DUTs

GVLs

POUs

MAIN

PROGRAM MAIN
VAR
    fbSDS_Motor_X : FB_MotionStage;
    fbSDS_Motor_Y : FB_MotionStage;
    fbSDS_Motor_Z : FB_MotionStage;
    fbSDS_Motor_rY : FB_MotionStage;
    fbSDS_Motor_Shroud : FB_MotionStage;

    M1 : DUT_MotionStage := (bPowerSelf:=TRUE, nEnableMode:=ENUM_StageEnableMode.ALWAYS);
    M2 : DUT_MotionStage := (bPowerSelf:=TRUE, nEnableMode:=ENUM_StageEnableMode.ALWAYS);
    M3 : DUT_MotionStage := (bPowerSelf:=TRUE, nEnableMode:=ENUM_StageEnableMode.ALWAYS);
    M4 : DUT_MotionStage := (bPowerSelf:=TRUE, nEnableMode:=ENUM_StageEnableMode.ALWAYS);
    M5 : DUT_MotionStage := (bPowerSelf:=TRUE, nEnableMode:=ENUM_StageEnableMode.ALWAYS);


END_VAR
M1.bHardwareEnable := TRUE;
fbSDS_Motor_X(stMotionStage:=Main.M1);
M1.bLimitBackwardEnable := TRUE;
M1.bLimitForwardEnable := TRUE;

M2.bHardwareEnable := TRUE;
fbSDS_Motor_Y(stMotionStage:=Main.M2);
M2.bLimitBackwardEnable := TRUE;
M2.bLimitForwardEnable := TRUE;


M3.bHardwareEnable := TRUE;
fbSDS_Motor_Z(stMotionStage:=Main.M3);
M3.bLimitBackwardEnable := TRUE;
M3.bLimitForwardEnable := TRUE;

M4.bHardwareEnable := TRUE;
fbSDS_Motor_rY(stMotionStage:=Main.M4);

M4.bLimitBackwardEnable := TRUE;
M4.bLimitForwardEnable := TRUE;

M5.bHardwareEnable := TRUE;
fbSDS_Motor_Shroud(stMotionStage:=Main.M5);

END_PROGRAM