MLMotionStart

PLCopen motion icon Pipe Network motion icon

Function - Starts the motion engine, motion bus driver, clears the EtherCAT diagnostic registers of all nodes, and initializes EtherCAT network to operational mode.

Inputs

There are no Inputs for this function / function block.

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL	FALSE, TRUE	N/A	Returns TRUE if all bus drivers have successfully started. See Function - General Rules.

Output

Data Type

Range

Unit

Description

Default (.Q)

BOOL

FALSE, TRUE

N/A

Returns TRUE if all bus drivers have successfully started.

See Function - General Rules.

Remarks

Applicable to PLCopen and Pipe Network motion engines.
MLMotionStart does not clear any pre-existing error conditions.
Returns TRUE if the function succeeded.
Returns FALSE if the motion engine is in the Error state.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Initialization code to start EtherCAT 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 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;