Initialize and Start a Pipe Network

The Motion State Machine is driven by the IECClosed "International Electrotechnical Commission" IEC is a not-for-profit, non-governmental international standards organization that prepares and publishes International Standards for all electrical, electronic and related technologies 61131-3 application with the help of dedicated function blocks.

Motion State Machine

Figure 4-15: Motion State Machine

Each arrow represents a transition from one State to another one.

To start a Pipe Network in an IEC 61131-3 application program, these steps must be performed with their respective functions:

Step

ML Function BlockClosed A function block groups an algorithm and a set of private data. It has inputs and outputs.

Description

1. Motion Init

MLMotionInit

  1. Initialization of the Motion is done with this dedicated function.
  2. Set the Motion engine update rate.
  3. Wait for acknowledgment:
    MLMotionStatus() = MLSTATUS_INITIALISED to continue program operation.

2. Create Cam Profiles

Profiles

MLPR_CREATE_PROFILES

Create Cam Profiles from cam files.

3. Create Pipe Network

Pipe Network

MLPN_CREATE_OBJECTS

 

4. Motion Start

MLMotionStart

  1. Starts the motion engine, motion bus driver, and initializes 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 to operational mode.
  2. Waits for acknowledgment:
    MLMotionStatus() = MLSTATUS_RUNNING to continue program operation.

5. Power on all axes

Pipe Network

MLPN_POWER_ON

 

6. Activate the pipes

Pipe Network

MLPN_ACTIVATE

 

7. Connect the axes to the pipes

Pipe Network

MLPN_CONNECT

Example:

In this Pipe Network, the function connects the Converter blocks (CNV1, CNV2 and CNV3) to the Axis blocks:

See Motion / Common - Motion for more information about all ML function blocks related to motion