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 7-237: MLFB_ECATRestart

Arguments

Input

iEN	Description	ENABLES the Kollmorgen UDFB "User Defined Function Block" UDFB can be used as a sub-function block in another program of the application. It is described using FBD, LD, ST or IL language. Input / output parameters of a UDFB (as well as private variables) are declared in the variable editor as local variables of the UDFB
	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	Function A 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

• ClearCtrlErrors
• MLMotionInit
• MLMotionRstErr
• MLMotionStart

Examples

Structured Text

Inst_MLFB_ECATRestart( Restart, ResetErrors );
IF Inst_MLFB_ECATRestart.oDONE THEN
   RestartComplte:=1;
End_IF;

Ladder Diagram

Function Block Diagram