*** empty log message ***

src/wbl/ssab/src/ssab_c_antiswaya.wb_load

+!  ssab_c_antiswaya.wb_load -- Defines the class AntiSwayA.
+!
+!  PROVIEW/R
+!
+!  <Description>.
+!
+SObject SSAB:Class
+!/**
+!  @Version 1.0
+!  @Author Jonas Haulin
+!  @Code rt_plc_macro_logic.h
+!  @Summary Antisway auto
+! 
+!  @image orm_antiswaya_fo.gif
+!  No documentation yet...
+!*/
+  Object AntiSwayA $ClassDef 26
+      Body SysBody
+        Attr Editor = 0
+        Attr Method = 0
+        Attr Flags = 16
+      EndBody
+      Object RtBody $ObjBodyDef 1
+        Body SysBody
+          Attr StructName = "AntiSwayA"
+        EndBody
+        !/**
+        !  Pointer to other antisway object. If this input is used, objects 
+        !  operating in x- and y-direction will communicate and match their 
+        !  set extensions as much as possible. The result will be that the 
+        !  path travelled by the crane ressembles a straight line. The total 
+        !  travel time will not be different, however. If not connected, each 
+        !  object operates individually.
+        !*/
+        Object other $Input 1
+          Body SysBody
+            Attr PgmName = "other"
+            Attr Flags |= PWR_MASK_POINTER
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "Other"
+          EndBody
+        EndObject
+	!/**
+	! Integer that defines the impulse shaping technique / antisway strategy. 
+        ! Current available IST:s are
+	!
+	! 0  No antisway
+	! 1  Double pulse
+	! 2  Robust, or double double pulse
+        ! 3  Unity-magnitude negative ZV, or triple pulse
+        ! 4  Unity-magnitude negative ZVS, robust variant of triple pulse above
+        ! 5  Time-optimal negative ZV
+        ! 6  Time-optimal negative ZVD, robust variant of ZV122.
+        !*/
+        Object mode $Input 2
+          Body SysBody
+            Attr PgmName = "mode"
+            Attr TypeRef = "pwrs:Type-$Int32"
+            Attr GraphName = "Mode"
+          EndBody
+        EndObject
+	!/**
+        ! Command position. Assumed to be in interval [0, xmax].
+        !*/
+        Object xCommand $Input 3
+          Body SysBody
+            Attr PgmName = "xCommand"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "XCOM"
+          EndBody
+        EndObject
+	!/**
+	! Current position
+        !*/
+        Object xc $Input 4
+          Body SysBody
+            Attr PgmName = "xc"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "POS"
+          EndBody
+        EndObject
+	!/**
+        ! Current pendulum length. 
+        ! The pendulum length of a crane is best calibrated by measuring a number 
+        ! of periods of oscillation and calculating L as L=g*(T/(2pi))^2
+        !*/
+        Object Lc $Input 5
+          Body SysBody
+            Attr PgmName = "Lc"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "L"
+          EndBody
+        EndObject
+	!/**
+	! Boolean activation switch
+        !*/
+        Object enable $Input 6
+          Body SysBody
+            Attr PgmName = "enable"
+            Attr TypeRef = "pwrs:Type-$Boolean"
+            Attr GraphName = "en"
+          EndBody
+        EndObject
+	!/**
+        ! Boolean. Start the travel after a new command position has been given.
+        !*/
+        Object autoGo $Input 7
+          Body SysBody
+            Attr PgmName = "autoGo"
+            Attr TypeRef = "pwrs:Type-$Boolean"
+            Attr GraphName = "go"
+          EndBody
+        EndObject
+	!/**
+        !  Boolean switch for resetting calculated sway angle. 
+	!  The calculated sway angle is not used for anything in the algorithms, 
+        !  but is merely a demo/diagnose output.
+        !*/
+        Object zeroTh $Input 8
+          Body SysBody
+            Attr PgmName = "zeroTh"
+            Attr TypeRef = "pwrs:Type-$Boolean"
+            Attr GraphName = "zth"
+          EndBody
+        EndObject
+        !/**
+        ! amax[0] Hard limit of acceleration.
+        ! amax[1] Soft limit of acceleration. Normally, this is the acceleration 
+        ! that will be used by the object, and it should be slightly lower than 
+        ! the hard limit, amaxH. 
+	! Having a soft limit serves two purposes. Firstly, compensation for 
+        ! hoisting requires some extra acceleration that can be kicked in when 
+        ! needed. Secondly, a frequency converter will have better chances of 
+        ! tracking the trajectory if not operating at its acceleration limit. 
+	! A control strategy to ensure trajectory tracking also has better chances 
+        ! of being successful. 
+	! A suitable value of amaxS that will leave enough acceleration space for 
+        ! the hoisting compensation can be calculated from the formula; 
+	!    amaxS = amaxH/(1.0+(1.5*DLMax/sqrt(g*LMin))), 
+        ! where DLMax is the maximum hoisting speed, g the acceleration of gravity 
+        ! and LMin the minimum pendulum length.
+	!*/
+        Object amax $Intern 9
+          Body SysBody
+            Attr PgmName = "amax"
+            Attr Flags = PWR_MASK_ARRAY
+            Attr Elements = 2
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+	!/**
+	! umax[0] - Hard limit of velocity
+	! umax[1] - Soft limit of velocity
+        !*/
+        Object umax $Intern 11
+          Body SysBody
+            Attr PgmName = "umax"
+            Attr Flags = PWR_MASK_ARRAY
+            Attr Elements = 2
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+        !/**
+        !  Some operating max and min limits. They have been made an internal 
+        !  array in the object for greater flexibility. The limits are:
+        !
+	!  0 AS_OBJ_UR_ZEROLIM Default 0.001. 
+        !     Will set uR to zero if |uR| < limit
+	!  1 AS_OBJ_UR_MAX_ERRFACT Default 2.0. 
+        !     Will disable object if |uR|>limit*umaxH
+	!  2 AS_OBJ_UR_MIN Default 0.01. 
+        !     Minimum steady reference velocity that can be passed to frequency 
+        !     converter
+	!  3 AS_OBJ_XMAX Default 99999.0. 
+        !     Maximum reference position (minumum assumed to be zero).
+	!  4 AS_OBJ_UR_ATTAIN_ERRLIM Default 0.001. 
+        !     Will warn if final uR misses uCommand (or zero if auto) with more 
+        !     than limit
+	!  5 AS_OBJ_XR_ATTAIN_ERRLIM Default 0.001. 
+        !     Will warn if final xR misses xCommand with more than limit. Auto only.
+	!  6 AS_OBJ_XCOM_MIN_CHANGE Default 0.01. 
+        !     Minimum change in command position that will invoke a new call. 
+        !     Auto only.
+        !*/
+        Object limits $Intern 12
+          Body SysBody
+            Attr PgmName = "limits"
+            Attr Flags = PWR_MASK_ARRAY
+            Attr Elements = 7
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+	!/**
+        !  Boolean switch for enabling queue generation. The pointers to the 
+        !  acceleration queue will be stored in QP[]
+        !*/
+        Object generateQ $Intern 13
+          Body SysBody
+            Attr PgmName = "generateQ"
+            Attr TypeRef = "pwrs:Type-$Boolean"
+          EndBody
+        EndObject
+	!/**
+        !  Integer value. If verbose !=0, the object will tell you about 
+        !  its progress (or failure) by printouts to the terminal window. 
+	!  There are three degrees of verbosity:
+        !
+	!  1 AS_VERB_DISABLED Object will print message if disabled
+	!  2 AS_VERB_ERR Object will print message if any error occurs
+	!  3 AS_VERB_ALL Object will print message when anything new happens
+        !*/
+        Object verbose $Intern 14
+          Body SysBody
+            Attr PgmName = "verbose"
+            Attr TypeRef = "pwrs:Type-$Int32"
+          EndBody
+        EndObject
+	!/**
+        ! Integer bit mask keeping information of major and minor errors that 
+        ! has occurred since last reset. 
+	! If errstatus > AS_ERR_MINOR, the object will disable itself (it will 
+        ! not affect the value of enable, though). errstatus is reset by 
+        ! switching enable.
+        !*/
+        Object errstatus $Intern 15
+          Body SysBody
+            Attr PgmName = "errstatus"
+            Attr TypeRef = "pwrs:Type-$Mask"
+          EndBody
+        EndObject
+        !/**
+        !  Integer bit mask used for displaying auto status and for 
+        !  communication between objects.
+        !*/
+        Object autostatus $Intern 16
+          Body SysBody
+            Attr PgmName = "autostatus"
+            Attr TypeRef = "pwrs:Type-$Mask"
+          EndBody
+        EndObject
+	!/**
+        !  Reference acceleration, 64-bit.
+        !*/
+        Object aR $Intern 17
+          Body SysBody
+            Attr PgmName = "aR"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$Float64"
+          EndBody
+        EndObject
+	!/**
+        !  Reference velocity, 64-bit.
+        !*/
+        Object uR $Intern 18
+          Body SysBody
+            Attr PgmName = "uR"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$Float64"
+          EndBody
+        EndObject
+	!/**
+        ! xR[0] - Reference position, 64-bit.
+        ! xR[1] - Reference position at last time step, 64-bit.
+        !*/
+        Object xR $Intern 19
+          Body SysBody
+            Attr PgmName = "xR"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr Flags |= PWR_MASK_ARRAY
+            Attr Elements = 2
+            Attr TypeRef = "pwrs:Type-$Float64"
+          EndBody
+        EndObject
+	!/**
+        !  thR[0] - Reference sway angle, 64-bit.
+        !  thR[1] - Reference sway angle at previous time step, 64-bit.
+        !*/
+        Object thR $Intern 20
+          Body SysBody
+            Attr PgmName = "thR"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr Flags |= PWR_MASK_ARRAY
+            Attr Elements = 2
+            Attr TypeRef = "pwrs:Type-$Float64"
+          EndBody
+        EndObject
+	!/**
+        !  Pointers to the acceleration queue (if generated). Pointers to 
+        !  64-bit floats.
+	!  A queue may be generated if the antisway object is used with a 
+        !  regulator to ensure good trajectory tracking. The performance of 
+        !  the regulator may then be enhanced if it has access to all known 
+        !  future acceleration commands. The queue is generated whenever 
+        !  the set is changed.
+        !
+	!  0 AS_OBJ_AQP Queue pointer
+	!  1 AS_OBJ_ACP Pointer to current command
+	!  2 AS_OBJ_AEP Pointer to last command
+        !*/
+        Object QP $Intern 23
+          Body SysBody
+            Attr PgmName = "QP"
+            Attr Flags |= PWR_MASK_POINTER
+            Attr Flags |= PWR_MASK_ARRAY
+            Attr Flags |= PWR_MASK_INVISIBLE
+            Attr Flags |= PWR_MASK_PRIVATE
+            Attr Elements = 3
+            Attr TypeRef = "pwrs:Type-$Float64"
+          EndBody
+        EndObject
+        !/**
+        ! The phasor set contains all future acceleration commands, 
+        ! in the form of an array of phasors. The set is represented 
+        ! as a 16-byte string. If the struct is changed or if int + 
+        ! double + pointer != 16 byte, it has to be changed. phasor set members are:
+        !
+	! int N	         Number of phasors in the set
+	! double extSum  Acceleration-weighted phase extension sum. 
+        !                extSum = sum (|phiEnd - phiStart|*Sa), 
+	!		 where the sum is taken over all the phasors in the set.
+        !                Positive for positive acc. 
+	!		 Usage: Divide by omega to get the velocity change of 
+        !                the set.
+	! AS_phasor *ph	 Pointer to the array of phasors. Memory is allocated 
+        !                dynamically.
+	!		 (see AS_phasor_methods.h for a description of the phasor 
+        !                struct)
+        !*/
+        Object Set $Intern 25
+          Body SysBody
+            Attr PgmName = "Set"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$String16"
+          EndBody
+        EndObject
+	!/**
+        !  Reference acceleration, 32-bit.
+        !*/
+        Object aRO $Output 26
+          Body SysBody
+            Attr PgmName = "aRO"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "AR"
+          EndBody
+        EndObject
+	!/**
+        !  Reference velocity, 32-bit.
+        !*/
+        Object uRO $Output 27
+          Body SysBody
+            Attr PgmName = "uRO"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "UR"
+          EndBody
+        EndObject
+	!/**
+        ! Reference position, 32-bit.
+        !*/
+        Object xRO $Output 28
+          Body SysBody
+            Attr PgmName = "xRO"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "XR"
+          EndBody
+        EndObject
+	!/**
+        ! Reference sway angle, 32-bit.
+        !*/
+        Object thRO $Output 31
+          Body SysBody
+            Attr PgmName = "thRO"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "THR"
+          EndBody
+        EndObject
+      EndObject
+      Object DevBody $ObjBodyDef 2
+        Object PlcNode $Buffer 1
+          Body SysBody
+            Attr Flags |= PWR_MASK_INVISIBLE
+            Attr Class = "pwrs:Class-$PlcNode"
+          EndBody
+        EndObject
+      EndObject
+      Object GraphPlcNode $GraphPlcNode
+        Body SysBody
+          Attr object_type = 11
+          Attr parameters[0] = 8
+          Attr parameters[1] = 13
+          Attr parameters[2] = 4
+          Attr parameters[3] = 0
+          Attr graphmethod = 0
+          Attr graphindex = 0
+          Attr default_mask[0] = 126
+          Attr default_mask[1] = 15
+          Attr segname_annotation = 1
+          Attr compmethod = 4
+          Attr compindex = 0
+          Attr tracemethod = 0
+          Attr traceindex = 0
+          Attr connectmethod = 0
+          Attr executeordermethod = 2
+          Attr objname = "antiswayA"
+          Attr graphname = "AntiSwayA"
+        EndBody
+      EndObject
+      Object Template AntiSwayA
+        Body RtBody
+          Attr Lc = 3.000000e+00
+          Attr amax[0] = 2.500000e-01
+          Attr amax[1] = 2.300000e-01
+          Attr umax[0] = 5.000000e-01
+          Attr umax[1] = 4.500000e-01
+          Attr limits[0] = 1.000000e-03
+          Attr limits[1] = 2.000000e+00
+          Attr limits[2] = 1.000000e-02
+          Attr limits[3] = 9.999900e+04
+          Attr limits[4] = 1.000000e-03
+          Attr limits[5] = 1.000000e-03
+          Attr limits[6] = 1.000000e-02
+          Attr verbose = 1
+        EndBody
+      EndObject
+  EndObject
+EndSObject

src/wbl/ssab/src/ssab_c_antiswaym.wb_load

+!  ssab_c_antiswaym.wb_load -- Defines the class AntiSwayM.
+!
+!  PROVIEW/R
+!
+!  <Description>.
+!
+SObject SSAB:Class
+!/**
+!  @Version 1.0
+!  @Author Jonas Haulin
+!  @Code rs_plc_antisway.c
+!  @Summary Antisway manual
+! 
+!  @image orm_antiswaym_fo.gif
+!  No documentation yet...
+!*/
+  Object AntiSwayM $ClassDef 25
+      Body SysBody
+        Attr Editor = 0
+        Attr Method = 0
+        Attr Flags = 16
+      EndBody
+      Object RtBody $ObjBodyDef 1
+        Body SysBody
+          Attr StructName = "AntiSwayM"
+        EndBody
+	!/**
+	! Integer that defines the impulse shaping technique / antisway strategy. 
+        ! Current available IST:s are
+	!
+	! 0  No antisway
+	! 1  Double pulse
+	! 2  Robust, or double double pulse
+        ! 3  Unity-magnitude negative ZV, or triple pulse
+        ! 4  Unity-magnitude negative ZVS, robust variant of triple pulse above
+        ! 5  Time-optimal negative ZV
+        ! 6  Time-optimal negative ZVD, robust variant of ZV122.
+        !*/
+        Object mode $Input 1
+          Body SysBody
+            Attr PgmName = "mode"
+            Attr TypeRef = "pwrs:Type-$Int32"
+            Attr GraphName = "Mode"
+          EndBody
+        EndObject
+	!/**
+	! Command velocity
+        !*/
+        Object uCommand $Input 2
+          Body SysBody
+            Attr PgmName = "uCommand"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "UCOM"
+          EndBody
+        EndObject
+	!/**
+	! Current velocity. This input is only used when enabling the object 
+        ! (e.g. when switching from auto to manual in travel). The value is 
+        ! then stored in uR and uCommand, so that a smooth transition will take
+        ! place.
+        !*/
+        Object uc $Input 71
+          Body SysBody
+            Attr PgmName = "uc"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "VEL"
+          EndBody
+        EndObject
+	!/**
+	! Current position
+        !*/
+        Object xc $Input 3
+          Body SysBody
+            Attr PgmName = "xc"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "POS"
+          EndBody
+        EndObject
+	!/**
+	! Current hoisting velocity (defined as dL/dt, i.e. positive direction down)
+        !*/
+        Object DLc $Input 4
+          Body SysBody
+            Attr PgmName = "DLc"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "dL/dt"
+          EndBody
+        EndObject
+	!/**
+        ! Current pendulum length. 
+        ! The pendulum length of a crane is best calibrated by measuring a number 
+        ! of periods of oscillation and calculating L as L=g*(T/(2pi))^2
+        !*/
+        Object Lc $Input 5
+          Body SysBody
+            Attr PgmName = "Lc"
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "L"
+          EndBody
+        EndObject
+	!/**
+	! Boolean activation switch
+        !*/
+        Object enable $Input 6
+          Body SysBody
+            Attr PgmName = "enable"
+            Attr TypeRef = "pwrs:Type-$Boolean"
+            Attr GraphName = "en"
+          EndBody
+        EndObject
+	!/**
+        !  Boolean switch for resetting calculated sway angle. 
+	!  The calculated sway angle is not used for anything in the algorithms, 
+        !  but is merely a demo/diagnose output.
+        !*/
+        Object zeroTh $Input 8
+          Body SysBody
+            Attr PgmName = "zeroTh"
+            Attr TypeRef = "pwrs:Type-$Boolean"
+            Attr GraphName = "zth"
+          EndBody
+        EndObject
+        !/**
+        ! amax[0] Hard limit of acceleration.
+        ! amax[1] Soft limit of acceleration. Normally, this is the acceleration 
+        ! that will be used by the object, and it should be slightly lower than 
+        ! the hard limit, amaxH. 
+	! Having a soft limit serves two purposes. Firstly, compensation for 
+        ! hoisting requires some extra acceleration that can be kicked in when 
+        ! needed. Secondly, a frequency converter will have better chances of 
+        ! tracking the trajectory if not operating at its acceleration limit. 
+	! A control strategy to ensure trajectory tracking also has better chances 
+        ! of being successful. 
+	! A suitable value of amaxS that will leave enough acceleration space for 
+        ! the hoisting compensation can be calculated from the formula; 
+	!    amaxS = amaxH/(1.0+(1.5*DLMax/sqrt(g*LMin))), 
+        ! where DLMax is the maximum hoisting speed, g the acceleration of gravity 
+        ! and LMin the minimum pendulum length.
+	!*/
+        Object amax $Intern 9
+          Body SysBody
+            Attr PgmName = "amax"
+            Attr Flags = PWR_MASK_ARRAY
+            Attr Elements = 2
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+	!/**
+	! umax[0] - Hard limit of velocity
+	! umax[1] - Soft limit of velocity
+        !*/
+        Object umax $Intern 11
+          Body SysBody
+            Attr PgmName = "umax"
+            Attr Flags = PWR_MASK_ARRAY
+            Attr Elements = 2
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+	!/**
+        ! limits[7] - Some operating max and min limits. They have been made an 
+        ! internal array in the object for greater flexibility. The limits are:
+        ! 
+	!  0 AS_OBJ_UR_ZEROLIM Default 0.001. 
+        !     Will set uR to zero if |uR| < limit
+	!  1 AS_OBJ_UR_MAX_ERRFACT Default 2.0. 
+        !     Will disable object if |uR|>limit*umaxH
+	!  2 AS_OBJ_UR_MIN Default 0.01. 
+        !     Minimum steady reference velocity that can be passed to frequency 
+        !     converter
+        !  3 AS_OBJ_XMAX Default 99999.0. 
+        !     Maximum reference position (minumum assumed to be zero).
+	!  4 AS_OBJ_UR_ATTAIN_ERRLIM Default 0.001. 
+        !     Will warn if final uR misses uCommand (or zero if auto) with more 
+        !     than limit
+	!  5 AS_OBJ_L_MIN_CHANGE Default 0.005. 
+        !     Length interval between compensation for new pendulum length = 5mm. 
+        !     Manual only.
+	!  6 AS_OBJ_DL_MIN Default 0.005. 
+        !     Minimum hoisting speed that will be compensated for = 5 mm/s. 
+        !     Manual only. */
+        !*/
+        Object limits $Intern 13
+          Body SysBody
+            Attr PgmName = "limits"
+            Attr Flags = PWR_MASK_ARRAY
+            Attr Elements = 7
+            Attr TypeRef = "pwrs:Type-$Float32"
+          EndBody
+        EndObject
+	!/**
+        !  Boolean switch for enabling queue generation. The pointers to the 
+        !  acceleration queue will be stored in QP[]
+        !*/
+        Object generateQ $Intern 14
+          Body SysBody
+            Attr PgmName = "generateQ"
+            Attr TypeRef = "pwrs:Type-$Boolean"
+          EndBody
+        EndObject
+	!/**
+        !  Integer value. If verbose !=0, the object will tell you about 
+        !  its progress (or failure) by printouts to the terminal window. 
+	!  There are three degrees of verbosity:
+        !
+	!  1 AS_VERB_DISABLED Object will print message if disabled
+	!  2 AS_VERB_ERR Object will print message if any error occurs
+	!  3 AS_VERB_ALL Object will print message when anything new happens
+        !*/
+        Object verbose $Intern 15
+          Body SysBody
+            Attr PgmName = "verbose"
+            Attr TypeRef = "pwrs:Type-$Int32"
+          EndBody
+        EndObject
+	!/**
+        ! Integer bit mask keeping information of major and minor errors that 
+        ! has occurred since last reset. 
+	! If errstatus > AS_ERR_MINOR, the object will disable itself (it will 
+        ! not affect the value of enable, though). errstatus is reset by 
+        ! switching enable.
+        !*/
+        Object errstatus $Intern 16
+          Body SysBody
+            Attr PgmName = "errstatus"
+            Attr TypeRef = "pwrs:Type-$Mask"
+          EndBody
+        EndObject
+	!/**
+        !  Reference acceleration, 64-bit.
+        !*/
+        Object aR $Intern 17
+          Body SysBody
+            Attr PgmName = "aR"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$Float64"
+          EndBody
+        EndObject
+	!/**
+        !  Reference velocity, 64-bit.
+        !*/
+        Object uR $Intern 18
+          Body SysBody
+            Attr PgmName = "uR"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$Float64"
+          EndBody
+        EndObject
+	!/**
+        ! xR[0] - Reference position, 64-bit.
+        ! xR[1] - Reference position at last time step, 64-bit.
+        !*/
+        Object xR $Intern 19
+          Body SysBody
+            Attr PgmName = "xR"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr Flags |= PWR_MASK_ARRAY
+            Attr Elements = 2
+            Attr TypeRef = "pwrs:Type-$Float64"
+          EndBody
+        EndObject
+	!/**
+        !  thR[0] - Reference sway angle, 64-bit.
+        !  thR[1] - Reference sway angle at previous time step, 64-bit.
+        !*/
+        Object thR $Intern 20
+          Body SysBody
+            Attr PgmName = "thR"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr Flags |= PWR_MASK_ARRAY
+            Attr Elements = 2
+            Attr TypeRef = "pwrs:Type-$Float64"
+          EndBody
+        EndObject
+	!/**
+        !  Pointers to the acceleration queue (if generated). Pointers to 
+        !  64-bit floats.
+	!  A queue may be generated if the antisway object is used with a 
+        !  regulator to ensure good trajectory tracking. The performance of 
+        !  the regulator may then be enhanced if it has access to all known 
+        !  future acceleration commands. The queue is generated whenever 
+        !  the set is changed.
+        !
+	!  0 AS_OBJ_AQP Queue pointer
+	!  1 AS_OBJ_ACP Pointer to current command
+	!  2 AS_OBJ_AEP Pointer to last command
+        !*/
+        Object QP $Intern 23
+          Body SysBody
+            Attr PgmName = "QP"
+            Attr Flags |= PWR_MASK_POINTER
+            Attr Flags |= PWR_MASK_ARRAY
+            Attr Flags |= PWR_MASK_INVISIBLE
+            Attr Flags |= PWR_MASK_PRIVATE
+            Attr Elements = 3
+            Attr TypeRef = "pwrs:Type-$Float64"
+          EndBody
+        EndObject
+        !/**
+        ! The phasor set contains all future acceleration commands, 
+        ! in the form of an array of phasors. The set is represented 
+        ! as a 16-byte string. If the struct is changed or if int + 
+        ! double + pointer != 16 byte, it has to be changed. phasor set members are:
+        !
+	! int N	         Number of phasors in the set
+	! double extSum  Acceleration-weighted phase extension sum. 
+        !                extSum = sum (|phiEnd - phiStart|*Sa), 
+	!		 where the sum is taken over all the phasors in the set.
+        !                Positive for positive acc. 
+	!		 Usage: Divide by omega to get the velocity change of 
+        !                the set.
+	! AS_phasor *ph	 Pointer to the array of phasors. Memory is allocated 
+        !                dynamically.
+	!		 (see AS_phasor_methods.h for a description of the phasor 
+        !                struct)
+        !*/
+        Object Set $Intern 25
+          Body SysBody
+            Attr PgmName = "Set"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$String16"
+          EndBody
+        EndObject
+	!/**
+        !  Reference acceleration, 32-bit.
+        !*/
+        Object aRO $Output 26
+          Body SysBody
+            Attr PgmName = "aRO"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "AR"
+          EndBody
+        EndObject
+	!/**
+        !  Reference velocity, 32-bit.
+        !*/
+        Object uRO $Output 27
+          Body SysBody
+            Attr PgmName = "uRO"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "UR"
+          EndBody
+        EndObject
+	!/**
+        ! Reference position, 32-bit.
+        !*/
+        Object xRO $Output 28
+          Body SysBody
+            Attr PgmName = "xRO"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "XR"
+          EndBody
+        EndObject
+	!/**
+        ! Reference sway angle, 32-bit.
+        !*/
+        Object thRO $Output 31
+          Body SysBody
+            Attr PgmName = "thRO"
+            Attr Flags |= PWR_MASK_STATE
+            Attr Flags |= PWR_MASK_NOEDIT
+            Attr TypeRef = "pwrs:Type-$Float32"
+            Attr GraphName = "THR"
+          EndBody
+        EndObject
+      EndObject
+      Object DevBody $ObjBodyDef 2
+        Object PlcNode $Buffer 1
+          Body SysBody
+            Attr Flags |= PWR_MASK_INVISIBLE
+            Attr Class = "pwrs:Class-$PlcNode"
+          EndBody
+        EndObject
+      EndObject
+      Object GraphPlcNode $GraphPlcNode
+        Body SysBody
+          Attr object_type = 11
+          Attr parameters[0] = 8
+          Attr parameters[1] = 12
+          Attr parameters[2] = 4
+          Attr parameters[3] = 0
+          Attr graphmethod = 0
+          Attr graphindex = 0
+          Attr default_mask[0] = 115
+          Attr default_mask[1] = 15
+          Attr segname_annotation = 1
+          Attr compmethod = 4
+          Attr compindex = 0
+          Attr tracemethod = 0
+          Attr traceindex = 0
+          Attr connectmethod = 0
+          Attr executeordermethod = 2
+          Attr objname = "antiswayM"
+          Attr graphname = "AntiSwayM"
+        EndBody
+      EndObject
+      Object Template AntiSwayM
+        Body RtBody
+          Attr Lc = 3.000000e+00
+          Attr amax[0] = 2.500000e-01
+          Attr amax[1] = 2.300000e-01
+          Attr umax[0] = 5.000000e-01
+          Attr umax[1] = 4.500000e-01
+          Attr limits[0] = 1.000000e-03
+          Attr limits[1] = 2.000000e+00
+          Attr limits[2] = 1.000000e-02
+          Attr limits[3] = 9.999900e+04
+          Attr limits[4] = 1.000000e-03
+          Attr limits[5] = 5.000000e-03
+          Attr limits[6] = 5.000000e-03
+          Attr verbose = 1
+        EndBody
+      EndObject
+  EndObject
+EndSObject
+