Fast Inputs with Pipe Network Motion
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For the Axis and Trigger Pipe Network blocks, refer to MLAxisCfgFastIn which arms a Fast Input
The inputs are taken into account at each cycle depending on the system periodicity (i.e., each millisecond).
Under certain circumstances, this can be insufficient when more accuracy is needed or if a quick response is required from the system.
To fill the gap, a drive may have some Fast Input connections (generally one or two).
When an event happens that triggers a Fast Input (e.g., when a sensor sends a rising edge), the detection of a signal occurs faster.
This can be 1000 times more accurate than the system periodicity.
The timestamp associated with this input can be provided to the IPC to take corrective action. and returns the latched The control word is used to activate the drive's latch status machine.
The latch control word is processed independently of the EtherCAT® bus cycle.
The status word is used to return the drive's latch status. timestamp A sequence of characters, denoting the date and/or time at which a certain event occurred. when the Fast Input event occurs.
| Registration Operation Related FB (Trigger FB) | Homing operation related FB (Axis FB) |
|---|---|
When the input is triggered, the timestamp is latched. With EtherCAT 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., the timestamp sent to the KAS-IDE Kollmorgen Automation Suite - Integrated Development Environment via the MLAxisTimeStamp or MLTrigReadTime function blocks A function block groups an algorithm and a set of private data.
It has inputs and outputs. is based on the distributed clock Clock signal. that manages the reference clock (for more details on this concept, see "Distributed Clock (Synchronization)"). The KAS Kollmorgen Automation Suite-IDE Integrated Development Environment - An type of computer software that assists computer programmers in developing software.
IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger. converts this timestamp into a relative offset inside the cycle.
It is also possible to configure a Fast Input to latch the motor An actuator focused to a movement, converting electrical energy in a force or torque. 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. instead of latching the time (see "AKD Drive Configuration"). However, when working with KAS, time latching is more useful, because the positions of all the drives in the application can then be interpolated by means of the Trigger block with the MLTrigReadPos 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. block.
