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: MLFB_ECATRestart
FBD Language Example
FFLD Language Example
IL Language Example
Not available.
ST Language Example
Inst_MLFB_ECATRestart( Restart, ResetErrors );
IF Inst_MLFB_ECATRestart.oDONE THEN
RestartComplte:=1;
End_IF;
See Also
