Sampler

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• See Pipe Block Descriptions.

Name	Description
MLSmpConECAT	Connects a sampler block to the specified CoE object in a PDO Process Data Opjects - A type of protocol frame used in some fieldbuses. A PDO contains one or more object dictionary entries, which define the application data transferred between devices..
MLSmpConnect	Connects a sampler block to a pipe network axis or pipe block.
MLSmpConPLCAxis	Connects a sampler block to a specific PLCopen A vendor -and product- independent worldwide association active in Industrial Control and aiming at standardizing PLC file formats based on XML. axis variable.
MLSmpConPNAxis	Connects a sampler block to a specific Pipe Network axis variable.
MLSmpInit	Initializes a sampler object.

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• There is a delay when using an external 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..
  The delay is five cycles:
       2 cycles to read the encoder from the AKD via 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.,
       1 cycle for computing,
       2 cycles for sending the new 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. set point to the AKD).
  This lag error is speed Speed is the absolute value of the velocity without direction. proportional (5 cycles * speed).
  A Phaser block can be used to compensate for this lag.