Communication handling for a MotoLogix system [DEPRECATED].
MLxCommunicationRead
and
MLxCommunicationWrite
which have better performance.Overview
| kind | name | type | default | comment |
|---|---|---|---|---|
| in_out | MLX_Input | ARRAY[0..108] OF UDINT | ||
| in_out | MLX_Output | ARRAY[0..108] OF UDINT | ||
| in_out | MLX | MLxData | The MLxData Controller Scope tag. |
Details
MLX_Input
ARRAY[0..108] OF UDINTInput data buffer (mapped to fieldbus IO).
MLX_Output
ARRAY[0..108] OF UDINTOutput data buffer (mapped to fieldbus IO).
MLX
MLxDataThe MotoLogix variable which acts as the shared memory for a MotoLogix system.
As the PLC runs through its scan cycle each active MotoLogix FB will read from- and write to this MotoLogix variable.
It is also used for processing the data red from- and sent to the robot controller.
There are a few important rules:
MLxCommunicationReadmust be called at the very beginning of the PLC scan cycle.MLxCommunicationWritemust be called at the very end of the PLC scan cycle.- All other MotoLogix FB’s used in your application must be called inbetween.
- All off this must be handled by the same PLC task, respecting above rules.
Failing to follow above rules can lead to inconsistent data being sent to the robot controller which could result in unexpected motion.
Implementation
Snippet of the function call:
fbCommunication : ARRAY[0..0] OF MLxCommunication;
fbCommunication[0]( MLX_Input := dummy, MLX_Output := dummy, MLX := dummy );