Initialize EtherCAT Communication and Motion Engine

A new KAS project can be built starting from the available templates.

However the user can decide to build an empty project: in this case, it's possible to add the following functions for ETC and Motion Engine initialization.

Motion Engine PLCOpen:

Motion Engine PipeNetwork:

Both functions allow EtherCAT alarms reset in case of communication failure and restarting of the Motion Engine.

See https://www.kollmorgen.com/en-us/developer-network/blank-kas-starter-templates-plcopen-and-pipenetwork/ for a template project using these UDFB's.