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Executing Motion

Two types of Pipe Blocks are used to command motion in a Pipe Network: Axis block and Input block.

Axis block starts motion directly on one axis.
Input blocks start motion that affect all axes that are connected downstream in a Pipe Network. Input blocks can be one of three types:

Master - Trapezoidal motion
PMP - Parabolic Motion
Sampler - Externally generated motion from another axis or external encoder

In the following example, executing MLAxisMoveVel, MLAxisAbs and MLAxisRel Functions can be used to cause motion on a particular axis. Whereas MLMstRun, MLMstAbs and MLMstRel functions cause motion on Axis1, Axis2 and Axis3.

For information on error management, Error Management.

For explanations on restarting the motion, refer to Restarting Motion