Motion Library / Pipe Network

The KAS IDE"Integrated development environment" An integrated development environment is a type of computer software that assists computer programmers in developing software. IDEs normally consist of a source code editor, a compiler and/or interpreter, build-automation tools, and a debugger function library contains ML function blocks that are used to integrate motion from a Pipe Network in a PLC"Programmable Logic Controller" A Programmable Logic Controller, PLC, or Programmable Controller is a digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines. Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events program. ML FunctionA 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. blocks are of the following types:

Function	Description
Motion	Prepare the physical motion part: init, reset, start, stop (for more details, Motion Library)
Pipe Network	Manage the Pipe Network: create/activate (for more details, Motion Library - Pipe Network)
Block	Manage the blocks: create/activate (for more details, Motion Library - Block)
Pipe Block	Manage each specific Pipe Block: read/write parameters… More details on each block Adder: function blocks related to the Adder block (motion block type: Transformer)  Axis: function blocks related to the Axis block (motion block type: Destination) The axis block is used to generate motion using its internal motion generator or motion originating from a Source block (Master, PMP, or Sampler) CAM: function blocks related to the CAM block (motion block type: Transformer) The cam block allows motion to be modified by a CAM created using the Cam Editor or an externally created cam profile Comparator: function blocks related to the Comparator block (motion block type: Transformer) The comparator block compares inputs from the output of another Pipe Network block Convertor: function blocks related to the Convertor Block (motion block type: Convertor) The convertor block converts Pipe Network units to axis units Delay: function blocks related to the Delay block (motion block type: Transformer) The delay block adds a time delay at the appropriate section in the Pipe Network Derivator: function blocks related to the Derivate block (motion block type: Transformer) The derivator block adds a derivative function to the flow of data in a Pipe Network Gear: function blocks related to the Gear block (motion block type: Transformer) The gear block adds electronic gearing in the Pipe Network Integrator: function blocks related to the Integrator block (motion block type: Transformer) The integrator block integrates the flow of data in a Pipe Network. It is commonly used to smooth out motion Master: function blocks related to the Master block (motion block type: Source) The master block serves as a virtual master for synchronizing multiple axes. Motion Accel and Decel use a linear trapezoidal motion generator Phaser: function blocks related to the Phaser block (motion block type: Transformer) The phaser block serves to produce a flow of output values which are offset (phase shifted) a specified amount from its input PMP: function blocks related to the PMP block (motion block type: Source) The PMP block is similar to the Master block with the following differences: Motion Accel and Decel use a linear parabolic motion generator and two motions (one forward and the other backwards) can be created with this block Sampler: function blocks related to the Sampler block (motion block type: Source) The sampler block is used to sample or read a Master for motion synchronization of one or more axes in a Pipe Network. The Master can be the secondary feedback attached to a motion fieldbus drive, the Actual Position of a Pipe Network Axis, the output of any Pipe Network Clock, or additional axis variables visible inside a Pipe Network or PLCOpen axis. Synchronizer: function blocks related to the Synchronizer block (motion block type: Transformer) Trigger: function blocks related to the Trigger block (motion block type: Transformer)

Table 8-41: List of Pipe Network FB

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• Pipe Network code is generated automatically by the compiler, you should not try to modify it.

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• Click a Pipe Block in the figure to display its description.

Figure 8-61: List of Pipe Blocks

See Also