Matthias Heisig
3946e45c65
- Added PackML Base FB's - Added Unit Tests for PackML Base State Machine - Added Robot job numbers according to new interface - Added PLC job number for robot to call according to new interface - Change Robot to PackML interface
225 lines
6.0 KiB
XML
225 lines
6.0 KiB
XML
<?xml version="1.0" encoding="utf-8"?>
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<TcPlcObject Version="1.1.0.1">
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<POU Name="FB_PackMLGeneric" Id="{f562a10e-01bc-407d-9fc0-2837d13c10b1}" SpecialFunc="None">
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<Declaration><![CDATA[FUNCTION_BLOCK FB_PackMLGeneric IMPLEMENTS I_UnitState
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VAR_INPUT
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// Mode from superior unit
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eModeCmd : E_PackMLUnitMode;
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// Command for new state from superior unit
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eCmd : E_PackMLCmd;
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END_VAR
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VAR_OUTPUT
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// Current mode of unit
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eMode : E_PackMLUnitMode;
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// Current state of unit
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eState : E_PackMLState;
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// xInvalidModeCmd : BOOL;
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END_VAR
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VAR
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// State machine handler
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_fbStateMachine : FB_PackMLStateMachine;
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// Internal unit state
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_eState : E_PackMLState;
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END_VAR
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[_fbStateMachine(
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eMode:= eMode,
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eCmd:= eCmd,
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eState=> _eState,
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xError=> );
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// Call state method according to current state
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CASE _eState OF
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E_PackMLState.CLEARING:
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M_Clearing();
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E_PackMLState.STOPPED:
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M_Stopped();
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E_PackMLState.STARTING:
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M_Starting();
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E_PackMLState.IDLE:
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M_Idle();
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E_PackMLState.SUSPENDED:
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M_Suspended();
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E_PackMLState.EXECUTE:
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M_Execute();
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E_PackMLState.STOPPING:
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M_Stopping();
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E_PackMLState.ABORTING:
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M_Aborting();
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E_PackMLState.ABORTED:
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M_Aborted();
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E_PackMLState.HOLDING:
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M_Holding();
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E_PackMLState.HELD:
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M_Held();
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E_PackMLState.UNHOLDING:
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M_Unholding();
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E_PackMLState.SUSPENDING:
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M_Suspending();
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E_PackMLState.UNSUSPENDING:
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M_Unsuspending();
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E_PackMLState.RESETTING:
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M_Resetting();
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E_PackMLState.COMPLETING:
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M_Completing();
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E_PackMLState.COMPLETE:
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M_Complete();
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ELSE
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;
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END_CASE
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// Copy internal flags to output
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eState := _eState;]]></ST>
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</Implementation>
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<Method Name="M_Aborted" Id="{db1a684f-e4e1-4d89-a3aa-9b9dfde0508c}">
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<Declaration><![CDATA[METHOD M_Aborted
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Aborting" Id="{928ad614-a3a7-4c6c-b1bc-55ae54e4c95f}">
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<Declaration><![CDATA[METHOD M_Aborting
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[M_StateComplete();]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Clearing" Id="{1716cf1b-94c6-4995-8b3f-c7ebcf5727d3}">
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<Declaration><![CDATA[METHOD M_Clearing
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[M_StateComplete();]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Complete" Id="{33df5dea-d83b-48e1-8898-d7c8e1f031bd}">
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<Declaration><![CDATA[METHOD M_Complete
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Completing" Id="{341608cb-1218-481f-929c-cb79602c11ab}">
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<Declaration><![CDATA[METHOD M_Completing
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[M_StateComplete();]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Execute" Id="{2a469169-0eb2-43c9-be21-48909285ee44}">
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<Declaration><![CDATA[METHOD M_Execute
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[M_StateComplete();]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Held" Id="{05b040b0-b1b9-4afd-81d0-88fc1f1a7f9b}">
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<Declaration><![CDATA[METHOD M_Held
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Holding" Id="{519b03b3-2409-4b45-818f-535b3e16b22e}">
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<Declaration><![CDATA[METHOD M_Holding
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[M_StateComplete();]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Idle" Id="{aa784f5c-7adf-4c9f-a414-65b10afd2772}">
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<Declaration><![CDATA[METHOD M_Idle
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Resetting" Id="{4050ed6f-edbe-4c3e-ac42-919a37a47ea9}">
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<Declaration><![CDATA[METHOD M_Resetting
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[M_StateComplete();]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Starting" Id="{0059e7f6-5f2a-40e4-9d9b-652f221495a9}">
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<Declaration><![CDATA[METHOD M_Starting
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[M_StateComplete();]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_StateComplete" Id="{0cf3625e-8009-4108-a9f4-d98c991f9930}">
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<Declaration><![CDATA[METHOD M_StateComplete
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[_fbStateMachine.M_StateComplete();]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Stopped" Id="{9f8a09cf-f3be-4d60-b5e4-cd9572fae88c}">
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<Declaration><![CDATA[METHOD M_Stopped
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Stopping" Id="{193565ef-cf20-428c-b726-e7c1b61375c5}">
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<Declaration><![CDATA[METHOD M_Stopping
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[M_StateComplete();]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Suspended" Id="{222c3ad7-f7d5-4773-8e98-863345472053}">
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<Declaration><![CDATA[METHOD M_Suspended
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Suspending" Id="{0f5d52e2-2a54-4ea9-a0c4-7f08229c4f21}">
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<Declaration><![CDATA[METHOD M_Suspending
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[M_StateComplete();]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Unholding" Id="{662dd054-329b-4e57-ba77-486f92af795a}">
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<Declaration><![CDATA[METHOD M_Unholding
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[M_StateComplete();]]></ST>
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</Implementation>
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</Method>
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<Method Name="M_Unsuspending" Id="{80fb11c4-916a-4f8f-9cf9-b9a2d51524a1}">
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<Declaration><![CDATA[METHOD M_Unsuspending
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]]></Declaration>
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<Implementation>
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<ST><![CDATA[M_StateComplete();]]></ST>
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</Implementation>
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</Method>
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</POU>
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</TcPlcObject> |