24_2 Funksjonsblokk Stepper motor

//Power on the module
xPower(xEnable:=powerON, I_Port:=iPort);
error:= xPower.xError;


//Stopping the servo drive when endbreaks activated
xStop(xExecute:= stop, I_Port:= iPort);


//Reset if fault on module
xReset(xExecute:= reset, I_Port:= iPort);

//Read data from module
xReadPos(xEnable:= powerON, I_Port:= iPort);
actualPos:= xReadPos.diActualPosition;
resetReq:= xReadPos.xResetRequired;
error:= xReadPos.xError;
oStatus:= xReadPos.oStatus;


//Move ablosute position of stepper
xMove(xExecute:= start, I_Port:= iPort, iSpeed:= 5000, wAcceleration:= 15000, diPosition:= Pos);
positionReached:= xMove.xDone;

//Endbreak positive direction
endbreakLimitPos:= endbreakPosDir;

IF endbreakLimitPos AND NOT PositiveDirSet THEN
	Pos:= actualPos;
	stop:= TRUE;
	PositiveDirSet :=TRUE;
END_IF

IF PositiveDirSet AND (setPos < actualPos) THEN
	Pos:= setPos;
	stop:=FALSE;
	IF NOT endbreakLimitPos THEN
		PositiveDirSet:= FALSE;
	END_IF
END_IF

//Endbreak negative direction
endbreakLimitNeg:= endbreakNegDir;

IF endbreakLimitNeg AND NOT NegativeDirSet THEN
	Pos:= actualPos;
	stop:= TRUE;
	NegativeDirSet :=TRUE;
END_IF

IF NegativeDirSet AND (setPos > actualPos) THEN
	Pos:= setPos;
	stop:=FALSE;
	IF NOT endbreakLimitNeg THEN
		NegativeDirSet:= FALSE;
	END_IF
END_IF

//Set pos = setpos if neither endbreaks are active
IF NOT endbreakLimitPos AND NOT endbreakLimitNeg THEN 
	pos:= setPos;
END_IF