MLSmpConPNAxis

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. - Connects a sampler block to a specific Pipe Network axis variable.

Inputs

Input	Data Type	Range	Unit	Default	Description
BlockID	DINT	-2147483648 to 2147483647	N/A	No default	ID Name of the SMP function block A function block groups an algorithm and a set of private data. It has inputs and outputs. in the Pipe Network.
AxisID	DINT	-2147483648 to 2147483647	N/A	No default	ID Name of the axis the sampler is connected to.
Variable	UINT	N/A Use available macros.	N/A	No default	Variable to be connected to. Use one of these Internal Defines: ML_ACTUAL_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. ML_ACTUAL_TORQUE The tendency of a force to rotate an object about an axis. A force is a push or a pull; a torque is a twist. ML_ACTUAL_VELOCITY For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP ML_CURRENT_POSITION ML_FEEDBACK_POSITION ML_FOLLOWING_ERROR ML_GENERATOR_POSITION ML_PIPE_POSITION ML_REFERENCE_POSITION

Input

Data Type

Range

Unit

Default

Description

BlockID

DINT

-2147483648 to 2147483647

N/A

No default

ID Name of the SMP function block A function block groups an algorithm and a set of private data. It has inputs and outputs. in the Pipe Network.

AxisID

DINT

-2147483648 to 2147483647

N/A

No default

ID Name of the axis the sampler is connected to.

Variable

UINT

N/A

Use available macros.

N/A

No default

Variable to be connected to.

Use one of these Internal Defines:

ML_ACTUAL_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.
ML_ACTUAL_TORQUE The tendency of a force to rotate an object about an axis. A force is a push or a pull; a torque is a twist.
ML_ACTUAL_VELOCITY For a group of axes this means: In ACS the velocities of the different axes. In MCS and PCS it provides the velocity of the TCP
ML_CURRENT_POSITION
ML_FEEDBACK_POSITION
ML_FOLLOWING_ERROR
ML_GENERATOR_POSITION
ML_PIPE_POSITION
ML_REFERENCE_POSITION

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL		N/A	Function block is operational. See Pipe Network - General Rules.

Output

Data Type

Range

Unit

Description

Default (.Q)

BOOL

N/A

Function block is operational.

See Pipe Network - General Rules.

Remarks

Figure 1: MLSmpConPNAxis

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Connect a sampler block named “SAMPLER” to a variable named ML_PIPE_POSITION  from a Pipe Network Axis named PipeNetwork.AXIS1
MLSmpConPNAxis( PipeNetwork.SAMPLER , PipeNetwork.AXIS1, ML_PIPE_POSITION );