DUTs
----


GVLs
----


POUs
----


MAIN
^^^^

::

    PROGRAM MAIN
    VAR
    	M1: DUT_MotionStage:=(nCommand:=3);
    	M2: DUT_MotionStage:=(nCommand:=3);
    	M3: DUT_MotionStage:=(nCommand:=3);
    	M4: DUT_MotionStage:=(nCommand:=3);
    	M5: DUT_MotionStage:=(nCommand:=3);
    	M6: DUT_MotionStage:=(nCommand:=3);
    	fbMotion1: FB_MotionStage;
    	fbMotion2: FB_MotionStage;
    	fbMotion3: FB_MotionStage;
    	fbMotion4: FB_MotionStage;
    	fbMotion5: FB_MotionStage;
    	fbMotion6: FB_MotionStage;
    	bM1CWLimit	AT 	%I*	:	BOOL;
    	bM1CCWLimit	AT 	%I*	:	BOOL;
    	bM2CWLimit	AT 	%I*	:	BOOL;
    	bM2CCWLimit	AT 	%I*	:	BOOL;
    	bM3CWLimit	AT 	%I*	:	BOOL;
    	bM3CCWLimit	AT 	%I*	:	BOOL;
    	bM4CWLimit	AT 	%I*	:	BOOL;
    	bM4CCWLimit	AT 	%I*	:	BOOL;
    	bM5CWLimit	AT 	%I*	:	BOOL;
    	bM5CCWLimit	AT 	%I*	:	BOOL;
    	bM6CWLimit	AT 	%I*	:	BOOL;
    	bM6CCWLimit	AT 	%I*	:	BOOL;
    	iM2Encoder 	AT	%I*	:	INT;
    	iM3Encoder 	AT	%I*	:	INT;
    	iM4Encoder 	AT	%I*	:	INT;
    	iM5Encoder 	AT	%I*	:	INT;
    	iM6Encoder 	AT	%I*	:	INT;
    END_VAR
    // Motor 1 XTAL ANGLE X (SP1L0-KMONO-MMS-01)
    M1.bLimitForwardEnable 	:= bM1CWLimit;	//TRUE
    M1.bLimitBackwardEnable := bM1CWLimit;	//TRUE
    M1.nEnableMode 			:= Enum_StageEnableMode.STAGE_ENABLE_ALWAYS;
    M1.bHardwareEnable		:= TRUE;
    M1.bPowerSelf			:= TRUE;
    fbMotion1(stMotionStage:=M1);

    // Motor 2 XTAL VERT Y (SP1L0-KMONO-MMS-02)
    M2.bLimitForwardEnable 	:= bM2CCWLimit;	//(+Y)
    M2.bLimitBackwardEnable := bM2CWLimit;	//(-Y)
    M2.nEnableMode 			:= Enum_StageEnableMode.STAGE_ENABLE_ALWAYS;
    M2.bHardwareEnable		:= TRUE;
    M2.bPowerSelf			:= TRUE;
    fbMotion2(stMotionStage:=M2);

    // Motor 3 RETICLE HORIZ X (SP1L0-KMONO-MMS-03)
    M3.bLimitForwardEnable 	:= bM3CCWLimit;	//(+X)
    M3.bLimitBackwardEnable := bM3CWLimit;	//(-X)
    M3.nEnableMode 			:= Enum_StageEnableMode.STAGE_ENABLE_ALWAYS;
    M3.bHardwareEnable		:= TRUE;
    M3.bPowerSelf			:= TRUE;
    fbMotion3(stMotionStage:=M3);

    // Motor 4 RETICLE VERT Y (SP1L0-KMONO-MMS-04)
    M4.bLimitForwardEnable 	:= bM4CWLimit;	//(+Y)
    M4.bLimitBackwardEnable := bM4CCWLimit;	//(-Y)
    M4.nEnableMode 			:= Enum_StageEnableMode.STAGE_ENABLE_ALWAYS;
    M4.bHardwareEnable		:= TRUE;
    M4.bPowerSelf			:= TRUE;
    fbMotion4(stMotionStage:=M4);

    // Motor 5 DIODE HORIZ X (SP1L0-KMONO-MMS-05)
    M5.bLimitForwardEnable 	:= bM5CCWLimit;	//(+X)
    M5.bLimitBackwardEnable := bM5CWLimit;	//(-X)
    M5.nEnableMode 			:= Enum_StageEnableMode.STAGE_ENABLE_ALWAYS;
    M5.bHardwareEnable		:= TRUE;
    M5.bPowerSelf			:= TRUE;
    fbMotion5(stMotionStage:=M5);

    // Motor 6 DIODE VERT Y (SP1L0-KMONO-MMS-06)
    M6.bLimitForwardEnable 	:= bM6CWLimit;	//(+Y)
    M6.bLimitBackwardEnable := bM6CCWLimit;	//(-Y)
    M6.nEnableMode 			:= Enum_StageEnableMode.STAGE_ENABLE_ALWAYS;
    M6.bHardwareEnable		:= TRUE;
    M6.bPowerSelf			:= TRUE;
    fbMotion6(stMotionStage:=M6);

    END_PROGRAM