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 Motion Library (ML) function blocks (FBs) 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 function blocks are of these types:

List of Pipe Network FBs

Function

A 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.

Description

Motion

Prepare the physical motion part: init, reset, start, stop.

See Motion Library for more information.

Pipe Network

Manage the Pipe Network: Create / activate.

See Motion Library - Pipe Network for more information.

Block

Manage the blocks: Create / activate.

See Motion Library - Block for more information.

Pipe Block

Manage each specific Pipe Block: Read / write parameters.

More details on each block

Pipe Block Details
Pipe Block	Motion Block Type	Description
Adder	Transformer	Function blocks related to the Adder block. See Motion Library - Adder.
Axis	Destination	Function blocks related to the Axis block. Used to generate motion using its internal motion generator or motion originating from a Source block (i.e., Master, PMP, or Sampler). See Motion Library - Axis.
CAM	Transformer	Function blocks related to the CAM block. Allows motion to be modified by a CAM created using the Cam Editor or an externally created cam profile. See Motion Library - Cam Profile.
Comparator	Transformer	Function blocks related to the Comparator block. Compares inputs from the output of another Pipe Network block. See Motion Library - Comparator.
Convertor	Convertor	Function blocks related to the Convertor block. Converts Pipe Network units to axis units. See Motion Library - Convertor.
Delay	Transformer	Function blocks related to the Delay block. Adds a time delay at the appropriate section in the Pipe Network. See Motion Library - Delay.
Derivator	Transformer	Function blocks related to the Derivate block. Adds a derivative function to the flow of data in a Pipe Network. See Motion Library - Derivator.
Gear	Transformer	Function blocks related to the Gear block. Adds electronic gearing in the Pipe Network. See Motion Library - Gear.
Integrator	Transformer	Function blocks related to the Integrator block. Integrates the flow of data in a Pipe Network. It is commonly used to smooth out motion. See Motion Library - Integrator.
Master	Source	Function blocks related to the Master block. Serves as a virtual master for synchronizing multiple axes. Motion Accel and Decel use a linear trapezoidal motion generator. See Motion Library - Master.
Phaser	Transformer	Function blocks related to the Phaser block. Serves to produce a flow of output values which are offset (phase shifted) a specified amount from its input. See Motion Library - Phaser.
PMP	Source	Function blocks related to the PMP block. The PMP block is similar to the Master block with these differences: Motion Accel and Decel use a linear parabolic motion generator. Two motions (one forward and the other backwards) can be created with this block. See Motion Library - PMP.
Sampler	Source	Function blocks related to the Sampler block. Used to sample or read a Master for motion synchronization of one or more axes in a Pipe Network. The Master can be either: The secondary feedback attached to a motion fieldbus drive. The Actual Position of a Pipe Network Axis. The output of any Pipe Network Clock. Additional axis variables visible inside a Pipe Network or PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML axis. See Motion Library - Sampler.
Synchronizer	Transformer	Function blocks related to the Synchronizer block. See Motion Library - Synchronizer.
Trigger	Transformer	Function blocks related to the Trigger block. See Motion Library - Trigger.

Pipe Network code is generated automatically by the compiler.
Do not try to modify it.

Click a Pipe Block in the figure to read its description.

Source

Transformer

Convertor

Destination

Master

PMP Generator

Sampler

Derivator

Integrator

Adder

Synchronizer

Delay

Compare

Trigger

Gear

Cam

Phaser

Convertor

Axis

Figure 7-60: List of Pipe Blocks