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- For a description of the this pipe block and its parameters, see Pipe Blocks Description
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Name |
Description |
Return type |
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Clears the flag of an initiated Trigger block |
BOOL |
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Initializes a Trigger object |
BOOL |
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Checks if the selected block has been triggered |
BOOL |
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Returns the time that the trigger block uses to compensate the delay of the sensor |
None |
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Returns the position of the block at the moment when it was triggered |
None |
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Returns the time of the moment where the block was triggered in milliseconds |
None |
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| MLTrigSetEdge | Sets the edge configuration for a Trigger object | BOOL |
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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 Input
The 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
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BlockID |
Description |
ID number of an initiated Trigger object |
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Data type |
DINT |
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Range |
[-2147483648, 2147483648] |
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|
Unit |
N/A |
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|
Default |
— |
Output
|
Default (.Q) |
Description |
Returns TRUE if function block is executed See more details here. |
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Data type |
BOOL |
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Unit |
N/A |
Return Type
BOOL
Related Functions
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
Structured Text
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//Clear Trigger Flag MLTrigClearFlag( PipeNetwork.TRIGGER );
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Ladder Diagram
Function Block Diagram
[Top]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
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BlockID |
Description |
ID number of a created Pipe Block |
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Data type |
DINT |
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Range |
[-2147483648, 2147483648] |
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Unit |
N/A |
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Default |
— |
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Input_Axis |
Description |
Name of the axis where the Fast Input is located |
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Data type |
STRING |
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Range |
— |
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Unit |
N/A |
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Default |
— |
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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] |
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Data type |
DINT |
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Range |
[-2147483648, 2147483648] |
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Unit |
N/A |
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Default |
— |
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EdgeID |
Description |
Trigger at rising or falling edge of Fast Input. Enter 1 for rising edge |
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Data type |
DINT |
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Range |
[0 , 2] |
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Unit |
N/A |
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Default |
1 (Rising edge) |
Output
|
Default (.Q) |
Description |
Returns TRUE if function block is executed See more details here. |
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Data type |
BOOL |
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Unit |
N/A |
Return Type
BOOL
Related Functions
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
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
Function Block Diagram
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.
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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
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BlockID |
Description |
ID number of an initiated Trigger object |
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Data type |
DINT |
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Range |
[-2147483648, 2147483648] |
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Unit |
N/A |
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Default |
— |
Output
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Default (.Q) |
Description |
Returns TRUE if the selected Trigger Object has Triggered See more details here. |
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Data type |
BOOL |
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Unit |
N/A |
Return Type
BOOL
Related Functions
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
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
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BlockID |
Description |
Identifier of the trigger block whose delay is requested |
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Data type |
DINT |
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Range |
[-2147483648, 2147483648] |
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Unit |
N/A |
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Default |
— |
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En |
Description |
Enables execution |
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Data type |
BOOL | |
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Unit |
N/A | |
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Default |
- |
Output
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Delay |
Description |
Value of the delay compensation currently applied by the trigger block |
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Data type |
LREAL |
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Unit |
microseconds |
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OK |
Description |
Returns true when the function successfully executes |
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Data type |
BOOL | |
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Unit |
N/A |
Related Functions
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
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.
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This function or function block returns cached data. See Programming a Dual Core Controller for more information.
Arguments
Input
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BlockID |
Description |
ID number of an initiated Trigger object |
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Data type |
DINT |
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Range |
[-2147483648, 2147483648] |
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Unit |
N/A |
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Default |
— |
Output
|
Position |
Description |
Returns the position of the selected block's Axis at the moment when it was triggered |
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Data type |
LREAL |
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Unit |
User unit |
Related Functions
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
Example
Structured Text
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//Save position of Axis when Fast Input event occurs Trig_Position := MLTrigReadPos( PipeNetwork.TRIGGER );
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Ladder Diagram
Function Block Diagram
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.
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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 |
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Data type |
DINT |
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Range |
[-2147483648, 2147483648] |
|
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Unit |
N/A |
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|
Default |
— |
Output
|
Time |
Description |
Returns the time that the Trigger Block's selected Fast Input was triggered |
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Data type |
LREAL |
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Unit |
milliseconds |
Related Functions
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
Example
//Save time when Fast Input event occurs
Trig_Time := MLTrigReadTime( PipeNetwork.TRIGGER );
Ladder Diagram
Function Block Diagram
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 |
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Data type | DINT |
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Range | [-2147483648, 2147483647] |
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Unit | N/A |
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Default | — |
| Edge | Description | The edge on which to trigger 0 = disable the fast input The 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 action1 = 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 |
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Data type | BOOL |
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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
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 compensation. The delay compensation should include drive processing time, sensor delay, and the communication latency through the EtherCATEtherCAT is an open, high-performance Ethernet-based fieldbus system. The development goal of EtherCAT was to apply Ethernet to automation applications which require short data update times (also called cycle times) with low communication jitter (for synchronization purposes) and low hardware costs network.
Input
| BlockID | Description | Identifier of the trigger block |
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Data type | DINT |
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Range | [-2147483648, 2147483648] |
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Unit | N/A |
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Default | — |
| Delay | Description | Reaction time of the sensor that the trigger block has to compensate |
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Data type | LREAL |
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Range | — |
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Unit | microseconds |
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|
Default | — |
Output
|
Default (.Q) |
Description | Returns TRUE if the delay is successfully set See more details here. |
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Data type | BOOL |
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Unit | N/A |
Return Type
BOOL
Related Functions
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
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.
