MLMotionStatus

 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. - Returns the status of the motion engine 0 (zero).

Inputs

Input	Data Type	Range	Unit	Default	Description
En	BOOL	0, 1	N/A	No default	Enable function.

Outputs

Output	Data Type	Range	Unit	Description
OK	BOOL	No range	N/A	Indicates the initialization is complete. See Pipe Network - General Rules for more information.
Status	DINT	0, 3	N/A	Status of the Motion Engine. Based on the Internal Defines, the status is one of these: #define MLSTATUS_NOT_INITIALISED 0 (*Motion not initialized*) #define MLSTATUS_RUNNING 1 (*Motion is running*) #define MLSTATUS_STOPPED 2 (*Motion is stopped*) #define MLSTATUS_ERROR 3 (*Motion is in error*)

Remarks

• 
  

• This function or function block returns cached data.
  See Program a Multi-Core Controller for more information.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Initialization code to start 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.
//First initialize network with MLMotionInit command
//Then wait for command to finish by monitoring MLMotionStatus output
//Once initialized, create any cam profiles and PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML or Pipenetwork devices
//Then call MLMotionStart and monitor MLMotionStatus again before beginning rest of program
FirstCycle := TRUE;

On FirstCycle DO //Initialize the motion engine
MLMotionInit( 1000);
END_DO;

MotionEngineStatus := MLMotionStatus();//Check the current status of the motion engine
//Once motion engine is initialized, create CAM profiles and defined Axis, then start the motion engine
ON MotionEngineStatus = MLSTATUS_INITIALISED DO
Profiles( MLPR_CREATE_PROFILES );
PLCopen( 0 );
MLMotionStart();
END_DO;

IF MotionEngineStatus = MLSTATUS_RUNNING THEN
bMotionEngineStarted := TRUE;
ELSE
bMotionEngineStarted := FALSE;
END_IF;