Master

Function by Types

Motion Control

Inquiry Functions

Position Setting

MLMstInit

MLMstReadAccel

MLMstAbs

MLMstRun

MLMstReadDecel

MLMstAdd

MLMstWriteAccel

MLMstReadInitPos

MLMstForcePos

MLMstWriteDecel

MLMstReadSpeed

MLMstRel

MLMstWriteSpeed

MLMstStatus

 

Functions in Alphabetical Order

Name

Description

MLMstAbs

Performs a move to an absolute position.

MLMstAdd

Performs a move for a specified distance relative to the endpoint of the previous move.

MLMstForcePos

Forces the position of a Master Block to a specified position.

MLMstInit

Initializes a Master TMP generator block.

MLMstReadAccel

Gets the present acceleration value of a master block.

MLMstReadDecel

Gets the present deceleration value of a master block.

MLMstReadInitPos

Gets the initial position of a master block.

MLMstReadSpeed

Gets the speed of a master block.

MLMstRel

Performs a relative move for a specified distance from the current position.

MLMstRun

Jogs at the specified speed.

MLMstStatus

Returns the status of the generator.

MLMstWriteAccel

Sets the acceleration of a master block.

MLMstWriteDecel

Sets the deceleration of a master block.

MLMstWriteInitPos

Sets the initial position of a master block.

MLMstWriteSpeed

Sets the speed of a master block.

Purpose

In contrast to the independent axes approach, synchronized axes must have something to put them in synchronization.

  • This is the main goal of the Master pipe block which contains a Trapezoidal Motion Profile (TMP) generator, which gives the cadence to the machine.
  • It starts, stops and runs the machine at the desired speed.

The TMP Generator provides linear acceleration and deceleration, and also constant speed operation.

  • These values are pure logical values, with generally no direct physical representation.
  • It is a source block which frequently serves as a virtual master for a system comprised of several pipes.
  • A TMP Generator may be commanded to produce a movement of specified length (distance), or to accelerate to setpoint rate and operate at that rate until commanded to operate at a different rate.
  • Acceleration and deceleration rates are also specified by the application.

Parameters

Parameter

Description

Acceleration
  • Acceleration value expressed in user position units per second squared.
  • The acceleration value is always used to generate the first part of the trapezoidal motion profile (TMP).
  • See Set the Axis Block Position Units.

Deceleration
  • Deceleration value expressed in user position units per second squared.
  • The deceleration value is always used to generate the last part of the trapezoidal motion profile (TMP).
  • See Set the Axis Block Position Units.

InitialPosition
  • Initial position value expressed in user position units.
  • Used only at the pipe activation to initialize the position starting point.

Modulo

The available modes are:

  • TRUE - Modulo
  • FALSE - No modulo

ModuloPosition

Modulo Position for cyclic motion systems expressed in user logical units (Position Rollover Value).

SamplingPeriod

  • Sampling period of the generator expressed according to the update cycle.
    • Example: 2.0 means the sampling is done once every 2 cycles.

TravelSpeed
  • Travel speed value expressed in user position units per second.
  • The travel speed value is used to set the constant speed part of the trapezoidal motion profile (TMP).
  • See Set the Axis Block Position Units.

TMP Parameters: INITIAL_POSITION and TRAVEL_SPEED

Figure 1: TMP Parameters: INITIAL_POSITION and TRAVEL_SPEED

TMP Parameters: ACCELERATION and DECELERATION

Figure 2: TMP Parameters: ACCELERATION and DECELERATION

TMP Parameters: MODE 'No Modulo'

Figure 3: TMP Parameters: MODE No Modulo

TMP Parameters: MODE Modulo and MODULO_POSITION

Figure 4: TMP Parameters: MODE Modulo and MODULO_POSITION

Examples: Master Function

Figure 5: MLMstRun(0.0) reduce the speed down to 0.

Figure 6: Master Functions Usage

Associated Data

  • OutputValue: Output value of the data flows.
  • IsReady: Boolean set to TRUE when the pipe block is ready.