Programming the Example
(Original Document)
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At a Glance
Just after declaration and parameter setting of the hardware, motion programming is the second development phase of the tutorial example.
Axis programming is divided up into:
Declaring the Sections
The table below presents a summary of the program sections to create
Section name
Language
Description
CAN_Handler
FBD
This section allows you to check that the parameters of the axis correspond to reality.
Operating_mode
FBD
This section allows you to power up the servodrives and to check the axes.
Cmd_Mvt
FBD
This section allows you to set a homing reference point for the axis and to then control it in absolute motion.
Control_Mvt
FBD
This section is used to determine the position and speed of the axis.
Status_Axes
FBD
This section is used to determine the status of the axis and to carry out diagnostics for an event.
Recipe
FBD
This section allows you to save or restore a servodrive’s data.
The diagram below shows the program structure after the programming sections have been created: