MLMotionInit

 Function - Initializes the motion library.

Inputs

Input	Data Type	Range	Unit	Default	Description
Enable	BOOL	FALSE, TRUE	N/A	FALSE	Enable function.
BasePeriod	LREAL	Minimum: 125	Microseconds	1000	Duration of one motion cycle. With the EtherCAT Motion Bus: The EtherCAT cycle time overrides the BasePeriod argument (the cycle time is defined in the EtherCAT Master Settings tab). The EtherCAT cycle time becomes the base cycle time for the Motion Engine. Without the EtherCAT Motion Bus: The BasePeriod argument establishes the base cycle time (in microseconds) for the Motion Engine when running simulations

Outputs

Output	Data Type	Range	Unit	Description
Q	BOOL	FALSE, TRUE	N/A	Output is set to high with initial successful execution. It remains high until the function does NOT execute successfully.

Remarks

• Must be called before any other Motion Library function.
• Returns TRUE if the function succeeded.

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;