Initialize and Start a Pipe Network

The Motion State MachineClosed The complete assembly of all connected parts or devices, of which at least one is movable. is driven by the IECClosed International Electrotechnical Commission - A not-for-profit, non-governmental international standards organization that prepares and publishes International Standards for all electrical, electronic and related technologies. 61131-3 application with the help of dedicated function blocksClosed A function block groups an algorithm and a set of private data. It has inputs and outputs..

Motion State Machine

Figure 1: Motion State Machine

Each arrow represents a transition from one State to another one.

To start a Pipe Network in an IEC 61131-3 application programClosed The act of performing a sequence of instructions or commands., these steps must be performed with their respective functionsClosed 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.:

Step

ML Function Block

Description

1. Motion Init

MLMotionInit

  1. Initialization of the Motion is done with this dedicated function.
  2. Set the Motion engine update rate.
  3. Wait for acknowledgment:
    MLMotionStatus() = MLSTATUS_INITIALISED to continue program operation.

2. Create Cam ProfilesClosed The position of a slave axis is mathematically linked to the position of a master axis. Example: A system where two rotating drums turn at a given ratio to each other. A more advanced case of electronic gearing is electronic camming. With electronic camming, a slave axis follows a profile that is a function of the master position. This profile need not be linear but it must be a mathematical function.

Profiles

MLPR_CREATE_PROFILES

Create Cam Profiles from cam files.

3. Create Pipe Network

Pipe Network

MLPN_CREATE_OBJECTS

 

4. Motion Start

MLMotionStart

  1. Starts the motion engine, motion bus driverClosed In computing and electronics, a driver is a software component allowing higher-level computer programs to interact with a computer hardware device. A driver typically communicates with the device through the computer bus or communications subsystem to which the hardware is connected., and initializes the EtherCATClosed Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. network to operational mode.
  2. Waits for acknowledgment:
    MLMotionStatus() = MLSTATUS_RUNNING to continue program operation.

5. Power on all axes

Pipe Network

MLPN_POWER_ON

 

6. Activate the pipes

Pipe Network

MLPN_ACTIVATE

 

7. Connect the axes to the pipes

Pipe Network

MLPN_CONNECT

Example:

In this Pipe Network, the function connects the Converter blocks (CNV1, CNV2 and CNV3) to the Axis blocks:

See click here... for more information about all ML function blocks related to motion