1.前言
使用软PLC最好是多创建action，这样编程比较清晰，主程序里代码比较少，实现语言我推荐使用结构化文本（ST）。
2.常用功能块
①.power
VAR：

power1 : mc_power;
power_do : BOOL;

action:

power1(Axis:=axis1 , Enable:=power_do , Enable_Positive:= , Enable_Negative:= , Override:= , BufferMode:= , Options:= , Status=> , Busy=> , Active=> , Error=> , ErrorID=> );

②.stop
VAR:

stop1 : MC_Stop;
stop_do : BOOL;

action:

stop1(Axis:=axis1 , Execute:=stop_do , Deceleration:= , Jerk:= , Options:= , Done=> , Busy=> , Active=> , CommandAborted=> , Error=> , ErrorID=> );

③.reset
VAR:

reset1 :mc_reset;
reset_do: BOOL;

action:

reset1(Axis:=axis1 , Execute:=reset_do , Done=> , Busy=> , Error=> , ErrorID=> );

④.jog
VAR:

jog1 : MC_Jog;
jog_forward,jog_backward : BOOL;

action:

jog1(Axis:=axis1 , JogForward:=jog_forward , JogBackwards:=jog_backward , Mode:= , Position:= , Velocity:= , Acceleration:= , Deceleration:= , Jerk:= , Done=> , Busy=> , Active=> , CommandAborted=> , Error=> , ErrorID=> );

⑤.move_relative
VAR:

move_r1 : MC_MoveRelative;
mover_do : BOOL;

action:

move_r1(Axis:=axis1 , Execute:=mover_do , Distance:=10000 , Velocity:=100 , Acceleration:= , Deceleration:= , Jerk:= , BufferMode:= , Options:= , Done=> , Busy=> , Active=> , CommandAborted=> , Error=> , ErrorID=> );

⑥.move_absolute
VAR:

move_a1: MC_MoveAbsolute;
movea_do;

action:

move_a1(Axis:=axis1 , Execute:=movea_do , Position:=0 , Velocity:=100 , Acceleration:= , Deceleration:= , Jerk:= , BufferMode:= , Options:= , Done=> , Busy=> , Active=> , CommandAborted=> , Error=> , ErrorID=> );

⑦.
VAR:

camin : mc_camin;
camout : mc_camout;
camin_do: BOOL;
camin_out: BOOL;

action:

camin(Master:=axis1 , Slave:=axis2 , Execute:=camin_do , MasterOffset:= , SlaveOffset:= , MasterScaling:= , SlaveScaling:= , StartMode:= , CamTableID:=1 , BufferMode:= , Options:= , InSync=> , Busy=> , Active=> , CommandAborted=> , Error=> , ErrorID=> );
camout(Slave:=axis2, Execute:=camout_do , Options:= , Done=> , Busy=> , Error=> , ErrorID=> );

⑧.gear
VAR:

gearin2 : MC_GearIn;
gearout2 : MC_GearOut;
greain_do: BOOL;
gearout_do: BOOL;

action:

gearin2(Master:=axis1 , Slave:=axis2 , Execute:=greain_do , RatioNumerator:= 1, RatioDenominator:= 1, Acceleration:= , Deceleration:= , Jerk:= , BufferMode:= , Options:= , InGear=> , Busy=> , Active=> , CommandAborted=> , Error=> , ErrorID=> );
gearout2(Slave:=axis2 , Execute:=gearout_do , Options:= , Done=> , Busy=> , Error=> , ErrorID=> );

⑨.setposition
VAR:

setpos1: mc_setposition;
set_do :BOOL;

action:

setpos1(Axis:=axis1 , Execute:=set_do , Position:=0 , Mode:= , Options:= , Done=> , Busy=> , Error=> , ErrorID=> );

⑩.home
VAR:

home1 : mc_home;
home_do : BOOL;
sensor : BOOL;

action:

home(Axis:=axis1 , Execute:=home_do , Position:= , HomingMode:= , BufferMode:= , Options:= , bCalibrationCam:=sensor , Done=> , Busy=> , Active=> , CommandAborted=> , Error=> , ErrorID=> );