Motion Library - Trigger

Name	Description	Return type
MLTrigClearFlag	Clears the flag of an initiated Trigger block	BOOL
MLTrigInit	Initializes a Trigger object	BOOL
MLTrigIsTrigged	Checks if the selected block has been triggered	BOOL
MLTrigReadDelay	Returns the time that the trigger block uses to compensate the delay of the sensor that captures the triggering signal	None
MLTrigReadPos	Returns the position of the block at the moment when it was triggered	None
MLTrigReadTime	Returns the time of the moment where the block was triggered in milliseconds	None
MLTrigSetEdge	Sets the edge configuration for a Trigger object	BOOL
MLTrigWriteDelay	Sets the time that the trigger block uses to compensate for the delay introduced by the sensor that captures the triggering signal	BOOL

MLTrigInit

Description

Initializes a Trigger object for use in a PLC Program. Function block is automatically called if a Trigger Block is added to the Pipe Network, with user-defined settings entered in the Pipe Blocks Properties screen.

The Trigger object monitors a selected Fast Input and captures the time of a rising or falling edge event. With the time and pipe position information the Trigger object extrapolates the axis position when the Fast Input event occurred.

Parameters to enter include the name of the Pipe Block, the Axis where the Fast Input is located, the number of the desired Fast Input, and whether to trigger on the rising or falling edge of the input.

See also "Fast inputs" for more details.

Trigger objects are normally created in the Pipe Network using the graphical engine. Then you do not have to add MLTrigInit 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	—

Input_Axis	Description	Name of the axis where the Fast Input is located
	Data type	STRING
	Range	—
	Unit	n/a
	Default	—

InputID	Description	ID number of the Fast Input
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	n/a
	Default	—

EdgeID	Description	Trigger at rising or falling edge of Fast Input. Enter 1 for rising edge, 2 for falling edge, and 0 disables the Fast Input
	Data type	DINT
	Range	[0 , 2]
	Unit	n/a
	Default	1 (Rising edge)

Output

	Description	Returns TRUE if function block is executed
	Data type	BOOL
	Unit	n/a

Return Type

BOOL

Related Functions

Example

Structured Text

//Create and Initiate a Trigger Pipe Block named “Trigger” and set it up to receive the trigger signal from Axis1, capture engine 0, and the rising edge of the signal
TRIGGER := MLBlkCreate( 'TRIGGER', 'TRIGGER' );
MLTrigInit( TRIGGER, 'Axis1', 0, 1 );

Ladder Diagram

MLTrigInit: LD example

Function Block Diagram

MLTrigInit: FBD example

MLTrigIsTrigged

Description

Checks if the selected block has been triggered. When a block has been triggered, it contains the time and position when a Fast Input event occurred. The application has to reset the block before the block can be triggered again. All trigger events that are sent to the block during its triggered state are lost.

MLTrigIsTrigged

Once triggered, a block has to be reset before it can be triggered again. All events that are sent to a block while in a triggered state are ignored and the position and time information is lost.

Arguments

Input

BlockID	Description	ID number of an initiated Trigger object
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	n/a
	Default	—

Output

	Description	Returns TRUE if the selected Trigger Object has Triggered
	Data type	BOOL
	Unit	n/a

Return Type

BOOL

Related Functions

MLTrigReadPos

MLTrigReadTime

Example

//Check if a Trigger Block has been triggered, then save position

IF MLTrigIsTrigged( PipeNetwork.TRIGGER ) THEN

Trig_Position := MLTrigReadPos( PipeNetwork.TRIGGER );

END_IF

Ladder Diagram

MLTrigIsTrigged: LD example

Function Block Diagram

MLTrigIsTrigged: FBD example

MLTrigReadDelay

Description

Electronic sensors are not able to respond immediately to a signal. Sensors usually require a certain amount of time to process a change of state in their input signal. This function returns the delay that has been programmed in a trigger block by the MLTrigWriteDelay function to compensate for this reaction time required by the sensor.

Input

BlockID	Description	Identifier of the trigger block whose delay is requested
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	n/a
	Default	—
En	Description	Enables execution
	Data type	BOOL
	Unit	n/a
	Default	-

Output

Delay	Description	Value of the delay compensation currently applied by the trigger block
	Data type	LREAL
	Unit	microseconds
OK	Description	Returns true when the function successfully executes
	Data type	BOOL
	Unit	n/a

Related Functions

MLTrigWriteDelay

MLTrigReadPos

Description

Returns the position of the block at the moment when it was triggered by the Trigger Block's selected Fast Input. This value is only valid when TrigIsTrigged() returns TRUE. The Trigger block extrapolates the output value based on the timestamp 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 before it can be triggered again. All events that are sent to a block while in a triggered state are ignored and the position and time information is lost.

See also "Fast inputs" for more details.

MLTrigReadPos

Arguments

Input

BlockID	Description	ID number of an initiated Trigger object
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	n/a
	Default	—

Output

Position	Description	Returns the position of the selected block's Axis at the moment when it was triggered
	Data type	LREAL
	Unit	User unit

Related Functions

Previous Function Name

MLTrigGetPos

Example

Structured Text

//Save position of Axis when Fast Input event occurs

Trig_Position := MLTrigReadPos( PipeNetwork.TRIGGER );

Ladder Diagram

MLTrigReadPos: LD example

Function Block Diagram

MLTrigReadPos: FBD example

MLTrigReadTime

Description

Returns the time of the moment where the block was triggered in milliseconds. This value is only valid when TrigIsTrigged() returns TRUE. The output is computed from the timestamp of a Fast Input time event

Once triggered, a block has to be reset before it can be triggered again. All events that are sent to a block while in a triggered state are ignored and the position and time information is lost.

See also "Fast inputs" for more details.

MLTrigReadTime

Arguments

Input

BlockID	Description	ID number of an initiated Trigger object
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	n/a
	Default	—

Output

Time	Description	Returns the time that the Trigger Block's selected Fast Input was triggered
	Data type	LREAL
	Unit	milliseconds

Related Functions

Previous Function Name

MLTrigGetTime

Example

//Save time when Fast Input event occurs

Trig_Time := MLTrigReadTime( PipeNetwork.TRIGGER );

Ladder Diagram

MLTrigReadTime: LD example

Function Block Diagram

MLTrigReadTime: FBD example

MLTrigSetEdge

Description

Sets the edge configuration (rising, falling, etc.) for a trigger block. This block should be called prior to calling MLAxisCfgFastIn. Also the value at the Edge input must match the value at MLAxisCfgFastIn’s Mode input.

Arguments

Input

BlockID	Description	Identifier of the trigger block
	Data type	DINT
	Range	[-2147483648, 2147483647]
	Unit	n/a
	Default	—
Edge	Description	The edge on which to trigger 0 = disable the fast input 1 = rising edge 2 = falling edge
	Data type	DINT
	Range	[0,2]
	Unit	n/a
	Default	1 (rising edge)

Output

Q	Description	True if block executed successfully False if execution is not successful
	Data type	BOOL
	Unit	n/a

Return Type

BOOL

Examples

Function Block Diagram

Ladder Diagram

Structured Text

MLTrigWriteDelay

Description

Electronic sensors are not able to respond immediately to a signal. Sensors usually require a certain amount of time to process a change of state in their input signal. This function allows the trigger block to calculate the exact moment at which a signal was triggered by letting you specify the delay introduced by the sensor.

Input

BlockID	Description	Identifier of the trigger block
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	n/a
	Default	—
Delay	Description	Reaction time of the sensor that the trigger block has to compensate
	Data type	LREAL
	Range	—
	Unit	microseconds
	Default	—

Output

	Description	Returns TRUE if the delay is successfully set
	Data type	BOOL
	Unit	n/a

Return Type

BOOL

Related Functions

MLTrigReadDelay

Usage example of Trigger Functions

When you call the MLTrigClearFlag function, the flag for trigger is reset to False.

When a Fast Input is set, the MLTrigIsTriggered function returns True.

Then you can call the MLTrigReadPos and MLTrigReadTime functions to get more details.

Trigger Functions Usage

The trigger delay has to be calculated by you and set with the MLTrigWriteDelay function block.
This delay belongs to the sensor and it is additional to the MLTrigReadTime / MLTrigReadPos.