Motion Library - Synchronizer

- For a Synchronizer example, see Usage example of Synchronizer Functions
- For a description of the this pipe block and its parameters, see Pipe Blocks Description

Name	Description	Return type
MLSyncInit	Initializes a synchronizer Pipe Block	BOOL
MLSyncReadDeltaS	Gets the output phasing value of a synchronizer block	None
MLSyncStart	Starts a synchronization of a synchronizer Pipe Block	BOOL
MLSyncStop	De-synchronizes a synchronizer Pipe Block	BOOL
MLSyncWriteDeltaS	Sets the output phasing value of a synchronizer block	BOOL

MLSyncInit

Description

Initializes a synchronizer Pipe Block. Returns TRUE if the function succeeded.

This FB is automatically created in the compiled code of a Pipe Network.

This function block is part of the MLPN_CREATE_OBJECT to initialize the Pipe Network. It is called at the beginning of an application program with the function call:

PipeNetwork(MLPN_CREATE_OBJECTS);

Arguments

Input

BLockID	Description	Name of the Pipe Network Block
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	n/a
	Default	—
ModuloPosition	Description	The modulo distance
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—
CurveType	Description	The curve type to the motion when starting and stopping synchronization. Option are Parabolic or Polynomial
	Data type	DINT
	Range	[1 , 2] (1 = Parabolic, 2 = Polynomial)
	Unit	n/a
	Default	—
DeltaS	Description	The Distance to get in or out of synchronization. This parameter is used in the MLSyncStart and MLSyncStop FunctionBlocks
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—

Output

	Description	Function Block Execute Successfully
	Data type	BOOL
	Unit	n/a

Related Functions

MLSyncWriteDeltaS

Example

Structured Text

//Initialize  a synchronizer  Pipe Block named “ SYN” with a modulo of 360, Curve Type of Parabolic, and a distance (DeltaS) of 30 to get in and out of synchronization
MLSyncInit( PipeNetwork.SYN, 360, 1, 30 );

Ladder Diagram

MLSyncInit: LD example

Function Block Diagram

MLSyncInit: FBD example

MLSyncReadDeltaS

Description

Gets the output phasing value of a synchronizer block. Output phasing is the distance or the slope the output takes to synchronize with the input when MLSyncStart Block is executed (see figure: "Get output phasing after MLSyncStart"). It also affects the distance or the slope the output takes to desynchronize with the input and come to a stop when MLSyncStop Block is executed (see figure: "Get output phasing after MLSyncStop").

Get Output Phasing after MLSyncStart

Get Output Phasing after MLSyncStop

Arguments

Input

BlockID	Description	Name of the Pipe Network Block
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	n/a
	Default	—

Output

DeltaS	Description	Present Delta Slope value
	Data type	LREAL
	Unit	User unit

Related Functions

MLSyncWriteDeltaS

Example

Structured Text

ActScope := MLSyncReadDeltaS( PipeNetwork.SYN );

Ladder Diagram

MLSyncReadDeltaS: LD example

Function Block Diagram

MLSyncReadDeltaS: FBD example

MLSyncStart

Description

Start a synchronization of a synchronizer Pipe Block. Returns TRUE if the function succeeded.

MLSyncStart

Arguments

Input

BLockID	Description	Name of the Pipe Network Block
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	n/a
	Default	—

Output

	Description	Function Block Execute Successfully
	Data type	BOOL
	Unit	n/a

Example

Structured Text

MLSyncStart( PipeNetwork.SYN );

Ladder Diagram

MLSyncStart: LD example

Function Block Diagram

MLSyncStart: FBD example

MLSyncStop

Description

De-synchronizes a synchronizer Pipe Block. Returns TRUE if the function succeeded.

MLSyncStop

Arguments

Input

Position	Description	Motion Stop Position
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—

Output

	Description	Function Block Execute Successfully
	Data type	BOOL
	Unit	n/a

Example

Structured Text

MLSyncStop( PipeNetwork.SYN , 120 );

Ladder Diagram

MLSyncStop: LD example

Function Block Diagram

MLSyncStop: FBD example

MLSyncWriteDeltaS

Description

Set the output phasing value of a synchronizer block. Returns TRUE if the function succeeded. Output phasing is the distance or the slope the output takes to synchronize with the input when MLSyncStart Block is executed. It also affects the distance or the slope the output takes to desynchronize with the input and come to a stop when MLSyncStop Block is executed.

Set output phasing after MLSyncStart

Set output phasing after MLSyncStop

Arguments

Input

BLockID	Description	Name of the Pipe Network Block
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	n/a
	Default	—
DeltaS	Description	Slope to be used during Start and stop of Synchronization
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—

Output

	Description	Function Block Execute Successfully
	Data type	BOOL
	Unit	n/a

Example

Structured Text

MLSyncWriteDeltaS( PipeNetwork.SYN, 45 );

Ladder Diagram

MLSyncWriteDeltaS: LD example

Function Block Diagram

MLSyncWriteDeltaS: FBD example

Usage example of Synchronizer Functions

When you call the MLSyncStop function, the output value is adapted according to the specified Stop-Position (point B).

The OUTPUT_PHASING parameter is used to define point A, where the flow follows a curve in order to smooth the output value.

When you call the MLSyncStart function, the output value is adapted to catch up with the input value.

The OUTPUT_PHASING parameter is also used to define a curve in order to smooth the output value.

Synchronizer Functions Usage