Initialisierungsfunktion UserInitialisations()

FUNCTION UserInitialisations : BOOL
  VAR_INPUT 
    dummy : BOOL := FALSE; (* not used *)
  END_VAR 
  VAR 
    AxIdx : UDINT;
    ChIdx : UDINT;
  END_VAR 
(* Register PLC at all axes interfaces *) 
FOR AxIdx := 1 TO nAxis DO
  (* Set plc_present_w at each axis *) 
  pAC[AxIdx]^.addr^.HLIHeadAxe_Data.X_PLCPresent := TRUE;
  (* Register at all axis specific control units you want to handle by PLC *) 
  (* Register at all control units to enable a drive *) 
  pAC[AxIdx]^.addr^.McControlLr_Data.MCControlBoolUnit_TorquePermission.X_Enable := TRUE;
  pAC[Lauf1]^.addr^.McControlLr_Data.MCControlBoolUnit_ReleaseFeed  hold.X_Enable := TRUE;
  pAC[Lauf1]^.addr^.McControlLr_Data.MCControlBoolUnit_DriveOn.X_Enable := TRUE;
END_FOR;
(* Register PLC at all channel interfaces *) 
FOR ChIdx := 1 TO nChannel DO
  (* Set plc_present_w at each channel *) 
  pMC[ChIdx]^.addr^.HLIHeadChannel_Data.X_PLCPresent := TRUE;
  (* Register at all channel specific control units you want to handle by PLC *) 
END_FOR;
UserInitialisations := TRUE;