Motion Library

MLMotionCycleTime

Returns the Motion Base Cycle time in seconds.

MLMotionInit

Initializes the motion library.

• Must be called before any other Motion Library function.
• BasePeriod is the duration of one motion cycle in microseconds.
• Returns TRUE if the function succeeded.

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.

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 PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML and Pipe Network motion engines.
• Returns TRUE if the function succeeded.

MLMotionStatus

Returns the status of the motion engine 0:

• Not initialized 1:
• Running 2:
• Stopped 3: Error

MLMotionStop

Stops the motion bus driver, motion engine, and EtherCAT network operation.

• Results in the EtherCAT network transitioning to the Init state.
• Returns TRUE if the function succeeded.