Beckhoff EL7201-0010 - Fig. 136 Global Variables; Fig. 137 Local Variables

Commissioning
Fig.136: Global variables
Once the global variables have been declared, programming can commence. Start with declaring local
variables (see Fig. Local variables).
MC_Direction is an enumeration type that specifies the direction of travel for the block MC_MoveVelocity,
which in turn initiates continuous travel of the motor.
An axis reset is carried out with the function block MC_Reset. Absolute positioning is carried out with the
function block MC_MoveAbsolute. The current axis position can be read with the function block
MC_ActualPosition.
MC_Power enables the axis; MC_Stop is required for stopping the axis.
Fig.137: Local variables
The program code is as follows (see Fig. Program code):
EL72x1-0010 107Version: 2.0