Beckhoff First Scan Bit !!better!!

PROGRAM MAIN VAR nTaskIdx : DINT; END_VAR

On the second scan, bInitialized is TRUE , meaning NOT bInitialized is FALSE . The initialization block is bypassed for as long as the PLC remains in Run Mode. Method 2: System Variables ( TwinCAT_SystemInfoVarList )

IF fbFirstScan() AND (nEtherCATState = 8) THEN // 8 = OP EnableOutputs(); END_IF beckhoff first scan bit

// -- Wait for EtherCAT sync -- nState := fbEcMaster.GetState(); IF nState <> 8 THEN RETURN; // Don't run logic until bus is operational END_IF

// -- Normal logic after first scan done -- IF NOT bFirstScanDone THEN // Final first-scan tasks that require bus ready fbAxis1.ExecuteHome(); bFirstScanDone := TRUE; END_IF PROGRAM MAIN VAR nTaskIdx : DINT; END_VAR On

: At the end of your program or inside the conditional block, set the variable to FALSE . Manual Code Example:

IF bFirstScan THEN // Perform Initialization Tasks here iTargetVelocity := 1500; bMachineReady := FALSE; END_IF // All other machine logic goes here... // The very last line of the program: bFirstScan := FALSE; Use code with caution. 2. Using FB_GetCurTaskIndex (The Pro Method) Manual Code Example: IF bFirstScan THEN // Perform

These advanced techniques are part of what makes TwinCAT such a flexible and powerful platform for developing complex automation software.