You are here:

Motion Library - Integrator

For a description of the this pipe block and its parameters, see Pipe Blocks Description

Name	Description	Return type
MLIntInit	Initializes an integrator object	BOOL
MLIntWriteOutVal	Sets the output value of an integrator object	BOOL

MLIntInit

Description

Initializes an integrator object. FunctionA 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. block is automatically called if an Integrator Block is added to the Pipe Network, with user-defined settings entered in the Pipe Blocks Properties screen.

Integrator object can operate in Modulo or not modulo mode. While in Modulo mode, the output values are adapted according to the entered ModuloPosition value.

MLIntInit

Figure 11-98: MLIntInit

Integrator objects are normally created in the Pipe Network using the graphical engine. Then you do not have to add MLIntInit function blocks to their programs. Parameters are entered directly in pop-up windows, and the code is then automatically added to the current project.

Arguments

Input

BlockID	Description	ID number of a created Pipe Block
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	n/a
	Default	—
ModuloPosition	Description	Output ModuloPosition of Integrator object
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	360.0

Modulo	Description	TRUE when mode is modulo. Modulo mode adapts the output values according to the ModuloPosition (modulo)
	Data type	BOOL
	Range	0, 1
	Unit	n/a
	Default	TRUE

Output

Default (.Q)

Description

Returns TRUE if the Integrator object is initialized

See more details here

Data type

BOOL

Unit

n/a

Return Type

BOOL

Related Functions

MLBlkCreate

MLIntWriteOutVal

Example

Structured Text

//Initiate an Integrator Pipe Block named “MyIntegrator” with a Modulo of 360
MLIntInit(MyIntegrator, 360.0, true );

Ladder Diagram

MLIntInit: LD example

Function Block Diagram

MLIntInit: FBD example

[Top]

MLIntWriteOutVal

Description

Sets the output value of an integrator object. This function can force the output to an entered value not dependent on the input value from the Pipe Network.

Output value can jump to another value instantly after the function is executed if the Pipe Network is running.

Arguments

Input

BlockID	Description	ID number of an initiated Integrator object
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	n/a
	Default	—
Value	Description	Desired new output value of the selected Integrator object
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—