MLTrigReadPos

 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. - Returns the 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. of the block at the moment when it was triggered.

Inputs

Input	Data Type	Range	Unit	Default	Description
BlockID	DINT	-2147483648 to 2147483647	N/A	No default	ID number of an initiated Trigger object.

Outputs

Output	Data Type	Range	Unit	Description
Position	LREAL	No range	User units	Returns the position of the selected block's Axis at the moment when it was triggered.

Remarks

• 
  

• This function or function block A function block groups an algorithm and a set of private data. It has inputs and outputs. returns cached data.
  See Program a Multi-Core Controller.

• Returns the modulo-applied position of the pipe at the moment it is triggered by the Trigger Block's selected Fast Input The inputs are taken into account at each cycle depending on the system periodicity (i.e., each millisecond). Under certain circumstances, this can be insufficient when more accuracy is needed or if a quick response is required from the system. To fill the gap, a drive may have some Fast Input connections (generally one or two). When an event happens that triggers a Fast Input (e.g., when a sensor sends a rising edge), the detection of a signal occurs faster. This can be 1000 times more accurate than the system periodicity. The timestamp associated with this input can be provided to the IPC to take corrective action..
• This value is only valid when TrigIsTrigged() returns TRUE.
  • The Trigger block extrapolates the output value based on the timestamp A sequence of characters, denoting the date and/or time at which a certain event occurred. of the Fast Input event to provide an accurate position even if the event occurs in the middle of a program cycle.
• Once triggered, a block has to be reset New start of the microprocessor. before it can be triggered again.
  • All events sent to a block while in a triggered state are ignored.
  • The position and time information is lost.
    
• Modulo Calculation: MLTrigReadPos uses the Output Modulo Position value of the previous block in the pipe, even if the previous pipe is configured for No Modulo mode.
  • The previous block must specify a 0 (zero) value for Output Modulo Position before setting the Mode to No Modulo to prevent a modulo operation for MLTrigReadPosPipe.
• Previous Function Name: MLTrigGetPos

Fast Homing - Inputs

See these topics for more information:

• Fast Homing Example with the Pipe Network Motion Engine Axis Pipe Block
• Fast Homing Example with the PLCopen Motion Engine
• Fast Inputs with Pipe Network Motion
• Pipe Network Registration and Fast Homing
• Registration Position Capture Example with Pipe Network Trigger Block

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Save position of Axis when Fast Input event occurs
Trig_Position := MLTrigReadPos( PipeNetwork.TRIGGER );

See Also

• MLAxisRstFastIn
• MLTrigClearFlag
• MLTrigIsTrigged
• MLTrigReadTime