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8.9. PLC – Control: Declare the variables
Select Global_Variables
Create the Master Global_Variables for MB1 as below. Copy/paste the variables:
VAR_GLOBAL
MB1_State AT %I*:WORD;
PLC_state AT %I*:UINT;
MB1_TPDO_Input1_Status_Word AT %I*:WORD;
MB1_TPDO_Input2_Control_Effort AT %I*:WORD;
MB1_TPDO_Input3 AT %I*:WORD;
MB1_TPDO_Input4 AT %I*:WORD;
MB1_TPDO_Input5 AT %I*:WORD;
MB1_TPDO_Input6 AT %I*:WORD;
MB1_RPDO_Output1_Control_Word AT %Q*:WORD;
MB1_RPDO_Output2_Target_Velocity AT %Q*:WORD;
MB1_RPDO_Output3 AT %Q*:WORD;
MB1_RPDO_Output4 AT %Q*:WORD;
MB1_RPDO_Output5 AT %Q*:WORD;
MB1_RPDO_Output6 AT %Q*:WORD;
END_VAR
Reminder:
RPDO (Receive PDO), containing 6 input words of the communication scanner
c410 to c415.
TPDO (Transmit PDO), containing 6 input words of the communication scanner
c416 to c421.
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