Motion Library - Axis

FunctionClosedA 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. sorted by types:

Power Stage Motion Control Inquiry Functions Position setting
MLAxisPower MLAxisAbs MLAxisGenPos MLAxisWritePos
MLAxisPowerDOff MLAxisAdd MLAxisPipePos MLAxisReAlign
  MLAxisMoveVel MLAxisCmdPos  
  MLAxisRel MLAxisReadActPos  
  MLAxisStop MLAxisFBackPos  
    MLAxisStatus  
    MLAxisReadGenStatus  
    MLAxisGenIsRdy  
    MLAxisTimeStamp  
    MLAxisDriveNumber  

Functions sorted in alphabetical order:

Name Description Return type

MLAxisAbs

Performs a move to an absolute position

BOOL

MLAxisAdd

Performs an additive move relative for a specified distance from the endpoint of the previous move

BOOL

MLAxisAddress

Returns the motion bus address of the axis

DINT

MLAxisAddTq

Sets additive torqueClosedTorque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist

BOOL

MLAxisCfgFastIn

Initializes the Fast InputClosedThe inputs are taken into account at each cycle depending on the system periodicity (for example 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 (which can be 1000 times more accurate than the system periodicity). Then the timestamp associated with this input can be provided to the IPC to take corrective action capability for the axis

BOOL

MLAxisCmdPos

Returns the reference position of the axis

None

MLAxisDriveNumber Read the DriveAxisNumber from a PipeNetwork axis  

MLAxisFBackPos

Returns the feedback position of the axis

None

MLAxisGenEN

Enables or disables the internal TMPClosed"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 of the axis

BOOL

MLAxisGenIsEN

Checks if the internal TMP generator of the axis is enabled

BOOL

MLAxisGenIsRdy

Checks if an axis is ready

BOOL

MLAxisGenPos

Returns the generator position of the axis

None

MLAxisGenReadAcc

Gets the acceleration of the internal generator of an axis

None

MLAxisGenReadDec

Gets the deceleration of the internal generator of an axis

None

MLAxisGenReadSpd

Gets the speed of the internal generator of an axis

None

MLAxisGenWriteAcc

Sets the acceleration of the internal generator of an axis

BOOL

MLAxisGenWriteDec

Sets the deceleration of the internal generator of an axis

BOOL

MLAxisGenWriteSpd

Sets the speed of the internal generator of an axis

BOOL

MLAxisInit

Initializes an axis object

BOOL

MLAxisIsCnctd

Checks if a pipe is currently connected to the axis

BOOL

MLAxisIsTrigged

Checks if the axis got a trigger event

BOOL

MLAxisMoveVel

Jogs at the specified speed

BOOL

MLAxisPipePos

Returns the pipe position of the axis

None

MLAxisPower

Powers up the axis. Enables Axis Servo DriveClosedA servo drive is a special electric amplifier used to power electric servo motors. It monitors feedback signals from the motor and continually adjusts for deviation from expected behavior.

BOOL

MLAxisPowerDOff

Returns the adjustment of position done by the last power on to avoid bumps

None

MLAxisRatedTq

Sets rated motor torque

BOOL

MLAxisReadActPos

Returns the actual position of the axis

None

MLAxisReadFBUnit

Gets the feedback units per revolution value of the axis

None

MLAxisReadFEUU

Read following error in user units

None

MLAxisReadGenStatus

Returns the status of the internal generator of the axis

DINT

MLAxisReadModPos

Get the value period of the axis

None

MLAxisReadTq

Read actual torque

None

MLAxisReadUUnits

Get the user units per revolution value of the axis

None

MLAxisReadVel

Read actual velocity

None

MLAxisReAlgnRdy

Checks if an axis is ready. Returns TRUE if the internal realignment axis is ready.

BOOL

MLAxisReAlign

Realigns the actual position with the reference position by moving the axis by the specified delta position

BOOL

MLAxisRel

Performs a relative move for a specified distance from the current position

BOOL

MLAxisResetErrors

Clears errors of the specified axis

BOOL

MLAxisRstFastIn

Resets the Fast Input

BOOL

MLAxisStatus

Returns the status of the axis

DINT

MLAxisStop

Stop with the specified deceleration

None

MLAxisTimeStamp

Returns the timestampClosedA timestamp is a sequence of characters, denoting the date and/or time at which a certain event occurred of the triggered axis

DINT

MLAxisWriteModPos

Sets the value period of the axis

BOOL

MLAxisWritePipPos

Forces the pipe position internal value. This function is working only when no pipe is connected.

BOOL

MLAxisWritePos

Sets the logical zero position of an axis

BOOL

MLAxisWriteUUnits

Sets the user units per revolution value of the axis

BOOL

MLPNAxisCreate

Creates a new axis object

None