Declaration of Variables

At a Glance

In addition to the variables associated with the axis when it is created in the Motion directory, other variables must be declared.

They must be assigned to:

They allow you to use certain data and to control the axis with blocks from the MotionFunctionBlock library.

Declaration in the Data Editor

The table below summarizes the variables to be created in the data editor for the tutorial example:

Name	Type	Comment
Cmd_Home_Z	BOOL	Return axis to home position command
Cmd_Mvt_Z	BOOL	Move axis command
Cmd_Run_Z	BOOL	Run axis command
Cmd_Stop_Z	BOOL	Stop axis command
Cmd_Reset_Z	BOOL	Acknowledge axis command
Cmd_Upload_Z	BOOL	Save axis data in a recipe table command
Cmd_Download_Z	BOOL	Transfer data from recipe table to axis command
Axis_OK_Z	BOOL	Axis recognized by CANopen bus
Position_Z	DINT	Value of axis position
Velocity_Z	DINT	Value of axis speed
Recipe_Z	ARRAY[0..190] OF BYTE	Buffer variable for management of recipes
CAN	T_COM_CO_BMX	IODDT that manages CANOpen port

NOTE: the size of the recipe management table complies with that of the recipes created by the Motion directory.