josepmariarams - 2019-11-04


It seems that is not possible to call a motion function block from outside the task where the ethercat runs.

Normaly, the task where the machine state works is slower than the low level motion process runs (motion task 1 or 2 ms, state machine ~10 ms).

Solution: Put motion fbs in the quick task and enable its from outside, and normaly via level booleans.

I think that we are loosing the fantastic utility of call from the state machine the edge controlled (As common behaviour library from Codesys) motion fb (mc_moveabsolute).

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