MLFB_ECATRestart
Description
This function block reinitializes the EtherCAT***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 7-235: MLFB_ECATRestart
Arguments
Input
iEN |
Description |
|
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 |
FunctionA 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