MLSmpInit

 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 sampler object.

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.
SamplingPeriod	LREAL	0.25 to ?	Millisecond	1.0	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. that the device is sampled.
Mode	DINT	1, 2 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. or Speed Speed is the absolute value of the velocity without direction.	N/A	Position	Sampled output can be either Position or 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.
InputModuloPosition	LREAL	No range	User units	360.0	Period of the input signal. The value set depends upon the device used. AKD: This should be set equal to 232 (4294967296.0). AKD2G: The value should be set based on the feed constant value assigned in the EtherCAT Ethernet ofr Control Automation Technology. EtherCAT® is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT is to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs. object 0x60E4 subindex 1-5. The default feed constant value is 216 (65536)
OutputModuloPosition	LREAL	No range	User units	360.0	Period of the output signal.

Outputs

Output	Data Type	Range	Unit	Description
Default (.Q)	BOOL		N/A	SMP Block successfully initiated. See Pipe Network - General Rules.

Remarks

• This sampler block is used to periodically sample and place into a pipe some output of a source object.
  • The sampled output can be the POSITION or SPEED of a source object measured by a resolver, an encoder Generates an output signal directly proportional to the movement of the motor shaft. This signal is fed into the control circuitry to control the shaft position and speed. The most common types are: Incremental/Serial encoders, Hall effect sensors, Resolvers, Tachometer Generators See: Optical encoders., or some other types of sensor A type of transducer that converts one type of energy into another for various purposes including measurement or information transfer..
• The sampler implements the logical connection between:
  • An encoder on a physical master axis (the source object).
  • One or more pipes.
  • It performs the function of periodically sampling the source and placing the sampled values into the pipe.
• This function block is automatically called by the Function PipeNetwork(MLPN_CREATE_OBJECTS) if a Smp Block is added to the Pipe Network, with user-defined settings entered in the Pipe Blocks Properties screen.
• The Smp Pipe Block is assigned a Name, SAMPLING_PERIOD, MODE, INPUT_VALUE_PERIOD, and OUTPUT_VALUE_PERIOD.
• This function can be programmed The act of performing a sequence of instructions or commands. from within the Pipe Network block.
  Right-click the block and click Properties.
  
• To offset the Sampler Block Output Position in the Pipe Network either:
  • Place a Phaser Block (and write MLPhaWritePhase in the application code).
  • Place a Gear Block (and write MLGearWriteOff ) after the Sampler Block.

Use AKD Secondary Feedback

Use AKD2G Additional Feedback

The Sampler can be connected to the secondary feedback on the AKD using MLSmpConPNAxis. The scaling for the AKD Secondary Feedback is setup using AKD Parameters: DRV.HANDWHEEL and FB2.ENCRES. The feedback signal comes through EtherCAT in object 0x2050. The scaling for this position signal is 0 to 4294967296 = 0 to FB2.ENCRES. Object 0x2050 rolls 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 to 0 when reaching 4294967296.

The Sampler can be connected to the additional feedback (1-5) on the AKD2G using MLSmpConPNAxis. See the AKD2GFeedback Settings section for setting up the additional feedback type and resolution The resolution is the smallest possible movement that can be achieved by a system. It can be defined at the electronics, encoder and mechanics level. The distance a stage can be commanded to move in a single step. For servo systems, the basic increment produced by its optical encoder, or any other feedback device.. The default feed constant value in the KAS-IDE Kollmorgen Automation Suite - Integrated Development Environment is scaled to 65536. This feed constant value can be changed using EtherCAT object 0x60E9 subindex 1-5. The feedback signal comes through EtherCAT in object 0x60E4 subindex 1-5.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Initialize  a Sampler Pipe Block named “EncoderMaster1” to a Sample Period of 1 millisec, Mode of Operation to 2(Velocity), Input Modulo of 4294967296, and Output Modulo of 720
MLSmpInit( PipeNetwork.EncoderMaster1, 1.0,2,4294967296,720);

See Also

• MLSmpConECAT
• MLSmpConnect
• MLSmpConPLCAxis
• MLSmpConPNAxis