Fast Inputs with Pipe Network Motion
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For the Axis and Trigger Pipe Network blocks, refer to MLAxisCfgFastIn which arms a Fast Input
The 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 and returns the latched timestamp A timestamp is a sequence of characters, denoting the date and/or time at which a certain event occurred when the Fast Input event occurs.
| Registration Operation Related FB (Trigger FB) | Homing operation related FB (Axis FB) |
|---|---|
When the input is triggered, the timestamp is latched. With EtherCAT ***EtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs, the timestamp sent to 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 via the MLAxisTimeStamp or MLTrigReadTime function blocks is based on the distributed clock that manages the reference clock (for more details on this concept, see "Distributed Clock (Synchronization)"). The KAS IDE converts this timestamp into a relative offset inside the cycle.
It is also possible to configure a Fast Input to latch the motor position instead of latching the time (see "AKD Drive Configuration"). However, when working with KAS, time latching is more useful, because the positions of all the drives in the application can then be interpolated by means of the Trigger block with the MLTrigReadPos function block.
