MCFB_ECATRestart

PLCopen motion icon

 Function BlockClosed A function block groups an algorithm and a set of private data. It has inputs and outputs. - Reinitializes the EtherCATClosed ***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.

Inputs

Input

Data Type

Range

Unit

Default

Description

iEN

BOOL

0, 1

N/A

No default

Enables the KollmorgenUDFBClosed "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.

Used in the FFLDClosed "Free Form Ladder Diagram" editor only.

iRSTERR

BOOL

1, 256

0, 1

No default

Clears the motion engine and EtherCAT network errors in case of any faults.

Outputs

Output

Data Type

Range

Unit

Description

oOK

BOOL

0, 1

N/A

FunctionClosed 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.

oDONE

BOOL

0, 1

N/A

Execution complete.

oERR

BOOL

0, 1

N/A

TRUE if the system initialization fails.

Remarks

  • This function block clears motion engine errors, motion bus driver errors and EtherCAT network errors before reinitializing the motion engine, if requested to do so.
  • This UDFB allows 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.

This image shows the function or function block I/O.

Figure 6-95: MCFB_ECATRestart

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

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

See Also