Functions sorted by types:
| Motion Control | Inquiry Functions | Position setting |
|---|---|---|
| MLMstInit | MLMstReadAccel | MLMstAbs |
| MLMstRun | MLMstReadDecel | MLMstAdd |
| MLMstWriteAccel | MLMstReadInitPos | MLMstForcePos |
| MLMstWriteDecel | MLMstReadSpeed | MLMstRel |
| MLMstWriteSpeed | MLMstStatus |
Functions sorted in alphabetical order:
| Name | Description | Return type |
|---|---|---|
| MLMstAbs | Does an absolute move | BOOL |
| MLMstAdd | Does an additive move relative for a specified distance from the endpoint of the previous move | BOOL |
| MLMstForcePos | Forces the specified position. Possible only when the block is not moving. | BOOL |
| MLMstInit | Initializes a master object (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) | BOOL |
| MLMstReadAccel | Gets the present acceleration value of a master block | None |
| MLMstReadDecel | Gets the present deceleration value of a master block | None |
| MLMstReadInitPos | Gets the initial position of a master block | None |
| MLMstReadSpeed | Gets the speed of a master block | None |
| MLMstRel | Does an Relative move for a specified distance from the current position | BOOL |
| MLMstRun | Jogs at the specified speed. Returns TRUE if the function succeeded | BOOL |
| MLMstStatus | Returns the status of the generator | DINT |
| MLMstWriteAccel | Sets the acceleration of a master block | BOOL |
| MLMstWriteDecel | Sets the deceleration of a master block | BOOL |
| MLMstWriteInitPos | Sets the initial position of a master block | BOOL |
| MLMstWriteSpeed | Sets the speed of a master block | BOOL |
MLMstRun(0.0) reduce the speed down to 0.
Figure 11-94: Master Functions Usage
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