MLMstStatus

Pipe Network motion icon

Function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. - Returns the status of the generator.

Inputs

Input	Data Type	Range	Unit	Default	Description
EN	BOOL	0, 1	N/A	No default	Enables Enable signal for the drive, Hardware-Enable with 24V signal to X8, Software-Enable command by setup Software, fieldbus or permanently set. Both are required for enabling the drive. the FB to be executed.
BlockID	DINT	-2147483648 to 2147483647	N/A	No default	ID name of the Master Block.

Outputs

Output	Data Type	Range	Unit	Description
OK	BOOL			Returns TRUE when the function successfully executes. See Pipe Network - General Rules.
Default (.Q)	DINT			Returns the status of the generator.

Output

Data Type

Range

Unit

Description

BOOL

Returns TRUE when the function successfully executes.

See Pipe Network - General Rules.

Default (.Q)

DINT

Returns the status of the generator.

Remarks

The value returned is the state being executed by the TMP Trapezoidal Motion Profile - This pipe block is a source block that frequently serves as a virtual master for a system composed of several pipes. Generally, a trapezoidal motion profile generator is used to generate a flow of values with a first derivative which produces a trapezoidal trajectory. generator as it processes the various motion commands.
Some states are transitory, others are stable until the next event takes place.

These terms are relevant to the returned values:

Term	Definition
Running	Speed Speed is the absolute value of the velocity without direction. is non-zero.
Stopped	Speed is 0 (zero).
Positioning Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different.	A target position has been programmed The act of performing a sequence of instructions or commands. with a relative, additive, or absolute command.

Status Definitions

Status Definitions Table

Status	Definition
0	New speed programmed is entered when both: A jog move (MLMstRun) is commanded. The current speed is not at the commanded speed.
1	Stable state Running or Stopped is entered when both: A jog move (MLMstRun) is commanded. The current speed is at the commanded speed. Stable state Running or Stopped is entered when both: A position move is programmed. Motion is completed.
2	Speed change is entered when the current speed is greater than the commanded speed.
3	Speed reversal while positioning is entered when both: A position move is programmed. The distance to go requires a speed reversal.
4	Acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics) while positioning current speed is below the travel speed.
5	Constant Speed while positioning is entered when both: A positioning move is commanded. The current speed is at the commanded speed.
6	Deceleration while positioning is entered when both: A positioning move is commanded. The current speed is changing to achieve the target position at 0 (zero) speed.
7	Micro step is entered when both: A small change in position is required. The current speed is 0 (zero).

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

MasterStatus := MLMstStatus( PipeNetwork.MASTER );