MLMotionStart

PLCopen motion icon Pipe Network motion icon

 Function - Starts the motion engine, motion bus driver, clears the EtherCAT diagnostic registers of all nodes, and initializes EtherCAT network to operational mode.

  • Applicable to PLCopen and Pipe Network motion engines.
  • MLMotionStart does not clear any pre-existing error conditions.
  • Returns TRUE if the function succeeded.
  • Returns FALSE if the motion engine is in the Error state.


    • This function returns FALSE when the number of axes created in the application is greater than the maximum number permitted for the controller model.
      • When this axis limit is exceeded, the controller generates error E45.
        • This error is shown on the 7-segment display and on the Diagnostics tab of the Web server.
      • See E45 for an explanation and recommended corrective actions.
    • The maximum axis count specified for each controller model applies only to physical axes.
      • This includes both PLCopen and Pipe Network axes.
    • This limit does not apply to virtual axis or digitizing axis.

Inputs

There are no Inputs for this function / function block.

Outputs

Output

Data Type

See Data Types.

Range

Unit

Description

Default (.Q)

BOOL

FALSE, TRUE

N/A

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 and PLCopen or Pipenetwork devices

//Then call MLMotionStart and monitor MLMotionStatus again before beginning rest of program

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;

See Also