MLPmpRel

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. - Used to perform two subsequent relative moves.

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.
DeltaFirst	LREAL	No range	User units	Value defined in the setup of a PMP block in a Pipe Network.	Length of the first move. The value is entered in the FIRST_TRAVEL_SPEED Speed is the absolute value of the velocity without direction. field in the Parameter tab.
DeltaSecond	LREAL	No range	User units	Value defined in the setup of a PMP block in a Pipe Network.	Length of the second (return) move. The value is entered in the LAST_TRAVEL_SPEED field in the Parameter tab.

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.

DeltaFirst

LREAL

No range

User units

Value defined in the setup of a PMP block in a Pipe Network.

Length of the first move.

The value is entered in the FIRST_TRAVEL_SPEED Speed is the absolute value of the velocity without direction. field in the Parameter tab.

DeltaSecond

LREAL

No range

User units

Value defined in the setup of a PMP block in a Pipe Network.

Length of the second (return) move.

The value is entered in the LAST_TRAVEL_SPEED field in the Parameter tab.

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL		N/A	Returns TRUE if the function or function block successfully completed. See Pipe Network - General Rules.

Output

Data Type

Range

Unit

Description

Default (.Q)

BOOL

N/A

Returns TRUE if the function or function block successfully completed.

See Pipe Network - General Rules.

Remarks

Using the MLPmpRel function block, the PMP Generator produces forward-backward motions with a non-stop, jerk-free transition through zero speed.
- See the example image PMP Generator Forward and Backward Motion Profile.
- This feature is useful for linear axes which must move back and forward without any pause at one end.
This function is used to do a single relative move, ending in zero speed, by setting the DeltaSecond argument to zero (0.0).
- If it is done, for the controlling speed to be the first move, the Last_Travel_Speed parameter must be set equal to or greater than the First_Travel_Speed parameter.
The slower of the two speeds is utilized to optimize the S-curve behavior for the move whether it is a 2 or 1 delta move.
If the DeltaSecond argument is non-zero, it must have the opposite sign than the sign of the DeltaFirst argument.

Figure 1: PMP Generator Forward and Backward Motion Profile

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Execute a Relative move on a PMP Block name “PmpMaster” with a First Travel Speed of 750.0, Second Travel Speed of -500,
MLPmpRel( PipeNetwork.PmpMaster, 750 , -500);