Beckhoff EL7201-0010 User Manual

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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

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Beckhoff EL7201-0010 Specifications

General