MLMotionInit

 Function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. - Initializes the motion library.

Inputs

Input	Data Type	Range	Unit	Default	Description
Enable Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive.	BOOL	TRUE, FALSE	N/A	FALSE	Enable function.
BasePeriod	LREAL	Minimum: 125	Microseconds	1000	Duration of one motion cycle. With the EtherCAT Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. Motion Bus: The EtherCAT cycle time overrides the BasePeriod argument (the cycle time is defined in the EtherCAT Master Settings tab). The EtherCAT cycle time becomes the base cycle time for the Motion Engine. Without the EtherCAT Motion Bus: The BasePeriod argument establishes the base cycle time (in microseconds) for the Motion Engine when running simulations

Outputs

Output	Data Type	Range	Unit	Description
Q	BOOL	TRUE, FALSE	N/A	Output is set to high with initial successful execution. It remains high until the function does NOT execute successfully.

Remarks

• Must be called before any other Motion Library function.
• Returns TRUE if the function succeeded.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Initialization code to start EtherCAT network.

//First initialize network with MLMotionInit command

//Then wait for command to finish by monitoring MLMotionStatus output

//Once initialized, create any cam profiles The position of a slave axis is mathematically linked to the position of a master axis. 
Example: A system where two rotating drums turn at a given ratio to each other. 
A more advanced case of electronic gearing is electronic camming. 
With electronic camming, a slave axis follows a profile that is a function of the master position. 
This profile need not be linear but it must be a mathematical function. and PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML. or Pipenetwork devices

//Then call MLMotionStart and monitor MLMotionStatus again before beginning rest of program The act of performing a sequence of instructions or commands.

FirstCycle := TRUE;



On FirstCycle DO //Initialize the motion engine

   MLMotionInit( 1000);

END_DO;



MotionEngineStatus := MLMotionStatus();//Check the current status of the motion engine

//Once motion engine is initialized, create CAM profiles and defined Axis, then start the motion engine

ON MotionEngineStatus = MLSTATUS_INITIALISED DO

   Profiles( MLPR_CREATE_PROFILES );

   PLCopen( 0 );

   MLMotionStart();

END_DO;



IF MotionEngineStatus = MLSTATUS_RUNNING THEN

   bMotionEngineStarted := TRUE;

ELSE

   bMotionEngineStarted := FALSE;

END_IF;