Master

- See Master Function Examples for more information.
- See Pipe Block Descriptions for pipe block descriptions and parameters.

Function by Types

Motion Control Motion control is a sub-field of automation, in which the position and/or velocity of machines are controlled using some type of device such as a hydraulic pump, linear actuator, or an electric motor, generally a servo. Motion control is an important part of robotics and CNC machine tools. However, it is more complex than in the use of specialized machines, where the kinematics are usually simpler. The latter is often called General Motion Control (GMC). Motion control is widely used in the packaging, printing, textile, and assembly industries	Inquiry Functions	Position 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. Setting
MLMstInit	MLMstReadAccel	MLMstAbs
MLMstRun	MLMstReadDecel	MLMstAdd
MLMstWriteAccel	MLMstReadInitPos	MLMstForcePos
MLMstWriteDecel	MLMstReadSpeed	MLMstRel
MLMstWriteSpeed	MLMstStatus

Functions in Alphabetical Order

Name	Description
MLMstAbs	Performs a move to an absolute position.
MLMstAdd	Performs a move for a specified distance relative to the endpoint of the previous move.
MLMstForcePos	Forces the position of a Master Block to a specified position.
MLMstInit	Initializes a Master 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 block.
MLMstReadAccel	Gets the present 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) value of a master block.
MLMstReadDecel	Gets the present deceleration value of a master block.
MLMstReadInitPos	Gets the initial position of a master block.
MLMstReadSpeed	Gets the speed Speed is the absolute value of the velocity without direction. of a master block.
MLMstRel	Performs a relative move for a specified distance from the current position.
MLMstRun	Jogs at the specified speed.
MLMstStatus	Returns the status of the generator.
MLMstWriteAccel	Sets the acceleration of a master block.
MLMstWriteDecel	Sets the deceleration of a master block.
MLMstWriteInitPos	Sets the initial position of a master block.
MLMstWriteSpeed	Sets the speed of a master block.

Master Function Examples

MLMstRun(0.0) reduce the speed down to 0.

Master Functions Usage

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