Drive by velo function block variables
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FUNCTION_BLOCK DriveByVelo
VAR_INPUT
setSpeed: LREAL;
END_VAR
VAR_OUTPUT
/// Remains busy while the FB is enabled
bBusy: BOOL;
nErrorCode: UDINT;
actualSpeed: LREAL;
actualPos: LREAL;
SpError: BOOL;
// StZero:bool;
END_VAR
VAR_IN_OUT
/// Reference to the axis
drivedAxis: AXIS_REF;
END_VAR
VAR
_fB_AxisError: FB_AxisError;
SpBusy: BOOL;
stepCounter:INT;
SpErrorId: UDINT;
mcReadActualVelocity: MC_ReadActualVelocity;
mcReadActualPosition: MC_ReadActualPosition;
State: INT;
Direction: INT;
//oldPos: LREAL;
bBusyStop: BOOL;
axisStop: MC_Stop;
axisVelocity: MC_MoveVelocity;
flipflop: BOOL;
bStop: BOOL;
END_VAR |