MLAxisCfgFastIn

 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. - Configures the Fast Input The 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 for the axis by writing the expected settings in the Latch 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 Control Word.

Fast input can be armed on falling or rising edge A rising edge is the transition of a digital signal from low to high. It is also called positive edge.

Arguments

Input

En	Description	Enables execution
	Data type	BOOL
	Unit	N/A
	Default	-
AxisID	Description	ID name of the Axis Block
	Data type	DINT
	Range	—
	Unit	N/A
	Default	—
InputID	Description	ID of the FastInput of an axis, (i.e., IN1 and IN2 on S300 "Servostar 300 drive" See Servo Drive in Glossary) InputIDINT 0 = Touch Probe 1 / Capture Engine 0 1 = Touch Probe 2 / Capture Engine 1 Range is [0,1]
	Data type	DINT
	Range	[0, 1]
	Unit	N/A
	Default	—
Mode	Description	Configures the Fast Inputs The 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 as: 0= Disabled 1=Rising edge 2=Falling edge
	Data type	DINT
	Range	[0, 2]
	Unit	N/A
	Default	—

Output

Q	Description	Returns true when the function successfully executes. Returns false if the fast input The 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 could not be configured due to an invalid PDO PDO is a type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices. mapping in the .XML "Extensible Markup Language " XML is a general-purpose markup language. It is classified as an extensible language because it allows its users to define their own tags file.
	Data type	BOOL
	Unit	N/A

Related Functions

MLAxisIsTrigged

MLAxisRstFastIn

See Also

• Fast Inputs with Pipe Network Motion
• Fast Homing Example with the Pipe Network Motion Engine Axis Pipe Block
• Fast Homing Example with the PLCopen Motion Engine
• Pipe Network Registration and Fast Homing
• Registration Position Capture Example with Pipe Network Trigger Block

Example

Structured Text

MLAxisCfgFastIn( PipeNetwork.Axis1, 0, 1 ) ;

Ladder Diagram

Function Block Diagram