop CAM coupling *)
+	Axis_MC_CamTableSelect : MC_CamTableSelect := (0); (*Select CAM Table*)
+	Axis_MC_GearIn : MC_GearIn := (0); (*Start electronic Gear coupling with master*)
+	Axis_MC_GearInPos : MC_GearInPos := (0); (*Start electronic Gear coupling (Position mode) with master*)
+	Axis_MC_GearOut : MC_GearOut := (0); (*Sop electronic Gear coupling*)
+	Axis_MC_BR_HomeAcpEncoder : MC_BR_HomeAcpEncoder := (0);
+	Axis_MC_BR_InitAxisPar : MC_BR_InitAxisPar := (0);
+	Axis_MC_BR_ReadDriveStatus : MC_BR_ReadDriveStatus := (0);
+	Axis_MC_BR_Simulation : MC_BR_Simulation := (0);
+	Axis_MC_BR_TorqueControl : MC_BR_TorqueControl := (0); (*Continuous Movement with Cyclic Torque*)
+	Axis_MC_BR_VelocityControl : MC_BR_VelocityControl := (0); (*Cyclic Velocity / Torque*)
+	Axis_MC_Home : MC_Home := (0); (*Homing*)
+	Axis_MC_BR_InitModPos : MC_BR_InitModPos := (0); (*Modulo Position*)
+	Axis_MC_MoveAbsolute : MC_MoveAbsolute := (0); (*Absolute Movement*)
+	Axis_MC_BR_MoveAbsoluteTriggStop : MC_BR_MoveAbsoluteTriggStop := (0); (*Absolute Movement with Trigger Stop*)
+	Axis_MC_MoveAdditive : MC_MoveAdditive := (0); (*Additive Movement*)
+	Axis_MC_BR_MoveAdditiveTriggStop : MC_BR_MoveAdditiveTriggStop := (0); (*Additive Movement with Trigger Stop*)
+	Axis_MC_MoveVelocity : MC_MoveVelocity := (0); (*Continuous Movement with Cyclic Velocity*)
+	AXis_MC_BR_MoveVelocityTriggStop : MC_BR_MoveVelocityTriggStop := (0); (*Continuous Movement with Cyclic Velocity and Trigger Stop*)
+	Axis_MC_Power : MC_Power := (0);
+	Axis_MC_ReadActualPosition : MC_ReadActualPosition := (0);
+	Axis_MC_ReadActualTorque : MC_ReadActualTorque := (0);
+	Axis_MC_ReadActualVelocity : MC_ReadActualVelocity := (0);
+	Axis_MC_ReadAxisError : MC_ReadAxisError := (0);
+	Axis_MC_ReadStatus : MC_ReadStatus := (0);
+	Axis_MC_Reset : MC_Reset := (0);
+	Axis_MC_SetOverride : MC_SetOverride := (0);
+	Axis_MC_Stop : MC_Stop := (0);
+END_VAR
+(*//Further Parameter - Cyclic*)
+VAR
+	Axis_MC_BR_CyclicRead : MC_BR_CyclicRead := (0); (*Read Further Axis Parameter*)
+	Axis_MC_BR_CyclicWrite : MC_BR_CyclicWrite := (0);
+END_VAR
+(*//Further Parameter*)
+VAR
+	Axis_MC_BR_ReadParID : MC_BR_ReadParID := (0); (*Read Furhter Axis Parameter*)
+END_VAR
+(*//ParemeterTrace*)
+VAR
+	Axis_MC_BR_WriteParID : MC_BR_WriteParID := (0); (*USER_R4_VAR1 used for Trace*)
+END_VAR
+(*//-----------------------------------------------------------------------------------------------------*)
+(*//Dynamic Vars*)
+VAR
+	lAxis : REFERENCE TO typAxis; (*Axis Datastruct *)
+	lAxisActPos : REFERENCE TO REAL;
+	lAxisMaster : REFERENCE TO typAxis;
+	lbSimulation : REFERENCE TO BOOL;
+	rUser_Var1 : REFERENCE TO REAL; (*Value for Cyclic transmission to Acopos*)
+END_VAR
+(*//-----------------------------------------------------------------------------------------------------*)
+(*//Constants*)
+VAR CONSTANT
+	uiTORQUE_NOT_REACHED : UINT := 0;
+END_VAR
+(*//-----------------------------------------------------------------------------------------------------*)
+(*//Retain*)
+(*//-----------------------------------------------------------------------------------------------------*)
+(*//Local Vars*)
+VAR
+	bAxisInit : BOOL := FALSE; (*Devel - Init Axis*)
+	bHomeAbs : BOOL := FALSE; (*Devel - Home Absolue Encoder*)
+	bTest : BOOL := FALSE;
+	usCamTableID : USINT;
+	uiRestartDelay : UINT := 2500; (*Wait Cycles after Cold restart*)
+	uiAbsStatus : UINT;
+	uiAxisUserVar1 : UINT := 0;
+	uiMCReadError : UINT := 0; (*Error in MC_Read_Paramaeter*)
+	uiMCWriteError : UINT := 0; (*Error in MC_Write_Paramaeter*)
+	udAxisMasterObj : UDINT;
+	udAxisSlaveObj : UDINT;
+	udAxisObj : UDINT;
+	udEnableTorqueLimit : UDINT := 0;
+	rOldVelocity : REAL := 0.0;
+	rOldTorquelimit : REAL := 0.0; (*//Used to Trigger Sending Value to Axis*)
+	rUser_VarTemp : REAL := 0.0;
+END_VAR
--- a/Logical/Axises/Axis1/axCyclic.ab
+++ b/Logical/Axises/Axis1/axCyclic.ab
@@ -0,0 +1,870 @@
+PROGRAM _CYCLIC
+
+IF (uiRestartDelay > 0) THEN
+  uiRestartDelay = uiRestartDelay - 1
+ENDIF
+
+
+;Devel Axis Initialisation
+Axis_MC_BR_InitAxisPar.Axis = udAxisObj
+Axis_MC_BR_InitAxisPar.Execute = bAxisInit
+Axis_MC_BR_InitAxisPar FUB MC_BR_InitAxisPar ()
+IF (Axis_MC_BR_InitAxisPar.Done = TRUE) THEN
+  bAxisInit = FALSE
+ENDIF
+
+;Devel Absolute Encoder Homing
+Axis_MC_ACP_ENCOD_REF.Axis = udAxisObj
+Axis_MC_ACP_ENCOD_REF.Slot = 3
+
+Axis_MC_ACP_ENCOD_PARAM_REF.HomingMode = mcHOME_ABSOLUTE
+Axis_MC_ACP_ENCOD_PARAM_REF.Offset = 0
+Axis_MC_ACP_ENCOD_PARAM_REF.ReadOffset = FALSE
+
+Axis_MC_BR_HomeAcpEncoder.Execute = bHomeAbs 
+Axis_MC_BR_HomeAcpEncoder.AcpEncoder = Axis_MC_ACP_ENCOD_REF
+Axis_MC_BR_HomeAcpEncoder.HomingParameters = Axis_MC_ACP_ENCOD_PARAM_REF
+Axis_MC_BR_HomeAcpEncoder FUB MC_BR_HomeAcpEncoder ()
+
+IF (Axis_MC_BR_HomeAcpEncoder.Done = TRUE) THEN
+  bHomeAbs = FALSE
+ENDIF
+
+
+;get axis information
+Axis_MC_ReadAxisError.DataAddress = ADR (lAxis.Error.Text)
+Axis_MC_ReadAxisError.DataLength = SIZEOF (lAxis.Error.Text)
+Axis_MC_ReadAxisError FUB MC_ReadAxisError ()
+
+Axis_MC_ReadStatus FUB MC_ReadStatus ()
+IF (Axis_MC_ReadStatus.Valid = TRUE) THEN
+  lAxis.Status.bDisabled            = Axis_MC_ReadStatus.Disabled
+  lAxis.Status.bStandstill          = Axis_MC_ReadStatus.StandStill
+  lAxis.Status.bStopping            = Axis_MC_ReadStatus.Stopping
+  lAxis.Status.bHoming              = Axis_MC_ReadStatus.Homing
+  lAxis.Status.bMotionDiscrete      = Axis_MC_ReadStatus.DiscreteMotion
+  lAxis.Status.bMotionContinous     = Axis_MC_ReadStatus.ContinuousMotion
+  lAxis.Status.bMotionSynchronized  = Axis_MC_ReadStatus.SynchronizedMotion
+  lAxis.Status.bErrorstop           = Axis_MC_ReadStatus.Errorstop
+ENDIF
+
+
+Axis_MC_BR_ReadDriveStatus.AdrDriveStatus = ADR (lAxis.DriveStatus)
+Axis_MC_BR_ReadDriveStatus FUB MC_BR_ReadDriveStatus ()
+
+;Position
+Axis_MC_ReadActualPosition FUB MC_ReadActualPosition ()
+IF (Axis_MC_ReadActualPosition.Valid = TRUE) THEN
+  lAxis.rActPosition = Axis_MC_ReadActualPosition.Position
+  lAxisActPos = lAxis.rActPosition
+ENDIF
+
+;Velocity
+Axis_MC_ReadActualVelocity FUB MC_ReadActualVelocity ()
+IF (Axis_MC_ReadActualVelocity.Valid = TRUE) THEN
+  lAxis.rActVelocity = Axis_MC_ReadActualVelocity.Velocity
+ENDIF
+
+;Torque
+Axis_MC_ReadActualTorque FUB MC_ReadActualTorque ()
+IF (Axis_MC_ReadActualTorque.Valid = TRUE) THEN
+  lAxis.rActTorque = Axis_MC_ReadActualTorque.Torque
+ENDIF
+
+
+;STATE Machine Axis
+SELECT lAxis.uiStep
+  ;Check for general Axis errors
+  WHEN ((Axis_MC_ReadAxisError.AxisErrorID <> 0) AND (Axis_MC_ReadAxisError.Valid = TRUE))
+  NEXT AxSTATE_ERROR_AXIS
+  ;power should be off
+  WHEN NOT lAxis.bPower AND((Axis_MC_ReadStatus.Errorstop = 1) AND (Axis_MC_ReadStatus.Valid = TRUE))
+  NEXT AxSTATE_ERROR_RESET
+
+  WHEN NOT lAxis.bPower AND NOT (lbSimulation XOR lAxis.DriveStatus.bSimulation)
+  NEXT AxSTATE_WAIT
+
+  ;==============================================
+  ;WAIT
+  STATE AxSTATE_WAIT
+    strcpy (ADR (lAxis.sStep), "AxSTATE_WAIT")
+
+    WHEN (lAxis.Status.bDisabled = 1) AND (lbSimulation = TRUE) AND (lAxis.DriveStatus.bSimulation = 0)
+    NEXT  AxSTATE_SIMULATION_ON
+
+    WHEN (lAxis.Status.bDisabled = 1) AND (lbSimulation = FALSE) AND (lAxis.DriveStatus.bSimulation = 1)
+    NEXT  AxSTATE_SIMULATION_OFF
+    
+    WHEN (lAxis.bPower = 1)
+    NEXT AxSTATE_POWER_ON
+
+    ;reset power
+    Axis_MC_Power.Enable = 0
+    
+    ;reset all fb execute inputs we use
+    Axis_MC_Home.Execute = 0
+    Axis_MC_BR_Simulation.Execute = 0
+    Axis_MC_Stop.Execute = 0
+    Axis_MC_MoveAbsolute.Execute = 0
+    Axis_MC_BR_MoveAbsoluteTriggStop.Execute = 0
+    Axis_MC_MoveAdditive.Execute = 0
+    Axis_MC_BR_MoveAdditiveTriggStop.Execute = 0
+    Axis_MC_MoveVelocity.Execute = 0
+    Axis_MC_MoveVelocity.Execute = 0
+    Axis_MC_BR_VelocityControl.Enable = 0
+    Axis_MC_BR_TorqueControl.Enable = 0
+    Axis_MC_CamTableSelect.Execute = 0
+    Axis_MC_CamIn.Execute = 0
+    Axis_MC_CamOut.Execute = 0
+    Axis_MC_GearIn.Execute = 0
+    Axis_MC_GearInPos.Execute = 0
+    Axis_MC_GearOut.Execute = 0
+    Axis_MC_ReadAxisError.Acknowledge = 0
+    Axis_MC_Reset.Execute = 0
+
+    ;reset user commands
+    lAxis.bStop = 0
+    lAxis.bHome = 0
+    lAxis.Move.bJogPos = 0
+    lAxis.Move.bJogNeg = 0
+    lAxis.Move.bVelocity = 0
+    lAxis.Move.bVelocityControl = 0
+    lAxis.Move.bAbsolute = 0
+    lAxis.Move.bAdditive = 0
+    lAxis.Move.bTorqueControl = 0
+    lAxis.Move.bStartCAMSlave = 0
+    lAxis.Move.bStopCAMSlave = 0
+    lAxis.Move.bStartGearSlave = 0
+    lAxis.Move.bStartGearPosSlave = 0
+    lAxis.Move.bStopGearSlave = 0
+
+    lAxis.Error.uiID = 0
+
+  ;==============================================
+  ;Simulation On
+  STATE AxSTATE_SIMULATION_ON
+    strcpy (ADR (lAxis.sStep), "AxSTATE_SIMULATION_ON")
+
+    Axis_MC_BR_Simulation.Execute = 1
+    Axis_MC_BR_Simulation.SimulationCommand = mcMOTOR
+    
+    WHEN (Axis_MC_BR_Simulation.Done = 1)
+      Axis_MC_BR_Simulation.Execute = 0
+    NEXT AxSTATE_WAIT
+
+    WHEN (Axis_MC_BR_Simulation.ErrorID <> 0)
+      lAxis.Error.uiID = Axis_MC_BR_Simulation.ErrorID
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Simulation Off
+  STATE AxSTATE_SIMULATION_OFF
+    strcpy (ADR (lAxis.sStep), "AxSTATE_SIMULATION_OFF")
+
+    Axis_MC_BR_Simulation.Execute = 1
+    Axis_MC_BR_Simulation.SimulationCommand = mcSIMULATION_OFF
+    
+    WHEN (Axis_MC_BR_Simulation.Done = 1)
+      Axis_MC_BR_Simulation.Execute = 0
+    NEXT AxSTATE_WAIT
+
+    WHEN (Axis_MC_BR_Simulation.ErrorID <> 0)
+      lAxis.Error.uiID = Axis_MC_BR_Simulation.ErrorID
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Power On
+  STATE AxSTATE_POWER_ON
+    strcpy (ADR (lAxis.sStep), "AxSTATE_POWER_ON")
+
+    Axis_MC_Power.Enable = 1
+
+    WHEN (Axis_MC_Power.Status = 1)
+    NEXT AxSTATE_READY
+
+    WHEN (Axis_MC_Power.ErrorID <> 0)
+      lAxis.Error.uiID = Axis_MC_Power.ErrorID
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Ready, wait for commands
+  STATE AxSTATE_READY
+    strcpy (ADR (lAxis.sStep), "AxSTATE_READY")
+
+    WHEN lAxis.bHome
+      lAxis.bHome = 0
+    NEXT AxSTATE_HOME
+
+    WHEN lAxis.bStop
+      ;lAxis.bStop = 0
+    NEXT AxSTATE_STOP
+
+    WHEN lAxis.Move.bJogPos
+      //Movement will stopped when command is resetted
+    NEXT AxSTATE_JOG_POSITIVE
+
+    WHEN lAxis.Move.bJogNeg
+      //Movement will stopped when command is resetted
+    NEXT AxSTATE_JOG_NEGATIVE
+
+    WHEN lAxis.Move.bAbsolute AND NOT lAxis.Para.bTriggStop
+      //Movement will stopped when command is resetted
+    NEXT AxSTATE_MOVE_ABSOLUTE
+
+    WHEN lAxis.Move.bAbsolute AND lAxis.Para.bTriggStop
+      //Movement will stopped when command is resetted
+    NEXT AxSTATE_MOVE_ABSOLUTE_TRIGGSTOP
+
+    WHEN lAxis.Move.bAdditive AND NOT lAxis.Para.bTriggStop
+      //Movement will stopped when command is resetted
+    NEXT AxSTATE_MOVE_ADDITIVE
+
+    WHEN lAxis.Move.bAdditive AND lAxis.Para.bTriggStop
+      //Movement will stopped when command is resetted
+    NEXT AxSTATE_MOVE_ADDITIVE_TRIGGSTOP
+
+    WHEN lAxis.Move.bVelocity
+      lAxis.Move.bVelocity = 0
+      lAxis.Status.bTorqueLimitReached = FALSE
+    NEXT AxSTATE_MOVE_VELOCITY
+
+    WHEN lAxis.Move.bVelocityControl
+      lAxis.Move.bVelocityControl = 0
+      lAxis.Status.bTorqueLimitReached = FALSE
+    NEXT AxSTATE_MOVE_VELOCITY_CTRL
+
+    WHEN lAxis.Move.bTorqueControl
+      lAxis.Move.bTorqueControl = 0
+      lAxis.Status.bTorqueLimitReached = FALSE
+    NEXT AxSTATE_MOVE_TORQUE_CTRL
+
+    WHEN lAxis.Move.bStopCAMSlave
+      lAxis.Move.bStopCAMSlave = 0
+    NEXT AxSTATE_MOVE_CAM_STOP
+
+    WHEN lAxis.Move.bStartCAMSlave
+      lAxis.Move.bStopCAMSlave = 0
+    NEXT AxSTATE_MOVE_CAM_SELECT
+
+    WHEN lAxis.Move.bStartGearSlave
+      lAxis.Move.bStartGearSlave = 0
+    NEXT AxSTATE_MOVE_GEAR_START
+
+    WHEN lAxis.Move.bStartGearPosSlave
+      lAxis.Move.bStartGearSlave = 0
+    NEXT AxSTATE_MOVE_GEARPOS_START
+
+    WHEN lAxis.Move.bStopGearSlave
+      lAxis.Move.bStopGearSlave = 0
+    NEXT AxSTATE_MOVE_GEAR_STOP
+
+  ;==============================================
+  ;Drive Home
+  STATE AxSTATE_HOME
+    strcpy (ADR (lAxis.sStep), "AxSTATE_HOME")
+
+    Axis_MC_Home.Position = lAxis.Para.rHomePosition
+    Axis_MC_Home.HomingMode = mcHOME_DEFAULT ;use Axis-Init Value
+    Axis_MC_Home.Execute = 1
+
+    WHEN lAxis.bStop
+      ;lAxis.bStop = 0
+      Axis_MC_Home.Execute = 0
+    NEXT  AxSTATE_STOP
+
+    WHEN Axis_MC_Home.Done AND (lAxis.Para.udAxisModPosFactor > 0) AND (lAxis.Para.udAxisModPosPeriod > 0)
+      Axis_MC_Home.Execute = 0
+    NEXT AxSTATE_INIT_MOD_POS
+
+    WHEN Axis_MC_Home.Done
+      Axis_MC_Home.Execute = 0
+    NEXT AxSTATE_READY
+
+    WHEN (Axis_MC_Home.ErrorID <> 0)
+      Axis_MC_Home.Execute = 0
+      lAxis.Error.uiID = Axis_MC_Home.ErrorID
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Initialize Modulo Position
+  STATE AxSTATE_INIT_MOD_POS
+    strcpy (ADR (lAxis.sStep), "AxSTATE_INIT_MOD_POS")
+
+    Axis_MC_BR_InitModPos.Factor = lAxis.Para.udAxisModPosFactor
+    Axis_MC_BR_InitModPos.Period = lAxis.Para.udAxisModPosPeriod
+    Axis_MC_BR_InitModPos.Execute = 1
+    
+    WHEN Axis_MC_BR_InitModPos.Done
+      Axis_MC_BR_InitModPos.Execute = 0
+    NEXT AxSTATE_READY
+
+    WHEN (Axis_MC_BR_InitModPos.ErrorID <> 0)
+      Axis_MC_BR_InitModPos.Execute = 0
+      lAxis.Error.uiID = Axis_MC_BR_InitModPos.ErrorID
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Stop Movement
+  STATE AxSTATE_STOP
+    strcpy (ADR (lAxis.sStep), "AxSTATE_STOP")
+
+    Axis_MC_Stop.Deceleration = lAxis.Para.rDeceleration
+    Axis_MC_Stop.Execute = 1
+
+    WHEN Axis_MC_Stop.Done OR lAxis.Status.bStandstill
+      Axis_MC_Stop.Execute = 0
+      lAxis.bStop = 0
+    NEXT AxSTATE_READY
+
+    WHEN (Axis_MC_Stop.ErrorID <> 0)
+      Axis_MC_Stop.Execute = 0
+      lAxis.Error.uiID = Axis_MC_Stop.ErrorID
+      lAxis.bStop = 0
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Jog Positive
+  STATE AxSTATE_JOG_POSITIVE
+    strcpy (ADR (lAxis.sStep), "AxSTATE_JOG_POSITIVE")
+
+    Axis_MC_MoveVelocity.Velocity        = lAxis.Para.rJogVelocity
+    Axis_MC_MoveVelocity.Acceleration    = lAxis.Para.rAcceleration
+    Axis_MC_MoveVelocity.Deceleration    = lAxis.Para.rDeceleration
+    Axis_MC_MoveVelocity.Direction       = mcPOSITIVE_DIR
+    Axis_MC_MoveVelocity.Execute         = 1
+
+    WHEN NOT lAxis.Move.bJogPos OR lAxis.bStop
+      Axis_MC_MoveVelocity.Execute = 0
+    NEXT AxSTATE_STOP
+
+    WHEN (Axis_MC_MoveVelocity.ErrorID <> 0)
+      Axis_MC_MoveVelocity.Execute = 0
+      lAxis.Error.uiID = Axis_MC_MoveVelocity.ErrorID
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Jog Negative
+  STATE AxSTATE_JOG_NEGATIVE
+    strcpy (ADR (lAxis.sStep), "AxSTATE_JOG_NEGATIVE")
+
+    Axis_MC_MoveVelocity.Velocity        = lAxis.Para.rJogVelocity
+    Axis_MC_MoveVelocity.Acceleration    = lAxis.Para.rAcceleration
+    Axis_MC_MoveVelocity.Deceleration    = lAxis.Para.rDeceleration
+    Axis_MC_MoveVelocity.Direction       = mcNEGATIVE_DIR
+    Axis_MC_MoveVelocity.Execute         = 1
+
+    WHEN NOT lAxis.Move.bJogNeg OR lAxis.bStop
+      Axis_MC_MoveVelocity.Execute = 0
+    NEXT AxSTATE_STOP
+
+    WHEN (Axis_MC_MoveVelocity.ErrorID <> 0)
+      Axis_MC_MoveVelocity.Execute = 0
+      lAxis.Error.uiID = Axis_MC_MoveVelocity.ErrorID
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Move Absolute
+  STATE AxSTATE_MOVE_ABSOLUTE
+    strcpy (ADR (lAxis.sStep), "AxSTATE_MOVE_ABSOLUTE")
+
+    Axis_MC_MoveAbsolute.Position        = lAxis.Para.rPosition
+    Axis_MC_MoveAbsolute.Velocity        = lAxis.Para.rVelocity
+    Axis_MC_MoveAbsolute.Acceleration    = lAxis.Para.rAcceleration
+    Axis_MC_MoveAbsolute.Deceleration    = lAxis.Para.rDeceleration
+    Axis_MC_MoveAbsolute.Direction       = lAxis.Para.usDirection //??
+    Axis_MC_MoveAbsolute.Execute         = 1
+
+    WHEN lAxis.bStop OR NOT lAxis.Move.bAbsolute
+      ;lAxis.bStop = 0
+      Axis_MC_MoveAbsolute.Execute = 0
+      lAxis.Move.bAbsolute = 0
+    NEXT AxSTATE_STOP
+
+    WHEN (Axis_MC_MoveAbsolute.Done = 1)
+      Axis_MC_MoveAbsolute.Execute = 0
+      lAxis.Move.bAbsolute = 0
+    NEXT AxSTATE_READY
+
+    WHEN (Axis_MC_MoveAbsolute.ErrorID <> 0)
+      Axis_MC_MoveAbsolute.Execute = 0
+      lAxis.Error.uiID = Axis_MC_MoveAbsolute.ErrorID
+      lAxis.Move.bAbsolute = 0
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Move Absolute
+  STATE AxSTATE_MOVE_ABSOLUTE_TRIGGSTOP
+    strcpy (ADR (lAxis.sStep), "AxSTATE_MOVE_ABSOLUTE_TRIGGSTOP")
+
+    Axis_MC_BR_MoveAbsoluteTriggStop.Position         = lAxis.Para.rPosition
+    Axis_MC_BR_MoveAbsoluteTriggStop.Velocity         = lAxis.Para.rVelocity
+    Axis_MC_BR_MoveAbsoluteTriggStop.Acceleration     = lAxis.Para.rAcceleration
+    Axis_MC_BR_MoveAbsoluteTriggStop.Deceleration     = lAxis.Para.rDeceleration
+    Axis_MC_BR_MoveAbsoluteTriggStop.Direction        = lAxis.Para.usDirection // ?
+    //Triggerinput is configured in Init Up
+    Axis_MC_BR_MoveAbsoluteTriggStop.TriggerDistance  = lAxis.Para.rTriggDistance
+    Axis_MC_BR_MoveAbsoluteTriggStop.ForceTriggerDistance = mcOFF // --> force Trigger Dist even if Dest Pos is Exeeded
+    Axis_MC_BR_MoveAbsoluteTriggStop.Execute         = 1
+
+    WHEN lAxis.bStop OR NOT lAxis.Move.bAbsolute
+      Axis_MC_BR_MoveAbsoluteTriggStop.Execute = 0
+      lAxis.Move.bAbsolute = 0
+    NEXT AxSTATE_STOP
+
+    WHEN Axis_MC_BR_MoveAbsoluteTriggStop.Done
+      Axis_MC_BR_MoveAbsoluteTriggStop.Execute = 0
+      lAxis.Move.bAbsolute = 0
+    NEXT AxSTATE_READY
+
+    WHEN (Axis_MC_BR_MoveAbsoluteTriggStop.ErrorID <> 0)
+      Axis_MC_BR_MoveAbsoluteTriggStop.Execute = 0
+      lAxis.Error.uiID = Axis_MC_MoveAbsolute.ErrorID
+      lAxis.Move.bAbsolute = 0
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Move Additive
+  STATE AxSTATE_MOVE_ADDITIVE
+    strcpy (ADR (lAxis.sStep), "AxSTATE_MOVE_ADDITIVE")
+
+    Axis_MC_MoveAdditive.Distance        = lAxis.Para.rDistance
+    Axis_MC_MoveAdditive.Velocity        = lAxis.Para.rVelocity
+    Axis_MC_MoveAdditive.Acceleration    = lAxis.Para.rAcceleration
+    Axis_MC_MoveAdditive.Deceleration    = lAxis.Para.rDeceleration
+    Axis_MC_MoveAdditive.Execute         = 1
+
+    WHEN lAxis.bStop OR NOT lAxis.Move.bAdditive
+      lAxis.Move.bAdditive = 0
+      Axis_MC_MoveAdditive.Execute = 0
+    NEXT AxSTATE_STOP
+
+    WHEN Axis_MC_MoveAdditive.Done
+      lAxis.Move.bAdditive = 0
+      Axis_MC_MoveAdditive.Execute = 0
+    NEXT AxSTATE_READY
+
+    WHEN (Axis_MC_MoveAdditive.ErrorID <> 0)
+      lAxis.Move.bAdditive = 0
+      Axis_MC_MoveAdditive.Execute = 0
+      lAxis.Error.uiID = Axis_MC_MoveAdditive.ErrorID
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Move Additive
+  STATE AxSTATE_MOVE_ADDITIVE_TRIGGSTOP
+    strcpy (ADR (lAxis.sStep), "AxSTATE_MOVE_ADDITIVE_TRIGGSTOP")
+
+    Axis_MC_BR_MoveAdditiveTriggStop.Distance         = lAxis.Para.rDistance
+    Axis_MC_BR_MoveAdditiveTriggStop.Velocity         = lAxis.Para.rVelocity
+    Axis_MC_BR_MoveAdditiveTriggStop.Acceleration     = lAxis.Para.rAcceleration
+    Axis_MC_BR_MoveAdditiveTriggStop.Deceleration     = lAxis.Para.rDeceleration
+    //Triggerinput is configured in Init Up
+    Axis_MC_BR_MoveAdditiveTriggStop.TriggerDistance  = lAxis.Para.rTriggDistance
+    Axis_MC_BR_MoveAdditiveTriggStop.ForceTriggerDistance = mcOFF // --> force Trigger Dist even if Dest Pos is Exeeded
+    Axis_MC_BR_MoveAdditiveTriggStop.Execute           = 1
+
+    WHEN lAxis.bStop OR NOT lAxis.Move.bAdditive
+      lAxis.Move.bAdditive = 0
+      Axis_MC_MoveAdditive.Execute = 0
+    NEXT AxSTATE_STOP
+
+    WHEN Axis_MC_BR_MoveAdditiveTriggStop.Done
+      lAxis.Move.bAdditive = 0
+      Axis_MC_BR_MoveAdditiveTriggStop.Execute = 0
+    NEXT AxSTATE_READY
+
+    WHEN (Axis_MC_BR_MoveAdditiveTriggStop.ErrorID <> 0)
+      lAxis.Move.bAdditive = 0
+      Axis_MC_BR_MoveAdditiveTriggStop.Execute = 0
+      lAxis.Error.uiID = Axis_MC_BR_MoveAdditiveTriggStop.ErrorID
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Move Velocity
+  STATE AxSTATE_MOVE_VELOCITY
+    strcpy (ADR (lAxis.sStep), "AxSTATE_MOVE_VELOCITY")
+
+    Axis_MC_MoveVelocity.Velocity        = lAxis.Para.rVelocity
+    Axis_MC_MoveVelocity.Acceleration    = lAxis.Para.rAcceleration
+    Axis_MC_MoveVelocity.Deceleration    = lAxis.Para.rDeceleration
+    Axis_MC_MoveVelocity.Direction       = lAxis.Para.usDirection
+    Axis_MC_MoveVelocity.Execute         = 1
+
+    WHEN lAxis.bStop
+      ;lAxis.bStop = 0     
+      Axis_MC_MoveVelocity.Execute = 0
+    NEXT AxSTATE_STOP
+
+    WHEN (Axis_MC_MoveVelocity.ErrorID <> 0)
+      Axis_MC_MoveVelocity.Execute = 0
+      lAxis.Error.uiID = Axis_MC_MoveVelocity.ErrorID
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Move Velocity Control (Only POWERLINK)
+  ;FixMe just prepared
+  STATE AxSTATE_MOVE_VELOCITY_CTRL
+    strcpy (ADR (lAxis.sStep), "AxSTATE_MOVE_VELOCITY_CTRL")
+
+    Axis_MC_BR_VelocityControl.CyclicVelocityCorrection = 0
+    Axis_MC_BR_VelocityControl.CyclicVelocity = lAxis.Para.rVelocity
+    Axis_MC_BR_VelocityControl.CyclicTorque   = lAxis.Para.rTorqueLimit
+    Axis_MC_BR_VelocityControl.Acceleration   = lAxis.Para.rAcceleration
+    Axis_MC_BR_VelocityControl.Deceleration   = lAxis.Para.rDeceleration
+    Axis_MC_BR_VelocityControl.TorqueMode     = mcLIMIT
+    Axis_MC_BR_VelocityControl.Enable         = 1
+
+  ;==============================================
+  ;Move Torque Control
+  STATE AxSTATE_MOVE_TORQUE_CTRL
+    strcpy (ADR (lAxis.sStep), "AxSTATE_MOVE_TORQUE_CTRL")
+
+    Axis_MC_BR_TorqueControl.StartSignal    = NOT lAxis.bStop
+    Axis_MC_BR_TorqueControl.Acceleration   = lAxis.Para.rAcceleration
+    Axis_MC_BR_TorqueControl.PosMaxVelocity = lAxis.Para.rVelocity
+    Axis_MC_BR_TorqueControl.NegMaxVelocity = -lAxis.Para.rVelocity
+    Axis_MC_BR_TorqueControl.Mode           = mcCHECK_HOMING_OFF 
+                                              ;mcV_LIMIT_OFF  ;(No Speed Limit)
+                                              ;mcV_LIMIT_CALC ;(No Speed Overrrun)
+                                              ;mcTIME_LIMIT   ;(Enable Timelimit)
+    Axis_MC_BR_TorqueControl.TimeLimit      = 0
+    Axis_MC_BR_TorqueControl.StartParID     = 0 ;Not Used by now
+    Axis_MC_BR_TorqueControl.TorqueRamp     = 0 ;Ramp Disabled
+    Axis_MC_BR_TorqueControl.Torque         = lAxis.Para.rTorqueLimit
+    ;Axis_MC_BR_TorqueControl.TorqueParID    = 0 ;Alternativ Torque Source
+    Axis_MC_BR_TorqueControl.Enable         = 1
+
+    ;Trigger Parameter rewrite
+    Axis_MC_BR_TorqueControl.InitData = (lAxis.Para.rVelocity <> rOldVelocity) OR \
+                                        (lAxis.Para.rTorqueLimit <> rOldTorquelimit)
+    rOldVelocity = lAxis.Para.rVelocity
+    rOldTorquelimit = lAxis.Para.rTorqueLimit
+
+    lAxis.Status.bTorqueLimitReached = Axis_MC_BR_TorqueControl.InTorque AND \
+                                        NOT Axis_MC_BR_TorqueControl.AxisLimitActive
+
+    WHEN lAxis.bStop
+      Axis_MC_BR_TorqueControl.Enable = 0
+      lAxis.Status.bTorqueLimitReached = 0
+    NEXT AxSTATE_STOP
+
+    WHEN (Axis_MC_BR_TorqueControl.ErrorID <> 0)
+      Axis_MC_BR_TorqueControl.Enable = 0
+      lAxis.Status.bTorqueLimitReached = 0
+      lAxis.Error.uiID = Axis_MC_BR_TorqueControl.ErrorID
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Move CAM TABLE SELECT
+  STATE AxSTATE_MOVE_CAM_SELECT
+    strcpy (ADR (lAxis.sStep), "AxSTATE_MOVE_CAM_SELECT")
+
+    Axis_MC_CamTableSelect.CamTable  = lAxis.Para.strCamTable
+    Axis_MC_CamTableSelect.Periodic  = mcNON_PERIODIC
+                                      ;mcPEIODIC
+    Axis_MC_CamTableSelect.Execute   = 1
+    ;wait for select done
+    WHEN Axis_MC_CamTableSelect.Done
+      usCamTableID = Axis_MC_CamTableSelect.CamTableID
+      Axis_MC_CamTableSelect.Execute   = 0
+    NEXT AxSTATE_MOVE_CAM_START
+
+    ;check for error occured
+    WHEN (Axis_MC_CamTableSelect.ErrorID <> 0)
+      lAxis.Error.uiID = Axis_MC_CamTableSelect.ErrorID
+      Axis_MC_CamTableSelect.Execute   = 0
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Move CAM START
+  STATE AxSTATE_MOVE_CAM_START
+    strcpy (ADR (lAxis.sStep), "AxSTATE_MOVE_CAM_START")
+
+    Axis_MC_CamIn.MasterOffset    = 0.0
+    Axis_MC_CamIn.SlaveOffset     = 0.0
+    Axis_MC_CamIn.MasterScaling   = 1000.0
+    Axis_MC_CamIn.SlaveScaling    = 1000.0
+    Axis_MC_CamIn.StartMode       = mcRELATIVE
+                                   ;mcABSOLUTE
+                                   ;mcDIRECT
+    Axis_MC_CamIn.CamTableID      = usCamTableID
+    Axis_MC_CamIn.Execute = 1
+
+    WHEN lAxis.bStop
+      ;lAxis.bStop = 0
+      Axis_MC_CamIn.Execute = 0
+    NEXT AxSTATE_STOP
+
+    WHEN lAxis.Move.bStopCAMSlave
+      lAxis.Move.bStopCAMSlave = 0
+      Axis_MC_CamIn.Execute = 0
+    NEXT AxSTATE_MOVE_CAM_STOP
+
+    ;check for error occured
+    WHEN (Axis_MC_CamIn.ErrorID <> 0)
+      lAxis.Error.uiID = Axis_MC_CamIn.ErrorID
+      Axis_MC_CamIn.Execute = 0
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Move CAM STOP
+  STATE AxSTATE_MOVE_CAM_STOP
+    strcpy (ADR (lAxis.sStep), "AxSTATE_MOVE_CAM_STOP")
+
+    Axis_MC_CamOut.Execute = 1
+
+    ;check if coupling is stopped
+    WHEN Axis_MC_CamOut.Done
+      Axis_MC_CamOut.Execute = 0
+    NEXT AxSTATE_READY
+
+    ;check for error occured
+    WHEN (Axis_MC_CamOut.ErrorID <> 0)
+      lAxis.Error.uiID = Axis_MC_CamOut.ErrorID
+      Axis_MC_CamOut.Execute = 0
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Move GEAR START
+  STATE AxSTATE_MOVE_GEAR_START
+    strcpy (ADR (lAxis.sStep), "AxSTATE_MOVE_GEAR_START")
+    
+    Axis_MC_GearIn.Acceleration = lAxis.Para.rAcceleration
+    Axis_MC_GearIn.Deceleration = lAxis.Para.rDeceleration
+    Axis_MC_GearIn.RatioNumerator = lAxis.Para.iGearRatioNumerator
+    Axis_MC_GearIn.RatioDenominator = lAxis.Para.uiGearRatioDenominator
+    Axis_MC_GearIn.Execute = 1
+
+    WHEN lAxis.bStop
+      ;lAxis.bStop = 0
+      Axis_MC_GearIn.Execute = 0
+    NEXT AxSTATE_STOP
+
+    WHEN lAxis.Move.bStopGearSlave
+      lAxis.Move.bStopGearSlave = 0
+      Axis_MC_GearIn.Execute = 0
+    NEXT AxSTATE_MOVE_GEAR_STOP
+
+    ;check for error occured
+    WHEN (Axis_MC_GearIn.ErrorID <> 0)
+      lAxis.Error.uiID = Axis_MC_GearIn.ErrorID
+      Axis_MC_GearIn.Execute = 0
+    next AxSTATE_ERROR
+
+  ;==============================================
+  ;Move GEAR POS START
+  STATE AxSTATE_MOVE_GEARPOS_START
+    strcpy (ADR (lAxis.sStep), "AxSTATE_MOVE_GEARPOS_START")
+    Axis_MC_GearInPos.Acceleration = lAxis.Para.rAcceleration
+    Axis_MC_GearInPos.RatioNumerator = lAxis.Para.iGearRatioNumerator
+    Axis_MC_GearInPos.RatioDenominator = lAxis.Para.uiGearRatioDenominator
+    Axis_MC_GearInPos.MasterSyncPosition = 0
+    Axis_MC_GearInPos.SlaveSyncPosition = 0
+    Axis_MC_GearInPos.SyncMode = mcSHORTEST_WAY
+    Axis_MC_GearInPos.Execute = 1
+
+    WHEN lAxis.bStop
+      ;lAxis.bStop = 0
+      Axis_MC_GearInPos.Execute = 0
+    NEXT AxSTATE_STOP
+
+    WHEN lAxis.Move.bStopGearSlave
+      lAxis.Move.bStopGearSlave = 0
+      Axis_MC_GearInPos.Execute = 0
+    NEXT AxSTATE_MOVE_GEAR_STOP
+
+    ;check for error occured
+    WHEN (Axis_MC_GearInPos.ErrorID <> 0)
+      lAxis.Error.uiID = Axis_MC_GearInPos.ErrorID
+      Axis_MC_GearInPos.Execute = 0
+    NEXT AxSTATE_ERROR
+
+  ;==============================================
+  ;Move CAM STOP
+  STATE AxSTATE_MOVE_GEAR_STOP
+    strcpy (ADR (lAxis.sStep), "AxSTATE_MOVE_GEAR_STOP")
+
+    Axis_MC_GearOut.Execute = 1
+
+    ;check if coupling is stopped
+    WHEN Axis_MC_GearOut.Done
+      Axis_MC_GearOut.Execute = 0
+    next AxSTATE_READY
+
+    ;check for error occured
+    WHEN (Axis_MC_GearOut.ErrorID <> 0)
+      lAxis.Error.uiID = Axis_MC_GearOut.ErrorID
+      Axis_MC_GearOut.Execute = 0
+    next AxSTATE_ERROR
+
+  ;==============================================
+  ;Error
+  STATE AxSTATE_ERROR
+    strcpy (ADR (lAxis.sStep), "AxSTATE_ERROR")
+
+    WHEN (lAxis.Error.uiID = 29226)
+    NEXT AxSTATE_ERROR_AXIS
+
+    WHEN lAxis.Error.bAcknowledge AND  \\
+         Axis_MC_ReadStatus.Errorstop AND \\
+         Axis_MC_ReadStatus.Valid
+      lAxis.Error.bAcknowledge = 0
+      lAxis.Error.uiID = 0
+    NEXT AxSTATE_ERROR_RESET
+
+    WHEN lAxis.Error.bAcknowledge
+      lAxis.Error.bAcknowledge = 0
+      lAxis.Error.uiID = 0
+    NEXT AxSTATE_WAIT
+
+  ;==============================================
+  ;Error Axis
+  STATE AxSTATE_ERROR_AXIS
+    strcpy (ADR (lAxis.sStep), "AxSTATE_ERROR_AXIS")
+
+    WHEN NOT (Axis_MC_ReadAxisError.Valid = TRUE)
+    NEXT AxSTATE_ERROR_AXIS
+
+    IF (Axis_MC_ReadAxisError.AxisErrorID <> 0) THEN
+      lAxis.Error.uiID = Axis_MC_ReadAxisError.AxisErrorID
+    ENDIF
+
+    IF (lAxis.Error.uiID = 1004) AND (uiRestartDelay > 0) THEN
+      lAxis.Error.bAcknowledge = 1
+    ENDIF
+
+    Axis_MC_ReadAxisError.Acknowledge  = 0
+
+    IF lAxis.Error.bAcknowledge THEN
+      lAxis.Error.bAcknowledge = 0
+      IF (Axis_MC_ReadAxisError.AxisErrorID <> 0) THEN
+        Axis_MC_ReadAxisError.Acknowledge  = 1
+      ENDIF
+    ENDIF
+
+    WHEN (Axis_MC_ReadAxisError.AxisErrorCount = 0) AND  \\
+         Axis_MC_ReadStatus.Errorstop AND \\
+         Axis_MC_ReadStatus.Valid
+      lAxis.Error.uiID = 0
+    NEXT AxSTATE_ERROR_RESET
+
+    WHEN (Axis_MC_ReadAxisError.AxisErrorCount = 0)
+      lAxis.Error.uiID = 0
+    NEXT AxSTATE_WAIT
+
+  ;==============================================
+  ;Reset DONE
+  STATE AxSTATE_ERROR_RESET
+    strcpy (ADR (lAxis.sStep), "AxSTATE_ERROR_RESET")
+
+    Axis_MC_Reset.Execute = 1
+
+    IF Axis_MC_Power.Error THEN
+      Axis_MC_Power.Enable = 0
+    ENDIF
+
+    WHEN Axis_MC_Reset.Done
+      Axis_MC_Reset.Execute = 0
+    NEXT AxSTATE_WAIT
+
+    ;check for error occured
+    WHEN (Axis_MC_Reset.ErrorID <> 0)
+      lAxis.Error.uiID = Axis_MC_Reset.ErrorID
+      Axis_MC_Reset.Execute = 0
+    NEXT AxSTATE_ERROR
+
+ ;   when ((Axis_MC_ReadAxisError.AxisErrorID = 0) and (Axis_MC_ReadAxisError.Valid = true))
+ ;     Axis_MC_Reset.Execute = 0
+ ;   next AxSTATE_WAIT
+		
+ENDSELECT
+
+
+;--------------------------------------------
+;Override Velocity and Acceleration
+Axis_MC_SetOverride.Enable = (lAxis.Para.rOverrideVelocity <> 1.0) OR (lAxis.Para.rOverrideAcceleration <> 1.0)
+Axis_MC_SetOverride.VelFactor = lAxis.Para.rOverrideVelocity
+Axis_MC_SetOverride.AccFactor = lAxis.Para.rOverrideAcceleration
+Axis_MC_SetOverride FUB MC_SetOverride ()
+
+;--------------------------------------------
+;Call Function Blocks
+Axis_MC_Power FUB MC_Power ()
+Axis_MC_BR_Simulation FUB MC_BR_Simulation ()
+Axis_MC_Home FUB MC_Home ()
+Axis_MC_BR_InitModPos FUB MC_BR_InitModPos ()                          
+Axis_MC_MoveAbsolute FUB MC_MoveAbsolute ()
+Axis_MC_BR_MoveAbsoluteTriggStop FUB MC_BR_MoveAbsoluteTriggStop ()
+Axis_MC_MoveAdditive FUB MC_MoveAdditive ()
+Axis_MC_BR_MoveAdditiveTriggStop FUB MC_BR_MoveAdditiveTriggStop ()
+Axis_MC_MoveVelocity FUB MC_MoveVelocity ()
+AXis_MC_BR_MoveVelocityTriggStop FUB MC_BR_MoveVelocityTriggStop ()
+Axis_MC_CamTableSelect FUB MC_CamTableSelect()
+Axis_MC_CamIn FUB MC_CamIn ()
+Axis_MC_CamOut FUB MC_CamOut ()
+Axis_MC_GearIn FUB MC_GearIn ()
+Axis_MC_GearInPos FUB MC_GearInPos ()
+Axis_MC_GearOut FUB MC_GearOut ()
+Axis_MC_Stop FUB MC_Stop ()
+Axis_MC_Reset FUB MC_Reset ()
+Axis_MC_BR_TorqueControl FUB MC_BR_TorqueControl ()
+
+
+;--------------------------------------------
+;Cyclic Parameter Read 
+Axis_MC_BR_CyclicRead.Enable = 0
+;Axis_MC_BR_CyclicRead.ParID = 4160 ; 4160 User Variable0 I2
+;Axis_MC_BR_CyclicRead.DataAddress = adr ()
+;Axis_MC_BR_CyclicRead.DataType  = ncPAR_TYP_INT
+Axis_MC_BR_CyclicRead FUB MC_BR_CyclicRead ()
+
+
+;---------------------------------------------
+;Read individual Parameter
+
+IF Axis_MC_BR_ReadParID.Done THEN
+ENDIF
+IF Axis_MC_BR_ReadParID.Error THEN
+  uiMCReadError = Axis_MC_BR_ReadParID.ErrorID
+ENDIF
+Axis_MC_BR_ReadParID.Execute = 0
+Axis_MC_BR_ReadParID.ParID = 4128
+Axis_MC_BR_ReadParID.DataAddress = ADR (lAxis)
+Axis_MC_BR_ReadParID.DataType = ncPAR_TYP_REAL
+Axis_MC_BR_ReadParID FUB MC_BR_ReadParID ()
+
+
+;--------------------------------------------
+;Write individual Parameter
+
+;Write UserParam1 on change
+(*
+rUser_Var1 access lAxis.Para.udAdrParamUserVar1
+if (rUser_VarTemp <> rUser_Var1) and\
+    not Axis_MC_BR_WriteParID.Busy then
+  Axis_MC_BR_WriteParID.Execute = 1
+  rUser_VarTemp = rUser_Var1
+endif
+if Axis_MC_BR_WriteParID.Done or Axis_MC_BR_WriteParID.Error then
+  if Axis_MC_BR_WriteParID.Error then
+    uiMCWriteError = Axis_MC_BR_WriteParID.ErrorID
+  endif
+  Axis_MC_BR_WriteParID.Execute = 0
+endif
+Axis_MC_BR_WriteParID.ParID = 586 ;USER_R4_VAR1 
+Axis_MC_BR_WriteParID.DataAddress = adr (rUser_VarTemp)
+Axis_MC_BR_WriteParID.DataType = ncPAR_TYP_REAL
+Axis_MC_BR_WriteParID fub MC_BR_WriteParID ()
+*)
+
+;-----------------------------------------------
+;Cyclick write of Parameter
+Axis_MC_BR_CyclicWrite.Enable = FALSE
+Axis_MC_BR_CyclicWrite.DataAddress = ADR (rUser_VarTemp)
+Axis_MC_BR_CyclicWrite.DataType = ncPAR_TYP_REAL
+Axis_MC_BR_CyclicWrite.ParID = 586 ;USER_R4_VAR1 
+Axis_MC_BR_CyclicWrite FUB MC_BR_CyclicWrite ()
+
+
+END_PROGRAM
+
--- a/Logical/Axises/Axis1/axInit.ab
+++ b/Logical/Axises/Axis1/axInit.ab
@@ -0,0 +1,80 @@
+PROGRAM _INIT
+(* init program *)
+;Which Axis
+lAxis ACCESS ADR (gAxis[0])
+lAxisActPos ACCESS ADR (gAxisActPos[0])
+lAxisMaster ACCESS ADR (gAxis[1])
+lbSimulation ACCESS ADR (gFalse)
+rUser_Var1 ACCESS ADR (grDummy)
+
+;Configure Trigger for Triggermovements (Absolute/Additive/Velocity)
+Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+
+;Access global ACP10 Axis Objects
+udAxisObj = ADR (gAxWire1)
+;This Axis is always slave (incase of CAM/Gea
+udAxisMasterObj = ADR (gAxWire1) 
+udAxisSlaveObj = udAxisObj
+
+;Initial Step
+lAxis.uiStep = AxSTATE_WAIT
+
+
+;Overhand Axis Obj to FunctionBlocks
+Axis_MC_BR_ReadDriveStatus.Axis = udAxisObj
+Axis_MC_BR_Simulation.Axis = udAxisObj
+Axis_MC_BR_TorqueControl.Axis = udAxisObj
+Axis_MC_BR_VelocityControl.Axis = udAxisObj
+Axis_MC_CamIn.Master = udAxisMasterObj
+Axis_MC_CamIn.Slave = udAxisSlaveObj
+Axis_MC_CamOut.Slave = udAxisSlaveObj
+Axis_MC_CamTableSelect.Master = udAxisMasterObj
+Axis_MC_CamTableSelect.Slave = udAxisSlaveObj
+Axis_MC_GearIn.Master = udAxisMasterObj
+Axis_MC_GearIn.Slave = udAxisSlaveObj
+Axis_MC_GearInPos.Master = udAxisMasterObj
+Axis_MC_GearInPos.Slave = udAxisSlaveObj
+Axis_MC_GearOut.Slave = udAxisSlaveObj
+Axis_MC_Home.Axis = udAxisObj
+Axis_MC_BR_InitModPos.Axis = udAxisMasterObj
+Axis_MC_MoveAbsolute.Axis = udAxisObj
+Axis_MC_BR_MoveAbsoluteTriggStop.Axis = udAxisObj
+Axis_MC_MoveAdditive.Axis = udAxisObj
+Axis_MC_BR_MoveAdditiveTriggStop.Axis  = udAxisObj
+Axis_MC_MoveVelocity.Axis = udAxisObj
+AXis_MC_BR_MoveVelocityTriggStop.Axis  = udAxisObj
+Axis_MC_Power.Axis = udAxisObj
+Axis_MC_ReadActualPosition.Axis = udAxisObj
+Axis_MC_ReadActualVelocity.Axis = udAxisObj
+Axis_MC_ReadActualTorque.Axis = udAxisObj
+Axis_MC_ReadAxisError.Axis = udAxisObj
+Axis_MC_ReadStatus.Axis = udAxisObj
+Axis_MC_Reset.Axis = udAxisObj
+Axis_MC_SetOverride.Axis = udAxisObj
+Axis_MC_Stop.Axis = udAxisObj
+
+;Parameter
+Axis_MC_BR_CyclicRead.Axis = udAxisObj
+Axis_MC_BR_CyclicWrite.Axis = udAxisObj
+Axis_MC_BR_ReadParID.Axis = udAxisObj
+Axis_MC_BR_WriteParID.Axis = udAxisObj
+
+
+strcpy (ADR (Axis_MC_ReadAxisError.DataObjectName), "acp10etxde")
+
+;Enable Fubs
+Axis_MC_ReadAxisError.Enable = true
+Axis_MC_ReadStatus.Enable = true
+Axis_MC_ReadActualPosition.Enable = true
+Axis_MC_ReadActualVelocity.Enable = true
+Axis_MC_ReadActualTorque.Enable = false //Not for Stepper Axises
+Axis_MC_BR_ReadDriveStatus.Enable = true
+
+
+END_PROGRAM
+
--- a/Logical/Axises/Axis2/IEC.prg
+++ b/Logical/Axises/Axis2/IEC.prg
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File>axInit.ab</File>
+    <File Reference="true">\Logical\Axises\Axis1\axCyclic.ab</File>
+    <File Description="Local variables" Private="true" Reference="true">\Logical\Axises\Axis1\ax.var</File>
+  </Files>
+</Program>
--- a/Logical/Axises/Axis2/axInit.ab
+++ b/Logical/Axises/Axis2/axInit.ab
@@ -0,0 +1,80 @@
+PROGRAM _INIT
+(* init program *)
+;Which Axis
+lAxis ACCESS ADR (gAxis[1])
+lAxisActPos ACCESS ADR (gAxisActPos[1])
+lAxisMaster ACCESS ADR (gAxis[0])
+lbSimulation ACCESS ADR (gFalse)
+rUser_Var1 ACCESS ADR (grDummy)
+
+;Configure Trigger for Triggermovements (Absolute/Additive/Velocity)
+Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+
+;Access global ACP10 Axis Objects
+udAxisObj = ADR (gAxWire2)
+;This Axis is always slave (incase of CAM/Gear)
+udAxisMasterObj = ADR (gAxWire1) 
+udAxisSlaveObj = udAxisObj
+
+;Initial Step
+lAxis.uiStep = AxSTATE_WAIT
+
+
+;Overhand Axis Obj to FunctionBlocks
+Axis_MC_BR_ReadDriveStatus.Axis = udAxisObj
+Axis_MC_BR_Simulation.Axis = udAxisObj
+Axis_MC_BR_TorqueControl.Axis = udAxisObj
+Axis_MC_BR_VelocityControl.Axis = udAxisObj
+Axis_MC_CamIn.Master = udAxisMasterObj
+Axis_MC_CamIn.Slave = udAxisSlaveObj
+Axis_MC_CamOut.Slave = udAxisSlaveObj
+Axis_MC_CamTableSelect.Master = udAxisMasterObj
+Axis_MC_CamTableSelect.Slave = udAxisSlaveObj
+Axis_MC_GearIn.Master = udAxisMasterObj
+Axis_MC_GearIn.Slave = udAxisSlaveObj
+Axis_MC_GearInPos.Master = udAxisMasterObj
+Axis_MC_GearInPos.Slave = udAxisSlaveObj
+Axis_MC_GearOut.Slave = udAxisSlaveObj
+Axis_MC_Home.Axis = udAxisObj
+Axis_MC_BR_InitModPos.Axis = udAxisMasterObj
+Axis_MC_MoveAbsolute.Axis = udAxisObj
+Axis_MC_BR_MoveAbsoluteTriggStop.Axis = udAxisObj
+Axis_MC_MoveAdditive.Axis = udAxisObj
+Axis_MC_BR_MoveAdditiveTriggStop.Axis  = udAxisObj
+Axis_MC_MoveVelocity.Axis = udAxisObj
+AXis_MC_BR_MoveVelocityTriggStop.Axis  = udAxisObj
+Axis_MC_Power.Axis = udAxisObj
+Axis_MC_ReadActualPosition.Axis = udAxisObj
+Axis_MC_ReadActualVelocity.Axis = udAxisObj
+Axis_MC_ReadActualTorque.Axis = udAxisObj
+Axis_MC_ReadAxisError.Axis = udAxisObj
+Axis_MC_ReadStatus.Axis = udAxisObj
+Axis_MC_Reset.Axis = udAxisObj
+Axis_MC_SetOverride.Axis = udAxisObj
+Axis_MC_Stop.Axis = udAxisObj
+
+;Parameter
+Axis_MC_BR_CyclicRead.Axis = udAxisObj
+Axis_MC_BR_CyclicWrite.Axis = udAxisObj
+Axis_MC_BR_ReadParID.Axis = udAxisObj
+Axis_MC_BR_WriteParID.Axis = udAxisObj
+
+
+strcpy (ADR (Axis_MC_ReadAxisError.DataObjectName), "acp10etxde")
+
+;Enable Fubs
+Axis_MC_ReadAxisError.Enable = true
+Axis_MC_ReadStatus.Enable = true
+Axis_MC_ReadActualPosition.Enable = true
+Axis_MC_ReadActualVelocity.Enable = true
+Axis_MC_ReadActualTorque.Enable = false //Not for Stepper Axises
+Axis_MC_BR_ReadDriveStatus.Enable = true
+
+
+END_PROGRAM
+
--- a/Logical/Axises/Axis3/IEC.prg
+++ b/Logical/Axises/Axis3/IEC.prg
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File>axInit.ab</File>
+    <File Reference="true">\Logical\Axises\Axis1\axCyclic.ab</File>
+    <File Description="Local variables" Private="true" Reference="true">\Logical\Axises\Axis1\ax.var</File>
+  </Files>
+</Program>
--- a/Logical/Axises/Axis3/axInit.ab
+++ b/Logical/Axises/Axis3/axInit.ab
@@ -0,0 +1,80 @@
+PROGRAM _INIT
+(* init program *)
+;Which Axis
+lAxis ACCESS ADR (gAxis[2])
+lAxisActPos ACCESS ADR (gAxisActPos[2])
+lAxisMaster ACCESS ADR (gAxis[0])
+lbSimulation ACCESS ADR (gFalse)
+rUser_Var1 ACCESS ADR (grDummy)
+
+;Configure Trigger for Triggermovements (Absolute/Additive/Velocity)
+Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+
+;Access global ACP10 Axis Objects
+udAxisObj = ADR (gAxBelt)
+;This Axis is always slave (incase of CAM/Gear)
+udAxisMasterObj = ADR (gAxBelt) 
+udAxisSlaveObj = udAxisObj
+
+;Initial Step
+lAxis.uiStep = AxSTATE_WAIT
+
+
+;Overhand Axis Obj to FunctionBlocks
+Axis_MC_BR_ReadDriveStatus.Axis = udAxisObj
+Axis_MC_BR_Simulation.Axis = udAxisObj
+Axis_MC_BR_TorqueControl.Axis = udAxisObj
+Axis_MC_BR_VelocityControl.Axis = udAxisObj
+Axis_MC_CamIn.Master = udAxisMasterObj
+Axis_MC_CamIn.Slave = udAxisSlaveObj
+Axis_MC_CamOut.Slave = udAxisSlaveObj
+Axis_MC_CamTableSelect.Master = udAxisMasterObj
+Axis_MC_CamTableSelect.Slave = udAxisSlaveObj
+Axis_MC_GearIn.Master = udAxisMasterObj
+Axis_MC_GearIn.Slave = udAxisSlaveObj
+Axis_MC_GearInPos.Master = udAxisMasterObj
+Axis_MC_GearInPos.Slave = udAxisSlaveObj
+Axis_MC_GearOut.Slave = udAxisSlaveObj
+Axis_MC_Home.Axis = udAxisObj
+Axis_MC_BR_InitModPos.Axis = udAxisMasterObj
+Axis_MC_MoveAbsolute.Axis = udAxisObj
+Axis_MC_BR_MoveAbsoluteTriggStop.Axis = udAxisObj
+Axis_MC_MoveAdditive.Axis = udAxisObj
+Axis_MC_BR_MoveAdditiveTriggStop.Axis  = udAxisObj
+Axis_MC_MoveVelocity.Axis = udAxisObj
+AXis_MC_BR_MoveVelocityTriggStop.Axis  = udAxisObj
+Axis_MC_Power.Axis = udAxisObj
+Axis_MC_ReadActualPosition.Axis = udAxisObj
+Axis_MC_ReadActualVelocity.Axis = udAxisObj
+Axis_MC_ReadActualTorque.Axis = udAxisObj
+Axis_MC_ReadAxisError.Axis = udAxisObj
+Axis_MC_ReadStatus.Axis = udAxisObj
+Axis_MC_Reset.Axis = udAxisObj
+Axis_MC_SetOverride.Axis = udAxisObj
+Axis_MC_Stop.Axis = udAxisObj
+
+;Parameter
+Axis_MC_BR_CyclicRead.Axis = udAxisObj
+Axis_MC_BR_CyclicWrite.Axis = udAxisObj
+Axis_MC_BR_ReadParID.Axis = udAxisObj
+Axis_MC_BR_WriteParID.Axis = udAxisObj
+
+
+strcpy (ADR (Axis_MC_ReadAxisError.DataObjectName), "acp10etxde")
+
+;Enable Fubs
+Axis_MC_ReadAxisError.Enable = true
+Axis_MC_ReadStatus.Enable = true
+Axis_MC_ReadActualPosition.Enable = true
+Axis_MC_ReadActualVelocity.Enable = true
+Axis_MC_ReadActualTorque.Enable = false //Not for Stepper Axises
+Axis_MC_BR_ReadDriveStatus.Enable = true
+
+
+END_PROGRAM
+
--- a/Logical/Axises/Axis4/IEC.prg
+++ b/Logical/Axises/Axis4/IEC.prg
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File>axInit.ab</File>
+    <File Reference="true">\Logical\Axises\Axis1\axCyclic.ab</File>
+    <File Description="Local variables" Private="true" Reference="true">\Logical\Axises\Axis1\ax.var</File>
+  </Files>
+</Program>
--- a/Logical/Axises/Axis4/axInit.ab
+++ b/Logical/Axises/Axis4/axInit.ab
@@ -0,0 +1,80 @@
+PROGRAM _INIT
+(* init program *)
+;Which Axis
+lAxis ACCESS ADR (gAxis[3])
+lAxisActPos ACCESS ADR (gAxisActPos[3])
+lAxisMaster ACCESS ADR (gAxis[0])
+lbSimulation ACCESS ADR (gFalse)
+rUser_Var1 ACCESS ADR (grDummy)
+
+;Configure Trigger for Triggermovements (Absolute/Additive/Velocity)
+Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+
+;Access global ACP10 Axis Objects
+udAxisObj = ADR (gAxLane)
+;This Axis is always slave (incase of CAM/Gear)
+udAxisMasterObj = ADR (gAxLane) 
+udAxisSlaveObj = udAxisObj
+
+;Initial Step
+lAxis.uiStep = AxSTATE_WAIT
+
+
+;Overhand Axis Obj to FunctionBlocks
+Axis_MC_BR_ReadDriveStatus.Axis = udAxisObj
+Axis_MC_BR_Simulation.Axis = udAxisObj
+Axis_MC_BR_TorqueControl.Axis = udAxisObj
+Axis_MC_BR_VelocityControl.Axis = udAxisObj
+Axis_MC_CamIn.Master = udAxisMasterObj
+Axis_MC_CamIn.Slave = udAxisSlaveObj
+Axis_MC_CamOut.Slave = udAxisSlaveObj
+Axis_MC_CamTableSelect.Master = udAxisMasterObj
+Axis_MC_CamTableSelect.Slave = udAxisSlaveObj
+Axis_MC_GearIn.Master = udAxisMasterObj
+Axis_MC_GearIn.Slave = udAxisSlaveObj
+Axis_MC_GearInPos.Master = udAxisMasterObj
+Axis_MC_GearInPos.Slave = udAxisSlaveObj
+Axis_MC_GearOut.Slave = udAxisSlaveObj
+Axis_MC_Home.Axis = udAxisObj
+Axis_MC_BR_InitModPos.Axis = udAxisMasterObj
+Axis_MC_MoveAbsolute.Axis = udAxisObj
+Axis_MC_BR_MoveAbsoluteTriggStop.Axis = udAxisObj
+Axis_MC_MoveAdditive.Axis = udAxisObj
+Axis_MC_BR_MoveAdditiveTriggStop.Axis  = udAxisObj
+Axis_MC_MoveVelocity.Axis = udAxisObj
+AXis_MC_BR_MoveVelocityTriggStop.Axis  = udAxisObj
+Axis_MC_Power.Axis = udAxisObj
+Axis_MC_ReadActualPosition.Axis = udAxisObj
+Axis_MC_ReadActualVelocity.Axis = udAxisObj
+Axis_MC_ReadActualTorque.Axis = udAxisObj
+Axis_MC_ReadAxisError.Axis = udAxisObj
+Axis_MC_ReadStatus.Axis = udAxisObj
+Axis_MC_Reset.Axis = udAxisObj
+Axis_MC_SetOverride.Axis = udAxisObj
+Axis_MC_Stop.Axis = udAxisObj
+
+;Parameter
+Axis_MC_BR_CyclicRead.Axis = udAxisObj
+Axis_MC_BR_CyclicWrite.Axis = udAxisObj
+Axis_MC_BR_ReadParID.Axis = udAxisObj
+Axis_MC_BR_WriteParID.Axis = udAxisObj
+
+
+strcpy (ADR (Axis_MC_ReadAxisError.DataObjectName), "acp10etxde")
+
+;Enable Fubs
+Axis_MC_ReadAxisError.Enable = true
+Axis_MC_ReadStatus.Enable = true
+Axis_MC_ReadActualPosition.Enable = true
+Axis_MC_ReadActualVelocity.Enable = true
+Axis_MC_ReadActualTorque.Enable = false //Not for Stepper Axises
+Axis_MC_BR_ReadDriveStatus.Enable = true
+
+
+END_PROGRAM
+
--- a/Logical/Axises/Axis5/IEC.prg
+++ b/Logical/Axises/Axis5/IEC.prg
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File>axInit.ab</File>
+    <File Reference="true">\Logical\Axises\Axis1\axCyclic.ab</File>
+    <File Description="Local variables" Private="true" Reference="true">\Logical\Axises\Axis1\ax.var</File>
+  </Files>
+</Program>
--- a/Logical/Axises/Axis5/axInit.ab
+++ b/Logical/Axises/Axis5/axInit.ab
@@ -0,0 +1,80 @@
+PROGRAM _INIT
+(* init program *)
+;Which Axis
+lAxis ACCESS ADR (gAxis[4])
+lAxisActPos ACCESS ADR (gAxisActPos[4])
+lAxisMaster ACCESS ADR (gAxis[0])
+lbSimulation ACCESS ADR (gFalse)
+rUser_Var1 ACCESS ADR (grDummy)
+
+;Configure Trigger for Triggermovements (Absolute/Additive/Velocity)
+Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+
+;Access global ACP10 Axis Objects
+udAxisObj = ADR (gAxBend1)
+;This Axis is always slave (incase of CAM/Gear)
+udAxisMasterObj = ADR (gAxBend1) 
+udAxisSlaveObj = udAxisObj
+
+;Initial Step
+lAxis.uiStep = AxSTATE_WAIT
+
+
+;Overhand Axis Obj to FunctionBlocks
+Axis_MC_BR_ReadDriveStatus.Axis = udAxisObj
+Axis_MC_BR_Simulation.Axis = udAxisObj
+Axis_MC_BR_TorqueControl.Axis = udAxisObj
+Axis_MC_BR_VelocityControl.Axis = udAxisObj
+Axis_MC_CamIn.Master = udAxisMasterObj
+Axis_MC_CamIn.Slave = udAxisSlaveObj
+Axis_MC_CamOut.Slave = udAxisSlaveObj
+Axis_MC_CamTableSelect.Master = udAxisMasterObj
+Axis_MC_CamTableSelect.Slave = udAxisSlaveObj
+Axis_MC_GearIn.Master = udAxisMasterObj
+Axis_MC_GearIn.Slave = udAxisSlaveObj
+Axis_MC_GearInPos.Master = udAxisMasterObj
+Axis_MC_GearInPos.Slave = udAxisSlaveObj
+Axis_MC_GearOut.Slave = udAxisSlaveObj
+Axis_MC_Home.Axis = udAxisObj
+Axis_MC_BR_InitModPos.Axis = udAxisMasterObj
+Axis_MC_MoveAbsolute.Axis = udAxisObj
+Axis_MC_BR_MoveAbsoluteTriggStop.Axis = udAxisObj
+Axis_MC_MoveAdditive.Axis = udAxisObj
+Axis_MC_BR_MoveAdditiveTriggStop.Axis  = udAxisObj
+Axis_MC_MoveVelocity.Axis = udAxisObj
+AXis_MC_BR_MoveVelocityTriggStop.Axis  = udAxisObj
+Axis_MC_Power.Axis = udAxisObj
+Axis_MC_ReadActualPosition.Axis = udAxisObj
+Axis_MC_ReadActualVelocity.Axis = udAxisObj
+Axis_MC_ReadActualTorque.Axis = udAxisObj
+Axis_MC_ReadAxisError.Axis = udAxisObj
+Axis_MC_ReadStatus.Axis = udAxisObj
+Axis_MC_Reset.Axis = udAxisObj
+Axis_MC_SetOverride.Axis = udAxisObj
+Axis_MC_Stop.Axis = udAxisObj
+
+;Parameter
+Axis_MC_BR_CyclicRead.Axis = udAxisObj
+Axis_MC_BR_CyclicWrite.Axis = udAxisObj
+Axis_MC_BR_ReadParID.Axis = udAxisObj
+Axis_MC_BR_WriteParID.Axis = udAxisObj
+
+
+strcpy (ADR (Axis_MC_ReadAxisError.DataObjectName), "acp10etxde")
+
+;Enable Fubs
+Axis_MC_ReadAxisError.Enable = true
+Axis_MC_ReadStatus.Enable = true
+Axis_MC_ReadActualPosition.Enable = true
+Axis_MC_ReadActualVelocity.Enable = true
+Axis_MC_ReadActualTorque.Enable = false //Not for Stepper Axises
+Axis_MC_BR_ReadDriveStatus.Enable = true
+
+
+END_PROGRAM
+
--- a/Logical/Axises/Axis6/IEC.prg
+++ b/Logical/Axises/Axis6/IEC.prg
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File>axInit.ab</File>
+    <File Reference="true">\Logical\Axises\Axis1\axCyclic.ab</File>
+    <File Description="Local variables" Private="true" Reference="true">\Logical\Axises\Axis1\ax.var</File>
+  </Files>
+</Program>
--- a/Logical/Axises/Axis6/axInit.ab
+++ b/Logical/Axises/Axis6/axInit.ab
@@ -0,0 +1,80 @@
+PROGRAM _INIT
+(* init program *)
+;Which Axis
+lAxis ACCESS ADR (gAxis[5])
+lAxisActPos ACCESS ADR (gAxisActPos[5])
+lAxisMaster ACCESS ADR (gAxis[0])
+lbSimulation ACCESS ADR (gFalse)
+rUser_Var1 ACCESS ADR (grDummy)
+
+;Configure Trigger for Triggermovements (Absolute/Additive/Velocity)
+Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+Axis_MC_BR_MoveAbsoluteTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+Axis_MC_BR_MoveAdditiveTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.InputSource = ncTRIGGER1  //ncTrigger2
+AXis_MC_BR_MoveVelocityTriggStop.TriggerInput.Edge = ncP_EDGE  //ncN_Edge
+
+;Access global ACP10 Axis Objects
+udAxisObj = ADR (gAxBend2)
+;This Axis is always slave (incase of CAM/Gear)
+udAxisMasterObj = ADR (gAxBend2) 
+udAxisSlaveObj = udAxisObj
+
+;Initial Step
+lAxis.uiStep = AxSTATE_WAIT
+
+
+;Overhand Axis Obj to FunctionBlocks
+Axis_MC_BR_ReadDriveStatus.Axis = udAxisObj
+Axis_MC_BR_Simulation.Axis = udAxisObj
+Axis_MC_BR_TorqueControl.Axis = udAxisObj
+Axis_MC_BR_VelocityControl.Axis = udAxisObj
+Axis_MC_CamIn.Master = udAxisMasterObj
+Axis_MC_CamIn.Slave = udAxisSlaveObj
+Axis_MC_CamOut.Slave = udAxisSlaveObj
+Axis_MC_CamTableSelect.Master = udAxisMasterObj
+Axis_MC_CamTableSelect.Slave = udAxisSlaveObj
+Axis_MC_GearIn.Master = udAxisMasterObj
+Axis_MC_GearIn.Slave = udAxisSlaveObj
+Axis_MC_GearInPos.Master = udAxisMasterObj
+Axis_MC_GearInPos.Slave = udAxisSlaveObj
+Axis_MC_GearOut.Slave = udAxisSlaveObj
+Axis_MC_Home.Axis = udAxisObj
+Axis_MC_BR_InitModPos.Axis = udAxisMasterObj
+Axis_MC_MoveAbsolute.Axis = udAxisObj
+Axis_MC_BR_MoveAbsoluteTriggStop.Axis = udAxisObj
+Axis_MC_MoveAdditive.Axis = udAxisObj
+Axis_MC_BR_MoveAdditiveTriggStop.Axis  = udAxisObj
+Axis_MC_MoveVelocity.Axis = udAxisObj
+AXis_MC_BR_MoveVelocityTriggStop.Axis  = udAxisObj
+Axis_MC_Power.Axis = udAxisObj
+Axis_MC_ReadActualPosition.Axis = udAxisObj
+Axis_MC_ReadActualVelocity.Axis = udAxisObj
+Axis_MC_ReadActualTorque.Axis = udAxisObj
+Axis_MC_ReadAxisError.Axis = udAxisObj
+Axis_MC_ReadStatus.Axis = udAxisObj
+Axis_MC_Reset.Axis = udAxisObj
+Axis_MC_SetOverride.Axis = udAxisObj
+Axis_MC_Stop.Axis = udAxisObj
+
+;Parameter
+Axis_MC_BR_CyclicRead.Axis = udAxisObj
+Axis_MC_BR_CyclicWrite.Axis = udAxisObj
+Axis_MC_BR_ReadParID.Axis = udAxisObj
+Axis_MC_BR_WriteParID.Axis = udAxisObj
+
+
+strcpy (ADR (Axis_MC_ReadAxisError.DataObjectName), "acp10etxde")
+
+;Enable Fubs
+Axis_MC_ReadAxisError.Enable = true
+Axis_MC_ReadStatus.Enable = true
+Axis_MC_ReadActualPosition.Enable = true
+Axis_MC_ReadActualVelocity.Enable = true
+Axis_MC_ReadActualTorque.Enable = false //Not for Stepper Axises
+Axis_MC_BR_ReadDriveStatus.Enable = true
+
+
+END_PROGRAM
+
--- a/Logical/Axises/GlobalAxis.typ
+++ b/Logical/Axises/GlobalAxis.typ
@@ -0,0 +1,100 @@
+
+TYPE
+	typAxis_Move : 	STRUCT 
+		bAbsolute : BOOL; (*Absolute Movement*)
+		bAdditive : BOOL; (*Additive Movement*)
+		bVelocity : BOOL; (*Continuous Movement with Constant Velocity*)
+		bVelocityControl : BOOL; (*Continuous Movement with variable Velocity / Torquelimit ONLY Powerlink*)
+		bTorqueControl : BOOL; (*Continuous Movement with variable Velocity / Torquecontrol*)
+		bJogPos : BOOL; (*Jog Mode*)
+		bJogNeg : BOOL; (*Jog Mode*)
+		bStartCAMSlave : BOOL; (*CAM*)
+		bStopCAMSlave : BOOL; (*CAM*)
+		bStartGearSlave : BOOL; (*Gear Speed*)
+		bStartGearPosSlave : BOOL; (*Gear Position*)
+		bStopGearSlave : BOOL; (*Gear*)
+	END_STRUCT;
+	typAxis_Error : 	STRUCT 
+		uiNcAccess : UINT;
+		uiNcAccessMaster : UINT;
+		bAcknowledge : BOOL;
+		uiID : UINT;
+		Text : ARRAY[0..3]OF STRING[79];
+	END_STRUCT;
+	typAxis_Status : 	STRUCT  (*Status of Axopos*)
+		bDisabled : BOOL;
+		bStandstill : BOOL;
+		bStopping : BOOL;
+		bHoming : BOOL;
+		bMotionDiscrete : BOOL;
+		bMotionContinous : BOOL;
+		bMotionSynchronized : BOOL;
+		bErrorstop : BOOL;
+		bTorqueLimitReached : BOOL; (*Torquelimit from Move.bTorqueControl *)
+	END_STRUCT;
+	typAxis_DriveStatus : 	STRUCT 
+		bSimulation : BOOL; (*Axis Simulation*)
+		bNetworkInit : BOOL;
+		bHomeSwitch : BOOL;
+		bPosHWSwitch : BOOL;
+		bNegHWSwitch : BOOL;
+		bTrigger1 : BOOL;
+		bTrigger2 : BOOL;
+		bDriveEnable : BOOL;
+		bControllerReady : BOOL;
+		bControllerStatus : BOOL;
+		bHomingOk : BOOL;
+		bAxisError : BOOL;
+		bLagWarning : BOOL;
+	END_STRUCT;
+	typAxis_Para : 	STRUCT 
+		bTriggStop : BOOL; (*Use Trigger Stop for Move Absolute/Additive/Velocity*)
+		usDirection : USINT; (*Direction for Move Velocity*)
+		udAxisModPosPeriod : UDINT := 0; (*For Modulo Position - Axis period*)
+		udAxisModPosFactor : UDINT := 0; (*For Modulo Position - Axis Factor*)
+		udAdrParamUserVar1 : UDINT; (*Address: Cyclic to Acopos transmitted Value*)
+		rPosition : REAL; (*Position for Absolute Movement*)
+		rDistance : REAL; (*Distance for Additive Movement*)
+		rTriggDistance : REAL; (*Distance for Trigger Movements (Absolue/Additive/Velocity)*)
+		rVelocity : REAL; (*Velocity for Movements*)
+		rOverrideVelocity : REAL := 1.0; (*Overridevalue for Velicity*)
+		rAcceleration : REAL; (*Acceleration for Movements*)
+		rOverrideAcceleration : REAL := 1.0; (*Overridevalue for Acceleration*)
+		rDeceleration : REAL; (*Deceleration for Movements*)
+		rHomePosition : REAL; (*Homepositoin for Homing*)
+		rJogVelocity : REAL; (*Velocity for Jog*)
+		rTorqueLimit : REAL; (*Torquelimit for TorqueControl*)
+		iGearRatioNumerator : INT := 1; (*CAM/Gear*)
+		uiGearRatioDenominator : UINT := 1; (*CAM/Gear*)
+		strCamTable : STRING[12]; (*CAM*)
+	END_STRUCT;
+	typAxis : 	STRUCT 
+		sStep : STRING[40];
+		uiStep : UINT;
+		bPower : BOOL;
+		bHome : BOOL;
+		bStop : BOOL;
+		rActPosition : REAL; (*Current Position*)
+		rActVelocity : REAL; (*Current Velocity*)
+		rActTorque : REAL; (*Current Torque*)
+		rReachedTorque : REAL; (*Reached Torque After Stop with Torquelimit*)
+		diPositionReachedTorque : DINT; (*Position where Torque was reached*)
+		Move : typAxis_Move;
+		Error : typAxis_Error;
+		Status : typAxis_Status;
+		DriveStatus : typAxis_DriveStatus;
+		Para : typAxis_Para;
+	END_STRUCT;
+	typMultAx_Trace : 	STRUCT  (*MultiaxTrace*)
+		sStep : STRING[25];
+		bStartSave : BOOL; (*Activate Trace*)
+		bLoadConfig : BOOL; (*Load Trace Config*)
+		bStop : USINT; (*Stop Trace*)
+		uiTraceStep : USINT; (*Step of Trace*)
+		uiTraceState : UINT; (*Status of Trace*)
+		uiTraceError : UINT; (*Error of Trace*)
+		Trace_Config : MC_PARTRACECONFIG_REF; (*Configuration of Trase*)
+		Trace_DatObj_Refercence : MC_DATOBJ_REF; (*Parameter for Save the Trace-Config*)
+		Trace_Error_Record : MC_ERRORRECORD_REF; (*Fehlerspeicher*)
+	END_STRUCT;
+END_TYPE
--- a/Logical/Axises/GlobalAxis.var
+++ b/Logical/Axises/GlobalAxis.var
@@ -0,0 +1,61 @@
+VAR
+	gAxis : ARRAY[0..7] OF typAxis; (*Axis Datasructure / Controlinterface*)
+	gMAxTrace : typMultAx_Trace; (*Multiaxtrace*)
+	gAxisActPos : ARRAY[0..7] OF REAL;
+	grDummy : REAL; (*Dummy Real to be accessed from Axistasks*)
+END_VAR
+(*//ACP/SDC Axobjects*)
+VAR
+	gAxWire1 : ACP10AXIS_typ;
+	gAxWire2 : ACP10AXIS_typ;
+	gAxWire1_HW : SdcHwCfg_typ := (0);
+	gAxWire1_DrvIf : SdcDrvIf16_typ := (0);
+	gAxWire1_EncIf1 : SdcEncIf16_typ := (0);
+	gAxWire1_DiDoIf : SdcDiDoIf_typ := (0);
+	gAxWire1_TrigIf : SdcTrigIf_typ := (0);
+	gAxWire1_MotorStep0 : INT := 0;
+	gAxWire2_HW : SdcHwCfg_typ := (0);
+	gAxWire2_DrvIf : SdcDrvIf16_typ := (0);
+	gAxWire2_EncIf1 : SdcEncIf16_typ := (0);
+	gAxWire2_DiDoIf : SdcDiDoIf_typ := (0);
+	gAxWire2_MotorStep0 : INT := 0;
+	gAxLane : ACP10AXIS_typ;
+	gAxBelt : ACP10AXIS_typ;
+	gAxLane_HW : SdcHwCfg_typ := (0);
+	gAxLane_DrvIf : SdcDrvIf16_typ := (0);
+	gAxLane_EncIf1 : SdcEncIf16_typ := (0);
+	gAxLane_DiDoIf : SdcDiDoIf_typ := (0);
+	gAxLane_MotorStep0 : INT := 0;
+	gAxBelt_HW : SdcHwCfg_typ := (0);
+	gAxBelt_DrvIf : SdcDrvIf16_typ := (0);
+	gAxBelt_EncIf1 : SdcEncIf16_typ := (0);
+	gAxBelt_DiDoIf : SdcDiDoIf_typ := (0);
+	gAxBelt_MotorStep0 : INT := 0;
+	gAxBend1 : ACP10AXIS_typ;
+	gAxBend2 : ACP10AXIS_typ;
+	gAxBend1_HW : SdcHwCfg_typ := (0);
+	gAxBend1_DrvIf : SdcDrvIf16_typ := (0);
+	gAxBend1_EncIf1 : SdcEncIf16_typ := (0);
+	gAxBend1_DiDoIf : SdcDiDoIf_typ := (0);
+	gAxBend1_MotorStep0 : INT := 0;
+	gAxBend2_HW : SdcHwCfg_typ := (0);
+	gAxBend2_DrvIf : SdcDrvIf16_typ := (0);
+	gAxBend2_EncIf1 : SdcEncIf16_typ := (0);
+	gAxBend2_DiDoIf : SdcDiDoIf_typ := (0);
+	gAxBend2_MotorStep0 : INT := 0;
+END_VAR
+(*Constants*)
+VAR CONSTANT
+	AxSTATE_WAIT : USINT := 0;
+END_VAR
+(*Grillparameter*)
+VAR RETAIN
+	gbBladePoleUp : ARRAY[1..30] OF BOOL; (*Lamellenzapfen oben*)
+	gusBladesInFrame : ARRAY[1..30] OF USINT; (*Anzahl Lamellen f<>r Rahmen*)
+	gudOverallFramecount : UDINT;
+	gudFramecount : ARRAY[1..30] OF UDINT; (*Z<>hler*)
+	grBladewidth : ARRAY[1..30] OF REAL; (*Spurbreite f<>r Lamelle*)
+	grBladeShiftwidth : ARRAY[1..30] OF REAL; (*Takteweite f<>r Lamelle*)
+	grBladeWeldPos : ARRAY[1..30] OF REAL; (*Grillpos f<>r Lamelle*)
+	grBladeStartPos : ARRAY[1..30] OF REAL; (*Start f<>r Lamelle*)
+END_VAR
--- a/Logical/Axises/GrillCtrl/GrillCtrl.typ
+++ b/Logical/Axises/GrillCtrl/GrillCtrl.typ
@@ -0,0 +1,90 @@
+(**)
+
+TYPE
+	typ_enBlade : 
+		( (*Lamellentyp*)
+		enBlade_None, (*Dummytyp*)
+		enBlade_7789_Z07,
+		enBlade_7789_Z08,
+		enBlade_7789_Z09,
+		enBlade_7789_Z10,
+		enBlade_7617_Z04,
+		enBlade_7617_Z05,
+		enBlade_7618_Z04,
+		enBlade_7618_Z05,
+		enBlade_7619_Z04,
+		enBlade_7619_Z05,
+		enBlade_7620_Z04,
+		enBlade_7620_Z05,
+		enBlade_7733_Z01,
+		enBlade_7733_Z03,
+		enBlade_7734_Z01,
+		enBlade_7734_Z03,
+		enBlade_7735_Z01,
+		enBlade_7735_Z03,
+		enBlade_7736_Z01,
+		enBlade_7736_Z03
+		);
+	typ_enStepWirefeed : 
+		( (*Schritte Drahtzuf<75>hrung / Verteiler*)
+		enWireStep_INIT,
+		enWireStep_FEED, (*Draht zuf<75>hren*)
+		enWireStep_BEND_END2, (*Drahtende 2 biegen*)
+		enWireStep_WAIT_BENT_END2, (*warten bis Drahtende 2 gebogen*)
+		enWireStep_WATT_BENDER2_OPEN, (*Drahtende 2 freigegeben*)
+		enWireStep_CUT, (*Draht schneiden*)
+		enWireStep_HOME_CUTTER, (*Cutter zur<75>ck in GS*)
+		enWireStep_BEND_END1, (*Drahtende 1 biegen*)
+		enWireStep_WAIT_BENT_END1, (*warten bis Drahtende 1 gebogen*)
+		enWireStep_WATT_BENDER1_OPEN, (*Drahtende 1 freigeben*)
+		enWireStep_CHANGE_LANE, (*Spurwechsel*)
+		enWireStep_WAIT_WIRE_PICKED, (*Warten bis Draht gegriffen ist*)
+		enWireStep_OPEN_WIREDISTRIBUTOR, (*Drahtverteiler <20>ffnen*)
+		enWireStep_WAIT_WIRE_AWAY, (*Warten bis Draht abgeholt ist*)
+		enWireStep_RETURN_LANE1, (*Auf Spur 1 (ggf.) zur<75>ck*)
+		enWireStep_WAIT_BENDERS_HOMED, (*Warten bis Bieger zur<75>ckgestelt sind*)
+		enWireStep_CLOSE_WIREDISTRIBUTOR, (*Drahtverteiler schlie<69>en*)
+		enWireStep_STOP
+		);
+	typ_enStepWireHandling : 
+		( (*Schritte Drahthandlingeinheit*)
+		enWireHandlingStep_INIT,
+		enWireHandlingStep_WAIT_WIRE, (*Auf Draht warten*)
+		enWireHandlingStep_INSERT_HDL, (*Handling in Drahtverteiler einfahren*)
+		enWireHandlingStep_PRESTRETCH, (*Greifer vorspannen*)
+		enWireHandlingStep_PICK_WIRE, (*Draht greifen*)
+		enWireHandlingStep_WAIT_OPEN_D, (*Warten bis Drahtverteiler ge<67>ffnet*)
+		enWireHandlingStep_RETURN_HDL, (*Handling zur<75>ck fahren*)
+		enWireHandlingStep_LIFT_WIRE, (*Draht auffahren*)
+		enWireHandlingStep_WAIT_2ndWIRE, (*Synchronisieren mit Draht 2 bzw. 1*)
+		enWireHandlingStep_HEAT_WIRE, (*Draht vorheizen*)
+		enWireHandlingStep_INSERT_WIRE, (*Draht in Lamelle Einfahren*)
+		enWireHandlingStep_COOL_WIRE, (*Draht abk<62>hlen lassen*)
+		enWireHandlingStep_OPEN_GRIPPER, (*Draht freigeben*)
+		enWireHandlingStep_RETURN_HDL2, (*Handling zur<75>ckfahren*)
+		enWireHandlingStep_SINK_HDL (*Handling absenken*)
+		);
+	typ_enWireState : 
+		( (*Zustand Draht in Verteiler*)
+		enWire_NOWIRE, (*Kein Draht im Verteiler*)
+		enWire_FEEDING, (*Drahtzufuhr ist gestartet*)
+		enWire_FEEDED, (*Draht ist zugef<65>hrt*)
+		enWire_END2_BENT1, (*Drahtende 2 ist gebogen f<>r Handling 1*)
+		enWire_END2_BENT2, (*Drahtende 2 ist gebogen f<>r Handling 2*)
+		enWire_CUT1, (*Draht ist Geschnitten f<>r Handling 1*)
+		enWire_CUT2, (*Draht ist Geschnitten f<>r Handling 2*)
+		enWire_BENT1, (*Draht ist fertig gebogen f<>r Handling 1*)
+		enWire_BENT2 (*Draht ist fertig gebogen f<>r Handling 2*)
+		);
+	typ_enStepBelt : 
+		( (*Schritte Taktband*)
+		enBeltStep_INIT,
+		enBeltStep_MOVE_TO_LOADPOS, (*Best<73>ckungsposition anfahren*)
+		enBeltStep_ADJUST_LANE, (*Spur einstellen*)
+		enBeltStep_WAIT_LOADED, (*Warten bis Band best<73>ckt*)
+		enBeltStep_MOVE_TO_WELDPOS, (*Schwei<65>positon anfahren*)
+		enBeltStep_WAIT_WELDED, (*Warten bis Schwei<65>vorgang beendet*)
+		enBeltStep_WAIT_ALL_RETURNED, (*Warten bis alles zur<75>ckgestelt ist*)
+		enBeltStep_EJECT_FRAME (*Rahmen auswerfen*)
+		);
+END_TYPE
--- a/Logical/Axises/GrillCtrl/GrillCtrl.var
+++ b/Logical/Axises/GrillCtrl/GrillCtrl.var
@@ -0,0 +1,108 @@
+(********************************************************************
+ * COPYRIGHT --  
+ ********************************************************************
+ * Program: AxCtrl
+ * File: AxCtrl.var
+ * Author: michi
+ * Created: July 17, 2012
+ ********************************************************************
+ * Local variables of program AxCtrl
+ ********************************************************************)
+(*//-----------------------------------------------------------------------------------------------------*)
+(*//Dynamic Vars*)
+VAR
+	lAxisWire1 : REFERENCE TO typAxis; (*Axis Datastruct *)
+	lAxisWire2 : REFERENCE TO typAxis; (*Axis Datastruct *)
+	lAxisBelt : REFERENCE TO typAxis; (*Axis Datastruct *)
+	lAxisLane : REFERENCE TO typAxis; (*Axis Datastruct *)
+	lAxisBend1 : REFERENCE TO typAxis; (*Axis Datastruct *)
+	lAxisBend2 : REFERENCE TO typAxis; (*Axis Datastruct *)
+END_VAR
+(*//Local Vars*)
+VAR
+	bEnableNextStep : BOOL; (*N<>chsten Schritt (Semiautomatik) Freigeben*)
+END_VAR
+VAR RETAIN
+	bWireLane12 : BOOL;
+	bHorStrokeWire1Fw : BOOL;
+	bVerStrokeWire1Fw : BOOL;
+	bHorStrokeWire2Fw : BOOL;
+	bVerStrokeWire2Fw : BOOL;
+END_VAR
+VAR
+	bHomePosWireprocess : BOOL; (*Grundstellung Drahtverarbeitung*)
+END_VAR
+VAR RETAIN
+	bBladesUp : BOOL; (*Lamellenzapfen oben*)
+END_VAR
+VAR
+	bBender1Pos0 : BOOL; (*Bender 1 is in 0<> Pos*)
+	bBender2Pos0 : BOOL; (*Bender 2 is in 0<> Pos*)
+	usActBladesInFrame : USINT;
+	usErrorReset : USINT;
+	usHideButErrorReset : USINT;
+	usStateBtLoadWire : USINT; (*Status Button Drahtzufuhr starten*)
+	usStateBtBeltLoaded : USINT; (*Status Button Taktband geladen*)
+	usStateBtWireHeated : USINT; (*Status Button Draht aufgeheizt*)
+	usStateBtWireWelded : USINT; (*Status Button Draht gegrillt*)
+END_VAR
+VAR RETAIN
+	udTimePreheat : UDINT := 8; (*Vorheizzeit [s]*)
+	udTimeWeld : UDINT := 4; (*Schwei<65>zeit [s]*)
+	udTimeCool : UDINT := 9; (*Abk<62>hlzeit [s]*)
+END_VAR
+VAR
+	udStartTime : UDINT;
+END_VAR
+VAR RETAIN
+	udTimeLastCycle : UDINT;
+END_VAR
+VAR
+	udActualFramecount : REFERENCE TO UDINT;
+END_VAR
+VAR RETAIN
+	enBladetype : typ_enBlade; (*Lamellentyp*)
+END_VAR
+VAR
+	enLastBladetype : typ_enBlade; (*Letzer Lamellentyp*)
+	enStepWirefeed : typ_enStepWirefeed; (*Schritte Drahtzuf<75>hrung / Verteiler*)
+	enStepWirehandling1 : typ_enStepWireHandling; (*Schritte Drahthandling 1*)
+	enStepWirehandling2 : typ_enStepWireHandling; (*Schritte Drahthandling 2*)
+	enStepBelt : typ_enStepBelt; (*Schritte Taktband*)
+	enStateWire : typ_enWireState; (*Drahtstatus*)
+END_VAR
+(*//Positions Bender*)
+VAR
+	rBender1Pos0 : REAL := 19.0; (*Bender 1 0<> Infeedpos*)
+	rBender1Pos90 : REAL := 123.0; (*Bender 1 90<39> Bendpos Lane1*)
+	rBender1Pos270 : REAL := -78.0; (*Bender 1 270<37> Bendpos Lane2*)
+	rBender2Pos0 : REAL := -33.0; (*Bender 2 0<> Infeedpos*)
+	rBender2Pos90 : REAL := -131.0; (*Bender 2 90<39> Bendpos Lane1*)
+	rBender2Pos270 : REAL := 70.0; (*Bender 2 270<37> Bendpos Lane2*)
+	rBenderOpenAngle : REAL := 1.0; (*Bender Angle for Open after Bending*)
+	rBenderOpenAngle2 : REAL := 3.0; (*Bender Angle for Open after Bending*)
+	rBeltVelocityEmpty : REAL := 1250.0; (*Taktband leerfahrt (1500)*)
+	rBeltVelocityLoaded : REAL := 1000.0; (*Taktband leerfahrt (1500)*)
+	rBeltVelocityShift : REAL := 250.0; (*Taktband Takten*)
+	rCurrent : REAL := 19.5; (*Strom zum Grillen*)
+	rCurrentFactor : REAL;
+	rVoltage : REAL := 8.0; (*Strom zum Grillen*)
+	rVoltageFactor : REAL;
+	lrActualWeldpos : REFERENCE TO REAL;
+END_VAR
+(*//FUBs*)
+VAR
+	TON_StoreWeldpos : TON; (*Schwei<65>pos Speichern*)
+	TON_WireCutterClosed : TON; (*Drahtschneider geschlossen verz<72>gert*)
+	TOF_WireCutterClosed : TOF;
+	TON_Wiregrippers1Closed : TON; (*Drahtgreifer Draht 1 geschlossen verz<72>gert*)
+	TOF_Wiregrippers1Closed : TOF; (*Drahtgreifer Draht 1 geschlossen verz<72>gert*)
+	TON_Wiregrippers2Closed : TON; (*Drahtgreifer Draht 2 geschlossen verz<72>gert*)
+	TOF_Wiregrippers2Closed : TOF; (*Drahtgreifer Draht 1 geschlossen verz<72>gert*)
+	TON_Gripper1Prestreched : TON; (*Draht 1 Vorgespannt*)
+	TON_Gripper2Prestreched : TON; (*Draht 2 Vorgespannt*)
+	TON_WaitShiftBelt : TON; (*Warten Best<73>cken Lamelle*)
+	TON_WireHeated : TON; (*Draht vorgeheizt*)
+	TON_WireWelded : TON; (*Draht Verschwei<65>t*)
+	TON_WireCooled : TON; (*Draht 1 Abgek<65>hlt*)
+END_VAR
--- a/Logical/Axises/GrillCtrl/GrillCtrlCyclic.st
+++ b/Logical/Axises/GrillCtrl/GrillCtrlCyclic.st
@@ -0,0 +1,875 @@
+
+PROGRAM _CYCLIC
+  //Gear Coupling Axis2 is Slave from Axis 1
+  lAxisWire2.Para.iGearRatioNumerator := -1;
+  lAxisWire2.Para.uiGearRatioDenominator := 1;
+  //Pransfer Values to Axis2
+  lAxisWire2.Para.rAcceleration := lAxisWire1.Para.rAcceleration;
+  lAxisWire2.Para.rDeceleration := lAxisWire1.Para.rDeceleration;
+
+  //Power Up Axises
+  lAxisWire1.bPower := (gMachine.enMode <> enMACH_OFFLINE);
+  lAxisWire2.bPower := (gMachine.enMode <> enMACH_OFFLINE);
+  lAxisBelt.bPower := (gMachine.enMode <> enMACH_OFFLINE);
+  lAxisLane.bPower := (gMachine.enMode <> enMACH_OFFLINE);
+  lAxisBelt.bPower := (gMachine.enMode <> enMACH_OFFLINE);
+  lAxisBend1.bPower := (gMachine.enMode <> enMACH_OFFLINE);
+  lAxisBend2.bPower := (gMachine.enMode <> enMACH_OFFLINE);
+  //Home
+  lAxisWire1.bHome := NOT lAxisWire1.DriveStatus.bHomingOk AND ((gMachine.enMode = enMACH_ONLINE) OR (gMachine.enMode = enMACH_JOG));
+  lAxisWire2.bHome := NOT lAxisWire2.DriveStatus.bHomingOk AND ((gMachine.enMode = enMACH_ONLINE) OR (gMachine.enMode = enMACH_JOG));
+  lAxisBelt.bHome := NOT lAxisBelt.DriveStatus.bHomingOk AND ((gMachine.enMode = enMACH_ONLINE) OR (gMachine.enMode = enMACH_JOG));
+
+  //Couple Axis 2 of wirefeed
+  IF lAxisWire1.DriveStatus.bHomingOk AND lAxisWire2.DriveStatus.bHomingOk THEN
+    lAxisWire2.Move.bStartGearSlave := TRUE;
+  END_IF
+
+
+  TON_WireCutterClosed (IN := gbOuCutWire,
+                        PT := t#400ms);
+  TOF_WireCutterClosed (IN := gbOuCutWire,
+                        PT := t#400ms);
+                        
+  TON_Wiregrippers1Closed (IN := gbOuCloseWireGrippers1,
+                           PT := t#400ms);
+  TOF_Wiregrippers1Closed (IN := gbOuCloseWireGrippers1,
+                           PT := t#400ms);
+                           
+  TON_Wiregrippers2Closed (IN := gbOuCloseWireGrippers2,
+                           PT := t#400ms);
+  TOF_Wiregrippers2Closed (IN := gbOuCloseWireGrippers2,
+                           PT := t#400ms);
+                           
+  TON_Gripper1Prestreched (IN := gbOuStretchWire1,
+                           PT := t#1s);
+  TON_Gripper2Prestreched (IN := gbOuStretchWire2,
+                           PT := t#1s);
+
+  TON_WaitShiftBelt (IN := ((enStepBelt = enBeltStep_WAIT_LOADED) AND NOT lAxisBelt.Move.bAdditive),
+                     PT := t#900ms);                                
+  TON_WireHeated (IN := (enStepWirehandling1 = enWireHandlingStep_HEAT_WIRE) AND (gMachine.enMode = enMACH_AUTOMATIC),
+                  PT := UDINT_TO_TIME (udTimePreheat * 1000));
+  TON_WireWelded (IN := (enStepWirehandling1 = enWireHandlingStep_INSERT_WIRE),
+                  PT := UDINT_TO_TIME (udTimeWeld * 1000));
+  TON_WireCooled (IN := (enStepWirehandling1 = enWireHandlingStep_COOL_WIRE),
+                  PT := UDINT_TO_TIME (udTimeCool * 1000));
+                   
+   
+  //Common States
+  bBender1Pos0 := (lAxisBend1.rActPosition = rBender1Pos0);
+  bBender2Pos0 := (lAxisBend2.rActPosition = rBender2Pos0);
+  bHomePosWireprocess := bBender1Pos0 AND bBender2Pos0 AND NOT gbOuReleaseWire AND gbInWireDistributorClosed AND gbInWireDistributorLane1;
+
+  
+  TON_StoreWeldpos.IN := gManualCommands.bStoreWeldPosition;
+  TON_StoreWeldpos.PT := t#3s;
+  TON_StoreWeldpos ();
+  //Jog Mode
+  //==========================================================================================
+  IF gMachine.enMode = enMACH_JOG THEN
+    //Uncritical Movements
+    IF EDGEPOS (gManualCommands.bToggleWireClutch) THEN
+      gbOuReleaseWire := NOT gbOuReleaseWire;
+    END_IF
+    IF EDGEPOS (gManualCommands.bToggleSetStrokeWireCutter) THEN
+      gbOuSetStrokeWireCutter := NOT gbOuSetStrokeWireCutter;
+    END_IF
+    gbOuCutWire := gManualCommands.bCutWire;
+
+    IF EDGEPOS (gManualCommands.bHomeBelt) THEN
+      lAxisBelt.bHome := TRUE;
+    END_IF
+
+    IF EDGEPOS (gManualCommands.bBeltFwd) THEN
+      lAxisBelt.Para.rDistance := - grBladeShiftwidth[enBladetype];
+      lAxisBelt.Move.bAdditive := TRUE;
+    END_IF
+    IF gManualCommands.bBeltJogFwdCont THEN
+      lAxisBelt.Para.rJogVelocity := 1500;
+    ELSE
+      lAxisBelt.Para.rJogVelocity := 100;
+    END_IF
+    lAxisBelt.Move.bJogNeg := gManualCommands.bBeltJogFwd OR gManualCommands.bBeltJogFwdCont;
+    lAxisBelt.Move.bJogPos := gManualCommands.bBeltJogBwd;
+    
+    IF EDGEPOS (gManualCommands.bBelt1stPos) THEN
+      lAxisBelt.Para.usDirection := mcNEGATIVE_DIR;
+      lAxisBelt.Para.rPosition := grBladeWeldPos[enBladetype];
+      lAxisBelt.Move.bAbsolute:= TRUE;
+    END_IF
+    //Critical Movements
+    IF EDGEPOS (gManualCommands.bFeedWire) AND gbInWireDistributorLane1 THEN
+      lAxisWire1.Move.bAdditive := TRUE;
+    END_IF
+    IF gbInWireDistributorLane2 THEN
+      IF EDGEPOS (gManualCommands.bJogWireFwd) THEN
+        lAxisWire1.Move.bJogPos := NOT lAxisWire1.Move.bJogPos;
+      END_IF
+    ELSE
+      lAxisWire1.Move.bJogPos := gManualCommands.bJogWireFwd AND (gbInWireDistributorLane1 OR gbInWireDistributorLane2) AND NOT gbInWireFeeded AND NOT gbOuCutWire;
+    END_IF
+    
+    IF EDGEPOS (gManualCommands.bHomeLane) THEN
+      lAxisLane.bHome := TRUE;
+    END_IF
+    lAxisLane.Move.bJogPos := gManualCommands.bCloseLane;
+    lAxisLane.Move.bJogNeg := gManualCommands.bOpenLane;
+
+    
+    IF EDGEPOS (gManualCommands.bToggleLane) THEN
+      bWireLane12 := NOT bWireLane12;
+    END_IF
+    
+    IF EDGEPOS (gManualCommands.bToggleWireDistributorOpCl) THEN
+      gbOuWireDistirbutorOpen :=  NOT gbOuWireDistirbutorOpen;
+    END_IF
+
+    //Bender 1
+    IF EDGEPOS (gManualCommands.bBend1Home) AND gbInWireDistributorOpen THEN
+      lAxisBend1.bHome := TRUE;
+    END_IF
+    lAxisBend1.Move.bJogPos := gManualCommands.bBend1JogFwd;
+    lAxisBend1.Move.bJogNeg := gManualCommands.bBend1JogBwd;
+    IF EDGEPOS (gManualCommands.bBend1Pos0) AND lAxisBend1.Status.bStandstill THEN
+      lAxisBend1.Para.rPosition := rBender1Pos0;
+      lAxisBend1.Move.bAbsolute := TRUE;
+    END_IF
+    IF EDGEPOS (gManualCommands.bBend1Pos90) AND lAxisBend1.Status.bStandstill THEN
+      lAxisBend1.Para.rPosition := rBender1Pos90;
+      lAxisBend1.Move.bAbsolute := TRUE;
+    END_IF
+    IF EDGEPOS (gManualCommands.bBend1Pos270) AND lAxisBend1.Status.bStandstill THEN
+      lAxisBend1.Para.rPosition := rBender1Pos270;
+      lAxisBend1.Move.bAbsolute := TRUE;
+    END_IF
+
+    //Bender 2
+    IF EDGEPOS (gManualCommands.bBend2Home) AND gbInWireDistributorOpen THEN
+      lAxisBend2.bHome := TRUE;
+    END_IF
+    lAxisBend2.Move.bJogPos := gManualCommands.bBend2JogFwd;
+    lAxisBend2.Move.bJogNeg := gManualCommands.bBend2JogBwd;
+
+    IF EDGEPOS (gManualCommands.bBend2Pos0) AND lAxisBend2.Status.bStandstill THEN
+      lAxisBend2.Para.rPosition := rBender2Pos0;
+      lAxisBend2.Move.bAbsolute := TRUE;
+    END_IF
+    IF EDGEPOS (gManualCommands.bBend2Pos90) AND lAxisBend2.Status.bStandstill THEN
+      lAxisBend2.Para.rPosition := rBender2Pos90;
+      lAxisBend2.Move.bAbsolute := TRUE;
+    END_IF
+    IF EDGEPOS (gManualCommands.bBend2Pos270) AND lAxisBend2.Status.bStandstill THEN
+      lAxisBend2.Para.rPosition := rBender2Pos270;
+      lAxisBend2.Move.bAbsolute := TRUE;
+    END_IF
+
+    //Wire 1
+    IF EDGEPOS (gManualCommands.bWireToggleSetStroke) THEN
+      bBladesUp := NOT bBladesUp;
+    END_IF
+
+    IF EDGEPOS (gManualCommands.bWire1VertStrokeUp) AND gbInHorStrokeBwWire1 THEN
+      bVerStrokeWire1Fw := TRUE;
+    END_IF
+    
+    IF EDGEPOS (gManualCommands.bWire1VertStrokeDown) AND gbInHorStrokeBwWire1 THEN
+      bVerStrokeWire1Fw := FALSE;
+    END_IF
+    
+    IF EDGEPOS (gManualCommands.bWire1HorStrokeFw) AND ((gbInVertStrokeBwWire1 AND NOT gbOuStretchWire1) OR gbInVertStrokeFwWire1) THEN
+      bHorStrokeWire1Fw := TRUE;
+    END_IF
+
+    IF EDGEPOS (gManualCommands.bWire1HorStrokeBw) AND (gbInVertStrokeBwWire1 OR gbInVertStrokeFwWire1) THEN
+      bHorStrokeWire1Fw := FALSE;
+    END_IF
+    
+    IF EDGEPOS (gManualCommands.bWire1ToggleStretcher) THEN
+      gbOuStretchWire1 := NOT gbOuStretchWire1;
+    END_IF
+    
+    IF EDGEPOS (gManualCommands.bWire1ToggleGripper) THEN
+      gbOuCloseWireGrippers1 := NOT gbOuCloseWireGrippers1;
+    END_IF
+    
+    //Wire2
+    IF EDGEPOS (gManualCommands.bWire2VertStrokeUp) AND gbInHorStrokeBwWire2 THEN
+      bVerStrokeWire2Fw := TRUE;
+    END_IF
+    
+    IF EDGEPOS (gManualCommands.bWire2VertStrokeDown) AND gbInHorStrokeBwWire2 THEN
+      bVerStrokeWire2Fw := FALSE;
+    END_IF
+    
+    IF EDGEPOS (gManualCommands.bWire2HorStrokeFw) AND ((gbInVertStrokeBwWire2  AND NOT gbOuStretchWire2) OR gbInVertStrokeFwWire2) THEN
+      bHorStrokeWire2Fw := TRUE;
+    END_IF
+
+    IF EDGEPOS (gManualCommands.bWire2HorStrokeBw) AND (gbInVertStrokeBwWire2 OR gbInVertStrokeFwWire2) THEN
+      bHorStrokeWire2Fw := FALSE;
+    END_IF
+    
+    IF EDGEPOS (gManualCommands.bWire2ToggleStretcher) THEN
+      gbOuStretchWire2 := NOT gbOuStretchWire2;
+    END_IF
+    
+    IF EDGEPOS (gManualCommands.bWire2ToggleGripper) THEN
+      gbOuCloseWireGrippers2 := NOT gbOuCloseWireGrippers2;
+    END_IF  
+    
+    //Param
+    IF EDGEPOS (TON_StoreWeldpos.Q) THEN
+      grBladeWeldPos[enBladetype] := lAxisBelt.rActPosition;
+    END_IF
+  ELSE
+    gManualCommands.bBeltJogFwdCont := FALSE;
+  END_IF
+
+
+  //(Semi) - Automaticmode
+  //==========================================================================================
+  IF (gMachine.enMode = enMACH_MANUAL) OR (gMachine.enMode = enMACH_AUTOMATIC) THEN
+    bEnableNextStep := EDGEPOS (gManualCommands.bNextManStep)  OR (gMachine.enMode = enMACH_AUTOMATIC) ;
+    //Wirefeed
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    CASE enStepWirefeed OF
+      //Init
+      //---------------------------
+  	  enWireStep_INIT:
+        gbOuWireDistirbutorOpen := FALSE;
+        IF bHomePosWireprocess AND (enBladetype <> enBlade_None) THEN
+          enStepWirefeed := enWireStep_FEED;
+          enStateWire := enWire_FEEDING;
+          lAxisWire1.Move.bAdditive := TRUE;
+        END_IF
+  		 
+      //Feed Wire
+      //---------------------------
+      enWireStep_FEED:
+        IF gbInWireFeeded THEN
+          lAxisWire1.bStop := TRUE;
+          enStateWire := enWire_FEEDED;
+        END_IF
+        IF gbInWireFeeded AND lAxisWire1.Status.bStandstill THEN
+          enStepWirefeed := enWireStep_BEND_END2;
+        END_IF
+
+      //Bend Wire End 2 (wait for Handling)
+      //---------------------------
+      enWireStep_BEND_END2:
+        //Decide Destination for Wire             
+        IF (enStepWirehandling2 = enWireHandlingStep_WAIT_WIRE) AND (gbInVertStrokeBwWire1 OR gbInVertStrokeBwWire1) THEN
+          lAxisBend2.Para.rPosition := rBender2Pos270 ;
+          lAxisBend2.Move.bAbsolute := TRUE;
+          enStepWirefeed := enWireStep_WAIT_BENT_END2;
+        ELSIF (enStepWirehandling1 = enWireHandlingStep_WAIT_WIRE) THEN
+          lAxisBend2.Para.rPosition := rBender2Pos90 ;
+          lAxisBend2.Move.bAbsolute := TRUE;
+          enStepWirefeed := enWireStep_WAIT_BENT_END2;
+        END_IF
+        //Also prepare WireCutter (Wait for Handling 2 is down
+        gbOuSetStrokeWireCutter := gbInVertStrokeBwWire1;
+
+      //Wait Wire End 2 is Bent
+      //---------------------------
+      enWireStep_WAIT_BENT_END2:
+        IF lAxisBend2.Status.bStandstill AND NOT lAxisBend2.Move.bAbsolute THEN
+          //Decide Destination for Wire
+          IF (lAxisBend2.Para.rPosition = rBender2Pos90) THEN
+            lAxisBend2.Para.rPosition := rBender2Pos90 + rBenderOpenAngle2;
+            lAxisBend2.Move.bAbsolute := TRUE;
+            enStateWire := enWire_END2_BENT1;
+          ELSIF (lAxisBend2.Para.rPosition = rBender2Pos270) THEN
+            lAxisBend2.Para.rPosition := rBender2Pos270 - rBenderOpenAngle2;
+            lAxisBend2.Move.bAbsolute := TRUE;
+            enStateWire := enWire_END2_BENT2;
+          END_IF        
+          enStepWirefeed := enWireStep_WATT_BENDER2_OPEN;
+        END_IF
+        
+      //Wire End 2 Open
+      //---------------------------
+      enWireStep_WATT_BENDER2_OPEN:
+        IF lAxisBend2.Status.bStandstill AND NOT lAxisBend2.Move.bAbsolute THEN
+          enStepWirefeed := enWireStep_CUT;
+        END_IF
+
+      //Cut Wire
+      //---------------------------
+      enWireStep_CUT:
+        IF gbInSetStrokeCutterFw THEN
+          gbOuCutWire := TRUE;
+        END_IF
+        
+        IF TON_WireCutterClosed.Q THEN
+          gbOuCutWire := FALSE;
+          enStepWirefeed := enWireStep_HOME_CUTTER;
+          IF (enStateWire = enWire_END2_BENT1) THEN
+            enStateWire := enWire_CUT1;
+          ELSIF (enStateWire = enWire_END2_BENT2) THEN
+            enStateWire := enWire_CUT2;
+          END_IF
+        END_IF
+        
+      //Home Cutter
+      //---------------------------
+      enWireStep_HOME_CUTTER:
+        gbOuSetStrokeWireCutter := FALSE;
+        IF gbInSetStrokeCutterBw THEN
+          enStepWirefeed := enWireStep_BEND_END1;
+        END_IF
+         
+      //Bend Wire End 1
+      //---------------------------
+      enWireStep_BEND_END1:
+        enStepWirefeed := enWireStep_INIT;
+        //Decide Destination for Wire
+        IF (enStateWire = enWire_CUT1) THEN
+          lAxisBend1.Para.rPosition := rBender1Pos90;
+        ELSIF (enStateWire = enWire_CUT2) THEN
+          lAxisBend1.Para.rPosition := rBender1Pos270;
+        END_IF
+        lAxisBend1.Move.bAbsolute := TRUE;
+        enStepWirefeed := enWireStep_WAIT_BENT_END1;
+
+      //Wait Wire End 1 is Bent
+      //---------------------------
+      enWireStep_WAIT_BENT_END1:
+        IF lAxisBend1.Status.bStandstill AND NOT lAxisBend1.Move.bAbsolute THEN
+          //Decide Destination for Wire
+          IF (lAxisBend1.Para.rPosition = rBender1Pos90) THEN
+            lAxisBend1.Para.rPosition := rBender1Pos90 - rBenderOpenAngle;
+            enStateWire := enWire_BENT1;
+          ELSIF (lAxisBend1.Para.rPosition = rBender1Pos270) THEN
+            lAxisBend1.Para.rPosition := rBender1Pos270 + rBenderOpenAngle;
+            enStateWire := enWire_BENT2;
+          END_IF        
+          lAxisBend1.Move.bAbsolute := TRUE;
+          enStepWirefeed := enWireStep_WATT_BENDER1_OPEN;
+        END_IF
+        
+      //Bender 1 Open
+      //---------------------------
+      enWireStep_WATT_BENDER1_OPEN:
+        IF lAxisBend1.Status.bStandstill AND NOT lAxisBend1.Move.bAbsolute THEN
+          enStepWirefeed := enWireStep_CHANGE_LANE;
+        END_IF
+
+      //Ggf. Spur wechseln
+      //---------------------------
+      enWireStep_CHANGE_LANE:
+        bWireLane12 := (enStateWire = enWire_BENT2);
+        IF (gbInWireDistributorLane1 AND (enStateWire = enWire_BENT1)) OR
+           (gbInWireDistributorLane2 AND (enStateWire = enWire_BENT2)) THEN
+          enStepWirefeed := enWireStep_WAIT_WIRE_PICKED;
+        END_IF
+        
+      //Warten bis Draht gegriffen
+      //---------------------------
+      enWireStep_WAIT_WIRE_PICKED:
+        IF (gbInWireDistributorLane1 AND (enStepWirehandling1 = enWireHandlingStep_WAIT_OPEN_D)) OR
+           (gbInWireDistributorLane2 AND (enStepWirehandling2 = enWireHandlingStep_WAIT_OPEN_D)) THEN
+          enStepWirefeed := enWireStep_OPEN_WIREDISTRIBUTOR;
+        END_IF
+
+      //Drahtverteiler <EFBFBD>ffnen
+      //---------------------------
+      enWireStep_OPEN_WIREDISTRIBUTOR:
+        gbOuWireDistirbutorOpen := TRUE;
+        IF gbInWireDistributorOpen THEN
+          enStepWirefeed := enWireStep_WAIT_WIRE_AWAY;
+        END_IF
+
+      //Warten bis Draht abgeholt
+      //---------------------------
+      enWireStep_WAIT_WIRE_AWAY:
+        IF (gbInWireDistributorLane1 AND gbInHorStrokeBwWire1) OR
+           (gbInWireDistributorLane2 AND gbInHorStrokeBwWire2) THEN
+          enStepWirefeed := enWireStep_RETURN_LANE1;
+        END_IF
+
+      //GGf auf Spur 1 zur<EFBFBD>ckfahren
+      //---------------------------
+      enWireStep_RETURN_LANE1:
+        bWireLane12 := FALSE;
+        IF gbInWireDistributorLane1 THEN
+          enStepWirefeed := enWireStep_WAIT_BENDERS_HOMED;
+          lAxisBend1.Para.rPosition := rBender1Pos0;
+          lAxisBend1.Move.bAbsolute := TRUE;
+          lAxisBend2.Para.rPosition := rBender2Pos0;
+          lAxisBend2.Move.bAbsolute := TRUE;
+          enStateWire := enWire_NOWIRE;
+        END_IF
+                
+      //Bieger zur<EFBFBD>ckstellen
+      //---------------------------
+      enWireStep_WAIT_BENDERS_HOMED:
+        IF (lAxisBend1.Para.rPosition = rBender1Pos0) AND (lAxisBend2.Para.rPosition = rBender2Pos0) THEN
+          enStepWirefeed := enWireStep_CLOSE_WIREDISTRIBUTOR;
+        END_IF
+
+      //Close Wiredistributor
+      //---------------------------
+      enWireStep_CLOSE_WIREDISTRIBUTOR:
+        gbOuWireDistirbutorOpen := FALSE;
+        IF gbInWireDistributorClosed THEN
+          enStepWirefeed := enWireStep_INIT;
+        END_IF
+        
+      //Stop
+      //---------------------------
+      enWireStep_STOP:
+        
+    ELSE
+    END_CASE;
+
+    //Wirehandling 1
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    CASE enStepWirehandling1 OF
+      //Init
+      //---------------------------
+  	  enWireStep_INIT:
+        bHorStrokeWire1Fw := FALSE;
+        gbOuStretchWire1 := FALSE;
+        gbOuCloseWireGrippers1 := FALSE;
+        IF gbInHorStrokeBwWire1 THEN
+          bVerStrokeWire1Fw := FALSE;
+        END_IF
+        IF NOT gbOuCloseWireGrippers1 AND gbInVertStrokeBwWire1 AND gbInHorStrokeBwWire1 THEN
+          enStepWirehandling1 := enWireHandlingStep_WAIT_WIRE;
+        END_IF
+
+      //Wait for Wire
+      //---------------------------
+  	  enWireHandlingStep_WAIT_WIRE:
+        gbOuStretchWire1 := FALSE;
+        IF gbInWireDistributorLane1 AND (enStateWire = enWire_BENT1) AND
+           (enStepWirefeed = enWireStep_WAIT_WIRE_PICKED) THEN
+          enStepWirehandling1 := enWireHandlingStep_INSERT_HDL;
+        END_IF
+        
+      //Insert Hadling
+      //---------------------------
+      enWireHandlingStep_INSERT_HDL:
+        bHorStrokeWire1Fw := TRUE;
+        IF gbInHorStrokeFwWire1 THEN
+          enStepWirehandling1 := enWireHandlingStep_PRESTRETCH;
+        END_IF
+
+      //Prestrech Gripper
+      //---------------------------
+      enWireHandlingStep_PRESTRETCH:
+        gbOuStretchWire1 := TRUE;
+        IF TON_Gripper1Prestreched.Q THEN
+          enStepWirehandling1 := enWireHandlingStep_PICK_WIRE;
+        END_IF
+        
+      //Pick Wire
+      //---------------------------
+      enWireHandlingStep_PICK_WIRE:
+        gbOuCloseWireGrippers1 := TRUE;
+        IF TON_Wiregrippers1Closed.Q THEN
+          enStepWirehandling1 := enWireHandlingStep_WAIT_OPEN_D;
+          gbOuStretchWire1 := FALSE;
+      END_IF
+        
+      //Wait for Distributor opended
+      //---------------------------
+      enWireHandlingStep_WAIT_OPEN_D:
+        IF (enStepWirefeed = enWireStep_WAIT_WIRE_AWAY) THEN
+          enStepWirehandling1 := enWireHandlingStep_RETURN_HDL;
+        END_IF
+        
+      //Return Handling from Wiredistributor
+      //---------------------------
+      enWireHandlingStep_RETURN_HDL:
+        bHorStrokeWire1Fw := FALSE;
+        IF gbInHorStrokeBwWire1 THEN
+          enStepWirehandling1 := enWireHandlingStep_LIFT_WIRE;
+        END_IF
+
+      //Lift Wire
+      //---------------------------
+      enWireHandlingStep_LIFT_WIRE:
+        bVerStrokeWire1Fw := TRUE;
+        IF gbInVertStrokeFwWire1 THEN
+          enStepWirehandling1 := enWireHandlingStep_WAIT_2ndWIRE;
+        END_IF
+        
+      //Wait for 2nd Wire finished
+      //---------------------------
+      enWireHandlingStep_WAIT_2ndWIRE:
+        IF (enStepWirehandling2 = enWireHandlingStep_WAIT_2ndWIRE) AND
+           ((enStepBelt = enBeltStep_MOVE_TO_WELDPOS) OR (enStepBelt = enBeltStep_WAIT_WELDED)) THEN
+          enStepWirehandling1 := enWireHandlingStep_HEAT_WIRE;
+          enStepWirehandling2 := enWireHandlingStep_HEAT_WIRE;
+        END_IF
+        IF EDGEPOS (gManualCommands.bCancelPocess) THEN
+          enStepWirehandling1 := enWireHandlingStep_OPEN_GRIPPER;  
+        END_IF
+
+      //Heat Wire
+      //---------------------------
+      enWireHandlingStep_HEAT_WIRE:
+        //IF EDGEPOS (gManualCommands.bWireHeated) THEN
+        IF TON_WireHeated.Q AND (enStepBelt = enBeltStep_WAIT_WELDED) THEN
+          enStepWirehandling1 := enWireHandlingStep_INSERT_WIRE;  
+          enStepWirehandling2 := enWireHandlingStep_INSERT_WIRE;  
+        END_IF
+        IF EDGEPOS (gManualCommands.bCancelPocess) THEN
+          enStepWirehandling1 := enWireHandlingStep_OPEN_GRIPPER;  
+          enStepWirehandling2 := enWireHandlingStep_OPEN_GRIPPER;  
+        END_IF
+        
+      //Insert Wire
+      //---------------------------
+      enWireHandlingStep_INSERT_WIRE:
+        bHorStrokeWire1Fw := TRUE;
+        IF TON_WireWelded.Q THEN
+          enStepWirehandling1 := enWireHandlingStep_COOL_WIRE;
+        END_IF
+        IF EDGEPOS (gManualCommands.bCancelPocess) THEN
+          enStepWirehandling1 := enWireHandlingStep_OPEN_GRIPPER;  
+          enStepWirehandling2 := enWireHandlingStep_OPEN_GRIPPER;  
+        END_IF
+      
+      //Cool Wire
+      //---------------------------
+      enWireHandlingStep_COOL_WIRE:
+        IF TON_WireCooled.Q THEN
+          enStepWirehandling1 := enWireHandlingStep_OPEN_GRIPPER;
+          enStepWirehandling2 := enWireHandlingStep_OPEN_GRIPPER;
+        END_IF
+
+      //Open Grippers
+      //---------------------------
+      enWireHandlingStep_OPEN_GRIPPER:
+        gbOuCloseWireGrippers1 := FALSE;
+        IF NOT TOF_Wiregrippers1Closed.Q THEN
+          enStepWirehandling1 := enWireHandlingStep_RETURN_HDL2;
+        END_IF
+        
+      //Return Handling from Wiredistributor
+      //---------------------------
+      enWireHandlingStep_RETURN_HDL2:
+        bHorStrokeWire1Fw := FALSE;
+        IF gbInHorStrokeBwWire1 THEN
+          enStepWirehandling1 := enWireHandlingStep_SINK_HDL;
+        END_IF
+
+      //Move Down
+      //---------------------------
+      enWireHandlingStep_SINK_HDL:
+        bVerStrokeWire1Fw := FALSE;
+        IF gbInVertStrokeBwWire1 THEN
+          enStepWirehandling1 := enWireHandlingStep_INIT;
+        END_IF
+                      
+    END_CASE;
+  
+    //Wirehandling 2
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    CASE enStepWirehandling2 OF
+      //Init
+      //---------------------------
+  	  enWireStep_INIT:
+        //Return Valves
+        bHorStrokeWire2Fw := FALSE;
+        gbOuStretchWire2 := FALSE;
+        gbOuCloseWireGrippers2 := FALSE;
+        IF gbInHorStrokeBwWire2 THEN
+          bVerStrokeWire2Fw := FALSE;
+        END_IF
+        IF NOT gbOuCloseWireGrippers2 AND gbInVertStrokeBwWire2 AND gbInHorStrokeBwWire2 THEN
+          enStepWirehandling2 := enWireHandlingStep_WAIT_WIRE;
+        END_IF
+
+      //Wait for Wire
+      //---------------------------
+  	  enWireHandlingStep_WAIT_WIRE:
+       gbOuStretchWire2 := FALSE;
+       IF gbInWireDistributorLane2 AND (enStateWire = enWire_BENT2) AND 
+           (enStepWirefeed = enWireStep_WAIT_WIRE_PICKED) THEN
+          enStepWirehandling2 := enWireHandlingStep_INSERT_HDL;
+        END_IF
+        
+      //Insert Hadling
+      //---------------------------
+      enWireHandlingStep_INSERT_HDL:
+        bHorStrokeWire2Fw := TRUE;
+        IF gbInHorStrokeFwWire2 THEN
+          enStepWirehandling2 := enWireHandlingStep_PRESTRETCH;
+        END_IF
+
+      //Prestrech Gripper
+      //---------------------------
+      enWireHandlingStep_PRESTRETCH:
+        gbOuStretchWire2 := TRUE;
+        IF TON_Gripper2Prestreched.Q THEN
+          enStepWirehandling2 := enWireHandlingStep_PICK_WIRE;
+        END_IF
+        
+      //Pick Wire
+      //---------------------------
+      enWireHandlingStep_PICK_WIRE:
+        gbOuCloseWireGrippers2 := TRUE;
+        IF TON_Wiregrippers2Closed.Q THEN
+          enStepWirehandling2 := enWireHandlingStep_WAIT_OPEN_D;
+          gbOuStretchWire2 := FALSE;
+      END_IF
+        
+      //Wait for Distributor opended
+      //---------------------------
+      enWireHandlingStep_WAIT_OPEN_D:
+        IF (enStepWirefeed = enWireStep_WAIT_WIRE_AWAY) THEN
+          enStepWirehandling2 := enWireHandlingStep_RETURN_HDL;
+        END_IF
+        
+      //Return Handling from Wiredistributor
+      //---------------------------
+      enWireHandlingStep_RETURN_HDL:
+        bHorStrokeWire2Fw := FALSE;
+        IF gbInHorStrokeBwWire2 THEN
+          enStepWirehandling2 := enWireHandlingStep_LIFT_WIRE;
+        END_IF
+
+      //Lift Wire
+      //---------------------------
+      enWireHandlingStep_LIFT_WIRE:
+        bVerStrokeWire2Fw := TRUE;
+        IF gbInVertStrokeFwWire2 THEN
+          enStepWirehandling2 := enWireHandlingStep_WAIT_2ndWIRE;
+        END_IF
+
+      //Wait for 2nd Wire finished
+      //---------------------------
+      enWireHandlingStep_WAIT_2ndWIRE:
+        IF EDGEPOS (gManualCommands.bCancelPocess) THEN
+          enStepWirehandling2 := enWireHandlingStep_OPEN_GRIPPER;  
+        END_IF
+        
+      //Heat Wire
+      //---------------------------
+      enWireHandlingStep_HEAT_WIRE:
+       
+
+      //Insert Wire
+      //---------------------------
+      enWireHandlingStep_INSERT_WIRE:
+        bHorStrokeWire2Fw := TRUE;
+        IF (enStepWirehandling1 = enWireHandlingStep_COOL_WIRE) THEN
+          enStepWirehandling2 := enWireHandlingStep_COOL_WIRE;
+        END_IF
+      
+      //Cool Wire
+      //---------------------------
+      enWireHandlingStep_COOL_WIRE:
+
+      //Open Grippers
+      //---------------------------
+      enWireHandlingStep_OPEN_GRIPPER:
+        gbOuCloseWireGrippers2 := FALSE;
+        IF NOT TOF_Wiregrippers2Closed.Q THEN
+          enStepWirehandling2 := enWireHandlingStep_RETURN_HDL2;
+        END_IF
+        
+      //Return Handling from Wiredistributor
+      //---------------------------
+      enWireHandlingStep_RETURN_HDL2:
+        bHorStrokeWire2Fw := FALSE;
+        IF gbInHorStrokeBwWire2 THEN
+          enStepWirehandling2 := enWireHandlingStep_SINK_HDL;
+        END_IF
+
+      //Move Down
+      //---------------------------
+      enWireHandlingStep_SINK_HDL:
+        bVerStrokeWire2Fw := FALSE;
+        IF gbInVertStrokeBwWire2 THEN
+          enStepWirehandling2 := enWireHandlingStep_INIT;
+        END_IF
+                      
+    END_CASE;
+  
+    
+    //ShiftBelt
+    //++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
+    CASE enStepBelt OF
+      //Init
+      //---------------------------
+  	  enBeltStep_INIT:
+        IF (enBladetype <> enBlade_None) THEN
+          lAxisLane.Para.rPosition := grBladewidth[enBladetype];
+          IF (lAxisLane.Para.rPosition >  -10) THEN
+            lAxisLane.Para.rPosition := grBladewidth[enBlade_7789_Z07];
+          END_IF;
+          lAxisBelt.Para.rVelocity := rBeltVelocityEmpty;
+          lAxisLane.Move.bAbsolute:= TRUE;
+          enStepBelt := enBeltStep_ADJUST_LANE;
+        END_IF
+
+      //Adjust Lane
+      //---------------------------
+      enBeltStep_ADJUST_LANE:
+        IF NOT lAxisLane.Move.bAbsolute THEN
+          lAxisBelt.Para.usDirection := mcNEGATIVE_DIR;
+          lAxisBelt.Para.rPosition := grBladeStartPos[enBladetype];
+          lAxisBelt.Para.rVelocity := rBeltVelocityEmpty;
+          lAxisBelt.Move.bAbsolute:= TRUE;
+          enStepBelt := enBeltStep_MOVE_TO_LOADPOS;
+          enLastBladetype := enBladetype;
+          usActBladesInFrame := 1;
+        END_IF
+        
+      //Move to Loadpos
+      //---------------------------
+      enBeltStep_MOVE_TO_LOADPOS:
+        IF NOT lAxisBelt.Move.bAbsolute THEN
+          udTimeLastCycle := gudUnixTimeUTC - udStartTime;
+          udStartTime := gudUnixTimeUTC;
+          enStepBelt := enBeltStep_WAIT_LOADED;
+        END_IF
+
+      //Wait Belt Loaded
+      //---------------------------
+      enBeltStep_WAIT_LOADED:
+        //FixMe not with Robot !!!!
+        IF (enBladetype <> enLastBladetype) THEN
+          udActualFramecount ACCESS ADR (gudFramecount[enBladetype]);
+          lrActualWeldpos ACCESS ADR (grBladeWeldPos[enBladetype]);
+          lAxisBelt.Para.usDirection := mcNEGATIVE_DIR;
+          lAxisLane.Para.rPosition := grBladewidth[enBladetype];
+          lAxisLane.Move.bAbsolute:= TRUE;
+          enStepBelt := enBeltStep_ADJUST_LANE;
+        END_IF
+        bBladesUp := gbBladePoleUp[enBladetype];
+
+        IF TON_WaitShiftBelt.Q AND (usActBladesInFrame <= gusBladesInFrame[enBladetype]) THEN
+           usActBladesInFrame := usActBladesInFrame + 1;
+           lAxisBelt.Para.rVelocity := rBeltVelocityShift;
+           lAxisBelt.Para.usDirection := mcNEGATIVE_DIR;
+           lAxisBelt.Para.rDistance := - grBladeShiftwidth[enBladetype];
+           lAxisBelt.Move.bAdditive := TRUE;
+        END_IF     
+        IF (EDGEPOS (gManualCommands.bFrameLoaded) OR EDGEPOS (gbInBladeLoaded)) AND (usActBladesInFrame > gusBladesInFrame[enBladetype]) THEN
+          enStepBelt := enBeltStep_MOVE_TO_WELDPOS;
+          lAxisBelt.Para.rVelocity := rBeltVelocityLoaded;
+          lAxisBelt.Para.usDirection := mcNEGATIVE_DIR;
+          lAxisBelt.Para.rPosition := grBladeWeldPos[enBladetype];
+          lAxisBelt.Move.bAbsolute:= TRUE;
+        END_IF
+
+      //Move to Loadpos
+      //---------------------------
+      enBeltStep_MOVE_TO_WELDPOS:
+        IF NOT lAxisBelt.Move.bAbsolute THEN
+          enStepBelt := enBeltStep_WAIT_WELDED;
+        END_IF
+                
+      //Wait for Wire Welded
+      //---------------------------
+  	  enBeltStep_WAIT_WELDED:
+        IF (enStepWirehandling1 = enWireHandlingStep_RETURN_HDL2) THEN
+          enStepBelt := enBeltStep_WAIT_ALL_RETURNED;
+        END_IF
+        
+      //Insert Hadling
+      //---------------------------
+      enBeltStep_WAIT_ALL_RETURNED:
+        IF (gbInHorStrokeBwWire1 OR gbInVertStrokeBwWire1) AND
+           (gbInHorStrokeBwWire2 OR gbInVertStrokeBwWire2) THEN
+          lAxisBelt.Para.rVelocity := rBeltVelocityEmpty;
+          lAxisBelt.Para.rDistance := -5000;
+          lAxisBelt.Move.bAdditive := TRUE;
+          enStepBelt := enBeltStep_EJECT_FRAME;                    
+        END_IF
+
+      //EJECT FRAME
+      //---------------------------
+      enBeltStep_EJECT_FRAME:
+        IF NOT lAxisBelt.Move.bAdditive AND lAxisBelt.Status.bStandstill THEN
+          lAxisBelt.Para.rVelocity := rBeltVelocityEmpty;
+          lAxisBelt.Para.usDirection := mcNEGATIVE_DIR;
+          gudFramecount[enBladetype] := gudFramecount[enBladetype] + 1;
+          gudOverallFramecount := gudOverallFramecount + 1;
+          gBBCLog.udProdID := gudUnixTimeUTC;
+          gBBCLog.udProdNr := enBladetype;
+          gBBCLog.udCount := gusBladesInFrame[enBladetype];
+          gBBCLog.udType := 2; //Sparerib
+          gBBCLog.udLotNr := 99; //LK Nr
+          gBBCLog.bLog := TRUE;
+          enStepBelt := enBeltStep_INIT;
+        END_IF
+                
+    END_CASE;
+  END_IF;
+
+  
+  
+  
+  IF (enStepBelt = enBeltStep_EJECT_FRAME) THEN
+    giOuPulseDurationPWM1 := -22500;
+    giOuPulseDurationPWM2 := -22500;
+  ELSE
+    giOuPulseDurationPWM1 := 0;
+    giOuPulseDurationPWM2 := 0;
+  END_IF
+                       
+  //Control Valves with 2 Hs
+  gbOuHorStrokeFwWire1 := bHorStrokeWire1Fw;
+  gbOuHorStrokeBwWire1 := NOT bHorStrokeWire1Fw;
+  gbOuVertStrokeFwWire1 := bVerStrokeWire1Fw;
+  gbOuVertStrokeBwWire1 := NOT bVerStrokeWire1Fw;
+  gbOuHorStrokeFwWire2 := bHorStrokeWire2Fw;
+  gbOuHorStrokeBwWire2 := NOT bHorStrokeWire2Fw;
+  gbOuVertStrokeFwWire2 := bVerStrokeWire2Fw;
+  gbOuVertStrokeBwWire2 := NOT bVerStrokeWire2Fw;
+  
+  gbOuWireDistributorLane1 := NOT bWireLane12;
+  gbOuWireDistributorLane2 := bWireLane12;
+      
+  gbOuSetStrokeBwWire1 := bBladesUp;
+  gbOuSetStrokeFwWire1 := NOT bBladesUp;
+  gbOuSetStrokeBwWire2 := bBladesUp;
+  gbOuSetStrokeFwWire2 := NOT bBladesUp;
+
+  //Visu Buttons
+  usStateBtBeltLoaded := BOOL_TO_USINT (enStepBelt <> enBeltStep_WAIT_LOADED);
+  usStateBtLoadWire := BOOL_TO_USINT (enStepWirefeed <> enWireStep_INIT);
+  usStateBtWireHeated := BOOL_TO_USINT (enStepWirehandling1 <> enWireHandlingStep_HEAT_WIRE);
+  usStateBtWireWelded := BOOL_TO_USINT (enStepWirehandling1 <> enWireHandlingStep_INSERT_WIRE);
+  //Hide Button for Error Reset
+  usHideButErrorReset := (lAxisWire1.Error.uiID = 0) AND
+                         (lAxisWire2.Error.uiID = 0) AND
+                         (lAxisBend1.Error.uiID = 0) AND
+                         (lAxisBend2.Error.uiID = 0) AND
+                         (lAxisLane.Error.uiID = 0) AND
+                         (lAxisBelt.Error.uiID = 0);
+
+  giOuWireheatCurrent := REAL_TO_INT (rCurrent * rCurrentFactor);
+  giOuWireheatVoltage :=  REAL_TO_INT (rVoltage * rVoltageFactor);
+  IF (giOuWireheatCurrent > 16383) THEN
+    giOuWireheatCurrent := 16383;
+  END_IF
+  IF (giOuWireheatVoltage > 16383) THEN
+    giOuWireheatVoltage := 16383;
+  END_IF
+  gbOuWireheatOn1 := (((enStepWirehandling1 = enWireHandlingStep_HEAT_WIRE) AND (enStepWirehandling2 = enWireHandlingStep_HEAT_WIRE)) OR
+                      (enStepWirehandling1 = enWireHandlingStep_INSERT_WIRE)) AND
+                      ((gMachine.enMode = enMACH_AUTOMATIC) OR (gMachine.enMode = enMACH_MANUAL));
+                      
+  gbOuSmokeFanOn := ((enStepWirehandling1 = enWireHandlingStep_INSERT_WIRE) OR (enStepWirehandling2 = enWireHandlingStep_INSERT_WIRE) OR
+                     (enStepWirehandling1 = enWireHandlingStep_COOL_WIRE) OR (enStepWirehandling2 = enWireHandlingStep_COOL_WIRE)) AND
+                      ((gMachine.enMode = enMACH_AUTOMATIC) OR (gMachine.enMode = enMACH_MANUAL));
+                         
+  IF EDGEPOS (usErrorReset = 1) THEN
+    lAxisWire1.Error.bAcknowledge := (lAxisWire1.Error.uiID > 0);
+    lAxisWire2.Error.bAcknowledge := (lAxisWire2.Error.uiID > 0);
+    lAxisBend1.Error.bAcknowledge := (lAxisBend1.Error.uiID > 0);
+    lAxisBend2.Error.bAcknowledge := (lAxisBend2.Error.uiID > 0);
+    lAxisLane.Error.bAcknowledge := (lAxisLane.Error.uiID > 0);
+    lAxisBelt.Error.bAcknowledge := (lAxisBelt.Error.uiID > 0);
+    usErrorReset := 0;
+  END_IF
+END_PROGRAM
--- a/Logical/Axises/GrillCtrl/GrillCtrllInit.st
+++ b/Logical/Axises/GrillCtrl/GrillCtrllInit.st
@@ -0,0 +1,79 @@
+PROGRAM _INIT
+  lAxisWire1 ACCESS ADR (gAxis[0]);
+  lAxisWire2 ACCESS ADR (gAxis[1]);
+  lAxisBelt ACCESS ADR (gAxis[2]);
+  lAxisLane ACCESS ADR (gAxis[3]);
+  lAxisBend1 ACCESS ADR (gAxis[4]);
+  lAxisBend2 ACCESS ADR (gAxis[5]);
+
+  
+  //Prepare Trace (later from Dataobject)
+  strcpy (ADR (gMAxTrace.Trace_Config.DatObj.Device), ADR ("logfiles"));
+  strcpy (ADR (gMAxTrace.Trace_Config.DatObj.Name), ADR ("ParTrace"));
+  gMAxTrace.Trace_Config.DatObj.Type := mcFILE + mcADD_DATE_TIME;
+
+  //Setup Trace
+  gMAxTrace.Trace_Config.ParTrace.Parameter[0].Axis := ADR (gAxWire1);
+  gMAxTrace.Trace_Config.ParTrace.Parameter[0].ParID := ACP10PAR_PCTRL_V_SET;
+  gMAxTrace.Trace_Config.ParTrace.Parameter[1].Axis := ADR (gAxWire2);
+  gMAxTrace.Trace_Config.ParTrace.Parameter[1].ParID := ACP10PAR_PCTRL_V_SET;
+  gMAxTrace.Trace_Config.ParTrace.Parameter[2].Axis := ADR (gAxWire1);
+  gMAxTrace.Trace_Config.ParTrace.Parameter[2].ParID := ACP10PAR_PCTRL_S_ACT;
+  gMAxTrace.Trace_Config.ParTrace.Parameter[3].Axis := ADR (gAxWire2);
+  gMAxTrace.Trace_Config.ParTrace.Parameter[3].ParID := ACP10PAR_PCTRL_S_ACT ; //ACP10PAR_PCTRL_S_ACT
+  gMAxTrace.Trace_Config.ParTrace.Trigger.Axis := ADR (gAxWire1);
+  gMAxTrace.Trace_Config.ParTrace.Trigger.ParID := ACP10PAR_PCTRL_V_SET;
+  gMAxTrace.Trace_Config.ParTrace.Trigger.Event:= mcOUT_WINDOW;
+  gMAxTrace.Trace_Config.ParTrace.Trigger.Threshold := 1;
+  gMAxTrace.Trace_Config.ParTrace.Trigger.Window := 1;
+  gMAxTrace.Trace_Config.ParTrace.Type := mcMULTI_AXIS_TRACE;
+  gMAxTrace.Trace_Config.ParTrace.TracingTime := 60;
+  gMAxTrace.Trace_Config.ParTrace.SamplingTime := 0.08;
+  gMAxTrace.Trace_Config.ParTrace.Delay := 0.0;
+  gMAxTrace.Trace_Config.ParTrace.NetTriggerDelay := 0;
+
+  udStartTime := gudUnixTimeUTC;
+          
+  //Parameter
+  rCurrentFactor := 368;
+  rCurrent := 19.5;
+  rVoltageFactor := 975;
+  rVoltage := 8;
+  lAxisWire1.Para.rVelocity := 80;
+  lAxisWire1.Para.rAcceleration := 500;
+  lAxisWire1.Para.rDeceleration := 50000;
+  lAxisWire1.Para.rPosition := 100;
+  lAxisWire1.Para.rDistance := 340;
+  lAxisWire1.Para.rJogVelocity := 40; 
+
+  lAxisLane.Para.rVelocity := 150;
+  lAxisLane.Para.rAcceleration := 250;
+  lAxisLane.Para.rDeceleration := 250;
+  lAxisLane.Para.rJogVelocity := 100; 
+
+  lAxisBelt.Para.rVelocity := rBeltVelocityEmpty;
+  lAxisBelt.Para.rJogVelocity := 1500;
+  lAxisBelt.Para.rAcceleration := 20000; //30000
+  lAxisBelt.Para.rDeceleration := 20000; //30000
+  lAxisBelt.Para.rDistance := -160;
+  lAxisBelt.Para.udAxisModPosPeriod := 16200;
+  lAxisBelt.Para.udAxisModPosFactor := 1;
+
+  lAxisBend1.Para.rVelocity := 300;
+  lAxisBend1.Para.rJogVelocity := 100;
+  lAxisBend1.Para.rAcceleration := 5000;
+  lAxisBend1.Para.rDeceleration := 5000;
+
+  lAxisBend2.Para.rVelocity := 300;
+  lAxisBend2.Para.rJogVelocity := 100;
+  lAxisBend2.Para.rAcceleration := 5000;
+  lAxisBend2.Para.rDeceleration := 5000;
+
+  //BladeSetup
+    
+  IF enBladetype = enBlade_None THEN
+    enBladetype := enBlade_7789_Z07;
+  END_IF
+  udActualFramecount ACCESS ADR (gudFramecount[enBladetype]);
+  lrActualWeldpos ACCESS ADR (grBladeWeldPos[enBladetype]);  
+END_PROGRAM
--- a/Logical/Axises/GrillCtrl/IEC.prg
+++ b/Logical/Axises/GrillCtrl/IEC.prg
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.23 SP05?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File Description="Implementation code">GrillCtrlCyclic.st</File>
+    <File>GrillCtrllInit.st</File>
+    <File Description="Local data types" Private="true">GrillCtrl.typ</File>
+    <File Description="Local variables" Private="true">GrillCtrl.var</File>
+  </Files>
+</Program>
--- a/Logical/Axises/GrillValues.txt
+++ b/Logical/Axises/GrillValues.txt
@@ -0,0 +1,161 @@
+  //7789_Z07 swapped
+  gbBladePoleUp[enBlade_7789_Z07] := TRUE; 
+  gusBladesInFrame[enBlade_7789_Z07] := 19;
+  grBladewidth[enBlade_7789_Z07] := -410;
+  grBladeShiftwidth[enBlade_7789_Z07] := 150;
+  grBladeStartPos[enBlade_7789_Z07] := 5550;
+  grBladeWeldPos[enBlade_7789_Z07] := 15995; //16038;
+
+  //7789_Z08 swapped
+  gbBladePoleUp[enBlade_7789_Z08] := FALSE;
+  gusBladesInFrame[enBlade_7789_Z08] := 19;
+  grBladewidth[enBlade_7789_Z08] := -410;
+  grBladeShiftwidth[enBlade_7789_Z08] := 150;
+  grBladeStartPos[enBlade_7789_Z08] := 5550;
+  grBladeWeldPos[enBlade_7789_Z08] := 15988; // 16015;// 16053; //16028;
+  
+  //7789_Z09 swapped
+  gbBladePoleUp[enBlade_7789_Z09] := TRUE;
+  gusBladesInFrame[enBlade_7789_Z09] := 19;
+  grBladewidth[enBlade_7789_Z09] := -410;
+  grBladeShiftwidth[enBlade_7789_Z09] := 150;
+  grBladeStartPos[enBlade_7789_Z09] := 5550;
+  grBladeWeldPos[enBlade_7789_Z09] := 16029; //16038;
+
+  //7789_Z10 swapped
+  gbBladePoleUp[enBlade_7789_Z10] := FALSE;
+  gusBladesInFrame[enBlade_7789_Z10] := 19;
+  grBladewidth[enBlade_7789_Z10] := -410;
+  grBladeShiftwidth[enBlade_7789_Z10] := 150;
+  grBladeStartPos[enBlade_7789_Z10] := 5550;
+  grBladeWeldPos[enBlade_7789_Z10] := 16028;
+
+  //7617_Z04 swapped
+  gbBladePoleUp[enBlade_7617_Z04] := TRUE;
+  gusBladesInFrame[enBlade_7617_Z04] := 17;
+  grBladewidth[enBlade_7617_Z04] := -720;
+  grBladeShiftwidth[enBlade_7617_Z04] := 165;
+  grBladeStartPos[enBlade_7617_Z04] := 2255;
+  grBladeWeldPos[enBlade_7617_Z04] := 12750;  //12759;
+
+  //7617_Z05 swapped
+  gbBladePoleUp[enBlade_7617_Z05] := FALSE;
+  gusBladesInFrame[enBlade_7617_Z05] := 17;
+  grBladewidth[enBlade_7617_Z05] := -580;
+  grBladeShiftwidth[enBlade_7617_Z05] := 165;
+  grBladeStartPos[enBlade_7617_Z05] := 2255;
+  grBladeWeldPos[enBlade_7617_Z05] := 12735;
+  
+  //7618_Z04 swapped
+  gbBladePoleUp[enBlade_7618_Z04] := FALSE;
+  gusBladesInFrame[enBlade_7618_Z04] := 17;
+  grBladewidth[enBlade_7618_Z04] := -330;
+  grBladeShiftwidth[enBlade_7618_Z04] := 165;
+  grBladeStartPos[enBlade_7618_Z04] := 2255;
+  grBladeWeldPos[enBlade_7618_Z04] := 12754; //12735;
+
+  //7618_Z05 swapped
+  gbBladePoleUp[enBlade_7618_Z05] := TRUE;
+  gusBladesInFrame[enBlade_7618_Z05] := 17;
+  grBladewidth[enBlade_7618_Z05] := -195;
+  grBladeShiftwidth[enBlade_7618_Z05] := 165;
+  grBladeStartPos[enBlade_7618_Z05] := 2255;
+  grBladeWeldPos[enBlade_7618_Z05] := 12880.0;
+
+  //7619_Z04 swapped
+  gbBladePoleUp[enBlade_7619_Z04] := FALSE; 
+  gusBladesInFrame[enBlade_7619_Z04] := 17;
+  grBladewidth[enBlade_7619_Z04] := -314;
+  grBladeShiftwidth[enBlade_7619_Z04] := 165;
+  grBladeStartPos[enBlade_7619_Z04] := 2255;
+  grBladeWeldPos[enBlade_7619_Z04] := 12870; //12818; // 12758.0; //12724;
+
+  //7619_Z05 swapped
+  gbBladePoleUp[enBlade_7619_Z05] := TRUE;
+  gusBladesInFrame[enBlade_7619_Z05] := 17;
+  grBladewidth[enBlade_7619_Z05] := -195;
+  grBladeShiftwidth[enBlade_7619_Z05] := 165;
+  grBladeStartPos[enBlade_7619_Z05] := 2255;
+  grBladeWeldPos[enBlade_7619_Z05] := 12740.0;
+  
+  //7620_Z04 swapped
+  gbBladePoleUp[enBlade_7620_Z04] := TRUE;
+  gusBladesInFrame[enBlade_7620_Z04] := 17;
+  grBladewidth[enBlade_7620_Z04] := -720;
+  grBladeShiftwidth[enBlade_7620_Z04] := 165;
+  grBladeStartPos[enBlade_7620_Z04] := 2255;
+  grBladeWeldPos[enBlade_7620_Z04] := 12802; // 12730;
+
+  //7620_Z05 swapped
+  gbBladePoleUp[enBlade_7620_Z05] := FALSE;
+  gusBladesInFrame[enBlade_7620_Z05] := 17;
+  grBladewidth[enBlade_7620_Z05] := -580;
+  grBladeShiftwidth[enBlade_7620_Z05] := 165;
+  grBladeStartPos[enBlade_7620_Z05] := 2255;
+  grBladeWeldPos[enBlade_7620_Z05] := 12872; // 12776.0; //12735;
+  
+  
+  //7733_Z01 swapped
+  gbBladePoleUp[enBlade_7733_Z01] := FALSE;
+  gusBladesInFrame[enBlade_7733_Z01] := 19;
+  grBladewidth[enBlade_7733_Z01] := -650;
+  grBladeShiftwidth[enBlade_7733_Z01] := 150;
+  grBladeStartPos[enBlade_7733_Z01] := 5550;
+  grBladeWeldPos[enBlade_7733_Z01] := 16054; 
+
+  //7733_Z03 swapped with 7736_Z03
+  gbBladePoleUp[enBlade_7733_Z03] := FALSE;
+  gusBladesInFrame[enBlade_7733_Z03] := 19;
+  grBladewidth[enBlade_7733_Z03] := -480;
+  grBladeShiftwidth[enBlade_7733_Z03] := 150;
+  grBladeStartPos[enBlade_7733_Z03] := 5550;
+  grBladeWeldPos[enBlade_7733_Z03] := 16007; //16031;
+
+  //7734_Z01 swapped with 35_Z01
+  gbBladePoleUp[enBlade_7734_Z01] := FALSE; //TRUE;
+  gusBladesInFrame[enBlade_7734_Z01] := 16;
+  grBladewidth[enBlade_7734_Z01] := -555;
+  grBladeShiftwidth[enBlade_7734_Z01] :=  180;// 195; //180;
+  grBladeStartPos[enBlade_7734_Z01] := 15000; //11676; //15000;
+  grBladeWeldPos[enBlade_7734_Z01] := 9595; //6376.0; //6404; //9595; 
+  
+  //7734_Z03 swapped with 35_Z03
+  gbBladePoleUp[enBlade_7734_Z03] := FALSE;
+  gusBladesInFrame[enBlade_7734_Z03] := 17;
+  grBladewidth[enBlade_7734_Z03] := -304;
+  grBladeShiftwidth[enBlade_7734_Z03] := 165;
+  grBladeStartPos[enBlade_7734_Z03] := 2255;
+  grBladeWeldPos[enBlade_7734_Z03] := 12723; //12735; //12767; //12794;
+
+  //7735_Z01 (swappted wicht 34_z01)
+  gbBladePoleUp[enBlade_7735_Z01] := TRUE; //FALSE;
+  gusBladesInFrame[enBlade_7735_Z01] := 16;
+  grBladewidth[enBlade_7735_Z01] := -555;
+  grBladeShiftwidth[enBlade_7735_Z01] := 194; //180;
+  grBladeStartPos[enBlade_7735_Z01] := 11676; //15000;
+  grBladeWeldPos[enBlade_7735_Z01] := 6376.0; //9595; 
+
+  //7735_Z03 swapped 7734_Z03
+  gbBladePoleUp[enBlade_7735_Z03] := TRUE;
+  gusBladesInFrame[enBlade_7735_Z03] := 17;
+  grBladewidth[enBlade_7735_Z03] := -304;
+  grBladeShiftwidth[enBlade_7735_Z03] := 165;
+  grBladeStartPos[enBlade_7735_Z03] := 2255;
+  grBladeWeldPos[enBlade_7735_Z03] := 12888;// 12740; //12794;
+  
+  //7736_Z01
+  gbBladePoleUp[enBlade_7736_Z01] := TRUE;
+  gusBladesInFrame[enBlade_7736_Z01] := 19;
+  grBladewidth[enBlade_7736_Z01] := -650;
+  grBladeShiftwidth[enBlade_7736_Z01] := 150;
+  grBladeStartPos[enBlade_7736_Z01] := 5550;
+  grBladeWeldPos[enBlade_7736_Z01] := 16054; 
+      
+  //7736_Z03 swapped with 7733_Z03
+  gbBladePoleUp[enBlade_7736_Z03] := TRUE;
+  gusBladesInFrame[enBlade_7736_Z03] := 19;
+  grBladewidth[enBlade_7736_Z03] := -480;
+  grBladeShiftwidth[enBlade_7736_Z03] := 150;
+  grBladeStartPos[enBlade_7736_Z03] := 5550;
+  grBladeWeldPos[enBlade_7736_Z03] := 16021;  //16047;
+  
--- a/Logical/Axises/Init/Package.pkg
+++ b/Logical/Axises/Init/Package.pkg
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<Package xmlns="http://br-automation.co.at/AS/Package">
+  <Objects>
+    <Object Type="DataObject" Language="Ax">gaxwirei</Object>
+    <Object Type="DataObject" Language="Ax">gaxbelti</Object>
+    <Object Type="DataObject" Language="Ax">gaxlanei</Object>
+    <Object Type="DataObject" Language="Ax">gaxbend1i</Object>
+    <Object Type="DataObject" Language="Ax">gaxbend2i</Object>
+  </Objects>
+</Package>
--- a/Logical/Axises/Init/gaxbelti/Ax.dob
+++ b/Logical/Axises/Init/gaxbelti/Ax.dob
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<DataObject xmlns="http://br-automation.co.at/AS/DataObject">
+  <Files>
+    <File>gaxbelti.ax</File>
+  </Files>
+</DataObject>
--- a/Logical/Axises/Init/gaxbelti/gaxbelti.ax
+++ b/Logical/Axises/Init/gaxbelti/gaxbelti.ax
@@ -0,0 +1,170 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=4.0.14.206?>
+<InitParameter Version="2.34.1" NcSwId="acp10">
+  <Group ID="ACP10AXIS_typ">
+    <Group ID="dig_in">
+      <Group ID="level">
+        <Parameter ID="reference" Value="ncACTIV_HI" />
+        <Parameter ID="pos_hw_end" Value="ncACTIV_HI" />
+        <Parameter ID="neg_hw_end" Value="ncACTIV_HI" />
+        <Parameter ID="trigger1" Value="ncACTIV_HI" />
+        <Parameter ID="trigger2" Value="ncACTIV_HI" />
+      </Group>
+    </Group>
+    <Group ID="encoder_if">
+      <Group ID="parameter">
+        <Parameter ID="count_dir" Value="ncSTANDARD" />
+        <Group ID="scaling">
+          <Group ID="load">
+            <Parameter ID="units" Value="1200" Description="Units at the load [1/10 mm]" />
+            <Parameter ID="rev_motor" Value="1" />
+          </Group>
+        </Group>
+      </Group>
+    </Group>
+    <Group ID="limit">
+      <Group ID="parameter">
+        <Parameter ID="v_pos" Value="10000" />
+        <Parameter ID="v_neg" Value="10000" />
+        <Parameter ID="a1_pos" Value="50000" />
+        <Parameter ID="a2_pos" Value="50000" />
+        <Parameter ID="a1_neg" Value="50000" />
+        <Parameter ID="a2_neg" Value="50000" />
+        <Parameter ID="t_jolt" Value="0" />
+        <Parameter ID="t_in_pos" Value="0" />
+        <Parameter ID="pos_sw_end" Value="2000000000" />
+        <Parameter ID="neg_sw_end" Value="-2000000000" />
+        <Parameter ID="ds_warning" Value="1000.0" />
+        <Parameter ID="ds_stop" Value="2000.0" />
+        <Parameter ID="a_stop" Value="1.0e30" />
+        <Parameter ID="dv_stop" Value="0" />
+        <Parameter ID="dv_stop_mode" Value="ncOFF" />
+      </Group>
+    </Group>
+    <Group ID="controller">
+      <Parameter ID="mode" Value="ncPOSITION" />
+      <Group ID="position">
+        <Parameter ID="kv" Value="50" />
+        <Parameter ID="tn" Value="0" />
+        <Parameter ID="t_predict" Value="0.020000" />
+        <Parameter ID="t_total" Value="0.020000" />
+        <Parameter ID="p_max" Value="10000" />
+        <Parameter ID="i_max" Value="0" />
+      </Group>
+      <Group ID="speed">
+        <Parameter ID="kv" Value="2.0" />
+        <Parameter ID="tn" Value="0" />
+        <Parameter ID="t_filter" Value="0.0" />
+        <Group ID="isq_filter1">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+        <Group ID="isq_filter2">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+        <Group ID="isq_filter3">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+      </Group>
+      <Group ID="uf">
+        <Parameter ID="type" Value="ncLINEAR" />
+        <Parameter ID="auto_config" Value="ncMOTOR_PAR" />
+        <Parameter ID="u0" Value="0" />
+        <Parameter ID="un" Value="0" />
+        <Parameter ID="fn" Value="50.0" />
+        <Parameter ID="k_f_slip" Value="0" />
+      </Group>
+      <Group ID="ff">
+        <Parameter ID="torque_load" Value="0.0" />
+        <Parameter ID="torque_pos" Value="0.0" />
+        <Parameter ID="torque_neg" Value="0.0" />
+        <Parameter ID="kv_torque" Value="0.0" />
+        <Parameter ID="inertia" Value="0.0" />
+        <Parameter ID="t_filter_a" Value="0.0" />
+      </Group>
+    </Group>
+    <Group ID="move">
+      <Group ID="stop">
+        <Group ID="parameter[0]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[1]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[2]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[3]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="quickstop">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+        </Group>
+        <Group ID="drive_error">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+        </Group>
+      </Group>
+      <Group ID="homing">
+        <Group ID="parameter">
+          <Parameter ID="s" Value="0" />
+          <Parameter ID="v_switch" Value="1000.0" />
+          <Parameter ID="v_trigger" Value="500" />
+          <Parameter ID="a" Value="50000" />
+          <Parameter ID="mode" Value="ncABS_SWITCH" />
+          <Parameter ID="edge_sw" Value="ncNEGATIVE" />
+          <Parameter ID="start_dir" Value="ncPOSITIVE" />
+          <Parameter ID="trigg_dir" Value="ncNEGATIVE" />
+          <Parameter ID="ref_pulse" Value="ncOFF" />
+          <Parameter ID="fix_dir" Value="ncOFF" />
+          <Parameter ID="tr_s_block" Value="0" />
+          <Parameter ID="torque_lim" Value="0" />
+          <Parameter ID="ds_block" Value="0" />
+          <Parameter ID="ds_stop" Value="0" />
+        </Group>
+      </Group>
+      <Group ID="basis">
+        <Group ID="parameter">
+          <Parameter ID="v_pos" Value="10000" />
+          <Parameter ID="v_neg" Value="10000" />
+          <Parameter ID="a1_pos" Value="50000" />
+          <Parameter ID="a2_pos" Value="50000" />
+          <Parameter ID="a1_neg" Value="50000" />
+          <Parameter ID="a2_neg" Value="50000" />
+        </Group>
+      </Group>
+    </Group>
+    <Group ID="message">
+      <Group ID="text">
+        <Group ID="parameter">
+          <Parameter ID="format" Value="ncBREAK" />
+          <Parameter ID="columns" Value="80" />
+          <Parameter ID="data_modul" Value="acp10etxde" />
+        </Group>
+      </Group>
+    </Group>
+  </Group>
+</InitParameter>
--- a/Logical/Axises/Init/gaxbend1i/Ax.dob
+++ b/Logical/Axises/Init/gaxbend1i/Ax.dob
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<DataObject xmlns="http://br-automation.co.at/AS/DataObject">
+  <Files>
+    <File>gaxbend1i.ax</File>
+  </Files>
+</DataObject>
--- a/Logical/Axises/Init/gaxbend1i/gaxbend1i.ax
+++ b/Logical/Axises/Init/gaxbend1i/gaxbend1i.ax
@@ -0,0 +1,166 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<InitParameter Version="2.34.1" NcSwId="acp10">
+  <Group ID="ACP10AXIS_typ" Description="">
+    <Group ID="dig_in">
+      <Group ID="level">
+        <Parameter ID="reference" Value="ncACTIV_HI" />
+        <Parameter ID="pos_hw_end" Value="ncACTIV_HI" />
+        <Parameter ID="neg_hw_end" Value="ncACTIV_HI" />
+        <Parameter ID="trigger1" Value="ncACTIV_HI" />
+        <Parameter ID="trigger2" Value="ncACTIV_HI" />
+      </Group>
+    </Group>
+    <Group ID="encoder_if">
+      <Group ID="parameter">
+        <Parameter ID="count_dir" Value="ncSTANDARD" />
+        <Group ID="scaling">
+          <Group ID="load">
+            <Parameter ID="units" Value="180" />
+            <Parameter ID="rev_motor" Value="1" />
+          </Group>
+        </Group>
+      </Group>
+    </Group>
+    <Group ID="limit">
+      <Group ID="parameter">
+        <Parameter ID="v_pos" Value="10000" />
+        <Parameter ID="v_neg" Value="10000" />
+        <Parameter ID="a1_pos" Value="50000" />
+        <Parameter ID="a2_pos" Value="50000" />
+        <Parameter ID="a1_neg" Value="50000" />
+        <Parameter ID="a2_neg" Value="50000" />
+        <Parameter ID="t_jolt" Value="0" />
+        <Parameter ID="t_in_pos" Value="0" />
+        <Parameter ID="pos_sw_end" Value="2000000000" />
+        <Parameter ID="neg_sw_end" Value="-2000000000" />
+        <Parameter ID="ds_warning" Value="500" />
+        <Parameter ID="ds_stop" Value="1000" />
+        <Parameter ID="a_stop" Value="1.0e30" />
+        <Parameter ID="dv_stop" Value="0" />
+        <Parameter ID="dv_stop_mode" Value="ncOFF" />
+      </Group>
+    </Group>
+    <Group ID="controller">
+      <Parameter ID="mode" Value="ncPOSITION" />
+      <Group ID="position">
+        <Parameter ID="kv" Value="50" />
+        <Parameter ID="tn" Value="0" />
+        <Parameter ID="t_predict" Value="0.020000" />
+        <Parameter ID="t_total" Value="0.020000" />
+        <Parameter ID="p_max" Value="10000" />
+        <Parameter ID="i_max" Value="0" />
+      </Group>
+      <Group ID="speed">
+        <Parameter ID="kv" Value="2.0" />
+        <Parameter ID="tn" Value="0" />
+        <Parameter ID="t_filter" Value="0.0" />
+        <Group ID="isq_filter1">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+        <Group ID="isq_filter2">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+        <Group ID="isq_filter3">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+      </Group>
+      <Group ID="uf">
+        <Parameter ID="type" Value="ncLINEAR" />
+        <Parameter ID="auto_config" Value="ncMOTOR_PAR" />
+        <Parameter ID="u0" Value="0" />
+        <Parameter ID="un" Value="0" />
+        <Parameter ID="fn" Value="50.0" />
+        <Parameter ID="k_f_slip" Value="0" />
+      </Group>
+      <Group ID="ff">
+        <Parameter ID="torque_load" Value="0.0" />
+        <Parameter ID="torque_pos" Value="0.0" />
+        <Parameter ID="torque_neg" Value="0.0" />
+        <Parameter ID="kv_torque" Value="0.0" />
+        <Parameter ID="inertia" Value="0.0" />
+        <Parameter ID="t_filter_a" Value="0.0" />
+      </Group>
+    </Group>
+    <Group ID="move">
+      <Group ID="stop">
+        <Group ID="parameter[0]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[1]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[2]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[3]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="quickstop">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+        </Group>
+        <Group ID="drive_error">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+        </Group>
+      </Group>
+      <Group ID="homing">
+        <Group ID="parameter">
+          <Parameter ID="s" Value="0" />
+          <Parameter ID="v_switch" Value="350.0" />
+          <Parameter ID="v_trigger" Value="100.0" />
+          <Parameter ID="a" Value="50000" />
+          <Parameter ID="mode" Value="ncABS_SWITCH" />
+          <Parameter ID="edge_sw" Value="ncNEGATIVE" />
+          <Parameter ID="start_dir" Value="ncNEGATIVE" />
+          <Parameter ID="trigg_dir" Value="ncPOSITIVE" />
+          <Parameter ID="ref_pulse" Value="ncOFF" />
+          <Parameter ID="tr_s_block" Value="0" />
+        </Group>
+      </Group>
+      <Group ID="basis">
+        <Group ID="parameter">
+          <Parameter ID="v_pos" Value="10000" />
+          <Parameter ID="v_neg" Value="10000" />
+          <Parameter ID="a1_pos" Value="50000" />
+          <Parameter ID="a2_pos" Value="50000" />
+          <Parameter ID="a1_neg" Value="50000" />
+          <Parameter ID="a2_neg" Value="50000" />
+        </Group>
+      </Group>
+    </Group>
+    <Group ID="message">
+      <Group ID="text">
+        <Group ID="parameter">
+          <Parameter ID="format" Value="ncBREAK" />
+          <Parameter ID="columns" Value="80" />
+          <Parameter ID="data_modul" Value="acp10etxde" />
+        </Group>
+      </Group>
+    </Group>
+  </Group>
+</InitParameter>
--- a/Logical/Axises/Init/gaxbend2i/Ax.dob
+++ b/Logical/Axises/Init/gaxbend2i/Ax.dob
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<DataObject xmlns="http://br-automation.co.at/AS/DataObject">
+  <Files>
+    <File>gaxbend2i.ax</File>
+  </Files>
+</DataObject>
--- a/Logical/Axises/Init/gaxbend2i/gaxbend2i.ax
+++ b/Logical/Axises/Init/gaxbend2i/gaxbend2i.ax
@@ -0,0 +1,166 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<InitParameter Version="2.34.1" NcSwId="acp10">
+  <Group ID="ACP10AXIS_typ" Description="">
+    <Group ID="dig_in">
+      <Group ID="level">
+        <Parameter ID="reference" Value="ncACTIV_HI" />
+        <Parameter ID="pos_hw_end" Value="ncACTIV_HI" />
+        <Parameter ID="neg_hw_end" Value="ncACTIV_HI" />
+        <Parameter ID="trigger1" Value="ncACTIV_HI" />
+        <Parameter ID="trigger2" Value="ncACTIV_HI" />
+      </Group>
+    </Group>
+    <Group ID="encoder_if">
+      <Group ID="parameter">
+        <Parameter ID="count_dir" Value="ncSTANDARD" />
+        <Group ID="scaling">
+          <Group ID="load">
+            <Parameter ID="units" Value="180" />
+            <Parameter ID="rev_motor" Value="1" />
+          </Group>
+        </Group>
+      </Group>
+    </Group>
+    <Group ID="limit">
+      <Group ID="parameter">
+        <Parameter ID="v_pos" Value="10000" />
+        <Parameter ID="v_neg" Value="10000" />
+        <Parameter ID="a1_pos" Value="50000" />
+        <Parameter ID="a2_pos" Value="50000" />
+        <Parameter ID="a1_neg" Value="50000" />
+        <Parameter ID="a2_neg" Value="50000" />
+        <Parameter ID="t_jolt" Value="0" />
+        <Parameter ID="t_in_pos" Value="0" />
+        <Parameter ID="pos_sw_end" Value="2000000000" />
+        <Parameter ID="neg_sw_end" Value="-2000000000" />
+        <Parameter ID="ds_warning" Value="500" />
+        <Parameter ID="ds_stop" Value="1000" />
+        <Parameter ID="a_stop" Value="1.0e30" />
+        <Parameter ID="dv_stop" Value="0" />
+        <Parameter ID="dv_stop_mode" Value="ncOFF" />
+      </Group>
+    </Group>
+    <Group ID="controller">
+      <Parameter ID="mode" Value="ncPOSITION" />
+      <Group ID="position">
+        <Parameter ID="kv" Value="50" />
+        <Parameter ID="tn" Value="0" />
+        <Parameter ID="t_predict" Value="0.020000" />
+        <Parameter ID="t_total" Value="0.020000" />
+        <Parameter ID="p_max" Value="10000" />
+        <Parameter ID="i_max" Value="0" />
+      </Group>
+      <Group ID="speed">
+        <Parameter ID="kv" Value="2.0" />
+        <Parameter ID="tn" Value="0" />
+        <Parameter ID="t_filter" Value="0.0" />
+        <Group ID="isq_filter1">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+        <Group ID="isq_filter2">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+        <Group ID="isq_filter3">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+      </Group>
+      <Group ID="uf">
+        <Parameter ID="type" Value="ncLINEAR" />
+        <Parameter ID="auto_config" Value="ncMOTOR_PAR" />
+        <Parameter ID="u0" Value="0" />
+        <Parameter ID="un" Value="0" />
+        <Parameter ID="fn" Value="50.0" />
+        <Parameter ID="k_f_slip" Value="0" />
+      </Group>
+      <Group ID="ff">
+        <Parameter ID="torque_load" Value="0.0" />
+        <Parameter ID="torque_pos" Value="0.0" />
+        <Parameter ID="torque_neg" Value="0.0" />
+        <Parameter ID="kv_torque" Value="0.0" />
+        <Parameter ID="inertia" Value="0.0" />
+        <Parameter ID="t_filter_a" Value="0.0" />
+      </Group>
+    </Group>
+    <Group ID="move">
+      <Group ID="stop">
+        <Group ID="parameter[0]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[1]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[2]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[3]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="quickstop">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+        </Group>
+        <Group ID="drive_error">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+        </Group>
+      </Group>
+      <Group ID="homing">
+        <Group ID="parameter">
+          <Parameter ID="s" Value="0" />
+          <Parameter ID="v_switch" Value="350.0" />
+          <Parameter ID="v_trigger" Value="100.0" />
+          <Parameter ID="a" Value="50000" />
+          <Parameter ID="mode" Value="ncABS_SWITCH" />
+          <Parameter ID="edge_sw" Value="ncNEGATIVE" />
+          <Parameter ID="start_dir" Value="ncNEGATIVE" />
+          <Parameter ID="trigg_dir" Value="ncPOSITIVE" />
+          <Parameter ID="ref_pulse" Value="ncOFF" />
+          <Parameter ID="tr_s_block" Value="0" />
+        </Group>
+      </Group>
+      <Group ID="basis">
+        <Group ID="parameter">
+          <Parameter ID="v_pos" Value="10000" />
+          <Parameter ID="v_neg" Value="10000" />
+          <Parameter ID="a1_pos" Value="50000" />
+          <Parameter ID="a2_pos" Value="50000" />
+          <Parameter ID="a1_neg" Value="50000" />
+          <Parameter ID="a2_neg" Value="50000" />
+        </Group>
+      </Group>
+    </Group>
+    <Group ID="message">
+      <Group ID="text">
+        <Group ID="parameter">
+          <Parameter ID="format" Value="ncBREAK" />
+          <Parameter ID="columns" Value="80" />
+          <Parameter ID="data_modul" Value="acp10etxde" />
+        </Group>
+      </Group>
+    </Group>
+  </Group>
+</InitParameter>
--- a/Logical/Axises/Init/gaxlanei/Ax.dob
+++ b/Logical/Axises/Init/gaxlanei/Ax.dob
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<DataObject xmlns="http://br-automation.co.at/AS/DataObject">
+  <Files>
+    <File>gaxlanei.ax</File>
+  </Files>
+</DataObject>
--- a/Logical/Axises/Init/gaxlanei/gaxlanei.ax
+++ b/Logical/Axises/Init/gaxlanei/gaxlanei.ax
@@ -0,0 +1,166 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<InitParameter Version="2.34.1" NcSwId="acp10">
+  <Group ID="ACP10AXIS_typ" Description="">
+    <Group ID="dig_in">
+      <Group ID="level">
+        <Parameter ID="reference" Value="ncACTIV_HI" />
+        <Parameter ID="pos_hw_end" Value="ncACTIV_HI" />
+        <Parameter ID="neg_hw_end" Value="ncACTIV_HI" />
+        <Parameter ID="trigger1" Value="ncACTIV_HI" />
+        <Parameter ID="trigger2" Value="ncACTIV_HI" />
+      </Group>
+    </Group>
+    <Group ID="encoder_if">
+      <Group ID="parameter">
+        <Parameter ID="count_dir" Value="ncSTANDARD" />
+        <Group ID="scaling">
+          <Group ID="load">
+            <Parameter ID="units" Value="40" />
+            <Parameter ID="rev_motor" Value="1" />
+          </Group>
+        </Group>
+      </Group>
+    </Group>
+    <Group ID="limit">
+      <Group ID="parameter">
+        <Parameter ID="v_pos" Value="10000" />
+        <Parameter ID="v_neg" Value="10000" />
+        <Parameter ID="a1_pos" Value="50000" />
+        <Parameter ID="a2_pos" Value="50000" />
+        <Parameter ID="a1_neg" Value="50000" />
+        <Parameter ID="a2_neg" Value="50000" />
+        <Parameter ID="t_jolt" Value="0" />
+        <Parameter ID="t_in_pos" Value="0" />
+        <Parameter ID="pos_sw_end" Value="0" />
+        <Parameter ID="neg_sw_end" Value="-755" />
+        <Parameter ID="ds_warning" Value="500" />
+        <Parameter ID="ds_stop" Value="1000" />
+        <Parameter ID="a_stop" Value="1.0e30" />
+        <Parameter ID="dv_stop" Value="0" />
+        <Parameter ID="dv_stop_mode" Value="ncOFF" />
+      </Group>
+    </Group>
+    <Group ID="controller">
+      <Parameter ID="mode" Value="ncPOSITION" />
+      <Group ID="position">
+        <Parameter ID="kv" Value="50" />
+        <Parameter ID="tn" Value="0" />
+        <Parameter ID="t_predict" Value="0.020000" />
+        <Parameter ID="t_total" Value="0.020000" />
+        <Parameter ID="p_max" Value="10000" />
+        <Parameter ID="i_max" Value="0" />
+      </Group>
+      <Group ID="speed">
+        <Parameter ID="kv" Value="2.0" />
+        <Parameter ID="tn" Value="0" />
+        <Parameter ID="t_filter" Value="0.0" />
+        <Group ID="isq_filter1">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+        <Group ID="isq_filter2">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+        <Group ID="isq_filter3">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+      </Group>
+      <Group ID="uf">
+        <Parameter ID="type" Value="ncLINEAR" />
+        <Parameter ID="auto_config" Value="ncMOTOR_PAR" />
+        <Parameter ID="u0" Value="0" />
+        <Parameter ID="un" Value="0" />
+        <Parameter ID="fn" Value="50.0" />
+        <Parameter ID="k_f_slip" Value="0" />
+      </Group>
+      <Group ID="ff">
+        <Parameter ID="torque_load" Value="0.0" />
+        <Parameter ID="torque_pos" Value="0.0" />
+        <Parameter ID="torque_neg" Value="0.0" />
+        <Parameter ID="kv_torque" Value="0.0" />
+        <Parameter ID="inertia" Value="0.0" />
+        <Parameter ID="t_filter_a" Value="0.0" />
+      </Group>
+    </Group>
+    <Group ID="move">
+      <Group ID="stop">
+        <Group ID="parameter[0]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[1]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[2]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[3]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="quickstop">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+        </Group>
+        <Group ID="drive_error">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+        </Group>
+      </Group>
+      <Group ID="homing">
+        <Group ID="parameter">
+          <Parameter ID="s" Value="0" />
+          <Parameter ID="v_switch" Value="25.0" />
+          <Parameter ID="v_trigger" Value="10.0" />
+          <Parameter ID="a" Value="50000" />
+          <Parameter ID="mode" Value="ncABS_SWITCH" />
+          <Parameter ID="edge_sw" Value="ncPOSITIVE" />
+          <Parameter ID="start_dir" Value="ncPOSITIVE" />
+          <Parameter ID="trigg_dir" Value="ncNEGATIVE" />
+          <Parameter ID="ref_pulse" Value="ncOFF" />
+          <Parameter ID="tr_s_block" Value="0" />
+        </Group>
+      </Group>
+      <Group ID="basis">
+        <Group ID="parameter">
+          <Parameter ID="v_pos" Value="10000" />
+          <Parameter ID="v_neg" Value="10000" />
+          <Parameter ID="a1_pos" Value="50000" />
+          <Parameter ID="a2_pos" Value="50000" />
+          <Parameter ID="a1_neg" Value="50000" />
+          <Parameter ID="a2_neg" Value="50000" />
+        </Group>
+      </Group>
+    </Group>
+    <Group ID="message">
+      <Group ID="text">
+        <Group ID="parameter">
+          <Parameter ID="format" Value="ncBREAK" />
+          <Parameter ID="columns" Value="80" />
+          <Parameter ID="data_modul" Value="acp10etxde" />
+        </Group>
+      </Group>
+    </Group>
+  </Group>
+</InitParameter>
--- a/Logical/Axises/Init/gaxwirei/Ax.dob
+++ b/Logical/Axises/Init/gaxwirei/Ax.dob
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<DataObject xmlns="http://br-automation.co.at/AS/DataObject">
+  <Files>
+    <File>gaxwirei.ax</File>
+  </Files>
+</DataObject>
--- a/Logical/Axises/Init/gaxwirei/gaxwirei.ax
+++ b/Logical/Axises/Init/gaxwirei/gaxwirei.ax
@@ -0,0 +1,166 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<InitParameter Version="2.34.1" NcSwId="acp10">
+  <Group ID="ACP10AXIS_typ" Description="">
+    <Group ID="dig_in">
+      <Group ID="level">
+        <Parameter ID="reference" Value="ncACTIV_HI" />
+        <Parameter ID="pos_hw_end" Value="ncACTIV_HI" />
+        <Parameter ID="neg_hw_end" Value="ncACTIV_HI" />
+        <Parameter ID="trigger1" Value="ncACTIV_HI" />
+        <Parameter ID="trigger2" Value="ncACTIV_HI" />
+      </Group>
+    </Group>
+    <Group ID="encoder_if">
+      <Group ID="parameter">
+        <Parameter ID="count_dir" Value="ncSTANDARD" />
+        <Group ID="scaling">
+          <Group ID="load">
+            <Parameter ID="units" Value="314159" />
+            <Parameter ID="rev_motor" Value="1000" />
+          </Group>
+        </Group>
+      </Group>
+    </Group>
+    <Group ID="limit">
+      <Group ID="parameter">
+        <Parameter ID="v_pos" Value="10000" />
+        <Parameter ID="v_neg" Value="10000" />
+        <Parameter ID="a1_pos" Value="50000" />
+        <Parameter ID="a2_pos" Value="50000" />
+        <Parameter ID="a1_neg" Value="50000" />
+        <Parameter ID="a2_neg" Value="50000" />
+        <Parameter ID="t_jolt" Value="0" />
+        <Parameter ID="t_in_pos" Value="0" />
+        <Parameter ID="pos_sw_end" Value="2000000000" />
+        <Parameter ID="neg_sw_end" Value="-2000000000" />
+        <Parameter ID="ds_warning" Value="500" />
+        <Parameter ID="ds_stop" Value="1000" />
+        <Parameter ID="a_stop" Value="1.0e30" />
+        <Parameter ID="dv_stop" Value="0" />
+        <Parameter ID="dv_stop_mode" Value="ncOFF" />
+      </Group>
+    </Group>
+    <Group ID="controller">
+      <Parameter ID="mode" Value="ncPOSITION" />
+      <Group ID="position">
+        <Parameter ID="kv" Value="50" />
+        <Parameter ID="tn" Value="0" />
+        <Parameter ID="t_predict" Value="0.020000" />
+        <Parameter ID="t_total" Value="0.020000" />
+        <Parameter ID="p_max" Value="10000" />
+        <Parameter ID="i_max" Value="0" />
+      </Group>
+      <Group ID="speed">
+        <Parameter ID="kv" Value="2.0" />
+        <Parameter ID="tn" Value="0" />
+        <Parameter ID="t_filter" Value="0.0" />
+        <Group ID="isq_filter1">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+        <Group ID="isq_filter2">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+        <Group ID="isq_filter3">
+          <Parameter ID="type" Value="ncOFF" />
+          <Parameter ID="a0" Value="0.0" />
+          <Parameter ID="a1" Value="0.0" />
+          <Parameter ID="b0" Value="0.0" />
+          <Parameter ID="b1" Value="0.0" />
+          <Parameter ID="b2" Value="0.0" />
+          <Parameter ID="c0_par_id" Value="0" />
+          <Parameter ID="c1_par_id" Value="0" />
+        </Group>
+      </Group>
+      <Group ID="uf">
+        <Parameter ID="type" Value="ncLINEAR" />
+        <Parameter ID="auto_config" Value="ncMOTOR_PAR" />
+        <Parameter ID="u0" Value="0" />
+        <Parameter ID="un" Value="0" />
+        <Parameter ID="fn" Value="50.0" />
+        <Parameter ID="k_f_slip" Value="0" />
+      </Group>
+      <Group ID="ff">
+        <Parameter ID="torque_load" Value="0.0" />
+        <Parameter ID="torque_pos" Value="0.0" />
+        <Parameter ID="torque_neg" Value="0.0" />
+        <Parameter ID="kv_torque" Value="0.0" />
+        <Parameter ID="inertia" Value="0.0" />
+        <Parameter ID="t_filter_a" Value="0.0" />
+      </Group>
+    </Group>
+    <Group ID="move">
+      <Group ID="stop">
+        <Group ID="parameter[0]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[1]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[2]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="parameter[3]">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+          <Parameter ID="controller" Value="ncON" />
+        </Group>
+        <Group ID="quickstop">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+        </Group>
+        <Group ID="drive_error">
+          <Parameter ID="decel_ramp" Value="ncA_LIMIT" />
+        </Group>
+      </Group>
+      <Group ID="homing">
+        <Group ID="parameter">
+          <Parameter ID="s" Value="0" />
+          <Parameter ID="v_switch" Value="5000" />
+          <Parameter ID="v_trigger" Value="500" />
+          <Parameter ID="a" Value="50000" />
+          <Parameter ID="mode" Value="ncDIRECT" />
+          <Parameter ID="edge_sw" Value="ncPOSITIVE" />
+          <Parameter ID="start_dir" Value="ncPOSITIVE" />
+          <Parameter ID="trigg_dir" Value="ncPOSITIVE" />
+          <Parameter ID="ref_pulse" Value="ncOFF" />
+          <Parameter ID="tr_s_block" Value="0" />
+        </Group>
+      </Group>
+      <Group ID="basis">
+        <Group ID="parameter">
+          <Parameter ID="v_pos" Value="10000" />
+          <Parameter ID="v_neg" Value="10000" />
+          <Parameter ID="a1_pos" Value="50000" />
+          <Parameter ID="a2_pos" Value="50000" />
+          <Parameter ID="a1_neg" Value="50000" />
+          <Parameter ID="a2_neg" Value="50000" />
+        </Group>
+      </Group>
+    </Group>
+    <Group ID="message">
+      <Group ID="text">
+        <Group ID="parameter">
+          <Parameter ID="format" Value="ncBREAK" />
+          <Parameter ID="columns" Value="80" />
+          <Parameter ID="data_modul" Value="acp10etxde" />
+        </Group>
+      </Group>
+    </Group>
+  </Group>
+</InitParameter>
--- a/Logical/Axises/MAxTrace/IEC.prg
+++ b/Logical/Axises/MAxTrace/IEC.prg
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File Description="Cyclic code">MAxTraceCyclic.ab</File>
+    <File Description="Initialization code">MAxTraceInit.ab</File>
+    <File Description="Local variables" Private="true">MAxTrace.var</File>
+  </Files>
+</Program>
--- a/Logical/Axises/MAxTrace/MAxTrace.var
+++ b/Logical/Axises/MAxTrace/MAxTrace.var
@@ -0,0 +1,11 @@
+(*//-----------------------------------------------------------------------------------------------------*)
+(*//MC FunctionBlocks*)
+VAR
+	Axis_MC_BR_ParTrace : MC_BR_ParTrace := (0); (*Parameter Trace*)
+	Axis_MC_BR_ReadParTraceStatus : MC_BR_ReadParTraceStatus := (0); (*Parameter Trace Status*)
+END_VAR
+(*//-----------------------------------------------------------------------------------------------------*)
+(*//Dynamic Vars*)
+VAR
+	lMAxTrace : REFERENCE TO typMultAx_Trace; (*Axis Datastruct *)
+END_VAR
--- a/Logical/Axises/MAxTrace/MAxTraceCyclic.ab
+++ b/Logical/Axises/MAxTrace/MAxTraceCyclic.ab
@@ -0,0 +1,107 @@
+(********************************************************************
+ * COPYRIGHT --  
+ ********************************************************************
+ * Program: MAxTrace
+ * File: MAxTraceCyclic.ab
+ * Author: michi
+ * Created: July 18, 2012
+ ********************************************************************
+ * Implementation of program MAxTrace
+ ********************************************************************)
+
+PROGRAM _CYCLIC
+;STATE Machine Trace
+SELECT lMAxTrace.uiTraceStep
+  ;==============================================
+  ;READY
+  STATE AxTraceSTATE_READY
+    strcpy (ADR (lMAxTrace.sStep), "AxTraceSTATE_READY")
+
+    WHEN (lMAxTrace.bLoadConfig = 1)
+      lMAxTrace.bLoadConfig = 0
+    NEXT  AxTraceSTATE_LOAD_CONFIG
+
+    WHEN (lMAxTrace.bStartSave = 1)
+      lMAxTrace.bStartSave = 0
+    NEXT  AxTraceSTATE_START_SAVE
+
+    Axis_MC_BR_ParTrace.Execute = 0
+    //Axis_MC_BR_ParTraceConfig.Execute = 0
+    Axis_MC_BR_ReadParTraceStatus.Enable = 0
+
+  ;==============================================
+  ;Load Trace Config
+  STATE AxTraceSTATE_LOAD_CONFIG
+    strcpy (ADR (lMAxTrace.sStep), "AxTraceSTATE_LOAD_CONFIG")
+    //Axis_MC_BR_ParTraceConfig.Command = mcLoad
+    //Axis_MC_BR_ParTraceConfig.AdrTraceConfig = adr (lMAxTrace.Trace_DatObj_Refercence)
+    //Axis_MC_BR_ParTraceConfig.Execute = 1
+
+    ;check if loading is finished
+    //when (Axis_MC_BR_ParTrace.Done)
+    //    Axis_MC_BR_ParTraceConfig.Execute = 0
+    //next AxTraceSTATE_READY
+
+    ;check for error occured
+    //when (Axis_MC_BR_ParTraceConfig.Error)
+    //  Axis_MC_BR_ParTraceConfig.Execute = 0
+    //  Axis_MC_BR_ParTraceConfig.ErrorRecord
+    //next AxTraceSTATE_ERROR
+
+  ;==============================================
+  ;Start and Save Trace
+  STATE AxTraceSTATE_START_SAVE
+    strcpy (ADR (lMAxTrace.sStep), "AxTraceSTATE_START_SAVE")
+    Axis_MC_BR_ParTrace.Configuration = lMAxTrace.Trace_Config
+    Axis_MC_BR_ParTrace.Command = mcSTART + mcSAVE
+    Axis_MC_BR_ParTrace.Execute = 1
+
+    ;check if Trace is finished
+    WHEN (Axis_MC_BR_ParTrace.Done)
+      Axis_MC_BR_ParTrace.Execute = 0
+    NEXT AxTraceSTATE_READY
+
+    ;check for error occured
+    WHEN (Axis_MC_BR_ParTrace.Error)
+      Axis_MC_BR_ParTrace.Execute = 0
+      lMAxTrace.uiTraceError = Axis_MC_BR_ParTrace.ErrorID
+      lMAxTrace.Trace_Error_Record = Axis_MC_BR_ParTrace.ErrorRecord
+    NEXT AxTraceSTATE_ERROR
+
+    WHEN (lMAxTrace.bStop = 1)
+      Axis_MC_BR_ParTrace.Execute = 0
+      lMAxTrace.bStop = 0
+    NEXT AxTraceSTATE_STOP
+
+  ;==============================================
+  ;Stop Trace
+  STATE AxTraceSTATE_STOP
+    strcpy (ADR (lMAxTrace.sStep), "AxTraceSTATE_STOP")
+    Axis_MC_BR_ParTrace.Command = mcSTOP
+    Axis_MC_BR_ParTrace.Execute = 1
+
+    ;check if Trace is finished
+    WHEN (Axis_MC_BR_ParTrace.Done)
+      Axis_MC_BR_ParTrace.Execute = 0
+    NEXT AxTraceSTATE_READY
+
+    ;check for error occured
+    WHEN (Axis_MC_BR_ParTrace.Error)
+      Axis_MC_BR_ParTrace.Execute = 0
+      ;Axis_MC_BR_ParTrace.ErrorRecord
+    NEXT AxTraceSTATE_ERROR
+
+  ;==============================================
+  ;Error
+  STATE AxTraceSTATE_ERROR
+    strcpy (ADR (lMAxTrace.sStep), "AxTraceSTATE_ERROR")
+    WHEN (1 = 1)
+    NEXT AxTraceSTATE_READY
+
+ENDSELECT
+
+Axis_MC_BR_ParTrace FUB MC_BR_ParTrace ()
+//Axis_MC_BR_ParTraceConfig fub MC_BR_ParTraceConfig ()
+Axis_MC_BR_ReadParTraceStatus FUB MC_BR_ReadParTraceStatus ()
+
+END_PROGRAM
--- a/Logical/Axises/MAxTrace/MAxTraceInit.ab
+++ b/Logical/Axises/MAxTrace/MAxTraceInit.ab
@@ -0,0 +1,17 @@
+(********************************************************************
+ * COPYRIGHT --  
+ ********************************************************************
+ * Program: MAxTrace
+ * File: MAxTraceInit.ab
+ * Author: michi
+ * Created: July 18, 2012
+ ********************************************************************
+ * Implementation of program MAxTrace
+ ********************************************************************)
+
+PROGRAM _INIT
+
+  lMAxTrace ACCESS ADR (gMAxTrace);
+
+END_PROGRAM
+
--- a/Logical/Axises/Package.pkg
+++ b/Logical/Axises/Package.pkg
@@ -0,0 +1,22 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=4.0.14.207?>
+<Package xmlns="http://br-automation.co.at/AS/Package">
+  <Objects>
+    <Object Type="File" Description="Package data types">GlobalAxis.typ</Object>
+    <Object Type="File" Description="Package variables">GlobalAxis.var</Object>
+    <Object Type="Program" Language="IEC">ncsdcctrl</Object>
+    <Object Type="Program" Language="IEC" Description="Controller">GrillCtrl</Object>
+    <Object Type="Program" Language="IEC" Description="Multi Axis Trace">MAxTrace</Object>
+    <Object Type="Program" Language="IEC" Description="Wire Axis1">Axis1</Object>
+    <Object Type="Program" Language="IEC" Description="Wire Axis2">Axis2</Object>
+    <Object Type="Program" Language="IEC" Description="Belt Axis">Axis3</Object>
+    <Object Type="Program" Language="IEC" Description="Lane Axis">Axis4</Object>
+    <Object Type="Program" Language="IEC" Description="Bend1 Axis">Axis5</Object>
+    <Object Type="Program" Language="IEC" Description="Bend2  Axis">Axis6</Object>
+    <Object Type="Package">Init</Object>
+    <Object Type="Package">ACPPar</Object>
+    <Object Type="DataObject" Language="Ett">acp10etxen</Object>
+    <Object Type="DataObject" Language="Ett">acp10etxde</Object>
+    <Object Type="File">GrillValues.txt</Object>
+  </Objects>
+</Package>
--- a/Logical/Axises/acp10etxde/Ett.dob
+++ b/Logical/Axises/acp10etxde/Ett.dob
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<DataObject xmlns="http://br-automation.co.at/AS/DataObject">
+  <Files>
+    <File>acp10etxde.ett</File>
+  </Files>
+</DataObject>
--- a/Logical/Axises/acp10etxde/acp10etxde.ett
+++ b/Logical/Axises/acp10etxde/acp10etxde.ett
--- a/Logical/Axises/acp10etxen/Ett.dob
+++ b/Logical/Axises/acp10etxen/Ett.dob
@@ -0,0 +1,7 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<DataObject xmlns="http://br-automation.co.at/AS/DataObject">
+  <Files>
+    <File>acp10etxen.ett</File>
+  </Files>
+</DataObject>
--- a/Logical/Axises/acp10etxen/acp10etxen.ett
+++ b/Logical/Axises/acp10etxen/acp10etxen.ett
--- a/Logical/Axises/ncsdcctrl/IEC.prg
+++ b/Logical/Axises/ncsdcctrl/IEC.prg
@@ -0,0 +1,8 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.21 SP03?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File>ncsdcctrl.st</File>
+    <File Private="true">ncsdcctrl.var</File>
+  </Files>
+</Program>
--- a/Logical/Axises/ncsdcctrl/ncsdcctrl.st
+++ b/Logical/Axises/ncsdcctrl/ncsdcctrl.st
@@ -0,0 +1,185 @@
+PROGRAM _INIT
+
+  //gAxWire1
+  //=========================================================
+  gAxWire1_HW.EncIf1_Typ := ncSDC_ENC16;
+  strcpy (ADR (gAxWire1_HW.EncIf1_Name), ADR ('gAxWire1_EncIf1'));
+  gAxWire1_HW.DrvIf_Typ := ncSDC_DRVSM16;
+  strcpy (ADR (gAxWire1_HW.DrvIf_Name), ADR( 'gAxWire1_DrvIf'));
+  gAxWire1_HW.DiDoIf_Typ := ncSDC_DIDO;
+  strcpy (ADR (gAxWire1_HW.DiDoIf_Name), ADR ('gAxWire1_DiDoIf'));
+  //gAxWire1_HW.TrigIf1_Typ := ncSDC_TRIGDIGin;
+  //strcpy (ADR (gAxWire1_HW.TrigIf1_Name), ADR ('gAxWire1_TrigIf'));
+
+  (* force variable offset generation *)
+  gAxWire1.size := gAxWire1.size;
+  
+  gAxWire1_EncIf1.iLifeCnt := gAxWire1_EncIf1.iLifeCnt;
+  
+  //gAxWire1_TrigIfDin400.iTriggerInput := gAxWire1_TrigIfDin.iTriggerInput;
+  gAxWire1_TrigIf.iLifeCnt := gAxWire1_TrigIf.iLifeCnt;
+  
+  (* initialize old-value for delta step calculation *)
+  gAxWire1_oSetPosOld := gAxWire1_DrvIf.oSetPos;
+  
+  //gAxWire2
+  //=========================================================
+  gAxWire2_HW.EncIf1_Typ := ncSDC_ENC16;
+  strcpy (ADR (gAxWire2_HW.EncIf1_Name), ADR ('gAxWire2_EncIf1'));
+  gAxWire2_HW.DrvIf_Typ := ncSDC_DRVSM16;
+  strcpy (ADR (gAxWire2_HW.DrvIf_Name), ADR ('gAxWire2_DrvIf'));
+  gAxWire2_HW.DiDoIf_Typ := ncSDC_DIDO;
+  strcpy (ADR (gAxWire2_HW.DiDoIf_Name), ADR ('gAxWire2_DiDoIf'));
+  
+  (* force variable offset generation *)
+  gAxWire2.size := gAxWire2.size;
+  
+  gAxWire2_EncIf1.iLifeCnt := gAxWire2_EncIf1.iLifeCnt;
+    
+  (* initialize old-value for delta step calculation *)
+  gAxWire2_oSetPosOld := gAxWire2_DrvIf.oSetPos;
+  (* ### END gAxWire2 ### *)
+  
+  (* ### BEGIN gAxLane ### *)
+  (* initialize variables *)
+  gAxLane_HW.EncIf1_Typ := ncSDC_ENC16;
+  strcpy (ADR (gAxLane_HW.EncIf1_Name), ADR ('gAxLane_EncIf1'));
+  gAxLane_HW.DrvIf_Typ := ncSDC_DRVSM16;
+  strcpy (ADR (gAxLane_HW.DrvIf_Name), ADR ('gAxLane_DrvIf'));
+  gAxLane_HW.DiDoIf_Typ := ncSDC_DIDO;
+  strcpy (ADR (gAxLane_HW.DiDoIf_Name), ADR ('gAxLane_DiDoIf'));
+  
+  (* force variable offset generation *)
+  gAxLane.size := gAxLane.size;
+  
+  gAxLane_EncIf1.iLifeCnt := gAxLane_EncIf1.iLifeCnt;
+  
+  (* initialize old-value for delta step calculation *)
+  gAxLane_oSetPosOld := gAxLane_DrvIf.oSetPos;
+  
+  //gAxBelt
+  //=========================================================
+  gAxBelt_HW.EncIf1_Typ := ncSDC_ENC16;
+  strcpy (ADR (gAxBelt_HW.EncIf1_Name), ADR ('gAxBelt_EncIf1'));
+  gAxBelt_HW.DrvIf_Typ := ncSDC_DRVSM16;
+  strcpy (ADR (gAxBelt_HW.DrvIf_Name), ADR ('gAxBelt_DrvIf'));
+  gAxBelt_HW.DiDoIf_Typ := ncSDC_DIDO;
+  strcpy (ADR (gAxBelt_HW.DiDoIf_Name), ADR ('gAxBelt_DiDoIf'));
+  
+  (* force variable offset generation *)
+  gAxBelt.size := gAxBelt.size;
+  
+  gAxBelt_EncIf1.iLifeCnt := gAxBelt_EncIf1.iLifeCnt;
+  
+  (* initialize old-value for delta step calculation *)
+  gAxBelt_oSetPosOld := gAxBelt_DrvIf.oSetPos;
+  
+  //gAxBend1
+  //=========================================================
+  gAxBend1_HW.EncIf1_Typ := ncSDC_ENC16;
+  strcpy (ADR (gAxBend1_HW.EncIf1_Name), ADR ('gAxBend1_EncIf1'));
+  gAxBend1_HW.DrvIf_Typ := ncSDC_DRVSM16;
+  strcpy (ADR (gAxBend1_HW.DrvIf_Name), ADR ('gAxBend1_DrvIf'));
+  gAxBend1_HW.DiDoIf_Typ := ncSDC_DIDO;
+  strcpy (ADR (gAxBend1_HW.DiDoIf_Name), ADR ('gAxBend1_DiDoIf'));
+  
+  (* force variable offset generation *)
+  gAxBend1.size := gAxBend1.size;
+  
+  gAxBend1_EncIf1.iLifeCnt := gAxBend1_EncIf1.iLifeCnt;
+  
+  (* initialize old-value for delta step calculation *)
+  gAxBend1_oSetPosOld := gAxBend1_DrvIf.oSetPos;
+  
+  
+  //gAxBend2
+  //=========================================================
+  gAxBend2_HW.EncIf1_Typ := ncSDC_ENC16;
+  strcpy (ADR (gAxBend2_HW.EncIf1_Name), ADR ('gAxBend2_EncIf1'));
+  gAxBend2_HW.DrvIf_Typ := ncSDC_DRVSM16;
+  strcpy (ADR (gAxBend2_HW.DrvIf_Name), ADR ('gAxBend2_DrvIf'));
+  gAxBend2_HW.DiDoIf_Typ := ncSDC_DIDO;
+  strcpy (ADR (gAxBend2_HW.DiDoIf_Name), ADR ('gAxBend2_DiDoIf'));
+  
+  (* force variable offset generation *)
+  gAxBend2.size := gAxBend2.size;
+  
+  gAxBend2_EncIf1.iLifeCnt := gAxBend2_EncIf1.iLifeCnt;
+  
+  (* initialize old-value for delta step calculation *)
+  gAxBend2_oSetPosOld := gAxBend2_DrvIf.oSetPos;
+END_PROGRAM
+
+PROGRAM _CYCLIC
+  
+  //gAxWire1
+  //=========================================================
+  (* life counter emulation of digital inputs *)
+  gAxWire1_DiDoIf.iLifeCntReference := gAxWire1_DiDoIf.iLifeCntReference + 1;
+  gAxWire1_DiDoIf.iLifeCntNegHwEnd  := gAxWire1_DiDoIf.iLifeCntNegHwEnd  + 1;
+  gAxWire1_DiDoIf.iLifeCntPosHwEnd  := gAxWire1_DiDoIf.iLifeCntPosHwEnd  + 1;
+  
+  gAxWire1_TrigIf.iLifeCnt := gAxWire1_TrigIf.iLifeCnt + 1;
+  
+  (* default function model of ACOPOSmicro: convert absolute steps to delta steps *)
+  gAxWire1_MotorStep0 := gAxWire1_DrvIf.oSetPos - gAxWire1_oSetPosOld; (* overflow save delta calculation *)
+  gAxWire1_oSetPosOld := gAxWire1_DrvIf.oSetPos;
+  
+  //gAxWire1
+  //=========================================================
+  (* life counter emulation of digital inputs *)
+  gAxWire2_DiDoIf.iLifeCntReference := gAxWire2_DiDoIf.iLifeCntReference + 1;
+  gAxWire2_DiDoIf.iLifeCntNegHwEnd  := gAxWire2_DiDoIf.iLifeCntNegHwEnd  + 1;
+  gAxWire2_DiDoIf.iLifeCntPosHwEnd  := gAxWire2_DiDoIf.iLifeCntPosHwEnd  + 1;
+  
+  (* default function model of ACOPOSmicro: convert absolute steps to delta steps *)
+  gAxWire2_MotorStep0 := gAxWire2_DrvIf.oSetPos - gAxWire2_oSetPosOld; (* overflow save delta calculation *)
+  gAxWire2_oSetPosOld := gAxWire2_DrvIf.oSetPos;
+  
+  //gAxLane
+  //=========================================================
+  (* life counter emulation of digital inputs *)
+  gAxLane_DiDoIf.iLifeCntReference := gAxLane_DiDoIf.iLifeCntReference + 1;
+  gAxLane_DiDoIf.iLifeCntNegHwEnd  := gAxLane_DiDoIf.iLifeCntNegHwEnd  + 1;
+  gAxLane_DiDoIf.iLifeCntPosHwEnd  := gAxLane_DiDoIf.iLifeCntPosHwEnd  + 1;
+  
+  (* default function model of ACOPOSmicro: convert absolute steps to delta steps *)
+  gAxLane_MotorStep0 := gAxLane_DrvIf.oSetPos - gAxLane_oSetPosOld; (* overflow save delta calculation *)
+  gAxLane_oSetPosOld := gAxLane_DrvIf.oSetPos;
+  
+  //gAxBelt
+  //=========================================================
+  (* life counter emulation of digital inputs *)
+  gAxBelt_DiDoIf.iLifeCntReference := gAxBelt_DiDoIf.iLifeCntReference + 1;
+  gAxBelt_DiDoIf.iLifeCntNegHwEnd  := gAxBelt_DiDoIf.iLifeCntNegHwEnd  + 1;
+  gAxBelt_DiDoIf.iLifeCntPosHwEnd  := gAxBelt_DiDoIf.iLifeCntPosHwEnd  + 1;
+  
+  (* default function model of ACOPOSmicro: convert absolute steps to delta steps *)
+  gAxBelt_MotorStep0 := gAxBelt_DrvIf.oSetPos - gAxBelt_oSetPosOld; (* overflow save delta calculation *)
+  gAxBelt_oSetPosOld := gAxBelt_DrvIf.oSetPos;
+  
+  //gAxBend1
+  //=========================================================
+  (* life counter emulation of digital inputs *)
+  gAxBend1_DiDoIf.iLifeCntReference := gAxBend1_DiDoIf.iLifeCntReference + 1;
+  gAxBend1_DiDoIf.iLifeCntNegHwEnd  := gAxBend1_DiDoIf.iLifeCntNegHwEnd  + 1;
+  gAxBend1_DiDoIf.iLifeCntPosHwEnd  := gAxBend1_DiDoIf.iLifeCntPosHwEnd  + 1;
+  
+  (* default function model of ACOPOSmicro: convert absolute steps to delta steps *)
+  gAxBend1_MotorStep0 := gAxBend1_DrvIf.oSetPos - gAxBend1_oSetPosOld; (* overflow save delta calculation *)
+  
+  (* old value for delta step generation *)
+  gAxBend1_oSetPosOld := gAxBend1_DrvIf.oSetPos;
+  
+  //gAxBend2
+  //=========================================================
+  (* life counter emulation of digital inputs *)
+  gAxBend2_DiDoIf.iLifeCntReference := gAxBend2_DiDoIf.iLifeCntReference + 1;
+  gAxBend2_DiDoIf.iLifeCntNegHwEnd  := gAxBend2_DiDoIf.iLifeCntNegHwEnd  + 1;
+  gAxBend2_DiDoIf.iLifeCntPosHwEnd  := gAxBend2_DiDoIf.iLifeCntPosHwEnd  + 1;
+  
+  (* default function model of ACOPOSmicro: convert absolute steps to delta steps *)
+  gAxBend2_MotorStep0 := gAxBend2_DrvIf.oSetPos - gAxBend2_oSetPosOld; (* overflow save delta calculation *)
+  gAxBend2_oSetPosOld := gAxBend2_DrvIf.oSetPos;
+  
+END_PROGRAM
--- a/Logical/Axises/ncsdcctrl/ncsdcctrl.var
+++ b/Logical/Axises/ncsdcctrl/ncsdcctrl.var
@@ -0,0 +1,12 @@
+VAR
+	gAxWire1_oSetPosOld : INT := 0;
+	gAxWire2_oSetPosOld : INT := 0;
+	gAxLane_oSetPosOld : INT := 0;
+	gAxBelt_oSetPosOld : INT := 0;
+	gAxBend1_oSetPosOld : INT := 0;
+	gAxBend2_oSetPosOld : INT := 0;
+
+
+ gAxis01_oSetPosOld : INT := 0;
+
+
--- a/Logical/Common/Global.typ
+++ b/Logical/Common/Global.typ
@@ -0,0 +1,8 @@
+
+TYPE
+	typAlarm : 	STRUCT 
+		Alarm : ARRAY[0..127]OF BOOL;
+		Ack : ARRAY[0..127]OF BOOL;
+		Bypass : ARRAY[0..127]OF BOOL;
+	END_STRUCT;
+END_TYPE
--- a/Logical/Common/GlobalComon.var
+++ b/Logical/Common/GlobalComon.var
@@ -0,0 +1,14 @@
+VAR
+	bBlink0_1 : BOOL;
+	bBlink0_5 : BOOL;
+	bBlink1_0 : BOOL;
+	bBlink2_0 : BOOL;
+	bBlink5_0 : BOOL;
+	bBlink10_0 : BOOL;
+	bBlink20_0 : BOOL;
+	gdtActTime : DATE_AND_TIME; (*Current Date and Time*)
+	gDTSActTimeUTC : DTStructure := (0); (*Current Date and Time as DTS (ms) UTC !!!*)
+	gudUnixTimeUTC : UDINT; (*Current Date and Time as Unixts UTC !!!*)
+	gOuNull : BOOL; (*DUMMY for Output*)
+	gAOuNull : INT; (*DUMMY for Output*)
+END_VAR
--- a/Logical/Common/GlobalConstants.var
+++ b/Logical/Common/GlobalConstants.var
@@ -0,0 +1,10 @@
+(*// Constants*)
+VAR CONSTANT
+	gAInNull : INT := 0; (*O FOR Analog Input*)
+	gTrue : BOOL := TRUE; (*Konstant TRUE*)
+	gFalse : BOOL := FALSE; (*Konstant False*)
+	gInNull : BOOL := FALSE; (*FALSE FOR Input *)
+	giAIVoltageOverflow : INT := 16#7FFF; (* Analog Input Voltage Mode,Overflow *)
+	giAIVoltageUnderflow : INT := -32767; (* Analog Input Voltage Underflow *)
+	grAIVoltageOverflow : REAL := 32767.0; (*Analog Input Voltage Mode,Overflow *)
+END_VAR
--- a/Logical/Common/Package.pkg
+++ b/Logical/Common/Package.pkg
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.23 SP05?>
+<Package xmlns="http://br-automation.co.at/AS/Package">
+  <Objects>
+    <Object Type="File">Global.typ</Object>
+    <Object Type="File" Description="Local variables">GlobalComon.var</Object>
+    <Object Type="File" Description="Local variables">GlobalConstants.var</Object>
+    <Object Type="Program" Language="IEC" Description="Actual Date_And_Time">get_dt</Object>
+    <Object Type="Program" Language="IEC" Description="Blinker 0,1 -0,5s">blinker</Object>
+  </Objects>
+</Package>
--- a/Logical/Common/blinker/IEC.prg
+++ b/Logical/Common/blinker/IEC.prg
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.22 SP04?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File Description="Local variables" Private="true">blinker.var</File>
+    <File Description="Initialization code">blinkerInit.ab</File>
+    <File Description="Cyclic code">blinkerCyclic.ab</File>
+  </Files>
+</Program>
--- a/Logical/Common/blinker/blinker.var
+++ b/Logical/Common/blinker/blinker.var
@@ -0,0 +1,13 @@
+(********************************************************************
+ * COPYRIGHT -- kA
+ ********************************************************************
+ * Program: blinker
+ * File: blinker.var
+ * Author: michi
+ * Created: November 23, 2009
+ ********************************************************************
+ * Local variables of program blinker
+ ********************************************************************)
+VAR
+	iCount : USINT;
+END_VAR
--- a/Logical/Common/blinker/blinkerCyclic.ab
+++ b/Logical/Common/blinker/blinkerCyclic.ab
@@ -0,0 +1,30 @@
+(********************************************************************
+ * COPYRIGHT -- kA
+ ********************************************************************
+ * Program: blinker
+ * File: blinkerCyclic.ab
+ * Author: michi
+ * Created: November 23, 2009
+ ********************************************************************
+ * Implementation of program blinker
+ ********************************************************************)
+ 
+PROGRAM _CYCLIC
+(* cyclic program *)
+;Has to be taskclass 10ms
+bBlink0_1 = not bBlink0_1
+inc (iCount)
+if  ((iCount mod 5) = 0) then
+    bBlink0_5 = not bBlink0_5
+endif
+if  ((iCount mod 10) = 0) then
+    bBlink1_0 = not bBlink1_0
+endif
+if  ((iCount mod 20) = 0) then
+    bBlink2_0 = not bBlink2_0
+endif
+if  ((iCount mod 50) = 0) then
+    bBlink5_0 = not bBlink5_0
+    iCount = 0
+endif
+END_PROGRAM
--- a/Logical/Common/blinker/blinkerInit.ab
+++ b/Logical/Common/blinker/blinkerInit.ab
@@ -0,0 +1,16 @@
+(********************************************************************
+ * COPYRIGHT -- kA
+ ********************************************************************
+ * Program: blinker
+ * File: blinkerInit.ab
+ * Author: michi
+ * Created: November 23, 2009
+ ********************************************************************
+ * Implementation of program blinker
+ ********************************************************************)
+
+PROGRAM _INIT
+iCount = 0
+
+END_PROGRAM
+
--- a/Logical/Common/get_dt/IEC.prg
+++ b/Logical/Common/get_dt/IEC.prg
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.23 SP05?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File Private="true">get_dt.var</File>
+    <File>get_dtCyclic.ab</File>
+    <File>get_dtInit.ab</File>
+  </Files>
+</Program>
--- a/Logical/Common/get_dt/get_dt.var
+++ b/Logical/Common/get_dt/get_dt.var
@@ -0,0 +1,13 @@
+VAR
+	lDTGetTime : DTGetTime;
+	lUtcDTStructureGetTime : UtcDTStructureGetTime;
+END_VAR
+(*For unixtimestamp conversion*)
+VAR CONSTANT
+	uiDaysToMonthStart : ARRAY[0..11] OF UINT := [0,31,59,90,120,151,181,212,243,273,304,334];
+END_VAR
+VAR
+	udYears : UDINT;
+	udSwitchYears : UDINT;
+	udUnixTime : UDINT;
+END_VAR
--- a/Logical/Common/get_dt/get_dtCyclic.ab
+++ b/Logical/Common/get_dt/get_dtCyclic.ab
@@ -0,0 +1,28 @@
+PROGRAM _CYCLIC
+//Retrieve actual Date and Time in different Formats
+//as Date and Time
+lDTGetTime.enable = true
+lDTGetTime FUB DTGetTime()
+gdtActTime = lDTGetTime.DT1
+
+//as Datetime Structure
+lUtcDTStructureGetTime.enable = TRUE
+lUtcDTStructureGetTime.pDTStructure = ADR (gDTSActTimeUTC)
+lUtcDTStructureGetTime FUB UtcDTStructureGetTime ()
+
+//as Unix Timestamp
+udYears = gDTSActTimeUTC.year - 1970
+udSwitchYears =  ((gDTSActTimeUTC.year - 1) - 1968) / 4\
+               - ((gDTSActTimeUTC.year - 1) - 1900) / 100\
+               + ((gDTSActTimeUTC.year - 1) - 1600) / 400
+
+udUnixTime = gDTSActTimeUTC.second + UDINT (60) * gDTSActTimeUTC.minute + UDINT (3600) * gDTSActTimeUTC.hour + \
+              (uiDaysToMonthStart[gDTSActTimeUTC.month - 1] + gDTSActTimeUTC.day -1 + udYears * 365 + udSwitchYears) * 86400
+
+IF (gDTSActTimeUTC.month > 2) AND (gDTSActTimeUTC.year MOD 4 = 0) AND ((gDTSActTimeUTC.year MOD 100 <> 0) OR (gDTSActTimeUTC.year MOD 400 = 0)) THEN
+  udUnixTime = udUnixTime + 86400
+ENDIF
+gudUnixTimeUTC = udUnixTime 
+
+END_PROGRAM
+
--- a/Logical/Common/get_dt/get_dtInit.ab
+++ b/Logical/Common/get_dt/get_dtInit.ab
@@ -0,0 +1,5 @@
+PROGRAM _INIT
+(* init program *)
+;tSEtSntpClient_0.enalbe = true
+END_PROGRAM
+
--- a/Logical/Communication/BarcodeRdr/BarcodeRdr.st
+++ b/Logical/Communication/BarcodeRdr/BarcodeRdr.st
@@ -0,0 +1,144 @@
+(********************************************************************
+ * COPYRIGHT -- Bernecker + Rainer 
+ ********************************************************************
+ * Program: BarcodeRdr
+ * File: BarcodeRdr.st
+ * Author: Bernecker + Rainer
+ * Created: September 15, 2009
+ ********************************************************************
+ * Descirption: Reads data from a USB barcode reader
+ ********************************************************************)
+
+
+(********************************************************************
+ *  INIT UP
+ ********************************************************************)
+PROGRAM _INIT
+	
+	usbAttachDetachCount := 0;
+	usbNodeIx := 0;
+	enStep := enUSBRDRStep_INIT;
+END_PROGRAM
+
+
+(********************************************************************
+ *  CYCLIC TASK
+ ********************************************************************)
+PROGRAM _CYCLIC
+	
+	CASE enStep OF
+    enUSBRDRStep_INIT:
+      enStep := enUSBRDRStep_USB_GETNODELIST;
+
+		enUSBRDRStep_USB_GETNODELIST:	(* STEP: Find all plugged USB devices *)
+			UsbNodeListGetFub (enable := TRUE,
+			                  pBuffer := ADR (usbNodeList),
+			                  bufferSize := SIZEOF (usbNodeList),
+			                  filterInterfaceClass := 0,
+			                  filterInterfaceSubClass := 0);
+		
+			IF UsbNodeListGetFub.status = ERR_OK AND UsbNodeListGetFub.listNodes <> 0 THEN
+				(* USB device attach or detach *)
+        enStep := enUSBRDRStep_USB_SEARCHDEVICE;
+				usbNodeIx := 0;
+				usbAttachDetachCount := UsbNodeListGetFub.attachDetachCount;
+			ELSIF UsbNodeListGetFub.status = asusbERR_BUFSIZE OR UsbNodeListGetFub.status = asusbERR_NULLPOINTER THEN
+				(* Error handling *)
+			END_IF
+
+
+		enUSBRDRStep_USB_SEARCHDEVICE:	(* STEP: Search USB barcode reader device *)	
+			sizeUsbNode := SIZEOF (usbDevice);
+			UsbNodeGetFub (enable := TRUE,
+			              nodeId := usbNodeList[usbNodeIx],
+			              pBuffer := ADR (usbDevice),
+			              bufferSize := SIZEOF (usbDevice));
+		
+			IF UsbNodeGetFub.status = ERR_OK THEN
+				(* USB reader? *)
+				IF usbDevice.vendorId = VENDOR_ID_CS650 AND usbDevice.productId = PRODUCT_ID_CS650 THEN
+					(* USB reader found *)
+					strcpy (ADR (StringDevice), ADR (usbDevice.ifName));
+					usbNodeId := usbNodeList[usbNodeIx];
+          enStep := enUSBRDRStep_USB_DVDEVOPEN;
+				ELSE
+					usbNodeIx := usbNodeIx + 1;
+					IF usbNodeIx >= UsbNodeListGetFub.allNodes THEN
+						(* USB device not found *)
+            enStep := enUSBRDRStep_USB_GETNODELIST;
+					END_IF
+				END_IF
+			ELSIF UsbNodeGetFub.status = asusbERR_USB_NOTFOUND THEN
+				(* USB device not found *)
+        enStep := enUSBRDRStep_USB_GETNODELIST;
+			ELSIF UsbNodeGetFub.status = asusbERR_BUFSIZE OR UsbNodeGetFub.status = asusbERR_NULLPOINTER THEN
+				(* Error handling *)
+			END_IF
+		
+		
+		enUSBRDRStep_USB_DVDEVOPEN:	(* STEP: Open device *)
+			(* Initialize open structure *)
+			FrameXOpenFub (enable := TRUE,
+			               device := ADR (StringDevice),
+			               mode := 0,
+			               config := 0);
+		
+			IF FrameXOpenFub.status = ERR_OK THEN
+        enStep := enUSBRDRStep_READ;
+			END_IF
+		
+		
+		enUSBRDRStep_READ:	(* STEP: Read data from buffer *)
+			(* Initialize read structure *)
+			FrameReadFub (enable := TRUE,
+			              ident := FrameXOpenFub.ident);
+
+			IF FrameReadFub.status = 0 THEN	(* check status *)
+				IF readIx < SIZEOF (ReadData) THEN
+					(* Copy read data into array *)
+					memcpy (ADR (ReadData[readIx]), FrameReadFub.buffer, FrameReadFub.buflng);	
+					memcpy (ADR (ReadData2[readIx]), FrameReadFub.buffer, FrameReadFub.buflng);	
+					readIx := readIx + UINT_TO_USINT (FrameReadFub.buflng);
+					(* Start frame translation if Return key received *)
+					IF ReadData[readIx-1] = 16#A8 THEN 
+            enStep := enUSBRDRStep_DECODE;
+          END_IF
+				END_IF
+				(* Initialize release buffer structure *)
+				FrameReleaseBufferFub (enable := TRUE,
+				                       ident := FrameXOpenFub.ident,
+				                       buffer := FrameReadFub.buffer,
+				                       buflng := FrameReadFub.buflng);
+			END_IF
+			
+			
+		enUSBRDRStep_DECODE:	(* STEP: Translate USB HID to ASCII characters *)
+      udCodeNr := 0;
+			memset (ADR (AsciiData), 0, SIZEOF (AsciiData));
+			j := 0;
+			
+			(* Filter KeyUp codes and invalid data *)
+			FOR i := 0 TO readIx - 2 DO
+				IF ReadData[i] + 16#80 = ReadData[i+1] THEN
+					AsciiData[j] := ReadData[i];
+					j := j + 1;
+				END_IF
+			END_FOR
+			
+			(* Translate to ASCII *)
+			FOR i := 0 TO j - 1 DO
+				(* Check that data is within valid LUT range *)
+				IF  AsciiData[i] <= 16#30 AND AsciiData[i] <= 16#39 THEN
+					AsciiData[i] := ASCII_LUT[AsciiData[i]];
+          udCodeNr := udCodeNr * 10 + USINT_TO_UDINT (AsciiData[i] - 16#30);
+				END_IF
+			END_FOR
+			
+			(* Clear raw data buffer *)
+			memset (ADR (ReadData), 0, SIZEOF (ReadData));
+			readIx := 0;
+      enStep := enUSBRDRStep_READ;
+
+	END_CASE
+
+END_PROGRAM
--- a/Logical/Communication/BarcodeRdr/BarcodeRdr.typ
+++ b/Logical/Communication/BarcodeRdr/BarcodeRdr.typ
@@ -0,0 +1,12 @@
+
+TYPE
+	typ_enStepUSBRDR : 
+		( (*Schritte USB Leser*)
+		enUSBRDRStep_INIT, (*Init -> Search Reader*)
+		enUSBRDRStep_USB_GETNODELIST, (*Get USB Devices*)
+		enUSBRDRStep_USB_SEARCHDEVICE, (*Search Reader in Devices*)
+		enUSBRDRStep_USB_DVDEVOPEN, (*Open Reader*)
+		enUSBRDRStep_READ, (*READ from Reader*)
+		enUSBRDRStep_DECODE
+		);
+END_TYPE
--- a/Logical/Communication/BarcodeRdr/BarcodeRdr.var
+++ b/Logical/Communication/BarcodeRdr/BarcodeRdr.var
@@ -0,0 +1,41 @@
+(********************************************************************
+ * COPYRIGHT -- Bernecker + Rainer 
+ ********************************************************************
+ * Program: BarcodeRdr
+ * File: BarcodeRdr.var
+ * Author: Bernecker + Rainer
+ * Created: September 15, 2009
+ ********************************************************************
+ * Local variables of program BarcodeRdr
+ ********************************************************************)
+VAR
+	readIx : USINT;
+	sizeUsbNode : USINT;
+	usbNodeIx : USINT;
+	enStep : typ_enStepUSBRDR; (*Step variable*)
+	i : UINT; (*Loop counter*)
+	j : UINT; (*Loop counter*)
+	usbAttachDetachCount : UDINT;
+	usbNodeId : UDINT;
+	udCodeNr : UDINT;
+	AsciiData : ARRAY[0..255] OF USINT; (*Translated (ASCII) data*)
+	ReadData : ARRAY[0..255] OF USINT; (*Raw data*)
+	ReadData2 : ARRAY[0..255] OF USINT; (*Raw data*)
+	StringDevice : ARRAY[0..29] OF STRING[80]; (*Logical device path*)
+	usbNodeList : ARRAY[0..31] OF UDINT;
+	FrameReadFub : FRM_read;
+	FrameReleaseBufferFub : FRM_rbuf;
+	FrameXOpenFub : FRM_xopen;
+	UsbNodeGetFub : UsbNodeGet;
+	UsbNodeListGetFub : UsbNodeListGet;
+	usbDevice : usbNode_typ;
+END_VAR
+VAR CONSTANT
+	ASCII_ENDINDEX : USINT := 39; (*Last index of ASCII LUT*)
+	ASCII_STARTINDEX : USINT := 4; (*Start index of ASCII LUT*)
+	ASCII_LUT : ARRAY[ASCII_STARTINDEX..ASCII_ENDINDEX] OF USINT := [65,66,67,68,69,70,71,72,73,74,75,76,77,78,79,80,81,82,83,84,85,86,87,88,89,90,49,50,51,52,53,54,55,56,57,48]; (*Lookup Table USB HID to ASCII*)
+	PRODUCT_ID_DATALOGICREADER : UINT := 16#8706; (*USB Product ID*)
+	VENDOR_ID_DATALOGICREADER : UINT := 16#1529; (*USB Vendor ID*)
+	PRODUCT_ID_CS650 : UINT := 16#008C; (*USB Product ID*)
+	VENDOR_ID_CS650 : UINT := 16#0809; (*USB Vendor ID*)
+END_VAR
--- a/Logical/Communication/BarcodeRdr/IEC.prg
+++ b/Logical/Communication/BarcodeRdr/IEC.prg
@@ -0,0 +1,9 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.23 SP05?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File Description="Implementation code">BarcodeRdr.st</File>
+    <File Description="Local data types" Private="true">BarcodeRdr.typ</File>
+    <File Description="Local variables" Private="true">BarcodeRdr.var</File>
+  </Files>
+</Program>
--- a/Logical/Communication/Package.pkg
+++ b/Logical/Communication/Package.pkg
@@ -0,0 +1,11 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.23 SP05?>
+<Package xmlns="http://br-automation.co.at/AS/Package">
+  <Objects>
+    <Object Type="Program" Language="IEC" Description="Collectd Client">collectd</Object>
+    <Object Type="Program" Language="IEC" Description="13 Mhz Transponder B&amp;R">RFID_USB</Object>
+    <Object Type="Program" Language="IEC">BarcodeRdr</Object>
+    <Object Type="Program" Language="IEC" Description="Sick RFID Reader">RFID</Object>
+    <Object Type="Program" Language="IEC" Description="S7 ABB Roboter">S7ABB</Object>
+  </Objects>
+</Package>
--- a/Logical/Communication/RFID/ASCtoUDINT.st
+++ b/Logical/Communication/RFID/ASCtoUDINT.st
@@ -0,0 +1,43 @@
+FUNCTION ASCtoUDINT
+  ASCtoUDINT := 0;
+  udNextAdr := udInNextAdr;
+  FOR usi:=0 TO 7 BY 1 DO
+    memcpy (ADR (usChar), udNextAdr + usi, 1);
+    CASE usChar OF
+    48:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 0;
+    49:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 1;
+    50:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 2;
+    51:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 3;
+    52:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 4;
+    53:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 5;
+    54:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 6;
+    55:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 7;
+    56:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 8;
+    57:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 9;
+    65:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 10;
+    66:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 11;
+    67:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 12;
+    68:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 13;
+    69:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 14;
+    70:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 15;
+    ELSE
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 16#f;
+    END_CASE
+  END_FOR
+END_FUNCTION
--- a/Logical/Communication/RFID/IEC.prg
+++ b/Logical/Communication/RFID/IEC.prg
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.23 SP05?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File Private="true">RFID.var</File>
+    <File Description="Local data types" Private="true">RFID.typ</File>
+    <File>RFIDCyclic.st</File>
+    <File>RFIDInit.st</File>
+    <File Private="true">RFID.fun</File>
+    <File Description="Convert ASCII Value to UDINT">ASCtoUDINT.st</File>
+  </Files>
+</Program>
--- a/Logical/Communication/RFID/RFID.fun
+++ b/Logical/Communication/RFID/RFID.fun
@@ -0,0 +1,11 @@
+
+FUNCTION ASCtoUDINT : UDINT (*Convert ASCII Value to UDINT*)
+	VAR_INPUT
+		udInNextAdr : UDINT; (*Next Pos in ByteStream (No CHECK)*)
+	END_VAR
+	VAR
+		udNextAdr : UDINT;
+		usi : USINT;
+		usChar : USINT;
+	END_VAR
+END_FUNCTION
--- a/Logical/Communication/RFID/RFID.typ
+++ b/Logical/Communication/RFID/RFID.typ
@@ -0,0 +1,12 @@
+
+TYPE
+	Steps_enum : 
+		( (*Steps of RFID Statemachine*)
+		enSTEP_INIT,
+		enSTEP_OPEN,
+		enSTEP_OPENED,
+		enSTEP_CONNECTED,
+		enSTEP_CLOSE,
+		enSTEP_CLOSED
+		);
+END_TYPE
--- a/Logical/Communication/RFID/RFID.var
+++ b/Logical/Communication/RFID/RFID.var
@@ -0,0 +1,41 @@
+(*FUB Instances*)
+VAR
+	FUB_TcpOpen : TcpOpen;
+	FUB_TcpClient : TcpClient;
+	FUB_TcpClose : TcpClose;
+	FUB_TcpRecv : TcpRecv;
+	FUB_TcpSend : TcpSend;
+END_VAR
+(*//Local VArs*)
+VAR
+	bAllowData : BOOL;
+	bSend : BOOL;
+	bGateEnable : BOOL;
+	usi : USINT := 0;
+	usTemp : USINT := 0;
+	usCodes : USINT := 0;
+	usTelegramNr : USINT;
+	uiProdNr : UINT;
+	udTagID : UDINT;
+	udRackID : UDINT;
+	udProdID : UDINT;
+	udClosePortID : UDINT;
+	udClientID : UDINT;
+	udSocketID : UDINT;
+	strServerIP : STRING[20];
+	strBindIP : STRING[20];
+	strRecvBufferChar : STRING[2];
+	strCharCmp : STRING[2];
+	strRecvBuffer : STRING[120];
+	strRecvBufferSave : STRING[120];
+	strSendBuffer : STRING[120];
+	enState : Steps_enum;
+END_VAR
+(*//ASCII Constants*)
+VAR CONSTANT
+	usSTX : USINT := 2; (*ASCII STX*)
+	usETX : USINT := 3; (*ASCII ETX*)
+	usCR : USINT := 13; (*ASCII CR*)
+	strStartRead : STRING[15] := 'sMN mTCgateon';
+	strStopRead : STRING[16] := 'sMN mTCgateoff';
+END_VAR
--- a/Logical/Communication/RFID/RFIDCyclic.st
+++ b/Logical/Communication/RFID/RFIDCyclic.st
@@ -0,0 +1,132 @@
+PROGRAM _CYCLIC
+
+IF enState = enSTEP_INIT THEN
+  enState := enSTEP_OPEN;
+END_IF
+
+//Open listener Socket
+FUB_TcpOpen.enable   := (enState = enSTEP_OPEN);
+FUB_TcpOpen ();
+
+
+IF FUB_TcpOpen.status = 0 THEN
+  udSocketID := FUB_TcpOpen.ident;
+  enState := enSTEP_OPENED;
+ELSIF FUB_TcpOpen.status = tcpERR_ALREADY_EXIST THEN
+  udClosePortID := FUB_TcpOpen.ident;
+  enState := enSTEP_CLOSE;
+ELSIF FUB_TcpOpen.status = tcpERR_NOMORE_IDENTS THEN
+  udClosePortID := 1; //Close Port 1
+  enState := enSTEP_CLOSE;
+END_IF
+
+
+//connect to server
+FUB_TcpClient.enable	:= (enState = enSTEP_OPENED);
+FUB_TcpClient.ident	:= udSocketID;
+FUB_TcpClient ();
+
+
+IF FUB_TcpClient.status = 0 THEN
+ //New Connection on Socket
+ enState := enSTEP_CONNECTED;
+ udClientID := udSocketID;
+ELSIF FUB_TcpClient.status = tcpERR_INVALID THEN
+  udClosePortID := udSocketID;
+  enState := enSTEP_CLOSE;
+ELSIF FUB_TcpClient.status = tcpERR_ALREADY_CONNECTED THEN
+  udClosePortID := udSocketID;
+  enState := enSTEP_CLOSE;
+END_IF
+
+
+//Close listener Socket //Or Reset All
+FUB_TcpClose.enable := (enState = enSTEP_CLOSE);
+FUB_TcpClose.ident  := udClosePortID;
+FUB_TcpClose.how    := (tcpSHUT_RD OR tcpSHUT_WR);
+FUB_TcpClose ();
+
+IF (FUB_TcpClose.status = 0) OR
+   (FUB_TcpClose.status = tcpERR_INVALID_IDENT) THEN
+  enState := enSTEP_CLOSED;
+END_IF
+
+
+//Receive Data an Client Connections
+FUB_TcpRecv.enable	:= (enState = enSTEP_CONNECTED);
+FUB_TcpRecv.ident	:= udClientID;
+FUB_TcpRecv.pData	:= ADR (strRecvBuffer);
+FUB_TcpRecv.datamax := 120;
+FUB_TcpRecv.flags	:= 0;
+FUB_TcpRecv ();
+
+
+IF (FUB_TcpRecv.recvlen > 0) AND bAllowData THEN
+//  strcpy (ADR (strRecvBuffer), ADR (''));
+  memcpy (ADR (usi), ADR (strRecvBuffer), 1);
+  IF (FUB_TcpRecv.recvlen >= 29) THEN
+    IF memcmp (ADR (strRecvBuffer), ADR (usSTX), 1) = 0 THEN
+      //New Telegram
+      memcpy (ADR (usTelegramNr), ADR (strRecvBuffer) + 1, 1);
+      memcpy (ADR (usCodes), ADR (strRecvBuffer) + 2, 1);
+      IF memcmp (ADR (strRecvBuffer) + 3, ADR (usCR), 1) = 0 THEN
+        //Code Start
+        //strcpy (ADR (strRecvBufferSave), ADR (strRecvBuffer));
+        udTagID := ASCtoUDINT (ADR (strRecvBuffer) + 12);
+        IF memcmp (ADR (strRecvBuffer) + 20, ADR ('RACK'), 4) = 0 THEN
+          udRackID := udTagID;
+          udProdID := 0;
+          uiProdNr := 0;
+        ELSIF memcmp (ADR (strRecvBuffer) + 20, ADR ('PROD'), 4) = 0 THEN
+          udRackID := 0;
+          memcpy (ADR (udProdID), ADR (strRecvBuffer) + 24, 4);
+          memcpy (ADR (uiProdNr), ADR (strRecvBuffer) + 28, 2);         
+        END_IF
+      END_IF
+    END_IF 
+  END_IF
+END_IF
+
+
+IF EDGEPOS (bGateEnable) THEN
+  memcpy (ADR (strSendBuffer), ADR (usSTX), 1);
+  memcpy (ADR (strSendBuffer) + 1, ADR (strStartRead), 13);
+  memcpy (ADR (strSendBuffer), ADR (usETX), 1);
+  FUB_TcpSend.datalen := 15;
+  bSend := TRUE;
+ELSIF EDGENEG (bGateEnable) THEN
+  memcpy (ADR (strSendBuffer), ADR (usSTX), 1);
+  memcpy (ADR (strSendBuffer) + 1, ADR (strStopRead), 13);
+  memcpy (ADR (strSendBuffer), ADR (usETX), 1);
+  FUB_TcpSend.datalen := 16;
+  bSend := TRUE;
+END_IF
+
+//Send Data on Client Connections
+IF (enState = enSTEP_CONNECTED) THEN
+  FUB_TcpSend.enable  := bSend;
+  FUB_TcpSend.pData   := ADR (strSendBuffer);
+  FUB_TcpSend.ident   := udClientID;
+  FUB_TcpSend.flags   := 0;
+  FUB_TcpSend ();
+
+  IF FUB_TcpSend.status = 0 THEN
+    bSend := FALSE;
+  END_IF
+END_IF
+END_PROGRAM
+
+
+
+PROGRAM _EXIT
+  FUB_TcpClose.enable := TRUE;
+  FUB_TcpClose.ident  := udClosePortID;
+  FUB_TcpClose.how    := (tcpSHUT_RD OR tcpSHUT_WR);
+  WHILE TRUE DO
+    FUB_TcpClose ();
+    IF (FUB_TcpClose.status <> ERR_FUB_BUSY) THEN
+      EXIT;
+    END_IF
+  END_WHILE
+
+END_PROGRAM
--- a/Logical/Communication/RFID/RFIDInit.st
+++ b/Logical/Communication/RFID/RFIDInit.st
@@ -0,0 +1,16 @@
+PROGRAM _INIT
+strcpy (ADR (strServerIP), ADR ('192.168.100.61'));
+strcpy (ADR (strBindIP), ADR ('192.168.100.68'));
+
+FUB_TcpOpen.pIfAddr  := ADR (strBindIP);
+FUB_TcpOpen.port     := 0;
+FUB_TcpOpen.options  := tcpOPT_REUSEADDR;
+
+FUB_TcpClient.portserv := 2112;
+FUB_TcpClient.pServer :=  ADR (strServerIP);
+
+enState := enSTEP_INIT;
+bAllowData := TRUE;
+
+END_PROGRAM
+
--- a/Logical/Communication/RFID_USB/ASCtoUDINT.st
+++ b/Logical/Communication/RFID_USB/ASCtoUDINT.st
@@ -0,0 +1,52 @@
+FUNCTION ASCtoUDINT
+  ASCtoUDINT := 0;
+  udNextAdr := udInNextAdr;
+  IF bInReverse THEN
+    sStart := 7;
+    sEnd := 0;
+    sStep := -1;
+  ELSE
+    sStart := 0;
+    sEnd := 7;
+    sStep := 1;
+  END_IF
+  FOR usi := sStart TO sEnd BY sStep DO
+    memcpy (ADR (usChar), udNextAdr + usi, 1);
+    CASE usChar OF
+    48:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 0;
+    49:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 1;
+    50:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 2;
+    51:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 3;
+    52:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 4;
+    53:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 5;
+    54:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 6;
+    55:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 7;
+    56:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 8;
+    57:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 9;
+    65:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 10;
+    66:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 11;
+    67:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 12;
+    68:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 13;
+    69:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 14;
+    70:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 15;
+    ELSE
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 16#f;
+    END_CASE
+  END_FOR
+END_FUNCTION
--- a/Logical/Communication/RFID_USB/IEC.prg
+++ b/Logical/Communication/RFID_USB/IEC.prg
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.23 SP05?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File Description="Implementation code">RFID_USB.st</File>
+    <File Description="Local variables" Private="true">RFID_USB.var</File>
+    <File Description="Local data types" Private="true">RFID_USB.typ</File>
+    <File Private="true">RFID_USB.fun</File>
+    <File Description="Convert ASCII Value to UDINT">ASCtoUDINT.st</File>
+    <File Description="Convert UDINT Value to ASCII">UDINTtoASC.st</File>
+  </Files>
+</Program>
--- a/Logical/Communication/RFID_USB/RFID_USB.fun
+++ b/Logical/Communication/RFID_USB/RFID_USB.fun
@@ -0,0 +1,28 @@
+
+FUNCTION ASCtoUDINT : UDINT (*Convert ASCII Value to UDINT*)
+	VAR_INPUT
+		udInNextAdr : UDINT; (*Next Pos in ByteStream (No CHECK)*)
+		bInReverse : BOOL;
+	END_VAR
+	VAR
+		udNextAdr : UDINT;
+		usi : SINT;
+		sStart : SINT;
+		sEnd : SINT;
+		sStep : SINT;
+		usChar : USINT;
+	END_VAR
+END_FUNCTION
+
+FUNCTION UDINTtoASC : UDINT (*Convert UDINT Value to ASCII*)
+	VAR_INPUT
+		udInNextAdr : UDINT; (*Next Pos in ByteStream (No CHECK)*)
+		udInValue : UDINT;
+	END_VAR
+	VAR
+		udNextAdr : UDINT;
+		udValue : UDINT;
+		usi : USINT;
+		usChar : USINT;
+	END_VAR
+END_FUNCTION
--- a/Logical/Communication/RFID_USB/RFID_USB.st
+++ b/Logical/Communication/RFID_USB/RFID_USB.st
@@ -0,0 +1,331 @@
+(********************************************************************
+ * COPYRIGHT --  
+ ********************************************************************
+ * Program: RFID_USB
+ * File: RFID_USB.st
+ * Author: michi
+ * Created: December 04, 2012
+ ********************************************************************
+ * Implementation of program RFID_USB
+ ********************************************************************)
+
+PROGRAM _INIT
+	udAttachDetachCount := 0;
+  usNodeIx := 0;
+	enStep := enRFIDStep_INIT;	
+END_PROGRAM
+
+
+PROGRAM _CYCLIC
+
+CASE enStep OF
+  //Init
+  //---------------------------
+  enRFIDStep_INIT:
+    FUB_FrameRead.enable := 0;
+    FUB_FrameReleaseBuffer.enable := 0;
+    FUB_FrameWrite.enable := 0;
+    FUB_FrameXOpen.enable := 0;
+    FUB_UsbNodeGet.enable := 0;
+    FUB_UsbNodeListGet.enable := 0;
+    enStep := enRFIDStep_USB_GETNODELIST;
+
+  //Get USB Nodelsit
+  //---------------------------
+  enRFIDStep_USB_GETNODELIST:		
+  	FUB_UsbNodeListGet.enable := 1;
+  	FUB_UsbNodeListGet.pBuffer :=  ADR (udNodeList);
+  	FUB_UsbNodeListGet.bufferSize := SIZEOF (udNodeList);
+  	FUB_UsbNodeListGet.filterInterfaceClass := 0;
+  	FUB_UsbNodeListGet.filterInterfaceSubClass := 0;
+  	
+  	IF (FUB_UsbNodeListGet.status = ERR_OK) AND (FUB_UsbNodeListGet.listNodes > 0) THEN
+  		// USB Device Attach or detach
+      FUB_UsbNodeListGet.enable := 0;
+      usNodeIx := 0;
+  		udAttachDetachCount := FUB_UsbNodeListGet.attachDetachCount;
+    	enStep := enRFIDStep_USB_SEARCHDEVICE;
+  	END_IF
+  	//else if (UsbNodeListGetFub.status == asusbERR_BUFSIZE || UsbNodeListGetFub.status == asusbERR_NULLPOINTER)
+		
+  //Serch Reader in USB Devices
+  //---------------------------
+  enRFIDStep_USB_SEARCHDEVICE:		
+    FUB_UsbNodeGet.enable := 1;
+  	FUB_UsbNodeGet.nodeId := udNodeList[usNodeIx];
+  	FUB_UsbNodeGet.pBuffer := ADR (usbDevice);
+  	FUB_UsbNodeGet.bufferSize := SIZEOF (usbDevice);
+  	
+  	IF (FUB_UsbNodeGet.status = ERR_OK ) THEN
+        FUB_UsbNodeGet.enable := 0;
+  		// USB FTDI Transponder
+  		IF (usbDevice.vendorId = TRANSPONDER_FTDI_VENDOR_ID) AND
+  			 (usbDevice.productId = TRANSPONDER_FTDI_PRODUCT_ID) AND
+  			 (usbDevice.bcdDevice = TRANSPONDER_FTDI_BCD) THEN
+  			// USB FTDI Transponder found
+  			strcpy (ADR (strDevice), ADR (usbDevice.ifName));
+  			udNodeId := udNodeList[usNodeIx];
+  			enStep := enRFIDStep_USB_DVDEVOPEN;
+  		ELSE
+  			usNodeIx := usNodeIx + 1;
+  			IF (usNodeIx >= FUB_UsbNodeListGet.allNodes) THEN
+  				// USB Device not found
+  				enStep := enRFIDStep_USB_GETNODELIST;
+          END_IF
+  	  END_IF
+  	ELSIF (FUB_UsbNodeGet.status = asusbERR_USB_NOTFOUND) THEN
+  		// USB Device NOT found
+  		enStep := enRFIDStep_USB_GETNODELIST;
+    END_IF
+  	//ELSE IF (FUB_UsbNodeGet.status == asusbERR_BUFSIZE || FUB_UsbNodeGet.status == asusbERR_NULLPOINTER)
+
+  //Open Reader Devicer
+  //---------------------------
+	enRFIDStep_USB_DVDEVOPEN:
+  	// initialize open structure */
+  	FUB_FrameXOpen.device := ADR (strDevice);
+  	FUB_FrameXOpen.mode := 0;
+  	FUB_FrameXOpen.config := 0;
+  	FUB_FrameXOpen.enable := 1;
+  	
+  	IF (FUB_FrameXOpen.status = frmERR_OK) THEN
+  		FUB_FrameWrite.ident := FUB_FrameXOpen.ident;
+  		FUB_FrameRead.ident := FUB_FrameXOpen.ident;
+      FUB_FrameReleaseBuffer.ident := FUB_FrameXOpen.ident;
+    	FUB_FrameXOpen.enable := 0;
+  		enStep := enRFIDStep_INIT_READER;
+     END_IF
+	
+  //Get USB Nodelist
+  //---------------------------
+	enRFIDStep_INIT_READER:
+		//   Register Write:
+    //   5V operation, RF output active, full power; ISO 15693, low bit rate, 6.62 kbps, one subcarrier, 1 out OF 4
+		//
+    //   10  00  21  01  00
+    //   |   |   |   |   |
+    //   |   |   |   |   Value Register 0x01
+    //   |   |   |   ISO Control Register (0x01)
+    //   |   |   Value Register 0x00
+    //   |   Chip Status Control Register (0x00)
+    //   Register Write Cmd
+
+    // Set Protocol, 1 out OF 4, full power, low bit rate */
+	  strcpy (ADR (strWriteData), ADR ('1000210100')); 
+	  strcpy (ADR (strWriteDatalen), ADR ('0C')); 
+	  uiReadAnswer := 1; 
+    enStep := enRFIDStep_WRITE;
+	
+	
+  
+  //IDLE
+  //---------------------------
+	enRFIDStep_IDLE:
+  
+    CASE enCmd OF
+      enRFIDCMD_NONE:
+        IF gTransponder.enTransponderCmd = enTransponderREAD_Data THEN
+          usBlockNr := 0;
+          gTransponder.enTransponderCmd := enTransponderREAD_Data_Wait;
+          enCmd := enRFIDCMD_READ_SBLOCK;
+        ELSIF gTransponder.enTransponderCmd = enTransponderREAD_Data2 THEN
+          usBlockNr := 1;
+          enCmd := enRFIDCMD_READ_SBLOCK;
+          gTransponder.enTransponderCmd := enTransponderREAD_Data2_Wait;
+        ELSIF gTransponder.enTransponderCmd = enTransponderWRITE_Data THEN
+          usBlockNr := 0;
+          udWriteData := gTransponder.udProdID;
+          gTransponder.enTransponderCmd := enTransponderWRITE_Data_Wait;
+          enCmd := enRFIDCMD_READ_SBLOCK;
+        ELSIF gTransponder.enTransponderCmd = enTransponderWRITE_Data2 THEN
+          usBlockNr := 1;
+          udWriteData := gTransponder.udProdNr;
+          gTransponder.enTransponderCmd := enTransponderWRITE_Data2_Wait;
+          enCmd := enRFIDCMD_READ_SBLOCK;
+        END_IF
+        
+      enRFIDCMD_READ_INVENTORY:
+        //   Inventory
+        //   14  04  01  00
+        //   |   |   |   |
+        //   |   |   |   Mask Length
+        //   |   |   Anticollision Cmd
+        //   |   Flags (Inventory flag = 1, HDR = 0)
+        //   Inventory request
+        // inventory 16 slot
+      	strcpy (ADR (strWriteData),  ADR ('14040100'));
+	      strcpy (ADR (strWriteDatalen), ADR ('0B')); 
+      	uiReadAnswer := 16; // 16 slot answer
+        enStep := enRFIDStep_WRITE;
+        	      
+	    enRFIDCMD_READ_SYSINFO:
+		    //   Read System Info
+        //   18  00  2B
+        //   |   |   |
+        //   |   |   Get System Info Cmd
+        //   |   Flags (Option = 0, HDR = 0)
+        //   Request Cmd
+		    strcpy (ADR (strWriteData),  ADR ('18002B'));
+	      strcpy (ADR (strWriteDatalen), ADR ('0A')); 
+			  uiReadAnswer := 1;
+        enStep := enRFIDStep_WRITE;
+		
+	    enRFIDCMD_READ_SBLOCK:
+        //   Read Single Block
+        //   18  02  20
+        //   |   |   |
+        //   |   |   Read Single Block Cmd
+        //   |   Flags (Option = 1, HDR = 0)
+        //   Request Cmd
+        //
+        //   Option = 1: Return block security status 
+		    strcpy (ADR (strWriteData),  ADR ('184020')); // read block #1
+        uiLength := itoa (usBlockNr, ADR (strTemp));
+        IF (uiLength = 1) THEN
+          strcat (ADR (strWriteData), ADR ('0'));
+        END_IF
+        strcat (ADR (strWriteData), ADR (strTemp));
+    	  strcpy (ADR (strWriteDatalen), ADR ('0B')); 
+			  uiReadAnswer := 1;
+        enStep := enRFIDStep_WRITE;
+
+				
+	    enRFIDCMD_WRITE_SBLOCK:
+        //   Write Single Block
+        //   18  00  21
+        //   |   |   |
+        //   |   |   Write Single Block Cmd
+        //   |   Flags (Option = 0, HDR = 0)
+        //   Request Cmd
+		    strcpy (ADR (strWriteData),  ADR ('180021')); // write block #1 (Data = 0x12345678)
+        uiLength := itoa (usBlockNr, ADR (strTemp));
+        IF (uiLength = 1) THEN
+          strcat (ADR (strWriteData), ADR ('0'));
+        END_IF
+        UDINTtoASC (ADR (strWriteData) + 8, udWriteData);
+    	  strcpy (ADR (strWriteDatalen), ADR ('0F')); 
+			  uiReadAnswer := 1;
+        enStep := enRFIDStep_WRITE;
+
+	    enRFIDCMD_WRITE_AFI:
+        //   Write AFI
+        //   18  00  30
+        //   |   |   |
+        //   |   |   Get System Info Cmd
+        //   |   Flags (Option = 0, HDR = 0)
+        //   Request Cmd
+		    strcpy (ADR (strWriteData),  ADR ('18002730')); // write AFI (0x30 = Identification)
+    	  strcpy (ADR (strWriteDatalen), ADR ('0B')); 
+			  uiReadAnswer := 1;
+        enStep := enRFIDStep_WRITE;
+
+	    enRFIDCMD_WRITE_DFSID:
+        //   Write DSFID
+        //   18  00  29
+        //   |   |   |
+        //   |   |   Write DSFID Cmd
+        //   |   Flags (Option = 0, HDR = 0)
+        //   Request Cmd
+		    strcpy (ADR (strWriteData),  ADR ('18002918')); // write DSFID 0x18
+    	  strcpy (ADR (strWriteDatalen), ADR ('0B')); 
+			  uiReadAnswer := 1;
+        enStep := enRFIDStep_WRITE;
+        
+    END_CASE
+
+  //WRITE
+  //---------------------------
+	enRFIDStep_WRITE:
+    // initialize write structure */
+    //Frame Start
+    strcpy (ADR (strWriteTelegram), ADR ('01'));
+    //Length
+    strcat (ADR (strWriteTelegram), ADR (strWriteDatalen));
+    //Const 00 + Start of Payload
+    strcat (ADR (strWriteTelegram), ADR ('000304'));
+    strcat (ADR (strWriteTelegram), ADR (strWriteData));
+    //Frame End
+    strcat (ADR (strWriteTelegram), ADR ('0000')); 
+		FUB_FrameWrite.buffer := ADR (strWriteTelegram);
+		FUB_FrameWrite.buflng := strlen (ADR (strWriteTelegram));
+		FUB_FrameWrite.enable := 1;
+	  IF (FUB_FrameWrite.status = frmERR_OK) THEN
+  	  enStep := enRFIDStep_READ; 
+  		FUB_FrameWrite.enable := 0;
+			uiReadCount := 0;
+		END_IF
+
+  //READ
+  //---------------------------
+	enRFIDStep_READ:
+		// initialize read structure
+		FUB_FrameRead.enable := 1;
+	  pReadBuffer := FUB_FrameRead.buffer; // get adress OF read buffer */
+		uiReadBufferLength := FUB_FrameRead.buflng; // get length OF read buffer */
+			
+		IF (FUB_FrameRead.status = frmERR_OK) THEN
+      udTemp := 0;
+		  memset (ADR (strReadData), 0, SIZEOF (strReadData));
+			memcpy (ADR (strReadData), pReadBuffer, uiReadBufferLength); 	// copy read data into array */
+		  IF (uiReadBufferLength > 7) THEN
+			  strcpy (ADR (strReadTag), ADR (strReadData));	// copy read data into Tag array */
+		  END_IF
+		  IF (uiReadBufferLength = 16) THEN
+        udTemp := ASCtoUDINT (ADR (strReadData) + 5, FALSE);
+		  END_IF
+      IF (uiReadBufferLength =23) THEN
+        //TagID Slot
+        udTemp := ASCtoUDINT (ADR (strReadData) + 2, TRUE);
+        udTemp2 := ASCtoUDINT (ADR (strReadData) + 2, FALSE);
+		  END_IF
+		  	
+		  // initialize release buffer structure */
+			FUB_FrameReleaseBuffer.enable := 1;
+			FUB_FrameReleaseBuffer.buffer := pReadBuffer;
+			FUB_FrameReleaseBuffer.buflng := uiReadBufferLength;
+      FUB_FrameReleaseBuffer ();
+				
+			uiReadCount := uiReadCount + 1;
+      IF gTransponder.enTransponderCmd = enTransponderREAD_Data_Wait THEN
+        gTransponder.udProdIDRdBack := udTemp;
+        gTransponder.enTransponderCmd := enTransponderREAD_Data2;
+      ELSIF gTransponder.enTransponderCmd = enTransponderREAD_Data2_Wait THEN
+        gTransponder.udProdNrRdBack := udTemp;
+        gTransponder.enTransponderCmd := enTransponderIDLE;
+      ELSIF gTransponder.enTransponderCmd = enTransponderWRITE_Data_Wait THEN
+        gTransponder.enTransponderCmd := enTransponderWRITE_Data2;
+      ELSIF gTransponder.enTransponderCmd = enTransponderWRITE_Data2_Wait THEN
+        gTransponder.enTransponderCmd := enTransponderREAD_Data;
+      ELSIF udTemp > 0 THEN
+        gTransponder.udTagID := udTemp;
+      END_IF
+      IF (uiReadCount = uiReadAnswer) THEN
+    	  FUB_FrameRead.enable := 0;
+	  		enStep := enRFIDStep_IDLE;
+        enCmd := enRFIDCMD_NONE;
+			END_IF
+    END_IF
+  END_CASE
+
+TON_Read.IN := (enStep = enRFIDStep_IDLE) AND (enCmd = enRFIDCMD_NONE) AND (gTransponder.enTransponderCmd = enTransponderIDLE);
+TON_Read.PT := t#1s;
+TON_Read ();
+IF TON_Read.Q THEN
+  enCmd := enRFIDCMD_READ_INVENTORY;
+END_IF
+//Call FUBs
+FUB_FrameRead ();
+FUB_FrameWrite ();
+FUB_FrameXOpen ();
+FUB_UsbNodeGet ();
+FUB_UsbNodeListGet ();
+
+END_PROGRAM
+
+PROGRAM _EXIT
+
+
+(* TODO : Add your code here *)
+
+
+END_PROGRAM
--- a/Logical/Communication/RFID_USB/RFID_USB.typ
+++ b/Logical/Communication/RFID_USB/RFID_USB.typ
@@ -0,0 +1,24 @@
+
+TYPE
+	typ_enStepRFID : 
+		( (*Schritte RFID Leser*)
+		enRFIDStep_INIT, (*Init -> Search Reader*)
+		enRFIDStep_USB_GETNODELIST, (*Get USB Devices*)
+		enRFIDStep_USB_SEARCHDEVICE, (*Search Reader in Devices*)
+		enRFIDStep_USB_DVDEVOPEN, (*Open Reader*)
+		enRFIDStep_INIT_READER, (*Initialize Reader*)
+		enRFIDStep_IDLE, (*Wait for commands*)
+		enRFIDStep_READ, (*READ from Reader*)
+		enRFIDStep_WRITE (*WRITE to Reader*)
+		);
+	typ_enCmdRFID : 
+		(
+		enRFIDCMD_NONE,
+		enRFIDCMD_READ_INVENTORY,
+		enRFIDCMD_READ_SYSINFO,
+		enRFIDCMD_READ_SBLOCK,
+		enRFIDCMD_WRITE_SBLOCK,
+		enRFIDCMD_WRITE_AFI,
+		enRFIDCMD_WRITE_DFSID
+		);
+END_TYPE
--- a/Logical/Communication/RFID_USB/RFID_USB.var
+++ b/Logical/Communication/RFID_USB/RFID_USB.var
@@ -0,0 +1,48 @@
+(********************************************************************
+ * COPYRIGHT --  
+ ********************************************************************
+ * Program: RFID_USB
+ * File: RFID_USB.var
+ * Author: michi
+ * Created: December 04, 2012
+ ********************************************************************
+ * Local variables of program RFID_USB
+ ********************************************************************)
+VAR
+	sizeUsbNode : USINT;
+	usNodeIx : USINT;
+	usBlockNr : USINT;
+	uiReadAnswer : UINT;
+	uiReadBufferLength : UINT;
+	uiReadCount : UINT;
+	uiLength : UINT;
+	udAttachDetachCount : UDINT;
+	udNodeId : UDINT;
+	udNodeList : ARRAY[0..31] OF UDINT;
+	pReadBuffer : UDINT;
+	udTemp : UDINT;
+	udTemp2 : UDINT;
+	udWriteData : UDINT;
+	strReadData : STRING[80];
+	strReadTag : STRING[80];
+	strDevice : STRING[20];
+	strWriteData : STRING[80];
+	strWriteDatalen : STRING[2];
+	strWriteTelegram : STRING[80];
+	strTemp : STRING[2];
+	enStep : typ_enStepRFID;
+	enCmd : typ_enCmdRFID;
+	usbDevice : usbNode_typ;
+	FUB_FrameRead : FRM_read;
+	FUB_FrameReleaseBuffer : FRM_rbuf;
+	FUB_FrameWrite : FRM_write;
+	FUB_FrameXOpen : FRM_xopen;
+	FUB_UsbNodeGet : UsbNodeGet;
+	FUB_UsbNodeListGet : UsbNodeListGet;
+	TON_Read : TON;
+END_VAR
+VAR CONSTANT
+	TRANSPONDER_FTDI_VENDOR_ID : UINT := 16#0403;
+	TRANSPONDER_FTDI_PRODUCT_ID : UINT := 16#6001;
+	TRANSPONDER_FTDI_BCD : UINT := 16#0600;
+END_VAR
--- a/Logical/Communication/RFID_USB/UDINTtoASC.st
+++ b/Logical/Communication/RFID_USB/UDINTtoASC.st
@@ -0,0 +1,44 @@
+FUNCTION UDINTtoASC
+  UDINTtoASC := udNextAdr + 8;
+  udNextAdr := udInNextAdr;
+  udValue := udInValue;
+  FOR usi:=7 TO 0 BY -1 DO
+    usChar := UDINT_TO_USINT (udValue MOD 16);
+    usChar := UDINT_TO_USINT (udValue / 16);
+    memcpy (ADR (usChar), udNextAdr + usi, 1);
+    CASE usChar OF
+    0:
+      memcpy (udNextAdr + usi, ADR ('0'), 1);
+    1:
+      memcpy (udNextAdr + usi, ADR ('1'), 1);
+    2:
+      memcpy (udNextAdr + usi, ADR ('2'), 1);
+    3:
+      memcpy (udNextAdr + usi, ADR ('3'), 1);
+    4:
+      memcpy (udNextAdr + usi, ADR ('4'), 1);
+    5:
+      memcpy (udNextAdr + usi, ADR ('5'), 1);
+    6:
+      memcpy (udNextAdr + usi, ADR ('6'), 1);
+    7:
+      memcpy (udNextAdr + usi, ADR ('7'), 1);
+    8:
+      memcpy (udNextAdr + usi, ADR ('8'), 1);
+    9:
+      memcpy (udNextAdr + usi, ADR ('9'), 1);
+    10:
+      memcpy (udNextAdr + usi, ADR ('A'), 1);
+    11:
+      memcpy (udNextAdr + usi, ADR ('B'), 1);
+    12:
+      memcpy (udNextAdr + usi, ADR ('C'), 1);
+    13:
+      memcpy (udNextAdr + usi, ADR ('D'), 1);
+    14:
+      memcpy (udNextAdr + usi, ADR ('E'), 1);
+    15:
+      memcpy (udNextAdr + usi, ADR ('F'), 1);
+    END_CASE
+  END_FOR
+END_FUNCTION
--- a/Logical/Communication/S7ABB/ASCtoUDINT.st
+++ b/Logical/Communication/S7ABB/ASCtoUDINT.st
@@ -0,0 +1,43 @@
+FUNCTION ASCtoUDINT
+  ASCtoUDINT := 0;
+  udNextAdr := udInNextAdr;
+  FOR usi:=0 TO 7 BY 1 DO
+    memcpy (ADR (usChar), udNextAdr + usi, 1);
+    CASE usChar OF
+    48:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 0;
+    49:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 1;
+    50:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 2;
+    51:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 3;
+    52:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 4;
+    53:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 5;
+    54:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 6;
+    55:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 7;
+    56:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 8;
+    57:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 9;
+    65:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 10;
+    66:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 11;
+    67:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 12;
+    68:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 13;
+    69:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 14;
+    70:
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 15;
+    ELSE
+      ASCtoUDINT := SHL (ASCtoUDINT, 4) + 16#f;
+    END_CASE
+  END_FOR
+END_FUNCTION
--- a/Logical/Communication/S7ABB/IEC.prg
+++ b/Logical/Communication/S7ABB/IEC.prg
@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.23 SP05?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File Private="true">S7ABB.var</File>
+    <File Description="Local data types" Private="true">S7ABB.typ</File>
+    <File>S7ABBCyclic.st</File>
+    <File>S7ABBInit.st</File>
+    <File Private="true">S7ABB.fun</File>
+    <File Description="Convert ASCII Value to UDINT">ASCtoUDINT.st</File>
+  </Files>
+</Program>
--- a/Logical/Communication/S7ABB/S7ABB.fun
+++ b/Logical/Communication/S7ABB/S7ABB.fun
@@ -0,0 +1,11 @@
+
+FUNCTION ASCtoUDINT : UDINT (*Convert ASCII Value to UDINT*)
+	VAR_INPUT
+		udInNextAdr : UDINT; (*Next Pos in ByteStream (No CHECK)*)
+	END_VAR
+	VAR
+		udNextAdr : UDINT;
+		usi : USINT;
+		usChar : USINT;
+	END_VAR
+END_FUNCTION
--- a/Logical/Communication/S7ABB/S7ABB.typ
+++ b/Logical/Communication/S7ABB/S7ABB.typ
@@ -0,0 +1,12 @@
+
+TYPE
+	Steps_enum : 
+		( (*Steps of RFID Statemachine*)
+		enSTEP_INIT,
+		enSTEP_OPEN,
+		enSTEP_OPENED,
+		enSTEP_CONNECTED,
+		enSTEP_CLOSE,
+		enSTEP_CLOSED
+		);
+END_TYPE
--- a/Logical/Communication/S7ABB/S7ABB.var
+++ b/Logical/Communication/S7ABB/S7ABB.var
@@ -0,0 +1,32 @@
+(*FUB Instances*)
+VAR
+	FUB_TcpOpen : TcpOpen;
+	FUB_TcpServ : TcpServer;
+	FUB_TcpClose : TcpClose;
+	FUB_TcpRecv : TcpRecv;
+	FUB_TcpSend : TcpSend;
+	TON_Lifebeat : TON;
+END_VAR
+(*//Local VArs*)
+VAR
+	bAllowData : BOOL;
+	bSend : BOOL;
+	bGateEnable : BOOL;
+	usi : USINT := 0;
+	usTemp : USINT := 0;
+	usCodes : USINT := 0;
+	usLifecount : USINT;
+	usTelegramNr : USINT;
+	uiProdNr : UINT;
+	udClosePortID : UDINT;
+	udClientID : UDINT;
+	udSocketID : UDINT;
+	strServerIP : STRING[20];
+	strClientIP : STRING[20];
+	strBindIP : STRING[20];
+	strRecvBufferChar : STRING[2];
+	strCharCmp : STRING[2];
+	strRecvBuffer : STRING[120];
+	strRecvBufferSave : STRING[120];
+	enState : Steps_enum;
+END_VAR
--- a/Logical/Communication/S7ABB/S7ABBCyclic.st
+++ b/Logical/Communication/S7ABB/S7ABBCyclic.st
@@ -0,0 +1,121 @@
+PROGRAM _CYCLIC
+
+IF enState = enSTEP_INIT THEN
+  enState := enSTEP_OPEN;
+END_IF
+
+//Open listener Socket
+FUB_TcpOpen.enable   := (enState = enSTEP_OPEN);
+FUB_TcpOpen ();
+
+
+IF FUB_TcpOpen.status = 0 THEN
+  udSocketID := FUB_TcpOpen.ident;
+  FUB_TcpServ.ident := udSocketID;
+  enState := enSTEP_OPENED;
+ELSIF FUB_TcpOpen.status = tcpERR_ALREADY_EXIST THEN
+  udClosePortID := FUB_TcpOpen.ident;
+  enState := enSTEP_CLOSE;
+ELSIF FUB_TcpOpen.status = tcpERR_NOMORE_IDENTS THEN
+  udClosePortID := 1; //Close Port 1
+  enState := enSTEP_CLOSE;
+END_IF
+
+
+//connect to server
+FUB_TcpServ.enable:= (enState > enSTEP_OPEN);
+FUB_TcpServ.backlog := 1;
+FUB_TcpServ ();
+
+
+IF FUB_TcpServ.status = 0 THEN
+  IF (enState = enSTEP_CONNECTED) THEN
+    udClosePortID := FUB_TcpOpen.ident;
+    enState := enSTEP_CLOSE;
+    udClientID := 0;
+  END_IF
+  
+ //New Connection on Socket
+ enState := enSTEP_CONNECTED;
+ udClientID := FUB_TcpServ.identclnt;
+END_IF
+
+
+//Close listener Socket //Or Reset All
+FUB_TcpClose.enable := (enState = enSTEP_CLOSE);
+FUB_TcpClose.ident  := udClosePortID;
+FUB_TcpClose.how    := (tcpSHUT_RD OR tcpSHUT_WR);
+FUB_TcpClose ();
+
+IF (FUB_TcpClose.status = 0) OR
+   (FUB_TcpClose.status = tcpERR_INVALID_IDENT) THEN
+  IF (udClientID = 0) THEN
+    enState := enSTEP_OPENED;
+  ELSE
+    enState := enSTEP_CONNECTED;
+  END_IF
+END_IF
+
+
+//Receive Data an Client Connections
+FUB_TcpRecv.enable	:= (enState = enSTEP_CONNECTED);
+FUB_TcpRecv.ident	:= udClientID;
+FUB_TcpRecv.pData	:= ADR (strRecvBuffer);
+FUB_TcpRecv.datamax := 120;
+FUB_TcpRecv.flags	:= 0;
+FUB_TcpRecv ();
+
+
+IF (FUB_TcpRecv.recvlen = 2) AND  (FUB_TcpRecv.status = 0) THEN
+  memcpy (ADR (uiProdNr), ADR (strRecvBuffer), 2);
+  gABBLog.udProdNr := UINT_TO_UDINT (N_TO_HUINT (uiProdNr));
+  gABBLog.udProdID := gudUnixTimeUTC;
+  gABBLog.bLog := TRUE;
+END_IF
+
+TON_Lifebeat.IN := NOT bSend AND (enState = enSTEP_CONNECTED);
+TON_Lifebeat.PT := t#5s;
+TON_Lifebeat ();
+
+IF TON_Lifebeat.Q THEN
+  bSend := TRUE;
+END_IF
+
+//Send Data on Client Connections
+IF (enState = enSTEP_CONNECTED) THEN
+  FUB_TcpSend.enable  := bSend;
+  FUB_TcpSend.pData   := ADR (usLifecount);
+  FUB_TcpSend.datalen := 1;
+  FUB_TcpSend.ident   := udClientID;
+  FUB_TcpSend.flags   := 0;
+  FUB_TcpSend ();
+
+  IF FUB_TcpSend.status = 0 THEN
+    usLifecount := usLifecount + 1;
+    bSend := FALSE;
+  END_IF
+END_IF
+END_PROGRAM
+
+
+
+PROGRAM _EXIT
+  FUB_TcpClose.enable := TRUE;
+  FUB_TcpClose.ident  := udSocketID;
+  FUB_TcpClose.how    := (tcpSHUT_RD OR tcpSHUT_WR);
+  WHILE TRUE DO
+    FUB_TcpClose ();
+    IF (FUB_TcpClose.status <> ERR_FUB_BUSY) THEN
+      EXIT;
+    END_IF
+  END_WHILE
+  FUB_TcpClose.enable := TRUE;
+  FUB_TcpClose.ident  := udClientID;
+  FUB_TcpClose.how    := (tcpSHUT_RD OR tcpSHUT_WR);
+  WHILE TRUE DO
+    FUB_TcpClose ();
+    IF (FUB_TcpClose.status <> ERR_FUB_BUSY) THEN
+      EXIT;
+    END_IF
+  END_WHILE
+END_PROGRAM
--- a/Logical/Communication/S7ABB/S7ABBInit.st
+++ b/Logical/Communication/S7ABB/S7ABBInit.st
@@ -0,0 +1,14 @@
+PROGRAM _INIT
+strcpy (ADR (strBindIP), ADR ('192.168.100.54'));
+
+FUB_TcpOpen.pIfAddr  := ADR (strBindIP);
+FUB_TcpOpen.port     := 8000;
+FUB_TcpOpen.options  := tcpOPT_REUSEADDR;
+
+FUB_TcpServ.pIpAddr :=  ADR (strClientIP);
+
+enState := enSTEP_INIT;
+bAllowData := TRUE;
+
+END_PROGRAM
+
--- a/Logical/Communication/collectd/AppendDINT.st
+++ b/Logical/Communication/collectd/AppendDINT.st
@@ -0,0 +1,6 @@
+(* Append String to Bytestream (with 2Byte Len and 0 Termination) *)
+FUNCTION AppendDINT
+  ldData :=  H_TO_NDINT (dInDINT);
+  ludNextAdr := memcpy (udInNextAdr, ADR (ludNull), 4);
+  AppendDINT := memcpy (ludNextAdr, ADR (ldData), 4);
+END_FUNCTION
--- a/Logical/Communication/collectd/AppendINT.st
+++ b/Logical/Communication/collectd/AppendINT.st
@@ -0,0 +1,6 @@
+(* Append Int to Bytestream *)
+FUNCTION AppendINT
+  liData :=  H_TO_NINT (iInINT);
+  ludNextAdr := memcpy (udInNextAdr, ADR (ludNull), 6);
+  AppendINT := memcpy (ludNextAdr, ADR (liData), 2);
+END_FUNCTION
--- a/Logical/Communication/collectd/AppendLREAL.st
+++ b/Logical/Communication/collectd/AppendLREAL.st
@@ -0,0 +1,5 @@
+(* Append String to Bytestream (with 2Byte Len and 0 Termination) *)
+FUNCTION AppendLREAL
+  ldrData := drInLREAL;
+  AppendLREAL := memcpy (udInNextAdr, ADR (ldrData), 8);
+END_FUNCTION
--- a/Logical/Communication/collectd/AppendStr.st
+++ b/Logical/Communication/collectd/AppendStr.st
@@ -0,0 +1,9 @@
+(* Append String to Bytestream (with 2Byte Len and 0 Termination) *)
+FUNCTION AppendStr
+  //Append NULL Byte also  
+  luiStrlen := strlen (ADR (pstrInString)) + 1;
+  luiPartlen :=  H_TO_NUINT (luiStrlen + 4);
+  //Lenghtindicator 2 Byte Partidentifier, 2 Byte Len,  Strlen)
+  ludNextAdr := memcpy (udInNextAdr, ADR (luiPartlen), 2);
+  AppendStr := memcpy (ludNextAdr, ADR (pstrInString), luiStrlen);
+END_FUNCTION
--- a/Logical/Communication/collectd/AppendUINT.st
+++ b/Logical/Communication/collectd/AppendUINT.st
@@ -0,0 +1,6 @@
+(* Append Int to Bytestream *)
+FUNCTION AppendUINT
+  luiData :=  H_TO_NUINT (uiInUINT);
+  ludNextAdr := memcpy (udInNextAdr, ADR (ludNull), 6);
+  AppendUINT := memcpy (ludNextAdr, ADR (luiData), 2);
+END_FUNCTION
--- a/Logical/Communication/collectd/IEC.prg
+++ b/Logical/Communication/collectd/IEC.prg
@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="utf-8"?>
+<?AutomationStudio Version=3.0.90.23 SP05?>
+<Program xmlns="http://br-automation.co.at/AS/Program">
+  <Files>
+    <File Description="Implementation code">collectd.st</File>
+    <File Description="Local data types" Private="true">collectd.typ</File>
+    <File Description="Local variables" Private="true">collectd.var</File>
+    <File Private="true">collectd.fun</File>
+    <File Description="Append String to Bytestream (with 2Byte Len and 0 Termination)">AppendStr.st</File>
+    <File Description="Append Int to Bytestream (with 2Byte Len)">AppendINT.st</File>
+    <File Description="Append Unsigned Int to Bytestream (with 2Byte Len)">AppendUINT.st</File>
+    <File Description="Append Int to Bytestream (with 2Byte Len and 0 Termination)">AppendDINT.st</File>
+    <File Description="Append Int to Bytestream (with 2Byte Len and 0 Termination)">AppendLREAL.st</File>
+  </Files>
+</Program>
--- a/Logical/Communication/collectd/collectd.fun
+++ b/Logical/Communication/collectd/collectd.fun
@@ -0,0 +1,59 @@
+(*Decode String for Collectd*)
+
+FUNCTION AppendStr : UDINT (*Append String to Bytestream (with 2Byte Len and 0 Termination)*)
+	VAR_INPUT
+		udInNextAdr : UDINT; (*Next Pos in ByteStream (No CHECK)*)
+		pstrInString : REFERENCE TO STRING[80]; (*Address of String to Append*)
+	END_VAR
+	VAR
+		luiStrlen : UINT;
+		luiPartlen : UINT;
+		ludNextAdr : UDINT;
+	END_VAR
+END_FUNCTION
+
+FUNCTION AppendINT : UDINT (*Append Integer to Bytestream (with 2Byte Len)*)
+	VAR_INPUT
+		udInNextAdr : UDINT; (*Next Pos in ByteStream (No CHECK)*)
+		iInINT : INT; (*Address of Int to Append*)
+	END_VAR
+	VAR
+		liData : INT; (*Data*)
+		ludNextAdr : UDINT;
+		ludNull : UDINT;
+	END_VAR
+END_FUNCTION
+
+FUNCTION AppendUINT : UDINT (*Append Integer to Bytestream (with 2Byte Len)*)
+	VAR_INPUT
+		udInNextAdr : UDINT; (*Next Pos in ByteStream (No CHECK)*)
+		uiInUINT : UINT; (*Address of Int to Append*)
+	END_VAR
+	VAR
+		luiData : UINT; (*Data*)
+		ludNextAdr : UDINT;
+		ludNull : UDINT;
+	END_VAR
+END_FUNCTION
+
+FUNCTION AppendDINT : UDINT (*Append Integer to Bytestream (with 2Byte Len)*)
+	VAR_INPUT
+		udInNextAdr : UDINT; (*Next Pos in ByteStream (No CHECK)*)
+		dInDINT : DINT; (*Address of Int to Append*)
+	END_VAR
+	VAR
+		ldData : DINT; (*Data*)
+		ludNextAdr : UDINT;
+		ludNull : UDINT;
+	END_VAR
+END_FUNCTION
+
+FUNCTION AppendLREAL : UDINT (*Append Integer to Bytestream (with 2Byte Len)*)
+	VAR_INPUT
+		udInNextAdr : UDINT; (*Next Pos in ByteStream (No CHECK)*)
+		drInLREAL : LREAL; (*Address of Int to Append*)
+	END_VAR
+	VAR
+		ldrData : LREAL;
+	END_VAR
+END_FUNCTION
--- a/Logical/Communication/collectd/collectd.st
+++ b/Logical/Communication/collectd/collectd.st
--- a/Show More
+++ b/Show More