FunctionMLMstStatusPipe Network motion icon

Description

The value returned is the state being executed by the TMPClosed"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

MLMstStatus: LD example

Function Block Diagram

MLMstStatus: FBD example

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