(*SOFTCONTROL:        
  VERSION:2.04.01*)
PLC_CONFIG
	CPU_TYPE := FX2N / FX2NC
	VERSION := 1.00
	MEMORY_PARAMETER
		MAIN_SEQUENCE := 8
		FILE_REGISTER := 0
		COMMENT_SPACE := 0
	END_MEMORY_PARAMETER
	LATCH_RANGE
		LATCH_RELAY_LOWER := 500
		LATCH_RELAY_UPPER := 1023
		LINK_RELAY_LOWER := 500
		LINK_RELAY_UPPER := 999
		COUNTER_LOWER := 100
		COUNTER_UPPER := 199
		DATA_REGISTER_LOWER := 220
		DATA_REGISTER_UPPER := 255
		LINK_REGISTER_LOWER := 200
		LINK_REGISTER_UPPER := 511
	END_LATCH_RANGE
	SYSTEM_VARIABLES
		WORD_TYPE := 0
		WORD_LOWER := 400
		WORD_UPPER := 999
		BIT_TYPE := 0
		BIT_LOWER := 512
		BIT_UPPER := 1535
		TIMER_LOWER_100MS := 100
		TIMER_UPPER_100MS := 199
		TIMER_LOWER_10MS := 220
		TIMER_UPPER_10MS := 245
		TIMER_LOWER_RETENTIVE := -1
		TIMER_UPPER_RETENTIVE := -1
		COUNTER_LOWER := 100
		COUNTER_UPPER := 199
		LABEL_LOWER := 30
		LABEL_UPPER := 126
		STEP_FLAG_LOWER := 20
		STEP_FLAG_UPPER := 899
	END_SYSTEM_VARIABLES
	PROJECT_OPTIONS
		RD_OPTIONS
			ENABLE_RESET_DEVICES := 0
			ENABLE_RESET_LATCHED_DEVICES := 0
			ENABLE_D_DEVICES := 0
			ENABLE_M_DEVICES := 0
			ENABLE_T_DEVICES := 0
			ENABLE_C_DEVICES := 0
			ENABLE_S_DEVICES := 0
			ENABLE_ST_DEVICES := 0
		END_RD_OPTIONS
	END_PROJECT_OPTIONS
END_PLC_CONFIG

PROGRAM MOTOR_DIR
	VAR_EXTERNAL 
		VELOCIDADE_DIR: DINT:=0;
		DESLOCA_DIR: DINT:=0;
		INICIO: BOOL:=FALSE;
	END_VAR
'LD'
BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 2 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,4,2,6,4,);
B(B_COIL,,M7,14,2,16,4,);
B(B_COMMENT,,activa a memoria M7 - relative/absolute position,25,2,41,4,);
L(6,3,14,3);
L(1,3,4,3);
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 11 ;
        NETWORK_BODY
B(B_CONTACT,,INICIO,4,2,6,4,);
B(B_VARIN,,1500,9,8,11,10,);
B(B_VAROUT,,DESLOCA_DIR,18,8,20,10,);
B(B_F,DMOV_M,,11,6,18,10,);
B(B_VARIN,,500,9,3,11,5,);
B(B_VAROUT,,VELOCIDADE_DIR,18,3,20,5,);
B(B_F,DMOV_M,,11,1,18,5,);
B(B_COMMENT,,atribuiçao de valores da velocidade e do sentido de rotaçao dos motores.,27,3,45,8,);
L(1,0,1,11);
L(1,3,4,3);
L(6,3,11,3);
L(8,3,8,8);
L(8,8,11,8);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 32 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,4,1,6,3,);
B(B_VARIN,,H2102,14,2,16,4,);
B(B_VARIN,,1,14,3,16,5,);
B(B_VARIN,,3,14,4,16,6,);
B(B_VARIN,,1,14,5,16,7,);
B(B_F,TO_M,,16,0,21,7,);
B(B_VARIN,,1000,14,10,16,12,);
B(B_VARIN,,1,14,11,16,13,);
B(B_VARIN,,4,14,12,16,14,);
B(B_VARIN,,1,14,13,16,15,);
B(B_F,DTO_M,,16,8,22,15,);
B(B_VARIN,,0,14,18,16,20,);
B(B_VARIN,,1,14,19,16,21,);
B(B_VARIN,,6,14,20,16,22,);
B(B_VARIN,,1,14,21,16,23,);
B(B_F,TO_M,,16,16,21,23,);
B(B_VARIN,,1500,14,26,16,28,);
B(B_VARIN,,1,14,27,16,29,);
B(B_VARIN,,15,14,28,16,30,);
B(B_VARIN,,1,14,29,16,31,);
B(B_F,TO_M,,16,24,21,31,);
B(B_COMMENT,,definiçao da velocidade maxima.,25,9,43,12,);
B(B_COMMENT,,definiçao do tempo de aceleraçao/desaceleraçao,25,25,44,27,);
B(B_COMMENT,,parametrizaçao da Vbias,25,18,44,20,);
B(B_COMMENT,,definiçao dos parametros do endereço 3   (H2002 - codigo hexadecimal resultante da parametrizaçao),25,2,43,7,);
L(6,2,16,2);
L(1,2,4,2);
L(9,2,9,10);
L(9,10,16,10);
L(9,10,9,18);
L(9,18,16,18);
L(1,0,1,32);
L(9,18,9,26);
L(9,26,16,26);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 16 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,5,1,7,3,);
B(B_VARIN,,DESLOCA_DIR,14,2,16,4,);
B(B_VARIN,,1,14,3,16,5,);
B(B_VARIN,,17,14,4,16,6,);
B(B_VARIN,,1,14,5,16,7,);
B(B_F,DTO_M,,16,0,22,7,);
B(B_VARIN,,VELOCIDADE_DIR,14,10,16,12,);
B(B_VARIN,,1,14,11,16,13,);
B(B_VARIN,,19,14,12,16,14,);
B(B_VARIN,,1,14,13,16,15,);
B(B_F,DTO_M,,16,8,22,15,);
B(B_COMMENT,,envio de informaçao (sentido e velocidade) para os respectivos endereços~ 17 e 19.,25,3,42,9,);
L(7,2,16,2);
L(1,2,5,2);
L(1,0,1,16);
L(9,2,9,10);
L(9,10,16,10);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 16 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,5,2,7,4,);
B(B_VARIN,,1,15,11,17,13,);
B(B_VARIN,,25,15,12,17,14,);
B(B_VARIN,,1,15,13,17,15,);
B(B_VAROUT,,D200,24,11,26,13,);
B(B_F,FROM_M,,17,9,24,15,);
B(B_VARIN,,K4M0,15,3,17,5,);
B(B_VARIN,,1,15,4,17,6,);
B(B_VARIN,,25,15,5,17,7,);
B(B_VARIN,,1,15,6,17,8,);
B(B_F,TO_M,,17,1,22,8,);
B(B_COMMENT,,,26,2,44,5,);
L(1,0,1,16);
L(1,3,5,3);
L(8,3,8,11);
L(8,11,17,11);
L(7,3,8,3);
L(8,3,17,3);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,5,2,7,4,);
B(B_VARIN,,1,15,3,17,5,);
B(B_VARIN,,28,15,4,17,6,);
B(B_VARIN,,1,15,5,17,7,);
B(B_VAROUT,,K3M30,24,3,26,5,);
B(B_F,FROM_M,,17,1,24,7,);
L(1,0,1,8);
L(1,3,5,3);
L(7,3,17,3);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY
END_PROGRAM

PROGRAM MOTOR_ESQ
	VAR_EXTERNAL 
		VELOCIDADE_ESQ: DINT:=0;
		DESLOCA_ESQ: DINT:=0;
		INICIO: BOOL:=FALSE;
	END_VAR
'LD'
BODY
    WORKSPACE
        NETWORK_LIST_TYPE := NWTYPELD ;
        ACTIVE_NETWORK := 2 ;
    END_WORKSPACE
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 6 ;
        NETWORK_BODY
B(B_COMMENT,,activa a memoria M8 - single speed position,25,1,41,3,);
B(B_COIL,,M8,14,2,16,4,);
B(B_CONTACT,,INICIO,4,2,6,4,);
L(6,3,14,3);
L(1,3,4,3);
L(1,0,1,6);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 5 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,4,2,6,4,);
B(B_COIL,,M7,14,2,16,4,);
B(B_COMMENT,,activa a memoria M7 - relative/absolute position,25,2,41,4,);
L(6,3,14,3);
L(1,3,4,3);
L(1,0,1,5);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 11 ;
        NETWORK_BODY
B(B_CONTACT,,INICIO,4,2,6,4,);
B(B_VARIN,,-1500,9,8,11,10,);
B(B_VAROUT,,DESLOCA_ESQ,18,8,20,10,);
B(B_F,DMOV_M,,11,6,18,10,);
B(B_VARIN,,500,9,3,11,5,);
B(B_VAROUT,,VELOCIDADE_ESQ,18,3,20,5,);
B(B_F,DMOV_M,,11,1,18,5,);
B(B_COMMENT,,atribuiçao de valores da velocidade e do sentido de rotaçao dos motores.,27,3,45,8,);
L(1,0,1,11);
L(1,3,4,3);
L(6,3,11,3);
L(8,3,8,8);
L(8,8,11,8);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 32 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,4,1,6,3,);
B(B_VARIN,,H2102,14,2,16,4,);
B(B_VARIN,,0,14,3,16,5,);
B(B_VARIN,,3,14,4,16,6,);
B(B_VARIN,,1,14,5,16,7,);
B(B_F,TO_M,,16,0,21,7,);
B(B_VARIN,,1000,14,10,16,12,);
B(B_VARIN,,0,14,11,16,13,);
B(B_VARIN,,4,14,12,16,14,);
B(B_VARIN,,1,14,13,16,15,);
B(B_F,DTO_M,,16,8,22,15,);
B(B_VARIN,,0,14,18,16,20,);
B(B_VARIN,,0,14,19,16,21,);
B(B_VARIN,,6,14,20,16,22,);
B(B_VARIN,,1,14,21,16,23,);
B(B_F,TO_M,,16,16,21,23,);
B(B_VARIN,,1500,14,26,16,28,);
B(B_VARIN,,0,14,27,16,29,);
B(B_VARIN,,15,14,28,16,30,);
B(B_VARIN,,1,14,29,16,31,);
B(B_F,TO_M,,16,24,21,31,);
B(B_COMMENT,,definiçao da velocidade maxima.,25,9,43,12,);
B(B_COMMENT,,definiçao do tempo de aceleraçao/desaceleraçao,25,25,44,27,);
B(B_COMMENT,,parametrizaçao da Vbias,25,18,44,20,);
B(B_COMMENT,,definiçao dos parametros do endereço 3   (H2002 - codigo hexadecimal resultante da parametrizaçao),25,2,43,7,);
L(6,2,16,2);
L(1,2,4,2);
L(9,2,9,10);
L(9,10,16,10);
L(9,10,9,18);
L(9,18,16,18);
L(1,0,1,32);
L(9,18,9,26);
L(9,26,16,26);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 16 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,5,1,7,3,);
B(B_VARIN,,DESLOCA_ESQ,14,2,16,4,);
B(B_VARIN,,0,14,3,16,5,);
B(B_VARIN,,17,14,4,16,6,);
B(B_VARIN,,1,14,5,16,7,);
B(B_F,DTO_M,,16,0,22,7,);
B(B_VARIN,,VELOCIDADE_ESQ,14,10,16,12,);
B(B_VARIN,,0,14,11,16,13,);
B(B_VARIN,,19,14,12,16,14,);
B(B_VARIN,,1,14,13,16,15,);
B(B_F,DTO_M,,16,8,22,15,);
B(B_COMMENT,,envio de informaçao (sentido e velocidade) para os respectivos endereços~ 17 e 19.,25,3,42,9,);
L(7,2,16,2);
L(1,2,5,2);
L(1,0,1,16);
L(9,2,9,10);
L(9,10,16,10);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 16 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,5,2,7,4,);
B(B_VARIN,,0,15,11,17,13,);
B(B_VARIN,,25,15,12,17,14,);
B(B_VARIN,,1,15,13,17,15,);
B(B_VAROUT,,D200,24,11,26,13,);
B(B_F,FROM_M,,17,9,24,15,);
B(B_VARIN,,K4M0,15,3,17,5,);
B(B_VARIN,,0,15,4,17,6,);
B(B_VARIN,,25,15,5,17,7,);
B(B_VARIN,,1,15,6,17,8,);
B(B_F,TO_M,,17,1,22,8,);
B(B_COMMENT,,,26,2,44,5,);
L(1,0,1,16);
L(1,3,5,3);
L(8,3,8,11);
L(8,11,17,11);
L(7,3,8,3);
L(8,3,17,3);
        END_NETWORK_BODY
    END_NET_WORK
    NET_WORK
        NETWORK_TYPE := NWTYPELD ;
        NETWORK_LABEL :=  ;
        NETWORK_TITLE :=  ;
        NETWORK_HEIGHT := 8 ;
        NETWORK_BODY
B(B_CONTACT,,M8000,5,2,7,4,);
B(B_VARIN,,0,15,3,17,5,);
B(B_VARIN,,28,15,4,17,6,);
B(B_VARIN,,1,15,5,17,7,);
B(B_VAROUT,,K3M20,24,3,26,5,);
B(B_F,FROM_M,,17,1,24,7,);
L(1,0,1,8);
L(1,3,5,3);
L(7,3,17,3);
        END_NETWORK_BODY
    END_NET_WORK
END_BODY
END_PROGRAM

CONFIGURATION scConfiguration
	RESOURCE scResource ON scResourceType

		VAR_GLOBAL 
			INICIO AT %IX1: BOOL:=FALSE;
			VELOCIDADE_DIR AT %MD0.36: DINT:=0;
			DESLOCA_DIR AT %MD0.113: DINT:=0;
			VELOCIDADE_ESQ AT %MD0.38: DINT:=0;
			DESLOCA_ESQ AT %MD0.115: DINT:=0;
		END_VAR

		TASK
			MAIN_LD(SINGLE:=TRUE, INTERVAL:=0, PRIORITY:=31)

		PROGRAM MOTOR_ESQ WITH MAIN_LD: scProgramType
		PROGRAM MOTOR_DIR WITH MAIN_LD: scProgramType

	END_RESOURCE
END_CONFIGURATION