FunctionMLMstInitPipe Network motion icon

Description

Initializes a Master TMPClosed"Trapezoidal Motion Profile" This pipe block is a source block that frequently serves as a virtual master for a system composed of several pipes. Generally, a trapezoidal motion profile generator is used to generate a flow of values with a first derivative which produces a trapezoidal trajectory (trapezoidal motion profile) generator block. This function is automatically created when the MLMaster Block is included in the Pipe Network Editor. Based on the parameters defined in the Master pipe block (see figure below), the Inputs for this function are initialized by default.

TMP Initialization

Figure 7-103: TMP Initialization

Arguments

Input

Block ID

Description

ID name of the Master Block

 

Data type

DINT

 

Range

[-2147483648, 2147483648]

 

Unit

N/A

 

Default

ModuloPosition

Description

Modulo Position for cyclic motion systems expressed in user logical units (Position Rollover Value)

 

Data type

LREAL

 

Range

 

Unit

User unit

 

Default

Period

Description

Sampling period of the generator expressed according to the update cycle (e.g. 2.0 means the sampling is done once every 2 cycles)

 

Data type

LREAL

 

Range

 

Unit

Cycles

 

Default

Speed

Description

Travel speed value expressed in user logical units per second. The travel speed value is used to set the constant speed part of the trapezoidal motion profile

 

Data type

LREAL

 

Range

 

Unit

User unit / sec

 

Default

Acceleration

Description

Acceleration value expressed in user logical units per second squared. The acceleration value is always used to generate the first part of the trapezoidal motion profile

 

Data type

LREAL

 

Range

 

Unit

User unit/sec2

 

Default

Deceleration

Description

Deceleration value expressed in user logical units per second squared. The deceleration value is always used to generate the last part of the trapezoidal motion profile

 

Data type

LREAL

 

Range

 

Unit

User unit/sec2

 

Default

Initial Position

Description

Initial position value expressed in user logical units. Used only at the pipe activation to initialize the position starting point

 

Data type

LREAL

 

Range

 

Unit

User unit

 

Default

Modulo

Description

The available modes are Modulo (True) or No modulo (False)

 

Data type

BOOL

 

Range

0, 1

 

Unit

N/A

 

Default

Output

Default (.Q)

Description

Returns true when function successfully executes

See more details here.

 

Data type

BOOL

 

Unit

N/A

Example

Structured Text

//Initialize  a Master Pipe Block named “MASTER” to a Modulo of 360, motion generator sample period of 1,Speed of 1000.0, Accel and Decel of 10000.0, Initial position of 0.0,
MLMstInit( PipeNetwork.MASTER, 360.0, 1.0, 1000.0, 10000.0, 10000.0, 0.0, true );

Ladder Diagram

MLMstInit: LD example

Function Block Diagram

MLMstInit: FBD example

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