Motion Library

Name	Description	Return type
MLMotionInit	Initializes the motion library. Must be called before any other Motion Library function. Returns TRUE if the function succeeded. BasePeriod is the duration of one motion cycle in microseconds.	BOOL
MLMotionRstErr	Re-initializes the motion engine after a motion error. Motion errors are for example communication errors of the motion bus. Returns TRUE if the function succeeded.	BOOL
MLMotionStart	Starts the motion engine, motion bus driver, and initializes 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 to operational mode. Applicable to PLCopenA vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML and PipesNetwork motion engines. Returns TRUE if the function succeeded.	BOOL
MLMotionStatus	Returns the status of the motion engine 0: Not initialized 1: Running 2: Stopped 3: Error	None
MLMotionStop	Stops the motion bus driver, motion engine, and EtherCAT network operation, resulting in the EtherCAT network transitioning to the Init state. Returns TRUE if the function succeeded.	BOOL
MLMotionSysTime	Prints the system time to the log	BOOL
MLMotionCycleTime	Returns the Motion Base Cycle time in seconds.