MLPmpInit

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 PMP block for use in a PLC Programmable Logic Controller - A digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines. Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events. program The act of performing a sequence of instructions or commands..

Inputs

Input	Data Type	Range	Unit	Default	Description
BlockID	DINT	-2147483648 to 2147483647	N/A	No default	ID name of a PMP function block A function block groups an algorithm and a set of private data. It has inputs and outputs. in the Pipe Network.
ModuloPosition	LREAL	No range	User units	360.0	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	User units	1.0	Sampling period of the generator expressed according to the update cycle. Example: 2.0 means the sampling is done once every 2 cycles.
FirstTravelSpeed	LREAL	No range	User unit/sec	100.0	First travel speed Speed is the absolute value of the velocity without direction. of the motion.
LastTravelSpeed	LREAL	No range	User unit/sec	100.0	Last travel speed of the motion.
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	1000.0	Acceleration of the PMP block motion.
Jerk In physics, jerk is the rate of change of acceleration. More precisely, the derivative of acceleration with respect to time.	LREAL	No range	User unit/sec³	0 (zero)	Jerk.
InitialPosition	LREAL	No range	User units	0 (zero)	Initial position of the PMP block when the Pipe Network is started.
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		N/A	Returns TRUE if the function or function block is successfully executing. See Pipe Network - General Rules.

Output

Data Type

Range

Unit

Description

Default (.Q)

BOOL

N/A

Returns TRUE if the function or function block is successfully executing.

See Pipe Network - General Rules.

Remarks

Initializes a PMP object (Parabolic Motion Profile generator) with user-defined settings.
This function block is automatically called by the function Pipe Network(MLPN_CREATE_OBJECTS) if a PMP block is added to the Pipe Network.
- User-defined settings are entered in the Pipe Blocks Properties screen.
The PMP pipe block is assigned a Name, SAMPLING_PERIOD, MODULO_POSITION, FIRST_TRAVEL_SPEED, LAST_TRAVEL_SPEED, ACCELERATION, JERK, and INITIAL Position.
Some of these parameters can be changes in an application program using other MLPmp function blocks.
An MLPmpRel function block is used to make a bi-directional motion.
- First movement in one direction The orientation components of a vector in space., then a return motion back to the initial position.
An MLPmpAbs function block is used to move one direction to an absolute position.

PMP objects are normally created in the Pipe Network using the graphical engine.
You do not have to add MLPmpInit function blocks to their programs.
Parameters are entered directly in pop-up windows and the code is automatically added to the current project.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Initialize  a PMP Pipe Block named “PMP” to a modulo roll An angular deviation from an ideal straight line motion, in which the positioning table rotates around its axis of travel as it translates along that axis. over of 360, motion generator sample period of 1,First Travel Speed of 800.0, Second Travel Speed of 20000.0, Accel of 20000.0,Jerk of 520.0, Initial position of 0.0
MLPmpInit( PipeNetwork.Pmp , 360.0, 1.0, 800.0, 20000.0, 20000.0, 520.0, 0, true  ) ;