Motion Library - Derivator

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

Name	Description	Return type
MLDerInit	Initializes a derivator object	BOOL
MLDerReadInModPos	Returns the input MODULO_POSITION of the Derivator block	None
MLDerWriteInModPos	Sets the input MODULO_POSITION of the Derivator block	BOOL

MLDerInit

Description

Initializes an derivator 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 a Derivator Block is added to the Pipe Network, with user-defined settings entered in the Pipe Blocks Properties screen. Input ModuloPosition is defined to manage the periodicity (modulo) of the input values.

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

Figure 7-94: MLDerInit

Arguments

Input

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

Output

Default (.Q)	Description	Returns TRUE if the Derivator object is initialized See more details here.
	Data type	BOOL
	Unit	N/A

Return Type

BOOL

Related Functions

MLBlkCreate

MLDerReadInModPos

MLDerWriteInModPos

Example

Structured Text

//Create and Initiate a Derivator object MyDerivator := MLBlkCreate( 'MyDerivator', 'DERIVATOR' ); MLDerInit( MyDerivator, 360.0 );

Ladder Diagram

 

Function Block Diagram

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MLDerReadInModPos

Description

Returns the Input ModuloPosition of the derivator block. Input ModuloPosition is defined to manage the periodicity (modulo) of the input values.

For example, if the input value increases each millisecond by one degree then the output value is 1000 degrees per second. Now lets imagine that the input value skips suddenly from 359 to 0.

• If Input ModuloPosition = 360, the output continues to indicate 1000 degrees per second, indicating that rollover into the next period has been properly handled.
• If Input ModuloPosition = 1000, the output then indicates 359,000 degrees per second, indicating that the input has incorrectly interpreted roll-over as a 359 degree move in one millisecond.

Figure 7-95: MLDerReadInModPos

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• The first calculation of a Derivator Pipe Block just after the pipe installation indicates zero regardless of the initial input value.

Arguments

Input

ID	Description	ID number of an initiated Derivator object.
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	N/A
	Default	—

Output

ModuloPosition	Description	Current Input ModuloPosition of the selected Derivator object.
	Data type	LREAL
	Unit	User unit
	Default	—

Related Functions

MLDerWriteInModPos

MLDerInit

Example

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//save the current input MODULO_POSITION of a Derivator object DerInputPeriod := MLDerReadInModPos ( PipeNetwork.MyDerivator );

Ladder Diagram

 

Function Block Diagram

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MLDerWriteInModPos

Description

Sets the Input ModuloPosition of the Derivator block. Input ModuloPosition is defined to manage the periodicity (modulo) of the input values.

For example, if the input value increases each millisecond by one degree then the output value is 1000 degrees per second. Now lets imagine that the input value skips suddenly from 359 to 0

-If Input ModuloPosition = 360, the output continues to indicate 1000 degrees per second, indicating that rollover into the next period has been properly handled

-If Input ModuloPosition = 1000, the output then indicates 359,000 degrees per second, indicating that the input has incorrectly interpreted roll-over as a 359 degree move in one millisecond

Figure 7-96: MLDerWriteInModPos

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• The first calculation of a Derivator Pipe Block just after the pipe installation indicates zero regardless of the initial input value.

Arguments

Input

ID	Description	ID number of an initiated Derivator object
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	N/A
	Default	—
ModuloPosition	Description	Desired new value of Input ModuloPosition of the selected Derivator object
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—

Output

Default (.Q)	Description	Returns TRUE if the Input ModuloPosition value is changed See more details here.
	Data type	BOOL
	Unit	N/A

Return Type

BOOL

Related Functions

MLDerReadInModPos

MLDerInit

Example

Structured Text

//change the input MODULO_POSITION of a Derivator object to 720 MLDerWriteInModPos ( PipeNetwork.MyDerivator, 720 );

Ladder Diagram

 

Function Block Diagram

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