From 843bc6ecd3ef3fad82d2856f955ed8260cb2efd0 Mon Sep 17 00:00:00 2001
From: beka makharadze <beka.makharadze@lci.ge>
Date: Mon, 30 Jun 2025 16:55:42 +0400
Subject: [PATCH] Add EStopped alarm to Extendo

---
 .../Extendo/PLC/AOIs/AOI_EXTENDO_AOI.L5X      | 525 +++++++++++++-
 PLC/Simulations/Extendo/PLC/Extendo.L5X       | 381 +++++-----
 .../Extendo/PLC/UDTs/UDT_Extendo_DataType.L5X | 666 +++++++++++++++++-
 3 files changed, 1369 insertions(+), 203 deletions(-)

diff --git a/PLC/Simulations/Extendo/PLC/AOIs/AOI_EXTENDO_AOI.L5X b/PLC/Simulations/Extendo/PLC/AOIs/AOI_EXTENDO_AOI.L5X
index 51cc441..24734a6 100644
--- a/PLC/Simulations/Extendo/PLC/AOIs/AOI_EXTENDO_AOI.L5X
+++ b/PLC/Simulations/Extendo/PLC/AOIs/AOI_EXTENDO_AOI.L5X
@@ -1,8 +1,440 @@
 <?xml version="1.0" encoding="UTF-8" standalone="yes"?>
-<RSLogix5000Content SchemaRevision="1.0" SoftwareRevision="36.00" TargetName="AOI_EXTENDO" TargetType="AddOnInstructionDefinition" TargetRevision="1.0 " TargetLastEdited="2025-06-27T19:01:16.824Z" ContainsContext="true" ExportDate="Fri Jun 27 23:13:41 2025" ExportOptions="NoRawData L5KData DecoratedData Context Dependencies ForceProtectedEncoding AllProjDocTrans">
+<RSLogix5000Content SchemaRevision="1.0" SoftwareRevision="36.00" TargetName="AOI_EXTENDO" TargetType="AddOnInstructionDefinition" TargetRevision="1.0 " TargetLastEdited="2025-06-30T12:08:33.453Z" ContainsContext="true" ExportDate="Mon Jun 30 16:55:10 2025" ExportOptions="References NoRawData L5KData DecoratedData Context Dependencies ForceProtectedEncoding AllProjDocTrans">
 <Controller Use="Context" Name="BaseProgram">
+<DataTypes Use="Context">
+<DataType Name="Caljan_PNMF_UDT_Input" Family="NoFamily" Class="User">
+<Description>
+<![CDATA[PN/MF Coupler X1 / 6ES7 158-3MU10-0XA0]]>
+</Description>
+<Members>
+<Member Name="ZZZZZZZZZZCaljan_PNM0" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="PEC_Override" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM0" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Set Rear PEC Override]]>
+</Description>
+</Member>
+<Member Name="Allow_Loading" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM0" BitNumber="1" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Allow Loading]]>
+</Description>
+</Member>
+<Member Name="Spare_Out0_2" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM0" BitNumber="2" ExternalAccess="Read/Write"/>
+<Member Name="Comms_Heartbeat" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM0" BitNumber="3" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Comms Heartbeat output to Conveyor]]>
+</Description>
+</Member>
+<Member Name="Enable_Ethernet_Control" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM0" BitNumber="4" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Enable Ethernet Controls of Conveyor]]>
+</Description>
+</Member>
+<Member Name="Belt_Start_Loading" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM0" BitNumber="5" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Belt Start in Loading Direction Command]]>
+</Description>
+</Member>
+<Member Name="Belt_Stop" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM0" BitNumber="6" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Belt Stop Command]]>
+</Description>
+</Member>
+<Member Name="Reset_Command" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM0" BitNumber="7" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Reset Command]]>
+</Description>
+</Member>
+<Member Name="Spare_Out1" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Spare_Out2" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Spare_Out3" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Spare_Out4" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Spare_Out5" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Spare_Out6" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Spare_Out7" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+</Members>
+</DataType>
+<DataType Name="Caljan_PNMF_UDT_Output" Family="NoFamily" Class="User">
+<Description>
+<![CDATA[PN/MF Coupler X1 / 6ES7 158-3MU10-0XA0]]>
+</Description>
+<Members>
+<Member Name="Reserved1" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" Max="127" Min="-128" ExternalLogging="true" ExternalAccess="None">
+<Description>
+<![CDATA[Byte Reserved for internal use by AB PLC]]>
+</Description>
+</Member>
+<Member Name="Reserved2" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="None">
+<Description>
+<![CDATA[Byte Reserved for internal use by AB PLC]]>
+</Description>
+</Member>
+<Member Name="Reserved3" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="None">
+<Description>
+<![CDATA[Byte Reserved for internal use by AB PLC]]>
+</Description>
+</Member>
+<Member Name="ZZZZZZZZZZCaljan_PNM3" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="ConnectionFaulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM3" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Connection Status signal generated by AB PLC (not from conveyor)]]>
+</Description>
+</Member>
+<Member Name="Slot0_1_Id_0_IDS" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Byte Reserved for PNMF: Internal Diagnostics]]>
+</Description>
+</Member>
+<Member Name="ZZZZZZZZZZCaljan_PNM6" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Healthy" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM6" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Healthy]]>
+</Description>
+</Member>
+<Member Name="Belt_Direction_Loading" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM6" BitNumber="1" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Belt running in Loading direction]]>
+</Description>
+</Member>
+<Member Name="Spare_In0_2" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM6" BitNumber="2" ExternalAccess="Read/Write"/>
+<Member Name="Ready_to_Receive" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM6" BitNumber="3" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Rear to Receive Parcels]]>
+</Description>
+</Member>
+<Member Name="Belt_Full" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM6" BitNumber="4" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Belt Full]]>
+</Description>
+</Member>
+<Member Name="Heartbeat_from_Conveyor" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM6" BitNumber="5" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Heartbeat Signal]]>
+</Description>
+</Member>
+<Member Name="EMS_OK" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM6" BitNumber="6" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor EMS OK]]>
+</Description>
+</Member>
+<Member Name="Rear_EMS" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM6" BitNumber="7" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Rear (Panel) EMS OK]]>
+</Description>
+</Member>
+<Member Name="ZZZZZZZZZZCaljan_PNM15" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Front_EMS" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM15" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Front EMS OK]]>
+</Description>
+</Member>
+<Member Name="Customer_EMS" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM15" BitNumber="1" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Customer EMS OK]]>
+</Description>
+</Member>
+<Member Name="Aopen_Active" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM15" BitNumber="2" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Aopen Signal On]]>
+</Description>
+</Member>
+<Member Name="Belt_Accumulation" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM15" BitNumber="3" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Belt in Accumulation Mode]]>
+</Description>
+</Member>
+<Member Name="Fully_Retracted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM15" BitNumber="4" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Telescope Fully Retracted]]>
+</Description>
+</Member>
+<Member Name="Fully_Extended" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM15" BitNumber="5" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Telescope Fully Extended]]>
+</Description>
+</Member>
+<Member Name="Front_PEC_Blocked" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM15" BitNumber="6" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Front PEC Blocked]]>
+</Description>
+</Member>
+<Member Name="Rear_PEC_Blocked" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM15" BitNumber="7" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Rear PEC Blocked]]>
+</Description>
+</Member>
+<Member Name="ZZZZZZZZZZCaljan_PNM24" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Front_Bumper_Pressed" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM24" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Conveyor Front Bumper Pressed]]>
+</Description>
+</Member>
+<Member Name="Spare_In2_1" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM24" BitNumber="1" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In2_2" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM24" BitNumber="2" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In2_3" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM24" BitNumber="3" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In2_4" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM24" BitNumber="4" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In2_5" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM24" BitNumber="5" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In2_6" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM24" BitNumber="6" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In2_7" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM24" BitNumber="7" ExternalAccess="Read/Write"/>
+<Member Name="ZZZZZZZZZZCaljan_PNM33" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In3_0" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM33" BitNumber="0" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In3_1" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM33" BitNumber="1" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In3_2" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM33" BitNumber="2" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In3_3" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM33" BitNumber="3" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In3_4" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM33" BitNumber="4" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In3_5" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM33" BitNumber="5" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In3_6" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM33" BitNumber="6" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In3_7" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZCaljan_PNM33" BitNumber="7" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In4" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In5" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In6" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Spare_In7" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Slot2_1_Id_8_IDS" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Byte Reserved for PNMF Status: IN   8 Byte+DS / Input Data State]]>
+</Description>
+</Member>
+<Member Name="Slot1_1_Id_0_ODS" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Byte Reserved for PNMF Status: OUT   8 Byte / Output Data State]]>
+</Description>
+</Member>
+</Members>
+</DataType>
+<DataType Name="UDT_ALARMS_EXTENDO" Family="NoFamily" Class="User">
+<Members>
+<Member Name="ZZZZZZZZZZUDT_ALARMS0" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Communication_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_ALARMS0" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Ethernet Communication Faulted]]>
+</Description>
+</Member>
+<Member Name="Full" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_ALARMS0" BitNumber="1" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Extendo Is Full]]>
+</Description>
+</Member>
+<Member Name="Extendo_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_ALARMS0" BitNumber="2" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Extendo Faulted]]>
+</Description>
+</Member>
+<Member Name="EStopped" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_ALARMS0" BitNumber="3" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[EStopped]]>
+</Description>
+</Member>
+</Members>
+</DataType>
+<DataType Name="UDT_CTRL_DPM" Family="NoFamily" Class="User">
+<Members>
+<Member Name="STS" DataType="UDT_CTRL_DPM_STS" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Status of DPM]]>
+</Description>
+</Member>
+<Member Name="CMD" DataType="UDT_CTRL_DPM_CMD" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write"/>
+</Members>
+<Dependencies>
+<Dependency Type="DataType" Name="UDT_CTRL_DPM_STS"/>
+<Dependency Type="DataType" Name="UDT_CTRL_DPM_CMD"/>
+</Dependencies>
+</DataType>
+<DataType Name="UDT_CTRL_DPM_CMD" Family="NoFamily" Class="User">
+<Members>
+<Member Name="ZZZZZZZZZZUDT_CTRL_D0" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Communication_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_D0" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Ethernet Communication Faulted]]>
+</Description>
+</Member>
+<Member Name="Log" DataType="STRING" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Log]]>
+</Description>
+</Member>
+<Member Name="Log_Quantity" DataType="DINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Log Quantity]]>
+</Description>
+</Member>
+</Members>
+</DataType>
+<DataType Name="UDT_CTRL_DPM_STS" Family="NoFamily" Class="User">
+<Members>
+<Member Name="ZZZZZZZZZZUDT_CTRL_D0" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Communication_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_D0" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Ethernet Communication Faulted]]>
+</Description>
+</Member>
+<Member Name="Acknowledge_Log" DataType="STRING" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Acknowledge Log]]>
+</Description>
+</Member>
+<Member Name="ZZZZZZZZZZUDT_CTRL_D3" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="All_Unacknowledge_Log" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_D3" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[All Unacknowledged Logs]]>
+</Description>
+</Member>
+<Member Name="Unacknowldge_All" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_D3" BitNumber="1" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Unacknowledge all Alarms]]>
+</Description>
+</Member>
+<Member Name="Aknowledgement_ID" DataType="STRING" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Aknowledgement ID]]>
+</Description>
+</Member>
+</Members>
+</DataType>
+<DataType Name="UDT_CTRL_EXTENDO" Family="NoFamily" Class="User">
+<Members>
+<Member Name="CMD" DataType="UDT_CTRL_EXTENDO_CMD" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="STS" DataType="UDT_CTRL_EXTENDO_STS" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write"/>
+</Members>
+<Dependencies>
+<Dependency Type="DataType" Name="UDT_CTRL_EXTENDO_CMD"/>
+<Dependency Type="DataType" Name="UDT_CTRL_EXTENDO_STS"/>
+</Dependencies>
+</DataType>
+<DataType Name="UDT_CTRL_EXTENDO_CMD" Family="NoFamily" Class="User">
+<Members>
+<Member Name="ZZZZZZZZZZUDT_CTRL_E0" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Interlock" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_E0" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Downstream Is Running]]>
+</Description>
+</Member>
+</Members>
+</DataType>
+<DataType Name="UDT_CTRL_EXTENDO_STS" Family="NoFamily" Class="User">
+<Members>
+<Member Name="ZZZZZZZZZZUDT_CTRL_E0" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Interlock" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_E0" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Downstream of this conveyor is avalaible to accept packages]]>
+</Description>
+</Member>
+<Member Name="Allow_Loading" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_E0" BitNumber="1" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Allow Extendo Loading]]>
+</Description>
+</Member>
+</Members>
+</DataType>
+<DataType Name="UDT_CTRL_MCM" Family="NoFamily" Class="User">
+<Members>
+<Member Name="CMD" DataType="UDT_CTRL_MCM_CMD" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Command To MCM]]>
+</Description>
+</Member>
+<Member Name="STS" DataType="UDT_CTRL_MCM_STS" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Status From MCM]]>
+</Description>
+</Member>
+</Members>
+<Dependencies>
+<Dependency Type="DataType" Name="UDT_CTRL_MCM_CMD"/>
+<Dependency Type="DataType" Name="UDT_CTRL_MCM_STS"/>
+</Dependencies>
+</DataType>
+<DataType Name="UDT_CTRL_MCM_CMD" Family="NoFamily" Class="User">
+<Members>
+<Member Name="Log" DataType="STRING" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Log_Quantity" DataType="DINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="ZZZZZZZZZZUDT_CTRL_M2" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Acknowledge_Log" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="0" ExternalAccess="Read/Write"/>
+<Member Name="Unacknowledge_All_Logs" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="1" ExternalAccess="Read/Write"/>
+<Member Name="VFD_Was_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="2" ExternalAccess="Read/Write"/>
+<Member Name="VFD_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="3" ExternalAccess="Read/Write"/>
+<Member Name="Power_Branch_Was_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="4" ExternalAccess="Read/Write"/>
+<Member Name="Low_Air_Pressure_Fault_Was_Present" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="5" ExternalAccess="Read/Write"/>
+<Member Name="Encoder_Fault" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="6" ExternalAccess="Read/Write"/>
+<Member Name="Jam_Fault" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="7" ExternalAccess="Read/Write"/>
+<Member Name="ZZZZZZZZZZUDT_CTRL_M11" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Communication_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M11" BitNumber="0" ExternalAccess="Read/Write"/>
+<Member Name="EStop_Actuated" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M11" BitNumber="1" ExternalAccess="Read/Write"/>
+<Member Name="EStop_Was_Actuated" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M11" BitNumber="2" ExternalAccess="Read/Write"/>
+<Member Name="Power_Branch_Fault" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M11" BitNumber="3" ExternalAccess="Read/Write"/>
+<Member Name="Low_Air_Pressure_Fault" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M11" BitNumber="4" ExternalAccess="Read/Write"/>
+</Members>
+</DataType>
+<DataType Name="UDT_CTRL_MCM_STS" Family="NoFamily" Class="User">
+<Members>
+<Member Name="Log" DataType="STRING" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Log_Quantity" DataType="DINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Acknowledge_Log" DataType="STRING" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="ZZZZZZZZZZUDT_CTRL_M3" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Unacknowledge_All_Logs" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="0" ExternalAccess="Read/Write"/>
+<Member Name="Motor_Was_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="1" ExternalAccess="Read/Write"/>
+<Member Name="VFD_Fault_Reset_Requested" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="2" ExternalAccess="Read/Write"/>
+<Member Name="Power_Branch_Fault_Reset_Requested" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="3" ExternalAccess="Read/Write"/>
+<Member Name="Low_Air_Pressure_Fault_Reset_Requested" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="4" ExternalAccess="Read/Write"/>
+<Member Name="System_Started" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="5" ExternalAccess="Read/Write"/>
+<Member Name="Jam_Reset_Requested" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="6" ExternalAccess="Read/Write"/>
+<Member Name="Communication_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="7" ExternalAccess="Read/Write"/>
+<Member Name="ZZZZZZZZZZUDT_CTRL_M12" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Setup_Motor_Speeds" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M12" BitNumber="0" ExternalAccess="Read/Write"/>
+</Members>
+</DataType>
+<DataType Name="UDT_HMI_EXTENDO" Family="NoFamily" Class="User">
+<Members>
+<Member Name="Alarm" DataType="UDT_ALARMS_EXTENDO" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="STATE" DataType="DINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="ZZZZZZZZZZUDT_HMI_EX2" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Loading_Mode" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_HMI_EX2" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Loading Mode Enabled]]>
+</Description>
+</Member>
+<Member Name="Unloading_Mode" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_HMI_EX2" BitNumber="1" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Unloading Mode Enabled]]>
+</Description>
+</Member>
+<Member Name="Aopen_Active" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_HMI_EX2" BitNumber="2" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Accumulation Mode Enabled]]>
+</Description>
+</Member>
+<Member Name="Power_Saving_Mode" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_HMI_EX2" BitNumber="3" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Power Saving Mode Enabled]]>
+</Description>
+</Member>
+<Member Name="Fully_Retracted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_HMI_EX2" BitNumber="4" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Telescope Fully Retracted To Rear Limit]]>
+</Description>
+</Member>
+<Member Name="Fully_Extended" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_HMI_EX2" BitNumber="5" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Telescope Fully Extended To Front Limit]]>
+</Description>
+</Member>
+<Member Name="PEC_Override_PB" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_HMI_EX2" BitNumber="6" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Belt Will Ignore The PECs (Photoeye), When Running Loading Or Unloading]]>
+</Description>
+</Member>
+<Member Name="Extendo_Faults_Reset_PB" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_HMI_EX2" BitNumber="7" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Extendo Faults Reset PushButton]]>
+</Description>
+</Member>
+</Members>
+<Dependencies>
+<Dependency Type="DataType" Name="UDT_ALARMS_EXTENDO"/>
+</Dependencies>
+</DataType>
+</DataTypes>
 <AddOnInstructionDefinitions Use="Context">
-<AddOnInstructionDefinition Use="Target" Name="AOI_EXTENDO" Revision="1.0" ExecutePrescan="false" ExecutePostscan="false" ExecuteEnableInFalse="false" CreatedDate="2025-06-24T07:04:00.824Z" CreatedBy="LCIBATUMI\gigi.mamaladze" EditedDate="2025-06-27T19:01:16.824Z" EditedBy="LCIBATUMI\gigi.mamaladze" SoftwareRevision="v36.00"
+<AddOnInstructionDefinition Use="Target" Name="AOI_EXTENDO" Revision="1.0" ExecutePrescan="false" ExecutePostscan="false" ExecuteEnableInFalse="false" CreatedDate="2025-06-24T07:04:00.824Z" CreatedBy="LCIBATUMI\gigi.mamaladze" EditedDate="2025-06-30T12:08:33.453Z" EditedBy="LCIBATUMI\beka.makharadze" SoftwareRevision="v36.00"
 >
 <Parameters>
 <Parameter Name="EnableIn" TagType="Base" DataType="BOOL" Usage="Input" Radix="Decimal" Required="false" Visible="false" ExternalAccess="Read Only">
@@ -29,6 +461,9 @@
 <Description>
 <![CDATA[Ethernet Communication Faulted]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -37,6 +472,9 @@
 <Description>
 <![CDATA[DPM Ethernet Communication Faulted]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -45,6 +483,9 @@
 <Description>
 <![CDATA[Extend Faulted]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -53,6 +494,9 @@
 <Description>
 <![CDATA[Extendo Fault Reset Required]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -61,6 +505,9 @@
 <Description>
 <![CDATA[Extendo Emergancy Stopped]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -69,6 +516,9 @@
 <Description>
 <![CDATA[Extendo Full]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -77,6 +527,9 @@
 <Description>
 <![CDATA[Extendo is Running in Power Saving Mode]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -85,6 +538,9 @@
 <Description>
 <![CDATA[No Interlock]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -93,6 +549,9 @@
 <Description>
 <![CDATA[MCM Not Started]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -106,6 +565,9 @@
 <Mins>
 <Min Operand=".RESERVED1">-128</Min>
 </Mins>
+<DefaultData Format="L5K">
+<![CDATA[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <Structure DataType="Caljan_PNMF_UDT_Output">
 <DataValueMember Name="Reserved1" DataType="SINT" Radix="Decimal" Value="0"/>
@@ -158,6 +620,9 @@
 <Description>
 <![CDATA[Extendo Dont Have Any Faults]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -166,6 +631,9 @@
 <Description>
 <![CDATA[Allow Extendo Loading]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -174,6 +642,9 @@
 <Description>
 <![CDATA[Extendo Running]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -182,6 +653,9 @@
 <Description>
 <![CDATA[Interlock]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -190,6 +664,9 @@
 <Description>
 <![CDATA[Loading Mode Enabled]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -199,6 +676,9 @@
 <![CDATA[Unloading Mode Enabled
 ]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -207,6 +687,9 @@
 <Description>
 <![CDATA[Accumulation Mode Enabled]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -215,6 +698,9 @@
 <Description>
 <![CDATA[Telescope Fully Retracted To Rear Limit]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
@@ -224,11 +710,17 @@
 <![CDATA[Telescope Fully Extended To Front Limit
 ]]>
 </Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
 </DefaultData>
 </LocalTag>
 <LocalTag Name="Caljan_Input" DataType="Caljan_PNMF_UDT_Input" ExternalAccess="None">
+<DefaultData Format="L5K">
+<![CDATA[[0,0,0,0,0,0,0,0]]]>
+</DefaultData>
 <DefaultData Format="Decorated">
 <Structure DataType="Caljan_PNMF_UDT_Input">
 <DataValueMember Name="PEC_Override" DataType="BOOL" Value="0"/>
@@ -383,6 +875,11 @@
 </Text>
 </Rung>
 <Rung Number="25" Type="N">
+<Text>
+<![CDATA[XIC(Estopped)OTE(HMI.Alarm.EStopped);]]>
+</Text>
+</Rung>
+<Rung Number="26" Type="N">
 <Comment>
 <![CDATA[Info
 
@@ -392,32 +889,32 @@
 <![CDATA[XIC(Loading_Mode)OTE(HMI.Loading_Mode);]]>
 </Text>
 </Rung>
-<Rung Number="26" Type="N">
+<Rung Number="27" Type="N">
 <Text>
 <![CDATA[XIC(Unloading_Mode)OTE(HMI.Unloading_Mode);]]>
 </Text>
 </Rung>
-<Rung Number="27" Type="N">
+<Rung Number="28" Type="N">
 <Text>
 <![CDATA[XIC(Aopen_Active)OTE(HMI.Aopen_Active);]]>
 </Text>
 </Rung>
-<Rung Number="28" Type="N">
+<Rung Number="29" Type="N">
 <Text>
 <![CDATA[XIC(Power_Saving_Mode)OTE(HMI.Power_Saving_Mode);]]>
 </Text>
 </Rung>
-<Rung Number="29" Type="N">
+<Rung Number="30" Type="N">
 <Text>
 <![CDATA[XIC(Fully_Retracted)OTE(HMI.Fully_Retracted);]]>
 </Text>
 </Rung>
-<Rung Number="30" Type="N">
+<Rung Number="31" Type="N">
 <Text>
 <![CDATA[XIC(Fully_Extended)OTE(HMI.Fully_Extended);]]>
 </Text>
 </Rung>
-<Rung Number="31" Type="N">
+<Rung Number="32" Type="N">
 <Comment>
 <![CDATA[State
 ]]>
@@ -426,32 +923,32 @@
 <![CDATA[XIO(Allow_Loading)MOVE(0,HMI.STATE);]]>
 </Text>
 </Rung>
-<Rung Number="32" Type="N">
+<Rung Number="33" Type="N">
 <Text>
 <![CDATA[XIC(Allow_Loading)MOVE(1,HMI.STATE);]]>
 </Text>
 </Rung>
-<Rung Number="33" Type="N">
+<Rung Number="34" Type="N">
 <Text>
 <![CDATA[XIC(Running)MOVE(2,HMI.STATE);]]>
 </Text>
 </Rung>
-<Rung Number="34" Type="N">
+<Rung Number="35" Type="N">
 <Text>
 <![CDATA[XIC(Full)MOVE(3,HMI.STATE);]]>
 </Text>
 </Rung>
-<Rung Number="35" Type="N">
+<Rung Number="36" Type="N">
 <Text>
 <![CDATA[XIC(Communication_Faulted)MOVE(4,HMI.STATE);]]>
 </Text>
 </Rung>
-<Rung Number="36" Type="N">
+<Rung Number="37" Type="N">
 <Text>
 <![CDATA[XIC(Extendo_Faulted)MOVE(5,HMI.STATE);]]>
 </Text>
 </Rung>
-<Rung Number="37" Type="N">
+<Rung Number="38" Type="N">
 <Text>
 <![CDATA[XIC(Estopped)MOVE(6,HMI.STATE);]]>
 </Text>
diff --git a/PLC/Simulations/Extendo/PLC/Extendo.L5X b/PLC/Simulations/Extendo/PLC/Extendo.L5X
index 87f99a6..c802089 100644
--- a/PLC/Simulations/Extendo/PLC/Extendo.L5X
+++ b/PLC/Simulations/Extendo/PLC/Extendo.L5X
@@ -1,7 +1,7 @@
 <?xml version="1.0" encoding="UTF-8" standalone="yes"?>
-<RSLogix5000Content SchemaRevision="1.0" SoftwareRevision="36.00" TargetName="BaseProgram" TargetType="Controller" ContainsContext="false" ExportDate="Fri Jun 27 23:12:58 2025" ExportOptions="NoRawData L5KData DecoratedData ForceProtectedEncoding AllProjDocTrans">
-<Controller Use="Target" Name="BaseProgram" ProcessorType="Emulate 5570" MajorRev="36" MinorRev="11" TimeSlice="20" ShareUnusedTimeSlice="1" ProjectCreationDate="Mon Jun 23 21:18:03 2025" LastModifiedDate="Fri Jun 27 23:09:02 2025" SFCExecutionControl="CurrentActive" SFCRestartPosition="MostRecent"
- SFCLastScan="DontScan" ProjectSN="16#7024_3ff2" MatchProjectToController="false" CanUseRPIFromProducer="false" InhibitAutomaticFirmwareUpdate="0" PassThroughConfiguration="EnabledWithAppend" DownloadProjectDocumentationAndExtendedProperties="true" DownloadProjectCustomProperties="true" ReportMinorOverflow="false">
+<RSLogix5000Content SchemaRevision="1.0" SoftwareRevision="36.00" TargetName="BaseProgram" TargetType="Controller" ContainsContext="false" ExportDate="Mon Jun 30 16:55:00 2025" ExportOptions="NoRawData L5KData DecoratedData ForceProtectedEncoding AllProjDocTrans">
+<Controller Use="Target" Name="BaseProgram" ProcessorType="Emulate 5570" MajorRev="36" MinorRev="11" TimeSlice="20" ShareUnusedTimeSlice="1" ProjectCreationDate="Mon Jun 30 11:05:59 2025" LastModifiedDate="Mon Jun 30 16:53:36 2025" SFCExecutionControl="CurrentActive" SFCRestartPosition="MostRecent"
+ SFCLastScan="DontScan" CommPath="Backplane\2" ProjectSN="16#7024_3ff1" MatchProjectToController="false" CanUseRPIFromProducer="false" InhibitAutomaticFirmwareUpdate="0" PassThroughConfiguration="EnabledWithAppend" DownloadProjectDocumentationAndExtendedProperties="true" DownloadProjectCustomProperties="true" ReportMinorOverflow="false">
 <RedundancyInfo Enabled="false" KeepTestEditsOnSwitchOver="false" IOMemoryPadPercentage="90" DataTablePadPercentage="50"/>
 <Security Code="0" ChangesToDetect="16#ffff_ffff_ffff_ffff"/>
 <SafetyInfo/>
@@ -262,6 +262,11 @@
 <![CDATA[Extendo Faulted]]>
 </Description>
 </Member>
+<Member Name="EStopped" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_ALARMS0" BitNumber="3" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[EStopped]]>
+</Description>
+</Member>
 </Members>
 </DataType>
 <DataType Name="UDT_ALARMS_MCM" Family="NoFamily" Class="User">
@@ -903,7 +908,7 @@ Pressed]]>
 >
 <EKey State="ExactMatch"/>
 <Ports>
-<Port Id="1" Address="3" Type="ICP" Upstream="false">
+<Port Id="1" Address="2" Type="ICP" Upstream="false">
 <Bus Size="10"/>
 </Port>
 </Ports>
@@ -924,11 +929,175 @@ Pressed]]>
 <public><Vendor>Rockwell Automation/Allen-Bradley</Vendor><CatNum>1756-EN2T</CatNum><ConfigID>4325481</ConfigID></public>
 </ExtendedProperties>
 </Module>
-<Module Name="FL4066_4" CatalogNumber="6ES7 158-3MU10-0XA0" Vendor="1251" ProductType="12" ProductCode="4000" Major="51" Minor="1" ParentModule="SLOT2_EN2T" ParentModPortId="2" Inhibited="true" MajorFault="false"
+<Module Name="APF" CatalogNumber="Armor PowerFlex 35x-6Dx-xxx1" Vendor="1" ProductType="170" ProductCode="2" Major="2" Minor="1" UserDefinedVendor="1" UserDefinedProductType="170" UserDefinedProductCode="3" UserDefinedMajor="2"
+ UserDefinedMinor="1" ParentModule="SLOT2_EN2T" ParentModPortId="2" Inhibited="false" MajorFault="false" SafetyEnabled="false">
+<EKey State="CompatibleModule"/>
+<Ports>
+<Port Id="1" Address="112.123.123.23" Type="Ethernet" Upstream="true"/>
+</Ports>
+<Communications>
+<ConfigScript Size="3748">
+<Data Format="L5K">
+<![CDATA[[-96,14,0,0,4,0,0,0,0,0,0,0,0,0,0,0,-114,14,0,0,8,35,0,0,0,1,0,0,0,1,0,0,0,42,0,0,0,76,3,32,55,37,0,0,1,51,13,0,0,1,0,1,1,1,101,110,103,-38
+		,4,0,18,99,111,110,102,105,103,32,115,99,114,105,112,116,32,102,105,108,101,1,0,0,0,-6,0,0,0,80,3,32,55,37,0,0,1,0,0,-85,-85
+		,-85,-85,-85,-85,-85,-85,119,-66,-78,-74,-108,74,3,25,-110,98,-50,6,-70,-121,92,-32,-114,113,108,34,-8,-40,84,106
+		,28,76,93,37,89,52,118,68,0,0,0,0,0,0,0,0,0,0,0,0,4,0,0,0,0,0,0,0,0,0,-40,12,0,0,3,32,8,36,1,48,119,2,0,0,1,48,120,2,0,0,2,36,2,48,119,2,0
+		,0,1,48,120,2,0,0,2,36,3,48,119,2,0,0,1,48,120,2,0,0,2,36,4,48,119,2,0,0,1,48,120,2,0,0,2,36,5,48,119,2,0,0,1,48,120,2,0,0,2,36,6,48,119
+		,2,0,0,1,48,120,2,0,0,3,33,0,21,4,36,1,48,5,4,112,8,0,0,1,48,6,1,0,2,36,3,48,4,1,1,1,48,5,4,112,8,0,0,1,48,6,1,0,1,48,8,4,0,0,0,0,2,36,4,48,4,1
+		,1,1,48,5,4,112,8,0,0,1,48,6,1,0,1,48,8,4,0,0,0,0,2,36,5,48,4,1,1,1,48,5,4,112,8,1,0,0,0,-6,0,0,0,80,3,32,55,37,0,0,1,1,1,0,0,1,48,6,1,0,1,48,8,4
+		,0,0,0,0,2,36,6,48,4,1,1,1,48,5,4,0,0,0,0,1,48,6,1,0,1,48,8,4,0,0,0,0,2,36,7,48,4,1,1,1,48,5,4,0,0,0,0,1,48,6,1,0,1,48,8,4,0,0,0,0,3,33,0,24,4,38,0,1
+		,0,9,0,48,1,1,8,1,48,5,1,1,2,38,0,3,0,37,4,48,1,1,8,1,48,5,1,1,2,38,0,7,0,39,4,48,1,1,4,1,48,5,1,1,2,38,0,1,0,52,4,48,1,1,8,1,48,5,1,1,2,38,0,2,0,52
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+		,-29,-79,1,0,0,0,8,0,0,0,75,3,33,0,25,4,36,1,0,0]]]>
+</Data>
+</ConfigScript>
+<Connections>
+<Connection Name="A_Standard_Rev2" RPI="20000" Type="StandardDataDriven" OutputSize="28" InputSize="80" EventID="0" ProgrammaticallySendEventTrigger="false" Priority="Scheduled" InputConnectionType="Unicast" InputProductionTrigger="Cyclic" ConnectionPath="20 04 24 01 2d 00 01 03 2d 00 01 04"
+ InputTagSuffix="I" OutputTagSuffix="O">
+<InputTag ExternalAccess="Read/Write">
+<Data Format="Decorated">
+<Structure DataType="AB:35_APF_Drive:I:1">
+<DataValueMember Name="RunMode" DataType="BOOL" Value="0"/>
+<DataValueMember Name="ConnectionFaulted" DataType="BOOL" Value="0"/>
+<DataValueMember Name="DriveStatus" DataType="DINT" Radix="Binary" Value="2#0000_0000_0000_0000_0000_0000_0000_0000"/>
+<DataValueMember Name="Ready" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Running" DataType="BOOL" Value="0"/>
+<DataValueMember Name="CommandedDirection" DataType="BOOL" Value="0"/>
+<DataValueMember Name="ActualDirection" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Accelerating" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Decelerating" DataType="BOOL" Value="0"/>
+<DataValueMember Name="AtReferenceSpeed" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Fault" DataType="BOOL" Value="0"/>
+<DataValueMember Name="SafetyIn0Monitor" DataType="BOOL" Value="0"/>
+<DataValueMember Name="SafetyIn1Monitor" DataType="BOOL" Value="0"/>
+<DataValueMember Name="SafetyIn2Monitor" DataType="BOOL" Value="0"/>
+<DataValueMember Name="SafetyIn3Monitor" DataType="BOOL" Value="0"/>
+<DataValueMember Name="SafetyOutMonitor" DataType="BOOL" Value="0"/>
+<DataValueMember Name="SafeTorqueEnabled" DataType="BOOL" Value="0"/>
+<DataValueMember Name="SafetyFault" DataType="BOOL" Value="0"/>
+<DataValueMember Name="In_0" DataType="BOOL" Value="0"/>
+<DataValueMember Name="In_1" DataType="BOOL" Value="0"/>
+<DataValueMember Name="In_2" DataType="BOOL" Value="0"/>
+<DataValueMember Name="In_3" DataType="BOOL" Value="0"/>
+<DataValueMember Name="IO_0" DataType="BOOL" Value="0"/>
+<DataValueMember Name="IO_1" DataType="BOOL" Value="0"/>
+<DataValueMember Name="KeypadButtonF0" DataType="BOOL" Value="0"/>
+<DataValueMember Name="KeypadButtonF1" DataType="BOOL" Value="0"/>
+<DataValueMember Name="KeypadButtonF2" DataType="BOOL" Value="0"/>
+<DataValueMember Name="KeypadHandMode" DataType="BOOL" Value="0"/>
+<DataValueMember Name="ThreePhaseACPowerPresent" DataType="BOOL" Value="0"/>
+<DataValueMember Name="DisconnectClosed" DataType="BOOL" Value="0"/>
+<DataValueMember Name="EMBrakeReleased" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Alarm" DataType="BOOL" Value="0"/>
+<DataValueMember Name="OutputFrequency" DataType="REAL" Radix="Float" Value="0.0"/>
+<DataValueMember Name="OutputVoltage" DataType="REAL" Radix="Float" Value="0.0"/>
+<DataValueMember Name="OutputCurrent" DataType="REAL" Radix="Float" Value="0.0"/>
+<DataValueMember Name="OutputPower" DataType="REAL" Radix="Float" Value="0.0"/>
+<DataValueMember Name="DCBusVoltage" DataType="REAL" Radix="Float" Value="0.0"/>
+<DataValueMember Name="DriveHeatsinkTemperature" DataType="REAL" Radix="Float" Value="0.0"/>
+<DataValueMember Name="EncoderCounts" DataType="DINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="MotorOverloadLevel" DataType="REAL" Radix="Float" Value="0.0"/>
+<DataValueMember Name="TripFaultCode" DataType="DINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Velocity" DataType="REAL" Radix="Float" Value="0.0"/>
+</Structure>
+</Data>
+</InputTag>
+<OutputTag ExternalAccess="Read/Write">
+<Data Format="L5K">
+<![CDATA[[0,0.00000000e+000,0,0,0,0,0.00000000e+000,0.00000000e+000,0.00000000e+000,0.00000000e+000]]]>
+</Data>
+<Data Format="Decorated">
+<Structure DataType="AB:35_APF_Drive:O:1">
+<DataValueMember Name="LogicCommand" DataType="DINT" Radix="Binary" Value="2#0000_0000_0000_0000_0000_0000_0000_0000"/>
+<DataValueMember Name="Stop" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Start" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Run" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Jog" DataType="BOOL" Value="0"/>
+<DataValueMember Name="DirectionCmd_0" DataType="BOOL" Value="0"/>
+<DataValueMember Name="DirectionCmd_1" DataType="BOOL" Value="0"/>
+<DataValueMember Name="ClearFault" DataType="BOOL" Value="0"/>
+<DataValueMember Name="AccelRefSelect_0" DataType="BOOL" Value="0"/>
+<DataValueMember Name="AccelRefSelect_1" DataType="BOOL" Value="0"/>
+<DataValueMember Name="AccelRefSelect_2" DataType="BOOL" Value="0"/>
+<DataValueMember Name="VelocityRefSelect_0" DataType="BOOL" Value="0"/>
+<DataValueMember Name="VelocityRefSelect_1" DataType="BOOL" Value="0"/>
+<DataValueMember Name="VelocityRefSelect_2" DataType="BOOL" Value="0"/>
+<DataValueMember Name="IO_0" DataType="BOOL" Value="0"/>
+<DataValueMember Name="IO_1" DataType="BOOL" Value="0"/>
+<DataValueMember Name="EMBrakeAutoManCtrl" DataType="BOOL" Value="0"/>
+<DataValueMember Name="EMBrakeRelease" DataType="BOOL" Value="0"/>
+<DataValueMember Name="CommandedVelocity" DataType="REAL" Radix="Float" Value="0.0"/>
+</Structure>
+</Data>
+</OutputTag>
+</Connection>
+</Connections>
+</Communications>
+<ExtendedProperties>
+<public><Vendor>Rockwell Automation/Allen-Bradley</Vendor><CatNum>Armor PowerFlex 35x-6Dx-xxx1</CatNum><SafetyFeedbackDevice1>1</SafetyFeedbackDevice1><PCBBESSessionID>381399fc-8091-42d6-bdcd-6052dd55dd74</PCBBESSessionID><InputTagDataTypeName>AB:35_APF_Drive:I:1</InputTagDataTypeName><InputTagData>&lt;DataType Name="AB:35_APF_Drive:I:1" Class="IO"&gt;&lt;Members&gt;&lt;Member Name="FaultMember" DataType="DINT" Hidden="True" /&gt;&lt;Member Name="RunMode" DataType="BIT" BitNumber="0" Target="FaultMember" /&gt;&lt;Member Name="ConnectionFaulted" DataType="BIT" BitNumber="1" Target="FaultMember" /&gt;&lt;Member Name="DriveStatus" DataType="DINT" Radix="Binary" /&gt;&lt;Member Name="Ready" DataType="BIT" BitNumber="0" Target="DriveStatus" /&gt;&lt;Member Name="Running" DataType="BIT" BitNumber="1" Target="DriveStatus" /&gt;&lt;Member Name="CommandedDirection" DataType="BIT" BitNumber="2" Target="DriveStatus" /&gt;&lt;Member Name="ActualDirection" DataType="BIT" BitNumber="3" Target="DriveStatus" /&gt;&lt;Member Name="Accelerating" DataType="BIT" BitNumber="4" Target="DriveStatus" /&gt;&lt;Member Name="Decelerating" DataType="BIT" BitNumber="5" Target="DriveStatus" /&gt;&lt;Member Name="AtReferenceSpeed" DataType="BIT" BitNumber="6" Target="DriveStatus" /&gt;&lt;Member Name="Fault" DataType="BIT" BitNumber="7" Target="DriveStatus" /&gt;&lt;Member Name="SafetyIn0Monitor" DataType="BIT" BitNumber="8" Target="DriveStatus" /&gt;&lt;Member Name="SafetyIn1Monitor" DataType="BIT" BitNumber="9" Target="DriveStatus" /&gt;&lt;Member Name="SafetyIn2Monitor" DataType="BIT" BitNumber="10" Target="DriveStatus" /&gt;&lt;Member Name="SafetyIn3Monitor" DataType="BIT" BitNumber="11" Target="DriveStatus" /&gt;&lt;Member Name="SafetyOutMonitor" DataType="BIT" BitNumber="12" Target="DriveStatus" /&gt;&lt;Member Name="SafeTorqueEnabled" DataType="BIT" BitNumber="14" Target="DriveStatus" /&gt;&lt;Member Name="SafetyFault" DataType="BIT" BitNumber="15" Target="DriveStatus" /&gt;&lt;Member Name="In_0" DataType="BIT" BitNumber="16" Target="DriveStatus" /&gt;&lt;Member Name="In_1" DataType="BIT" BitNumber="17" Target="DriveStatus" /&gt;&lt;Member Name="In_2" DataType="BIT" BitNumber="18" Target="DriveStatus" /&gt;&lt;Member Name="In_3" DataType="BIT" BitNumber="19" Target="DriveStatus" /&gt;&lt;Member Name="IO_0" DataType="BIT" BitNumber="20" Target="DriveStatus" /&gt;&lt;Member Name="IO_1" DataType="BIT" BitNumber="21" Target="DriveStatus" /&gt;&lt;Member Name="KeypadButtonF0" DataType="BIT" BitNumber="24" Target="DriveStatus" /&gt;&lt;Member Name="KeypadButtonF1" DataType="BIT" BitNumber="25" Target="DriveStatus" /&gt;&lt;Member Name="KeypadButtonF2" DataType="BIT" BitNumber="26" Target="DriveStatus" /&gt;&lt;Member Name="KeypadHandMode" DataType="BIT" BitNumber="27" Target="DriveStatus" /&gt;&lt;Member Name="ThreePhaseACPowerPresent" DataType="BIT" BitNumber="28" Target="DriveStatus" /&gt;&lt;Member Name="DisconnectClosed" DataType="BIT" BitNumber="29" Target="DriveStatus" /&gt;&lt;Member Name="EMBrakeReleased" DataType="BIT" BitNumber="30" Target="DriveStatus" /&gt;&lt;Member Name="Alarm" DataType="BIT" BitNumber="31" Target="DriveStatus" /&gt;&lt;Member Name="OutputFrequency" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="OutputVoltage" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="OutputCurrent" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="OutputPower" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="DCBusVoltage" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="DriveHeatsinkTemperature" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="EncoderCounts" DataType="DINT" Radix="Decimal" /&gt;&lt;Member Name="MotorOverloadLevel" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="TripFaultCode" DataType="DINT" Radix="Decimal" /&gt;&lt;Member Name="Position" DataType="DINT" Radix="Decimal" Hidden="True" /&gt;&lt;Member Name="Velocity" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="Pad0" DataType="DINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="Pad1" DataType="DINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="Pad2" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="Pad3" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="Pad4" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="DLXDigitalOut" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="DLXAnalogOut0" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;Member Name="DLXAnalogOut1" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;Member Name="DLXAnalogOut2" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;Member Name="DLXAnalogOut3" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;/Members&gt;&lt;/DataType&gt;</InputTagData><OutputTagDataTypeName>AB:35_APF_Drive:O:1</OutputTagDataTypeName><OutputTagData>&lt;DataType Name="AB:35_APF_Drive:O:1" Class="IO"&gt;&lt;Members&gt;&lt;Member Name="LogicCommand" DataType="DINT" Radix="Binary" /&gt;&lt;Member Name="Stop" DataType="BIT" BitNumber="0" Target="LogicCommand" /&gt;&lt;Member Name="Start" DataType="BIT" BitNumber="1" Target="LogicCommand" /&gt;&lt;Member Name="Run" DataType="BIT" BitNumber="2" Target="LogicCommand" /&gt;&lt;Member Name="Jog" DataType="BIT" BitNumber="3" Target="LogicCommand" /&gt;&lt;Member Name="DirectionCmd_0" DataType="BIT" BitNumber="4" Target="LogicCommand" /&gt;&lt;Member Name="DirectionCmd_1" DataType="BIT" BitNumber="5" Target="LogicCommand" /&gt;&lt;Member Name="ClearFault" DataType="BIT" BitNumber="7" Target="LogicCommand" /&gt;&lt;Member Name="AccelRefSelect_0" DataType="BIT" BitNumber="8" Target="LogicCommand" /&gt;&lt;Member Name="AccelRefSelect_1" DataType="BIT" BitNumber="9" Target="LogicCommand" /&gt;&lt;Member Name="AccelRefSelect_2" DataType="BIT" BitNumber="10" Target="LogicCommand" /&gt;&lt;Member Name="VelocityRefSelect_0" DataType="BIT" BitNumber="13" Target="LogicCommand" /&gt;&lt;Member Name="VelocityRefSelect_1" DataType="BIT" BitNumber="14" Target="LogicCommand" /&gt;&lt;Member Name="VelocityRefSelect_2" DataType="BIT" BitNumber="15" Target="LogicCommand" /&gt;&lt;Member Name="IO_0" DataType="BIT" BitNumber="20" Target="LogicCommand" /&gt;&lt;Member Name="IO_1" DataType="BIT" BitNumber="21" Target="LogicCommand" /&gt;&lt;Member Name="EMBrakeAutoManCtrl" DataType="BIT" BitNumber="30" Target="LogicCommand" /&gt;&lt;Member Name="EMBrakeRelease" DataType="BIT" BitNumber="31" Target="LogicCommand" /&gt;&lt;Member Name="CommandedVelocity" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="Pad0" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="Pad1" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="Pad2" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="DLXDigitalIn" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="DLXAnalogIn0" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;Member Name="DLXAnalogIn1" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;Member Name="DLXAnalogIn2" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;Member Name="DLXAnalogIn3" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;/Members&gt;&lt;/DataType&gt;</OutputTagData><fullLoadCompensationType>1</fullLoadCompensationType><ConfigID>101</ConfigID></public>
+</ExtendedProperties>
+</Module>
+<Module Name="Extendo" CatalogNumber="6ES7 158-3MU10-0XA0" Vendor="1251" ProductType="12" ProductCode="4000" Major="51" Minor="1" ParentModule="SLOT2_EN2T" ParentModPortId="2" Inhibited="false" MajorFault="false"
  SafetyEnabled="false">
 <EKey State="CompatibleModule"/>
 <Ports>
-<Port Id="2" Address="111.111.111.111" Type="Ethernet" Upstream="true"/>
+<Port Id="2" Address="123.123.123.123" Type="Ethernet" Upstream="true"/>
 </Ports>
 <Communications>
 <Connections>
@@ -1960,171 +2129,7 @@ Pressed]]>
 </Connections>
 </Communications>
 <ExtendedProperties>
-<public><PL>01<Version Name="1.3"/><Connection Name="_2004250007032D0000032D000103" Format="0"/></PL><CatNum>6ES7 158-3MU10-0XA0</CatNum><DataTypeFormats><DataTypeFormat InstanceApplicationPath="20 04 2d 00 01 03 30 03" Format="1" Type="Input"/><DataTypeFormat InstanceApplicationPath="20 04 2d 00 00 03 30 03" Format="1" Type="Output"/></DataTypeFormats></public>
-</ExtendedProperties>
-</Module>
-<Module Name="FL4066_2_VFD1" CatalogNumber="Armor PowerFlex 35x-6Dx-xxx1" Vendor="1" ProductType="170" ProductCode="2" Major="2" Minor="1" UserDefinedVendor="1" UserDefinedProductType="170" UserDefinedProductCode="3" UserDefinedMajor="2"
- UserDefinedMinor="1" ParentModule="SLOT2_EN2T" ParentModPortId="2" Inhibited="false" MajorFault="false" SafetyEnabled="false">
-<EKey State="CompatibleModule"/>
-<Ports>
-<Port Id="1" Address="222.222.222.2" Type="Ethernet" Upstream="true"/>
-</Ports>
-<Communications>
-<ConfigScript Size="3748">
-<Data Format="L5K">
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-</Data>
-</ConfigScript>
-<Connections>
-<Connection Name="A_Standard_Rev2" RPI="20000" Type="StandardDataDriven" OutputSize="28" InputSize="80" EventID="0" ProgrammaticallySendEventTrigger="false" Priority="Scheduled" InputConnectionType="Unicast" InputProductionTrigger="Cyclic" ConnectionPath="20 04 24 01 2d 00 01 03 2d 00 01 04"
- InputTagSuffix="I" OutputTagSuffix="O">
-<InputTag ExternalAccess="Read/Write">
-<Data Format="Decorated">
-<Structure DataType="AB:35_APF_Drive:I:1">
-<DataValueMember Name="RunMode" DataType="BOOL" Value="0"/>
-<DataValueMember Name="ConnectionFaulted" DataType="BOOL" Value="0"/>
-<DataValueMember Name="DriveStatus" DataType="DINT" Radix="Binary" Value="2#0000_0000_0000_0000_0000_0000_0000_0000"/>
-<DataValueMember Name="Ready" DataType="BOOL" Value="0"/>
-<DataValueMember Name="Running" DataType="BOOL" Value="0"/>
-<DataValueMember Name="CommandedDirection" DataType="BOOL" Value="0"/>
-<DataValueMember Name="ActualDirection" DataType="BOOL" Value="0"/>
-<DataValueMember Name="Accelerating" DataType="BOOL" Value="0"/>
-<DataValueMember Name="Decelerating" DataType="BOOL" Value="0"/>
-<DataValueMember Name="AtReferenceSpeed" DataType="BOOL" Value="0"/>
-<DataValueMember Name="Fault" DataType="BOOL" Value="0"/>
-<DataValueMember Name="SafetyIn0Monitor" DataType="BOOL" Value="0"/>
-<DataValueMember Name="SafetyIn1Monitor" DataType="BOOL" Value="0"/>
-<DataValueMember Name="SafetyIn2Monitor" DataType="BOOL" Value="0"/>
-<DataValueMember Name="SafetyIn3Monitor" DataType="BOOL" Value="0"/>
-<DataValueMember Name="SafetyOutMonitor" DataType="BOOL" Value="0"/>
-<DataValueMember Name="SafeTorqueEnabled" DataType="BOOL" Value="0"/>
-<DataValueMember Name="SafetyFault" DataType="BOOL" Value="0"/>
-<DataValueMember Name="In_0" DataType="BOOL" Value="0"/>
-<DataValueMember Name="In_1" DataType="BOOL" Value="0"/>
-<DataValueMember Name="In_2" DataType="BOOL" Value="0"/>
-<DataValueMember Name="In_3" DataType="BOOL" Value="0"/>
-<DataValueMember Name="IO_0" DataType="BOOL" Value="0"/>
-<DataValueMember Name="IO_1" DataType="BOOL" Value="0"/>
-<DataValueMember Name="KeypadButtonF0" DataType="BOOL" Value="0"/>
-<DataValueMember Name="KeypadButtonF1" DataType="BOOL" Value="0"/>
-<DataValueMember Name="KeypadButtonF2" DataType="BOOL" Value="0"/>
-<DataValueMember Name="KeypadHandMode" DataType="BOOL" Value="0"/>
-<DataValueMember Name="ThreePhaseACPowerPresent" DataType="BOOL" Value="0"/>
-<DataValueMember Name="DisconnectClosed" DataType="BOOL" Value="0"/>
-<DataValueMember Name="EMBrakeReleased" DataType="BOOL" Value="0"/>
-<DataValueMember Name="Alarm" DataType="BOOL" Value="0"/>
-<DataValueMember Name="OutputFrequency" DataType="REAL" Radix="Float" Value="0.0"/>
-<DataValueMember Name="OutputVoltage" DataType="REAL" Radix="Float" Value="0.0"/>
-<DataValueMember Name="OutputCurrent" DataType="REAL" Radix="Float" Value="0.0"/>
-<DataValueMember Name="OutputPower" DataType="REAL" Radix="Float" Value="0.0"/>
-<DataValueMember Name="DCBusVoltage" DataType="REAL" Radix="Float" Value="0.0"/>
-<DataValueMember Name="DriveHeatsinkTemperature" DataType="REAL" Radix="Float" Value="0.0"/>
-<DataValueMember Name="EncoderCounts" DataType="DINT" Radix="Decimal" Value="0"/>
-<DataValueMember Name="MotorOverloadLevel" DataType="REAL" Radix="Float" Value="0.0"/>
-<DataValueMember Name="TripFaultCode" DataType="DINT" Radix="Decimal" Value="0"/>
-<DataValueMember Name="Velocity" DataType="REAL" Radix="Float" Value="0.0"/>
-</Structure>
-</Data>
-</InputTag>
-<OutputTag ExternalAccess="Read/Write">
-<Data Format="L5K">
-<![CDATA[[0,0.00000000e+000,0,0,0,0,0.00000000e+000,0.00000000e+000,0.00000000e+000,0.00000000e+000]]]>
-</Data>
-<Data Format="Decorated">
-<Structure DataType="AB:35_APF_Drive:O:1">
-<DataValueMember Name="LogicCommand" DataType="DINT" Radix="Binary" Value="2#0000_0000_0000_0000_0000_0000_0000_0000"/>
-<DataValueMember Name="Stop" DataType="BOOL" Value="0"/>
-<DataValueMember Name="Start" DataType="BOOL" Value="0"/>
-<DataValueMember Name="Run" DataType="BOOL" Value="0"/>
-<DataValueMember Name="Jog" DataType="BOOL" Value="0"/>
-<DataValueMember Name="DirectionCmd_0" DataType="BOOL" Value="0"/>
-<DataValueMember Name="DirectionCmd_1" DataType="BOOL" Value="0"/>
-<DataValueMember Name="ClearFault" DataType="BOOL" Value="0"/>
-<DataValueMember Name="AccelRefSelect_0" DataType="BOOL" Value="0"/>
-<DataValueMember Name="AccelRefSelect_1" DataType="BOOL" Value="0"/>
-<DataValueMember Name="AccelRefSelect_2" DataType="BOOL" Value="0"/>
-<DataValueMember Name="VelocityRefSelect_0" DataType="BOOL" Value="0"/>
-<DataValueMember Name="VelocityRefSelect_1" DataType="BOOL" Value="0"/>
-<DataValueMember Name="VelocityRefSelect_2" DataType="BOOL" Value="0"/>
-<DataValueMember Name="IO_0" DataType="BOOL" Value="0"/>
-<DataValueMember Name="IO_1" DataType="BOOL" Value="0"/>
-<DataValueMember Name="EMBrakeAutoManCtrl" DataType="BOOL" Value="0"/>
-<DataValueMember Name="EMBrakeRelease" DataType="BOOL" Value="0"/>
-<DataValueMember Name="CommandedVelocity" DataType="REAL" Radix="Float" Value="0.0"/>
-</Structure>
-</Data>
-</OutputTag>
-</Connection>
-</Connections>
-</Communications>
-<ExtendedProperties>
-<public><Vendor>Rockwell Automation/Allen-Bradley</Vendor><CatNum>Armor PowerFlex 35x-6Dx-xxx1</CatNum><SafetyFeedbackDevice1>1</SafetyFeedbackDevice1><PCBBESSessionID>4ddee8a4-47cf-4935-b365-696326c16b5d</PCBBESSessionID><InputTagDataTypeName>AB:35_APF_Drive:I:1</InputTagDataTypeName><InputTagData>&lt;DataType Name="AB:35_APF_Drive:I:1" Class="IO"&gt;&lt;Members&gt;&lt;Member Name="FaultMember" DataType="DINT" Hidden="True" /&gt;&lt;Member Name="RunMode" DataType="BIT" BitNumber="0" Target="FaultMember" /&gt;&lt;Member Name="ConnectionFaulted" DataType="BIT" BitNumber="1" Target="FaultMember" /&gt;&lt;Member Name="DriveStatus" DataType="DINT" Radix="Binary" /&gt;&lt;Member Name="Ready" DataType="BIT" BitNumber="0" Target="DriveStatus" /&gt;&lt;Member Name="Running" DataType="BIT" BitNumber="1" Target="DriveStatus" /&gt;&lt;Member Name="CommandedDirection" DataType="BIT" BitNumber="2" Target="DriveStatus" /&gt;&lt;Member Name="ActualDirection" DataType="BIT" BitNumber="3" Target="DriveStatus" /&gt;&lt;Member Name="Accelerating" DataType="BIT" BitNumber="4" Target="DriveStatus" /&gt;&lt;Member Name="Decelerating" DataType="BIT" BitNumber="5" Target="DriveStatus" /&gt;&lt;Member Name="AtReferenceSpeed" DataType="BIT" BitNumber="6" Target="DriveStatus" /&gt;&lt;Member Name="Fault" DataType="BIT" BitNumber="7" Target="DriveStatus" /&gt;&lt;Member Name="SafetyIn0Monitor" DataType="BIT" BitNumber="8" Target="DriveStatus" /&gt;&lt;Member Name="SafetyIn1Monitor" DataType="BIT" BitNumber="9" Target="DriveStatus" /&gt;&lt;Member Name="SafetyIn2Monitor" DataType="BIT" BitNumber="10" Target="DriveStatus" /&gt;&lt;Member Name="SafetyIn3Monitor" DataType="BIT" BitNumber="11" Target="DriveStatus" /&gt;&lt;Member Name="SafetyOutMonitor" DataType="BIT" BitNumber="12" Target="DriveStatus" /&gt;&lt;Member Name="SafeTorqueEnabled" DataType="BIT" BitNumber="14" Target="DriveStatus" /&gt;&lt;Member Name="SafetyFault" DataType="BIT" BitNumber="15" Target="DriveStatus" /&gt;&lt;Member Name="In_0" DataType="BIT" BitNumber="16" Target="DriveStatus" /&gt;&lt;Member Name="In_1" DataType="BIT" BitNumber="17" Target="DriveStatus" /&gt;&lt;Member Name="In_2" DataType="BIT" BitNumber="18" Target="DriveStatus" /&gt;&lt;Member Name="In_3" DataType="BIT" BitNumber="19" Target="DriveStatus" /&gt;&lt;Member Name="IO_0" DataType="BIT" BitNumber="20" Target="DriveStatus" /&gt;&lt;Member Name="IO_1" DataType="BIT" BitNumber="21" Target="DriveStatus" /&gt;&lt;Member Name="KeypadButtonF0" DataType="BIT" BitNumber="24" Target="DriveStatus" /&gt;&lt;Member Name="KeypadButtonF1" DataType="BIT" BitNumber="25" Target="DriveStatus" /&gt;&lt;Member Name="KeypadButtonF2" DataType="BIT" BitNumber="26" Target="DriveStatus" /&gt;&lt;Member Name="KeypadHandMode" DataType="BIT" BitNumber="27" Target="DriveStatus" /&gt;&lt;Member Name="ThreePhaseACPowerPresent" DataType="BIT" BitNumber="28" Target="DriveStatus" /&gt;&lt;Member Name="DisconnectClosed" DataType="BIT" BitNumber="29" Target="DriveStatus" /&gt;&lt;Member Name="EMBrakeReleased" DataType="BIT" BitNumber="30" Target="DriveStatus" /&gt;&lt;Member Name="Alarm" DataType="BIT" BitNumber="31" Target="DriveStatus" /&gt;&lt;Member Name="OutputFrequency" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="OutputVoltage" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="OutputCurrent" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="OutputPower" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="DCBusVoltage" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="DriveHeatsinkTemperature" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="EncoderCounts" DataType="DINT" Radix="Decimal" /&gt;&lt;Member Name="MotorOverloadLevel" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="TripFaultCode" DataType="DINT" Radix="Decimal" /&gt;&lt;Member Name="Position" DataType="DINT" Radix="Decimal" Hidden="True" /&gt;&lt;Member Name="Velocity" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="Pad0" DataType="DINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="Pad1" DataType="DINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="Pad2" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="Pad3" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="Pad4" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="DLXDigitalOut" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="DLXAnalogOut0" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;Member Name="DLXAnalogOut1" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;Member Name="DLXAnalogOut2" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;Member Name="DLXAnalogOut3" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;/Members&gt;&lt;/DataType&gt;</InputTagData><OutputTagDataTypeName>AB:35_APF_Drive:O:1</OutputTagDataTypeName><OutputTagData>&lt;DataType Name="AB:35_APF_Drive:O:1" Class="IO"&gt;&lt;Members&gt;&lt;Member Name="LogicCommand" DataType="DINT" Radix="Binary" /&gt;&lt;Member Name="Stop" DataType="BIT" BitNumber="0" Target="LogicCommand" /&gt;&lt;Member Name="Start" DataType="BIT" BitNumber="1" Target="LogicCommand" /&gt;&lt;Member Name="Run" DataType="BIT" BitNumber="2" Target="LogicCommand" /&gt;&lt;Member Name="Jog" DataType="BIT" BitNumber="3" Target="LogicCommand" /&gt;&lt;Member Name="DirectionCmd_0" DataType="BIT" BitNumber="4" Target="LogicCommand" /&gt;&lt;Member Name="DirectionCmd_1" DataType="BIT" BitNumber="5" Target="LogicCommand" /&gt;&lt;Member Name="ClearFault" DataType="BIT" BitNumber="7" Target="LogicCommand" /&gt;&lt;Member Name="AccelRefSelect_0" DataType="BIT" BitNumber="8" Target="LogicCommand" /&gt;&lt;Member Name="AccelRefSelect_1" DataType="BIT" BitNumber="9" Target="LogicCommand" /&gt;&lt;Member Name="AccelRefSelect_2" DataType="BIT" BitNumber="10" Target="LogicCommand" /&gt;&lt;Member Name="VelocityRefSelect_0" DataType="BIT" BitNumber="13" Target="LogicCommand" /&gt;&lt;Member Name="VelocityRefSelect_1" DataType="BIT" BitNumber="14" Target="LogicCommand" /&gt;&lt;Member Name="VelocityRefSelect_2" DataType="BIT" BitNumber="15" Target="LogicCommand" /&gt;&lt;Member Name="IO_0" DataType="BIT" BitNumber="20" Target="LogicCommand" /&gt;&lt;Member Name="IO_1" DataType="BIT" BitNumber="21" Target="LogicCommand" /&gt;&lt;Member Name="EMBrakeAutoManCtrl" DataType="BIT" BitNumber="30" Target="LogicCommand" /&gt;&lt;Member Name="EMBrakeRelease" DataType="BIT" BitNumber="31" Target="LogicCommand" /&gt;&lt;Member Name="CommandedVelocity" DataType="REAL" Radix="Float" /&gt;&lt;Member Name="Pad0" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="Pad1" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="Pad2" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="DLXDigitalIn" DataType="SINT" Radix="Binary" Hidden="True" /&gt;&lt;Member Name="DLXAnalogIn0" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;Member Name="DLXAnalogIn1" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;Member Name="DLXAnalogIn2" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;Member Name="DLXAnalogIn3" DataType="REAL" Radix="Float" Hidden="True" /&gt;&lt;/Members&gt;&lt;/DataType&gt;</OutputTagData><fullLoadCompensationType>1</fullLoadCompensationType><ConfigID>101</ConfigID></public>
+<public><PL>01<Version Name="1.3"/><Connection Name="_2004250007032D0000032D000103" Format="0"/></PL><Vendor>Siemens AG</Vendor><CatNum>6ES7 158-3MU10-0XA0</CatNum><DataTypeFormats><DataTypeFormat InstanceApplicationPath="20 04 2D 00 01 03 30 03" Format="1" Type="Input"/><DataTypeFormat InstanceApplicationPath="20 04 2D 00 00 03 30 03" Format="1" Type="Output"/></DataTypeFormats></public>
 </ExtendedProperties>
 </Module>
 </Modules>
@@ -3492,7 +3497,7 @@ Pressed]]>
 </Routine>
 </Routines>
 </AddOnInstructionDefinition>
-<AddOnInstructionDefinition Name="AOI_EXTENDO" Revision="1.0" ExecutePrescan="false" ExecutePostscan="false" ExecuteEnableInFalse="false" CreatedDate="2025-06-24T07:04:00.824Z" CreatedBy="LCIBATUMI\gigi.mamaladze" EditedDate="2025-06-27T19:01:16.824Z" EditedBy="LCIBATUMI\gigi.mamaladze" SoftwareRevision="v36.00">
+<AddOnInstructionDefinition Name="AOI_EXTENDO" Revision="1.0" ExecutePrescan="false" ExecutePostscan="false" ExecuteEnableInFalse="false" CreatedDate="2025-06-24T07:04:00.824Z" CreatedBy="LCIBATUMI\gigi.mamaladze" EditedDate="2025-06-30T12:08:33.453Z" EditedBy="LCIBATUMI\beka.makharadze" SoftwareRevision="v36.00">
 <Parameters>
 <Parameter Name="EnableIn" TagType="Base" DataType="BOOL" Usage="Input" Radix="Decimal" Required="false" Visible="false" ExternalAccess="Read Only">
 <Description>
@@ -3932,6 +3937,11 @@ Pressed]]>
 </Text>
 </Rung>
 <Rung Number="25" Type="N">
+<Text>
+<![CDATA[XIC(Estopped)OTE(HMI.Alarm.EStopped);]]>
+</Text>
+</Rung>
+<Rung Number="26" Type="N">
 <Comment>
 <![CDATA[Info
 
@@ -3941,32 +3951,32 @@ Pressed]]>
 <![CDATA[XIC(Loading_Mode)OTE(HMI.Loading_Mode);]]>
 </Text>
 </Rung>
-<Rung Number="26" Type="N">
+<Rung Number="27" Type="N">
 <Text>
 <![CDATA[XIC(Unloading_Mode)OTE(HMI.Unloading_Mode);]]>
 </Text>
 </Rung>
-<Rung Number="27" Type="N">
+<Rung Number="28" Type="N">
 <Text>
 <![CDATA[XIC(Aopen_Active)OTE(HMI.Aopen_Active);]]>
 </Text>
 </Rung>
-<Rung Number="28" Type="N">
+<Rung Number="29" Type="N">
 <Text>
 <![CDATA[XIC(Power_Saving_Mode)OTE(HMI.Power_Saving_Mode);]]>
 </Text>
 </Rung>
-<Rung Number="29" Type="N">
+<Rung Number="30" Type="N">
 <Text>
 <![CDATA[XIC(Fully_Retracted)OTE(HMI.Fully_Retracted);]]>
 </Text>
 </Rung>
-<Rung Number="30" Type="N">
+<Rung Number="31" Type="N">
 <Text>
 <![CDATA[XIC(Fully_Extended)OTE(HMI.Fully_Extended);]]>
 </Text>
 </Rung>
-<Rung Number="31" Type="N">
+<Rung Number="32" Type="N">
 <Comment>
 <![CDATA[State
 ]]>
@@ -3975,32 +3985,32 @@ Pressed]]>
 <![CDATA[XIO(Allow_Loading)MOVE(0,HMI.STATE);]]>
 </Text>
 </Rung>
-<Rung Number="32" Type="N">
+<Rung Number="33" Type="N">
 <Text>
 <![CDATA[XIC(Allow_Loading)MOVE(1,HMI.STATE);]]>
 </Text>
 </Rung>
-<Rung Number="33" Type="N">
+<Rung Number="34" Type="N">
 <Text>
 <![CDATA[XIC(Running)MOVE(2,HMI.STATE);]]>
 </Text>
 </Rung>
-<Rung Number="34" Type="N">
+<Rung Number="35" Type="N">
 <Text>
 <![CDATA[XIC(Full)MOVE(3,HMI.STATE);]]>
 </Text>
 </Rung>
-<Rung Number="35" Type="N">
+<Rung Number="36" Type="N">
 <Text>
 <![CDATA[XIC(Communication_Faulted)MOVE(4,HMI.STATE);]]>
 </Text>
 </Rung>
-<Rung Number="36" Type="N">
+<Rung Number="37" Type="N">
 <Text>
 <![CDATA[XIC(Extendo_Faulted)MOVE(5,HMI.STATE);]]>
 </Text>
 </Rung>
-<Rung Number="37" Type="N">
+<Rung Number="38" Type="N">
 <Text>
 <![CDATA[XIC(Estopped)MOVE(6,HMI.STATE);]]>
 </Text>
@@ -4955,6 +4965,7 @@ Pressed]]>
 <DataValueMember Name="Communication_Faulted" DataType="BOOL" Value="0"/>
 <DataValueMember Name="Full" DataType="BOOL" Value="0"/>
 <DataValueMember Name="Extendo_Faulted" DataType="BOOL" Value="0"/>
+<DataValueMember Name="EStopped" DataType="BOOL" Value="0"/>
 </StructureMember>
 <DataValueMember Name="STATE" DataType="DINT" Radix="Decimal" Value="0"/>
 <DataValueMember Name="Loading_Mode" DataType="BOOL" Value="0"/>
@@ -5248,7 +5259,7 @@ Pressed]]>
 <RLLContent>
 <Rung Number="0" Type="N">
 <Text>
-<![CDATA[AOI_EXTENDO(FL4066_4_EX1.AOI,FL4066_4_EX1.HMI,FL4066_4_EX1.CTRL,FL4066_4:I,FL4066_4:O,MCM05.CTRL,DPM.CTRL);]]>
+<![CDATA[AOI_EXTENDO(FL4066_4_EX1.AOI,FL4066_4_EX1.HMI,FL4066_4_EX1.CTRL,Extendo:I,Extendo:O,MCM05.CTRL,DPM.CTRL);]]>
 </Text>
 </Rung>
 </RLLContent>
diff --git a/PLC/Simulations/Extendo/PLC/UDTs/UDT_Extendo_DataType.L5X b/PLC/Simulations/Extendo/PLC/UDTs/UDT_Extendo_DataType.L5X
index 723fb03..29e482d 100644
--- a/PLC/Simulations/Extendo/PLC/UDTs/UDT_Extendo_DataType.L5X
+++ b/PLC/Simulations/Extendo/PLC/UDTs/UDT_Extendo_DataType.L5X
@@ -1,9 +1,8 @@
 <?xml version="1.0" encoding="UTF-8" standalone="yes"?>
-<!--PN/MF Coupler X1 / 6ES7 158-3MU10-0XA0-->
-<RSLogix5000Content SchemaRevision="1.0" SoftwareRevision="36.00" TargetName="Caljan_PNMF_UDT_Input" TargetType="DataType" ContainsContext="true" ExportDate="Fri Jun 27 23:18:10 2025" ExportOptions="NoRawData L5KData DecoratedData Context Dependencies ForceProtectedEncoding AllProjDocTrans">
+<RSLogix5000Content SchemaRevision="1.0" SoftwareRevision="36.00" TargetName="UDT_ALARMS_EXTENDO" TargetType="DataType" ContainsContext="true" ExportDate="Mon Jun 30 16:55:24 2025" ExportOptions="References NoRawData L5KData DecoratedData Context Dependencies ForceProtectedEncoding AllProjDocTrans">
 <Controller Use="Context" Name="BaseProgram">
 <DataTypes Use="Context">
-<DataType Use="Target" Name="Caljan_PNMF_UDT_Input" Family="NoFamily" Class="User">
+<DataType Name="Caljan_PNMF_UDT_Input" Family="NoFamily" Class="User">
 <Description>
 <![CDATA[PN/MF Coupler X1 / 6ES7 158-3MU10-0XA0]]>
 </Description>
@@ -54,7 +53,7 @@
 <Member Name="Spare_Out7" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
 </Members>
 </DataType>
-<DataType Use="Target" Name="Caljan_PNMF_UDT_Output" Family="NoFamily" Class="User">
+<DataType Name="Caljan_PNMF_UDT_Output" Family="NoFamily" Class="User">
 <Description>
 <![CDATA[PN/MF Coupler X1 / 6ES7 158-3MU10-0XA0]]>
 </Description>
@@ -201,6 +200,128 @@
 </Member>
 </Members>
 </DataType>
+<DataType Name="UDT_CTRL_DPM" Family="NoFamily" Class="User">
+<Members>
+<Member Name="STS" DataType="UDT_CTRL_DPM_STS" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Status of DPM]]>
+</Description>
+</Member>
+<Member Name="CMD" DataType="UDT_CTRL_DPM_CMD" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write"/>
+</Members>
+<Dependencies>
+<Dependency Type="DataType" Name="UDT_CTRL_DPM_STS"/>
+<Dependency Type="DataType" Name="UDT_CTRL_DPM_CMD"/>
+</Dependencies>
+</DataType>
+<DataType Name="UDT_CTRL_DPM_CMD" Family="NoFamily" Class="User">
+<Members>
+<Member Name="ZZZZZZZZZZUDT_CTRL_D0" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Communication_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_D0" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Ethernet Communication Faulted]]>
+</Description>
+</Member>
+<Member Name="Log" DataType="STRING" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Log]]>
+</Description>
+</Member>
+<Member Name="Log_Quantity" DataType="DINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Log Quantity]]>
+</Description>
+</Member>
+</Members>
+</DataType>
+<DataType Name="UDT_CTRL_DPM_STS" Family="NoFamily" Class="User">
+<Members>
+<Member Name="ZZZZZZZZZZUDT_CTRL_D0" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Communication_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_D0" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Ethernet Communication Faulted]]>
+</Description>
+</Member>
+<Member Name="Acknowledge_Log" DataType="STRING" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Acknowledge Log]]>
+</Description>
+</Member>
+<Member Name="ZZZZZZZZZZUDT_CTRL_D3" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="All_Unacknowledge_Log" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_D3" BitNumber="0" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[All Unacknowledged Logs]]>
+</Description>
+</Member>
+<Member Name="Unacknowldge_All" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_D3" BitNumber="1" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Unacknowledge all Alarms]]>
+</Description>
+</Member>
+<Member Name="Aknowledgement_ID" DataType="STRING" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Aknowledgement ID]]>
+</Description>
+</Member>
+</Members>
+</DataType>
+<DataType Name="UDT_CTRL_MCM" Family="NoFamily" Class="User">
+<Members>
+<Member Name="CMD" DataType="UDT_CTRL_MCM_CMD" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Command To MCM]]>
+</Description>
+</Member>
+<Member Name="STS" DataType="UDT_CTRL_MCM_STS" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Status From MCM]]>
+</Description>
+</Member>
+</Members>
+<Dependencies>
+<Dependency Type="DataType" Name="UDT_CTRL_MCM_CMD"/>
+<Dependency Type="DataType" Name="UDT_CTRL_MCM_STS"/>
+</Dependencies>
+</DataType>
+<DataType Name="UDT_CTRL_MCM_CMD" Family="NoFamily" Class="User">
+<Members>
+<Member Name="Log" DataType="STRING" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Log_Quantity" DataType="DINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="ZZZZZZZZZZUDT_CTRL_M2" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Acknowledge_Log" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="0" ExternalAccess="Read/Write"/>
+<Member Name="Unacknowledge_All_Logs" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="1" ExternalAccess="Read/Write"/>
+<Member Name="VFD_Was_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="2" ExternalAccess="Read/Write"/>
+<Member Name="VFD_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="3" ExternalAccess="Read/Write"/>
+<Member Name="Power_Branch_Was_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="4" ExternalAccess="Read/Write"/>
+<Member Name="Low_Air_Pressure_Fault_Was_Present" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="5" ExternalAccess="Read/Write"/>
+<Member Name="Encoder_Fault" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="6" ExternalAccess="Read/Write"/>
+<Member Name="Jam_Fault" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M2" BitNumber="7" ExternalAccess="Read/Write"/>
+<Member Name="ZZZZZZZZZZUDT_CTRL_M11" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Communication_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M11" BitNumber="0" ExternalAccess="Read/Write"/>
+<Member Name="EStop_Actuated" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M11" BitNumber="1" ExternalAccess="Read/Write"/>
+<Member Name="EStop_Was_Actuated" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M11" BitNumber="2" ExternalAccess="Read/Write"/>
+<Member Name="Power_Branch_Fault" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M11" BitNumber="3" ExternalAccess="Read/Write"/>
+<Member Name="Low_Air_Pressure_Fault" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M11" BitNumber="4" ExternalAccess="Read/Write"/>
+</Members>
+</DataType>
+<DataType Name="UDT_CTRL_MCM_STS" Family="NoFamily" Class="User">
+<Members>
+<Member Name="Log" DataType="STRING" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Log_Quantity" DataType="DINT" Dimension="0" Radix="Decimal" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="Acknowledge_Log" DataType="STRING" Dimension="0" Radix="NullType" Hidden="false" ExternalAccess="Read/Write"/>
+<Member Name="ZZZZZZZZZZUDT_CTRL_M3" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Unacknowledge_All_Logs" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="0" ExternalAccess="Read/Write"/>
+<Member Name="Motor_Was_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="1" ExternalAccess="Read/Write"/>
+<Member Name="VFD_Fault_Reset_Requested" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="2" ExternalAccess="Read/Write"/>
+<Member Name="Power_Branch_Fault_Reset_Requested" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="3" ExternalAccess="Read/Write"/>
+<Member Name="Low_Air_Pressure_Fault_Reset_Requested" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="4" ExternalAccess="Read/Write"/>
+<Member Name="System_Started" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="5" ExternalAccess="Read/Write"/>
+<Member Name="Jam_Reset_Requested" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="6" ExternalAccess="Read/Write"/>
+<Member Name="Communication_Faulted" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M3" BitNumber="7" ExternalAccess="Read/Write"/>
+<Member Name="ZZZZZZZZZZUDT_CTRL_M12" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
+<Member Name="Setup_Motor_Speeds" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_CTRL_M12" BitNumber="0" ExternalAccess="Read/Write"/>
+</Members>
+</DataType>
 <DataType Use="Target" Name="UDT_ALARMS_EXTENDO" Family="NoFamily" Class="User">
 <Members>
 <Member Name="ZZZZZZZZZZUDT_ALARMS0" DataType="SINT" Dimension="0" Radix="Decimal" Hidden="true" ExternalAccess="Read/Write"/>
@@ -219,6 +340,11 @@
 <![CDATA[Extendo Faulted]]>
 </Description>
 </Member>
+<Member Name="EStopped" DataType="BIT" Dimension="0" Radix="Decimal" Hidden="false" Target="ZZZZZZZZZZUDT_ALARMS0" BitNumber="3" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[EStopped]]>
+</Description>
+</Member>
 </Members>
 </DataType>
 <DataType Use="Target" Name="UDT_AOI_EXTENDO" Family="NoFamily" Class="User">
@@ -319,5 +445,537 @@
 </Dependencies>
 </DataType>
 </DataTypes>
+<AddOnInstructionDefinitions Use="Context">
+<AddOnInstructionDefinition Name="AOI_EXTENDO" Revision="1.0" ExecutePrescan="false" ExecutePostscan="false" ExecuteEnableInFalse="false" CreatedDate="2025-06-24T07:04:00.824Z" CreatedBy="LCIBATUMI\gigi.mamaladze" EditedDate="2025-06-30T12:08:33.453Z" EditedBy="LCIBATUMI\beka.makharadze" SoftwareRevision="v36.00">
+<Parameters>
+<Parameter Name="EnableIn" TagType="Base" DataType="BOOL" Usage="Input" Radix="Decimal" Required="false" Visible="false" ExternalAccess="Read Only">
+<Description>
+<![CDATA[Enable Input - System Defined Parameter]]>
+</Description>
+</Parameter>
+<Parameter Name="EnableOut" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="false" ExternalAccess="Read Only">
+<Description>
+<![CDATA[Enable Output - System Defined Parameter]]>
+</Description>
+</Parameter>
+<Parameter Name="HMI" TagType="Base" DataType="UDT_HMI_EXTENDO" Usage="InOut" Required="true" Visible="true" Constant="false"/>
+<Parameter Name="CTRL" TagType="Base" DataType="UDT_CTRL_EXTENDO" Usage="InOut" Required="true" Visible="true" Constant="false"/>
+<Parameter Name="Extendo_O" TagType="Base" DataType="_04E3:6ES7158_3MU10_0XA0_7E6CF713:I:0" Usage="InOut" Required="true" Visible="true" Constant="false"/>
+<Parameter Name="Extendo_I" TagType="Base" DataType="_04E3:6ES7158_3MU10_0XA0_78F5E13D:O:0" Usage="InOut" Required="true" Visible="true" Constant="false"/>
+<Parameter Name="MCM" TagType="Base" DataType="UDT_CTRL_MCM" Usage="InOut" Required="true" Visible="true" Constant="false"/>
+<Parameter Name="DPM" TagType="Base" DataType="UDT_CTRL_DPM" Usage="InOut" Required="true" Visible="true" Constant="false">
+<Description>
+<![CDATA[Communication Faulted To Parent (DPM)]]>
+</Description>
+</Parameter>
+<Parameter Name="Communication_Faulted" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Ethernet Communication Faulted]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</Parameter>
+<Parameter Name="DPM_Communication_Faulted" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
+<Description>
+<![CDATA[DPM Ethernet Communication Faulted]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</Parameter>
+<Parameter Name="Extendo_Faulted" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
+<Description>
+<![CDATA[Extend Faulted]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</Parameter>
+<Parameter Name="Extendo_Faulted_Reset_Required" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Extendo Fault Reset Required]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</Parameter>
+<Parameter Name="Estopped" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Extendo Emergancy Stopped]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</Parameter>
+<Parameter Name="Full" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Extendo Full]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</Parameter>
+<Parameter Name="Power_Saving_Mode" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[Extendo is Running in Power Saving Mode]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</Parameter>
+<Parameter Name="No_Interlock" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read/Write">
+<Description>
+<![CDATA[No Interlock]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</Parameter>
+<Parameter Name="MCM_Not_Started" TagType="Base" DataType="BOOL" Usage="Output" Radix="Decimal" Required="false" Visible="true" ExternalAccess="Read Only">
+<Description>
+<![CDATA[MCM Not Started]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</Parameter>
+</Parameters>
+<LocalTags>
+<LocalTag Name="Caljan_Output" DataType="Caljan_PNMF_UDT_Output" ExternalAccess="None">
+<Maxes>
+<Max Operand=".RESERVED1">127</Max>
+</Maxes>
+<Mins>
+<Min Operand=".RESERVED1">-128</Min>
+</Mins>
+<DefaultData Format="L5K">
+<![CDATA[[0,0,0,0,0,0,0,0,0,0,0,0,0,0,0]]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<Structure DataType="Caljan_PNMF_UDT_Output">
+<DataValueMember Name="Reserved1" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Reserved2" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Reserved3" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="ConnectionFaulted" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Slot0_1_Id_0_IDS" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Healthy" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Belt_Direction_Loading" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In0_2" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Ready_to_Receive" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Belt_Full" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Heartbeat_from_Conveyor" DataType="BOOL" Value="0"/>
+<DataValueMember Name="EMS_OK" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Rear_EMS" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Front_EMS" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Customer_EMS" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Aopen_Active" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Belt_Accumulation" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Fully_Retracted" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Fully_Extended" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Front_PEC_Blocked" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Rear_PEC_Blocked" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Front_Bumper_Pressed" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In2_1" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In2_2" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In2_3" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In2_4" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In2_5" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In2_6" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In2_7" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In3_0" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In3_1" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In3_2" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In3_3" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In3_4" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In3_5" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In3_6" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In3_7" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_In4" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Spare_In5" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Spare_In6" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Spare_In7" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Slot2_1_Id_8_IDS" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Slot1_1_Id_0_ODS" DataType="SINT" Radix="Decimal" Value="0"/>
+</Structure>
+</DefaultData>
+</LocalTag>
+<LocalTag Name="No_Faults" DataType="BOOL" Radix="Decimal" ExternalAccess="None">
+<Description>
+<![CDATA[Extendo Dont Have Any Faults]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</LocalTag>
+<LocalTag Name="Allow_Loading" DataType="BOOL" Radix="Decimal" ExternalAccess="None">
+<Description>
+<![CDATA[Allow Extendo Loading]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</LocalTag>
+<LocalTag Name="Running" DataType="BOOL" Radix="Decimal" ExternalAccess="None">
+<Description>
+<![CDATA[Extendo Running]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</LocalTag>
+<LocalTag Name="Interlock" DataType="BOOL" Radix="Decimal" ExternalAccess="None">
+<Description>
+<![CDATA[Interlock]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</LocalTag>
+<LocalTag Name="Loading_Mode" DataType="BOOL" Radix="Decimal" ExternalAccess="None">
+<Description>
+<![CDATA[Loading Mode Enabled]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</LocalTag>
+<LocalTag Name="Unloading_Mode" DataType="BOOL" Radix="Decimal" ExternalAccess="None">
+<Description>
+<![CDATA[Unloading Mode Enabled
+]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</LocalTag>
+<LocalTag Name="Aopen_Active" DataType="BOOL" Radix="Decimal" ExternalAccess="None">
+<Description>
+<![CDATA[Accumulation Mode Enabled]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</LocalTag>
+<LocalTag Name="Fully_Retracted" DataType="BOOL" Radix="Decimal" ExternalAccess="None">
+<Description>
+<![CDATA[Telescope Fully Retracted To Rear Limit]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</LocalTag>
+<LocalTag Name="Fully_Extended" DataType="BOOL" Radix="Decimal" ExternalAccess="None">
+<Description>
+<![CDATA[Telescope Fully Extended To Front Limit
+]]>
+</Description>
+<DefaultData Format="L5K">
+<![CDATA[0]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<DataValue DataType="BOOL" Radix="Decimal" Value="0"/>
+</DefaultData>
+</LocalTag>
+<LocalTag Name="Caljan_Input" DataType="Caljan_PNMF_UDT_Input" ExternalAccess="None">
+<DefaultData Format="L5K">
+<![CDATA[[0,0,0,0,0,0,0,0]]]>
+</DefaultData>
+<DefaultData Format="Decorated">
+<Structure DataType="Caljan_PNMF_UDT_Input">
+<DataValueMember Name="PEC_Override" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Allow_Loading" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_Out0_2" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Comms_Heartbeat" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Enable_Ethernet_Control" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Belt_Start_Loading" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Belt_Stop" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Reset_Command" DataType="BOOL" Value="0"/>
+<DataValueMember Name="Spare_Out1" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Spare_Out2" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Spare_Out3" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Spare_Out4" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Spare_Out5" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Spare_Out6" DataType="SINT" Radix="Decimal" Value="0"/>
+<DataValueMember Name="Spare_Out7" DataType="SINT" Radix="Decimal" Value="0"/>
+</Structure>
+</DefaultData>
+</LocalTag>
+</LocalTags>
+<Routines>
+<Routine Name="Logic" Type="RLL">
+<RLLContent>
+<Rung Number="0" Type="N">
+<Text>
+<![CDATA[COP(Extendo_I,Caljan_Input,1)COP(Extendo_O,Caljan_Output,1);]]>
+</Text>
+</Rung>
+<Rung Number="1" Type="N">
+<Text>
+<![CDATA[OTE(Caljan_Input.Enable_Ethernet_Control);]]>
+</Text>
+</Rung>
+<Rung Number="2" Type="N">
+<Text>
+<![CDATA[XIC(CTRL.CMD.Interlock)[OTE(Interlock) ,OTE(CTRL.STS.Interlock) ];]]>
+</Text>
+</Rung>
+<Rung Number="3" Type="N">
+<Text>
+<![CDATA[XIO(Interlock)OTE(No_Interlock);]]>
+</Text>
+</Rung>
+<Rung Number="4" Type="N">
+<Text>
+<![CDATA[XIC(Caljan_Output.Belt_Full)OTE(Full);]]>
+</Text>
+</Rung>
+<Rung Number="5" Type="N">
+<Text>
+<![CDATA[XIC(Caljan_Output.ConnectionFaulted)OTE(Communication_Faulted);]]>
+</Text>
+</Rung>
+<Rung Number="6" Type="N">
+<Text>
+<![CDATA[XIC(Caljan_Output.Healthy)OTE(No_Faults);]]>
+</Text>
+</Rung>
+<Rung Number="7" Type="N">
+<Text>
+<![CDATA[XIO(No_Faults)[OTE(Extendo_Faulted) ,OTL(Extendo_Faulted_Reset_Required) ];]]>
+</Text>
+</Rung>
+<Rung Number="8" Type="N">
+<Text>
+<![CDATA[XIC(Caljan_Output.Front_EMS)OTE(Loading_Mode);]]>
+</Text>
+</Rung>
+<Rung Number="9" Type="N">
+<Text>
+<![CDATA[XIC(Caljan_Output.Customer_EMS)OTE(Unloading_Mode);]]>
+</Text>
+</Rung>
+<Rung Number="10" Type="N">
+<Text>
+<![CDATA[XIC(Caljan_Output.Belt_Accumulation)OTE(Power_Saving_Mode);]]>
+</Text>
+</Rung>
+<Rung Number="11" Type="N">
+<Text>
+<![CDATA[XIC(Caljan_Output.Rear_EMS)OTE(Estopped);]]>
+</Text>
+</Rung>
+<Rung Number="12" Type="N">
+<Text>
+<![CDATA[XIC(Caljan_Output.Aopen_Active)OTE(Aopen_Active);]]>
+</Text>
+</Rung>
+<Rung Number="13" Type="N">
+<Text>
+<![CDATA[XIC(Caljan_Output.Fully_Retracted)OTE(Fully_Retracted);]]>
+</Text>
+</Rung>
+<Rung Number="14" Type="N">
+<Text>
+<![CDATA[XIC(Caljan_Output.Fully_Extended)OTE(Fully_Extended);]]>
+</Text>
+</Rung>
+<Rung Number="15" Type="N">
+<Text>
+<![CDATA[XIO(MCM.STS.System_Started)OTE(MCM_Not_Started);]]>
+</Text>
+</Rung>
+<Rung Number="16" Type="N">
+<Text>
+<![CDATA[XIC(DPM.STS.Communication_Faulted)OTE(DPM_Communication_Faulted);]]>
+</Text>
+</Rung>
+<Rung Number="17" Type="N">
+<Text>
+<![CDATA[XIC(MCM.STS.System_Started)XIO(DPM_Communication_Faulted)XIC(Interlock)[OTE(Allow_Loading) ,OTE(CTRL.STS.Allow_Loading) ,OTE(Caljan_Input.Allow_Loading) ,OTE(Caljan_Input.Belt_Start_Loading) ];]]>
+</Text>
+</Rung>
+<Rung Number="18" Type="N">
+<Text>
+<![CDATA[XIC(HMI.PEC_Override_PB)OTE(Caljan_Input.PEC_Override);]]>
+</Text>
+</Rung>
+<Rung Number="19" Type="N">
+<Text>
+<![CDATA[XIO(Allow_Loading)OTE(Caljan_Input.Belt_Stop);]]>
+</Text>
+</Rung>
+<Rung Number="20" Type="N">
+<Text>
+<![CDATA[XIC(Caljan_Output.Ready_to_Receive)OTE(Running);]]>
+</Text>
+</Rung>
+<Rung Number="21" Type="N">
+<Text>
+<![CDATA[[XIC(HMI.Extendo_Faults_Reset_PB) ,XIC(MCM.STS.VFD_Fault_Reset_Requested) ][OTE(Caljan_Input.Reset_Command) ,OTU(Extendo_Faulted_Reset_Required) ];]]>
+</Text>
+</Rung>
+<Rung Number="22" Type="N">
+<Comment>
+<![CDATA[Alarms
+]]>
+</Comment>
+<Text>
+<![CDATA[XIC(Full)OTE(HMI.Alarm.Full);]]>
+</Text>
+</Rung>
+<Rung Number="23" Type="N">
+<Text>
+<![CDATA[XIC(Communication_Faulted)OTE(HMI.Alarm.Communication_Faulted);]]>
+</Text>
+</Rung>
+<Rung Number="24" Type="N">
+<Text>
+<![CDATA[XIC(Extendo_Faulted)OTE(HMI.Alarm.Extendo_Faulted);]]>
+</Text>
+</Rung>
+<Rung Number="25" Type="N">
+<Text>
+<![CDATA[XIC(Estopped)OTE(HMI.Alarm.EStopped);]]>
+</Text>
+</Rung>
+<Rung Number="26" Type="N">
+<Comment>
+<![CDATA[Info
+
+]]>
+</Comment>
+<Text>
+<![CDATA[XIC(Loading_Mode)OTE(HMI.Loading_Mode);]]>
+</Text>
+</Rung>
+<Rung Number="27" Type="N">
+<Text>
+<![CDATA[XIC(Unloading_Mode)OTE(HMI.Unloading_Mode);]]>
+</Text>
+</Rung>
+<Rung Number="28" Type="N">
+<Text>
+<![CDATA[XIC(Aopen_Active)OTE(HMI.Aopen_Active);]]>
+</Text>
+</Rung>
+<Rung Number="29" Type="N">
+<Text>
+<![CDATA[XIC(Power_Saving_Mode)OTE(HMI.Power_Saving_Mode);]]>
+</Text>
+</Rung>
+<Rung Number="30" Type="N">
+<Text>
+<![CDATA[XIC(Fully_Retracted)OTE(HMI.Fully_Retracted);]]>
+</Text>
+</Rung>
+<Rung Number="31" Type="N">
+<Text>
+<![CDATA[XIC(Fully_Extended)OTE(HMI.Fully_Extended);]]>
+</Text>
+</Rung>
+<Rung Number="32" Type="N">
+<Comment>
+<![CDATA[State
+]]>
+</Comment>
+<Text>
+<![CDATA[XIO(Allow_Loading)MOVE(0,HMI.STATE);]]>
+</Text>
+</Rung>
+<Rung Number="33" Type="N">
+<Text>
+<![CDATA[XIC(Allow_Loading)MOVE(1,HMI.STATE);]]>
+</Text>
+</Rung>
+<Rung Number="34" Type="N">
+<Text>
+<![CDATA[XIC(Running)MOVE(2,HMI.STATE);]]>
+</Text>
+</Rung>
+<Rung Number="35" Type="N">
+<Text>
+<![CDATA[XIC(Full)MOVE(3,HMI.STATE);]]>
+</Text>
+</Rung>
+<Rung Number="36" Type="N">
+<Text>
+<![CDATA[XIC(Communication_Faulted)MOVE(4,HMI.STATE);]]>
+</Text>
+</Rung>
+<Rung Number="37" Type="N">
+<Text>
+<![CDATA[XIC(Extendo_Faulted)MOVE(5,HMI.STATE);]]>
+</Text>
+</Rung>
+<Rung Number="38" Type="N">
+<Text>
+<![CDATA[XIC(Estopped)MOVE(6,HMI.STATE);]]>
+</Text>
+</Rung>
+</RLLContent>
+</Routine>
+</Routines>
+<Dependencies>
+<Dependency Type="DataType" Name="Caljan_PNMF_UDT_Input"/>
+<Dependency Type="DataType" Name="Caljan_PNMF_UDT_Output"/>
+<Dependency Type="DataType" Name="UDT_CTRL_EXTENDO"/>
+<Dependency Type="DataType" Name="UDT_CTRL_DPM"/>
+<Dependency Type="DataType" Name="UDT_HMI_EXTENDO"/>
+<Dependency Type="DataType" Name="UDT_CTRL_MCM"/>
+</Dependencies>
+</AddOnInstructionDefinition>
+</AddOnInstructionDefinitions>
 </Controller>
 </RSLogix5000Content>