Collaboration diagram for MotionBlocks:

Motion Blocks

Description

The motion block group provides functionality for defining axes, commanding motion, setting and getting axes information.

The conceptual difference between a drive or device and an axis is that a drive or device is the physical device that is connected to the sercos bus and can be configured via S- and P-parameters. An axis is assigned to a drive or device and is accessible through A-parameters. Multiple axes can be assigned to a drive or device (for example, one axis is a real axis that is moving the drive, a second axis is connected to the same drive, but implements an encoder axis).

Note You find a more detailed description of the concept of axes in the IndraWorks help system of the XLC/MLC product.

The m4SMotion* blocks all deal with the motion of axes. The motion commands can be structured in single axis commands, where a single axis is moved, synchronous commands, where slave axes are moved in relation to a master and utility functions like power or homing of an axis.

Each motion command usually uses a set of input arguments to define the particular movement. The command will be executed in the motion-controller and returns a handle.

This handle can be used in following requests to get status information. The handle and the axis reference a particular motion command. One axis can have multiple active commands (e.g. power is switched on and a move is commanded). In contrast, an active motion command will be interrupted as soon as a new motion command is called.

More Information

For further information, refer to the mlpiCore documentation: MotionLib

Copyright

m4SMotionCamIn

Motion Block: Move an axis synchronized by a cam table.

Description

This block commands a slave axis to synchronize to a master axis using a cam table.

Note: To use this function an IndraDrive with cam table functionality is required.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

numerator defines the numerator value. The input must be a scalar uint32 value.

denominator defines the denominator value. The input must be a scalar uint32 value.

fineadjust defines the gear fine adjust value in percent. The input must be scalar numeric value.

camShaftDistance defines the cam shaft distance value in the unit according to the slave axis scaling. The input must be a scalar numeric value.

bExecute defines the block execution. A rising edge from false to true will cause the slave axis to synchronize to the master axis, a falling edge from true to false has no effect. The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default values are [0;0].

Parameters and Dialog Box

Control number of master axis specifies the control number of the master axis. The parameter must be a scalar numeric value.

Axis number of master axis specifies the axis number of the master axis. The parameter must be a scalar numeric value.

Control number of slave axis specifies the control number of the slave axis. The parameter must be a scalar numeric value.

Axis number of slave axis specifies the axis number of the slave axis. The parameter must be a scalar numeric value.

Start mode defines how the synchronization is achived. The parameter can be selected from the popup box. For details refer to MlpiStartMode.

Synchronization direction defines the direction of synchronization. The parameter can be selected from the popup box. For details refer to MlpiSyncDirection.

Cam table ID defines the cam table to be used. The parameter must be a scalar numeric value. For details refer to MlpiCamTableID.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionCamIn_Sample.mdl

m4SMotionClearError

Motion Block: Clear motion error of an axis.

Description

This block resets pending errors of an axis. An axis must not be in state Error when trying to switch power on or to move it.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionClearError_Sample.mdl

m4SMotionGearInPos

Motion Block: Move an axis position synchronized by an electronic gear.

Description

This block commands position synchronization of a slave axis to a master axis. The synchronization is defined by a gear ratio. The gear ratio is calculated as i = (numerator / denominator) * (1 + fineadjust).

Synchronization can be parameterized with startMode and syncMode.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

numerator defines the numerator value. The input must be a scalar uint32 value.

denominator defines the denominator value. The input must be a scalar uint32 value.

fineadjust defines the gear fine adjust value in percent. The input must be scalar numeric value.

bExecute defines the block execution. A rising edge from false to true will cause the slave axis to synchronize to the master axis, a falling edge from true to false has no effect. The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default values of the elements is 0.

Parameters and Dialog Box

Control number of master axis specifies the control number of the master axis. The parameter must be a scalar numeric value.

Axis number of master axis specifies the axis number of the master axis. The parameter must be a scalar numeric value.

Control number of slave axis specifies the control number of the slave axis. The parameter must be a scalar numeric value.

Axis number of slave axis specifies the axis number of the slave axis. The parameter must be a scalar numeric value.

Start mode defines how the synchronization is achived. The parameter can be selected from the popup box. For details refer to MlpiStartMode.

Synchronization direction defines the direction of synchronization. The parameter can be selected from the popup box. For details refer to MlpiSyncDirection.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGearInPos_Sample.mdl

m4SMotionGearIn

Motion Block: Move an axis synchronized by an electronic gear.

Description

This block commands velocity synchronization of a slave axis to a master axis. The synchronization is defined by a gear ratio. The gear ratio is calculated as i = (numerator / denominator) * (1 + fineadjust).

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

numerator defines the numerator value. The input must be a scalar uint32 value.

denominator defines the denominator value. The input must be a scalar uint32 value.

fineadjust defines the gear fine adjust value in percent. The input must be scalar numeric value.

bExecute defines the block execution. A rising edge from false to true will cause the slave axis to synchronize to the master axis, a falling edge from true to false has no effect. The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default values are [0;0].

Parameters and Dialog Box

Control number of master axis specifies the control number of the master axis. The parameter must be a scalar numeric value.

Axis number of master axis specifies the axis number of the master axis. The parameter must be a scalar numeric value.

Control number of slave axis specifies the control number of the slave axis. The parameter must be a scalar numeric value.

Axis number of slave axis specifies the axis number of the slave axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGearIn_Sample.mdl

m4SMotionGetActualAcceleration

Motion Block: Get the actual acceleration of one axis.

Description

This block returns the actual acceleration of one axis.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

acceleration contains the actual acceleration. The output is a scalar double value. The default value is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetActualAcceleration_Sample.mdl

m4SMotionGetActualPosition

Motion Block: Get the actual position of one axis.

Description

This block returns the actual position of one axis.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

position contains the actual position. The output is a scalar double value. The default value is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetActualPosition_Sample.mdl

m4SMotionGetActualTorque

Motion Block: Get the actual torque of one axis.

Description

This block returns the actual torque of one axis.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

torque contains the actual torque. The output is a scalar double value. The default value is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetActualTorque_Sample.mdl

m4SMotionGetActualVelocity

Motion Block: Get the actual velocity of one axis.

Description

This block returns the actual velocity of one axis.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

velocity contains the actual velocity. The output is a scalar double value. The default value is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetActualVelocity_Sample.mdl

m4SMotionGetAxisType

Motion Block: Get all axis type information.

Description

This block reads all axis type information about an axis as defined in structure MlpiAxisTypeDecoder.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

interpolatedInControl contains the value of field InterpolatedInControl of structure MlpiAxisTypeDecoder. The output is a scalar boolean value. The default value is false.

isPackProfile contains the value of field IsPackProfile of structure MlpiAxisTypeDecoder. The output is a scalar boolean value. The default value is false.

isHydraulicDrive contains the value of field IsHydraulicDrive of structure MlpiAxisTypeDecoder. The output is a scalar boolean value. The default value is false.

supportsParameterization contains the value of field SupportsParameterization of structure MlpiAxisTypeDecoder. The output is a scalar boolean value. The default value is false.

type contains the value of field Type of structure MlpiAxisTypeDecoder. The output is a <group___type__fcn.html#MlpiAxisType_help MlpiAxisType>enumeration casted to a scalar int32 value. The default value is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetAxisType_Sample.mdl

m4SMotionGetAxisValues

Motion Block: Read all axis movement values.

Description

This block reads all axis movement values simultaneously in one block.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

position contains the value of field actualPosition of structure MlpiAxisValues. The output is a scalar double value. The default value is 0.

velocity contains the value of field actualVelocity of structure MlpiAxisValues. The output is a scalar double value. The default value is 0.

acceleration contains the value of field actualAcceleration of structure MlpiAxisValues. The output is a scalar double value. The default value is 0.

torque contains the value of field actualTorque of structure MlpiAxisValues. The output is a scalar double value. The default value is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetAxisValues_Sample.mdl

m4SMotionGetConfiguredAxes

Motion Block: Get information about configured axes.

Description

This block reads information about configured axes.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

axisRef contains the control number and the axis number of the configured axes. The output is a Mx2 matrix of type uint32. M is equal to the parameter Number of axes. The default value of the elements is 0.

deviceAddress contains the (SERCOS) device addresses of the configured axes. The output is a column-vector with M elements of type uint32. M is equal to the parameter Number of axes. The default value of the elements is 0.

axisType contains the MlpiAxisType enumeration values of the configured axes casted to uint32. The output is a column-vector with M elements. M is equal to the parameter Number of axes. The default value of the elements is 0.

numElements contains the number K of configured axes. The output is a scalar uint32 value. The default value is 0.

Parameters and Dialog Box

Number of axes specifies the number M of axes that will be read. If there is a number K of axes configured on the target and M = K, all output values are valid. If M > K then only the first set of K-values is valid. The other values are filled with zeros. If M < K the block reads less information than what is available. In both cases (M < K, M > K) a warning is prompted but the output result is positive as there are valid elements at the outputs signals. The valid range for M is 0 < M < 101. The parameter must be a real numeric scalar integer.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetConfiguredAxes_Sample.mdl

m4SMotionGetDiagnosisNumber

Motion Block: Read diagnostic number of an axis.

Description

This block reads the diagnostic number of an axis.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

diagNumber contains the diagnostic number. The output is a scalar uint32 value. The default value is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetDiagnosisNumber_Sample.mdl

m4SMotionGetFullStateExtended

Motion Block: Get all extended state information about an axis.

Description

This block reads all extended state information about an axis as defined in structure MlpiAxisStateExtendedDecoder.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

errorStop contains the value of field ErrorStop of structure MlpiAxisStateExtendedDecoder. The output is a scalar boolean value. The default value is false.

stopping contains the value of field Stopping of structure MlpiAxisStateExtendedDecoder. The output is a scalar boolean value. The default value is false.

homing contains the value of field Homing of structure MlpiAxisStateExtendedDecoder. The output is a scalar boolean value. The default value is false.

powerOn contains the value of field PowerOn of structure MlpiAxisStateExtendedDecoder. The output is a scalar boolean value. The default value is false.

discreteMotion contains the value of field DiscreteMotion of structure MlpiAxisStateExtendedDecoder. The output is a scalar boolean value. The default value is false.

continousMotion contains the value of field ContinousMotion of structure MlpiAxisStateExtendedDecoder. The output is a scalar boolean value. The default value is false.

synchronizedMotion contains the value of field SynchronizedMotion of structure MlpiAxisStateExtendedDecoder. The output is a scalar boolean value. The default value is false.

standstill contains the value of field Standstill of structure MlpiAxisStateExtendedDecoder. The output is a scalar boolean value. The default value is false.

coordinatedMotion contains the value of field CoordinatedMotion of structure MlpiAxisStateExtendedDecoder. The output is a scalar boolean value. The default value is false.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetFullStateExtended_Sample.mdl

m4SMotionGetFullState

Motion Block: Get all state information about an axis.

Description

This block reads all state information about an axis as defined in structure MlpiAxisStateDecoder.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

inAb contains the value of field InAb of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

inbb contains the value of field Inbb of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

power contains the value of field Power of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

standstill contains the value of field Standstill of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

inPosition contains the value of field InPosition of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

inVelocity contains the value of field InVelocity of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

inSynchron contains the value of field InSynchron of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

homed contains the value of field Homed of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

inTorque contains the value of field InTorque of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

operationMode contains the value of field OperationMode of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

cmdActive contains the value of field CmdActive of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

errInProgress contains the value of field ErrInProgress of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

inMasterPhaseOffset contains the value of field InMasterPhaseOffset of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

nrtActive contains the value of field NRTActive of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

interrupted contains the value of field Interrupted of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

modulo contains the value of field Modulo of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

rotary contains the value of field Rotary of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

valid contains the value of field Valid of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

decoupled contains the value of field Decoupled of structure MlpiAxisStateDecoder. The output is a scalar boolean value. The default value is false.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetFullState_Sample.mdl

m4SMotionGetFullStatus

Motion Block: Get all status information about a motion block.

Description

This block reads all status information about a motion block as defined in structure MlpiMotionStatus.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

mhdl defines the motion handle of the block that will be supervised. The input must be a 2x1 vector of type uint32.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

bActive contains the value of field active of structure MlpiMotionStatus. The output is a scalar boolean value. The default value is false.

bDone contains the value of field done of structure MlpiMotionStatus. The output is a scalar boolean value. The default value is false.

bAborted contains the value of field aborted of structure MlpiMotionStatus. The output is a scalar boolean value. The default value is false.

bError contains the value of field error of structure MlpiMotionStatus. The output is a scalar boolean value. The default value is false.

errorID contains the value of field errorID of structure MlpiMotionStatus. The output is a scalar uint16 value. The default value is 0.

table contains the value of field table of structure MlpiMotionStatus. The output is a scalar uint16 value. The default value is 0.

additional 1 contains the value of field additional1 of structure MlpiMotionStatus. The output is a scalar uint32 value. The default value is 0.

additional 2 contains the value of field additional2 of structure MlpiMotionStatus. The output is a scalar uint32 value. The default value is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetFullStatus_Sample.mdl

m4SMotionGetInterpolatedPosition

Motion Block: Get the interpolated position of one axis.

Description

This block returns the interpolated position of one axis.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

position contains the interpolated position. The output is a scalar double value. The default value is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetInterpolatedPosition_Sample.mdl

m4SMotionGetInterpolatedTorque

Motion Block: Get the interpolated torque of one axis.

Description

This block returns the interpolated torque of one axis.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

torque contains the interpolated torque. The output is a scalar double value. The default value is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetInterpolatedTorque_Sample.mdl

m4SMotionGetInterpolatedVelocity

Motion Block: Get the interpolated velocity of one axis.

Description

This block returns the interpolated velocity of one axis.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

velocity contains the interpolated velocity. The output is a scalar double value. The default value is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetInterpolatedVelocity_Sample.mdl

m4SMotionGetModulo

Motion Block: Read modulo value of an axis.

Description

This block reads the modulo value an axis.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

modulo contains the modulo value of the axis. The output is a scalar double value. The default value is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetModulo_Sample.mdl

m4SMotionGetSingleStateExtended

Motion Block: Get extended state information of an axis.

Description

This block reads one of the extended state information as defined in structure MlpiAxisStateDecoderExtended.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

output contains extended state information of an axis. The output is a scalar boolean value. The default value is false. For details refer to MlpiAxisStateDecoderExtended.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetSingleStateExtended_Sample.mdl

m4SMotionGetSingleState

Motion Block: Get status information about a motion block.

Description

This block reads one of the fields of structure MlpiAxisStateDecoder.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

output contains the selected state information of the axis. The output is a scalar boolean value. The default value is false.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetSingleState_Sample.mdl

m4SMotionGetSingleStatus

Motion Block: Get status information about a motion block.

Description

This block reads status information about a motion block. There is four properties of a status that can be read: active, done, aborted error.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

mhdl defines the motion handle of the block that will be supervised. The input must be a 2x1 vector of type uint32.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

output contains the information of the motion command. The output is a scalar boolean value. The default value is false.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionGetSingleStatus_Sample.mdl

m4SMotionMoveAbsolute

Motion Block: Move an axis to an absolute position.

Description

This block commands an absolute position movement. This means that an axis will move to a defined target position.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

position defines the target position. The input must be a scalar double value.

velocity defines the maximum velocity when the axis travels. The input must be a scalar double value.

acceleration defines the maximum acceleration when the axis travels. The input must be a scalar double value.

deceleration defines the maximum deceleration when the axis travels. The input must be a scalar double value.

jerk defines the maximum jerk when the axis travels. The input must be a scalar double value.

bExecute defines the block execution. A rising edge from false to true will cause the axis to move, a falling edge from true to false has no effect. The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default value of the elements is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionMoveAbsolute_Sample.mdl

m4SMotionMoveAdditive

Motion Block: Command additive position movement of an axis.

% <<m4SMotionMoveAdditive_00.png>>
%
% This block commands an additive movement of an axis. The additive
% position is added to the target position and is used as new target. It
% can be used to add a relative position to the already commanded movement.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

distance defines the additive distance to the target position. The input must be a scalar double value.

velocity defines the maximum velocity when the axis travels. The input must be a scalar double value.

acceleration defines the maximum acceleration when the axis travels. The input must be a scalar double value.

deceleration defines the maximum deceleration when the axis travels. The input must be a scalar double value.

jerk defines the maximum jerk when the axis travels. The input must be a scalar double value.

bExecute defines the block execution. A rising edge from false to true will cause the axis to move, a falling edge from true to false has no effect. The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default value of the elements is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionMoveAdditive_Sample.mdl

m4SMotionMoveRelative

Motion Block: Command relative position movement of an axis.

% <<m4SMotionMoveRelative_00.png>>
%
% This block commands a relative movement of an axis. The relative position
% is added to the current position and is used as the new target. The
% difference between this and an additive movement is that the position
% offset is added to the current position, not the target position. So a
% movement command which is currently running will be interrupted and only
% the position offset is added to the current position.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

distance defines the additive distance to the actual position. The input must be a scalar double value.

velocity defines the maximum velocity when the axis travels. The input must be a scalar double value.

acceleration defines the maximum acceleration when the axis travels. The input must be a scalar double value.

deceleration defines the maximum deceleration when the axis travels. The input must be a scalar double value.

jerk defines the maximum jerk when the axis travels. The input must be a scalar double value.

bExecute defines the block execution. A rising edge from false to true will cause the axis to move, a falling edge from true to false has no effect. The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default value of the elements is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionMoveRelative_Sample.mdl

m4SMotionMoveVelocity

Motion Block: Move an axis with controlled velocity.

Description

This block commands a velocity controlled movement of an axis. Once the commanded velocity had been reached, the axis will continue to move with this velocity until another command is issued.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

velocity defines the target velocity. The input must be a scalar double value.

acceleration defines the maximum acceleration when the axis moves. The input must be a scalar double value.

deceleration defines the maximum deceleration when the axis moves. The input must be a scalar double value.

jerk defines the maximum jerk when the axis moves. The input must be a scalar double value.

bExecute defines the block execution. A rising edge from false to true will cause the axis to move, a falling edge from true to false has no effect. The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default value of the elements is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionMoveVelocity_Sample.mdl

m4SMotionOpenCyclicAnalogChannel

Motion Block: Open cyclic analog channel to an axis.

Description

This block writes a cyclic analog value to an axis.

The block can be used to send cyclic data. This can be used to generate your own profilesm contrary to all other motion commands where the profiles are generated by the control. In order to be able to write cyclic data, a channel must be opened first. Once opened, cyclic data should be written each motion cycle. No explicit error will occur if no cyclic data is written. In this case, the last known cyclic value will be send again. But keep in mind, that the movement on the drive might be jittered or even result in errors in the drive. The cyclic command mode can be exited using any other single or synchronous motion command. Prior to opening a cyclic channel, you should initialize the first channel value by using the corresponding write block m4SMotionWriteCyclicAnalog_help.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

bExecute triggers the creation of a cyclic channel with a rising edge from false to true. A negative edge from true to false will have no effect. A cyclic channel will be close by use of another motion block (e.g. m4SMotionStop). The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default value of the elements is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

m4SMotionOpenCyclicPositionChannel

Motion Block: Open cyclic position channel to an axis.

Description

This block writes a cyclic position value to an axis.

The block can be used to send cyclic data. This can be used to generate your own profilesm contrary to all other motion commands where the profiles are generated by the control. In order to be able to write cyclic data, a channel must be opened first. Once opened, cyclic data should be written each motion cycle. No explicit error will occur if no cyclic data is written. In this case, the last known cyclic value will be send again. But keep in mind, that the movement on the drive might be jittered or even result in errors in the drive. The cyclic command mode can be exited using any other single or synchronous motion command. Prior to opening a cyclic channel, you should initialize the first channel value by using the corresponding write block m4SMotionWriteCyclicPosition_help.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

bExecute triggers the creation of a cyclic channel with a rising edge from false to true. A negative edge from true to false will have no effect. A cyclic channel will be close by use of another motion block (e.g. m4SMotionStop). The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default value of the elements is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionOpenCyclicPositionChannel_Sample.mdl

m4SMotionOpenCyclicTorqueChannel

Motion Block: Open cyclic torque channel to an axis.

Description

This block writes a cyclic torque value to an axis.

The block can be used to send cyclic data. This can be used to generate your own profilesm contrary to all other motion commands where the profiles are generated by the control. In order to be able to write cyclic data, a channel must be opened first. Once opened, cyclic data should be written each motion cycle. No explicit error will occur if no cyclic data is written. In this case, the last known cyclic value will be send again. But keep in mind, that the movement on the drive might be jittered or even result in errors in the drive. The cyclic command mode can be exited using any other single or synchronous motion command. Prior to opening a cyclic channel, you should initialize the first channel value by using the corresponding write block m4SMotionWriteCyclicTorque_help.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

bExecute triggers the creation of a cyclic channel with a rising edge from false to true. A negative edge from true to false will have no effect. A cyclic channel will be close by use of another motion block (e.g. m4SMotionStop). The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default value of the elements is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionOpenCyclicTorqueChannel_Sample.mdl

m4SMotionOpenCyclicVelocityChannel

Motion Block: Open cyclic velocity channel to an axis.

Description

This block writes a cyclic velocity value to an axis.

The block can be used to send cyclic data. This can be used to generate your own profilesm contrary to all other motion commands where the profiles are generated by the control. In order to be able to write cyclic data, a channel must be opened first. Once opened, cyclic data should be written each motion cycle. No explicit error will occur if no cyclic data is written. In this case, the last known cyclic value will be send again. But keep in mind, that the movement on the drive might be jittered or even result in errors in the drive. The cyclic command mode can be exited using any other single or synchronous motion command. Prior to opening a cyclic channel, you should initialize the first channel value by using the corresponding write block m4SMotionWriteCyclicVelocity_help.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

bExecute triggers the creation of a cyclic channel with a rising edge from false to true. A negative edge from true to false will have no effect. A cyclic channel will be close by use of another motion block (e.g. m4SMotionStop). The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default value of the elements is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionOpenCyclicVelocityChannel_Sample.mdl

m4SMotionPower

Motion Block: Switch power to an axis.

Description

This block switches power to an axis. This block commands power to an axis. This is only necessary for a real axis. Virtual axes can be moved without applying power to it.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

bPowerOn defines the power state. A rising edge from false to true will switch power on, a falling edge from true to false will switch power off. The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default value of the elements is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionPower_Sample.mdl

m4SMotionStop

Motion Block: Command to stop an axis.

Description

This block commands a stop of motion to the drive.

Note: After calling this block with true at bStop you have to call it again with false to acknowledge the command and to change from PLCopen state Stopping to Standstill.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

deceleration defines the maximum deceleration when the axis travels. The input must be a scalar double value.

jerk defines the maximum jerk when the axis travels. The input must be a scalar double value.

bStop defines the block execution. A rising edge from false to true will cause the axis to start stopping, a falling edge from true to false will release the stopping process and allows the axis state to change to Standstill. The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default value of the elements is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionStop_Sample.mdl

m4SMotionSynchronOut

Motion Block: Exit synchronization mode of an axis.

Description

This block commands an axis to exit synchonization mode. The axis will continue to run with the velocity at the time the block was executed. It can be called after m4SMotionGearIn, m4SMotionGearInPos, m4SMotionFlexProfile and m4SMotionCamIn.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

bStopCommand defines the exit of synchronization. A rising edge from false to true will cause an exit of synchronization, a falling edge from true to false has no effect. The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default value of the elements is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionSynchronOut_Sample.mdl

m4SMotionTorqueControl

Motion Block: Command torque control of an axis.

Description

This block controls a continuously determined torque with a defined torque ramp in a never ending motion. Depending on the scaling, the block is suited for force determination and torque determination (positive force/torque determination in the sense of positive velocity determination). To end the motion, the block has to be interrupted by another motion movement block (e.g. <group___motion_blocks__blk.html#m4SMotionStop_help m4SMotionStop).

The block can only be used with real axes.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

torque defines the torque setpoint value. The input must be a scalar double value.

torqueRamp defines the torque ramp value. The input must be a scalar double value.

bExecute defines the block execution. A rising edge from false to true will cause the axis to move, a falling edge from true to false has no effect. The input must be a scalar boolean value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

mhdl contains the motion handle. The output is a 2x1 vector of type uint32. The default value of the elements is 0.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionTorqueControl_Sample.mdl

m4SMotionWriteCyclicAnalog

Motion Block: Write cyclic analog value to an axis.

Description

This block writes a cyclic analog value to an axis.

A cyclic analog channel to the axis must be opened before this block can be write analog data to the axis. Refer to m4SMotionOpenCyclicAnalogChannel for information about opening a cyclic channel.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

cyclicValue defines the cyclic value. The input must be a scalar double value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

m4SMotionWriteCyclicPosition

Motion Block: Write cyclic position value to an axis.

Description

This block writes a cyclic position value to an axis.

A cyclic position channel to the axis must be opened before this block can be write position data to the axis. Refer to m4SMotionOpenCyclicPositionChannel for information about opening a cyclic channel.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

cyclicValue defines the cyclic value. The input must be a scalar double value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionWriteCyclicPosition_Sample.mdl

m4SMotionWriteCyclicTorque

Motion Block: Write cyclic torque value to an axis.

Description

This block writes a cyclic torque value to an axis.

A cyclic torque channel to the axis must be opened before this block can be write torque data to the axis. Refer to m4SMotionOpenCyclicTorqueChannel for information about opening a cyclic channel.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

cyclicValue defines the cyclic value. The input must be a scalar double value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionWriteCyclicTorque_Sample.mdl

m4SMotionWriteCyclicVelocity

Motion Block: Write cyclic velocity value to an axis.

Description

This block writes a cyclic velocity value to an axis.

A cyclic velocity channel to the axis must be opened before this block can be write velocity data to the axis. Refer to m4SMotionOpenCyclicVelocityChannel for information about opening a cyclic channel.

Block Inputs

connection defines the connection that will be used. The input must be a scalar uint32 value provided by m4SApiConnect.

result defines if the block will be executed. The input must be a scalar int32 value. The block will not be executed if this value is negative. For negative values the input result is directly fed through to the output result.

cyclicValue defines the cyclic value. The input must be a scalar double value.

Block Outputs

connection contains the connection identifier. The input port connection is fed through to this output. The default value of this port is 0.

result contains the return value of the block. The output is a scalar int32 value. If the output is negative other outputs are invalid. The default value of this output is 0. For details refer to the section Error Identification and Handling in Fundamentals of MLPI Programming.

Parameters and Dialog Box

Control number specifies the control number of the axis. The parameter must be a scalar numeric value.

Axis number specifies the axis number of the axis. The parameter must be a scalar numeric value.

Sample time (-1 for inherited) specifies the time interval between samples. To inherit the sample time, set this parameter to -1. This block supports discrete sample time, but not continuous sample time.

Characteristics

Direct Feedthrough	Yes
Sample Time	Fixed Step

Example Model

Here you will find instructions to use the examples.

The following example is available in the folder ./mlpi/mlpi4Simulink/blocks:

m4SMotionWriteCyclicVelocity_Sample.mdl

Motion Blocks

Description

More Information

m4SMotionCamIn

m4SMotionCamIn

Description

Block Inputs

Block Outputs

Parameters and Dialog Box

Characteristics

Example Model

See also