Initialize and Start up a Pipe Network

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 5-17: Motion State Machine

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

To start-up a Pipe Network in your IEC 61131-3 application program, you have to perform the following steps with their respective functions:

Step ML function blocks 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 Pipe Network PipeNetwork(MLPN_CREATE_OBJECTS);  
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
Power on all axes PipeNetwork(MLPN_POWER_ON);  
Activate the pipes PipeNetwork(MLPN_ACTIVATE);  
Connect the axes to the pipes PipeNetwork(MLPN_CONNECT); For example: in the following Pipe Network this function connects the Converter blocks (CNV1, CNV2 and CNV3) to the Axis blocks

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