For each axis creation, 1 function block and 3 variables are created:

This variable is an EFB. It is named after the CANopen manager variable.

It is declared in the Function Block tab during Axis Creation.

It must be used in the program as the instance of the CAN_HANDLER function block.

This variable is an AXIS_REF-type structured variable named after the axis reference variable.

It is declared in the Variables Name tab during Axis Creation.

It must be specified in the input parameter for each MFB block used by the axis.

This variable is an unsigned integer table type variable (ARRAY[....] OF UNIT). It is automatically created during Axis Creation. It is named after the parameter description variable which can be seen in the Recipe_x properties of the axis.

This variable must be specified in the TE_UPLOADDRIVEPARAMETER and TE_DOWNLOADDRIVEPARAMETER blocks’ PARAMETERLIST input parameter taken from the MFB library and useful for recipe creation or for replacing the axis if it is faulty.

This variable is a byte table type variable (ARRAY[....] OF BYTE). It is automatically created during Axis Creation. It is named after the recipe variable which can be seen in the Recipe_x properties of the axis.

This variable must be specified in the TE_UPLOADDRIVEPARAMETER or TE_DOWNLOADDRIVEPARAMETER block’s PARAMETERSET input parameter taken from the MFB library and useful for recipe creation or for replacing the axis if it is faulty.

The variable name may be modified using the Recipe_x properties of the axis.

The recipe can be included in the application :

The application can be updated with a storage in the inital values either with ‘update Init Values with Current values’ command or using the %S94 bit. Consequently, the STU or XEF file will include the values got from the drive after a TE_Upload calling . Finally, tick the ‘Initial Values saving Enabled’ checkbox to make this functionality available.