IF Servo1Status AND Servo2Status THEN
MoveServo1(Axis:=Servo1, Execute:= execute, Position:= posServo1, Velocity:= 100, Acceleration:= 100, Deceleration:= 2000);
MoveServo2(Axis:=Servo2, Execute:= execute, Position:= posServo2, Velocity:= 100, Acceleration:= 100, Deceleration:= 2000);
END_IF
IF MoveServo1.Done THEN
MoveServo1(Axis:=Servo1, Execute:= FALSE, Position:= posServo1, Velocity:= 100, Acceleration:= 100, Deceleration:= 2000);
END_IF
IF MoveServo2.Done THEN
MoveServo2(Axis:=Servo2, Execute:= FALSE, Position:= posServo2, Velocity:= 100, Acceleration:= 100, Deceleration:= 2000);
END_IF
servo1PosReached:= MoveServo1.Done;
servo2PosReached:= MoveServo2.Done; |