Initialize and Start PLCopen

The Motion State Machine is driven by the IECClosed"International Electrotechnical Commission" IEC is a not-for-profit, non-governmental international standards organization that prepares and publishes International Standards for all electrical, electronic and related technologies 61131-3 application with the help of dedicated function blocks.

Motion State Machine

Figure 4-24: Motion State Machine

Each arrow represents a transition from one State to another one.

To start the PLCopenClosedA vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML engine in your IEC 61131-3 application program, you have to perform the following steps with their respective functions:

Step FunctionClosedA 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. Calls Description
Motion Init MLMotionInit Initialization of the Motion is done with this dedicated function
Set the Motion engine update rate. Wait for acknowledgement:
MLMotionStatus() = MLSTATUS_INITIALISED to continue program operation
Create Cam Profiles Profiles(MLPR_CREATE_PROFILES); Create Cam Profiles from cam files
Create/Initialize PLCopen Axes PLCopen (0); Create and initialize PLCopen axes from the PLCOpenCode attached to the PLCopen node in the Project tree. To view the PLCOpenCode, right click on the PLCopen node and select Show Compiled Code.
Motion Start MLMotionStart Starts the motion engine, motion bus driver, and initializes EtherCATClosedEtherCAT 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 to operational mode, then waits for acknowledgement:
MLMotionStatus() = MLSTATUS_RUNNING to continue program operation

For more details on all ML function blocks related to motion, Motion Library