Initialization function 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 := 0 TO gNrAx - 1 DO
    (* Set plc_present_w at each axis *) 
    gpAx[AxIdx]^.head.plc_present_w := TRUE;
    (* Register at all axis specific control units you want to handle by PLC *) 
    (* Register at all control units to enable a drive *) 
    gpAx[AxIdx]^.lr_mc_control.torque_permission.enable_w := TRUE;
    gpAx[AxIdx]^.lr_mc_control.release_feedhold.enable_w := TRUE;
    gpAx[AxIdx]^.lr_mc_control.drive_on.enable_w := TRUE;
  END_FOR;
  (* Register PLC at all channel interfaces *) 
  FOR ChIdx := 0 TO gNrCh - 1 DO
    (* Set plc_present_w at each channel *) 
    gpCh[ChIdx]^.head.plc_present_w := TRUE;
    (* Register at all channel specific control units you want to handle by PLC *) 
  END_FOR;
  UserInitialisations := TRUE;