Declaration of variables

At a glance

All of the variables used in the different sections of the program must be declared.

Undeclared variables cannot be used in the program.

NOTE: For more information, refer to chapter Data Editor.

Procedure for declaring variables

The table below shows the procedure for declaring application variables:

Step	Action
1	In Project browser / Variables & FB instances, double-click on Elementary variables
2	In the Data editor window, select the box in the Name column and enter a name for your first variable.
3	Now select a Type for this variable.
4	When all your variables are declared, you can close the window.

Variables used for the application

The following table shows the details of the variables used in the application:

Variable	Type	Definition
Action_Time	TIME	Mobile stopping time at each position.
Configuration_Done	BOOL	The Lexium configuration is done.
Homing_Done	BOOL	The definition of the origin point is done.
index_subindex	DINT	CANopen parameter addresses for the WRITE_VAR block.
Lexium_Config_Step	INT	Configuration steps (program)
Lexium_Disabling	INT	Shutdown command
Lexium_operation_enable	INT	Command to start the Lexium drive.
Mobile _at_Position_A	BOOL	Mobile at the A position.
Mobile _at_Position_B	BOOL	Mobile at the B position.
Mobile _at_Position_C	BOOL	Mobile at the C position.
Mobile_at_start_position	BOOL	Mobile at the start position.
Mobile_in_Progress	BOOL	The mobile is moving.
New_SetPoint	BOOL	Start the next move.
Operation_done	BOOL	The mobile operation is done.
Position_A	DINT	First positioning value.
Position_B	DINT	Second positioning value.
Position_C	DINT	Third positioning value.
Ready_For_Stop	BOOL	The mobile goes to the last targeted position indicated before stopping the application. Then it comes back to the start position.
Run	BOOL	Start of the sequence.
Sequence_Number	INT	Number of displacements made by the mobile.
Start_Configuration	EBOOL	Start the Lexium configuration.
Stop	BOOL	The mobile stops the sequence and comes back to the start point.
Target_Reached	BOOL	The target position is reached.

The following screen shows the application variables created using the data editor :

NOTE: At start-up, the Lexium 05 is in Ready to switch on state (rdy is displayed). To be able to drive the motor, the Lexium must be in Operation enable state. To switch in this state, a bus command sets the 4 last bits of the Lexium control word to ‘1’ (00001111 (binary) = 15 (decimal)).

To switch the Lexium 05 to the Ready to switch on state, a bus command sets the sixth and the seventh bit of the Lexium control word to ‘1’ (00000110 (binary) = 6 (decimal)).

For more information on Lexium control word, consult the Lexium manufacturer manual.