MLMstInit

Pipe Network motion icon

Function A function calculates a result according to the current value of its inputs. A function has no internal data and is not linked to declared instances. - Initializes a Master TMP Trapezoidal Motion Profile - This pipe block is a source block that frequently serves as a virtual master for a system composed of several pipes. Generally, a trapezoidal motion profile generator is used to generate a flow of values with a first derivative which produces a trapezoidal trajectory. generator block.

Inputs

Input	Data Type	Range	Unit	Default	Description
BlockID	DINT	-2147483648 to 2147483647	N/A	No default	ID name of the Master Block.
ModuloPosition	LREAL	No range	User units	No default	Modulo Position Position means a point in space which is described by different coordinates. Depending on the used system and transformation it can consist of a maximum of six dimensions (coordinates).This means three Cartesian coordinates in space and coordinates for the orientation. In ACS there can be even more than six coordinates. If the same position is described in different coordinate systems the values of the coordinates are different. for cyclic motion systems expressed in user logical units (Position Rollover Value).
Period Motor systems having a reciprocating or oscillating motor that operates synchronously with the periodicity of the source which supplies the electrical energy. The period of execution of a pipe is the time spent between two successive computations of set values for the same pipe. The period of execution of a pipe is specified by the PERIOD parameter of the input pipe block.	LREAL	No range	Cycles	No default	Sampling period of the generator expressed according to the update cycle. Example: 2.0 means the sampling is done once every 2 cycles.
Speed Speed is the absolute value of the velocity without direction.	LREAL	No range	User units	No default	Travel speed value expressed in user logical units per second. The travel speed value is used to set the constant speed part of the TMP. See Set the Axis Block Position Units.
Acceleration A change in velocity over time. Because velocity is a vector, it can change in two ways: a change in magnitude and/or a change in direction. In one dimension, acceleration is the rate at which something speeds up or slows down. However, more generally, acceleration is a vector quantity expressing the change with time of the velocity both in magnitude and in direction. See these Wikipedia articles for more information: http://en.wikipedia.org/wiki/Velocity http://en.wikipedia.org/wiki/Euclidean_vector http://en.wikipedia.org/wiki/Rate_(mathematics)	LREAL	No range	User unit/sec²	No default	Acceleration value expressed in user logical units per second squared. The acceleration value is always used to generate the first part of the TMP. See Set the Axis Block Position Units.
Deceleration	LREAL	No range	User unit/sec²	No default	Deceleration value expressed in user logical units per second squared. The deceleration value is always used to generate the last part of the TMP. See Set the Axis Block Position Units.
InitialPosition	LREAL	No range	User units	No default	Initial position value expressed in user logical units. Used only at the pipe activation to initialize the position starting point.
Modulo	BOOL	0, 1	N/A	No default	The available modes are: TRUE - Modulo FALSE - No modulo

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL			Returns TRUE when the function successfully executes. See Pipe Network - General Rules.

Output

Data Type

Range

Unit

Description

Default (.Q)

BOOL

Returns TRUE when the function successfully executes.

See Pipe Network - General Rules.

Remarks

This function is automatically created when the MLMaster Block is included in the Pipe Network Editor.
Based on the parameters defined in the Master pipe block, the Inputs for this function are initialized by default.
- See example in the TMP Initialization image.

Figure 1: TMP Initialization

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Initialize  a Master Pipe Block named “MASTER” to a Modulo of 360, motion generator sample period of 1,Speed of 1000.0, Accel and Decel of 10000.0, Initial position of 0.0,
MLMstInit( PipeNetwork.MASTER, 360.0, 1.0, 1000.0, 10000.0, 10000.0, 0.0, true );