Motion Library - Trigger

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• • For an example of Trigger functions, see Usage example of Trigger Functions
  • For a description of the this pipe block and its parameters, see Pipe Blocks Description

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 sensorA sensor is a type of transducer that converts one type of energy into another for various purposes including measurement or information transfer 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

MLTrigClearFlag

Description

Clears the flag of an initiated Trigger block so the block can capture the position and time of the next event. Once triggered, a block has to be reset with this command 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.

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• The Fast InputThe inputs are taken into account at each cycle depending on the system periodicity (for example each millisecond). Under certain circumstances this can be insufficient when more accuracy is needed, or if a quick response is required from the system. To fill the gap, a drive may have some Fast Input connections (generally one or two). When an event happens that triggers a Fast Input (e.g. when a sensor sends a rising edge), the detection of a signal occurs faster (which can be 1000 times more accurate than the system periodicity). Then the timestamp associated with this input can be provided to the IPC to take corrective action assigned to a Trigger block has to be reset as well before information on a new event can be captured. MLAxisRstFastIn is generally used at the same time as MLTrigClearFlag

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• This function or function block returns cached data. See Programming a Dual Core Controller for more information.

Arguments

Input

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

Output

Default (.Q)	Description	Returns TRUE if function block is executed See more details here
	Data type	BOOL
	Unit	n/a

Return Type

BOOL

Related Functions

MLAxisRstFastIn

MLTrigIsTrigged

MLTrigReadPos

MLTrigReadTime

See Also

• Fast Inputs with Pipe Network Motion
• Fast Inputs with PLCOpen
• Fast Homing Example with the Pipe Network Motion Engine Axis Pipe Block
• Fast Homing Example with the PLCopen Motion Engine
• Pipe Network Registration and Fast Homing
• Registration Position Capture Example with Pipe Network Trigger Block

Example

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//Clear Trigger Flag MLTrigClearFlag( PipeNetwork.TRIGGER );

Ladder Diagram

Function Block Diagram

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MLTrigInit

Description

Initializes a Trigger object for use in a PLC"Programmable Logic Controller" A Programmable Logic Controller, PLC, or Programmable Controller is a digital computer used for automation of industrial processes, such as control of machinery on factory assembly lines. Used to synchronize the flow of inputs from (physical) sensors and events with the flow of outputs to actuators and events Program. 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 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.

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• 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 0 = Touch Probe 1 / Capture Engine 0 1 = Touch Probe 2 / Capture Engine 1 Range is [0,1]
	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 edgeA rising edge is the transition of a digital signal from low to high. It is also called positive 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

Default (.Q)	Description	Returns TRUE if function block is executed See more details here
	Data type	BOOL
	Unit	n/a

Return Type

BOOL

Related Functions

MLTrigIsTrigged

MLTrigReadPos

MLTrigClearFlag

MLAxisRstFastIn

See Also

• Fast Inputs with Pipe Network Motion
• Fast Inputs with PLCOpen
• Fast Homing Example with the Pipe Network Motion Engine Axis Pipe Block
• Fast Homing Example with the PLCopen Motion Engine
• Pipe Network Registration and Fast Homing
• Registration Position Capture Example with Pipe Network Trigger Block

Example

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//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

 

Function Block Diagram

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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.

 

Figure 7-109: MLTrigIsTrigged

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• 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.

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• This function or function block returns cached data. See Programming a Dual Core Controller for more information.

Arguments

Input

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

Output

Default (.Q)	Description	Returns TRUE if the selected Trigger Object has Triggered See more details here
	Data type	BOOL
	Unit	n/a

Return Type

BOOL

Related Functions

MLTrigReadPos

MLTrigReadTime

See Also

• Fast Inputs with Pipe Network Motion
• Fast Inputs with PLCOpen
• Fast Homing Example with the Pipe Network Motion Engine Axis Pipe Block
• Fast Homing Example with the PLCopen Motion Engine
• Pipe Network Registration and Fast Homing
• Registration Position Capture Example with Pipe Network Trigger Block

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

 

Function Block Diagram

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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

See Also

• Fast Inputs with Pipe Network Motion
• Fast Inputs with PLCOpen
• Fast Homing Example with the Pipe Network Motion Engine Axis Pipe Block
• Fast Homing Example with the PLCopen Motion Engine
• Pipe Network Registration and Fast Homing
• Registration Position Capture Example with Pipe Network Trigger Block

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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 timestampA timestamp is a sequence of characters, denoting the date and/or time at which a certain event occurred 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.

Figure 7-110: MLTrigReadPos

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• This function or function block returns cached data. See Programming a Dual Core Controller for more information.

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

MLTrigIsTrigged

MLTrigReadTime

MLTrigClearFlag

MLAxisRstFastIn

See Also

• Fast Inputs with Pipe Network Motion
• Fast Inputs with PLCOpen
• Fast Homing Example with the Pipe Network Motion Engine Axis Pipe Block
• Fast Homing Example with the PLCopen Motion Engine
• Pipe Network Registration and Fast Homing
• Registration Position Capture Example with Pipe Network Trigger Block

Previous Function Name

MLTrigGetPos

Example

Structured Text

//Save position of Axis when Fast Input event occurs Trig_Position := MLTrigReadPos( PipeNetwork.TRIGGER );

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Function Block Diagram

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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.

 

Figure 7-111: MLTrigReadTime

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• This function or function block returns cached data. See Programming a Dual Core Controller for more information.

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

MLTrigIsTrigged

MLTrigReadPos

MLTrigClearFlag

MLAxisRstFastIn

See Also

• Fast Inputs with Pipe Network Motion
• Fast Inputs with PLCOpen
• Fast Homing Example with the Pipe Network Motion Engine Axis Pipe Block
• Fast Homing Example with the PLCopen Motion Engine
• Pipe Network Registration and Fast Homing
• Registration Position Capture Example with Pipe Network Trigger Block

Previous Function Name

MLTrigGetTime

Example

//Save time when Fast Input event occurs

Trig_Time := MLTrigReadTime( PipeNetwork.TRIGGER );

 

Ladder Diagram

 

Function Block Diagram

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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 inputThe inputs are taken into account at each cycle depending on the system periodicity (for example each millisecond). Under certain circumstances this can be insufficient when more accuracy is needed, or if a quick response is required from the system. To fill the gap, a drive may have some Fast Input connections (generally one or two). When an event happens that triggers a Fast Input (e.g. when a sensor sends a rising edge), the detection of a signal occurs faster (which can be 1000 times more accurate than the system periodicity). Then the timestamp associated with this input can be provided to the IPC to take corrective action 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

See Also

• Fast Inputs with Pipe Network Motion
• Fast Inputs with PLCOpen
• Fast Homing Example with the Pipe Network Motion Engine Axis Pipe Block
• Fast Homing Example with the PLCopen Motion Engine
• Pipe Network Registration and Fast Homing
• Registration Position Capture Example with Pipe Network Trigger Block

Examples

Function Block Diagram

Ladder Diagram

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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

Default (.Q)	Description	Returns TRUE if the delay is successfully set See more details here
	Data type	BOOL
	Unit	n/a

Return Type

BOOL

Related Functions

MLTrigReadDelay

See Also

• Fast Inputs with Pipe Network Motion
• Fast Inputs with PLCOpen
• Fast Homing Example with the Pipe Network Motion Engine Axis Pipe Block
• Fast Homing Example with the PLCopen Motion Engine
• Pipe Network Registration and Fast Homing
• Registration Position Capture Example with Pipe Network Trigger Block

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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.

Figure 7-112: Trigger Functions Usage

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• 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.

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