Codesys OPC UA

I want to create all my program Python in Codesys.
This is the creation of the component to joint movements.
For the code Python in Visual Components I have this.

from vcScript import *

comp = getComponent()
sim = getSimulation()
servo = comp.findBehaviour("Servoevac")
servo2 = comp.findBehaviour("Servointro")
cont = comp.findBehaviour("ComponentContainer")
path = comp.findBehaviour("OutPath")

def OnRun():
  
  creator = comp.findBehaviour('Default::Creator')
  templateComponent = creator.TemplateComponent
  templateComponent.createProperty(VC_STRING, 'ProdID')
  comp.getProperty('Default::Creator::Limit').IsVisible = True
  comp.getProperty('Default::Creator::Limit').Value = 0
  comp.getProperty('Default::Creator::Interval').IsVisible = False
  

  servo.moveImmediate(0)
  servo2.moveImmediate(0)
  
  PickSignal = comp.findBehaviour('Pick')
  transSignal = comp.findBehaviour('TransitionSignal')
 
  i = 0
  PickSignal.signal(False)
  
  for i in range (comp.Limit):
    
    ##
    TimeWhenNextIsCreated = sim.SimTime + comp.Interval
    Piece_beton = creator.create(True)
    i+=1
    Piece_beton.ProdID = comp.ProdID
    delay(0)
    Piece_beton.stopMovement()
    delay(1)
    
    ##

    servo.move(90)
    servo2.move(90)
    Piece_beton.startMovement()
    delay(1.10)
    Piece_beton.stopMovement()
    
    delay(1) ##10
    
    ##
    cont.grab(Piece_beton)
    ##
    servo2.move(0)
    servo.move(0)
    
  
    delay(1)
    ''' 
    PickSignal.signal(True)
  
    triggerCondition(lambda: getTrigger() == transSignal and not transSignal.Value)
    
    PickSignal.signal(False)
    '''
    if TimeWhenNextIsCreated > sim.SimTime:
      delay(TimeWhenNextIsCreated-sim.SimTime)
      delay(3)
      Piece_beton.delete()

I started the code under Codesys and I have this for the moment.

PROGRAM PLC_PRG
VAR
	Limite: INT;
	ProdID: WORD;
	i : INT;
	J1 : INT;
	J2 : INT;
END_VAR

def OnRun():
  
  creator = comp.findBehaviour('Default::Creator')
  templateComponent = creator.TemplateComponent
  templateComponent.createProperty(VC_STRING, 'ProdID')
  comp.getProperty('Default::Creator::Limit').IsVisible = True
  comp.getProperty('Default::Creator::Limit').Value = 0
  comp.getProperty('Default::Creator::Interval').IsVisible = False
  

  J1 := 0;
  J2 := 0;
  
  
 
  i := 0;
  PickSignal.signal(False)
  
  for i in range (comp.Limit):
    
    
    TimeWhenNextIsCreated = sim.SimTime + comp.Interval
    Piece_beton = creator.create(True)
    i := i + 1;
    Piece_beton.ProdID = comp.ProdID
    T#0S;
    Piece_beton.stopMovement()
    T#1S;
    
    

    J1 := 90;
    servo2.move(90)
    Piece_beton.startMovement()
    delay(1.10)
    Piece_beton.stopMovement()
    
    T#1S; 
    
    
    cont.grab(Piece_beton)
    
    servo2.move(0)
    servo.move(0)
    
  
    T#1S;
   
    IF TimeWhenNextIsCreated > sim.SimTime THEN
      	delay(TimeWhenNextIsCreated-sim.SimTime);
      	T#3S;
      	Piece_beton.delete();

I’m new to Codesys and I know I’m far from finished but I’m a little lost on coding the servomotors under Codesys and the creation of the component.
I named J1 and J2 under Codesys my two joints to connect them to their values ​​under Visual Components as the attached capture shows.

image

Can you help me for this problem please.
Thanks
Cordially