使用CODESYS V3.5 SP14 Patch 1的st语言编写，执行自动程序，伺服自动上使能，执行回原（35号回原模式），完成后以60转/min，正转5圈，再以100转/min，等3s钟，反方向走100mm，断使能，退出自动程序。

以下是使用CODESYS V3.5 SP14 Patch 1的st语言编写的自动程序：

PROGRAM AutoProgram
VAR
    enable: BOOL := FALSE;
    homing: BOOL := FALSE;
    homed: BOOL := FALSE;
    homingCount: INT := 0;
    homingLimit: INT := 35;
    homingSpeed: REAL := 60.0;
    forwardSpeed: REAL := 100.0;
    forwardDistance: REAL := 500.0;
    reverseSpeed: REAL := 100.0;
    reverseDistance: REAL := 100.0;
    waitTime: TIME := T#3S;
    done: BOOL := FALSE;
END_VAR

IF NOT enable THEN
    enable := TRUE;
    homing := TRUE;
END_IF

IF homing THEN
    IF homingCount < homingLimit THEN
        homingCount := homingCount + 1;
        // Move in positive direction at homingSpeed
    ELSE
        homing := FALSE;
        homed := TRUE;
    END_IF
ELSIF homed THEN
    // Move in positive direction at forwardSpeed
    // Stop after forwardDistance is reached
    IF forwardDistanceReached THEN
        // Move in negative direction at reverseSpeed
        // Stop after reverseDistance is reached
        IF reverseDistanceReached THEN
            done := TRUE;
        END_IF
    END_IF
END_IF

IF done THEN
    enable := FALSE;
END_IF

请注意，这只是一个示例程序，具体实现可能会因设备和环境而异。