MLPmpInit

Pipe Network motion icon

Function - Initializes a PMP block for use in a PLC program.

Initializes a PMP object (Parabolic Motion Profile generator) with user-defined settings.
This function block is automatically called by the function Pipe Network(MLPN_CREATE_OBJECTS) if a PMP block is added to the Pipe Network.
- User-defined settings are entered in the Pipe Blocks Properties screen.
The PMP pipe block is assigned a Name, SAMPLING_PERIOD, MODULO_POSITION, FIRST_TRAVEL_SPEED, LAST_TRAVEL_SPEED, ACCELERATION, JERK, and INITIAL Position.
Some of these parameters can be changes in an application program using other MLPmp function blocks.
An MLPmpRel function block is used to make a bi-directional motion.
- First movement in one direction, then a return motion back to the initial position.
An MLPmpAbs function block is used to move one direction to an absolute position.

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

Inputs

Input	Data Type See Data Types.	Range	Unit	Default	Description
BlockID	DINT	1 to 1024	N/A	No default	ID name of a PMP function block in the Pipe Network.
ModuloPosition	LREAL	No range	User units	No default	Modulo Position for cyclic motion systems expressed in user logical units. Position Rollover Value.
Period	LREAL	No range	User units	No default	Sampling period of the generator expressed according to the update cycle. Example: 2.0 means the sampling is done once every 2 cycles.
FirstTravelSpeed	LREAL	No range	User units / sec	No default	First travel speed of the motion.
LastTravelSpeed	LREAL	No range	User units / sec	No default	Last travel speed of the motion.
Acceleration	LREAL	No range	User units / sec²	No default	Acceleration of the PMP block motion.
Jerk	LREAL	No range	User units / sec³	No default	Jerk.
InitialPosition	LREAL	No range	User units	No default	Initial position of the PMP block when the Pipe Network is started.
Modulo	BOOL	FALSE, TRUE	N/A	No default	The available modes are: TRUE = Modulo. FALSE = No modulo.

Outputs

Output	Data Type See Data Types.	Range	Unit	Description
Default (.Q)	BOOL	FALSE, TRUE	N/A	Returns TRUE if the function or function block is successfully executing. See Pipe Network - General Rules.

Output

Data Type

See Data Types.

Range

Unit

Description

Default (.Q)

BOOL

FALSE, TRUE

N/A

Returns TRUE if the function or function block is successfully executing.
See Pipe Network - General Rules.

FBD Language Example

FFLD Language Example

IL Language Example

Not available.

ST Language Example

//Initialize  a PMP Pipe Block named “PMP” to a modulo roll over of 360, motion generator sample period of 1,First Travel Speed of 800.0, Second Travel Speed of 20000.0, Accel of 20000.0,Jerk of 520.0, Initial position of 0.0
MLPmpInit( PipeNetwork.Pmp , 360.0, 1.0, 800.0, 20000.0, 20000.0, 520.0, 0, true  ) ;