Initialize and Start a Pipe Network

The Motion State Machine is driven by the IEC 61131-3 application with the help of dedicated function blocks.

Motion State Machine

Figure 1: 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 Block

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 EtherCAT 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 click here... about all ML function blocks related to motion