DUTs
----


GVLs
----


POUs
----


Main
^^^^

::

    PROGRAM Main
    VAR
    	//declare motion stage objects to connect with io
    	{attribute 'pytmc' := 'pv: HXX:HXSS:ROV:MMS:ALL_H'}
    	{attribute 'TcLinkTo' := '.bLimitForwardEnable  := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E2 (EL1088)^Channel 1^Input;
                                  .bLimitBackwardEnable := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E2 (EL1088)^Channel 3^Input
        '}
    	M1 : DUT_MotionStage;
    	{attribute 'pytmc' := 'pv: HXX:HXSS:ROV:MMS:ALL_V'}
    	{attribute 'TcLinkTo' := '.bLimitForwardEnable  := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E2 (EL1088)^Channel 2^Input;
                                  .bLimitBackwardEnable := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E2 (EL1088)^Channel 4^Input
        '}
    	M2 : DUT_MotionStage;
    	{attribute 'pytmc' := 'pv: HXX:HXSS:ROV:MMS:XTAL_TH'}
    	{attribute 'TcLinkTo' := '.bLimitForwardEnable  := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E5 (EL1088)^Channel 1^Input;
                                  .bLimitBackwardEnable := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E5 (EL1088)^Channel 3^Input
        '}
    	M3 : DUT_MotionStage;
    	{attribute 'pytmc' := 'pv: HXX:HXSS:ROV:MMS:XTAL_TTH'}
    	{attribute 'TcLinkTo' := '.bLimitForwardEnable  := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E5 (EL1088)^Channel 2^Input;
                                  .bLimitBackwardEnable := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E5 (EL1088)^Channel 4^Input
        '}
    	M4 : DUT_MotionStage;
    	{attribute 'pytmc' := 'pv: HXX:HXSS:ROV:MMS:XTAL_H'}
    	{attribute 'TcLinkTo' := '.bLimitForwardEnable  := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E8 (EL1088)^Channel 1^Input;
                                  .bLimitBackwardEnable := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E8 (EL1088)^Channel 3^Input
        '}
    	M5 : DUT_MotionStage;
    	{attribute 'pytmc' := 'pv: HXX:HXSS:ROV:MMS:XTAL_V'}
    	{attribute 'TcLinkTo' := '.bLimitForwardEnable  := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E8 (EL1088)^Channel 2^Input;
                                  .bLimitBackwardEnable := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E8 (EL1088)^Channel 4^Input
        '}
    	M6 : DUT_MotionStage;
    	{attribute 'pytmc' := 'pv: HXX:HXSS:ROV:MMS:DET_H'}
    	{attribute 'TcLinkTo' := '.bLimitForwardEnable  := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E11 (EL1088)^Channel 1^Input;
                                  .bLimitBackwardEnable := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E11 (EL1088)^Channel 3^Input
        '}
    	M7 : DUT_MotionStage;
    	{attribute 'pytmc' := 'pv: HXX:HXSS:ROV:MMS:DET_V'}
    	{attribute 'TcLinkTo' := '.bLimitForwardEnable  := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E11 (EL1088)^Channel 2^Input;
                                  .bLimitBackwardEnable := TIID^Device 1 (EtherCAT)^Term 1 (EK1200)^E11 (EL1088)^Channel 4^Input
        '}
    	M8 : DUT_MotionStage;
    	//declare axes
    	fbMotion1 : FB_MotionStage;  
    	fbMotion2 : FB_MotionStage;
    	fbMotion3 : FB_MotionStage;
    	fbMotion4 : FB_MotionStage;
    	fbMotion5 : FB_MotionStage;
    	fbMotion6 : FB_MotionStage;
    	fbMotion7 : FB_MotionStage;
    	fbMotion8 : FB_MotionStage;
    END_VAR
    //invoke axes
    fbMotion1(stMotionStage:=M1);
    fbMotion2(stMotionStage:=M2);
    fbMotion3(stMotionStage:=M3);
    fbMotion4(stMotionStage:=M4);
    fbMotion5(stMotionStage:=M5);
    fbMotion6(stMotionStage:=M6);
    fbMotion7(stMotionStage:=M7);
    fbMotion8(stMotionStage:=M8);

    //.bHardwareEnable
    M1.bHardwareEnable:=TRUE;
    M2.bHardwareEnable:=TRUE;
    M3.bHardwareEnable:=TRUE;
    M4.bHardwareEnable:=TRUE;
    M5.bHardwareEnable:=TRUE;
    M6.bHardwareEnable:=TRUE;
    M7.bHardwareEnable:=TRUE;
    M8.bHardwareEnable:=TRUE;

    //.bPowerSelf
    M1.bPowerSelf:=TRUE;
    M2.bPowerSelf:=TRUE;
    M3.bPowerSelf:=TRUE;
    M4.bPowerSelf:=TRUE;
    M5.bPowerSelf:=TRUE;
    M6.bPowerSelf:=TRUE;
    M7.bPowerSelf:=TRUE;
    M8.bPowerSelf:=TRUE;

    //Limit switches
    M3.bLimitBackwardEnable:=TRUE;
    M3.bLimitForwardEnable:=TRUE;
    M4.bLimitBackwardEnable:=TRUE;
    M4.bLimitForwardEnable:=TRUE;

    END_PROGRAM