MLGearInit

Pipe Network motion icon

 Function - Initializes a Gear Pipe Block with user-defined settings and for use in a PLC program.

  • This function is automatically called if a Gear Block is added to the Pipe Network, with user-defined settings entered in the Pipe Blocks Properties screen.
  • The Pipe Block is assigned a Name, Ratio, Offset, and Slopes for changes in Ratio and Offset values.
    • Choose between Modulo or Not modulo mode.
    • Slopes set the limit at which step changes in Ratio and Offset are implemented.

    • Set the RatioSlope < (Ratio * EtherCAT Update Rate).
    • The Gear block makes a jump (without a ramp) from one gear to the next when the RatioSlope is greater than the Ratio change factor multiplied by the update rate scale factor.

Inputs

Input

Data Type

See Data Types.

Range

Unit

Default

Description

BlockID

DINT

1 to 1024

N/A

No default

ID number of a created Pipe Block.

Ratio

LREAL

No range

N/A

No default

Ratio coefficient of a new Gear Pipe Block.

  • Values lower than 1.0 can be entered, but require a leading 0 (zero).
    • Example: 0.8 instead of .8.

Offset

LREAL

No range

N/A

No default

Input offset of a Gear Pipe Block.

  • Values lower than 1.0 can be entered, but require a leading 0 (zero).
    • Example: 0.8 instead of .8.

UseUserRatioSlope

BOOL

FALSE, TRUE

N/A

No default

FALSE to use the maximum Slope.

  • FALSE causes an instantaneous gear change within one cycle.
  • Use TRUE to use user-defined RatioSlope.

RatioSlope

LREAL

No range

1/sec

No default

User-defined limit at which step changes in Ratio are implemented.

  • This sets the maximum rate of change at the pipe block output resulting from changes in Ratio parameters.
    • When set to the MAX (the default setting), the slope is infinite.
  • Units are 1/second for RatioSlope.
  • Values lower than 1.0 can be entered, but require a leading 0 (zero).
    • Example: 0.8 instead of .8.

UseUserOffsetSlope

BOOL

FALSE, TRUE

N/A

No default

FALSE to use the maximum Slope.

  • FALSE causes an instantaneous gear change within one cycle.
  • Use TRUE to use user-defined OffsetSlope.

OffsetSlope

LREAL

No range

User units / sec

No default

User-defined limit at which step changes in Offset are implemented.

  • This sets the maximum rate of change at the pipe block output resulting from changes in Offset parameters.
    • When set to the MAX (the default setting), the slope is infinite.
  • Units are user units per second for OffsetSlope.
  • Values lower than 1.0 can be entered, but require a leading 0 (zero).
    • Example: 0.8 instead of .8.

Modulo

BOOL

FALSE, TRUE

N/A

No default

Modulo mode adapts the output values according to the ModuloPosition (modulo).

  • TRUE when the mode is modulo.
  • Modulo mode adapts the output values according to the ModuloPosition (modulo).

Outputs

Output

Data Type

See Data Types.

Range

Unit

Description

Default (.Q)

BOOL

FALSE, TRUE

N/A

Returns TRUE if the Gear Pipe Block is initialized.

Remarks

Modulo Value

If the Gear block's input is a modulo value and the position delta is greater than ½, the modulo value within one sample period in the opposite direction, the Gear block cannot detect the change in the direction of motion.

Example

  • The sample period is: 1 msec.
  • The Master is configured for a 360 degree modulo.
  • The Master position is changed by >180 degrees within 1 msec.
    • In this case, the Gear block cannot determine whether the direction is in the same or opposite direction.

Avoid Modulo Calculation Problems

  • Either deactivate and reactivate the PipeNetwork when forcing the Master position with MLMstForcePos.
  • Use a MLMstAbs or MLMstRel move to force the Master’s position value.

Example

To force the Master position to 0 (zero), use this code:

PipeNetwork(MLPN_DEACTIVATE);
MLMstForcePos(PipeNetwork.MASTER, 0);
PipeNetwork(MLPN_ACTIVATE);

    • Gear objects are normally created in the Pipe Network using the graphical engine.
    • You do not have to add MLGearInit functions to their programs.
    • Parameters are entered directly in pop-up windows; the code is automatically added to the current project.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Initialize a Gear Pipe Block named GEAR1 with:
//  Ratio = 1,Offset = 0, User Ratio Slope OFF, User Ratio
//  Slope = 0, Offset Slope = 0, and no Modulo
GEAR1 := MLBlkCreate( 'GEAR1', 'GEAR' );
MLGearInit( GEAR1, 1.0, 0.0, false, 0.0, false, 0.0, false);

See Also