Motion Library

Motion Library - Axis

For an Axis function example, see "Usage Example of Axis Functions"
For a description of the this pipe block and its parameters, see Pipe Blocks Description

Power Stage	Motion ControlMotion control is a sub-field of automation, in which the position and/or velocity of machines are controlled using some type of device such as a hydraulic pump, linear actuator, or an electric motor, generally a servo. Motion control is an important part of robotics and CNC machine tools; however, it is more complex than in the use of specialized machines, where the kinematics is usually simpler. The latter is often called General Motion Control (GMC). Motion control is widely used in the packaging, printing, textile and assembly industries	Inquiry Functions	Position setting
MLAxisPower	MLAxisAbs	MLAxisGenPos	MLAxisWritePos
MLAxisPowerDOff	MLAxisAdd	MLAxisPipePos	MLAxisReAlign
	MLAxisMoveVel	MLAxisCmdPos
	MLAxisRel	MLAxisReadActPos
	MLAxisStop	MLAxisFBackPos
		MLAxisStatus
		MLAxisReadGenStatus
		MLAxisGenIsRdy
		MLAxisTimeStamp

Power Stage

Motion ControlMotion control is a sub-field of automation, in which the position and/or velocity of machines are controlled using some type of device such as a hydraulic pump, linear actuator, or an electric motor, generally a servo. Motion control is an important part of robotics and CNC machine tools; however, it is more complex than in the use of specialized machines, where the kinematics is usually simpler. The latter is often called General Motion Control (GMC). Motion control is widely used in the packaging, printing, textile and assembly industries

Inquiry Functions

Position setting

MLAxisPower

MLAxisAbs

MLAxisGenPos

MLAxisWritePos

MLAxisPowerDOff

MLAxisAdd

MLAxisPipePos

MLAxisReAlign

MLAxisMoveVel

MLAxisCmdPos

MLAxisRel

MLAxisReadActPos

MLAxisStop

MLAxisFBackPos

MLAxisStatus

MLAxisReadGenStatus

MLAxisGenIsRdy

MLAxisTimeStamp

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 torqueTorque 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 InputThe 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
MLAxisFBackPos	Returns the feedback position of the axis	None
MLAxisGenEN	Enables or disables the internal TMP"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 DriveA 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
MLAxisRead2ndFB	Read secondary feedback	None
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 timestampA 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

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 torqueTorque 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 InputThe 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

MLAxisFBackPos

Returns the feedback position of the axis

None

MLAxisGenEN

Enables or disables the internal TMP"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 DriveA 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

MLAxisRead2ndFB

Read secondary feedback

None

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 timestampA 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

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