Axis

- See Examples of Axis Functions for more information.
- See Pipe Block Descriptions for pipe block descriptions and parameters.

Function by Types

Power Stage	Motion Control	Inquiry Functions	Position setting
MLAxisPower	MLAxisAbs	MLAxisGenPos	MLAxisWritePos
MLAxisPowerDOff	MLAxisAdd	MLAxisPipePos	MLAxisReAlign
	MLAxisMoveVel	MLAxisCmdPos
	MLAxisRel	MLAxisReadActPos
	MLAxisStop	MLAxisFBackPos
		MLAxisStatus
		MLAxisReadGenStatus
		MLAxisGenIsRdy
		MLAxisTimeStamp
		MLAxisDriveNumber

Functions in Alphabetical Order

Name	Description
MLAxisAbs	Performs a move to an absolute position.
MLAxisAdd	A selected Axis performs a move for a specified distance relative to the endpoint of the previous move.
MLAxisAddress	Returns the motion bus address of the axis.
MLAxisAddTq	Set the additive torque Torque is the tendency of a force to rotate an object about an axis. Just as a force is a push or a pull, a torque can be thought of as a twist value to the drive output (torque feed-forward This describes an element or pathway within a control system which passes a controlling signal from a source in the control system's external environment, often a command signal from an external operator, to a load elsewhere in its external environment).
MLAxisCfgFastIn	Configures the 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 for the axis by writing the expected settings in the Latch The control word is used to activate the drive's latch status machine. The latch control word is processed independently of the EtherCAT bus cycle. The status word is used to return the drive's latch status Control Word.
MLAxisCmdPos	Returns the reference position of the axis.
MLAxisDriveNumber	Returns the drive number associated with the axis or -1 if the function block failed.
MLAxisFBackPos	Returns the feedback position of the axis.
MLAxisGenEN	Enables or disables the internal 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 of the axis.
MLAxisGenIsEN	Verifies if the internal TMP generator of the axis is enabled.
MLAxisGenIsRdy	Verifies if an axis is ready.
MLAxisGenPos	Returns the generator position of the axis.
MLAxisGenReadAcc	Gets the acceleration of the internal generator of an axis.
MLAxisGenReadDec	Gets the deceleration of the internal generator of an axis.
MLAxisGenReadSpd	Gets the speed of the internal generator of an axis.
MLAxisGenWriteAcc	Sets the acceleration of the internal generator of an axis.
MLAxisGenWriteDec	Sets the deceleration of the internal generator of an axis.
MLAxisGenWriteSpd	Sets the speed of the internal generator of an axis.
MLAxisInit	Initializes an axis object.
MLAxisIsCnctd	Verifies if a pipe is currently connected to the axis.
MLAxisIsTrigged	Verifies if the axis received a trigger event.
MLAxisMoveVel	Jog at the specified speed.
MLAxisPipePos	Returns the pipe position of the axis.
MLAxisPower	Powers up or down the axis. Enables or disables a Servo or Stepper drive mapped to the axis.
MLAxisPowerDOff	This function has been deprecated.
MLAxisRatedTq	Allows conversion of drive torque values from rated torque units (1000 = rated motor continuous torque) to N.m (Newton meter).
MLAxisReadActPos	Returns the actual position of the axis.
MLAxisReadFBUnit	Gets the feedback units per revolution value of the axis.
MLAxisReadFEUU	Returns the difference between the reference position and the actual position of the drive mapped to the specified axis.
MLAxisReadGenStatus	Returns the status of the internal generator of the axis.
MLAxisReadModPos	Gets the value period of the axis.
MLAxisReadTq	Returns the actual torque applied by the drive mapped to the specified axis.
MLAxisReadUUnits	Gets the User units per revolution value of the axis.
MLAxisReadVel	Returns the actual velocity of the axis based on the data provided by the drive's feedback device A process whereby some proportion of the output signal of a system is passed (fed back) to the input. In automation, a device coupled to each motor to provide indication of the motor's shaft angle, for use in commutating the motor and controlling its speed and position.
MLAxisReAlgnRdy	Verifies if an axis is ready.
MLAxisReAlign	Realigns the actual position with the reference position by moving the axis by the specified delta position.
MLAxisRel	A selected Axis performs a move for a specified distance relative to the current position.
MLAxisResetErrors	Clears errors of the specified axis.
MLAxisRstFastIn	Writes in the Latch Control Word to reset the Fast Input.
MLAxisStatus	Returns the status of the axis.
MLAxisStop	Stop with the specified deceleration. This does NOT remove the input source, but to stop the drive from continuing to move.
MLAxisTimeStamp	Returns the timestamp A timestamp is a sequence of characters, denoting the date and/or time at which a certain event occurred of the triggered axis.
MLAxisWriteModPos	Sets the value period of the axis.
MLAxisWritePipPos	Forces the pipe position internal value. This function works only when no pipe is connected.
MLAxisWritePos	Sets a new value to an axis’ current location.
MLAxisWriteUUnits	Set the user units per revolution value of the axis.
MLPNAxisCreate	Creates a new axis object.