MLMstStatus

Description

The value returned is the state being executed by the 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 as it processes the various motion commands. Some states are transitory, others are stable until the next event takes place. The following terms are relevant to the returned values.

Term	Definition
Running	Speed is non-zero
Stopped	Speed is zero
Positioning	A target position has been programmed with a relative, additive or absolute command.

Status	Definition
0	(New speed programmed) is entered when a jog move (MLMstRun) is commanded and the current speed is not at the commanded speed.
1	(Stable state Running or Stopped) is entered when a jog move (MLMstRun) is commanded and the current speed is at the commanded speed. (Stable state Running or Stopped) is entered when a position move is programmed and motion is completed.
2	(Speed change) is entered when the current speed is greater than the commanded speed.
3	(Speed reversal while positioning) is entered when a position move is programmed and the distance to go requires a speed reversal.
4	(Acceleration while positioning) current speed is below the travel speed
5	(Constant Speed while positioning) is entered when a positioning move is commanded and the current speed is at the commanded speed.
6	(Deceleration while positioning) is entered when a positioning move is commanded and the current speed is changing to achieve the target position at zero speed.
7	(Micro step) is entered when a small change in position is required and the current speed is zero.

Arguments

Input

EN	Description	Enables FB to be executed
	Data type	BOOL
	Range	0, 1
	Unit	N/A
	Default	—
Block ID	Description	ID name of the Master Block
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	N/A
	Default	—

Output

OK	Description	Returns true when function successfully executes See more details here.
	Data type	BOOL
	Unit	N/A
Default (.Q)	Description	Returns the status of the generator
	Data type	DINT
	Unit	N/A

Example

Structured Text

MasterStatus := MLMstStatus( PipeNetwork.MASTER );

Ladder Diagram

Function Block Diagram

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