The Perl Toolchain Summit needs more sponsors. If your company depends on Perl, please support this very important event.
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<!DOCTYPE svg PUBLIC "-//W3C//DTD SVG 1.1//EN"
 "http://www.w3.org/Graphics/SVG/1.1/DTD/svg11.dtd">
<!-- Generated by graphviz version 2.38.0 (20140413.2041)
 -->
<!-- Title: states Pages: 1 -->
<svg width="896pt" height="1233pt"
 viewBox="0.00 0.00 896.00 1233.00" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink">
<g id="graph0" class="graph" transform="scale(1 1) rotate(0) translate(4 1229)">
<title>states</title>
<polygon fill="white" stroke="none" points="-4,4 -4,-1229 892,-1229 892,4 -4,4"/>
<g id="clust1" class="cluster"><title>clustere3ffa58211d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="8,-8 8,-1217 880,-1217 880,-8 8,-8"/>
<text text-anchor="middle" x="444" y="-1205.8" font-family="Arial" font-size="9.00">DriveCom Z</text>
</g>
<g id="clust2" class="cluster"><title>clustere3ffa77611d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="175,-135 175,-1191 614,-1191 614,-135 175,-135"/>
<text text-anchor="middle" x="394.5" y="-1179.8" font-family="Arial" font-size="9.00">Active</text>
</g>
<!-- Ie3ffa58211d69e3db000538bf02fa1d0 -->
<g id="node1" class="node"><title>Ie3ffa58211d69e3db000538bf02fa1d0</title>
<ellipse fill="black" stroke="black" cx="45" cy="-289" rx="7" ry="7"/>
</g>
<!-- Se3ffa4bf11d69e3db000538bf02fa1d0 -->
<g id="node2" class="node"><title>Se3ffa4bf11d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="167,-179 113,-179 113,-143 167,-143 167,-179"/>
<text text-anchor="middle" x="140" y="-158.8" font-family="Arial" font-size="9.00">Idle</text>
</g>
<!-- Ie3ffa58211d69e3db000538bf02fa1d0&#45;&gt;Se3ffa4bf11d69e3db000538bf02fa1d0 -->
<g id="edge1" class="edge"><title>Ie3ffa58211d69e3db000538bf02fa1d0&#45;&gt;Se3ffa4bf11d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M42.7172,-282.227C36.8598,-266.372 23.1052,-221.513 43,-194 56.5731,-175.23 81.5496,-167.283 102.758,-164.002"/>
<polygon fill="black" stroke="black" points="103.316,-167.459 112.801,-162.738 102.442,-160.514 103.316,-167.459"/>
<text text-anchor="middle" x="104" y="-236.8" font-family="Arial" font-size="9.00">Out_RFGInhibit=true;</text>
<text text-anchor="middle" x="104" y="-226.8" font-family="Arial" font-size="9.00">Out_SwitchOn = false;</text>
<text text-anchor="middle" x="104" y="-216.8" font-family="Arial" font-size="9.00">Out_DisableVoltage = false;</text>
<text text-anchor="middle" x="104" y="-206.8" font-family="Arial" font-size="9.00">Out_QuickStop = false;</text>
<text text-anchor="middle" x="104" y="-196.8" font-family="Arial" font-size="9.00">Out_EnableOperation = false;</text>
<polyline fill="none" stroke="black" points="165,-194 43,-194 92.0824,-166.021 "/>
</g>
<!-- Se3ffa7b011d69e3db000538bf02fa1d0 -->
<g id="node3" class="node"><title>Se3ffa7b011d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="317,-52 263,-52 263,-16 317,-16 317,-52"/>
<text text-anchor="middle" x="290" y="-31.8" font-family="Arial" font-size="9.00">Disabled</text>
</g>
<!-- Se3ffa4bf11d69e3db000538bf02fa1d0&#45;&gt;Se3ffa7b011d69e3db000538bf02fa1d0 -->
<g id="edge3" class="edge"><title>Se3ffa4bf11d69e3db000538bf02fa1d0&#45;&gt;Se3ffa7b011d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M157.539,-142.978C161.669,-139.826 166.26,-136.925 171,-135 188.783,-127.779 241.832,-138.762 257,-127 276.846,-111.611 284.774,-83.2679 287.932,-62.0913"/>
<polygon fill="black" stroke="black" points="291.418,-62.4199 289.158,-52.0688 284.47,-61.5696 291.418,-62.4199"/>
<text text-anchor="middle" x="343" y="-119.8" font-family="Arial" font-size="9.00">!In_QuickStop &amp;&amp;</text>
<text text-anchor="middle" x="343" y="-109.8" font-family="Arial" font-size="9.00">!In_ReadyToSwitchOn &amp;&amp;</text>
<text text-anchor="middle" x="343" y="-99.8" font-family="Arial" font-size="9.00">!In_SwitchedOn &amp;&amp;</text>
<text text-anchor="middle" x="343" y="-89.8" font-family="Arial" font-size="9.00">!In_OperationEnabled</text>
<text text-anchor="middle" x="343" y="-69.8" font-family="Arial" font-size="9.00">Servo_Res_Disable = true;</text>
<polyline fill="none" stroke="black" points="399,-67 287,-67 284.051,-80.9354 "/>
</g>
<!-- Ie3ffa77611d69e3db000538bf02fa1d0 -->
<g id="node4" class="node"><title>Ie3ffa77611d69e3db000538bf02fa1d0</title>
<ellipse fill="black" stroke="black" cx="540" cy="-1158" rx="7" ry="7"/>
</g>
<!-- Se3ffa4bf11d69e3db000538bf02fa1d0&#45;&gt;Ie3ffa77611d69e3db000538bf02fa1d0 -->
<g id="edge2" class="edge"><title>Se3ffa4bf11d69e3db000538bf02fa1d0&#45;&gt;Ie3ffa77611d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M158.849,-179.081C162.584,-183.534 165.975,-188.61 168,-194 179.705,-225.152 153,-309.722 153,-343 153,-1027 153,-1027 153,-1027 153,-1037.48 158.164,-1047.27 167.3,-1056.4"/>
<polygon fill="black" stroke="black" points="165.232,-1059.24 175.041,-1063.25 169.871,-1054 165.232,-1059.24"/>
<text text-anchor="middle" x="239" y="-657.8" font-family="Arial" font-size="9.00">sig_Cmd_Init.isAvailable() || Cmd_Enable</text>
<text text-anchor="middle" x="239" y="-647.8" font-family="Arial" font-size="9.00">sig_Cmd_Init.get();</text>
<polyline fill="none" stroke="black" points="325,-645 153,-645 153,-738.442 "/>
</g>
<!-- Se3ffa7b011d69e3db000538bf02fa1d0&#45;&gt;Se3ffa4bf11d69e3db000538bf02fa1d0 -->
<g id="edge5" class="edge"><title>Se3ffa7b011d69e3db000538bf02fa1d0&#45;&gt;Se3ffa4bf11d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M262.749,-36.5643C222.438,-39.5116 149.946,-47.4507 134,-67 119.127,-85.2332 123.089,-112.763 129.285,-133.143"/>
<polygon fill="black" stroke="black" points="126.024,-134.425 132.538,-142.781 132.657,-132.187 126.024,-134.425"/>
<text text-anchor="middle" x="192" y="-119.8" font-family="Arial" font-size="9.00">In_QuickStop ||</text>
<text text-anchor="middle" x="192" y="-109.8" font-family="Arial" font-size="9.00">In_ReadyToSwitchOn ||</text>
<text text-anchor="middle" x="192" y="-99.8" font-family="Arial" font-size="9.00">In_SwitchedOn ||</text>
<text text-anchor="middle" x="192" y="-89.8" font-family="Arial" font-size="9.00">In_OperationEnabled</text>
<text text-anchor="middle" x="192" y="-69.8" font-family="Arial" font-size="9.00">Servo_Res_Disable = false;</text>
<polyline fill="none" stroke="black" points="250,-67 134,-67 181.108,-47.2059 "/>
</g>
<!-- Se3ffa7b011d69e3db000538bf02fa1d0&#45;&gt;Ie3ffa77611d69e3db000538bf02fa1d0 -->
<g id="edge4" class="edge"><title>Se3ffa7b011d69e3db000538bf02fa1d0&#45;&gt;Ie3ffa77611d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M317.15,-38.8086C398.716,-51.0037 636,-92.2985 636,-160 636,-694 636,-694 636,-694 636,-804.227 645.427,-838.582 616.674,-938.557"/>
<polygon fill="black" stroke="black" points="613.23,-937.86 613.77,-948.441 619.947,-939.833 613.23,-937.86"/>
<text text-anchor="middle" x="722" y="-614.8" font-family="Arial" font-size="9.00">sig_Cmd_Init.isAvailable() || Cmd_Enable</text>
<text text-anchor="middle" x="722" y="-604.8" font-family="Arial" font-size="9.00">sig_Cmd_Init.get();</text>
<text text-anchor="middle" x="722" y="-594.8" font-family="Arial" font-size="9.00">Servo_Res_Disable = true;</text>
<polyline fill="none" stroke="black" points="808,-592 636,-592 636,-627.262 "/>
</g>
<!-- Se3ffa84b11d69e3db000538bf02fa1d0 -->
<g id="node5" class="node"><title>Se3ffa84b11d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="460.5,-1044 401.5,-1044 401.5,-1008 460.5,-1008 460.5,-1044"/>
<text text-anchor="middle" x="431" y="-1023.8" font-family="Arial" font-size="9.00">Undefined</text>
</g>
<!-- Ie3ffa77611d69e3db000538bf02fa1d0&#45;&gt;Se3ffa84b11d69e3db000538bf02fa1d0 -->
<g id="edge6" class="edge"><title>Ie3ffa77611d69e3db000538bf02fa1d0&#45;&gt;Se3ffa84b11d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M533.756,-1154.11C527.212,-1150.74 517.177,-1144.52 512,-1136 497.957,-1112.9 518.999,-1097.02 502,-1076 490.583,-1061.88 479.106,-1071.07 464,-1061 459.855,-1058.24 455.825,-1054.88 452.086,-1051.36"/>
<polygon fill="black" stroke="black" points="454.395,-1048.72 444.88,-1044.05 449.411,-1053.63 454.395,-1048.72"/>
</g>
<!-- Se3ffa90d11d69e3db000538bf02fa1d0 -->
<g id="node15" class="node"><title>Se3ffa90d11d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="685.5,-1044 622.5,-1044 622.5,-1008 685.5,-1008 685.5,-1044"/>
<text text-anchor="middle" x="654" y="-1023.8" font-family="Arial" font-size="9.00">Malfunction</text>
</g>
<!-- Ie3ffa77611d69e3db000538bf02fa1d0&#45;&gt;Se3ffa90d11d69e3db000538bf02fa1d0 -->
<g id="edge25" class="edge"><title>Ie3ffa77611d69e3db000538bf02fa1d0&#45;&gt;Se3ffa90d11d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M613.587,-1156.48C649.927,-1154.49 688.436,-1149.18 700,-1136 717.587,-1115.95 709.815,-1100.79 700,-1076 696.405,-1066.92 690.241,-1058.53 683.574,-1051.37"/>
<polygon fill="black" stroke="black" points="685.803,-1048.65 676.239,-1044.09 680.872,-1053.62 685.803,-1048.65"/>
<text text-anchor="middle" x="779.5" y="-1128.8" font-family="Arial" font-size="9.00">In_Malfunction</text>
<text text-anchor="middle" x="779.5" y="-1118.8" font-family="Arial" font-size="9.00">/*1state_SwitchOnInhibit = false;</text>
<text text-anchor="middle" x="779.5" y="-1108.8" font-family="Arial" font-size="9.00">1state_ReadyToSwitchOn = false;</text>
<text text-anchor="middle" x="779.5" y="-1098.8" font-family="Arial" font-size="9.00">1state_SwitchedOn = false;</text>
<text text-anchor="middle" x="779.5" y="-1088.8" font-family="Arial" font-size="9.00">1state_OperationEnabled = false;</text>
<text text-anchor="middle" x="779.5" y="-1078.8" font-family="Arial" font-size="9.00">1state_QuickStopActive = false;*/</text>
<polyline fill="none" stroke="black" points="849,-1076 710,-1076 710.275,-1107.78 "/>
</g>
<!-- Se3ffa60811d69e3db000538bf02fa1d0 -->
<g id="node6" class="node"><title>Se3ffa60811d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="421.5,-951 316.5,-951 316.5,-915 421.5,-915 421.5,-951"/>
<text text-anchor="middle" x="369" y="-930.8" font-family="Arial" font-size="9.00">Wait Switch On Inhibit</text>
</g>
<!-- Se3ffa84b11d69e3db000538bf02fa1d0&#45;&gt;Se3ffa60811d69e3db000538bf02fa1d0 -->
<g id="edge7" class="edge"><title>Se3ffa84b11d69e3db000538bf02fa1d0&#45;&gt;Se3ffa60811d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M419.338,-1007.88C410.072,-994.283 396.968,-975.05 386.453,-959.616"/>
<polygon fill="black" stroke="black" points="389.133,-957.333 380.609,-951.04 383.348,-961.275 389.133,-957.333"/>
<text text-anchor="middle" x="442" y="-968.8" font-family="Arial" font-size="9.00">Out_QuickStop = true;</text>
<polyline fill="none" stroke="black" points="487,-966 397,-966 409.464,-993.391 "/>
</g>
<!-- Se3ffa60811d69e3db000538bf02fa1d0&#45;&gt;Se3ffa60811d69e3db000538bf02fa1d0 -->
<g id="edge9" class="edge"><title>Se3ffa60811d69e3db000538bf02fa1d0&#45;&gt;Se3ffa60811d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M421.519,-940.118C437.752,-939.974 450.5,-937.602 450.5,-933 450.5,-929.405 442.719,-927.17 431.575,-926.296"/>
<polygon fill="black" stroke="black" points="431.655,-922.797 421.519,-925.882 431.366,-929.791 431.655,-922.797"/>
<text text-anchor="middle" x="530" y="-940.8" font-family="Arial" font-size="9.00">After(timeout_Response)</text>
<text text-anchor="middle" x="530" y="-930.8" font-family="Arial" font-size="9.00">LogError(L&#39;Servo response timeout&#39;);</text>
<text text-anchor="middle" x="530" y="-920.8" font-family="Arial" font-size="9.00">message = L&#39;Servo response timeout&#39;;</text>
<polyline fill="none" stroke="black" points="609.5,-918 450.5,-918 450.499,-932.916 "/>
</g>
<!-- Se3ffa87211d69e3db000538bf02fa1d0 -->
<g id="node7" class="node"><title>Se3ffa87211d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="411.5,-865 326.5,-865 326.5,-829 411.5,-829 411.5,-865"/>
<text text-anchor="middle" x="369" y="-844.8" font-family="Arial" font-size="9.00">Switch On Inhibit</text>
</g>
<!-- Se3ffa60811d69e3db000538bf02fa1d0&#45;&gt;Se3ffa87211d69e3db000538bf02fa1d0 -->
<g id="edge8" class="edge"><title>Se3ffa60811d69e3db000538bf02fa1d0&#45;&gt;Se3ffa87211d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M369,-914.595C369,-903.257 369,-888.227 369,-875.315"/>
<polygon fill="black" stroke="black" points="372.5,-875.095 369,-865.095 365.5,-875.095 372.5,-875.095"/>
<text text-anchor="middle" x="425" y="-892.8" font-family="Arial" font-size="9.00">In_QuickStop</text>
<text text-anchor="middle" x="425" y="-882.8" font-family="Arial" font-size="9.00">Servo_Res_Disable = true;</text>
<polyline fill="none" stroke="black" points="481,-880 369,-880 369,-889.787 "/>
</g>
<!-- Se3ffa65611d69e3db000538bf02fa1d0 -->
<g id="node8" class="node"><title>Se3ffa65611d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="428.5,-749 309.5,-749 309.5,-713 428.5,-713 428.5,-749"/>
<text text-anchor="middle" x="369" y="-728.8" font-family="Arial" font-size="9.00">Wait Ready To Switch On</text>
</g>
<!-- Se3ffa87211d69e3db000538bf02fa1d0&#45;&gt;Se3ffa65611d69e3db000538bf02fa1d0 -->
<g id="edge10" class="edge"><title>Se3ffa87211d69e3db000538bf02fa1d0&#45;&gt;Se3ffa65611d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M369,-828.686C369,-810.249 369,-780.816 369,-759.262"/>
<polygon fill="black" stroke="black" points="372.5,-759.104 369,-749.104 365.5,-759.104 372.5,-759.104"/>
<text text-anchor="middle" x="455" y="-806.8" font-family="Arial" font-size="9.00">sig_Cmd_Init.isAvailable() || Cmd_Enable</text>
<text text-anchor="middle" x="455" y="-796.8" font-family="Arial" font-size="9.00">sig_Cmd_Init.get();</text>
<text text-anchor="middle" x="455" y="-786.8" font-family="Arial" font-size="9.00">Out_DisableVoltage = true;</text>
<text text-anchor="middle" x="455" y="-776.8" font-family="Arial" font-size="9.00">Out_QuickStop = true;</text>
<text text-anchor="middle" x="455" y="-766.8" font-family="Arial" font-size="9.00">Servo_Res_Disable = false;</text>
<polyline fill="none" stroke="black" points="541,-764 369,-764 369,-788.749 "/>
</g>
<!-- Se3ffa65611d69e3db000538bf02fa1d0&#45;&gt;Se3ffa65611d69e3db000538bf02fa1d0 -->
<g id="edge12" class="edge"><title>Se3ffa65611d69e3db000538bf02fa1d0&#45;&gt;Se3ffa65611d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M428.561,-738.082C444.965,-737.739 457.5,-735.379 457.5,-731 457.5,-727.579 449.849,-725.39 438.68,-724.433"/>
<polygon fill="black" stroke="black" points="438.726,-720.931 428.561,-723.918 438.37,-727.922 438.726,-720.931"/>
<text text-anchor="middle" x="537" y="-738.8" font-family="Arial" font-size="9.00">After(timeout_Response)</text>
<text text-anchor="middle" x="537" y="-728.8" font-family="Arial" font-size="9.00">LogError(L&#39;Servo response timeout&#39;);</text>
<text text-anchor="middle" x="537" y="-718.8" font-family="Arial" font-size="9.00">message = L&#39;Servo response timeout&#39;;</text>
<polyline fill="none" stroke="black" points="616.5,-716 457.5,-716 457.499,-730.92 "/>
</g>
<!-- Se3ffa61c11d69e3db000538bf02fa1d0 -->
<g id="node9" class="node"><title>Se3ffa61c11d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="452,-673 354,-673 354,-637 452,-637 452,-673"/>
<text text-anchor="middle" x="403" y="-652.8" font-family="Arial" font-size="9.00">Ready To Switch On</text>
</g>
<!-- Se3ffa65611d69e3db000538bf02fa1d0&#45;&gt;Se3ffa61c11d69e3db000538bf02fa1d0 -->
<g id="edge11" class="edge"><title>Se3ffa65611d69e3db000538bf02fa1d0&#45;&gt;Se3ffa61c11d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M375.55,-712.662C378.556,-705.021 382.276,-695.984 386,-688 386.858,-686.161 387.769,-684.278 388.707,-682.391"/>
<polygon fill="black" stroke="black" points="392.022,-683.598 393.492,-673.106 385.8,-680.392 392.022,-683.598"/>
<text text-anchor="middle" x="430" y="-690.8" font-family="Arial" font-size="9.00">In_ReadyToSwitchOn</text>
<polyline fill="none" stroke="black" points="474,-688 386,-688 388.696,-682.413 "/>
</g>
<!-- Se3ffa53211d69e3db000538bf02fa1d0 -->
<g id="node10" class="node"><title>Se3ffa53211d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="422.5,-577 333.5,-577 333.5,-541 422.5,-541 422.5,-577"/>
<text text-anchor="middle" x="378" y="-556.8" font-family="Arial" font-size="9.00">Wait Switched On</text>
</g>
<!-- Se3ffa61c11d69e3db000538bf02fa1d0&#45;&gt;Se3ffa53211d69e3db000538bf02fa1d0 -->
<g id="edge13" class="edge"><title>Se3ffa61c11d69e3db000538bf02fa1d0&#45;&gt;Se3ffa53211d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M395.357,-636.948C393.416,-632.177 391.467,-626.944 390,-622 386.643,-610.69 383.988,-597.933 382.038,-586.944"/>
<polygon fill="black" stroke="black" points="385.486,-586.341 380.384,-577.055 378.581,-587.496 385.486,-586.341"/>
<text text-anchor="middle" x="476" y="-614.8" font-family="Arial" font-size="9.00">sig_Cmd_Init.isAvailable() || Cmd_Enable</text>
<text text-anchor="middle" x="476" y="-604.8" font-family="Arial" font-size="9.00">sig_Cmd_Init.get();</text>
<text text-anchor="middle" x="476" y="-594.8" font-family="Arial" font-size="9.00">Out_SwitchOn = true;</text>
<polyline fill="none" stroke="black" points="562,-592 390,-592 395.334,-636.892 "/>
</g>
<!-- Se3ffa53211d69e3db000538bf02fa1d0&#45;&gt;Se3ffa53211d69e3db000538bf02fa1d0 -->
<g id="edge15" class="edge"><title>Se3ffa53211d69e3db000538bf02fa1d0&#45;&gt;Se3ffa53211d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M422.856,-566.121C438.669,-566.235 451.5,-563.861 451.5,-559 451.5,-555.24 443.824,-552.968 433.03,-552.185"/>
<polygon fill="black" stroke="black" points="432.957,-548.681 422.856,-551.879 432.746,-555.678 432.957,-548.681"/>
<text text-anchor="middle" x="531" y="-566.8" font-family="Arial" font-size="9.00">After(timeout_Response)</text>
<text text-anchor="middle" x="531" y="-556.8" font-family="Arial" font-size="9.00">LogError(L&#39;Servo response timeout&#39;);</text>
<text text-anchor="middle" x="531" y="-546.8" font-family="Arial" font-size="9.00">message = L&#39;Servo response timeout&#39;;</text>
<polyline fill="none" stroke="black" points="610.5,-544 451.5,-544 451.499,-558.912 "/>
</g>
<!-- Se3ffa8ac11d69e3db000538bf02fa1d0 -->
<g id="node11" class="node"><title>Se3ffa8ac11d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="408,-501 340,-501 340,-465 408,-465 408,-501"/>
<text text-anchor="middle" x="374" y="-480.8" font-family="Arial" font-size="9.00">Switched On</text>
</g>
<!-- Se3ffa53211d69e3db000538bf02fa1d0&#45;&gt;Se3ffa8ac11d69e3db000538bf02fa1d0 -->
<g id="edge14" class="edge"><title>Se3ffa53211d69e3db000538bf02fa1d0&#45;&gt;Se3ffa8ac11d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M376.16,-540.745C375.712,-535.974 375.281,-530.79 375,-526 374.723,-521.285 374.522,-516.269 374.377,-511.405"/>
<polygon fill="black" stroke="black" points="377.871,-511.092 374.139,-501.176 370.873,-511.255 377.871,-511.092"/>
<text text-anchor="middle" x="406.5" y="-518.8" font-family="Arial" font-size="9.00">In_SwitchedOn</text>
<polyline fill="none" stroke="black" points="438,-516 375,-516 374.829,-522.867 "/>
</g>
<!-- Se3ffa83711d69e3db000538bf02fa1d0 -->
<g id="node12" class="node"><title>Se3ffa83711d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="363,-405 249,-405 249,-369 363,-369 363,-405"/>
<text text-anchor="middle" x="306" y="-384.8" font-family="Arial" font-size="9.00">Wait Operation Enabled</text>
</g>
<!-- Se3ffa8ac11d69e3db000538bf02fa1d0&#45;&gt;Se3ffa83711d69e3db000538bf02fa1d0 -->
<g id="edge16" class="edge"><title>Se3ffa8ac11d69e3db000538bf02fa1d0&#45;&gt;Se3ffa83711d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M339.791,-466.591C323.833,-459.242 308.079,-451.681 307,-450 300.499,-439.873 299.485,-426.769 300.405,-415.219"/>
<polygon fill="black" stroke="black" points="303.893,-415.542 301.692,-405.178 296.949,-414.652 303.893,-415.542"/>
<text text-anchor="middle" x="393" y="-442.8" font-family="Arial" font-size="9.00">sig_Cmd_Init.isAvailable() || Cmd_Enable</text>
<text text-anchor="middle" x="393" y="-432.8" font-family="Arial" font-size="9.00">sig_Cmd_Init.get();</text>
<text text-anchor="middle" x="393" y="-422.8" font-family="Arial" font-size="9.00">Out_EnableOperation = true;</text>
<polyline fill="none" stroke="black" points="479,-420 307,-420 339.785,-466.589 "/>
</g>
<!-- Se3ffa83711d69e3db000538bf02fa1d0&#45;&gt;Se3ffa83711d69e3db000538bf02fa1d0 -->
<g id="edge18" class="edge"><title>Se3ffa83711d69e3db000538bf02fa1d0&#45;&gt;Se3ffa83711d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M363.065,-394.844C379.402,-394.537 392,-391.922 392,-387 392,-383.155 384.311,-380.718 373.157,-379.689"/>
<polygon fill="black" stroke="black" points="373.235,-376.188 363.065,-379.156 372.866,-383.178 373.235,-376.188"/>
<text text-anchor="middle" x="471.5" y="-394.8" font-family="Arial" font-size="9.00">After(timeout_Response)</text>
<text text-anchor="middle" x="471.5" y="-384.8" font-family="Arial" font-size="9.00">LogError(L&#39;Servo response timeout&#39;);</text>
<text text-anchor="middle" x="471.5" y="-374.8" font-family="Arial" font-size="9.00">message = L&#39;Servo response timeout&#39;;</text>
<polyline fill="none" stroke="black" points="551,-372 392,-372 391.999,-386.91 "/>
</g>
<!-- Se3ffa81011d69e3db000538bf02fa1d0 -->
<g id="node13" class="node"><title>Se3ffa81011d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="277,-307 183,-307 183,-271 277,-271 277,-307"/>
<text text-anchor="middle" x="230" y="-286.8" font-family="Arial" font-size="9.00">Operation Enabled</text>
</g>
<!-- Se3ffa83711d69e3db000538bf02fa1d0&#45;&gt;Se3ffa81011d69e3db000538bf02fa1d0 -->
<g id="edge17" class="edge"><title>Se3ffa83711d69e3db000538bf02fa1d0&#45;&gt;Se3ffa81011d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M283.141,-368.884C277.847,-364.361 272.463,-359.262 268,-354 258.306,-342.569 249.595,-328.357 242.967,-316.232"/>
<polygon fill="black" stroke="black" points="245.882,-314.258 238.119,-307.048 239.692,-317.525 245.882,-314.258"/>
<text text-anchor="middle" x="322.5" y="-346.8" font-family="Arial" font-size="9.00">In_OperationEnabled</text>
<text text-anchor="middle" x="322.5" y="-336.8" font-family="Arial" font-size="9.00">Servo_Res_Enable = true;</text>
<polyline fill="none" stroke="black" points="377,-334 268,-334 283.134,-368.877 "/>
</g>
<!-- Se3ffa81011d69e3db000538bf02fa1d0&#45;&gt;Se3ffa4bf11d69e3db000538bf02fa1d0 -->
<g id="edge21" class="edge"><title>Se3ffa81011d69e3db000538bf02fa1d0&#45;&gt;Se3ffa4bf11d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M223.623,-270.737C215.703,-250.818 200.783,-217.761 181,-194 178.606,-191.125 175.913,-188.342 173.08,-185.696"/>
<polygon fill="black" stroke="black" points="175.225,-182.925 165.365,-179.048 170.655,-188.227 175.225,-182.925"/>
<text text-anchor="middle" x="268.5" y="-221.8" font-family="Arial" font-size="9.00">!In_OperationEnabled</text>
<text text-anchor="middle" x="268.5" y="-211.8" font-family="Arial" font-size="9.00">Servo_Res_Enable = false;</text>
<polyline fill="none" stroke="black" points="325,-209 212,-209 212.767,-245.832 "/>
</g>
<!-- Se3ffa81011d69e3db000538bf02fa1d0&#45;&gt;Se3ffa81011d69e3db000538bf02fa1d0 -->
<g id="edge20" class="edge"><title>Se3ffa81011d69e3db000538bf02fa1d0&#45;&gt;Se3ffa81011d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M277.128,-294.062C293.135,-294.089 306,-292.401 306,-289 306,-286.369 298.304,-284.764 287.411,-284.184"/>
<polygon fill="black" stroke="black" points="287.209,-280.678 277.128,-283.938 287.042,-287.676 287.209,-280.678"/>
<text text-anchor="middle" x="375.5" y="-296.8" font-family="Arial" font-size="9.00">sig_Cmd_QuickStop.isAvailable()</text>
<text text-anchor="middle" x="375.5" y="-286.8" font-family="Arial" font-size="9.00">sig_Cmd_QuickStop.get();</text>
<text text-anchor="middle" x="375.5" y="-276.8" font-family="Arial" font-size="9.00">Out_QuickStop = false;</text>
<polyline fill="none" stroke="black" points="445,-274 306,-274 305.999,-288.939 "/>
</g>
<!-- Se3ffa81011d69e3db000538bf02fa1d0&#45;&gt;Se3ffa81011d69e3db000538bf02fa1d0 -->
<g id="edge22" class="edge"><title>Se3ffa81011d69e3db000538bf02fa1d0&#45;&gt;Se3ffa81011d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M277.087,-296.494C342.427,-301.689 445,-299.191 445,-289 445,-279.327 352.58,-276.585 287.311,-280.774"/>
<polygon fill="black" stroke="black" points="286.811,-277.301 277.087,-281.506 287.311,-284.283 286.811,-277.301"/>
<text text-anchor="middle" x="522" y="-311.8" font-family="Arial" font-size="9.00">!Cmd_Enable &amp;&amp; Servo_Res_Enable</text>
<text text-anchor="middle" x="522" y="-301.8" font-family="Arial" font-size="9.00">Servo_Res_Enable = false;</text>
<text text-anchor="middle" x="522" y="-291.8" font-family="Arial" font-size="9.00">Out_SwitchOn = false;</text>
<text text-anchor="middle" x="522" y="-281.8" font-family="Arial" font-size="9.00">Out_DisableVoltage = false;</text>
<text text-anchor="middle" x="522" y="-271.8" font-family="Arial" font-size="9.00">Out_QuickStop = false;</text>
<text text-anchor="middle" x="522" y="-261.8" font-family="Arial" font-size="9.00">Out_EnableOperation = false;</text>
<polyline fill="none" stroke="black" points="599,-259 445,-259 444.999,-288.943 "/>
</g>
<!-- Se3ffa8d311d69e3db000538bf02fa1d0 -->
<g id="node14" class="node"><title>Se3ffa8d311d69e3db000538bf02fa1d0</title>
<polygon fill="none" stroke="black" points="457,-179 371,-179 371,-143 457,-143 457,-179"/>
<text text-anchor="middle" x="414" y="-158.8" font-family="Arial" font-size="9.00">Quick Stop Active</text>
</g>
<!-- Se3ffa81011d69e3db000538bf02fa1d0&#45;&gt;Se3ffa8d311d69e3db000538bf02fa1d0 -->
<g id="edge19" class="edge"><title>Se3ffa81011d69e3db000538bf02fa1d0&#45;&gt;Se3ffa8d311d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M256.209,-270.96C263.947,-266.526 272.599,-262.124 281,-259 313.271,-247.002 328.413,-263.188 357,-244 379.108,-229.161 374.672,-215.771 390,-194 391.504,-191.864 393.085,-189.664 394.686,-187.466"/>
<polygon fill="black" stroke="black" points="397.718,-189.252 400.854,-179.132 392.092,-185.088 397.718,-189.252"/>
<text text-anchor="middle" x="446.5" y="-221.8" font-family="Arial" font-size="9.00">!In_QuickStop</text>
<text text-anchor="middle" x="446.5" y="-211.8" font-family="Arial" font-size="9.00">Servo_Res_Enable = false;</text>
<polyline fill="none" stroke="black" points="503,-209 390,-209 394.668,-187.491 "/>
</g>
<!-- Se3ffa8d311d69e3db000538bf02fa1d0&#45;&gt;Se3ffa4bf11d69e3db000538bf02fa1d0 -->
<g id="edge23" class="edge"><title>Se3ffa8d311d69e3db000538bf02fa1d0&#45;&gt;Se3ffa4bf11d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M372.916,-142.936C357.159,-136.921 338.805,-130.994 321.5,-128 298.508,-124.022 239.351,-123.281 216.5,-128 202.841,-130.82 188.619,-136.198 176.196,-141.806"/>
<polygon fill="black" stroke="black" points="174.638,-138.671 167.085,-146.101 177.623,-145.002 174.638,-138.671"/>
<text text-anchor="middle" x="269" y="-150.8" font-family="Arial" font-size="9.00">!In_ReadyToSwitchOn &amp;&amp;</text>
<text text-anchor="middle" x="269" y="-140.8" font-family="Arial" font-size="9.00">!In_SwitchedOn &amp;&amp;</text>
<text text-anchor="middle" x="269" y="-130.8" font-family="Arial" font-size="9.00">!In_OperationEnabled</text>
<polyline fill="none" stroke="black" points="321.5,-128 216.5,-128 268.947,-124.739 "/>
</g>
<!-- Se3ffa8d311d69e3db000538bf02fa1d0&#45;&gt;Se3ffa4bf11d69e3db000538bf02fa1d0 -->
<g id="edge24" class="edge"><title>Se3ffa8d311d69e3db000538bf02fa1d0&#45;&gt;Se3ffa4bf11d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M370.735,-161C317.46,-161 227.852,-161 177.415,-161"/>
<polygon fill="black" stroke="black" points="177.274,-157.5 167.274,-161 177.274,-164.5 177.274,-157.5"/>
<text text-anchor="middle" x="269" y="-216.8" font-family="Arial" font-size="9.00">sig_Cmd_Init.isAvailable() || !Cmd_Enable</text>
<text text-anchor="middle" x="269" y="-206.8" font-family="Arial" font-size="9.00">sig_Cmd_Init.get();</text>
<text text-anchor="middle" x="269" y="-196.8" font-family="Arial" font-size="9.00">Out_SwitchOn = false;</text>
<text text-anchor="middle" x="269" y="-186.8" font-family="Arial" font-size="9.00">Out_DisableVoltage = false;</text>
<text text-anchor="middle" x="269" y="-176.8" font-family="Arial" font-size="9.00">Out_QuickStop = false;</text>
<text text-anchor="middle" x="269" y="-166.8" font-family="Arial" font-size="9.00">Out_EnableOperation = false;</text>
<polyline fill="none" stroke="black" points="356.5,-164 181.5,-164 268.868,-161 "/>
</g>
<!-- Se3ffa90d11d69e3db000538bf02fa1d0&#45;&gt;Ie3ffa77611d69e3db000538bf02fa1d0 -->
<g id="edge26" class="edge"><title>Se3ffa90d11d69e3db000538bf02fa1d0&#45;&gt;Ie3ffa77611d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M639.67,-1044.01C635.265,-1048.57 630.114,-1053.34 622.307,-1058.46"/>
<polygon fill="black" stroke="black" points="620.327,-1055.56 613.546,-1063.7 623.923,-1061.57 620.327,-1055.56"/>
<text text-anchor="middle" x="631" y="-1108.8" font-family="Arial" font-size="9.00">!In_Malfunction</text>
<text text-anchor="middle" x="631" y="-1098.8" font-family="Arial" font-size="9.00">Out_ResetMalfunction = false;</text>
<polyline fill="none" stroke="black" points="693,-1096 569,-1096 622.313,-1058.45 "/>
</g>
<!-- Se3ffa90d11d69e3db000538bf02fa1d0&#45;&gt;Se3ffa90d11d69e3db000538bf02fa1d0 -->
<g id="edge27" class="edge"><title>Se3ffa90d11d69e3db000538bf02fa1d0&#45;&gt;Se3ffa90d11d69e3db000538bf02fa1d0</title>
<path fill="none" stroke="black" d="M685.749,-1035.88C701.019,-1037.1 714.5,-1033.8 714.5,-1026 714.5,-1020.02 706.598,-1016.69 696.04,-1016.01"/>
<polygon fill="black" stroke="black" points="695.709,-1012.51 685.749,-1016.12 695.787,-1019.51 695.709,-1012.51"/>
<text text-anchor="middle" x="798.5" y="-1053.8" font-family="Arial" font-size="9.00">sig_Cmd_ResetMalfunction.isAvailable()</text>
<text text-anchor="middle" x="798.5" y="-1043.8" font-family="Arial" font-size="9.00">sig_Cmd_ResetMalfunction.get();</text>
<text text-anchor="middle" x="798.5" y="-1033.8" font-family="Arial" font-size="9.00">Out_ResetMalfunction = true;</text>
<text text-anchor="middle" x="798.5" y="-1023.8" font-family="Arial" font-size="9.00">Out_SwitchOn = false;</text>
<text text-anchor="middle" x="798.5" y="-1013.8" font-family="Arial" font-size="9.00">Out_DisableVoltage = false;</text>
<text text-anchor="middle" x="798.5" y="-1003.8" font-family="Arial" font-size="9.00">Out_EnableOperation = false;</text>
<text text-anchor="middle" x="798.5" y="-993.8" font-family="Arial" font-size="9.00">Out_QuickStop = false;</text>
<polyline fill="none" stroke="black" points="882.5,-991 714.5,-991 714.5,-1025.93 "/>
</g>
</g>
</svg>