If you want an example I made one with PLCopen some months ago. With some pictures.. -> https://developer.community.boschrexroth.com/t5/ctrlX-PLC/PLC-project-using-the-simple-PLCopen-FBs-for-3-axes-1-kinematic/m-p/16610 Maybe you allready saw it . Regards, Stefan
... View more
