iMotion Library - Block

Name	Description	Return type
MLBlkCreate	Creates a new Pipe Block object	None
MLBlkIsReady	Checks if a Pipe Block currently has a function running	BOOL
MLBlkReadModPos	Gets the value of the period of a block in user units	None
MLBlkReadOutVal	Gets the output value of a selected Pipe Block	None
MLBlkWriteModPos	Sets the value of the period of a block in user units	BOOL

MLBlkCreate

Description

Creates a new Pipe Block object. Before a Pipe Block is Initialized the block needs to be created and assigned an ID number. MLBlkCreate function block is automatically called if a Block is added to the Pipe Network.

• 
  

• Pipe Blocks are normally created in the Pipe Network using the graphical engine. Then you do not have to add MLBlkCreate function blocks to their programs. Blocks are created graphically, and the code with MLBlkCreate commands are automatically generated and called in a program with Pipe Network(MLPN_CREATE_OBJECTS).

• 
  

• This function should be called after MLMotionInit is called and before MLMotionStart is called.

Arguments

Input

Name	Description	Desired name for the newly created Pipe Block
	Data type	String
	Range	—
	Unit	N/A
	Default	—
Type	Description	Type of Pipe Block to create (ex. MASTER, GEAR, PHASER, etc.)
	Data type	String
	Range	—
	Unit	N/A
	Default	—

Output

ID	Description	Assigned ID number of the created Block
	Data type	DINT
	Unit	N/A
	Default	—

Related Functions

PipeNetwork(MLPN_CREATE_OBJECTS)

MLAxisInit

Example

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//Create a new  GEAR Pipe Block named “MyGear”
MyGear := MLBlkCreate( 'MyGear', 'GEAR' );

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MLBlkReadOutVal

Description

Get the output value a selected Pipe Block.

• 
  

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

Arguments

Input

ID	Description	ID number of a created Pipe Block
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	N/A
	Default	—

Output

Value	Description	Current output value of the selected Pipe Block
	Data type	LREAL
	Unit	N/A
	Default	—

Related Functions

MLBlkReadModPos

MLBlkCreate

Example

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//Save the output of a Gear Pipe Block BlockOutput := MLBlkReadOutVal( PipeNetwork.MyGear );

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MLBlkReadModPos

Description

Get the value of the period of a block in user units. The output value of a block is reset each time it reaches its period value.

Figure 7-65: MLBlkReadModPos

Arguments

Input

ID	Description	ID number of a created Pipe Block
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	N/A
	Default	—

Output

ModuloPosition	Description	Current Period Value for selected Pipe Block
	Data type	LREAL
	Unit	User unit
	Default	—

Related Functions

MLBlkWriteModPos

MLBlkCreate

MLBlkReadOutVal

Example

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//Return and save the Period of a Pipe Block GearPeriod := MLBlkReadModPos( PipeNetwork.MyGear );

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MLBlkIsReady

Description

Check if a block is ready. Returns FALSE if the selected Pipe Block has a function running. Returns TRUE if no function of a specified Pipe Block is running.

• 
  

• Same return value as the .Q output of a specific function itself.

• 
  

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

Arguments

Input

ID	Description	ID number of a created Pipe Block
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	N/A
	Default	—

Output

Default (.Q)	Description	Returns TRUE if no function of a specified Pipe Block is running. See more details here.
	Data type	BOOL
	Unit	N/A

Return Type

BOOL

Related Functions

MLBlkReadOutVal

MLBlkReadModPos

Example

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//Check if the MST Pipe Block named “MASTER” has a function running
IsReady := MLBlkIsReady( PipeNetwork.MASTER );

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Function Block Diagram

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MLBlkWriteModPos

Description

Set the value of the period of a block in user units. The output value of a block is reset each time it reaches its period value.

Figure 7-66: MLBlkReadModPos

Arguments

Input

ID	Description	ID number of a created Pipe Block
	Data type	DINT
	Range	[-2147483648, 2147483648]
	Unit	N/A
	Default	—
ModuloPosition	Description	Desired new Period Value for selected Pipe Block
	Data type	LREAL
	Range	—
	Unit	User unit
	Default	—

Output

Default (.Q)	Description	Returns TRUE if the function block executes See more details here.
	Data type	BOOL
	Unit	N/A

Return Type

BOOL

Related Functions

MLBlkReadModPos

MLBlkCreate

MLBlkReadOutVal

Example

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//Set the Period of a Pipe Block to 300 MLBlkWriteModPos( PipeNetwork.MyGear, 300 );

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Function Block Diagram

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