Function BlockMLFB_ECATRestartPipe Network motion icon

Description

This function block reinitializes the EtherCATClosed ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was 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 network and the motion engine. This function blocks also clears motion engine errors, motion bus driver errors and EtherCAT network errors before reinitializing the motion engine, if requested to do so.

Figure 7-237: MLFB_ECATRestart

Arguments

Input

iEN

Description

ENABLES the Kollmorgen UDFBClosed "User Defined Function Block" UDFB can be used as a sub-function block in another program of the application. It is described using FBD, LD, ST or IL language. Input / output parameters of a UDFB (as well as private variables) are declared in the variable editor as local variables of the UDFB

Data type

BOOL

Range

[0, 1]

Unit

N/A

Default

iRSTERR

Description

Clears the motion engine and EtherCAT network errors in case of any faults

Data type

BOOL

Range

[1, 256]

Unit

[0, 1]

Default

Output

oOK

 

 

 

Description

FunctionClosed 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. block activated status

Data type

BOOL

Range

[0, 1]

Unit

N/A

oDONE

 

 

 

Description

Execution Complete

Data type

BOOL

Range

[0, 1]

Unit

N/A

oERR

 

 

 

Description

TRUE if the system initialization fails.

Data type

BOOL

Range

[0, 1]

Unit

N/A

Usage

The typical use for this UDFB is to allow the EtherCAT and motion engines to restart without having to restart the entire project. Examples:

  • EtherCAT network wire is replaced or accidentally disconnected
  • Axis setup Parameters defined by CreateAxis and/or InitAxis function need to be changed while the application is running.

Related Functions

Examples

Structured Text

Inst_MLFB_ECATRestart( Restart, ResetErrors );
IF Inst_MLFB_ECATRestart.oDONE THEN
   RestartComplte:=1;
End_IF;

Ladder Diagram

Function Block Diagram