Recovery after EtherCAT error

The following are the steps to recover from  EtherCAT error E30 and enable the drives for motion.

1. When an EtherCAT error occurs, the controller will flash E30 error and the AKD drives will flash F125 and do a controlled stop.
2. The MLMotionStatus() function will return the value "MLSTATUS_ERROR" .
3. Identify and rectify the original root cause for the ECAT error( faulty cable or loose connection etc).
4. Then call the function MLMotionRstErr() to clear the motion engine errors.
5. Wait for the motion engine to clear the errors and return to stopped state. Use the MLMotionStatus() function to check if the status reached "MLSTATUS_STOPPED".
6. Then call the function  MLMotionStart() to start the motion engine.
7. Wait for the motion engine to reach the state running. Use the MLMotionStatus() function to check if the status reached "MLSTATUS_RUNNING"
8. Now clear the controller errors by calling "ClearCtrlErrors()"
9. Now clear each axis error by calling the "MC_ResetError(axis_no)" function.
10. Now the axis are ready to be enabled..