MCFB_ECATRestart

PLCopen motion icon

 Function Block - Reinitializes the EtherCAT network and the motion engine.

Inputs

Input

Data Type

Range

Unit

Default

Description

iEN

BOOL

0 to 1

N/A

No default

Enables the KollmorgenUDFB.

Used in the FFLD editor only.

iRSTERR

BOOL

1 to 256

0 to 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 to 1

N/A

Function block activated status.

oDONE

BOOL

0 to 1

N/A

Execution complete.

oERR

BOOL

0 to 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 1: 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