;-----------------------------------------------------------

; LIST OF BLOCKS

;-----------------------------------------------------------

OB 180	OB 180	enter DW0 offset

OB 182	OB 182	copy DWs

OB 190	OB 190	transfer flags into DBs

OB 191	OB 191	transfer DWs into flag buffer

OB 192	OB 192	transfer flags into DBs (word by word)

OB 193	OB 193	transfer DWs into flag buffer (words)

OB 200	OB 200	Initialisieren CPU-Datenaustausch

OB 202	OB 202	Sende Daten zu CPU x

OB 203	OB 203	Sendemoeglichkeit testen

OB 204	OB 204	Empfange Daten von CPU x

OB 220	OB 220	extend sign 16-->32 bit (KF format)

PB 10	PB 10	operating modes

PB 11	PB 11	general functions

PB 12	PB 12	supervisions

PB 15	PB 15	emergency off

PB 21	PB 21	Portable Control Unit (PCU)

PB 50	PB 50	read positions

PB 51	PB 51	evaluation of positions

PB 52	PB 52	Az encoder selection and supervision

PB 53	PB 53	limits

PB 54	PB 54	encoder preset

PB 100	PB 100	general functions during operation

PB 101	PB 101	main contactor

PB 110	PB 110	program track mode

PB 111	PB 111	stow mode

PB 150	PB 150	Azimuth drive release/faults

PB 151	PB 151	Azimuth amplifiers

PB 152	PB 152	switch off Az drives

PB 153	PB 153	local Az functions

PB 154	PB 154	computer Az functions

PB 155	PB 155	Az brakes

PB 156	PB 156	cable car interlocks

PB 160	PB 160	Gregorian Dome drive release/fault

PB 161	PB 161	GD amplifiers

PB 162	PB 162	switch off GD drives

PB 163	PB 163	local GD functions

PB 164	PB 164	computer GD functions

PB 165	PB 165	GD brakes

PB 170	PB 170	Carriage House drive release/fault

PB 171	PB 171	CH amplifiers

PB 172	PB 172	switch off CH drives

PB 173	PB 173	local CH functions

PB 174	PB 174	computer CH functions

PB 175	PB 175	CH brakes

PB 220	PB 220	interface to CP581

PB 221	PB 221	transfer data to CP581 (interrupt)

PB 222	PB 222	receive data from CP581

PB 223	PB 223	communication with CP581 (background)

FB 50	FB 50	generate flashing flags

FB 51	FB 51	clear DB

FB 52	FB 52	copy DWs

FB 53	FB 53	delay

FB 55	FB 55	Gray to Dual converter

FB 61	FB 61	calculate setpoint limiter parameters

FB 62	FB 62	position control loop

FB 64	FB 64	reset control loop memory

FB 66	FB 66	setpoint limiter

FB 68	FB 68	velocity ramp generator

FB 69	FB 69	position ramp generator

fb124 reset error messages in dpram of cp524 (called from PB21(pcu control), ob20(cold restart)

and ob21 (warm restart).

FB 173	FB 173	checksum calculation (used for communication to/from PCU; called

only from FB232-3 and FB233-8).

FB 180	FB 180	RATE mode control loop organization

FB 181	FB 181	PRESET mode control loop organization

FB 182	FB 182	PROGRAM TRACK mode control loop organiz.

FB 184	FB 184	no operation functions

FB 186	FB 186	program track control

FB 187	FB 187	program track start-up

FB 188	FB 188	position ramp generator

FB 189	FB 189	parameter readout

FB 190	FB 190	absolute difference of two values

FB 191	FB 191	Program Track: use next data set

FB 192	FB 192	Program Track: search next data set

FB 193	FB 193	potentiometer hysteresis

FB 194	FB 194	Program Track ramp

FB 195	FB 195	position increment calculation

FB 196	FB 196	ROT signal adaption

FB 197	FB 197	input filter

FB 198	FB 198	byte check

FB 200	FB 200	general functions

FB 201	FB 201	lamp test

FB 207	FB 207	cold restart functions

FB 208	FB 208	function reset

FB 209	FB 209	start-up functions

FB 210	FB 210	drive control

FB 211	FB 211	prepare inputs to FB 210

FB 212	FB 212	feedarm bending compensation

FB 213	FB 213	gravity compensation

FB 214	FB 214	variable torque bias

FB 215	FB 215	stow positions

FB 216	FB 216	determination of axis limits

FB 217	FB 217	heating of drive motors

FB 218	FB 218	GD and CH variable soflimits

FB 219	FB 219	cable car interlock limits

FB 220	FB 220	evaluation of positions

FB 221	FB 221	position read-out

FB 222	FB 222	cycle time measurement

FB 223	FB 223	load control loop parameters

FB 224	FB 224	CH torque bias in AUX mode

FB 226	FB 226	encoder readout failure handling

FB 227	FB 227	auxiliary flags

FB 229	FB 229	time synchronization

FB 230	FB 230	prepare data for CP581 (interrupt)

FB 231	FB 231	evaluate data from CP581

FB 232	FB 232	evaluate data from PCU (called only from PB 21-7)

FB 233	FB 233	prepare data for PCU (called only from PB 21-11)

FB 234	FB 234	axis related data for PCU (called only from FB233-6)

FB 235	FB 235	prepare data for CP581 (background loop)

FB 236	FB 236	evaluate CP581 jack mode command

FB 237	FB 237	axis related data for CP581

FB 250	FB 250	analog test outputs

FB 255	FB 255	trouble shoot assistance

DB 10	DB 10	Test

DB 11	DB 11	Time

DB 12	DB 12	flag memory

DB 21	DB 21	PCU communication

DB 50	DB 50	Positions

DB 51	DB 51	aux. DB for WF705 module

DB 99	DB 99	aux. DB

DB 150	DB 150	drive datas

DB 151	DB 151	drive system parameters

DB 180	DB 180	control loop standard parameters

DB 181	DB 181	control loop parameters Az

DB 182	DB 182	control loop parameters GD

DB 183	DB 183	control loop parameters CH

DB 184	DB 184	control loop parameters Az Bending Comp.

DB 189	DB 189	control loop auxiliary DB

DB 221	DB 221	data for CP581

DB 222	DB 222	data from CP581

DB 223	DB 223	program track data

DB 224	DB 224	program track aux. DB

DB 250	DB 250	test output parameters